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index 0000000000000000000000000000000000000000..ce2c8667df7e3c794c7bad3f846102b2c566057d
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diff --git a/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec525db8aed7c0a428c44641c9a22d61810488c1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:322c9e2a0f86f4e0e6df7dface2d215f9609bd412a04d0fcb723724fe8bdfc4b
+size 25834179
diff --git a/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d6fc4a7da002d055d9c39a407f3b26afeabfd83f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_03/franka_data.csv
@@ -0,0 +1,409 @@
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+55,0.916666667,BASELINE,765.085019857,745,715,680,657.085019857,633.914980143,878,784,809.085019857,651,628.085019857,652,0.400967711626,0.00451278962383,0.0798340017246,0.999999948607,0.00014496571663,-0.000282350472118,4.52658473979e-05,1793248379985502464
+56,0.933333333,BASELINE,765,745,715,680,657.492642023,634,877.507357977,784.492642023,809.492642023,651.492642023,628.492642023,652,0.400968306484,0.00451308870159,0.079834869074,0.999999948638,0.000147051519375,-0.000281100236735,4.56389989523e-05,1793248380002169088
+57,0.950000000,BASELINE,765,745,715,680,658,634,877.139560032,784.930219984,810,651.930219984,628.930219984,652,0.400968967072,0.0045134900122,0.0798357414546,0.999999948657,0.00014921666317,-0.000279827329575,4.60119630254e-05,1793248380018835712
+58,0.966666667,BASELINE,765,745,715,680,658,634,878.290503039,784.354748481,810,651.354748481,628.354748481,652,0.40096821818,0.00451293872376,0.0798346510066,0.99999994849,0.000147515194899,-0.000281364380034,4.57591830887e-05,1793248380035502592
+59,0.983333333,BASELINE,765.225872898,745,715,679.774127102,658,634,879,784,810,651.225872898,628,652,0.400967849174,0.00451280353774,0.0798341327184,0.999999948329,0.000147209131739,-0.000282120745612,4.56010801007e-05,1793248380052169216
+60,1.000000000,BASELINE,765.814771303,745,715,679.185228697,658,634,879,784,810,651.814771303,628,652,0.400968090728,0.00451333711621,0.0798345340119,0.999999948183,0.00014914577939,-0.00028162238575,4.55951429497e-05,1793248380068835840
+61,1.016666667,BASELINE,765.602988497,745,715,679.397011503,658,634,878.602988497,784,810,652,628.397011503,652,0.400968018945,0.00451417178919,0.0798340025986,0.999999948089,0.000148811885211,-0.000282176121179,4.53167457958e-05,1793248380085502464
+62,1.033333333,BASELINE,765.02380353,745,715,679.97619647,658,634,878.02380353,784,810,652,628.97619647,652,0.400967803384,0.00451514462293,0.0798330432015,0.999999948018,0.00014743612571,-0.000283212623113,4.49133271194e-05,1793248380102169088
+63,1.050000000,BASELINE,765,745,715,680,658,634,878,784,810,652,628.448074785,652,0.400968055539,0.00451632806488,0.079833438656,0.999999947943,0.000148880228786,-0.000282708932133,4.49972601218e-05,1793248380118835712
+64,1.066666667,BASELINE,765,745,715,679.870064735,658.129935265,634,878,784,809.870064735,651.870064735,628.129935265,652,0.40096825297,0.00451687399768,0.0798339200979,0.999999947985,0.00014962590378,-0.000282147192241,4.51036984975e-05,1793248380135502336
+65,1.083333333,BASELINE,765,745,715,679.283517307,658.716482693,634,878,784,809.283517307,651.283517307,628.716482693,652,0.400968187645,0.004515147906,0.0798344996504,0.999999948448,0.000147492481046,-0.000281613437071,4.5215821304e-05,1793248380152169216
+66,1.100000000,BASELINE,765.299422038,745,715,679.299422038,658.700577962,634,878,784.299422038,809,651.299422038,629,652,0.400967531046,0.00451419182958,0.0798344831414,0.999999948562,0.000146469361428,-0.000281715392896,4.53684034233e-05,1793248380168835840
+67,1.116666667,BASELINE,765.878985601,745,715,679.878985601,658.121014399,634,878,784.878985601,809,651.878985601,629,652,0.400966321245,0.00451395618538,0.0798339089526,0.999999948355,0.000146485049922,-0.000282412124767,4.55588395756e-05,1793248380185502464
+68,1.133333333,BASELINE,765.542759077,745,715,680,658,634,878,784.542759077,809.457240923,652,628.542759077,652,0.400967681995,0.0045143946927,0.0798347353167,0.999999948543,0.000147450035187,-0.000281243537055,4.55484530272e-05,1793248380202169088
+69,1.150000000,BASELINE,765,745,715,680,658,634,878,784,809.965110107,652,628.034889893,652,0.400969580406,0.00451501436383,0.0798358223509,0.999999948768,0.000148736982746,-0.000279770334057,4.54894606346e-05,1793248380218835712
+70,1.166666667,BASELINE,765,745,715,680,658,634,878,784,809.391493376,652,628.608506624,652,0.400969305915,0.00451568422288,0.0798352271771,0.99999994801,0.000151126957271,-0.000281194684421,4.54982950024e-05,1793248380235503104
+71,1.183333333,BASELINE,765,745,715,680,658.187268342,634,878,784,809,651.812731658,629,652,0.400968383026,0.00451596932937,0.0798343272284,0.99999994745,0.000152129314656,-0.000282652681296,4.54361739624e-05,1793248380252170496
+72,1.200000000,BASELINE,765,745,715,680,658.777089865,634,878,784,809,651.222910135,629,652,0.400966066333,0.00451542736951,0.0798327721331,0.999999947325,0.000150148842138,-0.000284183005188,4.5221526742e-05,1793248380268837120
+73,1.216666667,BASELINE,765,745,715.360440908,679.639559092,658.639559092,634,878,784,809.360440908,651.360440908,629,652,0.400967108849,0.00451551321276,0.0798335399474,0.99999994779,0.000150155836166,-0.000282547605057,4.51656930769e-05,1793248380285503744
+74,1.233333333,BASELINE,765,745,715.939860896,679.060139104,658.060139104,634,878,784,809.939860896,651.939860896,629,652,0.40097019219,0.00451598046598,0.0798357190017,0.999999948604,0.000151370278157,-0.000278988928858,4.52063436074e-05,1793248380302170368
+75,1.250000000,BASELINE,765,745.517796963,716,679.517796963,658,634,878,784,809.482203037,651.482203037,629,652.517796963,0.400969643012,0.00451521917742,0.0798354859524,0.999999948504,0.000150081312627,-0.000279997016055,4.54789439925e-05,1793248380318836736
+76,1.266666667,BASELINE,765.094264164,745.905735836,716,680,658,634,878,784,809,651,628.905735836,652.905735836,0.400968907571,0.00451445513465,0.0798351199058,0.999999948391,0.000148666308043,-0.000281120521171,4.56850199646e-05,1793248380335503360
+77,1.283333333,BASELINE,765.664186626,745.335813374,716,680,658,634,878,784,809,651,628.335813374,652.335813374,0.400969355056,0.00451439514211,0.0798354923625,0.999999948761,0.000148078275981,-0.000280157654022,4.54198635396e-05,1793248380352170240
+78,1.300000000,BASELINE,765.755949392,745,715.755949392,680,658.244050608,634,878,784.244050608,809.244050608,651.244050608,628.244050608,652,0.400969459476,0.00451387664562,0.079835740315,0.999999949071,0.000146887599416,-0.00027968809925,4.53588403269e-05,1793248380368836864
+79,1.316666667,BASELINE,765.161825034,745,715.161825034,680,658.838174966,634,878,784.838174966,809.838174966,651.838174966,628.838174966,652,0.400969071793,0.00451270045685,0.0798358096747,0.999999949293,0.000144832470963,-0.000279926167109,4.55906321375e-05,1793248380385503488
+80,1.333333333,BASELINE,765.421017149,745,715.421017149,680,658.578982851,634,878,784.578982851,810,652,629,652.421017149,0.400969790892,0.00451419175071,0.0798367409684,0.999999949382,0.000146529609249,-0.000278746151447,4.5439694318e-05,1793248380402170112
+81,1.350000000,BASELINE,765.99963606,745,715.99963606,680,658.00036394,634,878,784.00036394,810,652,629,652.99963606,0.400970924299,0.00451668157852,0.0798379949149,0.999999949412,0.000149631354878,-0.000277035296468,4.51454871411e-05,1793248380418836992
+82,1.366666667,BASELINE,765.425071659,745.574928341,716,680,658,634,878,784,810,652,628.425071659,652.425071659,0.40097080931,0.0045153771358,0.0798373091584,0.999999949508,0.000147846403433,-0.000277630441857,4.52388916645e-05,1793248380435503872
+83,1.383333333,BASELINE,765.153439355,745.846560645,716,679.846560645,658,634,878,784,810,651.846560645,628.153439355,652,0.400970845349,0.00451415003151,0.0798369346088,0.999999949577,0.000146761532563,-0.000277928040655,4.54201346438e-05,1793248380452170496
+84,1.400000000,BASELINE,765.741064444,745.258935556,716,679.258935556,658,634,878,784,810,651.258935556,628.741064444,652,0.400971310973,0.004513148528,0.0798374441322,0.999999949577,0.000147666374842,-0.000277379568286,4.58492428881e-05,1793248380468836864
+85,1.416666667,BASELINE,766,745,716,679.324008149,658.324008149,634,878,784,810,651.324008149,629,652,0.400970716162,0.00451262084466,0.079836965032,0.999999949422,0.000147249913682,-0.00027815939851,4.58432973696e-05,1793248380485503488
+86,1.433333333,BASELINE,766,745,716,679.903263913,658.903263913,634,878,784,810,651.903263913,629,652,0.400969285961,0.00451246642811,0.0798357071122,0.999999949141,0.000145792554111,-0.000279985640927,4.5494624535e-05,1793248380502170112
+87,1.450000000,BASELINE,765.518632674,745.481367326,715.518632674,680,658.518632674,634,878.481367326,784,810,651.518632674,628.518632674,652,0.400968836436,0.00451294661362,0.0798351132954,0.999999948883,0.000146929470193,-0.000280340526803,4.53340860483e-05,1793248380518836480
+88,1.466666667,BASELINE,765,745.941159162,715.058840838,680,658,634,879,784,809.941159162,651.058840838,628,652,0.400968543971,0.00451346160161,0.079834728542,0.99999994865,0.000148369262719,-0.000280428553642,4.5242322284e-05,1793248380535503104
+89,1.483333333,BASELINE,765,745.367177715,715.632822285,680,658,634,879,784,809.367177715,651.632822285,628,652,0.40096790527,0.00451316744112,0.0798350084833,0.999999948616,0.000147907274533,-0.000280762767418,4.54224597293e-05,1793248380552169984
+90,1.500000000,BASELINE,765,745,715.787769571,680,658,634,878.787769571,784.212230429,809.212230429,652,628.212230429,652,0.400967790301,0.00451310381226,0.0798352332694,0.999999948642,0.000147722734377,-0.000280759037957,4.54782117701e-05,1793248380568837120
+91,1.516666667,BASELINE,765,745,715.198726451,680,658,634,878.198726451,784.801273549,809.801273549,652,628.801273549,652,0.400968605212,0.00451344948969,0.079835360128,0.999999948773,0.000148030800059,-0.000280155294122,4.53131189337e-05,1793248380585504256
+92,1.533333333,BASELINE,765,745,715,680,658.384125013,634,878,784.615874987,809.615874987,652,629,652,0.400969016448,0.00451384298721,0.0798358488033,0.999999948849,0.000148297929036,-0.000279751743691,4.52610217111e-05,1793248380602170880
+93,1.550000000,BASELINE,765,745,715,680,658.963824099,634,878,784.036175901,809.036175901,652,629,652,0.400969222157,0.00451426083195,0.0798365216945,0.999999948897,0.000148544215454,-0.000279450120021,4.5266455256e-05,1793248380618836992
+94,1.566666667,BASELINE,765,745,715,679.460261538,658.460261538,634,878,784,809,652,629,652,0.400968442617,0.00451418860799,0.0798350988358,0.999999948425,0.000148935137387,-0.000280923544204,4.52716938232e-05,1793248380635503616
+95,1.583333333,BASELINE,765,745,715.115349957,679,658,634,878,784.115349957,809.115349957,652,629,652,0.400967874827,0.00451416541171,0.0798340205532,0.999999948087,0.000149208889893,-0.00028198197027,4.52719100923e-05,1793248380652170240
+96,1.600000000,BASELINE,765,745,715.69075836,679,658,634,878,784.69075836,809.69075836,652,629,652,0.400968413114,0.00451446784892,0.0798348729024,0.999999948423,0.000148976932606,-0.000280914028494,4.52521473325e-05,1793248380668837120
+97,1.616666667,BASELINE,765,745,716,679.272736657,658,634,878,784.727263343,810,652,629,652,0.400968623342,0.00451497526235,0.0798353249747,0.999999948528,0.000149022897794,-0.000280521409824,4.51991349676e-05,1793248380685503744
+98,1.633333333,BASELINE,765,745,716,679.862348046,658,634,878,784.137651954,810,652,629,652,0.400968452418,0.0045157208241,0.0798353119914,0.999999948368,0.000149391762787,-0.00028091340459,4.51074920807e-05,1793248380702170624
+99,1.650000000,BASELINE,765.444798854,745,715.555201146,680,658,634,878,784,810,651.555201146,628.555201146,652,0.400968095661,0.00451518201673,0.0798353102335,0.999999948438,0.000148693350057,-0.000281008216834,4.52626055507e-05,1793248380718837248
+100,1.666666667,BASELINE,766,745.024745871,715.024745871,680,658.024745871,634,878,784,810,651.024745871,628,652,0.400967770932,0.00451430854357,0.0798353478024,0.99999994858,0.000147770432911,-0.000280954855127,4.54754546477e-05,1793248380735503616
+101,1.683333333,BASELINE,766,745.597541483,715.597541483,680,658.597541483,634,878,784,810,651.597541483,628,652,0.40096940904,0.00451468661972,0.0798361806281,0.999999948767,0.000149074479388,-0.000279624447454,4.53025402239e-05,1793248380752170240
+102,1.700000000,BASELINE,765.824715957,745.824715957,716,680,658.824715957,634,878,784,809.824715957,652,628.175284043,652,0.400970239114,0.00451471565559,0.0798365868708,0.999999948908,0.000149894326557,-0.00027869298217,4.52400893083e-05,1793248380768836864
+103,1.716666667,BASELINE,765.235285237,745.235285237,716,680,658.235285237,634,878,784,809.235285237,652,628.764714763,652,0.400969160033,0.00451392000787,0.0798359852182,0.999999948944,0.000149570147362,-0.00027870410524,4.54386324814e-05,1793248380785503488
+104,1.733333333,BASELINE,765,745,715.651925014,680,658,633.651925014,878,784,809.348074986,652,628.651925014,652,0.400968281987,0.00451327587028,0.0798353820572,0.999999948899,0.000147908927384,-0.000279746791486,4.54507115764e-05,1793248380802169856
+105,1.750000000,BASELINE,765,745,715.072597818,680,658,633.072597818,878,784,809.927402182,652,628.072597818,652,0.400967537502,0.00451273239209,0.0798347778939,0.999999948793,0.000145359411318,-0.000281474822197,4.53389086769e-05,1793248380818836480
+106,1.766666667,BASELINE,765,745,715,680,658,633.505132073,878,784,810,651.494867927,628.505132073,652,0.400968291325,0.00451374374992,0.0798353726907,0.999999948761,0.00014709026692,-0.000280697028451,4.52981976101e-05,1793248380835503360
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,716,680,658,634,879,784,809,651,629,652,0.40097002733,0.00451573797962,0.0798359711331,0.999999949294,0.000147416502857,-0.000278624546359,4.52544464938e-05,1793248380878326016
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,716,680,658,634,878.420434019,784,809.579565981,651,629,652,0.400968659102,0.00451451065435,0.0798353061053,0.999999948736,0.000148408716844,-0.000280085051836,4.53383494606e-05,1793248380894992640
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,716,680,658,634,877.840858594,784.159141406,810,651,629,652,0.400967454572,0.00451386603748,0.0798345582839,0.999999948229,0.000149050295421,-0.000281552441847,4.53260434354e-05,1793248380911659008
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,716,680,658,634,877.261258088,784.738741912,810,651,629,652,0.400966682544,0.0045147609634,0.0798335917177,0.999999947864,0.000148765478924,-0.00028303802144,4.50595487354e-05,1793248380928325120
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715.684089675,680,658,634,877.315910325,784.684089675,810,651.315910325,629,652,0.400966901264,0.0045147936855,0.0798340341734,0.999999948136,0.000148418780749,-0.000282257296406,4.5072260491e-05,1793248380944991488
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715.108917273,680,658,634,877.891082727,784.108917273,810,651.891082727,629,652,0.400967933072,0.00451411881195,0.0798356329885,0.999999948925,0.00014802129738,-0.000279616654728,4.53141121153e-05,1793248380961658112
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.476013593,745,715,680,658,634,878,784.476013593,809.523986407,652,629,652,0.400968382918,0.00451446255899,0.0798360546615,0.99999994887,0.000148941891504,-0.00027929972695,4.54676834318e-05,1793248380978324992
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.937616467,745,715.062383533,680,658,634,878,784.937616467,809.062383533,651.937616467,629,652,0.400968696965,0.00451478926091,0.0798361113277,0.999999948664,0.000149794081633,-0.00027957296888,4.55317988499e-05,1793248380994991872
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.358212411,745,715.641787589,680,658,634,878,784.358212411,809.641787589,651.358212411,629,652,0.400969012239,0.00451300262192,0.0798354218772,0.999999948837,0.000147527524172,-0.000280238634919,4.50254370342e-05,1793248381011658496
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.22031161,745.22031161,715.77968839,679.77968839,658,634,878,784,810,651,629,652,0.400974700465,0.00451224079039,0.0798378539877,0.999999950142,0.000146514909321,-0.00027611909827,4.48111473345e-05,1793248381028325120
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.797410389,745.797410389,715.202589611,679.202589611,658,634,878,784,810,651,629,652,0.400989090007,0.00451313859991,0.0798453413603,0.999999953187,0.000147533012143,-0.0002642500883,4.5069858552e-05,1793248381044991744
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.626360119,715,679.373639881,658,634,878,784,810,651,628.626360119,652.373639881,0.401018406422,0.00451455894228,0.0798577828238,0.999999958507,0.000148994834305,-0.000242450732056,4.4765006186e-05,1793248381061658368
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.050600813,715,679.949399187,658,634,878,784,810,651,628.050600813,652.949399187,0.401055797489,0.0045162619474,0.0798729041894,0.999999964498,0.000150696685186,-0.000215279582156,4.41552957099e-05,1793248381078324992
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680,658.536987955,633.463012045,878,784,810,651.536987955,628.536987955,652.463012045,0.401119691397,0.00451570961397,0.0798930168075,0.999999972677,0.000148723773388,-0.000175034829186,4.34685385376e-05,1793248381094991616
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.877430636,745.122569364,715.122569364,679.877430636,659,633.122569364,878,784,810,651.877430636,629,652,0.401187775893,0.00451524760113,0.0799119198964,0.999999978664,0.000146628229998,-0.000139130778514,4.26057810614e-05,1793248381111657984
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.303440042,745.696559958,715.696559958,679.303440042,659,633.696559958,878,784,810,651.303440042,629,652,0.40126188927,0.00451591858559,0.0799245970758,0.999999980916,0.000145385092905,-0.000123852868863,4.1122158411e-05,1793248381128324864
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745.726317075,715.726317075,679.273682925,658.726317075,634,878,784,810,651.273682925,629,652.273682925,0.401344845308,0.0045166864785,0.0799333101984,0.999999982728,0.000143796857131,-0.000111137698529,3.8916574022e-05,1793248381144991744
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.145680985,715.145680985,679.854319015,658.145680985,634,878,784,810,651.854319015,629,652.854319015,0.401437718959,0.00451756306049,0.0799375773733,0.999999984168,0.000141821570879,-0.000101296807615,3.59012627743e-05,1793248381161658880
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.429352097,745,715.429352097,680,658.429352097,634,878.429352097,784,809.570647903,652,629,653,0.401542372916,0.00451792599491,0.0799397121788,0.999999985073,0.000138601898782,-9.79215791656e-05,3.24810162651e-05,1793248381178325504
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.997405235,745,716,680,659,634,878.997405235,784,809,652,629,652.997405235,0.401651107131,0.00451812422136,0.0799411477278,0.9999999858,0.000134966862385,-9.66783302234e-05,2.89215908188e-05,1793248381194992128
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.404546475,745,716,680,659,634,878.404546475,784,809,652,629,652.404546475,0.401790470232,0.00451998984271,0.079945983047,0.999999987178,0.000131655303554,-8.77946838606e-05,2.45539946367e-05,1793248381211658240
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715.816300462,680,658.816300462,634,878,784,809,651.816300462,628.816300462,652,0.401940968861,0.00451731683779,0.0799513447301,0.999999989161,0.000122999160796,-7.82150703033e-05,2.07824548806e-05,1793248381228324608
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715.237963971,680,658.237963971,634,878,784,809,651.237963971,628.237963971,652,0.402115389638,0.00450489361953,0.0799578371861,0.999999992289,0.000102861387364,-6.71403296e-05,1.82914082504e-05,1793248381244991232
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.338180473,634,878,784,809.338180473,651.338180473,628,652,0.402305591369,0.0044913466089,0.0799615665204,0.999999994871,8.02075964624e-05,-6.00815016546e-05,1.46939818532e-05,1793248381261657856
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.912792452,634,878,784,809.912792452,651.912792452,628,652,0.402506826029,0.00447701392207,0.0799633640791,0.999999996832,5.57947847157e-05,-5.58303104422e-05,1.0323053899e-05,1793248381278324736
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.501025641,634,878,784,810,652,628.498974359,652,0.402715811136,0.0044883587294,0.07995650235,0.999999996026,5.67943715852e-05,-6.86890841572e-05,1.85466118134e-06,1793248381294991872
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,679.914016626,658,634,878,784.085983374,810,652,629,652,0.402933566576,0.00450138483883,0.0799490140574,0.999999994777,5.91832621111e-05,-8.3030894992e-05,-7.07759580715e-06,1793248381311658752
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,679.334147192,658,634,878,784.665852808,810,652,629,652,0.403193733319,0.00449767890559,0.0799468261634,0.999999995053,4.34353203483e-05,-8.83068981052e-05,-1.44632130665e-05,1793248381328325120
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,679.243609571,658.243609571,634,878,784.756390429,809.756390429,652,628.756390429,652,0.403476288623,0.00449823303154,0.0799455256499,0.999999994952,3.62797451971e-05,-9.11432835303e-05,-2.17435362286e-05,1793248381344991488
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,679.818493369,658.818493369,634,878,784.181506631,809.181506631,652,628.181506631,652,0.403789289157,0.00450458022982,0.0799454318472,0.99999999464,4.08085624784e-05,-9.06621370234e-05,-2.88806740174e-05,1793248381361658112
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715.392467933,680,659,634,878,784,809.392467933,651.607532067,628.392467933,652,0.404139147481,0.00451509524017,0.0799496921608,0.999999992344,8.94898639133e-05,-8.22003847565e-05,-2.33906222246e-05,1793248381378324736
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715.966022957,680,659,634,878,784,809.966022957,651.033977043,628.966022957,652,0.404506012205,0.00452753330418,0.0799559614901,0.999999984905,0.000158543389425,-7.00563321456e-05,-1.20743081069e-05,1793248381394991360
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715.441991957,680,659,634,878,784,810,651.558008043,629,652,0.4049021989,0.0045318457395,0.079956248084,0.999999995723,6.25242336652e-05,-6.57862496185e-05,-1.78017014921e-05,1793248381411657984
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715.147575968,680,659,634,878.147575968,784,809.852424032,651.852424032,628.852424032,652,0.405308340647,0.00453705548525,0.0799541462141,0.999999997526,-8.9110509646e-06,-6.55270897305e-05,-2.396064271e-05,1793248381428324608
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715.726682162,680,659,634,878.726682162,784,809.273317838,651.273317838,628.273317838,652,0.405738193027,0.00454638525625,0.0799461617899,0.999999996507,2.19349397521e-05,-7.5546519828e-05,-2.824320677e-05,1793248381444991488
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,878.695526975,784,809.304473025,651.304473025,628,652,0.406193120069,0.00455642340402,0.0799392882455,0.999999993861,6.20375885788e-05,-8.71553463057e-05,-2.88760716567e-05,1793248381461658112
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,716,680,659,634,878.118911708,784,809.881088292,651.881088292,628,652,0.406670459244,0.00456709470992,0.0799334076202,0.999999988541,0.000110413971134,-0.000100184798498,-2.62467848989e-05,1793248381478324736
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715.535049213,680,659,634,878.464950787,784,810,651.535049213,628.464950787,652.464950787,0.407176112809,0.00457504850207,0.0799308944924,0.999999986226,0.0001250145764,-0.00010533683017,-2.86822362116e-05,1793248381494991360
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745.05013775,715.05013775,680,659,634,878.94986225,784,810,651.05013775,629,652.94986225,0.407691507092,0.00458257725378,0.0799282633076,0.999999984881,0.000130365695861,-0.000110500254387,-3.21388012963e-05,1793248381511658496
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745.629432084,715.629432084,680,659,634,878.370567916,784,810,651.629432084,629,652.370567916,0.408232069125,0.00459307140001,0.0799151526267,0.999999981493,0.000130708761635,-0.000137383419224,-3.24849963028e-05,1793248381528324864
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745.791923624,715.791923624,680.208076376,658.791923624,634,878.208076376,784,810.208076376,651.791923624,629,652,0.408803801752,0.00460245143284,0.0799117863205,0.999999979562,0.000135899835052,-0.000145971680903,-3.31637422515e-05,1793248381544991488
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.214433435,715.214433435,680.785566565,658.214433435,634,878.785566565,784,810.785566565,651.214433435,629,652,0.409430873874,0.00460985349481,0.0799257199443,0.999999980751,0.000149697945136,-0.000122079608289,-3.44328911721e-05,1793248381561658624
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,680.638520952,658.361479048,634,879,784,810.638520952,651.361479048,628.638520952,652,0.410104988844,0.00461598763017,0.0799553112745,0.999999983944,0.000160053320857,-7.2483346378e-05,-3.5241896703e-05,1793248381578325504
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,680.063540336,658.936459664,634,879,784,810.063540336,651.936459664,628.063540336,652,0.410806888866,0.00462137288557,0.0799941505671,0.999999985155,0.000168375301977,-7.70533455976e-06,-3.57791260621e-05,1793248381594992384
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715.523354421,680,659,634,879,784.523354421,810.523354421,651.476645579,628,652.523354421,0.411478445197,0.00461763395064,0.0799898520503,0.999999986987,0.000155326641552,-2.08579831075e-05,-3.82819844413e-05,1793248381611658752
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.11003247,716,680,659,634,878.88996753,784.88996753,811,651.11003247,628,653,0.412150501385,0.00461086486367,0.079974582236,0.999999988025,0.000140811962888,-4.95144545315e-05,-4.08728562009e-05,1793248381628325376
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.689471268,716,680,659,634,878.310528732,784.310528732,811,651.689471268,628,653,0.41284077221,0.00459600483085,0.0799353714868,0.99999998515,0.000131369767834,-0.000103007432827,-4.27973988325e-05,1793248381644991744
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.732783782,716,680,659,634,878.267216218,784,811,652,628.267216218,653,0.413565571181,0.0045874995741,0.0799140448685,0.999999983652,0.000121575583743,-0.000126534751373,-4.36460261607e-05,1793248381661658368
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.156994759,716,680,659,634,878.843005241,784,811,652,628.843005241,653,0.414330242247,0.00458633260907,0.0799133702719,0.999999986197,0.000111374932985,-0.000115458684577,-4.32522210089e-05,1793248381678324736
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715.582669028,680.417330972,659.834661943,633.582669028,879,784,810.582669028,651.582669028,629,652.582669028,0.415132754534,0.00458431815086,0.0799354359149,0.999999989313,0.000115357136566,-7.90777017605e-05,-4.25739774436e-05,1793248381694991360
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715.008891882,680.991108118,660.982216236,633.008891882,879,784,810.008891882,651.008891882,629,652.008891882,0.415949452434,0.00458198599028,0.0799660262632,0.999999990806,0.000124656111791,-3.32105859515e-05,-4.17891055004e-05,1793248381711657984
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.582688758,715,681,660.417311242,633.582688758,879,784.582688758,810.582688758,651.582688758,629,652.582688758,0.416740840966,0.00458877385855,0.0799521430768,0.99999999061,0.000110834662703,-6.84183177519e-05,-4.25902226415e-05,1793248381728324864
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.829652015,715.170347985,680.829652015,660,634,879,784.829652015,811,651.829652015,629,652.829652015,0.417562926031,0.00459443277441,0.079947654437,0.999999990236,0.000106738638925,-7.89849214596e-05,-4.35531148736e-05,1793248381744991744
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.252038099,715.747961901,680.252038099,660,634,879,784.252038099,811,651.252038099,629,652.252038099,0.418459352431,0.00459704938537,0.0799672998624,0.999999990579,0.000126764149244,-2.75886782779e-05,-4.48430907519e-05,1793248381761659392
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715.6745324,680.3254676,660.3254676,633.6745324,879,784,811,651,629,652.3254676,0.419340320076,0.00459639676811,0.0799772471612,0.999999990696,0.000128218449991,-1.21692961171e-06,-4.65381443983e-05,1793248381778326016
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715.097110501,680.902889499,660.902889499,633.097110501,879,784,811,651,629,652.902889499,0.420209320589,0.00459321334243,0.0799796868465,0.999999992158,0.000115296215797,5.7825996615e-06,-4.85467809877e-05,1793248381794991872
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.523011928,633.476988072,879,784,811.476988072,651,629.476988072,652.523011928,0.421082684102,0.00459181387963,0.0799661397529,0.999999992487,0.000110514860578,-1.90187796392e-05,-4.95121129608e-05,1793248381811658496
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.052105827,634,879.052105827,784,811.947894173,651,629.947894173,652.052105827,0.421963665839,0.00459127333278,0.0799535722653,0.999999991905,0.000108759743752,-4.30327099733e-05,-5.00904097483e-05,1793248381828324864
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.644766938,634,879.644766938,784,811.355233062,651,629.355233062,652.644766938,0.422914528465,0.00459590151589,0.0799846992955,0.999999991417,0.000121324071744,7.82418245396e-06,-4.88418402778e-05,1793248381844991232
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.231194335,715,680.768805665,661,633.768805665,880,784,811.231194335,651,629,652.768805665,0.423840313184,0.00460046115944,0.0799995407554,0.999999990237,0.000129134223133,2.45441320104e-05,-4.74166142861e-05,1793248381861658112
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.808295113,715,680.191704887,661,633.191704887,880,784,811.808295113,651,629,652.191704887,0.424728577186,0.00460491825673,0.079990016209,0.999999990478,0.000129831311753,-9.8106419352e-06,-4.57270797232e-05,1793248381878324736
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.614832996,745.614832996,715,680.385167004,660.614832996,633.385167004,880,784,812,651.385167004,629,652,0.425615825026,0.00460852189021,0.0799565513224,0.999999987506,0.00013570991144,-6.5976559033e-05,-4.70961068878e-05,1793248381894991104
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.038074993,745.038074993,715,680.961925007,660.038074993,633.961925007,880,784,812,651.961925007,629,652,0.426502567351,0.00461170099073,0.0799111779558,0.999999979515,0.000144165914381,-0.000132991842229,-4.99865335216e-05,1793248381911657728
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.548525008,745.548525008,715,681,660,634,880,784,812,651.451474992,629,652.548525008,0.427451467198,0.00461057019022,0.0799060650898,0.999999981529,0.00013497046868,-0.000126792946595,-5.1460398985e-05,1793248381928324352
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.865612416,715,681,659.865612416,633.865612416,880,784,812,651.134387584,629,652.865612416,0.428402847785,0.00460816600766,0.0799090015511,0.999999984074,0.000126512989772,-0.000114613207461,-5.20567100541e-05,1793248381944990976
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.284513478,715,681,659.284513478,633.284513478,880,784,812,651.715486522,629,652.284513478,0.429347870562,0.00460254164547,0.0799292352157,0.999999986002,0.000124655749301,-9.97544618674e-05,-5.00688046157e-05,1793248381961657600
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715.292933419,681,659.292933419,633,880,784,812.292933419,651.707066581,629,652,0.430312889888,0.00460069902604,0.0799634532757,0.999999989573,0.00012371630683,-5.59516912012e-05,-4.91730486858e-05,1793248381978324224
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715.866876891,681,659.866876891,633,880,784,812.866876891,651.133123109,629,652,0.431297091785,0.00460248422018,0.0800110865183,0.999999991016,0.000123657304571,1.56169857584e-05,-4.93249880755e-05,1793248381994991104
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715.559154714,681,660,633,879.559154714,784,813,651,629,652.440845286,0.432209490258,0.00460928940294,0.0800180442773,0.999999990246,0.000128233848609,2.3820377465e-05,-4.99614832926e-05,1793248382011657728
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633,879,784,813,651,629.015381002,653,0.433099758222,0.00461748664861,0.0800110426324,0.999999989661,0.000134106040924,1.07475604802e-05,-5.07830378861e-05,1793248382028324352
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633,879,784,813,651,629.611034131,653,0.433973173648,0.00462100876541,0.0799408174973,0.999999985887,0.000136045674728,-8.3081148743e-05,-5.3065685464e-05,1793248382044990976
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.200108497,715,681.200108497,660,633.200108497,879.200108497,784,813,651,629.799891503,653,0.43486122145,0.00462111420817,0.0799016681734,0.999999980737,0.000132889536812,-0.000133677721307,-5.47430192989e-05,1793248382061657600
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.776802354,715,681.776802354,660,633.776802354,879.776802354,784,813,651,629.223197646,653,0.43577680616,0.00461478979249,0.0799210005897,0.999999985959,0.00012014363815,-0.000102915498256,-5.52812107139e-05,1793248382078324224
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.647596105,715,681.647596105,660,633.647596105,880,784,813,651,629.352403895,653,0.436684420588,0.00460972221357,0.0799513388768,0.99999998958,0.00011757866701,-6.45817227469e-05,-5.33332690673e-05,1793248382094991104
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.072684287,715,681.072684287,660,633.072684287,880,784,813,651,629.927315713,653,0.437587002522,0.00460544820214,0.0799886262727,0.999999991155,0.000121441937138,-2.14672685763e-05,-4.98155821884e-05,1793248382111657728
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.512307618,745.512307618,715,681.512307618,660,633,880,784,813.512307618,651,630,653,0.438471933885,0.00460426692963,0.0800217530149,0.999999991484,0.00011373262794,3.7232321084e-05,-5.2056649333e-05,1793248382128324096
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.902065159,745.902065159,715,681.902065159,660,633,880.097934841,784,814,651.097934841,630,653,0.439344543369,0.00460402577403,0.0800442870119,0.999999989699,0.000105890373063,8.00638704921e-05,-5.45763611095e-05,1793248382144990976
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.320504643,745.320504643,715,681.320504643,660,633,880.679495357,784,814,651.679495357,630,653,0.440168918979,0.00460621681938,0.0800174850386,0.999999992383,0.0001056623032,3.33968426914e-05,-5.43564161926e-05,1793248382161657600
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.257915663,633,881,784,813.742084337,652,630,653,0.440928248266,0.00460711194982,0.0799585135322,0.999999991064,0.000105293302894,-6.0897719516e-05,-5.54743583815e-05,1793248382178324224
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.832480616,633,881,784,813.167519384,652,630,653,0.441607718551,0.00460641605407,0.0798600467152,0.999999969991,0.000104751277333,-0.000213665752212,-5.82348560862e-05,1793248382194990848
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715.407860764,681.407860764,661,633,880.592139236,784,813.407860764,652,630,653,0.442373218786,0.00460609195533,0.0798435517719,0.999999967218,0.00010065456239,-0.000228080048765,-5.84060683672e-05,1793248382211657472
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715.983576455,681.983576455,661,633,880.016423545,784,813.983576455,652,630,653,0.443174124668,0.00460592086942,0.0798607923106,0.999999976609,9.50949169676e-05,-0.000185554937541,-5.75116618284e-05,1793248382228324096
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715.428495983,682,661,633,880,784,814,651.428495983,630,653,0.443957850892,0.00460653159331,0.0799305075341,0.999999989911,9.85852675876e-05,-8.50119051054e-05,-5.68438232862e-05,1793248382244990976
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660.842241009,633,880,784,813.842241009,651,630,653,0.444730543916,0.00460610042041,0.0799901651694,0.999999993433,9.97338747648e-05,-2.28654227253e-07,-5.64511475528e-05,1793248382261657600
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660.261432771,633,880,784,813.261432771,651,630,653,0.445475003112,0.00460281371522,0.080018720079,0.999999993269,9.38901799673e-05,3.77242714133e-05,-5.6778513155e-05,1793248382278324224
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.316270661,715,682,660,633,880.316270661,784,813.316270661,651,630,653,0.4461696055,0.0046004934828,0.0800261076339,0.999999993045,9.05658555947e-05,5.0438382922e-05,-5.62467430284e-05,1793248382294990848
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.891432542,715,682,660,633,880.891432542,784,813.891432542,651,630,653,0.446823396312,0.00459896438092,0.0800161681221,0.999999993596,8.93038250135e-05,4.24926327345e-05,-5.50117059959e-05,1793248382311657728
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.524499879,715,682,660,633,880.524499879,784,814,651,630,652.524499879,0.447403080562,0.00460380206294,0.079988634633,0.999999993668,9.72168530276e-05,8.36345436788e-06,-5.60696548276e-05,1793248382328324096
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,715,682,660,633,880.060890454,783.939109546,814,651,630,652.060890454,0.447960572855,0.00461008148244,0.079955674648,0.999999992051,0.000106522794332,-3.52427069195e-05,-5.75262467765e-05,1793248382344990720
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660,633,880.639903867,783.360096133,814,651,630,652.639903867,0.448475955341,0.00461602318078,0.0799113744193,0.999999986537,0.000109515456435,-0.000107648837057,-5.78350456184e-05,1793248382361657344
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,715,682.219234231,659.780765769,633,881.219234231,783.219234231,814,651,630.219234231,652.780765769,0.448987577892,0.00462247406466,0.0798722199722,0.999999977691,0.000112656588818,-0.000168969571773,-5.81084530432e-05,1793248382378324224
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715,682.799085892,659.200914108,633,881.799085892,783.799085892,814,651,630.799085892,652.200914108,0.449493015691,0.00462976250499,0.0798415298031,0.999999969082,0.000116041939643,-0.000212055981449,-5.83236455807e-05,1793248382394990848
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.375132782,745,715,683,659,632.624867218,881.624867218,784,814,651.375132782,630.624867218,652,0.449999583268,0.00463371397158,0.0798440691812,0.999999969721,0.000121452827162,-0.000205949441202,-5.8244005438e-05,1793248382411657472
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.949162421,745,715,683,659,632.050837579,881.050837579,784,814,651.949162421,630.050837579,652,0.450506749903,0.0046358961624,0.0798642269916,0.999999975037,0.000127937662383,-0.00017376061182,-5.80080438702e-05,1793248382428324352
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715,683,658.464364473,632,881,783.464364473,814,651.464364473,630,652.535635527,0.450975530318,0.00463940543094,0.079892001431,0.999999980226,0.000135294551181,-0.000133773245282,-5.78543511476e-05,1793248382444990976
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.877741345,745,715,683,658,632,881,783.122258655,814,651,630,652.877741345,0.45142210803,0.00464345637136,0.0799115244802,0.999999982225,0.000142949729255,-0.000108461764521,-5.78973870652e-05,1793248382461657600
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.295106137,745,715,683,658,632,881,783.704893863,814,651,630,652.295106137,0.451799124848,0.00464906145758,0.0798971892537,0.999999976839,0.000151409065967,-0.000141267162947,-5.86511217331e-05,1793248382478324224
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,715,683.283266995,657.716733005,632,881.283266995,784,814.283266995,651.283266995,630,652.283266995,0.452146937456,0.00465360826446,0.0798706939365,0.999999967472,0.000163277605978,-0.000187133223068,-5.81124329518e-05,1793248382494990848
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,715,683.857265699,657.142734301,632,881.857265699,784,814.857265699,651.857265699,630,652.857265699,0.452464776238,0.00465706890366,0.079831718084,0.999999952104,0.000178645188562,-0.000246404120066,-5.62472623299e-05,1793248382511657728
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.432820927,745,715,684,657,632,881.567179073,783.567179073,814.567179073,651.567179073,630,652.567179073,0.452764964073,0.00466338154162,0.0798062312376,0.999999940802,0.00018683990116,-0.000282954139635,-5.8509170729e-05,1793248382528324352
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,683.990870706,656.990870706,632,881,783,814.009129294,651.009129294,630,652.009129294,0.453059020777,0.00467078819982,0.079785501559,0.999999930977,0.000192597647238,-0.000311585363489,-6.21907528277e-05,1793248382544990976
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,683.399380674,656.399380674,632,881,783,814.600619326,651.600619326,630,652.600619326,0.453334626484,0.00468776996554,0.0797834465752,0.999999929176,0.000194337692523,-0.000314768469009,-6.93008530444e-05,1793248382561657600
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,683,656,632,881,783.187517366,815,651.812482634,630,653,0.453599959167,0.00469464874436,0.0797823271155,0.999999930901,0.000178867639564,-0.000317419466883,-7.38214110672e-05,1793248382578323968
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,683,656,632,881,783.764868936,815,651.235131064,630,653,0.45384393499,0.00468052418712,0.079783152539,0.999999938326,0.000127619113428,-0.000318964252913,-7.29585087194e-05,1793248382594990592
+211,3.516666667,POSE1_TO_POSE2_PRESS,766.340181102,745,715,683,656,631.659818898,881,784,815,651.340181102,630,653,0.454060602798,0.00466105077006,0.079777814503,0.999999938216,0.000106781063343,-0.000328028967156,-6.7549804499e-05,1793248382611657472
+212,3.533333333,POSE1_TO_POSE2_PRESS,766.914092102,745,715,683,656,631.085907898,881,784,815,651.914092102,630,653,0.45425850798,0.00463790228421,0.0797682417086,0.99999993398,0.000106837283216,-0.000342260435873,-5.90177938665e-05,1793248382628324352
+213,3.550000000,POSE1_TO_POSE2_PRESS,766.498540686,745,715,683.501459314,656,631,881,783.498540686,815,652,630,653,0.454422853495,0.00464824387086,0.0797571589143,0.99999992535,0.000127085445939,-0.000359935959018,-5.99676345557e-05,1793248382644990976
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715,684,655.910409252,631,881,783,815,652,630,653,0.454578601041,0.0046615826947,0.0797471055479,0.999999916566,0.000147071432244,-0.000375981779222,-6.22579000002e-05,1793248382661657600
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,715,684,655.331049532,631,881,783,815,652,630,653,0.45471964238,0.00465907704533,0.0797441329551,0.99999991522,0.000146192213961,-0.000379804023975,-6.27509385088e-05,1793248382678324224
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.753153811,745.246846189,714.753153811,684,655,631,881,783.246846189,815,652,630,653,0.454850999023,0.00465751883566,0.0797439750318,0.999999915149,0.000144748653012,-0.000380410366325,-6.3539598698e-05,1793248382694990848
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765.397233376,745.602766624,714.397233376,683.602766624,655,631,881,783.602766624,815,652,630,653,0.455068809913,0.00466016336709,0.0797493200231,0.999999916605,0.000145033426449,-0.000376125727715,-6.54616249157e-05,1793248382728324096
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.971009787,745.028990213,714.971009787,683.028990213,655,631,881,783.028990213,815,652,630,653,0.455159696624,0.00466454056586,0.0797502507504,0.99999991561,0.000149592607054,-0.00037689001016,-6.60037397733e-05,1793248382744990976
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715,683,655,631,881,783.561938136,815,652,630,653,0.455227982106,0.00466144299622,0.079748427657,0.999999915262,0.000147879443784,-0.000378579626095,-6.54548892289e-05,1793248382761657600
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,715,683.150196737,655,631,881,783.849803263,815,652,630,653,0.455290101803,0.00466037485642,0.0797459157096,0.99999991439,0.000147534054713,-0.000381054134385,-6.51955101963e-05,1793248382778324224
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,715,683.728250062,655,631,881,783.271749938,815,652,630,653,0.455338083436,0.00466622091488,0.0797418589092,0.999999911916,0.000152035771879,-0.000385624250052,-6.59261082827e-05,1793248382794991104
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,715,683.060639662,654,631,880.060639662,783.939360338,815,651.939360338,630,653,0.455483961776,0.004667497158,0.0797207176789,0.999999897744,0.000155425464878,-0.000420022541695,-6.27338715402e-05,1793248382944990976
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.526678322,745,715,683,654,631,881.053356645,783.473321678,814.473321678,651.473321678,630,653,0.455485196458,0.00466758147711,0.0797190915352,0.999999896885,0.000153329153464,-0.000422815489815,-6.28274734168e-05,1793248382961657344
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,683.113494491,654,631,881.886505509,783,814,651,630,653,0.45548631035,0.00466771277669,0.0797178058589,0.99999989618,0.000151645475843,-0.00042507532381,-6.28868911047e-05,1793248382978324224
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,683.69256481,654,631,881.30743519,783,814,651,630,653,0.455487626518,0.004667904473,0.0797179522044,0.999999896239,0.00015251781256,-0.00042465060326,-6.26991200186e-05,1793248382994990848
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,714.7299602,683.7299602,654,631,881,783,814.2700398,651,630,653,0.455487512168,0.0046686017437,0.0797172306984,0.999999895483,0.000153561649254,-0.000426093674588,-6.24337315448e-05,1793248383011657472
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,714.154290723,683.154290723,654,631,881,783,814.845709277,651,630,653,0.455485778766,0.00466987122094,0.0797155269625,0.999999893792,0.000154799588864,-0.000429650703246,-6.20804960798e-05,1793248383028324096
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,714.420342772,683,654,631,881,783,814.579657228,651,630,653,0.455485268417,0.00466800941094,0.0797143540905,0.999999893491,0.000152719200005,-0.000431142503892,-6.17324419571e-05,1793248383044990720
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,714.9945969,683,654,631,881,783,814.0054031,651,630,653,0.455485205898,0.00466500105882,0.079713375598,0.999999893693,0.0001494237826,-0.000431878107079,-6.13862850388e-05,1793248383061657344
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.413821718,745,715,683.586178282,654,631,881,783,814.586178282,651.586178282,630,653,0.455483754694,0.00466770325,0.0797114784319,0.999999892116,0.00015220484649,-0.000434482328236,-6.18602457331e-05,1793248383078323968
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.174112307,745,715,684,654,631,881,783,815,652,629.825887693,653,0.455483333533,0.00466943442058,0.0797104137557,0.999999891248,0.000153579132318,-0.000435962634511,-6.20885625758e-05,1793248383094990592
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.753180378,745,715,684,654,631,881,783,815,652,629.246819622,653,0.455485338757,0.00466878100766,0.0797113056055,0.999999892091,0.000151547252481,-0.00043478762448,-6.17274358402e-05,1793248383111657216
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,714.671039025,684,654,631,881,783,814.671039025,652,629.328960975,653,0.455485347884,0.00466733413204,0.0797111669181,0.999999892081,0.000149425095004,-0.000435579044044,-6.14968902268e-05,1793248383128324096
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,714.097700643,684,654,631,881,783,814.097700643,652,629.902299357,653,0.455483874158,0.00466529781157,0.0797102626687,0.99999989143,0.000147235872472,-0.000437831278176,-6.13633502884e-05,1793248383144990976
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,714.478626645,683.521373355,654,631,881,783,814.478626645,652,630,653,0.455483259581,0.00466546401407,0.0797093041446,0.999999890939,0.000148747730731,-0.000438446607295,-6.13280809662e-05,1793248383161657344
+245,4.083333333,HOLD_POSE2,766,745,714,684,654,631,881,783,815,652,630,653,0.455486182425,0.00466787269725,0.0797099113448,0.999999891484,0.000152604246722,-0.000435979713479,-6.05474699908e-05,1793248383204881152
+246,4.100000000,HOLD_POSE2,765.424259589,745,714.575740411,683.424259589,654,631,881,783.575740411,815,652,630,653,0.455485071859,0.00466728729041,0.0797090069036,0.999999890562,0.00015226933263,-0.000438183805495,-6.07106097977e-05,1793248383221547776
+247,4.116666667,HOLD_POSE2,765,745,715,683.149995396,654,631,881,783.850004604,815,651.850004604,630,652.850004604,0.455484386546,0.00466705763808,0.0797084222027,0.999999889955,0.000151723450247,-0.000439730222228,-6.08841472645e-05,1793248383238214400
+248,4.133333333,HOLD_POSE2,765,745,715,683.720090205,654,631,881,783.279909795,815,651.279909795,630,652.279909795,0.455484892261,0.00466782436461,0.0797087330139,0.999999890245,0.000150586698621,-0.000439434656268,-6.10868060023e-05,1793248383254881280
+249,4.150000000,HOLD_POSE2,765.303271379,745,715,684,654,631,881.303271379,783,814.696728621,651,630,652.303271379,0.455484308452,0.00466735281208,0.0797079629114,0.999999889851,0.00014999831241,-0.000440556706308,-6.09020152138e-05,1793248383271547648
+250,4.166666667,HOLD_POSE2,765.899075507,745,715,684,654,631,881.899075507,783,814.100924493,651,630,652.899075507,0.455482673697,0.00466568682705,0.0797061501695,0.999999888794,0.000149938874438,-0.000443046175553,-6.0343494208e-05,1793248383288214272
+251,4.183333333,HOLD_POSE2,766,745,715,684,654,631,881.518788582,783,814.481211418,651.481211418,630,653,0.455482007468,0.00466732016746,0.0797056331633,0.99999988837,0.000150659466756,-0.000443701081447,-6.07613503823e-05,1793248383304880896
+252,4.200000000,HOLD_POSE2,766,745,714.939789348,684,654,631,881,783,814.939789348,651.939789348,630,653,0.455481778314,0.00466910096526,0.0797054676866,0.99999988822,0.000151131565701,-0.00044380806422,-6.12619207235e-05,1793248383321547520
+253,4.216666667,HOLD_POSE2,766,745,714.363781643,684,654,631,881,783,814.363781643,651.363781643,630,653,0.455483601327,0.00466638091393,0.0797060499018,0.999999889315,0.000148112192814,-0.000442426293935,-6.0765296754e-05,1793248383338214144
+254,4.233333333,HOLD_POSE2,766,745,714,684,654,631,881,783,814.211233274,651.211233274,630,653,0.455484693087,0.00466598024197,0.0797063921185,0.999999889799,0.000147502517281,-0.000441548846083,-6.06576053156e-05,1793248383354880768
+255,4.250000000,HOLD_POSE2,766,745,714,684,654,631,881,783,814.784546373,651.784546373,630,653,0.455484531388,0.00466955527194,0.0797063229485,0.999999889245,0.000151023359843,-0.000441535869083,-6.12165921461e-05,1793248383371547648
+256,4.266666667,HOLD_POSE2,766,745,714.36963245,684,654.36963245,631,881,783,814.63036755,652,630,653,0.455484477552,0.00467072766006,0.0797061826902,0.999999889094,0.000151525350084,-0.000441673791167,-6.14537144031e-05,1793248383388214528
+257,4.283333333,HOLD_POSE2,766,745,714.961806648,684,654.961806648,631,881,783,814.038193352,652,630,653,0.455484488657,0.00467045350854,0.0797059996324,0.999999889189,0.000150209803622,-0.000441902563896,-6.14970542021e-05,1793248383404881152
+258,4.300000000,HOLD_POSE2,765.45898767,745,715,684,653.917975339,631,881,783,814.54101233,652,630,653,0.455484124395,0.0046688947076,0.0797060525324,0.999999888685,0.000150368518138,-0.00044304333962,-6.10895129359e-05,1793248383421547776
+259,4.316666667,HOLD_POSE2,765,745.118358372,715,684,653.118358372,631,881,783,815,652,630,653,0.45548365124,0.00466740555462,0.0797059557615,0.999999888175,0.000150556251376,-0.000444186135879,-6.06787631661e-05,1793248383438214144
+260,4.333333333,HOLD_POSE2,765,745.691990542,715,684,653.691990542,631,881,783,815,652,630,653,0.45548285876,0.00466652499064,0.0797052206955,0.999999887803,0.000150464639372,-0.000445094845223,-6.03752433148e-05,1793248383454880768
+261,4.350000000,HOLD_POSE2,765.272857872,745.727142128,714.727142128,683.727142128,654,631,881,783,815,652,630,653,0.455482212679,0.004666166466,0.079704474604,0.999999887402,0.000150369917052,-0.000446048055354,-6.02110604003e-05,1793248383471547648
+262,4.366666667,HOLD_POSE2,765.86211488,745.13788512,714.13788512,683.13788512,654,631,881,783,815,652,630,653,0.455481736357,0.00466641328511,0.0797037157276,0.999999886969,0.000150271588096,-0.000447052867425,-6.02084491157e-05,1793248383488214272
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,714,683,654,631,881,783,814,651,630,653,0.455480750894,0.0046687221118,0.0797032421272,0.999999886577,0.000149063712438,-0.000448190236769,-6.1247684727e-05,1793248383520914176
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745.577167488,714,683,654,630.422832512,880.422832512,783.577167488,814.577167488,651,630,652.422832512,0.455481469093,0.0046684394316,0.079703545188,0.999999886743,0.000149906747074,-0.000447603710256,-6.07727895247e-05,1793248383537580544
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,746,714,683,653.846817361,630.153182639,880.153182639,783.846817361,814.846817361,651,630,652.153182639,0.455482280671,0.00466816142379,0.0797037407604,0.999999886989,0.000150215322991,-0.000446990672266,-6.04681291889e-05,1793248383554247424
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,746,714,683,653.273959147,630.726040853,880.726040853,783.273959147,814.273959147,651,630,652.726040853,0.455483348079,0.00466789621689,0.0797036418459,0.999999887459,0.000149059638697,-0.000446305000458,-6.06298624326e-05,1793248383570914816
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745.691217901,714.308782099,683.308782099,653.308782099,631,881,783,814,651.308782099,630,653,0.45548317983,0.00466809776496,0.0797034235562,0.999999887379,0.000148992265748,-0.000446504156665,-6.06461960503e-05,1793248383587581440
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745.099418291,714.900581709,683.900581709,653.900581709,631,881,783,814,651.900581709,630,653,0.455481879027,0.00466872712227,0.0797030958517,0.999999886795,0.000149922396184,-0.000447514311425,-6.0529262088e-05,1793248383604247808
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,684,653.518064759,631,881,783,814,652,630,653,0.455482757967,0.00466797438548,0.0797035044077,0.999999887413,0.000150122885696,-0.00044608106484,-6.04122865443e-05,1793248383620914688
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745.060628919,715,683.939371081,653.060628919,631,881,783,814,652,630,653,0.455483809766,0.00466703802113,0.0797039712136,0.999999888149,0.000149927278584,-0.000444507126007,-6.03100601371e-05,1793248383637581568
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745.634659729,715,683.365340271,653.634659729,631,881,783,814,652,630,653,0.455482598415,0.00466690979835,0.0797036724252,0.999999887861,0.000147625081586,-0.000445919513231,-6.03327995845e-05,1793248383654248192
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745.791632558,714.791632558,683,653.791632558,631,881,783,814.208367442,652,630,653,0.455479203803,0.00466733160397,0.0797020937935,0.999999886817,0.000146976769439,-0.000448457797503,-6.04109421208e-05,1793248383670914816
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745.218490529,714.218490529,683,653.218490529,631,881,783,814.781509471,652,630,653,0.455471987106,0.00466871630659,0.0796982746279,0.999999884441,0.000149223800274,-0.000452967112342,-6.05860750406e-05,1793248383687581696
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745.36803489,714,683,653.36803489,631,881,783,814.63196511,652,630,653,0.455445788805,0.00466856670459,0.0796864860226,0.999999875804,0.000149013994054,-0.000471740496883,-6.03940449776e-05,1793248383704247808
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745.962805486,714,683,653.962805486,631,881,783,814.037194514,652,630,653,0.455407896484,0.00466747186181,0.0796697876743,0.999999862703,0.000147290601341,-0.000499301564495,-5.99758163458e-05,1793248383720914176
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.459220966,745.459220966,714,683,654,631,881.540779034,783,814,651.459220966,630,652.459220966,0.455344146665,0.00466848045845,0.0796489649347,0.999999843856,0.000151006461243,-0.000534774202505,-5.91776507174e-05,1793248383737580800
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.117173036,683,654,631,881.882826964,783,814.117173036,651,630,652,0.455276757631,0.00466908698012,0.0796294911425,0.999999825972,0.000154136289082,-0.000566485257663,-5.82447866838e-05,1793248383754247680
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.69177511,683,654,631,881.30822489,783,814.69177511,651,630,652,0.455201895284,0.00466757607797,0.0796163575338,0.999999817549,0.000153561843466,-0.000581451257213,-5.68850191335e-05,1793248383770914304
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714.733251767,683,654,631,881.266748233,783,814.733251767,651.266748233,630,652.266748233,0.455122200454,0.00466634872111,0.0796094037164,0.999999812337,0.000154139307133,-0.000590363813203,-5.51125124206e-05,1793248383787580672
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714.157849338,683,654,631,881.842150662,783,814.157849338,651.842150662,630,652.842150662,0.455036913965,0.00466544945438,0.0796096005322,0.999999811034,0.000156049644293,-0.000592271933071,-5.28624256017e-05,1793248383804247296
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.428341659,745,714,683,654,631,881.571658341,783,814,651.571658341,630,653,0.454936434536,0.00466701739546,0.0796115970679,0.999999811472,0.00015943994616,-0.000590828773644,-5.05495936352e-05,1793248383820913920
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,714,683.01821063,654,631,880.98178937,783,814.01821063,651,630,653,0.45482906352,0.00466932194714,0.0796141210974,0.999999812446,0.000163255461551,-0.000588332942019,-4.81753623843e-05,1793248383837580288
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,714,683.595779067,654,631,880.404220933,783,814.595779067,651,630,653,0.454686426287,0.00466560375979,0.0796119498185,0.999999810248,0.000162946934619,-0.000592417272975,-4.46437667166e-05,1793248383854246912
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.827189702,745,714,683.827189702,654.172810298,631,880.172810298,783,814.827189702,651,630,653,0.454534050944,0.00466257258872,0.0796079345229,0.999999806694,0.000164337904331,-0.000598280734452,-4.08165476903e-05,1793248383870914048
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.251411242,745,714,683.251411242,654.748588758,631,880.748588758,783,814.251411242,651,630,653,0.454358967785,0.00466114343897,0.0795996192521,0.999999799933,0.000169691849961,-0.000608292865686,-3.62999790228e-05,1793248383887580672
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.331575979,745,714.331575979,683.331575979,654.668424021,631,881,783.331575979,814,651.331575979,630,653,0.454167724484,0.00465999328971,0.07959186316,0.999999792593,0.000174087547578,-0.00061927652479,-3.16931122912e-05,1793248383904247296
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.920150643,745,714.920150643,683.920150643,654.079849357,631,881,783.920150643,814,651.920150643,630,653,0.453963955725,0.00465905938865,0.0795845404766,0.99999978475,0.000177740524647,-0.000631013199023,-2.70162566424e-05,1793248383920913920
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.49710288,745,714.49710288,684,654,631,881,783.49710288,814,651.49710288,630,652.49710288,0.453732346006,0.00465817695796,0.079585505983,0.999999783569,0.000183597862138,-0.000631442643084,-2.08187283336e-05,1793248383937580288
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714.083666141,683.916333859,654.083666141,631,881,783,814,651,630,652.083666141,0.453490137011,0.00465678296048,0.0795879563524,0.999999783721,0.000189485397552,-0.000629640874295,-1.43285717132e-05,1793248383954247168
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714.65820075,683.34179925,654.65820075,631,881,783,814,651,630,652.65820075,0.453211380282,0.00465234020704,0.0795914859634,0.999999785833,0.000193520153033,-0.000625161212739,-7.52192332063e-06,1793248383970913792
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714.766725324,683,655,631.233274676,881,783,814,651.233274676,630,653,0.452919483279,0.00464920296795,0.0795949251146,0.999999787258,0.000199910720806,-0.000620902960734,-1.75954230818e-07,1793248383987580416
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714.190859383,683,655,631.809140617,881,783,814,651.809140617,630,653,0.452608288257,0.00464798303032,0.0795982314147,0.999999787643,0.000209761075432,-0.000616969874916,7.96207025193e-06,1793248384004246784
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.395746514,745,714.395746514,683,655.395746514,632,881,783.395746514,814,652,630,652.604253486,0.452277583305,0.00464549998685,0.0796031854571,0.999999791501,0.000214313710608,-0.000608984914489,1.43436868446e-05,1793248384020913664
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.987676515,745,714.987676515,683,655.987676515,632,881,783.987676515,814,652,630,652.012323485,0.4519372067,0.00464239078375,0.079608956335,0.999999797028,0.00021624010612,-0.000598991317661,1.9854598814e-05,1793248384037580288
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.436009651,745,715,683,656,631.436009651,881,784,813.436009651,651.436009651,630,652.563990349,0.451551950963,0.0046410372027,0.0796163172028,0.99999980466,0.000206346868409,-0.000589619514965,2.12181073397e-05,1793248384054246912
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.140055208,745,714.859944792,683.140055208,656.140055208,631.140055208,880.859944792,783.859944792,813,651,630,653,0.451157919377,0.00463833095375,0.0796262056045,0.999999817633,0.000188833713098,-0.000573291618283,2.03323459452e-05,1793248384070913792
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.716378667,745,714.283621333,683.716378667,656.716378667,631.716378667,880.283621333,783.283621333,813,651,630,653,0.450739523673,0.00463129490568,0.0796438619004,0.999999845664,0.00014836753269,-0.000535254493211,1.27148506962e-05,1793248384087580672
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.702268994,745,714.297731006,683.702268994,657,632,880,783.297731006,813,651,630,653,0.450309488728,0.00462542181442,0.079664777059,0.999999868962,0.000126823039402,-0.000495832351466,1.19250310181e-05,1793248384104247296
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.116043724,745,714.883956276,683.116043724,657,632,880,783.883956276,813,651,630,653,0.449868175584,0.00462067559984,0.0796888499802,0.999999888659,0.000123613206357,-0.000455068157555,1.77510657212e-05,1793248384120913664
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,657.467213305,632,880.467213305,784,813,651,630,653,0.449355359373,0.00461608569913,0.0796937197222,0.999999890496,0.000118854489367,-0.000452064499036,2.27770410594e-05,1793248384137580544
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714.950984835,683,658,632.049015165,880.950984835,784,813,651,630,653,0.448819573948,0.0046112800253,0.0796919451552,0.99999988627,0.000120087896689,-0.000460765112798,2.70909047462e-05,1793248384154247168
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714.376922889,683,658,632.623077111,880.376922889,784,813,651,630,653,0.448226781274,0.0046037497448,0.0796697660286,0.999999859172,0.000189603380238,-0.000495010861892,2.589185755e-05,1793248384170913792
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,658.197926451,633,880,784,812.802073549,651,629.802073549,652.802073549,0.447635495476,0.00459610043774,0.0796614053346,0.999999846544,0.000225630119685,-0.000505297091633,2.60455119708e-05,1793248384187580672
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,658.774281225,633,880,784,812.225718775,651,629.225718775,652.225718775,0.447047090807,0.00458822355658,0.0796794649932,0.999999869714,0.000197627570551,-0.00046977357571,2.87854839866e-05,1793248384204247296
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714.359694109,683,659,633,880,784,812,651,629.359694109,652,0.446464184544,0.00458126058605,0.0797240425219,0.99999990475,0.000167426384067,-0.000401889775869,3.08590452497e-05,1793248384220913920
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714.950938047,683,659,633,880,784,812,651,629.950938047,652,0.445884817853,0.00457488593752,0.0797856906889,0.999999941211,0.000135809844722,-0.000313174334931,3.2503610323e-05,1793248384237580544
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,683.530580429,659,633,880.530580429,784,812,651,630,652,0.445227744881,0.00456996790295,0.0798245001009,0.999999958139,0.000121282482621,-0.000260310772409,3.53661238501e-05,1793248384254247168
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,683.891862053,659,633,880.891862053,784,812,651,630,652,0.444547043875,0.00456470852098,0.0798513691649,0.999999967249,0.00011317603502,-0.000226318036063,3.83722304688e-05,1793248384270913792
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,683.318755144,659,633,880.318755144,784,812,651,630,652,0.443794982229,0.00455741467489,0.0798357836356,0.999999957522,0.000126028927279,-0.000259516179507,4.15218679724e-05,1793248384287580416
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,744.745467804,715,683,659,633,879.745467804,784,812,651,630,652.254532196,0.443025863347,0.00455020259277,0.0798164565584,0.9999999489,0.000128060737285,-0.00028972731899,4.31210438609e-05,1793248384304247040
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,744.171954266,715,683,659,633,879.171954266,784,812,651,630,652.828045734,0.442235368129,0.00454309297675,0.0797924405478,0.999999942306,0.00011653150113,-0.000316195131072,4.2777172006e-05,1793248384320913664
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,744.414648449,715,683,659,633,879.414648449,784,811.585351551,651,630,652.585351551,0.441437548523,0.00453617001786,0.0797760707793,0.999999938299,9.84077466247e-05,-0.000334468644342,4.3003181177e-05,1793248384337580288
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714.993292912,683.006707088,659,633,880.006707088,784,811.006707088,651,630,652,0.440635531366,0.00452932312874,0.0797624582646,0.999999934698,7.79058911734e-05,-0.000350203080911,4.3494293987e-05,1793248384354247168
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714.41395899,683.58604101,659,633,880.58604101,784,811.58604101,651,630,652,0.439742914672,0.00452214666353,0.0797047067325,0.999999893711,9.54630077731e-05,-0.000448740430384,4.57843959851e-05,1793248384370913792
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714.164088129,683.835911871,659,633,880.835911871,784,811.835911871,651.164088129,629.835911871,652,0.438874108807,0.00451415474088,0.0796737453261,0.999999867819,0.000100054057077,-0.000502088498642,4.75200742036e-05,1793248384387580416
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714.738914149,683.261085851,659,633,880.261085851,784,811.261085851,651.738914149,629.261085851,652,0.43806490517,0.00450412160292,0.0797098437393,0.999999898425,7.21890411969e-05,-0.000442320829892,4.78679449224e-05,1793248384404247296
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,683.32074804,659,633.32074804,879.67925196,784,811,651.67925196,629.32074804,652.32074804,0.437259962485,0.00449519314516,0.0797663169647,0.999999934057,6.47704841229e-05,-0.000353913339668,4.93478282457e-05,1793248384420913920
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,683.908413655,659,633.908413655,879.091586345,784,811,651.091586345,629.908413655,652.908413655,0.436458565687,0.00448718397196,0.0798397455391,0.999999966692,7.436690098e-05,-0.000241672588921,5.17697405275e-05,1793248384437580544
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,683.508948001,659,634,879,784,811,651,630,653,0.435578162988,0.00447748126613,0.0798560265012,0.999999972289,5.83911712017e-05,-0.000221826755402,5.29673948869e-05,1793248384454247168
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.927984676,659,633.927984676,879.072015324,784,811,651,630,652.927984676,0.434679471715,0.00446740404272,0.0798570667715,0.999999972516,4.03729148097e-05,-0.00022453833923,5.40389777934e-05,1793248384470913792
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.352245836,659,633.352245836,879.647754164,784,811,651,630,652.352245836,0.433754883293,0.00445689415534,0.0798253014866,0.999999962296,4.1090684409e-05,-0.000265716645022,5.58096877702e-05,1793248384487580672
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.222303641,659,633,880,784,811,651,629.777696359,652.222303641,0.432790076229,0.00444762229895,0.0797810215575,0.999999940059,3.57640359701e-05,-0.00033964783713,5.69389367591e-05,1793248384504247040
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.79497866,659,633,880,784,811,651,629.20502134,652.79497866,0.431761880673,0.00444030169381,0.0797170173713,0.999999889948,2.09108178599e-05,-0.000465200651919,5.70571828654e-05,1793248384520913664
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,879.620885351,784,811.379114649,651,629.379114649,652.620885351,0.430822531621,0.00443024601986,0.0797090882848,0.999999882772,1.26259208527e-05,-0.000480556483822,5.79783955913e-05,1793248384537580544
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,879.03035821,784,811.96964179,651,629.96964179,652.03035821,0.429932727699,0.00441866514094,0.0797324293645,0.999999903829,8.00383536004e-06,-0.000434461192936,5.93473812134e-05,1793248384554247168
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.449927422,659.550072578,633,879.550072578,784,811.449927422,651,630,652,0.429072378188,0.00441011678224,0.0798021808893,0.999999946658,-1.88461973773e-06,-0.000320939726147,6.06521980925e-05,1793248384570913792
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.128823474,745,715,682,659.871176526,633.128823474,879.871176526,784,811,651,629.871176526,652,0.428196032879,0.00440186113504,0.0798551372011,0.999999970446,-1.03142450175e-05,-0.000234885253578,6.18943186081e-05,1793248384587580416
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.703652686,745,715,682,659.296347314,633.703652686,879.296347314,784,811,651,629.296347314,652,0.427258781283,0.0043940499062,0.0798412380234,0.999999965023,-1.27050577066e-05,-0.000256576739938,6.29314175292e-05,1793248384604247296
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.715909643,745,715,682.284090357,658.715909643,633.715909643,879.284090357,784,811,651,629,652,0.42630273565,0.00439374398765,0.079812544144,0.999999952845,-1.30917613224e-05,-0.000300308749503,6.28702101533e-05,1793248384620913664
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.129503751,745,715,682.870496249,658.129503751,633.129503751,879.870496249,784,811,651,629,652,0.425326690352,0.00440142486622,0.0797681064428,0.999999930509,-1.13457865607e-05,-0.000367495240241,6.16402368555e-05,1793248384637580288
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.54810117,658,633,879.54810117,784,811,651,629.45189883,652,0.424347764651,0.00443321665928,0.079741127499,0.999999913146,3.26964521667e-05,-0.000411050572055,6.06295757136e-05,1793248384654247168
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,633,879,784,811,651,629.968284199,652,0.423374557511,0.0044704444562,0.0797216978834,0.999999896325,8.61311036915e-05,-0.00044316517477,5.94668553235e-05,1793248384670913792
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,633,879,784,811,651,629.391347093,652,0.422513693445,0.00448364005025,0.0797469789348,0.999999916483,9.49385090338e-05,-0.000393747990819,5.46215035424e-05,1793248384687580416
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,744.814985345,715,681.814985345,658.185014655,633,879,784,810.814985345,651,629,652,0.421671499734,0.0044907936438,0.0797854399646,0.999999941476,9.73798013144e-05,-0.000323914615277,5.14167967229e-05,1793248384704247296
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,744.239836727,715,681.239836727,658.760163273,633,879,784,810.239836727,651,629,652,0.420868675395,0.00448520668365,0.0798516931609,0.999999972666,8.63970937749e-05,-0.000211030316546,5.16716597325e-05,1793248384720913920
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,744.345322642,715,681,658.654677358,633,878.654677358,784,810.345322642,651,629,652,0.41999985492,0.0044789563476,0.0798664120884,0.999999977765,8.06036882566e-05,-0.00018775587253,5.21538315117e-05,1793248384737580544
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,744.937642312,715,681,658.062357688,633,878.062357688,784,810.937642312,651,629,652,0.4190838298,0.00447223152266,0.0798442703788,0.9999999694,7.85220073618e-05,-0.000228576184388,5.27985894384e-05,1793248384754247424
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.516001264,633,878.516001264,784,811,651,629,652,0.418192265447,0.00446927047946,0.0798102825806,0.99999995491,7.32577896489e-05,-0.000286613173705,5.16384930087e-05,1793248384770914560
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.907274496,659,633.092725504,878.907274496,784,811,651,629,652,0.417313147598,0.00446845345746,0.0797830299907,0.999999939834,7.0235688276e-05,-0.000335889345018,5.07708512392e-05,1793248384787581952
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.330508669,659,633.669491331,878.330508669,784,811,651,629,652,0.416483977864,0.0044765167217,0.0797982123131,0.999999941276,8.08725488198e-05,-0.000328857885818,5.25384522794e-05,1793248384804248576
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.749270506,633.749270506,878.250729494,784,810.749270506,651,629,651.749270506,0.415668331664,0.00448284228822,0.0797980824328,0.999999937335,9.35997865941e-05,-0.000337135852887,5.39317746296e-05,1793248384820915200
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.162029944,633.162029944,878.837970056,784,810.162029944,651,629,651.162029944,0.414870835843,0.00448683564137,0.0797774016156,0.999999925579,0.000109132577221,-0.000365961029634,5.48227669046e-05,1793248384837581824
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633,878.580540795,784,810,651,629,651.419459205,0.414113609834,0.00448342447635,0.0797815208203,0.99999993387,9.43225771621e-05,-0.000347281714959,5.25262715154e-05,1793248384854248448
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633,878.001243219,784,810,651,629,651.998756781,0.4133717289,0.00447719175929,0.0797950902751,0.999999948285,6.79502090029e-05,-0.000310500426088,4.90151578042e-05,1793248384870915072
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.575055145,658,633,878,784,810,651,629,652,0.412651467742,0.00447295434599,0.0798052150147,0.999999951261,6.9600125918e-05,-0.000300045941107,5.10520906623e-05,1793248384887581184
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.151256005,745,715,680.848743995,658,633,878,784,810,651,629,652,0.411930136769,0.00447135512081,0.0798078739376,0.999999950186,7.54502097924e-05,-0.000301910423449,5.27812096424e-05,1793248384904247552
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.727201343,745,715,680.272798657,658,633,878,784,810,651,629,652,0.4112056713,0.00447715122345,0.0797895915036,0.999999937054,9.29241047147e-05,-0.000338204529149,5.36125615187e-05,1793248384920914176
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,633,878,784,810,651,629,652,0.410531674339,0.00448342862022,0.0797833817467,0.999999931823,0.000102787390352,-0.00035054384555,5.39286535672e-05,1793248384937580800
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,633,878,784,810,651,629,652,0.40990309352,0.00449013912834,0.0797880360705,0.999999934705,0.000105801964918,-0.000341326488143,5.37810685257e-05,1793248384954247424
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,633.480026499,878,784,810,651,629,652,0.40930353651,0.00448930945935,0.0798136771799,0.999999949006,0.000105546716395,-0.000296537354,5.39684416913e-05,1793248384970914816
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.941159184,745,715,680,658,633.941159184,878,784,810,651,628.941159184,652.058840816,0.408711062665,0.00448687823283,0.0798397834601,0.999999961493,0.000103573860881,-0.000251686138411,5.42355156713e-05,1793248384987581696
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.366980352,745,715,680,658,633.366980352,878,784,810,651,628.366980352,652.633019648,0.408128031518,0.00448408353368,0.0798319344974,0.999999957581,9.24830209205e-05,-0.000270749359587,5.45936602519e-05,1793248385004248320
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633,878,784,809.791902356,651,628.208097644,652.791902356,0.407549631893,0.00448212446252,0.0798130201786,0.999999947363,9.13734917004e-05,-0.000306525844717,5.44625116679e-05,1793248385020915200
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633,878,784,809.215231865,651,628.784768135,652.215231865,0.406979435464,0.00448164541698,0.0797745074174,0.999999923589,0.000107942395826,-0.000371904081271,5.34647496667e-05,1793248385037581824
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.370055757,878,784,809,651,629,652,0.406481488811,0.00448385499981,0.0797639510726,0.999999918503,0.000109436733988,-0.00038501999729,5.27032708571e-05,1793248385054247936
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.960474822,878,784,809,651,629,652,0.406026565888,0.00448766562522,0.0797700424002,0.999999926097,0.000101954369319,-0.000367014399733,5.2082495549e-05,1793248385070914048
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.540584334,745,715,680.540584334,658,634,878,784,809,651,629,652,0.405602049983,0.00449003784625,0.0797920183852,0.99999994007,0.000105921390078,-0.000325559976385,5.14837000295e-05,1793248385087580928
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.881106542,745,715,680.881106542,658,633.881106542,878,784,809,651,629,652,0.405186288145,0.00449237461247,0.0798125837241,0.999999950648,0.000111439463263,-0.000289279539869,5.10250941808e-05,1793248385104247552
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.306859681,745,715,680.306859681,658,633.306859681,878,784,809,651,629,652,0.404795698169,0.00449497084515,0.0798233814963,0.999999952532,0.000119751813191,-0.000279258528279,5.10973650784e-05,1793248385120914432
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.861202686,878,784,809.861202686,651,629,652,0.404063506872,0.00449561738169,0.0798329198473,0.999999951772,0.000122289128922,-0.000280157659036,5.4887665553e-05,1793248385154247936
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,633.404148799,878,784,809.404148799,651.595851201,629,652,0.403123424462,0.00449032857235,0.0798305795368,0.99999994981,0.000106907274057,-0.00029354928104,5.27256427141e-05,1793248385204247808
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.825720992,658,633.174279008,878.174279008,784,809.174279008,651.825720992,629,652,0.402856950553,0.00448733886162,0.0798313523887,0.999999950983,0.000100266451431,-0.000292106414219,5.15259466501e-05,1793248385220914432
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.2499114,658,633.7500886,878.7500886,784,809.7500886,651.2499114,629,652,0.402620349,0.00448858307646,0.0798306393548,0.999999950029,0.000101498746976,-0.000294691094217,5.28971807053e-05,1793248385237581056
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.077262519,745,715,680.845474962,658,633.077262519,878.077262519,784,810,651,628.077262519,652,0.402214931531,0.00448529410874,0.0798310248636,0.999999951868,8.8428688984e-05,-0.000292314898254,5.47299865143e-05,1793248385270914560
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633,878,784,810,651,628,652,0.401757780977,0.00449606299609,0.0798476582852,0.999999958437,9.42656883098e-05,-0.000266606124341,5.62196733872e-05,1793248385320914688
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.23139002,878,784,809.76860998,651.23139002,628,652,0.401625472482,0.00450630679603,0.0798462695204,0.999999956603,0.000106210955401,-0.000269210850303,5.51274907721e-05,1793248385337581312
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.806939986,878,784,809.193060014,651.806939986,628,652,0.40150534472,0.00452134679446,0.0798397550785,0.999999950844,0.000126177117303,-0.000282293252106,5.19731612779e-05,1793248385354247936
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784,809.437792634,651.562207366,628.562207366,652,0.401239556275,0.00452084333051,0.0798250305214,0.999999936816,0.000180684920066,-0.000303026197291,4.35526689419e-05,1793248385404247808
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715.138832015,679.861167985,658,633.861167985,878,784,809.138832015,652,628.861167985,652,0.401173441011,0.00451833922042,0.0798218198136,0.999999936275,0.000176687490498,-0.000307009552514,4.44624906289e-05,1793248385420914688
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715.702401196,679.297598804,658,633.297598804,878,784,809.702401196,651.702401196,628.297598804,652,0.40108256035,0.00451878967999,0.0798206116824,0.999999936477,0.000174692759013,-0.000307267313051,4.5998153989e-05,1793248385454248192
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784,809.46624026,651.46624026,628.53375974,652,0.401025232676,0.00451597677204,0.0798204610747,0.999999937699,0.000166857563832,-0.000307556464283,4.65804231011e-05,1793248385487581184
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.954846574,878,784,809.954846574,651.954846574,628.045153426,652,0.401004332713,0.00451670961482,0.0798205672117,0.999999938263,0.000165507773541,-0.000306485267059,4.63469606389e-05,1793248385504247808
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.377420034,878,784,809.377420034,651.377420034,628.622579966,652,0.400993922329,0.00451627477702,0.0798212698103,0.999999939257,0.000164672711413,-0.000303635297868,4.66231955894e-05,1793248385520914176
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.197519233,878.197519233,784,809.197519233,651,628.802480767,652,0.40098463551,0.00451520581393,0.0798221514024,0.99999994024,0.000162923170893,-0.000301298219949,4.68559707596e-05,1793248385537580800
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.767764883,878.767764883,784,809.767764883,651,628.232235117,652,0.400977468903,0.00451294023196,0.079823370762,0.999999941205,0.000159447974395,-0.000299928987832,4.70067356304e-05,1793248385554247424
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.351918236,745,715,680,658,634,878.648081764,784,809.648081764,651,628.351918236,652,0.400972083117,0.0045137472555,0.079823805163,0.999999940929,0.00016112010621,-0.000299975790688,4.68737512706e-05,1793248385570914304
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.945627055,745,715,680,658,634,878.054372945,784,809.054372945,651,628.945627055,652,0.400967920871,0.00451666535781,0.0798237002468,0.999999939785,0.000166328785551,-0.000300995501186,4.65458128347e-05,1793248385587580928
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,744.47418788,715,680,658,634,878,784,809.52581212,651,628.47418788,652,0.400967108453,0.00451682859799,0.0798247276766,0.999999940679,0.000164269164459,-0.000299160519624,4.64884732196e-05,1793248385604247808
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.895890346,744.104109654,715,680,658,634,878,784,809.895890346,651,628.104109654,652,0.400966858702,0.0045164166864,0.0798258415066,0.999999941729,0.000161762760928,-0.000297011221253,4.64605028192e-05,1793248385620914432
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.319968314,744.680031686,715,680,658,634,878,784,809.319968314,651,628.680031686,652,0.400967628416,0.0045146568971,0.0798268295458,0.999999942597,0.00016055233321,-0.0002947417286,4.64419990517e-05,1793248385637581056
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.260689791,745,715,680,658,634,878,784,809.260689791,651,629,652.260689791,0.400967199824,0.00451444307005,0.0798269228911,0.999999942712,0.000160641304012,-0.000294321870439,4.63042067506e-05,1793248385654247680
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.84726855,745,715,680,658,634,878,784,809.84726855,651,629,652.84726855,0.400965273225,0.0045161618541,0.0798258977774,0.99999994189,0.000162354656035,-0.000296214244742,4.60172915487e-05,1793248385670914560
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.571492195,745.428507805,715.428507805,679.571492195,658,634,878,784,810,651.428507805,629,652.571492195,0.40096674355,0.00451628117015,0.0798276427326,0.999999942819,0.000161496186266,-0.000293535277189,4.60216907296e-05,1793248385687580928
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745.992144674,716,679,658,634,878,783.992144674,810,651.992144674,628.992144674,652,0.400969354172,0.0045158452253,0.0798303093941,0.999999944319,0.000159774414979,-0.000289321915913,4.61283230913e-05,1793248385704247552
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745.413667549,716,679,658,634,878,783.413667549,810,651.413667549,628.413667549,652,0.400967929201,0.00451597698748,0.0798290920919,0.999999943745,0.000161109509276,-0.00029054936294,4.62116359205e-05,1793248385720914688
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.163863939,745,715.836136061,679,658,634,878,783.163863939,809.836136061,651,628,652,0.400966938452,0.00451525431093,0.0798284950847,0.999999943583,0.000160910300866,-0.000291194471258,4.6351780899e-05,1793248385737581312
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.739021871,745,715.260978129,679,658,634,878,783.739021871,809.260978129,651,628,652,0.400967037587,0.00451238701661,0.0798294550008,0.99999994445,0.000156860034662,-0.00029037792531,4.6634573008e-05,1793248385754247680
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.679068683,745,715,679.320931317,658,634,878,784,809.320931317,651,628,652,0.400967791563,0.00451256049982,0.0798302839211,0.999999944776,0.000156927867431,-0.000289233872345,4.65270770141e-05,1793248385770914304
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.091551019,745,715,679.908448981,658,634,878,784,809.908448981,651,628,652,0.400969089493,0.00451525985003,0.0798310040277,0.999999944651,0.000160416460227,-0.000287817770874,4.60953824203e-05,1793248385787581184
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.511176827,784,810,651,628.488823173,652,0.40096820283,0.00451624216174,0.0798304068622,0.999999944341,0.000161144398599,-0.000288497797061,4.60387903451e-05,1793248385804247808
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.067553764,784,809.932446236,651,629,651.932446236,0.400966957837,0.0045166843054,0.0798296185228,0.999999944044,0.000161075918487,-0.000289564368304,4.6025364285e-05,1793248385820914432
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.643836711,784,809.356163289,651,629,651.356163289,0.40096605118,0.00451544545368,0.079829221652,0.999999944102,0.000158847426746,-0.00029062806663,4.58155777052e-05,1793248385837580800
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715.21947821,680,658,633.78052179,878,784,809,651.21947821,629,651.21947821,0.40096577802,0.00451468142912,0.0798292434389,0.999999944208,0.000157569177659,-0.000290963816403,4.57739042438e-05,1793248385854247680
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715.794081908,680,658,633.205918092,878,784,809,651.794081908,629,651.794081908,0.400966529887,0.00451468569581,0.0798299426328,0.999999944402,0.000157828463027,-0.000290121713265,4.60042452394e-05,1793248385870914560
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,715.621277875,680,658.378722125,633.378722125,878,784,809,651.621277875,628.621277875,652,0.400966746859,0.00451434501594,0.0798309730035,0.99999994473,0.000157646112361,-0.000289048677671,4.62408223063e-05,1793248385887581184
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,715.031032102,680,658.968967898,633.968967898,878,784,809,651.031032102,628.031032102,652,0.400966665081,0.00451381167675,0.0798321883428,0.999999945133,0.000157217099394,-0.000287846661873,4.64808823259e-05,1793248385904248064
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.450120267,658.450120267,634,878,784,809,651.549879733,628,652,0.400967145468,0.004514528622,0.0798317994287,0.9999999447,0.000159623780988,-0.000288064827095,4.62539424885e-05,1793248385920914432
diff --git a/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..90975e149a9912b5352a9eeda06c6a9cb65e2cdf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_03/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+357,5.950000000,pose2_to_pose3_retreat,0.587364274098,0.00992788293421,1.07004256174,0.557936065129,0.0186023396527,1.06966594248
+358,5.966666667,pose2_to_pose3_retreat,0.586997271655,0.0099279358961,1.07004253988,0.557569062014,0.0186023904244,1.06966592266
+359,5.983333333,pose2_to_pose3_retreat,0.58664772314,0.009927964747,1.07004245,0.557219513746,0.0186024204906,1.06966584143
+360,6.000000000,pose2_to_pose3_retreat,0.586314353958,0.00992786228869,1.07004235926,0.556886145605,0.0186023215884,1.06966575126
+361,6.016666667,pose2_to_pose3_retreat,0.585997070544,0.00992781632736,1.07004233709,0.556568861443,0.0186022727828,1.06966572201
+362,6.033333333,pose2_to_pose3_retreat,0.585699649251,0.00992795116471,1.07004255097,0.556271438954,0.0186024035814,1.0696659365
+363,6.050000000,pose2_to_pose3_retreat,0.585421598028,0.0099277764301,1.07004235823,0.555993390485,0.018602238313,1.06966574691
+364,6.066666667,pose2_to_pose3_retreat,0.585165264991,0.00992777748875,1.07004256178,0.555737057559,0.0186022398666,1.0696659531
+365,6.083333333,pose2_to_pose3_retreat,0.584930622415,0.00992786880591,1.07004247142,0.55550241437,0.0186023290683,1.06966586185
+366,6.100000000,pose2_to_pose3_retreat,0.584719801923,0.00992792280803,1.07004236679,0.555291592559,0.0186023786138,1.06966575768
+367,6.116666667,pose2_to_pose3_retreat,0.584530003314,0.00992788060934,1.0700424672,0.555101794227,0.018602337561,1.06966586282
+368,6.133333333,pose2_to_pose3_retreat,0.584360097481,0.00992783726996,1.07004251316,0.55493188906,0.0186022962996,1.06966590462
+369,6.150000000,pose2_to_pose3_retreat,0.584207305194,0.00992787306147,1.07004243247,0.554779096497,0.0186023309767,1.06966581986
+370,6.166666667,pose2_to_pose3_retreat,0.584068788106,0.00992797957262,1.07004240008,0.554640577825,0.0186024322701,1.06966579109
+371,6.183333333,pose2_to_pose3_retreat,0.583943465716,0.00992803027748,1.07004271724,0.55451525356,0.0186024762645,1.06966610028
+372,6.200000000,pose2_to_pose3_retreat,0.583828936321,0.00992796577664,1.07004251304,0.554400727774,0.0186024239529,1.06966589487
+373,6.216666667,pose2_to_pose3_retreat,0.583725503579,0.00992781036801,1.07004236573,0.554297294951,0.0186022685209,1.06966575382
+374,6.233333333,pose2_to_pose3_retreat,0.583634357419,0.00992792275977,1.07004244099,0.554206147879,0.0186023777743,1.06966582799
+375,6.250000000,pose2_to_pose3_retreat,0.583555017427,0.00992799292257,1.07004248695,0.554126806279,0.0186024423318,1.06966587051
+376,6.266666667,pose2_to_pose3_retreat,0.58348829791,0.00992797622843,1.07004239643,0.554060086753,0.0186024258042,1.06966578445
+377,6.283333333,pose2_to_pose3_retreat,0.583432287762,0.00992794136148,1.07004240291,0.554004078344,0.0186023969232,1.06966579287
+378,6.300000000,pose2_to_pose3_retreat,0.583386786488,0.00992793148073,1.07004245016,0.553958577927,0.0186023900405,1.0696658422
+379,6.316666667,pose2_to_pose3_retreat,0.583349873322,0.00992799744663,1.07004244424,0.553921663451,0.0186024516336,1.06966583793
+380,6.333333333,pose2_to_pose3_retreat,0.583320921163,0.00992804874284,1.07004244493,0.553892710542,0.018602500149,1.06966583317
+381,6.350000000,pose2_to_pose3_retreat,0.58329879503,0.00992782577788,1.0700423462,0.553870587752,0.0186022886773,1.06966573797
+382,6.366666667,pose2_to_pose3_retreat,0.583282420118,0.00992789150648,1.07004259877,0.553854213167,0.0186023550484,1.06966597978
+383,6.383333333,pose2_to_pose3_retreat,0.583270578559,0.00992788296282,1.07004253084,0.553842370515,0.0186023427832,1.06966591156
+384,6.400000000,pose2_to_pose3_retreat,0.583261920851,0.00992790361003,1.07004248034,0.553833711884,0.0186023604363,1.06966586425
+385,6.416666667,pose2_to_pose3_retreat,0.583256105424,0.00992792605759,1.07004246699,0.55382789605,0.0186023816338,1.0696658539
+386,6.433333333,pose2_to_pose3_retreat,0.583252051368,0.0099279000421,1.07004245822,0.553823842326,0.0186023567571,1.06966584544
+387,6.450000000,pose2_to_pose3_retreat,0.583249479281,0.00992788583155,1.07004253325,0.553821269948,0.0186023414742,1.06966591856
+388,6.466666667,pose2_to_pose3_retreat,0.583248082396,0.00992787867202,1.07004259359,0.553819872783,0.0186023332957,1.06966597736
+389,6.483333333,pose2_to_pose3_retreat,0.583247436539,0.00992788355346,1.07004253433,0.553819226932,0.018602338174,1.06966591749
+390,6.500000000,pose2_to_pose3_retreat,0.583247094248,0.00992788760466,1.07004248734,0.55381888467,0.0186023423071,1.06966587019
+391,6.516666667,pose2_to_pose3_retreat,0.583247047073,0.009927888163,1.07004248086,0.553818837498,0.0186023428768,1.06966586367
+392,6.533333333,pose2_to_pose3_retreat,0.583246724455,0.00992789198136,1.07004243657,0.553818514908,0.0186023467724,1.0696658191
+393,6.550000000,pose2_to_pose3_retreat,0.58324668557,0.00992789244159,1.07004243123,0.553818476025,0.0186023472419,1.06966581372
+394,6.566666667,pose2_to_pose3_retreat,0.583246651779,0.00992789284152,1.0700424266,0.553818442237,0.01860234765,1.06966580905
+395,6.583333333,pose2_to_pose3_retreat,0.58324642368,0.0099278955412,1.07004239528,0.553818214157,0.0186023504043,1.06966577754
+396,6.600000000,pose2_to_pose3_retreat,0.583246288192,0.00992789714478,1.07004237668,0.55381807868,0.0186023520403,1.06966575882
+397,6.616666667,pose2_to_pose3_retreat,0.583246253974,0.00992789754977,1.07004237199,0.553818044465,0.0186023524535,1.06966575409
+398,6.633333333,pose2_to_pose3_retreat,0.583246219216,0.00992789809322,1.07004236676,0.553818009708,0.018602353002,1.06966574885
+399,6.650000000,pose2_to_pose3_retreat,0.583246217449,0.00992789827244,1.07004236597,0.55381800794,0.0186023531779,1.06966574808
+400,6.666666667,pose2_to_pose3_retreat,0.583246127547,0.00992790739234,1.07004232586,0.553817917973,0.0186023621246,1.06966570905
+401,6.683333333,pose2_to_pose3_retreat,0.58324594403,0.0099279260087,1.07004224399,0.553817734325,0.0186023803876,1.06966562937
+402,6.700000000,pose2_to_pose3_retreat,0.583245710745,0.00992794967372,1.07004213991,0.553817500871,0.0186024036034,1.06966552808
+403,6.716666667,pose2_to_pose3_retreat,0.58324558051,0.00992794149991,1.07004214896,0.553817370761,0.0186023958698,1.06966553752
+404,6.733333333,pose2_to_pose3_retreat,0.583245555239,0.00992793182374,1.07004217612,0.553817345597,0.0186023865404,1.06966556432
+405,6.750000000,pose2_to_pose3_retreat,0.583245460776,0.00992789565534,1.07004227764,0.553817251534,0.0186023516684,1.06966566447
+406,6.766666667,pose2_to_pose3_retreat,0.583245385758,0.00992787006286,1.07004235875,0.553817176512,0.0186023260227,1.06966574466
+407,6.783333333,pose2_to_pose3_retreat,0.583245386146,0.00992787289459,1.07004235874,0.553817176622,0.0186023279212,1.06966574481
diff --git a/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a181e24d88eae3af6e553ea8fa59c1b101bb4e9e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73bdffe4865ef88d789b096c6e9aec66fe9bb69767e780da75ada9b0c6275ed9
+size 25896136
diff --git a/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..60411f57264d200d490e347a98a4cd04d224abb5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_04/franka_data.csv
@@ -0,0 +1,410 @@
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+28,0.466666667,BASELINE,766,745,716,680,658,634,878,784.261161632,809,651.738838368,628,652,0.40096932989,0.00447598279051,0.0798337176033,0.999999952791,0.000109717894586,-0.000282260133136,5.20518978118e-05,1793248386544560128
+29,0.483333333,BASELINE,766,745,716,680,658,634,878,784.83862623,809,651.16137377,628,652,0.40096814681,0.00447218894473,0.0798336444693,0.999999953082,0.000104875984822,-0.000282951043313,5.26932728935e-05,1793248386561226496
+30,0.500000000,BASELINE,765.584845594,745,715.584845594,680,658,634,878,784.584845594,809,651,628.415154406,652,0.400968556227,0.00447414641511,0.0798338321497,0.999999952678,0.000109327958329,-0.000282726501975,5.25081100735e-05,1793248386577893376
+31,0.516666667,BASELINE,765.008680605,745,715.008680605,680,658,634,878,784.008680605,809,651,628.991319395,652,0.400969583269,0.00447833443583,0.0798341209825,0.999999951955,0.000117384406638,-0.000282146918292,5.20023885561e-05,1793248386594560256
+32,0.533333333,BASELINE,765,745,715,680,658,634,878,784,809.578197133,651.578197133,628.421802867,652,0.400967986808,0.00447562690507,0.079833561574,0.999999952042,0.000113684447766,-0.000283289354239,5.23326332475e-05,1793248386611227136
+33,0.550000000,BASELINE,765.163648898,745,715.163648898,680,658,634,878,784,810,651.836351102,628,652,0.400966968682,0.00447371305099,0.0798331485831,0.999999952149,0.000111000764254,-0.000283944417446,5.25043045323e-05,1793248386627893760
+34,0.566666667,BASELINE,765.745042204,745,715.745042204,680,658,634,878,784,810,651.254957796,628,652,0.400967529306,0.00447409445975,0.0798331424718,0.999999952308,0.00011137037295,-0.000283288129819,5.22385450774e-05,1793248386644560640
+35,0.583333333,BASELINE,765.677007182,745,716,680,658,634,878,784,810,651,628.322992818,652.322992818,0.400967953512,0.00447411358682,0.0798333980346,0.999999952341,0.000111500617677,-0.000283103494289,5.23335705319e-05,1793248386661227008
+36,0.600000000,BASELINE,765.10174537,745,716,680,658,634,878,784,810,651,628.89825463,652.89825463,0.400968271172,0.00447384975891,0.0798338579742,0.999999952275,0.000111443910585,-0.000283287235918,5.27103819321e-05,1793248386677893376
+37,0.616666667,BASELINE,765.474314921,745,715.525685079,680,658.474314921,634,878,784,810,651.474314921,628.525685079,652.525685079,0.400968007474,0.0044748074605,0.079833572473,0.999999952275,0.000111482619363,-0.000283291915509,5.25980603995e-05,1793248386694560256
+38,0.633333333,BASELINE,766,745,715,679.948448249,658.948448249,634,878,784,810,652,628.051551751,652,0.40096777866,0.00447613035688,0.0798332933312,0.999999952293,0.000111912463037,-0.000283097152607,5.23934904511e-05,1793248386711226880
+39,0.650000000,BASELINE,766,745,715,679.360759363,658.360759363,634,878,784,810,652,628.639240637,652,0.400969211771,0.00447852156538,0.0798347461357,0.999999952336,0.000116196879209,-0.000281228335219,5.23225860699e-05,1793248386727893248
+40,0.666666667,BASELINE,765.776484323,745,715.223515677,679,658,633.776484323,878,784,810,652,629,652,0.400969528655,0.00447796726027,0.0798350395446,0.999999952511,0.000115569552197,-0.000280857146277,5.2356855192e-05,1793248386744560128
+41,0.683333333,BASELINE,765.197636453,745,715.802363547,679,658,633.197636453,878,784,810,652,629,652,0.400968071028,0.00447273034919,0.0798334898137,0.999999952873,0.000107133821956,-0.00028286679983,5.25583230212e-05,1793248386761227264
+42,0.700000000,BASELINE,765.379361931,745,715.620638069,679.379361931,658,633.379361931,878,784,810,652,628.620638069,652,0.400967524168,0.00447299771038,0.0798330062307,0.999999952567,0.000107976806736,-0.000283625502909,5.25699704379e-05,1793248386777894144
+43,0.716666667,BASELINE,765.955401443,745,715.044598557,679.955401443,658,633.955401443,878,784,810,652,628.044598557,652,0.400967449487,0.00447611872381,0.0798330753847,0.999999951914,0.000113630277706,-0.000283735659262,5.24832067623e-05,1793248386794560768
+44,0.733333333,BASELINE,766,745,715,680,658,633.459122835,878,784,810,652,628,652,0.400967124752,0.00447485911911,0.0798328478511,0.999999952169,0.000111685572779,-0.000283608199525,5.24805861694e-05,1793248386811227136
+45,0.750000000,BASELINE,766,745.126357313,715.126357313,680,658.126357313,633,877.873642687,784.126357313,810,651.873642687,628,652,0.4009672465,0.00447370398214,0.0798328494067,0.999999952492,0.000109870887752,-0.00028318114015,5.24652032058e-05,1793248386827893760
+46,0.766666667,BASELINE,766,745.708993784,715.708993784,680,658.708993784,633,877.291006216,784.708993784,810,651.291006216,628,652,0.400969056285,0.00447425357147,0.0798337681158,0.999999952797,0.00011082823859,-0.000281744226163,5.23782365393e-05,1793248386844560384
+47,0.783333333,BASELINE,766,745.711998711,715.711998711,679.711998711,658.711998711,633,877.288001289,784.711998711,810,651.288001289,628.288001289,651.711998711,0.400969842413,0.00447509219564,0.0798341822059,0.999999952824,0.000111841801831,-0.00028127468171,5.22241572261e-05,1793248386861226752
+48,0.800000000,BASELINE,766,745.136612338,715.136612338,679.136612338,658.136612338,633,877.863387662,784.136612338,810,651.863387662,628.863387662,651.136612338,0.400969607074,0.00447621923632,0.0798340927567,0.999999952576,0.000112911457317,-0.000281770436844,5.20031088493e-05,1793248386877893120
+49,0.816666667,BASELINE,766,745,715,679,658,633.437730109,878,784.437730109,809.562269891,652,628.562269891,651.437730109,0.400968976175,0.00447570836093,0.0798338715575,0.999999952445,0.000112003574802,-0.000282554202348,5.22356404991e-05,1793248386894559744
+50,0.833333333,BASELINE,766,745,715,679,658,634,878.012099756,784.987900244,809.012099756,651.987900244,628.012099756,652,0.400968232697,0.0044747168297,0.0798336150786,0.999999952352,0.000110516537907,-0.000283398318168,5.25989368143e-05,1793248386911226880
+51,0.850000000,BASELINE,766,745,715,679,658,634,878.603329641,784.396670359,809.603329641,651.396670359,628.603329641,652,0.400967995593,0.00447512813422,0.0798336333643,0.999999952489,0.000110778996256,-0.000282839011284,5.24617063881e-05,1793248386927893760
+52,0.866666667,BASELINE,765.80934658,745,715,679.19065342,658,633.80934658,878.80934658,784,810,651,629,652,0.400967503192,0.00447529828244,0.0798335948788,0.999999952499,0.000110925269476,-0.000282751495046,5.24259435534e-05,1793248386944560384
+53,0.883333333,BASELINE,765.229986654,745,715,679.770013346,658,633.229986654,878.229986654,784,810,651,629,652,0.400966490288,0.00447497675827,0.0798334406474,0.999999952253,0.000110834663026,-0.000283625871338,5.2597054084e-05,1793248386961227008
+54,0.900000000,BASELINE,765,745,715,680,658,633.345976428,878,784,810,651.345976428,629,652,0.400966276409,0.00447604601987,0.0798327618091,0.999999951899,0.000112100536157,-0.000284406316196,5.24305694471e-05,1793248386977893888
+55,0.916666667,BASELINE,765,745,715,680,658,633.919703401,878,784,810,651.919703401,629,652,0.400966588515,0.00447803081267,0.0798317376305,0.99999995147,0.0001142593573,-0.000285124927516,5.2041851504e-05,1793248386994560256
+56,0.933333333,BASELINE,765.492472072,745,715,680,658,634,877.507527928,784,809.507527928,651.507527928,628.507527928,652,0.400967109628,0.0044771705543,0.0798324317873,0.999999951711,0.000114050407219,-0.000284344001283,5.21521177966e-05,1793248387011226880
+57,0.950000000,BASELINE,766,745,715.067627135,680,658.067627135,634,877.067627135,784.067627135,809,651.067627135,628.067627135,652,0.400967439764,0.00447581064047,0.0798331653122,0.999999952007,0.000113241097155,-0.000283595137104,5.23173035952e-05,1793248387027893248
+58,0.966666667,BASELINE,766,745,715.662606894,680,658.662606894,634,877.662606894,784.662606894,809,651.662606894,628.662606894,652,0.40096601546,0.00447416472694,0.0798320253109,0.999999951888,0.000110754844717,-0.000284999159923,5.22775524477e-05,1793248387044560128
+59,0.983333333,BASELINE,765.750743239,745,715.750743239,679.750743239,659,634,878,784.750743239,809,651.750743239,629,652,0.400965933128,0.00447296697276,0.079831902592,0.999999951977,0.00010898402814,-0.000285375688289,5.2235365883e-05,1793248387061227008
+60,1.000000000,BASELINE,765.175003981,745,715.175003981,679.175003981,659,634,878,784.175003981,809,651.175003981,629,652,0.400967608541,0.00447235622823,0.0798331123336,0.999999952346,0.000108150306308,-0.000284406379918,5.21899893449e-05,1793248387077894144
+61,1.016666667,BASELINE,765,745,715,679.399615968,658.600384032,634,878,784,809.399615968,651,629,652,0.400968369083,0.00447339441743,0.0798337505354,0.999999952359,0.000110521986904,-0.000283411021815,5.23933928232e-05,1793248387094560768
+62,1.033333333,BASELINE,765,745,715,679.973747073,658.026252927,634,878,784,809.973747073,651,629,652,0.400968730093,0.00447515270776,0.0798341391416,0.999999952203,0.0001142934896,-0.000282404287665,5.27054403069e-05,1793248387111227136
+63,1.050000000,BASELINE,765,745,715,680,658.564007685,634,878,784,809.435992315,651.564007685,629,652,0.400969446228,0.00447634259584,0.0798348582888,0.999999952517,0.000114791500269,-0.000281102959122,5.26220984533e-05,1793248387127893760
+64,1.066666667,BASELINE,765.15240465,745,715.15240465,680,658.84759535,634,878,784,809.15240465,651.84759535,628.84759535,652,0.400970062882,0.00447688513369,0.0798352217006,0.999999952787,0.000114516246365,-0.000280274111476,5.25166861403e-05,1793248387144560384
+65,1.083333333,BASELINE,765.733387376,745,715.733387376,680,658.266612624,634,878,784,809.733387376,651.266612624,628.266612624,652,0.400970351929,0.0044756838454,0.0798345402068,0.99999995287,0.00011250758994,-0.000280813626702,5.24024876609e-05,1793248387161227264
+66,1.100000000,BASELINE,765.689017548,745,715.689017548,680,658,633.689017548,878,784,809.689017548,651,628,652,0.400970075026,0.00447487675659,0.0798342946391,0.999999952908,0.00011137167868,-0.000281161571394,5.22316995327e-05,1793248387177893888
+67,1.116666667,BASELINE,765.114295519,745,715.114295519,680,658,633.114295519,878,784,809.114295519,651,628,652,0.400969318149,0.00447440398254,0.0798344187738,0.999999952911,0.000110975929677,-0.000281347047949,5.20129185737e-05,1793248387194560768
+68,1.133333333,BASELINE,765,745,715.458617973,680,658,633.458617973,878.458617973,784,809.458617973,651.458617973,628,652,0.400969102365,0.00447537744045,0.0798340378171,0.999999952695,0.000111738746406,-0.000281808372604,5.20416683904e-05,1793248387211227392
+69,1.150000000,BASELINE,765,745,715.967687803,680,658,634,878.967687803,784,810,651.967687803,628.032312197,652,0.400969004069,0.00447663399275,0.0798335830499,0.99999995244,0.000112749780144,-0.000282294289246,5.2131031353e-05,1793248387227894272
+70,1.166666667,BASELINE,765,745,715.372576306,680,658,634,878.372576306,784,810,651.372576306,628.627423694,652,0.400968612591,0.00447656827515,0.0798340265499,0.999999952478,0.000113074849426,-0.000282015851854,5.22058769039e-05,1793248387244560640
+71,1.183333333,BASELINE,765,745,715,679.785096301,658,634,878,784.214903699,809.785096301,651.214903699,628.785096301,652,0.400968113887,0.00447624212486,0.0798339409762,0.999999952415,0.00011274663794,-0.000282363886114,5.22348823973e-05,1793248387261227008
+72,1.200000000,BASELINE,765,745,715,679.210393118,658,634,878,784.789606882,809.210393118,651.789606882,628.210393118,652,0.40096743566,0.00447547994883,0.0798329696085,0.999999952182,0.000111324680409,-0.000283760781648,5.21871408338e-05,1793248387277893376
+73,1.216666667,BASELINE,765,745,715.364449822,679.364449822,658,634,878,784.635550178,809,652,628,652,0.40096812108,0.00447420831045,0.079833541569,0.999999952663,0.000109440155535,-0.000282790397854,5.22137145685e-05,1793248387294560000
+74,1.233333333,BASELINE,765,745,715.93937344,679.93937344,658,634,878,784.06062656,809,652,628,652,0.400969594021,0.004472642452,0.0798350048186,0.999999953551,0.000107288492995,-0.000280452884029,5.22832062109e-05,1793248387311226624
+75,1.250000000,BASELINE,765,745,716,679.47091762,658,634,878,784,809,651.47091762,628,652,0.4009689312,0.00447498924896,0.0798345760083,0.999999952917,0.000111080142165,-0.00028123257185,5.22920989699e-05,1793248387327893248
+76,1.266666667,BASELINE,765.117969372,745.117969372,715.882030628,679,658,634,878,784,809.117969372,651,628.117969372,652,0.400968442858,0.00447705925956,0.0798341787781,0.999999952411,0.000114166381392,-0.000281800606114,5.22636959367e-05,1793248387344559616
+77,1.283333333,BASELINE,765.696835577,745.696835577,715.303164423,679,658,634,878,784,809.696835577,651,628.696835577,652,0.400969619831,0.00447624588743,0.0798347763302,0.999999953167,0.000111759407079,-0.000280106078059,5.21174904868e-05,1793248387361226752
+78,1.300000000,BASELINE,766,745.724887128,715,679.275112872,658,634,878,784.275112872,810,651,629,652,0.400969989997,0.00447517483271,0.0798349843881,0.99999995347,0.000109990858978,-0.000279722569279,5.21341811932e-05,1793248387377893632
+79,1.316666667,BASELINE,766,745.147257443,715,679.852742557,658,634,878,784.852742557,810,651,629,652,0.400969472989,0.00447382042773,0.0798347641543,0.99999995328,0.00010892433076,-0.000280780670271,5.23299941212e-05,1793248387394560512
+80,1.333333333,BASELINE,766,745,715.425751885,680,658,634,878,784.574248115,809.574248115,651,628.574248115,652,0.400968971667,0.00447368873309,0.0798341300951,0.99999995299,0.000109047620506,-0.000281778173331,5.22509789199e-05,1793248387411227136
+81,1.350000000,BASELINE,766,745,715.997180343,680,658,634,878,784.002819657,809.002819657,651,628.002819657,652,0.400968475713,0.00447397540466,0.0798333544402,0.999999952665,0.000109578021938,-0.0002827549421,5.20779276964e-05,1793248387427893504
+82,1.366666667,BASELINE,765.41086354,745,715.41086354,680,658,634,878,783.41086354,809,651,628,652,0.400969630621,0.00447400288745,0.0798339155658,0.999999953012,0.000109827470219,-0.000281442339774,5.2000045153e-05,1793248387444560128
+83,1.383333333,BASELINE,765.17713137,745,715,679.82286863,658,634,878,783.17713137,809,651.17713137,628.17713137,652,0.400969979033,0.00447442006117,0.0798343498282,0.999999953115,0.000110769448062,-0.000280710717156,5.19693948125e-05,1793248387461226752
+84,1.400000000,BASELINE,765.755913422,745,715,679.244086578,658,634,878,783.755913422,809,651.755913422,628.755913422,652,0.400968480131,0.00447572378517,0.0798344813935,0.999999952658,0.000113284916598,-0.00028132222571,5.20447747769e-05,1793248387477893376
+85,1.416666667,BASELINE,765.666989291,745,715,679.333010709,658.333010709,634,878,784,809.333010709,651.666989291,628.666989291,652,0.400968140613,0.00447588655423,0.0798345131116,0.999999952605,0.000113506761758,-0.000281398248923,5.21674126859e-05,1793248387494560256
+86,1.433333333,BASELINE,765.091120704,745,715,679.908879296,658.908879296,634,878,784,809.908879296,651.091120704,628.091120704,652,0.400968646609,0.00447521724816,0.0798344720133,0.999999952849,0.000112055914286,-0.000281083753625,5.23245148404e-05,1793248387511227392
+87,1.450000000,BASELINE,765,745,715,680,658.520417139,634,878,784,809.520417139,651.479582861,628,652,0.400968448637,0.00447496203808,0.0798341119258,0.999999952787,0.000111254664681,-0.000281615431962,5.23545461692e-05,1793248387527894016
+88,1.466666667,BASELINE,765.051888017,745,715,680,658,634,878,784,809,651.948111983,628,652,0.400968205148,0.00447482019008,0.0798337787174,0.999999952735,0.000110457205543,-0.000282117516768,5.23315035849e-05,1793248387544560128
+89,1.483333333,BASELINE,765.651340173,745,715,680,658,634,878,784,809,651.348659827,628,652,0.400968877767,0.00447505320087,0.0798343619265,0.999999953395,0.000108411159695,-0.000280628778975,5.20004487092e-05,1793248387561226752
+90,1.500000000,BASELINE,766,745,715,680,658.240856185,634,878,784,809,651,628,652,0.400969016017,0.00447552586041,0.079834580651,0.999999953483,0.00010853646157,-0.000280305658094,5.17938266573e-05,1793248387577893376
+91,1.516666667,BASELINE,766,745,715,680,658.816558592,634,878,784,809,651,628,652,0.40096841137,0.00447633168755,0.0798342926567,0.999999952774,0.000111680442915,-0.00028160301646,5.17601952535e-05,1793248387594560000
+92,1.533333333,BASELINE,766,745,715.391427316,680,658.608572684,634,878,784,809,651,628.391427316,652,0.400968347983,0.00447698048746,0.079834041247,0.999999952465,0.000114082032756,-0.000281683816932,5.20460596346e-05,1793248387611226624
+93,1.550000000,BASELINE,766,745,715.965906217,680,658.034093783,634,878,784,809,651,628.965906217,652,0.400968537716,0.00447755585342,0.0798338069462,0.999999952344,0.000116136442346,-0.000281195692349,5.24813367076e-05,1793248387627893248
+94,1.566666667,BASELINE,766,745,716,680,658,634,878,784,809,651,628.444436353,652,0.400969354197,0.00447619582404,0.0798347952794,0.999999952901,0.00011342019665,-0.000280320296228,5.24915310934e-05,1793248387644560128
+95,1.583333333,BASELINE,765.856580913,745,715.856580913,680,658,634,878,784,809,651,628.143419087,652,0.400969887536,0.00447486448754,0.0798354901891,0.999999953328,0.000110888805674,-0.000279813476184,5.24599345486e-05,1793248387661227008
+96,1.600000000,BASELINE,765.277115603,745,715.277115603,680,658,634,878,784,809,651,628.722884397,652,0.400969439795,0.00447399163798,0.079835058457,0.999999953256,0.000109834554061,-0.000280501548375,5.23828183789e-05,1793248387677893632
+97,1.616666667,BASELINE,765,745,715,680,658,634,878.299098851,784,809.299098851,651,629,652,0.400969223705,0.00447358391228,0.0798346711842,0.999999953197,0.000109307790181,-0.000280942370629,5.22439691921e-05,1793248387694560000
+98,1.633333333,BASELINE,765,745,715,680,658,634,878.872333731,784,809.872333731,651,629,652,0.400969219933,0.00447360249121,0.0798343246602,0.999999953152,0.000109264489916,-0.000281156578408,5.20485392367e-05,1793248387711226624
+99,1.650000000,BASELINE,765,745,715,680,658,634,878.542593045,784,810,651,628.542593045,652.457406955,0.400969104845,0.00447452399327,0.0798345296453,0.999999953069,0.000110689227562,-0.00028090783949,5.19596234414e-05,1793248387727893504
+100,1.666666667,BASELINE,765.045095656,745,715,679.954904344,658,634,878.045095656,784,810,651,628.045095656,652.954904344,0.400968997316,0.00447550460388,0.0798348660602,0.999999952987,0.000112329807688,-0.000280552104919,5.19381500529e-05,1793248387744560128
+101,1.683333333,BASELINE,765.623599732,745,715,679.376400268,658,634,878.623599732,784,810,651,628.623599732,652.376400268,0.400969356463,0.00447412425948,0.0798348879481,0.999999953068,0.000111548100074,-0.000280499766545,5.23534217813e-05,1793248387761226752
+102,1.700000000,BASELINE,766,745,715,679.201986108,658.201986108,634,878.798013892,784,809.798013892,651,629,652.201986108,0.400969441855,0.00447316268993,0.07983492209,0.999999953146,0.000110656103799,-0.000280525861071,5.26078266636e-05,1793248387777893632
+103,1.716666667,BASELINE,766,745,715,679.780153212,658.780153212,634,878.219846788,784,809.219846788,651,629,652.780153212,0.400969017401,0.00447298105108,0.079834979054,0.999999953221,0.000109558704878,-0.000280698029838,5.25626314379e-05,1793248387794560512
+104,1.733333333,BASELINE,765.644107323,745,715,679.644107323,658.644107323,634,878,784,809,651,629,652.644107323,0.400968411476,0.00447330198108,0.0798344363078,0.999999953138,0.000109162359353,-0.000281188878304,5.23475092438e-05,1793248387811227392
+105,1.750000000,BASELINE,765.069857276,745,715,679.069857276,658.069857276,634,878,784,809,651,629,652.069857276,0.400967694211,0.00447393126135,0.0798335256104,0.999999952958,0.000109196143886,-0.000281875252194,5.20281286315e-05,1793248387827894016
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,716,679,660,634,878,784,810,651,629,652,0.400969432282,0.00447559458458,0.0798343474079,0.999999952727,0.000114381424805,-0.000280645079486,5.19757286873e-05,1793248387858198784
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715.426532304,679.573467696,658.853064607,634,878,784,809.426532304,651,629,652,0.400968692222,0.00447447420091,0.0798344716193,0.999999952761,0.000111157058084,-0.000281753062874,5.23230368711e-05,1793248387874865920
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.150503227,633.849496773,878,784,809,651,629,652,0.400968113794,0.00447393495039,0.0798344231877,0.999999952719,0.000109421915841,-0.000282538434159,5.25451403683e-05,1793248387891532800
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.737895804,633.262104196,878,784,809,651,629,652,0.400968004561,0.00447508264603,0.0798338735978,0.999999952483,0.000112009778597,-0.0002823873089,5.24037926433e-05,1793248387908199168
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.314552827,878,784,809,651,629,652,0.400968504682,0.00447567988904,0.079834374641,0.999999952628,0.000113278914474,-0.000281396317865,5.22259550552e-05,1793248387924865792
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.882559541,878,784,809,651,629,652,0.400969495796,0.0044758335996,0.0798357222415,0.999999953084,0.000113485473657,-0.000279728597125,5.20187154266e-05,1793248387941532416
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.469387225,745,715,680,658.530612775,634,878.469387225,784,809.469387225,651.469387225,628.530612775,652.469387225,0.400969354377,0.00447489063989,0.0798354071199,0.999999953219,0.000111567497914,-0.000279995866412,5.21313638176e-05,1793248387958199552
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.940060889,745,715,680,658,633.940060889,878.940060889,784,810,651.940060889,628,652.940060889,0.400969105255,0.0044738475026,0.0798348203733,0.999999953292,0.000109402786869,-0.000280561994378,5.22685684588e-05,1793248387974866176
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.359766032,745,715,680,658,633.359766032,878.359766032,784,810,651.359766032,628,652.359766032,0.400970483846,0.00447441624546,0.0798356379738,0.999999953597,0.000109903496837,-0.000279344110543,5.18951083313e-05,1793248387991532288
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.218393441,878,784.218393441,809.781606559,651.218393441,628.218393441,652,0.400973077557,0.00447464679882,0.0798369889091,0.999999954132,0.000109935890805,-0.000277436955032,5.17552630848e-05,1793248388008198656
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.793069238,878,784.793069238,809.206930762,651.793069238,628.793069238,652,0.400977653589,0.00447432563704,0.0798392099153,0.999999955036,0.000109204284088,-0.000274405336666,5.19965321596e-05,1793248388024865280
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784.633207373,809,651.633207373,628.633207373,652,0.400996345637,0.00447514613477,0.0798472004209,0.999999958671,0.000109877616809,-0.000260555070592,5.19268575585e-05,1793248388041532160
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784.060019851,809,651.060019851,628.060019851,652,0.401022980794,0.00447660904641,0.0798584374348,0.999999963518,0.000111341511465,-0.000240617130918,5.16822143772e-05,1793248388058198784
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784,809,651,628.533484916,652,0.401076943938,0.00447699357084,0.0798780568215,0.999999971843,0.00011128876272,-0.000203366535257,5.07107912709e-05,1793248388074865664
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.124925231,745,715,679.875074769,658.124925231,634,878,784,809.124925231,651,628.875074769,652,0.401137485366,0.00447736006201,0.0798978870622,0.999999978834,0.000110937432837,-0.000166014787293,4.96422670745e-05,1793248388091532800
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.700351633,745,715,679.299648367,658.700351633,634,878,784,809.700351633,651,628.299648367,652,0.401210222925,0.00447811635967,0.0799149422036,0.999999983562,0.000110149053154,-0.000135600312125,4.85301180961e-05,1793248388108199680
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.724746964,745,715,679.275253036,658.724746964,633.724746964,878,784,809.724746964,651,628,652,0.40128722296,0.00447834345413,0.0799261622815,0.999999986046,0.000109076489238,-0.00011753237721,4.68633043458e-05,1793248388124866048
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.150416036,745,715,679.849583964,658.150416036,633.150416036,878,784,809.150416036,651,628,652,0.401368854411,0.00447799553954,0.079931042234,0.999999986836,0.000107695143313,-0.000112879654039,4.45938162531e-05,1793248388141532416
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679.563730551,658,633.436269449,878,784,809.436269449,651,628.436269449,652,0.401462501404,0.00447780679827,0.0799333617612,0.999999987695,0.000104152655605,-0.000109591621471,4.18506638694e-05,1793248388158199040
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633.973194486,878,784,809.973194486,651,629,652,0.40156179988,0.00447782032522,0.0799349221768,0.999999988565,0.000100004602762,-0.000106574479082,3.88710152245e-05,1793248388174865664
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633.393651655,878,784,809.393651655,651,629,652,0.401689720492,0.00448084007069,0.0799395631365,0.999999989571,9.9181862124e-05,-9.91582545948e-05,3.44803639253e-05,1793248388191532288
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633.184711013,877.815288987,784,809.184711013,651,629,652,0.401828200237,0.00448407910964,0.0799448697372,0.999999990668,9.82290454178e-05,-9.01350301588e-05,2.98598002146e-05,1793248388208198912
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633.760574442,877.239425558,784,809.760574442,651,629,652,0.401989040466,0.00448778253403,0.0799515859289,0.99999999197,9.70007738376e-05,-7.77087507103e-05,2.47523641149e-05,1793248388224865536
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715.335685531,679,658.335685531,634,877.335685531,783.664314469,810,651,628.664314469,652,0.402170047855,0.00449047206973,0.0799586945448,0.999999993463,9.2182366087e-05,-6.49098463914e-05,1.90695415666e-05,1793248388241532416
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715.910261279,679,658.910261279,634,877.910261279,783.089738721,810,651,628.089738721,652,0.402365407197,0.0044924400731,0.0799660824297,0.999999994976,8.48090419902e-05,-5.18457627361e-05,1.2977245398e-05,1793248388258199296
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.498263401,745,715.501736599,679,658.501736599,634,878,783.498263401,810,651,628.498263401,652,0.402567542158,0.0044961988346,0.0799636080507,0.999999995297,7.86693728238e-05,-5.64079843847e-05,5.93206506222e-06,1793248388274866432
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,658,634,878,784,810,651,628.913016792,652,0.402775263062,0.00449994977682,0.0799585330787,0.999999995221,7.21323802063e-05,-6.5980758342e-05,-1.41800176761e-06,1793248388291533056
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,658,634,878,784,810,651,628.334288501,652,0.403007473393,0.0045017827053,0.0799490757435,0.99999999438,6.20583135781e-05,-8.5436076292e-05,-9.4946192492e-06,1793248388308199168
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.757658747,745,715,679,658,634,877.757658747,784,810,651,628,652,0.403265124414,0.00450522686906,0.0799436525034,0.999999993748,5.55919651077e-05,-9.54468371759e-05,-1.74418002396e-05,1793248388324865536
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.183898924,745,715,679,658,634,877.183898924,784,810,651,628,652,0.403557567342,0.00451087450936,0.0799437461702,0.999999993939,5.4059423554e-05,-9.25415062361e-05,-2.52119673188e-05,1793248388341532160
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,679.400291256,658.400291256,634,877.400291256,784,809.599708744,651,628.400291256,652,0.403884006974,0.00451517616907,0.0799475185479,0.999999991723,9.2712062714e-05,-8.70639083961e-05,-1.94749620724e-05,1793248388358199040
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679.98940146,658.98940146,634,877.98940146,784,809.01059854,651,628.98940146,652,0.404226482976,0.00451884292431,0.0799530261877,0.999999985445,0.000150320208227,-8.03729620476e-05,-7.36657064644e-06,1793248388374865664
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.431520139,634,878,784,809.568479861,651.568479861,628.431520139,652,0.40460752911,0.00453211446844,0.0799530551999,0.999999983873,0.00016210413445,-7.60947102584e-05,-1.36577464861e-05,1793248388391532800
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.146550928,745,715.146550928,680,658,634,878,784,810,652,628.146550928,652,0.40500024019,0.00454304564308,0.0799530356846,0.999999986481,0.000146821265341,-7.13125183912e-05,-1.98950089035e-05,1793248388408199680
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.722210504,745,715.722210504,680,658,634,878,784,810,652,628.722210504,652,0.40542503775,0.00454660886404,0.0799531679685,0.999999996082,5.47435720773e-05,-6.4925340427e-05,-2.49874017865e-05,1793248388424866048
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.70269806,744.70269806,715.70269806,680,658,634,878,784,810,652,629,652,0.405862969219,0.00455429566158,0.0799471080615,0.999999996303,3.45502736394e-05,-7.39465716613e-05,-2.70685416196e-05,1793248388441532416
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.128136396,744.128136396,715.128136396,680,658,634,878,784,810,652,629,652,0.406313149239,0.00456582805065,0.0799352734019,0.999999991603,8.13953683907e-05,-9.73374741235e-05,-2.63414287206e-05,1793248388458199040
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.459407909,715,680,658.459407909,634,878,784,810,651.540592091,629,652,0.406799833121,0.00457767143308,0.0799274913302,0.999999986964,0.000114159572788,-0.000110490716718,-2.88356114202e-05,1793248388474865664
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715.049620586,680,659,634,878.049620586,784,810,651,629,652,0.407300175864,0.00458900082492,0.0799212043531,0.999999982273,0.000141091411043,-0.000120519542957,-3.19614795097e-05,1793248388491532288
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715.628547872,680,659,634,878.628547872,784,810,651,629,652,0.40783445355,0.00459389526418,0.079918457667,0.999999980136,0.00014892107823,-0.000128565101101,-3.19627972418e-05,1793248388508199680
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715.794155936,680,659,634,879,784,810,651,628.794155936,652,0.408385979175,0.00460108608868,0.0799162855849,0.999999978892,0.000151833725949,-0.00013449786028,-3.27588893333e-05,1793248388524866560
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715.219779999,680,659,634,879,784,810,651,628.219779999,652,0.408968384529,0.00461238823453,0.0799151422427,0.999999979402,0.000145943212418,-0.000136647980115,-3.49779016629e-05,1793248388541533184
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.637124008,745.362875992,715,680,659,634,879,784,810,651,628,652.362875992,0.409613413173,0.00462134966969,0.0799350305529,0.999999981328,0.000158676578032,-0.00010408685721,-3.6503250563e-05,1793248388558200064
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.04933603,745.95066397,715,680,659,634,879,784,810,651,628,652.95066397,0.410297255959,0.0046288603226,0.0799679543652,0.999999981307,0.000182953098001,-5.00115672094e-05,-3.75986639175e-05,1793248388574866944
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.530755546,745.469244454,715,680.530755546,659,634,878.469244454,784,810,651,628.530755546,652.469244454,0.410985315342,0.00463189962387,0.0799866362195,0.999999984991,0.000167459530552,-2.26114189317e-05,-3.82633027624e-05,1793248388591532800
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715.110113549,680.889886451,659,634,878.110113549,784,810,651,629,652,0.411670829075,0.00463057770473,0.0799946060354,0.999999987669,0.000151621961,-1.22864191739e-05,-3.9003888935e-05,1793248388608198656
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715.689350464,680.310649536,659,634,878.689350464,784,810,651,629,652,0.412343851242,0.00461242084539,0.0799624981742,0.999999985897,0.000149843412608,-6.42948408159e-05,-4.02361943988e-05,1793248388624865280
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715.734995947,680,659,633.734995947,879,784,810.265004053,651,629,652,0.413038947977,0.00459646847747,0.0799338685008,0.999999984658,0.000135220385871,-0.000103291817069,-4.15856746587e-05,1793248388641531648
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715.163486778,680,659,633.163486778,879,784,810.836513222,651,629,652,0.413759576363,0.00458306583385,0.0799092617137,0.999999985387,0.000105741366213,-0.000127239692248,-4.30706801329e-05,1793248388658198272
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.421513038,633.421513038,879,784,810.578486962,651,628.578486962,652.421513038,0.41454997402,0.00457874065329,0.079920180351,0.999999988275,0.000105128224195,-0.000102936220665,-4.24546306752e-05,1793248388674865152
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.988304594,634,879,784,810.011695406,651.011695406,628.011695406,652.988304594,0.415367826656,0.00457818214103,0.0799449422775,0.999999990645,0.000115694903643,-6.0349888696e-05,-4.10201856378e-05,1793248388691531776
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.408939175,634,879,784,810.591060825,651.591060825,628.591060825,652.408939175,0.41616140139,0.00458390938889,0.0799507225881,0.999999991027,0.000107517060586,-6.87540403082e-05,-4.07242916079e-05,1793248388708198656
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680.169988207,659,634,879,784,811,651.830011793,629,652.169988207,0.416970649743,0.0045899899349,0.0799534126435,0.999999990856,0.000106835340036,-7.18751615345e-05,-4.13328251804e-05,1793248388724865280
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680.747864481,659,634,879,784,811,651.252135519,629,652.747864481,0.417817507022,0.00459691822235,0.0799486876067,0.99999998938,0.000124140626079,-6.23196084583e-05,-4.41115400601e-05,1793248388741531904
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659.643055638,634,879,784,811,651,629,652.678472181,0.418690459056,0.00459781884879,0.0799624965048,0.999999990388,0.000127372979451,-2.88711712588e-05,-4.65482104937e-05,1793248388758198272
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.78386032,634,879,784,811,651,629,652.10806984,0.419583609362,0.0045940538405,0.0799906513601,0.999999991382,0.000119712357085,2.30712488727e-05,-4.87201255523e-05,1793248388774865152
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.519393369,634,879,784,811,651,629,652,0.420460821091,0.00459079695917,0.0799787022258,0.999999992675,0.000110783687965,2.86597607562e-06,-4.86604294597e-05,1793248388791531776
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633.928107596,879.071892404,784,811,651.071892404,629,652,0.421340254211,0.00458854770931,0.0799613556319,0.999999992993,0.000104610930527,-2.74194426101e-05,-4.81498714042e-05,1793248388808198656
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633.348559894,879.651440106,784,811,651.651440106,629,652,0.422261680692,0.00459257496658,0.079972090613,0.999999991594,0.000119991563636,-9.79860129021e-06,-4.81390809872e-05,1793248388824866304
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.229668583,633.229668583,880,784,811,652,629,652.229668583,0.423188210756,0.00459754848744,0.0799883414845,0.999999990505,0.00012839398326,1.3396106858e-05,-4.82253683943e-05,1793248388841533440
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.80590644,633.80590644,880,784,811,652,629,652.80590644,0.424122442252,0.00460394991812,0.0800129158212,0.999999989842,0.000126266299784,4.50017677265e-05,-4.84581459739e-05,1793248388858199552
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.611795519,745,715,681,661,633.611795519,880,784,811.388204481,651.611795519,629,653,0.424986874074,0.0046091630311,0.0799860627785,0.999999989788,0.00013403584327,-1.55915864289e-05,-4.70626825312e-05,1793248388874865920
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.026419507,745,715,681,661,633.026419507,880,784,811.973580493,651.026419507,629,653,0.42581585414,0.00461377258956,0.0799330894403,0.999999980649,0.000146832250301,-0.000123013409916,-4.48402246356e-05,1793248388891532288
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.106314578,745,715,681,660.446842711,633.553157289,880,784,812,651,629,653,0.426795946806,0.0046121353739,0.0799192780201,0.999999982658,0.000137666510912,-0.000115299416964,-4.9373328602e-05,1793248388908198912
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.867776239,745.132223761,715,680.867776239,660.132223761,633.867776239,880,784,812,651,629,652.867776239,0.427768040359,0.00460926446358,0.0799110428891,0.999999984581,0.000128422533837,-0.000107529633538,-5.27624776302e-05,1793248388924865280
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.289506662,745.710493338,715,680.289506662,660.710493338,633.289506662,880,784,812,651,629,652.289506662,0.428689055058,0.00460322781759,0.0799153746495,0.999999984242,0.000122416429791,-0.000117929719825,-5.12154351207e-05,1793248388941532160
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.713160865,745.713160865,715,680.286839135,660.713160865,633,879.713160865,784,812,651.286839135,629.286839135,652.286839135,0.429641738982,0.0046013276539,0.0799379986192,0.999999987234,0.000120700792034,-9.18032379224e-05,-5.03557121037e-05,1793248388958199040
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.138743836,745.138743836,715,680.861256164,660.138743836,633,879.138743836,784,812,651.861256164,629.861256164,652.861256164,0.430626173642,0.00460357462644,0.0799789619096,0.999999990719,0.000123286670736,-2.90561122767e-05,-5.01850787284e-05,1793248388974866176
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745,715,681,660,633.446399213,879.446399213,784,812.446399213,651.553600787,629.553600787,653,0.431582322571,0.00460621281161,0.0800164808583,0.999999990456,0.000125525033932,2.86072008782e-05,-5.01248154647e-05,1793248388991533056
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.034490801,745,715,681,660,633.965509199,880,784,813,651.034490801,629.034490801,653,0.432524594584,0.00460931556445,0.0800464082718,0.999999987776,0.000127924028934,7.45934555156e-05,-5.01885365935e-05,1793248389008199936
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.615182154,745,715,681,660,633.384817846,880,784,813,651.615182154,629.615182154,653,0.433389757993,0.00461780232112,0.0799734854825,0.999999988856,0.000134619381312,-3.8701271e-05,-5.16590781468e-05,1793248389024866560
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.193532939,715,681,660,633.193532939,880,784,813,652,629.806467061,653,0.434269213616,0.00462169006518,0.0799203121868,0.999999982327,0.000136612463446,-0.000117710029019,-5.31710677589e-05,1793248389041532928
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.767285489,715,681,660,633.767285489,880,784,813,652,629.232714511,653,0.43517674823,0.00461654247655,0.0799059392227,0.999999981765,0.000129367352886,-0.000129359744365,-5.47644885985e-05,1793248389058199040
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.658773191,715.341226809,681,660.341226809,633.658773191,880,784,813.341226809,652,629.341226809,653,0.436088365166,0.0046126068438,0.0799254714442,0.999999985743,0.000122917848025,-0.000102239965114,-5.43422264877e-05,1793248389074865664
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.084703093,715.915296907,681,660.915296907,633.084703093,880,784,813.915296907,652,629.915296907,653,0.437002767705,0.00460949821493,0.079968139583,0.99999999059,0.000117011241601,-4.86650050042e-05,-5.25445205113e-05,1793248389091532032
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715.492289698,681,660.492289698,633,880.507710302,784,813.492289698,652,630,653,0.437914534497,0.00460866898824,0.0800045994614,0.999999991413,0.000119767221884,8.40223069994e-06,-5.25264090053e-05,1793248389108199168
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.100052815,715,681,660.100052815,633,880.899947185,784,813.100052815,651.899947185,630,653,0.438819813552,0.00460791985949,0.0800338074644,0.999999989841,0.000119925477165,5.59070918126e-05,-5.30063467881e-05,1793248389124866304
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.676926504,715,681,660.676926504,633,880.323073496,784,813.676926504,651.323073496,630,653,0.439696348214,0.00460567222068,0.0800335763311,0.999999991954,0.000100558186669,5.49599161894e-05,-5.43918834899e-05,1793248389141532928
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.747602205,715,681,660.747602205,633,880.252397795,784,813.747602205,651.252397795,630,653,0.440498061198,0.00460607214035,0.0799952068393,0.999999993715,9.72158021328e-05,-4.41952546543e-06,-5.5673839625e-05,1793248389158199296
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745.173916131,715,681,660.173916131,633,880.826083869,784,813.173916131,651.826083869,630,653,0.441204530302,0.00460984225408,0.0799082893502,0.99999998231,0.000114272226993,-0.000138179974299,-5.68239426822e-05,1793248389174865664
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681.41218875,660,633,881,784,813.41218875,651.58781125,630,653,0.441937299033,0.00460971901603,0.079855288547,0.999999970148,0.000108372776929,-0.000211260738154,-5.7690461209e-05,1793248389191532288
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660,633,881,784,814,651,630,653,0.442682115648,0.00460791647629,0.0798177623195,0.999999961002,9.26298402957e-05,-0.000256910059287,-5.8424147961e-05,1793248389208199168
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660,633,881,784,814,651,630,653,0.443523367014,0.00460841410833,0.0798946452641,0.999999983817,9.96671919846e-05,-0.000138235904599,-5.76532679314e-05,1793248389224865792
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.15406931,715.15406931,682,660,633,880.84593069,784,814,651.15406931,630,653,0.44434808409,0.00460770232422,0.0799622874961,0.999999992282,0.000104503448197,-3.58039830681e-05,-5.68526685953e-05,1793248389241532416
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.73424401,715.73424401,682,660,633,880.26575599,784,814,651.73424401,630,653,0.445127072911,0.00460364569023,0.0800043729527,0.999999992868,0.00010325219801,2.17072489947e-05,-5.5969877024e-05,1793248389258199040
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.689259543,715.689259543,682,660,633,880.310740457,784,814.310740457,652,630.310740457,653,0.44585886529,0.00459960373182,0.0800264759436,0.999999992739,9.37731761768e-05,5.18896249797e-05,-5.50989419408e-05,1793248389274865920
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.1158721,715.1158721,682,660,633,880.8841279,784,814.8841279,652,630.8841279,653,0.446550765801,0.00459557417789,0.0800316891632,0.999999993799,7.73397996665e-05,5.89728434681e-05,-5.42380284635e-05,1793248389291532800
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660,633,881,784,814.530039715,652,630.530039715,653,0.447173447651,0.00459838965164,0.0800108935591,0.999999993957,8.69195713115e-05,3.82092734357e-05,-5.54125999801e-05,1793248389308199424
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660,633,880.941834378,784,814,652,630,653,0.447772549958,0.00460320737872,0.0799815606278,0.999999993145,0.000102089858415,5.76321359471e-06,-5.70563918923e-05,1793248389324866048
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,715,682,660,633,880.360633025,784,814,652,630,653,0.448317258997,0.0046104409021,0.0799346908564,0.999999990105,0.000108288876372,-6.83157839467e-05,-5.82838967605e-05,1793248389341532672
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.218496911,715,682.218496911,659.781503089,633,880.218496911,784,814,651.781503089,630,653,0.448849692406,0.0046172019827,0.0798890552927,0.999999982628,0.000107789325891,-0.000140130902692,-5.90706279323e-05,1793248389358199552
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.794239988,715,682.794239988,659.205760012,633,880.794239988,784,814,651.205760012,630,653,0.449362054898,0.00462319061061,0.0798454376845,0.999999971928,9.63375019323e-05,-0.000208244534018,-5.91366867287e-05,1793248389374866432
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.374600756,745.625399244,715,683.374600756,659,632.625399244,881,783.625399244,814,651,630,653,0.449878867337,0.00462792382644,0.0798396472846,0.999999969971,0.000104129715529,-0.00021394356632,-5.86736640514e-05,1793248389391533312
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.957529633,745.042470367,715,683.957529633,659,632.042470367,881,783.042470367,814,651,630,653,0.450398154589,0.0046319588658,0.0798548938675,0.999999973705,0.000122624186744,-0.00018493174067,-5.79164013695e-05,1793248389408200192
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.461986175,745.538013825,715,683.461986175,658.461986175,632,881,783.538013825,814,651.538013825,630,653,0.450908678164,0.00463611241056,0.0798854814431,0.999999979628,0.000132440503507,-0.000140924704716,-5.78165152654e-05,1793248389424866816
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.118100219,745.881899781,715,683,658,632,881,783.881899781,814.118100219,652,630,653,0.45139919125,0.00464004230053,0.07990962539,0.999999982441,0.000140839352491,-0.000109256714196,-5.78372975274e-05,1793248389441533696
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.697383559,745.302616441,715,683,658,632,881,783.302616441,814.697383559,652,630,653,0.451814252491,0.00464306245126,0.0799038992771,0.9999999791,0.000146365987861,-0.000130374363126,-5.81275665397e-05,1793248389458199808
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.725404659,745,715,683,658,632,881,783.274595341,815,652,630,653,0.45219331692,0.00464648401355,0.0798803138767,0.99999997123,0.000155499909287,-0.000173347802126,-5.75321026038e-05,1793248389474866176
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.150458769,745,715,683,658,632,881,783.849541231,815,652,630,653,0.452533008254,0.00465034463694,0.0798371941075,0.99999995537,0.000168579455302,-0.000240226956516,-5.59678296943e-05,1793248389491532288
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.423513323,745.423513323,715,683,657.576486677,632,881,784,815,652,630,653,0.452857092464,0.00465484298999,0.0798076474609,0.999999943479,0.000174268391087,-0.000281671707054,-5.77416840094e-05,1793248389508198912
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.99714024,745.99714024,715,683,657.00285976,632,881,784,815,652,630,653,0.453175644748,0.00465956738518,0.0797829117861,0.999999933104,0.000177337737065,-0.000314101273896,-6.06987320244e-05,1793248389524865280
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745.408777118,715,683,657,632,881,783.408777118,815,651.408777118,630.591222882,653,0.453472360274,0.00465941282449,0.0797760018891,0.999999930886,0.000166418098931,-0.000326497841405,-6.27053217237e-05,1793248389541532160
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.180071612,745,715,683,656.819928388,631.819928388,881,783.180071612,814.819928388,651.180071612,630.819928388,653,0.453762955105,0.00466055131735,0.0797730703316,0.999999931956,0.000147989909379,-0.000331845485518,-6.37666503618e-05,1793248389558199040
+209,3.483333333,POSE1_TO_POSE2_PRESS,766.757154866,745,715,683,656.242845134,631.242845134,881,783.757154866,814.242845134,651.757154866,630.242845134,653,0.454040296557,0.00466459455698,0.0797787130773,0.999999939827,0.000113161825105,-0.00032187335925,-6.27544202538e-05,1793248389574866176
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+211,3.516666667,POSE1_TO_POSE2_PRESS,766.095067083,745.904932917,715,683,656.904932917,631.904932917,881,783.095067083,814.904932917,652,630,653,0.45449850957,0.00468387773267,0.0797626518844,0.999999923775,0.000154661435547,-0.000353826380255,-5.77662191459e-05,1793248389608199680
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745.507135679,715,683,656.014271359,632,881,783,815,652,630,653,0.454688926019,0.00469045564058,0.0797528129028,0.999999915904,0.000170119770898,-0.000368117903241,-6.11589969608e-05,1793248389624866304
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745.082239872,714.917760128,683,655.082239872,631.917760128,881,783,815,652,630,653,0.45487164741,0.00469175949636,0.0797449698324,0.999999910759,0.000175993478593,-0.000378521499664,-6.50423149787e-05,1793248389641532672
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745.662423701,714.337576299,683,655.662423701,631.337576299,881,783,815,652,630,653,0.455038891513,0.00466661624918,0.079747001424,0.999999916382,0.000148042387649,-0.000375740979072,-6.43307571124e-05,1793248389658199040
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745.759040745,714.240959255,683.240959255,655.759040745,631,881,783,815,652,630,653,0.455192749045,0.00465451910057,0.0797495789273,0.999999919454,0.000135066185424,-0.000372432331109,-6.43702055633e-05,1793248389674865664
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745.182798718,714.817201282,683.817201282,655.182798718,631,881,783,815,652,630,653,0.455327979821,0.0046605749482,0.0797529160393,0.999999919789,0.000142926794923,-0.000368388820751,-6.54546419003e-05,1793248389691532544
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+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715,683.01567432,655,631,881,783,815,651.01567432,630,653,0.455539183017,0.0046689866934,0.0797448056671,0.999999912354,0.000156209634441,-0.000382652428032,-6.68385790915e-05,1793248389724866048
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+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,715,683.723522177,654,631,881,783,814.723522177,652,630,652,0.455743692109,0.00466992562484,0.0797326491862,0.99999990258,0.000156665602905,-0.000407193275756,-6.70096206786e-05,1793248389774865920
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,715,684,654,631,881,783.370304532,814.370304532,652,630,653,0.455911796166,0.00467534495126,0.0797196784247,0.999999893086,0.000158752003729,-0.000429172263707,-6.66148726339e-05,1793248389858199296
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+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,715,683.217520357,654,631,881,783.782479643,814.782479643,651.217520357,630,652.217520357,0.45593572078,0.00467085932313,0.0797132493835,0.999999890231,0.00015245982873,-0.000438200901891,-6.53791507108e-05,1793248389891532800
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+246,4.100000000,HOLD_POSE2,766,746,715,684,653,631,880,784,815,652,630,653,0.455952839316,0.00467275655318,0.0796981492866,0.999999879686,0.000152175106108,-0.000462104378099,-6.26949684613e-05,1793248390213919744
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+249,4.150000000,HOLD_POSE2,766,745,714.748957901,684,653.251042099,631,881,783,815,651,630,652.251042099,0.455952595362,0.00467387157014,0.0796980449649,0.999999878898,0.000154346461892,-0.000463120324807,-6.24486319054e-05,1793248390263919872
+250,4.166666667,HOLD_POSE2,766,745.333154442,714.666845558,683.666845558,653,631,881.333154442,783,815,651,630,652.333154442,0.455953252239,0.00467416364231,0.079698254517,0.999999879324,0.000154087469135,-0.000462287868406,-6.24429238793e-05,1793248390280586240
+251,4.183333333,HOLD_POSE2,766,745.909369334,714.090630666,683.090630666,653,631,881.909369334,783,815,651,630,652.909369334,0.455955011545,0.00467498095556,0.0796995096517,0.999999880514,0.000152838824615,-0.000460065386286,-6.2860236286e-05,1793248390297252352
+252,4.200000000,HOLD_POSE2,766,745.514827972,714.485172028,683.485172028,653,630.514827972,881.514827972,783,815,651.485172028,630,653,0.455954178306,0.00467430312082,0.0796984484875,0.999999879725,0.000152254181073,-0.00046195954654,-6.29382729391e-05,1793248390313918976
+253,4.216666667,HOLD_POSE2,766,745,714.937996924,683.937996924,653,630.062003076,881.062003076,783,815,652,630,653,0.455952960851,0.00467362117668,0.0796971548866,0.999999878701,0.00015193274849,-0.000464270437422,-6.29828171274e-05,1793248390330585088
+254,4.233333333,HOLD_POSE2,766,745,714.35182179,683.35182179,653,630.64817821,881.64817821,783,815,652,630,653,0.455952585948,0.00467526364101,0.0796975510923,0.999999878859,0.000152788785827,-0.000463608829373,-6.3279550122e-05,1793248390347251968
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+256,4.266666667,HOLD_POSE2,766,745,714,683.814588847,653.814588847,631,881.185411153,783,815,651.185411153,630,653,0.455953973133,0.00467310685585,0.0796977903124,0.999999879372,0.000149169869692,-0.000463685711418,-6.32420645555e-05,1793248390380585472
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+258,4.300000000,HOLD_POSE2,766,745,714.967678736,684,653.032321264,631,881,783,815,651.967678736,630,653,0.455951948369,0.00467230727799,0.0796946163638,0.999999876905,0.000149509135307,-0.000469026963865,-6.2051818434e-05,1793248390413918720
+259,4.316666667,HOLD_POSE2,766,745,715,683.45806903,653.54193097,631,881,783,815,651.45806903,630,653,0.455952074764,0.00467456349342,0.0796956056709,0.999999877104,0.000153183867721,-0.000467352439295,-6.25218949238e-05,1793248390430585344
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+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,714.910679467,684,653,631,881,783,814.089320533,651.910679467,630,653,0.455953715301,0.00467368279085,0.0796959405058,0.99999987766,0.000153240917175,-0.000466215913066,-6.19636377431e-05,1793248390613237248
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,714.51644859,684,653,631,881.48355141,783,814,652,630,653,0.455953033502,0.00467483506992,0.0796946983728,0.999999876966,0.000154041636103,-0.0004673987134,-6.22656831321e-05,1793248390629904640
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,683.94303529,653,631,881.94303529,783,814.05696471,652,630.05696471,653,0.455952055294,0.00467609070683,0.0796931904924,0.999999876069,0.000154882162555,-0.000468989033982,-6.26365695701e-05,1793248390646572288
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,714,683.353242543,653,631,881.353242543,783,814.646757457,652,630.646757457,653,0.455951389275,0.00467682973115,0.079692999675,0.999999875955,0.000156075666906,-0.000468833597326,-6.26496923568e-05,1793248390663238400
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,714,683,653,630.766894387,881,783,814.766894387,651.766894387,630.766894387,653,0.455945520137,0.00467667821745,0.0796903480821,0.999999874139,0.000156230376659,-0.000472650756675,-6.25669584257e-05,1793248390679904768
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,714,683,653,630.185690121,881,783,814.185690121,651.185690121,630.185690121,653,0.455931881137,0.00467519685546,0.0796840217917,0.999999869715,0.000154833845226,-0.000482400228409,-6.23410808132e-05,1793248390696571136
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,714,683,653,630,881,783,814.389099791,651,630.389099791,653,0.455896317368,0.00467479450016,0.0796700046974,0.999999857828,0.000154769738454,-0.00050652386822,-6.18446652504e-05,1793248390713237760
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,714,683,653,630,881,783,814.960878276,651,630.960878276,653,0.455850460125,0.00467489872823,0.0796523768423,0.999999841665,0.000155331192291,-0.000537396045273,-6.12212345956e-05,1793248390729904640
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,714,683.536635945,653,630.536635945,881,783,815,651,630.463364055,653,0.455786168396,0.00467458761897,0.0796348359833,0.999999826198,0.000155011497995,-0.000565604577721,-6.05515645578e-05,1793248390746571264
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,714.115765341,683.884234659,653.115765341,631,881,783,814.884234659,651.115765341,630,653,0.455719439294,0.00467408233042,0.0796193422692,0.999999812518,0.000154752580951,-0.000589447765005,-5.97251624503e-05,1793248390763237888
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,714.707557695,683.292442305,653.707557695,631,881,783,814.292442305,651.707557695,630,653,0.455648255122,0.00467290401328,0.0796122401346,0.999999808594,0.000155009697153,-0.000596145117126,-5.82682429457e-05,1793248390779904512
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,714.707110465,683,653.707110465,630.707110465,881,783,814,651.707110465,630,653,0.455568236162,0.00467226935927,0.0796088420421,0.999999806816,0.000157030977317,-0.000598779484151,-5.63295885971e-05,1793248390796571136
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,714.128090093,683,653.128090093,630.128090093,881,783,814,651.128090093,630,653,0.45547958629,0.00467216582291,0.0796090625178,0.999999807152,0.000160775711713,-0.000597444622822,-5.39203159696e-05,1793248390813237760
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,714.448965685,683,653.448965685,630.448965685,881,783,814,651.448965685,630,653,0.455371599335,0.00467253976038,0.0796110553686,0.999999808317,0.000163690968763,-0.000594924511944,-5.13362888599e-05,1793248390829904384
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.974110364,745,714.974110364,683,654,631,881,783,814,651.974110364,630,652.974110364,0.455256899677,0.00467300329182,0.0796133243048,0.999999809518,0.000166382886355,-0.000592377782453,-4.86652399199e-05,1793248390846571264
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.387962504,745,714.387962504,683,654,631,881,783,814,651.387962504,630,652.387962504,0.455115801859,0.00467247059262,0.0796106728784,0.999999806711,0.000169340541487,-0.000596540835448,-4.5185244655e-05,1793248390863237888
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.195899857,745,714.195899857,683.195899857,654.195899857,631,881.195899857,783,814,651.195899857,630,652.195899857,0.454962224656,0.00467124187953,0.079607399288,0.999999803332,0.000171804861684,-0.000601754069184,-4.13584745665e-05,1793248390879904512
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.775288116,745,714.775288116,683.775288116,654.775288116,631,881.775288116,783,814,651.775288116,630,652.775288116,0.454784218151,0.00466865066805,0.0796029077663,0.999999798849,0.000173303442061,-0.000609023108604,-3.68528676247e-05,1793248390896571648
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,683.646314696,654.646314696,631,881.646314696,783,814,651.646314696,630,653,0.45458650678,0.00466708964838,0.0795992640247,0.999999795194,0.000177265811891,-0.000614147987676,-3.1811574935e-05,1793248390913238272
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,683.068545362,654.068545362,631,881.068545362,783,814,651.068545362,630,653,0.454376311,0.004666181326,0.0795961574098,0.999999792036,0.000182789162383,-0.000617914394007,-2.6430887941e-05,1793248390929904640
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,714.494426997,683.505573003,654.505573003,631,881,783,814.505573003,651,630,653,0.454120643842,0.00466320504205,0.0795880324171,0.999999783402,0.000186455613629,-0.000630884847265,-2.03410040795e-05,1793248390946571008
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,714.081523658,683.918476342,655,631,880.918476342,783,814.836952684,651,630,653,0.453857007661,0.00466032246427,0.0795804691254,0.999999775101,0.000190773797564,-0.000642811957387,-1.40130872844e-05,1793248390963237376
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,714.671981126,683.328018874,655,631,880.328018874,783,813.656037748,651,630,653,0.453581833251,0.00465976262983,0.0795806294661,0.999999774718,0.000200721000818,-0.000640491335029,-6.79513721194e-06,1793248390979904000
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,714.742270526,683.257729474,655,631,880.257729474,783,813.257729474,651.257729474,630.257729474,652.742270526,0.453288819005,0.00465888092721,0.0795835095216,0.999999777403,0.000209600861345,-0.000633452599908,1.84900639252e-07,1793248390996570624
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,714.162408087,683.837591913,655,631,880.837591913,783,813.837591913,651.837591913,630.837591913,652.162408087,0.452973506977,0.00465759692549,0.0795897889158,0.99999978388,0.000217146662449,-0.000620516752584,6.8675744369e-06,1793248391013237248
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,714.414749452,683.585250548,655.414749452,631,881,783,814,651.585250548,630.170501096,652.414749452,0.452624399978,0.00465449038093,0.0795947731059,0.999999786811,0.000220444604472,-0.000614491358174,1.35130032719e-05,1793248391029904128
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,714.990854653,683.009145347,655.990854653,631,881,783,814,651.009145347,629.018290695,652.990854653,0.45226214526,0.00465067478722,0.0795992534046,0.99999978838,0.000222089942613,-0.000611154433701,2.01439420249e-05,1793248391046571008
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.42393777,745,715,683.57606223,656,631,881,783,813.42393777,651.57606223,629.57606223,653,0.451866782405,0.00464789362369,0.0796069739173,0.999999799209,0.000199377633379,-0.000601279801878,1.71213998168e-05,1793248391063237888
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,683.840142088,656,631.159857912,881,783.159857912,813,652,630,653,0.45146311347,0.00464426568027,0.0796164603707,0.9999998122,0.000177908720604,-0.000586277018534,1.51008342021e-05,1793248391079904768
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,683.260440259,656,631.739559741,881,783.739559741,813,652,630,653,0.451039032476,0.0046383699681,0.0796304475437,0.999999831224,0.0001607373129,-0.000558082847982,1.6120781618e-05,1793248391096571136
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,656.318106223,632,881,784,813,652,630,652.681893777,0.450596306509,0.00463323099565,0.0796485324693,0.999999852534,0.000140429538191,-0.000524375319907,1.55514983899e-05,1793248391113237760
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,656.895710285,632,881,784,813,652,630,652.104289715,0.450138370702,0.00462870933938,0.0796699601727,0.999999874815,0.000117563243622,-0.000486170220339,1.36857869412e-05,1793248391129904384
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.471527792,745,715,683.471527792,657.471527792,632,881,784,813,651.528472208,630,652.471527792,0.449625589869,0.0046243441131,0.0796854565293,0.999999885813,0.000113211139827,-0.00046389675229,1.89098467871e-05,1793248391146571008
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.952036482,745,715,684,658,632,880.952036482,784,812.952036482,651,630.047963518,653,0.449094276841,0.0046199704677,0.0796969827046,0.999999891456,0.000119887103427,-0.000449534592302,2.51742245925e-05,1793248391163237888
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.364211084,745,715,684,658,632,880.364211084,784,812.364211084,651,630.635788916,653,0.448490390379,0.00461511409942,0.0796785319487,0.999999861236,0.000204774996761,-0.000484708030563,2.55649814618e-05,1793248391179905024
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,683.779643299,658,632.220356701,880.220356701,784,812,651,630.779643299,653,0.447886356288,0.0046083595925,0.0796673977466,0.999999843957,0.000244961146181,-0.000501385507158,2.63117380883e-05,1793248391196571904
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,683.200381374,658,632.799618626,880.799618626,784,812,651,630.200381374,653,0.447282081784,0.00459851349909,0.0796681803574,0.999999858032,0.000212339480341,-0.000487937752421,2.76383283394e-05,1793248391213238272
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,658.376905502,633,881,784,812,651,630,652.623094498,0.446686515621,0.00458968282593,0.0797059041501,0.999999891841,0.00017940874771,-0.00042808909261,2.9502003134e-05,1793248391229904896
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,658.953147802,633,881,784,812,651,630,652.046852198,0.44609555512,0.00458138918589,0.0797631652987,0.99999992973,0.000146314556528,-0.00034370004093,3.16497295712e-05,1793248391246571520
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714.469625192,683,659,633,880.469625192,784,812,651.530374808,630,652.530374808,0.445432820699,0.00457537933497,0.0798131343214,0.999999953193,0.000130093667454,-0.000274690941489,3.51421875328e-05,1793248391263237888
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714.109697574,683,659,633,880.109697574,784,812,651.890302426,630,653,0.444748650782,0.00456951260129,0.0798524625119,0.999999967607,0.000117081997277,-0.000222693061514,3.85367738324e-05,1793248391279904512
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714.697779605,683,659,633,880.697779605,784,812,651.302220395,630,653,0.443998703511,0.00456338856001,0.0798482010823,0.999999964391,0.000111553244078,-0.000238944164828,4.09855444169e-05,1793248391296570880
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880.718414966,784,812,651,629.718414966,653,0.443224475843,0.00455648559479,0.0798302593933,0.99999995647,0.000115292619513,-0.00026824859677,4.25514258421e-05,1793248391313237504
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880.1391308,784,812,651,629.1391308,653,0.442424578207,0.00454875912985,0.0797978545724,0.999999942298,0.000128830504397,-0.000311353354023,4.31838937873e-05,1793248391329904640
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.436781763,745,715,683.436781763,659,633,880,784,811.563218237,651,629.873563527,652.563218237,0.441622168898,0.00454168293632,0.0797838538792,0.999999940143,0.000107989701971,-0.00032595356428,4.25010557443e-05,1793248391346571264
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.988449475,745.011550525,715,683.988449475,659,633,879.988449475,784,811.011550525,651,630.988449475,652,0.440816865015,0.00453480187732,0.0797745873022,0.99999994052,7.74605130793e-05,-0.000333522945453,4.14944013023e-05,1793248391363237888
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.417459341,745.582540659,715,683.417459341,659,633,879.417459341,784,811.582540659,651,630.417459341,652,0.439909815805,0.00452741641496,0.0797128491853,0.999999898113,0.000104014990632,-0.000436960416564,4.49411078211e-05,1793248391379904512
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745.839764339,715,683,659,633,879.160235661,784,811.839764339,651,630.160235661,652,0.439021809663,0.00451964917648,0.0796743807016,0.999999867042,0.000115745028489,-0.000500266971478,4.745837795e-05,1793248391396570880
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745.243838442,715,683,659,633,879.756161558,784,811.243838442,651,630.756161558,652,0.438185582807,0.00451084386661,0.07969918373,0.999999891811,8.71665391165e-05,-0.000454455196634,4.74484564849e-05,1793248391413237504
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784,811.341962437,651.341962437,630.658037563,652,0.437364793083,0.00450060393901,0.0797544182412,0.999999927731,6.93750426322e-05,-0.000370584047449,4.89099400114e-05,1793248391429904128
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784,811.920751202,651.920751202,630.079248798,652,0.436554694391,0.00448937046626,0.0798307280964,0.999999963043,5.90540863281e-05,-0.00026035485036,5.13904457017e-05,1793248391446570496
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784,812,651.506180673,630,652,0.435693756955,0.00448143809909,0.0798540746554,0.999999971551,5.62459544573e-05,-0.000225637872551,5.31280145899e-05,1793248391463237632
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784,811.931881024,651,629.931881024,652,0.434815320365,0.00447349457306,0.0798635005489,0.999999974873,5.34472561695e-05,-0.000210738247041,5.4653259948e-05,1793248391479904768
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784,811.341171318,651,629.341171318,652,0.433864509752,0.00446144776215,0.079830590888,0.999999964838,4.15772871308e-05,-0.00025596834952,5.54538213507e-05,1793248391496571392
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+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784,811,651,629,652,0.431842569965,0.00444247143456,0.0797212195783,0.999999892446,2.19856673701e-05,-0.000459788347151,5.67390061945e-05,1793248391529904896
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784,811,651,629,652,0.43089647831,0.0044311811033,0.0797094289385,0.999999882731,1.28174201508e-05,-0.000480664476502,5.77464059002e-05,1793248391546571264
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784,811,651,629,652,0.429989307908,0.00441865256983,0.0797201863931,0.9999998942,3.55563687029e-06,-0.000456194149329,5.89407512362e-05,1793248391563237632
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784,811,651,629,652.551473395,0.429149072292,0.00441040549326,0.0797951580448,0.999999942751,-4.92172711784e-06,-0.000332969509608,6.00400323666e-05,1793248391579904512
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,879.87028634,784,811,651,629,652.87028634,0.428284539402,0.0044020501367,0.0798538217783,0.999999970114,-1.2579152283e-05,-0.000236367413751,6.11932149745e-05,1793248391596571392
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,879.278359864,784,811,651,629,652.278359864,0.427323511864,0.00439267470553,0.0798448625564,0.999999966827,-1.74310638017e-05,-0.000249259357476,6.25525518205e-05,1793248391613238016
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,879,784,811,651,629.305709647,652,0.426354862015,0.00439344376055,0.0798154076211,0.999999954346,-1.83489618532e-05,-0.000295126056802,6.22285652456e-05,1793248391629904640
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,879,784,811,651,629.88280433,652,0.425379445727,0.00440321829492,0.0797677582001,0.999999929503,-1.57745510949e-05,-0.000370265154902,6.0410255885e-05,1793248391646571520
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745.459233685,715,682.081532631,659,633.459233685,879,784,811,651.459233685,629.540766315,652,0.424399151839,0.00443351031981,0.0797382866961,0.999999910918,3.04184407355e-05,-0.000416595997328,6.07099946226e-05,1793248391663238144
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.035281925,745.964718075,715,681.035281925,658.964718075,633.964718075,879,784,811,651.964718075,629,652,0.423425535801,0.00446781901131,0.0797164988497,0.999999893126,8.48150326053e-05,-0.000450348977469,6.11524264881e-05,1793248391679904768
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.608106117,745.391893883,715,681.608106117,658.391893883,633.391893883,879,784,811,651.391893883,629,652,0.422572599341,0.00448366531363,0.0797412009441,0.999999912223,9.48502055905e-05,-0.000404317839982,5.55455964628e-05,1793248391696571136
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.811952144,745,715,682,658.188047856,633.188047856,879,784,811,651,629,652.188047856,0.421726876847,0.0044929333934,0.079779564562,0.999999937425,9.86381615908e-05,-0.000335780179402,5.16845940015e-05,1793248391713237760
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.216593732,745,715,682,658.783406268,633.783406268,879,784,811,651,629,652.783406268,0.4208967796,0.00448795308466,0.0798475189649,0.999999970848,8.88946835383e-05,-0.000218493511008,5.16050425141e-05,1793248391729904384
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.366625179,745,715,681.633374821,658.633374821,634,879,784,811,651,629,652.633374821,0.420027099073,0.00448126849842,0.0798627667345,0.99999997641,8.21384863311e-05,-0.000194245263745,5.19765458476e-05,1793248391746571264
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.942902173,745,715,681.057097827,658.057097827,634,879,784,811,651,629,652.057097827,0.4191347832,0.00447360933438,0.0798478746134,0.999999970736,7.70905438995e-05,-0.000223200336455,5.26059816896e-05,1793248391763238144
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.482453949,745,715,681.517546051,658,634,879,784,811,651,629,652,0.418241620109,0.0044709611897,0.0798125730648,0.999999955768,7.21921411333e-05,-0.00028396102608,5.11689462333e-05,1793248391779904768
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.905958364,658,634,879,784,811,651,629,652,0.417361547355,0.00446999157836,0.0797833340565,0.999999939713,6.90139277234e-05,-0.000336616485566,5.0001852483e-05,1793248391796571648
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.318811656,658,634,879,784,811,651,629,652,0.416550602053,0.00447493365016,0.0797976531831,0.999999941948,7.47692536599e-05,-0.000328431265821,5.14418488453e-05,1793248391813238272
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,634,878.735336294,784,811,651,629,652.264663706,0.415725638114,0.00448112065993,0.0797972251242,0.999999938334,8.86315066474e-05,-0.000335677827782,5.28800792536e-05,1793248391829904896
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,634,878.156222937,784,811,651,629,652.843777063,0.414884018548,0.00448878679284,0.0797792757823,0.999999926985,0.000112125681976,-0.000361259047503,5.431621137e-05,1793248391846571264
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,634,878.42210129,784,811,651,629,652.57789871,0.414128710969,0.0044844983289,0.07978388628,0.999999934652,9.63327516553e-05,-0.000344477140914,5.24619750352e-05,1793248391863237632
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.999867008,658,634,879,784,810.999867008,651,629,652,0.413405289741,0.00447579505388,0.0797968297378,0.999999947912,6.60348693655e-05,-0.000312050762749,4.93933224383e-05,1793248391879904256
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.4263795,658,634,879,784,810.4263795,651,629,652,0.412687437273,0.00447322093844,0.0798053304451,0.999999950508,7.18552560591e-05,-0.000302013348668,5.10769449645e-05,1793248391896571136
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.151527014,658,634,878.848472986,784,810,651,629,652,0.411970405687,0.00447206599217,0.0798073582206,0.999999949541,7.92183451582e-05,-0.000303125704357,5.25063317137e-05,1793248391913237760
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.742241765,658,634,878.257758235,784,810,651,629,652,0.411255753189,0.0044750243825,0.0797906247738,0.999999937805,9.10528229618e-05,-0.00033655468561,5.31988387714e-05,1793248391929904896
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,634,878.326791216,784,810.326791216,651,629,652,0.410569777563,0.00448053643251,0.0797848308626,0.999999933525,9.6233963013e-05,-0.00034763957059,5.32449145555e-05,1793248391946571776
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,634,878.906567765,784,810.906567765,651,629,652,0.409906002174,0.00448802539733,0.0797875057911,0.999999935687,9.62644227518e-05,-0.00034142677756,5.27905557337e-05,1793248391963238400
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.518791033,658,634,879,784,810.518791033,651,629,652,0.409320442597,0.00448789443784,0.0798138929948,0.999999949583,0.000102986536559,-0.000295522168917,5.38018846458e-05,1793248391979904768
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.056224303,658,634,879,784,810,651.056224303,629,652,0.408749734761,0.00448627441585,0.0798411859472,0.999999961614,0.000108504622379,-0.000248965053603,5.49132240821e-05,1793248391996571392
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.644106374,658,634,879,784,810,651.644106374,629,652,0.408177377758,0.00448441620643,0.0798339677871,0.999999958428,9.0481300502e-05,-0.000268342260672,5.43076871396e-05,1793248392013238016
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.228625685,745,715,680.771374315,658,634,878.771374315,784,810,651.771374315,629,652,0.407601036086,0.00448352395859,0.0798139452099,0.999999947432,8.83321054166e-05,-0.000307345380122,5.36016805745e-05,1793248392029904896
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.807986129,745,715,680.192013871,658,634,878.192013871,784,810,651.192013871,629,652,0.407018581587,0.00448411359297,0.0797742793719,0.99999992164,0.00011053541644,-0.000376456617517,5.27415434234e-05,1793248392046571776
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,634,878.386813059,784,810,651,628.613186941,652,0.406507933969,0.00448477097225,0.0797665103644,0.999999919222,0.000108596709791,-0.000383468633445,5.20950796693e-05,1793248392063238656
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,634,878.965375569,784,810,651,628.034624431,652,0.406032882123,0.00448546193382,0.0797745531251,0.999999929497,9.46904190353e-05,-0.00035969707372,5.15545372339e-05,1793248392079905280
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,634,878.460751954,784,809.460751954,651,628,652,0.405620299774,0.00449122363962,0.0797930992886,0.999999941344,0.000103775624615,-0.000322464559085,5.05956376822e-05,1793248392096571648
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.883892836,745,715,680.116107164,658,634,878,784,809.116107164,651.116107164,628.116107164,652,0.405215351666,0.00449598820071,0.0798105563873,0.999999950048,0.000113940885093,-0.000290569810894,4.98978197145e-05,1793248392113238272
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.293617218,745,715,680.706382782,658,634,878,784,809.706382782,651.706382782,628.706382782,652,0.404825341217,0.00449536234649,0.0798208354088,0.999999950903,0.000122540097227,-0.000283973196081,5.03749854015e-05,1793248392129904640
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.708877085,658.291122915,634,878,784,810,651.708877085,629,652,0.404446804614,0.00449581911902,0.0798285353162,0.99999995146,0.000125234391298,-0.000280562907748,5.17798576913e-05,1793248392146571008
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.129615724,658.870384276,634,878,784,810,651.129615724,629,652,0.404079624257,0.00449734741971,0.0798336825488,0.999999951798,0.000122084301558,-0.000280306281425,5.41029260986e-05,1793248392163237632
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.447237061,745,715,680,658.105525877,634,878,784.447237061,810,651,629,652,0.403738642601,0.00449615987682,0.0798327654488,0.99999995056,0.000118361385226,-0.000286152406764,5.46493802585e-05,1793248392179904256
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.976707989,745,715,679.976707989,657.023292011,634,878,784.976707989,810,651.023292011,629,652,0.403407577762,0.00449420694547,0.0798301500011,0.99999994887,0.0001143847337,-0.000293591681299,5.45823727099e-05,1793248392196571136
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.403099071,745,715,679.403099071,657.596900929,634,878,784.403099071,810,651.596900929,629,652,0.403132383941,0.00449266714961,0.0798287104275,0.999999948639,0.000108314479817,-0.000297107912557,5.21212223146e-05,1793248392213237760
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.17619241,745,715.17619241,679.17619241,658,634,878,783.82380759,809.82380759,652,628.82380759,652,0.402869588573,0.00449141509734,0.0798281115706,0.999999948514,0.000103820281317,-0.000299314329092,5.10317538065e-05,1793248392229904128
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.768917849,745,715.768917849,679.768917849,658,634,878,783.231082151,809.231082151,652,628.231082151,652,0.402636104187,0.00449084329426,0.0798295002356,0.999999948747,0.000103052005367,-0.000298424237811,5.3185051949e-05,1793248392246570496
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.646927332,745,715.646927332,680,658.353072668,633.646927332,878,783.353072668,809,651.646927332,628.353072668,652,0.402424925517,0.00448885065043,0.0798323896544,0.999999950491,9.817492286e-05,-0.000293978596709,5.43742809092e-05,1793248392263236864
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.068248894,745,715.068248894,680,658.931751106,633.068248894,878,783.931751106,809,651.068248894,628.931751106,652,0.402227999692,0.00448595012016,0.0798362380224,0.99999995312,9.06724020727e-05,-0.000287261036342,5.4947490797e-05,1793248392279903744
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.507013199,745,715,680,658.492986801,633.507013199,878,784,809,651,628.492986801,652,0.402060696457,0.00448544064193,0.0798416159717,0.999999956297,8.37634440407e-05,-0.000278140335817,5.50234078994e-05,1793248392296570368
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.916289372,745,715,679.916289372,658,634,878,784.083710628,809.083710628,651,628.083710628,652,0.401901265081,0.0044857601256,0.0798464417445,0.999999958995,7.82694506773e-05,-0.000269908840218,5.50698654495e-05,1793248392313237248
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.328190906,745,715,679.328190906,658,634,878,784.671809094,809.671809094,651,628.671809094,652,0.401765399236,0.00448914807514,0.0798467081494,0.99999995903,8.08229447859e-05,-0.000268971211337,5.53394597621e-05,1793248392329903872
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,878,784.744144777,810,651.255855223,629,652,0.401636868295,0.00449565580126,0.079845239096,0.99999995779,8.61483158561e-05,-0.000271986420802,5.4965884544e-05,1793248392346570752
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,878,784.165215656,810,651.834784344,629,652,0.401517599305,0.00450610293626,0.0798415786418,0.999999954846,9.4973795483e-05,-0.000279992964377,5.37801652906e-05,1793248392363237376
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715.412808996,679,658,634,878,784.412808996,810,652,629,652,0.401412818296,0.00451792964126,0.079834576595,0.999999946964,0.00014079401983,-0.000289704911789,4.81735046701e-05,1793248392379903744
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715.990472435,679,658,634,878,784.990472435,810,652,629,652,0.401313823038,0.00453030727452,0.07982624009,0.99999993386,0.000201388020581,-0.000300097907668,4.08013498574e-05,1793248392396570368
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715.438042951,679,658,634,878,784.438042951,810,651.438042951,628.438042951,652,0.40124228163,0.00452271599843,0.0798231799595,0.999999934921,0.000189776466273,-0.000303846339314,4.26571013587e-05,1793248392413236992
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.138308685,745,715,679.138308685,658,634,878,784,809.861691315,651,628.138308685,652,0.401176586042,0.00451674445447,0.079820846299,0.999999935801,0.000179814902784,-0.000306750630782,4.43711214711e-05,1793248392429903872
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.730989775,745,715,679.730989775,658,634,878,784,809.269010225,651,628.730989775,652,0.401128582686,0.00451719420087,0.0798206085535,0.999999935716,0.000179251882165,-0.000307247813381,4.51111364203e-05,1793248392446570496
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.683555479,745,715,680,658,634,878.316444521,784,809.316444521,651.316444521,629,652,0.40108745565,0.00451611504097,0.0798203857181,0.999999936006,0.000176874574272,-0.000307580324208,4.58084307647e-05,1793248392463236864
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.104106649,745,715,680,658,634,878.895893351,784,809.895893351,651.895893351,629,652,0.401052043677,0.00451376517198,0.0798201752747,0.999999936595,0.00017298937049,-0.000307775972592,4.64702191141e-05,1793248392479903744
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.528854691,658,634,878.528854691,784,810,652,629,652,0.401027523987,0.00451435413192,0.0798203369404,0.999999936723,0.000173819127065,-0.000306836608863,4.6817199673e-05,1793248392496571136
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,878.046510156,784,809.953489844,651.953489844,628.953489844,652,0.401006159977,0.004514640903,0.0798205983842,0.999999936932,0.000174496611752,-0.000305697943048,4.72800513493e-05,1793248392513238784
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,878.633877085,784,809.366122915,651.366122915,628.366122915,652,0.400993751465,0.00450392877282,0.0798210724137,0.999999939178,0.000161394974377,-0.000305132361534,4.98921181354e-05,1793248392529905408
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diff --git a/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a439e4902995f80d968eed665d8c759b3ea6f2b4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_04/simulation_data.csv
@@ -0,0 +1,410 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3d81ecb05bec4cdb384b6816208860fd637ac646
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58b386dfe047a995d6633831d57b4fa7e135f616d670ac99eb59df07500c877b
+size 26030909
diff --git a/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b13be37e501463746b5761883b430943dfc71708
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_05/franka_data.csv
@@ -0,0 +1,412 @@
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+4,0.066666667,BASELINE,766,745,716,680,658,634,879,784,809.312299468,651.687700532,628.687700532,652,0.400968637951,0.00448048121838,0.0798335518286,0.999999950494,0.00012413911525,-0.000284456593958,5.18312954449e-05,1793248393152744704
+5,0.083333333,BASELINE,766,745,716,680,658,634,879,784,809.901193011,651.098806989,628.098806989,652,0.400969534533,0.0044804696733,0.0798338272992,0.999999950679,0.000123374093158,-0.00028410787207,5.19884277365e-05,1793248393169411072
+6,0.100000000,BASELINE,766,745,716,680,658,634,878.518157658,784,809.518157658,651,628.481842342,652,0.400969137528,0.00447934545355,0.0798334451257,0.999999950957,0.000121737328207,-0.000283815708297,5.21083127446e-05,1793248393186077696
+7,0.116666667,BASELINE,765.939728587,745,715.939728587,680,658,634,878,784,809.060271413,651,628.939728587,652,0.400968627953,0.00447818973396,0.0798330312387,0.999999951183,0.000120416099954,-0.000283566577208,5.21964564699e-05,1793248393202744576
+8,0.133333333,BASELINE,765.366053783,745,715.366053783,680,658,634,878,784,809.633946217,651,628.366053783,652,0.400969381038,0.00447867655968,0.0798334766234,0.999999950834,0.000123279772777,-0.000283586875871,5.20781890279e-05,1793248393219410944
+9,0.150000000,BASELINE,765.209100453,745,715,679.790899547,658,634,877.790899547,784,809.790899547,651,628.209100453,652,0.400969414769,0.00447914712687,0.0798334972648,0.999999950562,0.00012462221428,-0.000283984437283,5.19495584529e-05,1793248393236077568
+10,0.166666667,BASELINE,765.786862997,745,715,679.213137003,658,634,877.213137003,784,809.213137003,651,628.786862997,652,0.400968180217,0.00447958902879,0.0798327690471,0.999999950433,0.000123282593774,-0.000285047145384,5.18026567956e-05,1793248393252743936
+11,0.183333333,BASELINE,765.627365495,745,715,679,658,634,877.372634505,784,809.372634505,651.372634505,629,652,0.400968863952,0.00447953620869,0.0798333403644,0.999999950861,0.00012219971876,-0.000284021340306,5.17358041547e-05,1793248393269410560
+12,0.200000000,BASELINE,765.036912399,745,715,679,658,634,877.963087601,784,809.963087601,651.963087601,629,652,0.400970668996,0.00447919420541,0.0798346713077,0.999999951611,0.000121266920817,-0.000281774722456,5.17157430978e-05,1793248393286077184
+13,0.216666667,BASELINE,765.54294241,745,715.54294241,679.54294241,658,634,878,784,810,652,628.45705759,652,0.400968417262,0.00447820015963,0.0798333162066,0.99999995091,0.000121218489052,-0.000284196054867,5.2135070581e-05,1793248393302743808
+14,0.233333333,BASELINE,765.878663808,745,715.878663808,680,658,634,878.121336192,784,810,651.878663808,628,652,0.40096664358,0.00447789439329,0.0798322777542,0.999999950334,0.000121328332157,-0.000286128374474,5.23702291531e-05,1793248393319410432
+15,0.250000000,BASELINE,765.303093613,745,715.303093613,680,658,634,878.696906387,784,810,651.303093613,628,652,0.400967672258,0.00448032804372,0.0798330952483,0.999999950608,0.000121809920788,-0.000285064725948,5.18062449653e-05,1793248393336077056
+16,0.266666667,BASELINE,765,745,715,680,658,634,879,784,809.722259088,651,628,651.722259088,0.400968393829,0.00448155144232,0.0798335997741,0.999999950661,0.000123771762623,-0.000284070186953,5.1609774183e-05,1793248393352743936
+17,0.283333333,BASELINE,765,745,715,680,658,634,879,784,809.135568739,651,628,651.135568739,0.400968773784,0.00448142859825,0.0798337561646,0.999999950457,0.000127380187176,-0.000283152523082,5.1822112705e-05,1793248393369410560
+18,0.300000000,BASELINE,765,745,715,680,658,634,878.554521367,784.445478633,809.445478633,651.445478633,628.445478633,651.445478633,0.400967577468,0.00447990596031,0.0798329520211,0.999999950359,0.000124515507782,-0.000284763567385,5.18356202297e-05,1793248393386076928
+19,0.316666667,BASELINE,765,745,715.024720693,680,658,634,878,784.975279307,810,651.975279307,629,652,0.400966030715,0.00447806819149,0.0798319334183,0.999999950288,0.000119946017667,-0.000286977088216,5.17869265236e-05,1793248393402743808
+20,0.333333333,BASELINE,765,745,715.601517219,680,658,634,878,784.398482781,810,651.398482781,629,652,0.40096723656,0.00447858712899,0.0798325717871,0.99999995057,0.000120746453699,-0.000285674624021,5.16835278072e-05,1793248393419410432
+21,0.350000000,BASELINE,765,745,715.821871503,679.821871503,658,633.821871503,878,784,809.821871503,651.178128497,628.821871503,652,0.400968647741,0.00447908329081,0.0798333757137,0.999999950882,0.000121599631923,-0.000284224224946,5.16373127037e-05,1793248393436077312
+22,0.366666667,BASELINE,765,745,715.245674286,679.245674286,658,633.245674286,878,784,809.245674286,651.754325714,628.245674286,652,0.40097051779,0.00447952855513,0.0798345496164,0.999999951264,0.000122570674491,-0.000282443231847,5.17188874294e-05,1793248393452743936
+23,0.383333333,BASELINE,765.337489868,745,715,679,658.337489868,633.337489868,878.337489868,784,809,652,628.337489868,652,0.400970161238,0.00447943702826,0.0798343079248,0.999999951201,0.000122452270695,-0.000282731096002,5.16399805204e-05,1793248393469410560
+24,0.400000000,BASELINE,765.925832536,745,715,679,658.925832536,633.925832536,878.925832536,784,809,652,628.925832536,652,0.400968149676,0.00447894651,0.0798330140364,0.999999950807,0.000121524092558,-0.000284556720607,5.14417892468e-05,1793248393486077184
+25,0.416666667,BASELINE,766,745,715,679.507574764,658.492425236,634,878.492425236,784,809.507574764,652,629,652,0.400968483495,0.0044784675655,0.0798331032925,0.999999951141,0.000120974441591,-0.000283592780884,5.15684255117e-05,1793248393502743808
+26,0.433333333,BASELINE,766,745,715.087418238,680,658,634,878.087418238,784,809.912581762,651.912581762,628.912581762,652,0.400968878563,0.00447804748655,0.0798332208003,0.999999951428,0.000120441822569,-0.000282778893285,5.17168400521e-05,1793248393519410432
+27,0.450000000,BASELINE,766,745,715.661986498,680,658,634,878.661986498,784,809.338013502,651.338013502,628.338013502,652,0.400967729666,0.00447794614039,0.0798323839345,0.999999950873,0.000119699845548,-0.000285043520152,5.1725511686e-05,1793248393536077312
+28,0.466666667,BASELINE,765.762693628,745,716,680,658,634,878.762693628,784,809,651,628.237306372,652,0.400967627304,0.00447773067848,0.0798324218282,0.999999950746,0.000119472623609,-0.000285577959365,5.17620027884e-05,1793248393552743936
+29,0.483333333,BASELINE,765.186299805,745,716,680,658,634,878.186299805,784,809,651,628.813700195,652,0.40096902034,0.00447735215639,0.079833709667,0.999999951233,0.000119980936066,-0.000283640130573,5.1838245173e-05,1793248393569410560
+30,0.500000000,BASELINE,765,745,716,680,658,634,878,784,809.400688867,651.400688867,629,652,0.400969365021,0.00447791324628,0.0798342891068,0.999999951437,0.000120641946823,-0.00028263541838,5.18457013477e-05,1793248393586077184
+31,0.516666667,BASELINE,765,745,716,680,658,634,878,784,809.992737377,651.992737377,629,652,0.400969209032,0.00447892307291,0.0798345302318,0.999999951508,0.000121375882705,-0.000282076340931,5.18203068335e-05,1793248393602744064
+32,0.533333333,BASELINE,765.568823015,745,716,680,657.431176985,634,878,784,810,651.431176985,629,652,0.400969466223,0.00447773993087,0.0798350975431,0.999999951673,0.000120492350727,-0.000281840893801,5.19830261795e-05,1793248393619410432
+33,0.550000000,BASELINE,766,745.144049787,716,680,657.144049787,634,878,784,809.855950213,651.144049787,629,652,0.40096936127,0.00447726147239,0.0798352198527,0.999999951588,0.000120487332222,-0.000282132482623,5.20298087106e-05,1793248393636077312
+34,0.566666667,BASELINE,766,745.717308086,716,680,657.717308086,634,878,784,809.282691914,651.717308086,629,652,0.400968161993,0.00447896382765,0.0798340041721,0.999999950755,0.000123159772295,-0.000283982443913,5.17241866513e-05,1793248393652744960
+35,0.583333333,BASELINE,765.701793348,745.701793348,715.701793348,680,658,634,877.701793348,784,809,652,628.701793348,652,0.400967512938,0.00447882852314,0.0798332650961,0.999999950498,0.000122614185442,-0.000285134520137,5.1653773848e-05,1793248393669411840
+36,0.600000000,BASELINE,765.113461501,745.113461501,715.113461501,680,658,634,877.113461501,784,809,652,628.113461501,652,0.400967399195,0.00447690535996,0.0798329897085,0.999999950799,0.000118937781103,-0.00028560762433,5.18121960503e-05,1793248393686078208
+37,0.616666667,BASELINE,765,745,715,680,658,634,877.939270409,784,809,651.530364795,628.469635205,652,0.400968393043,0.00447719778515,0.0798339756825,0.999999951249,0.00012069221411,-0.000283299658645,5.17383213464e-05,1793248393702745088
+38,0.633333333,BASELINE,765.050913546,745,715.050913546,679.949086454,658,634,878.949086454,784,809.050913546,651,628.949086454,652,0.400969618755,0.00447811070902,0.0798351780415,0.999999951683,0.000123595163378,-0.000280521656975,5.16335915259e-05,1793248393719411456
+39,0.650000000,BASELINE,765.62634557,745,715.62634557,679.37365443,658,634,878.37365443,784,809.62634557,651,628.37365443,652,0.400970506826,0.00447996241345,0.0798355047803,0.999999951722,0.000124962250659,-0.000279746897348,5.17827881528e-05,1793248393736078080
+40,0.666666667,BASELINE,766,745,715.798570438,679,658,634,878,784,809.798570438,651,628.201429562,652,0.400970375062,0.00448090697653,0.0798354739533,0.999999951675,0.00012513111774,-0.000279834146461,5.18210538105e-05,1793248393752744704
+41,0.683333333,BASELINE,766,745,715.224130974,679,658,634,878,784,809.224130974,651,628.775869026,652,0.400968354757,0.00448017168328,0.0798347809811,0.999999951465,0.000123081104863,-0.000281517674707,5.16538960358e-05,1793248393769411072
+42,0.700000000,BASELINE,765.638581673,745,715,679.361418327,658,634,877.638581673,784,809.361418327,651,629,652,0.400967249887,0.00447979399837,0.0798337466658,0.999999951139,0.000122793330833,-0.000282808800781,5.16011838771e-05,1793248393786077952
+43,0.716666667,BASELINE,765.045924208,745,715,679.954075792,658,634,877.045924208,784,809.954075792,651,629,652,0.400966730722,0.00447964511496,0.0798324939558,0.99999995074,0.000123633055302,-0.000283848863872,5.16216951993e-05,1793248393802744576
+44,0.733333333,BASELINE,765.532132555,745,715,679.467867445,658,634,877.532132555,784,809.467867445,651.532132555,628.467867445,652,0.400966802404,0.00447963390394,0.0798332462783,0.999999950679,0.000123160340363,-0.000284252791689,5.17185379062e-05,1793248393819411200
+45,0.750000000,BASELINE,765.89155697,745,715,679.10844303,658,634,878,784,809,651.89155697,628.10844303,652,0.400966966236,0.00447966036891,0.0798340402525,0.999999950702,0.000122818723354,-0.000284300949396,5.18125139627e-05,1793248393836077824
+46,0.766666667,BASELINE,765.317478869,745,715,679.682521131,658,634,878,784,809,651.317478869,628.682521131,652,0.400967312642,0.00447979895361,0.0798342899158,0.999999950968,0.000123513375435,-0.000283050928467,5.18666506497e-05,1793248393852744960
+47,0.783333333,BASELINE,765.262385846,745,715,679.737614154,658,634,878,784,809.262385846,651,629,652,0.400967526381,0.00447971768224,0.0798341944439,0.999999951222,0.000122366276438,-0.000282689202389,5.16667102462e-05,1793248393869411840
+48,0.800000000,BASELINE,765.849410162,745,715,679.150589838,658,634,878,784,809.849410162,651,629,652,0.400967575979,0.00447936439265,0.0798336719515,0.999999951453,0.000118940459905,-0.000283426524301,5.11524114369e-05,1793248393886078208
+49,0.816666667,BASELINE,766,745,715.430956963,679.430956963,658,634,878,784,809.569043037,651,628.569043037,652,0.400968413359,0.00447929930283,0.0798346188335,0.999999951441,0.000120539926585,-0.0002827389328,5.14549870644e-05,1793248393902744832
+50,0.833333333,BASELINE,766,745,715.989388101,679.989388101,658,634,878,784,809.010611899,651.010611899,628.010611899,652,0.400969505931,0.00447932866116,0.0798360366392,0.999999951342,0.000123782614034,-0.000281579812765,5.20268542936e-05,1793248393919411200
+51,0.850000000,BASELINE,766,745,715.409831653,679.409831653,658,634,878,784,809.590168347,651.590168347,628.590168347,652,0.400969706949,0.00447909027479,0.0798355201937,0.999999951569,0.000122160845172,-0.000281500026812,5.19249366551e-05,1793248393936077824
+52,0.866666667,BASELINE,765.832594539,745,715.167405461,679.167405461,658,634,878,784.167405461,810,652,629,652,0.400969627514,0.00447889493032,0.0798351810939,0.999999951701,0.000120851918414,-0.000281611871742,5.18446821323e-05,1793248393952744448
+53,0.883333333,BASELINE,765.260957914,745,715.739042086,679.739042086,658,634,878,784.739042086,810,652,629,652,0.400968870869,0.0044788035184,0.0798352702278,0.999999951607,0.000120298406343,-0.000282186444564,5.18167371782e-05,1793248393969411584
+54,0.900000000,BASELINE,765,745,716,680,658,634,878,784.679767037,810,652,628.679767037,652,0.400968588461,0.00447881503417,0.0798349181305,0.999999951477,0.000120914945753,-0.000282382797,5.18138159327e-05,1793248393986078720
+55,0.916666667,BASELINE,765,745,716,680,658,634,878,784.090550991,810,652,628.090550991,652,0.400968704393,0.00447891300516,0.0798341954164,0.999999951316,0.000122514282376,-0.000282261459173,5.18319136187e-05,1793248394002745600
+56,0.933333333,BASELINE,765.492968571,745,715.507031429,680,658,634,878,784,810,651.507031429,628.492968571,652,0.400968463347,0.00447927828098,0.079834191216,0.999999951174,0.000123818278985,-0.000282218601555,5.17095585069e-05,1793248394019411968
+57,0.950000000,BASELINE,765.925597469,745,715,680,658,634,878.074402531,784,809.925597469,651.074402531,628.925597469,652.074402531,0.40096826252,0.00447957052739,0.0798343332793,0.999999951098,0.000124635374253,-0.000282149042517,5.15875454901e-05,1793248394036078592
+58,0.966666667,BASELINE,765.351227574,745,715,680,658,634,878.648772426,784,809.351227574,651.648772426,628.351227574,652.648772426,0.400968767555,0.00447904586265,0.0798345814551,0.999999951452,0.000122540987233,-0.000281804293153,5.16392146867e-05,1793248394052744448
+59,0.983333333,BASELINE,765.223097762,745,715.223097762,680,658,634,878.776902238,784,809.223097762,651.776902238,628,652.776902238,0.400969214867,0.00447850925503,0.0798349029895,0.999999951762,0.000121066748723,-0.000281329379946,5.17044064208e-05,1793248394069410816
+60,1.000000000,BASELINE,765.797353053,745,715.797353053,680,658,634,878.202646947,784,809.797353053,651.202646947,628,652.202646947,0.40096957132,0.00447795384916,0.0798353399911,0.999999952008,0.000120568628229,-0.000280649587834,5.17908827368e-05,1793248394086078208
+61,1.016666667,BASELINE,765.615438676,745,715.615438676,679.615438676,658,634,878,784,810,651.384561324,628,652,0.400969794312,0.00447797584154,0.079835427096,0.999999952072,0.000120743781778,-0.000280323270171,5.19240340519e-05,1793248394102745088
+62,1.033333333,BASELINE,765.021166869,745,715.021166869,679.021166869,658,634,878,784,810,651.978833131,628,652,0.400969944522,0.00447831270303,0.0798353233938,0.999999952035,0.000121286087786,-0.000280189710617,5.20826383543e-05,1793248394119412224
+63,1.050000000,BASELINE,765.556572876,745,715.556572876,679.556572876,658,634,878,784.556572876,810,651.443427124,628,652,0.400969794009,0.00447861394998,0.0798354086382,0.999999952183,0.000120253919782,-0.000280166566476,5.17579688499e-05,1793248394136078592
+64,1.066666667,BASELINE,765.867057738,745,716,680,658,634,878,784.867057738,809.867057738,651,628,652,0.400969619725,0.0044788264496,0.0798354722262,0.999999952251,0.000119678713922,-0.000280217383765,5.15060315399e-05,1793248394152745216
+65,1.083333333,BASELINE,765.293208187,745,716,680,658,634,878,784.293208187,809.293208187,651,628,652,0.400969403443,0.0044787489783,0.0798354408456,0.999999952033,0.000120811897788,-0.000280499971547,5.15545099457e-05,1793248394169411584
+66,1.100000000,BASELINE,765,745,715.711255342,679.711255342,658,634,878,784,809,651.288744658,628,652,0.400969102108,0.00447874021564,0.0798355928055,0.99999995209,0.000120431518884,-0.000280476522351,5.14623560394e-05,1793248394186077952
+67,1.116666667,BASELINE,765,745,715.120836382,679.120836382,658,634,878,784,809,651.879163618,628,652,0.40096871191,0.00447880323832,0.0798359363157,0.999999952433,0.000118469801594,-0.000280133332185,5.12232724697e-05,1793248394202744576
+68,1.133333333,BASELINE,765,745,715.460846368,679.460846368,658.460846368,634,878,784,809.460846368,651.539153632,628.460846368,652,0.400969449173,0.0044788689643,0.0798358064745,0.999999952289,0.000120091644438,-0.000279919122505,5.14307048743e-05,1793248394219411200
+69,1.150000000,BASELINE,765.040024021,745,715.959975979,679.959975979,658.959975979,634,878,784,810,651,628.959975979,652,0.400970391975,0.00447883280774,0.0798355759739,0.999999952054,0.000122297015636,-0.000279753768911,5.1707521578e-05,1793248394236077824
+70,1.166666667,BASELINE,765.615760773,745,715.384239227,679.384239227,658.384239227,634,878,784,810,651,628.384239227,652,0.400970202575,0.00447742366498,0.0798356285205,0.99999995234,0.000119970040191,-0.000279798100056,5.13751107046e-05,1793248394252744448
+71,1.183333333,BASELINE,766,745,715,679.190734385,658,634,878,784,809.809265615,651,628,652,0.400969553543,0.00447692406116,0.0798353409134,0.999999952232,0.000119618300291,-0.000280354303199,5.12780812287e-05,1793248394269411328
+72,1.200000000,BASELINE,766,745,715,679.764176865,658,634,878,784,809.235823135,651,628,652,0.400967982263,0.0044782494448,0.0798343707889,0.999999951329,0.000123229865438,-0.000281937576306,5.16533439121e-05,1793248394286078208
+73,1.216666667,BASELINE,765.65128309,745,715,680,658,634,878,784,809.34871691,651,628.34871691,652,0.400966871551,0.00447859982866,0.0798333502236,0.999999950746,0.000124003876389,-0.000283622337239,5.18632604507e-05,1793248394302745088
+74,1.233333333,BASELINE,765.058991563,745,715,680,658,634,878,784,809.941008437,651,628.941008437,652,0.400966082541,0.00447826918667,0.0798322944262,0.99999995039,0.000122795889244,-0.000285377986115,5.19576846497e-05,1793248394319411712
+75,1.250000000,BASELINE,765.521513879,745,715,680,658,633.478486121,878,784.521513879,809.478486121,651,628.478486121,652,0.40096762884,0.00447744339062,0.0798332569521,0.999999951214,0.000120794366023,-0.000283368677949,5.17987168617e-05,1793248394336078080
+76,1.266666667,BASELINE,765.900332041,745,715,680,658,633,878,784.900332041,809,651,628,652.099667959,0.400969338419,0.00447712736658,0.0798343498645,0.999999951993,0.000119532209824,-0.000281187606575,5.15750852494e-05,1793248394352744704
+77,1.283333333,BASELINE,765.32715514,745,715,680,658,633,878,784.32715514,809,651,628,652.67284486,0.400970596467,0.00447949341464,0.0798350015519,0.999999951977,0.000122199706794,-0.000280169079666,5.11774076782e-05,1793248394369411328
+78,1.300000000,BASELINE,765,745,715,679.74859383,658,633.25140617,878,784,809,651.25140617,628,652.74859383,0.400971099276,0.00448036206165,0.0798354981889,0.999999951952,0.000123785819565,-0.000279547333304,5.12496871834e-05,1793248394386077696
+79,1.316666667,BASELINE,765,745,715,679.162872481,658,633.837127519,878,784,809,651.837127519,628,652.162872481,0.400970597784,0.00447923949284,0.0798357886427,0.999999951924,0.000123933927835,-0.000279453218306,5.19469067664e-05,1793248394402744320
+80,1.333333333,BASELINE,765.420483701,745.420483701,715.420483701,679.420483701,658.420483701,634,878,784,809,652,628.420483701,652,0.400969642244,0.00447794357614,0.0798354675558,0.999999951849,0.000122618858549,-0.000280285250735,5.20226323999e-05,1793248394419411456
+81,1.350000000,BASELINE,766,745.997095286,715.997095286,680,658.997095286,634,878,784,809.002904714,652,629,652,0.40096851886,0.00447659451478,0.079834915219,0.999999951751,0.000120757998917,-0.000281469705917,5.18595115984e-05,1793248394436078336
+82,1.366666667,BASELINE,766,745.419463519,715.419463519,680,658.419463519,634,878,784,809.580536481,652,629,652,0.400968789789,0.00447794137713,0.0798352142211,0.999999951459,0.000122418060769,-0.000281801416472,5.18032279627e-05,1793248394452745216
+83,1.383333333,BASELINE,766,745,715.156821131,679.843178869,658,634,878,784,809.843178869,652,629,652,0.400968890569,0.0044789444166,0.0798352811121,0.999999951289,0.000123435072528,-0.000281969044153,5.17594791318e-05,1793248394469411840
+84,1.400000000,BASELINE,766,745,715.729533342,679.270466658,658,634,878,784,809.270466658,652,629,652,0.400968540114,0.00447903563492,0.0798347324421,0.99999995145,0.000122746709899,-0.000281701522613,5.1748972706e-05,1793248394486078208
+85,1.416666667,BASELINE,766,745,716,679.310564085,658,634,878,784,809.310564085,652,629,652,0.400968626073,0.00447856896614,0.0798348073146,0.99999995185,0.000120744823051,-0.000281149924994,5.17311697621e-05,1793248394502744576
+86,1.433333333,BASELINE,766,745,716,679.899038691,658,634,878,784,809.899038691,652,629,652,0.400969102561,0.00447760306804,0.0798354401686,0.999999952456,0.000117567519577,-0.000280344119848,5.17068374763e-05,1793248394519411200
+87,1.450000000,BASELINE,765.517665572,745,716,680,658,634,878,784,809.517665572,652,629,652,0.400968540435,0.004477662224,0.079835168358,0.999999952183,0.000118630006271,-0.00028088422471,5.16323963779e-05,1793248394536077824
+88,1.466666667,BASELINE,765.063624292,745,716,680,658,634,878.127248584,784,809.063624292,652,628.936375708,652,0.400968008078,0.00447792343944,0.0798348636002,0.99999995182,0.00012037442718,-0.000281444871856,5.15611611653e-05,1793248394552744704
+89,1.483333333,BASELINE,765.637429904,745,716,680,658,634,879.274859808,784,809.637429904,652,628.362570096,652,0.400969439161,0.00447810267576,0.0798357969539,0.999999952221,0.000120546366543,-0.000279935196342,5.15988445103e-05,1793248394569411328
+90,1.500000000,BASELINE,766,745,715.789025921,680,658,634,879.578051841,784,810,651.789025921,628.210974079,652,0.400969713069,0.00447805614583,0.0798359572249,0.999999952348,0.000119873115929,-0.000279778118643,5.1559275269e-05,1793248394586077952
+91,1.516666667,BASELINE,766,745,715.215930541,680,658,634,878.431861081,784,810,651.215930541,628.784069459,652,0.400968000771,0.0044776221049,0.079834790557,0.999999952001,0.000117749159623,-0.000281942674549,5.13871077109e-05,1793248394602744576
+92,1.533333333,BASELINE,766,745,715.368769559,680,658,634.368769559,878,784.368769559,810,651,628.631230441,652,0.400967734902,0.0044781434501,0.0798343606942,0.9999999517,0.000119233551123,-0.000282393370115,5.13463295383e-05,1793248394619411200
+93,1.550000000,BASELINE,766,745,715.960485561,680,658,634.960485561,878,784.960485561,810,651,628.039514439,652,0.400968343497,0.00447924239158,0.0798343762804,0.99999995142,0.00012289943568,-0.000281807919984,5.13849852268e-05,1793248394636078080
+94,1.566666667,BASELINE,765.459880989,745,716,680,658,634.459880989,878,785,810,651,628,652,0.400967710779,0.00447879306922,0.0798341938223,0.999999951433,0.000121155159291,-0.000282516129131,5.13877635955e-05,1793248394652744448
+95,1.583333333,BASELINE,765.118325145,745,716,680,658,633.881674855,878,785,809.881674855,651,628.118325145,652,0.400967475561,0.00447842207845,0.0798342297014,0.999999951541,0.000119765007654,-0.000282732780945,5.13466312001e-05,1793248394669410816
+96,1.600000000,BASELINE,765.694354762,745,716,680,658,633.305645238,878,785,809.305645238,651,628.694354762,652,0.400969121538,0.00447878264882,0.0798351649697,0.999999951949,0.000121242211504,-0.000280689909388,5.11455743503e-05,1793248394686077440
+97,1.616666667,BASELINE,766,745,715.724516513,679.724516513,658,633.275483487,878,784.724516513,809,651.275483487,629,652,0.400970150652,0.00447806887952,0.0798355978881,0.999999952184,0.00012156913884,-0.000279669013732,5.1356770977e-05,1793248394702744320
+98,1.633333333,BASELINE,766,745,715.137623743,679.137623743,658,633.862376257,878,784.137623743,809,651.862376257,629,652,0.400970482459,0.0044761406659,0.079835462945,0.99999995223,0.00012059578203,-0.000279803369962,5.20339830616e-05,1793248394719411456
+99,1.650000000,BASELINE,765.556751996,745,715.443248004,679.443248004,658,634,878,784,809.443248004,652,629,652,0.400968163913,0.0044777377604,0.0798341728933,0.999999951578,0.00012032276365,-0.000282294810816,5.1737630233e-05,1793248394736078080
+100,1.666666667,BASELINE,765.022198665,745,715.977801335,680,658,634,878,784,810,651.977801335,628.977801335,652,0.400965197744,0.00448032111521,0.0798326218377,0.999999950746,0.000120318129664,-0.000285332038179,5.116007537e-05,1793248394752744960
+101,1.683333333,BASELINE,765.599233094,745,715.400766906,680,658,634,878,784,810,651.400766906,628.400766906,652,0.400966336944,0.00448056400418,0.0798333911923,0.999999950981,0.000121659453931,-0.000283963935428,5.10081271003e-05,1793248394769411584
+102,1.700000000,BASELINE,765.823946792,745,715,679.823946792,658,634,878,784.176053208,809.823946792,651.176053208,628,652,0.400967381236,0.00448037737087,0.0798340749834,0.999999951251,0.000122306175133,-0.000282742586384,5.09557398971e-05,1793248394786078208
+103,1.716666667,BASELINE,765.247614026,745,715,679.247614026,658,634,878,784.752385974,809.247614026,651.752385974,628,652,0.400968209744,0.00447921416349,0.079834564235,0.999999951606,0.000121373626963,-0.000281854900908,5.11297175746e-05,1793248394802744576
+104,1.733333333,BASELINE,765,745,715,679.335428736,658,634,878,784.664571264,809,651.664571264,628.335428736,652,0.400969038342,0.00447784551029,0.0798355371259,0.999999952124,0.000119975499882,-0.000280564445993,5.1401476938e-05,1793248394819411200
+105,1.750000000,BASELINE,765,745,715,679.923525998,658,634,878,784.076474002,809,651.076474002,628.923525998,652,0.400969867009,0.00447632210074,0.079836874328,0.99999995276,0.000118226665903,-0.000278970596702,5.17468923661e-05,1793248394836078080
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,716,679,658,634,878,784,809,652,628,652,0.400968775187,0.00447854680921,0.0798349337503,0.999999951809,0.000122171632879,-0.00028082736397,5.0904112514e-05,1793248394866935296
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715.426432561,679.573567439,658,634,878,784,809,651.426432561,628,652,0.400968809409,0.00447935048194,0.079834266644,0.999999951616,0.000122557511458,-0.000281323242958,5.10393107957e-05,1793248394883602944
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715.147797319,680,658,634,878,784,809,651.147797319,628,652,0.400968876459,0.00447942086761,0.0798339168466,0.999999951595,0.000121934572185,-0.000281648241668,5.11446214025e-05,1793248394900270336
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715.72394725,680,658,634,878,784,809,651.72394725,628,652,0.40096903865,0.00447736600906,0.0798344866874,0.999999952068,0.000118387833269,-0.00028147798785,5.11633102828e-05,1793248394916935936
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715.690410759,679.690410759,658.309589241,634,878,784,809,651.690410759,628.309589241,652,0.40096864668,0.00447733232678,0.0798347054511,0.999999952122,0.000117587512978,-0.000281640010833,5.10675421167e-05,1793248394933602048
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715.096037268,679.096037268,658.903962732,634,878,784,809,651.096037268,628.903962732,652,0.400967744949,0.00447915787968,0.0798346012666,0.999999951796,0.000119313562259,-0.000282107687861,5.08664874611e-05,1793248394950268416
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.516030294,745,715,679.483969706,658.516030294,634,878,784.483969706,809.483969706,651,629,652,0.400967485576,0.00447948062721,0.0798344636258,0.999999951769,0.000119304394586,-0.000282209918062,5.0856839294e-05,1793248394966935040
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784.939269905,810,651,628.939269905,652,0.400967482313,0.00447932411273,0.0798343252544,0.999999951825,0.000118820069877,-0.000282207255171,5.09018869035e-05,1793248394983601664
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784.366538795,810,651,628.366538795,652,0.400968594598,0.00447756872394,0.0798342350825,0.999999952095,0.000117149087487,-0.000281914020056,5.10970756085e-05,1793248395000268544
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.787079885,877.787079885,784,809.787079885,651,628,652,0.400971113657,0.00447678572691,0.0798353349343,0.999999952707,0.000116245360504,-0.000280098752857,5.11657392173e-05,1793248395016935424
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.195661328,877.195661328,784,809.195661328,651,628,652,0.400976133472,0.00447773130682,0.0798385502373,0.999999953917,0.000116705548871,-0.000275577838216,5.1009484874e-05,1793248395033602304
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679.613660961,658,633.386339039,877.386339039,784,809.386339039,651,628,652,0.40099402354,0.00447790127936,0.0798464836012,0.999999957406,0.000117322172528,-0.000262351191625,5.09367119166e-05,1793248395050268928
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679.036316871,658,633.963683129,877.963683129,784,809.963683129,651,628,652,0.401018276629,0.00447768779365,0.0798567495628,0.999999961772,0.000118016137411,-0.000244820452547,5.09052119202e-05,1793248395066935040
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679.539631381,658,634,878,784,809.460368619,651,628.539631381,652,0.401072930434,0.0044793971821,0.0798758482941,0.999999970051,0.000119375938218,-0.000207656200346,5.02602743881e-05,1793248395083601920
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.115255414,745,715,680,658.115255414,634,878,784,809,651,629,652,0.401133606594,0.00448086788216,0.0798953595465,0.999999977026,0.000120339948849,-0.000170351509561,4.9464762278e-05,1793248395100268288
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.689960677,745,715,680,658.689960677,634,878,784,809,651,629,652,0.4012101552,0.00448087254688,0.0799141517232,0.999999982205,0.000119548027876,-0.000137740654978,4.8233153666e-05,1793248395116934912
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,658.726903753,634,878,784,809.273096247,651,629,652,0.401287488841,0.004481086405,0.0799269333128,0.999999985011,0.000118571990384,-0.000117322714841,4.64040574222e-05,1793248395133602048
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680,658.13389265,634,878,784,809.86610735,651,629,652,0.401365742096,0.00448154531988,0.0799326738815,0.999999985967,0.000117380272276,-0.000111187999271,4.38750426013e-05,1793248395150268928
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.554334419,745,715,679.554334419,658,634,878,784,809.554334419,651,629,652,0.401457984611,0.00448336230657,0.0799341214434,0.99999998656,0.000116062977444,-0.000108345787903,4.08800309621e-05,1793248395166935552
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679.021329689,658,634,877.978670311,784,809.021329689,651,629,652,0.401555437017,0.00448552716586,0.0799344864982,0.999999987058,0.000114710336395,-0.00010631653954,3.77257473408e-05,1793248395183602176
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679.597752298,658,634,877.402247702,784,809.597752298,651,629,652,0.401682302378,0.00448643812522,0.0799392617003,0.999999987949,0.000113390894307,-0.000100455726456,3.39631832743e-05,1793248395200268800
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715.177273502,680,658,634,877.354547004,784,809.822726498,651,629,652,0.401819170146,0.00448794136682,0.079944572805,0.999999989126,0.000111035375254,-9.23854647443e-05,2.97188708693e-05,1793248395216935424
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715.763950669,680,658,634,878.527901339,784,809.236049331,651,629,652,0.401979137922,0.00449081245245,0.0799511215477,0.999999990917,0.000106287092084,-7.9212600491e-05,2.43619869807e-05,1793248395233601792
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715.65204141,680,658.34795859,634,878.65204141,784,809.34795859,651.34795859,629,652,0.402157636437,0.00449396771859,0.0799588907265,0.999999992477,0.000102204810891,-6.51505821232e-05,1.88425365932e-05,1793248395250268160
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715.06983042,680,658.93016958,634,878.06983042,784,809.93016958,651.93016958,629,652,0.402348610218,0.00449731430078,0.079967481527,0.99999999378,9.85708945257e-05,-5.04899668109e-05,1.3213642779e-05,1793248395266934784
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715.503972343,680,659,634,878,784,810,652,628.496027657,652,0.402549915773,0.00450045807274,0.0799653337692,0.999999994271,9.13409736221e-05,-5.5478382663e-05,6.14089422395e-06,1793248395283601920
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715.922903912,680,658.922903912,633.922903912,878,784,810,651.922903912,628,652,0.402757455651,0.00450354509928,0.0799613263442,0.999999994489,8.34375307593e-05,-6.37102413851e-05,-1.25223275522e-06,1793248395300268800
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715.346757566,680,658.346757566,633.346757566,878,784,810,651.346757566,628,652,0.40299623635,0.00450644372663,0.0799547546039,0.999999994334,7.43466857363e-05,-7.56029644365e-05,-9.4454432518e-06,1793248395316935424
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.234615915,878,784,810,651,628.234615915,652,0.403254851036,0.00450987472337,0.0799501286936,0.999999994142,6.70892559535e-05,-8.31088146697e-05,-1.75675224044e-05,1793248395333602304
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.823891007,878,784,810,651,628.823891007,652,0.403543447925,0.00451411048072,0.0799484442145,0.999999994187,6.26033247314e-05,-8.39832100018e-05,-2.55820747573e-05,1793248395350268672
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784,809.592662313,651.407337687,628.592662313,652,0.403867657526,0.00451977328451,0.0799500549209,0.999999990999,0.000103860613425,-8.26028307378e-05,-1.98123480694e-05,1793248395366935296
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784,809.011699966,651.988300034,628.011699966,652,0.404207046775,0.00452604435612,0.0799530701758,0.999999983197,0.000164615609335,-8.02613702744e-05,-8.16717464254e-06,1793248395383601920
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715.563212997,680,658,634,878,784,809.563212997,652,628,652,0.40458232835,0.00453979597485,0.0799546753754,0.999999982981,0.000169288380664,-7.19515589352e-05,-1.4239992347e-05,1793248395400268800
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715.862558811,680,658,634,878,784,810,651.862558811,628.137441189,652,0.404969101903,0.00455067813682,0.0799551521906,0.999999986345,0.000150317765818,-6.55486246506e-05,-2.04223674285e-05,1793248395416935424
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715.290104566,680,658,634,878,784,810,651.290104566,628.709895434,652,0.405389913618,0.00455199160034,0.0799521492993,0.999999995708,6.01620552692e-05,-6.55693700881e-05,-2.57989172418e-05,1793248395433602048
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,679.707477469,658,634,878,784,809.707477469,651,628.707477469,652,0.405829375698,0.00455779782914,0.0799472560473,0.999999996272,3.70803561979e-05,-7.25823998667e-05,-2.85150528442e-05,1793248395450268416
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,679.114398044,658,634,878,784,809.114398044,651,628.114398044,652,0.406288000441,0.00456822022073,0.079940420514,0.999999992391,8.29148988621e-05,-8.67797629294e-05,-2.84977046213e-05,1793248395466935296
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715.467377195,679,658,634,878,784,809.467377195,651,628,652,0.406773481201,0.00457899037601,0.0799336017396,0.999999988011,0.000114523502527,-9.98403885744e-05,-2.99082203073e-05,1793248395483602176
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715.954062168,679.045937832,658,634,878,784,810,651.045937832,628.045937832,652,0.40726785099,0.00458954095986,0.0799271270837,0.999999983187,0.000141509399472,-0.000112272295205,-3.15591083807e-05,1793248395500269312
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715.381384061,679.618615939,658,634,878,784,810,651.618615939,628.618615939,652,0.407790552504,0.00459662088725,0.0799245522887,0.999999980282,0.00015447298197,-0.000120610087223,-3.20534218323e-05,1793248395516935936
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878.197067273,784,810,651.802932727,628.802932727,652,0.408335532834,0.00460545368245,0.0799209263966,0.999999978301,0.000160301796543,-0.00012888354467,-3.30130800189e-05,1793248395533602560
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878.787028688,784,810,651.212971312,628.212971312,652,0.408924930533,0.00461778117974,0.0799152049263,0.999999978465,0.00015190598309,-0.000137028737452,-3.49004986243e-05,1793248395550268928
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715.371078559,680,658.742157119,634,879,784,810,651.371078559,628,652,0.409571322617,0.00462624393593,0.0799346357182,0.999999980365,0.000164026792798,-0.000104982714815,-3.66507435672e-05,1793248395566935552
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715.95178883,680,659.903577661,634,879,784,810,651.95178883,628,652,0.410249912258,0.00463252340121,0.0799682756626,0.999999980381,0.000187737964307,-5.02316522909e-05,-3.83234954524e-05,1793248395583602176
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.527401277,716,680,659.472598723,633.472598723,878.472598723,784,810,651.472598723,628,652,0.410936303026,0.00463853381271,0.0799883933475,0.999999983592,0.000176056895238,-1.8461610229e-05,-3.84530380887e-05,1793248395600269056
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.897907995,716,680,659,633.102092005,878.204184011,784,810,651,628.102092005,652,0.411618438007,0.00464071383512,0.0799985186528,0.999999985811,0.000163911663192,-3.17243031628e-06,-3.87340525139e-05,1793248395616935936
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.325338093,716,680,659,633.674661907,879.349323813,784,810,651,628.674661907,652,0.412277705664,0.00462535425704,0.0799682372563,0.999999984202,0.000164394130562,-5.42448083366e-05,-4.03569796149e-05,1793248395633602304
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,716,680.255913746,659,634,880,784,810.255913746,651,629,652,0.412972447229,0.00460701032142,0.0799391577938,0.999999983407,0.000148931926838,-9.612772285e-05,-4.20033861236e-05,1793248395650268416
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,716,680.848590431,659,634,880,784,810.848590431,651,629,652,0.413713869838,0.00458473919713,0.0799116599804,0.999999984792,0.000112487754233,-0.000125918012503,-4.36806900081e-05,1793248395666934784
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715.570327586,680.570327586,659.429672414,634,880,784,810.570327586,651.429672414,629,652,0.414500678038,0.00457683628307,0.0799214696616,0.999999988483,0.0001033307491,-0.000102488578162,-4.30514475735e-05,1793248395683601408
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.00676571,745,715,680.00676571,660,634,879.99323429,784,810.00676571,652,628.99323429,652,0.415302965166,0.00457400169406,0.0799439026854,0.999999991888,0.000103574371376,-6.13386161593e-05,-4.16419372626e-05,1793248395700268288
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.582998467,745,715,680.582998467,660,634,879.417001533,784,810.582998467,652,628.417001533,652,0.416097346023,0.00458280267553,0.0799513726876,0.999999991272,0.000106993814123,-6.56791448989e-05,-4.11721540483e-05,1793248395716934912
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.837499833,745,715,680.837499833,660,633.837499833,879,784,811,651.837499833,628.162500167,652,0.416898319304,0.00459071716854,0.0799547210992,0.999999990488,0.000112331571179,-6.84962789586e-05,-4.13935384982e-05,1793248395733601536
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.249437321,745,715,680.249437321,660,633.249437321,879,784,811,651.249437321,628.750562679,652,0.417716557058,0.00459631008734,0.0799472757139,0.999999989264,0.000122693091074,-6.73238820199e-05,-4.34249822318e-05,1793248395750268416
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.33491673,715.33491673,680,660,633,879,784,811,651,629,652.33491673,0.418608025529,0.00459816814399,0.0799620890554,0.999999990329,0.000127488075809,-3.15770548098e-05,-4.5741781506e-05,1793248395766935552
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.916539038,715.916539038,680,660,633,879,784,811,651,629,652.916539038,0.419553437003,0.00459727503497,0.0799932985685,0.99999999018,0.000128182651618,2.96379083627e-05,-4.82687784889e-05,1793248395783602432
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.506966188,715.506966188,680.493033812,660.493033812,633.493033812,879.493033812,784,811,651.493033812,629,653,0.420419306327,0.00459439368817,0.0799791517951,0.999999991601,0.000120241302388,4.73300072529e-06,-4.81505619139e-05,1793248395800268800
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.862782889,634,879.931391445,784,811,652,629,653,0.421279578195,0.00459162877957,0.0799612175517,0.99999999213,0.000112569052011,-2.81052175415e-05,-4.77269617821e-05,1793248395816935424
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.712534278,634,879.356267139,784,811,652,629,653,0.422196909536,0.00459218271409,0.0799714219451,0.999999991837,0.000117565095527,-1.29925339308e-05,-4.83206252177e-05,1793248395833602048
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.776170866,745,715,681,659.447658267,633.776170866,879.223829134,784,811,652,629,652.776170866,0.423115294641,0.00459578094377,0.0799873620406,0.999999991194,0.000123125045601,9.85700906678e-06,-4.85258452178e-05,1793248395850268672
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.187980872,745,715,681,660.624038256,633.187980872,879.812019128,784,811,652,629,652.187980872,0.424035395264,0.00460433483765,0.080012639016,0.999999989419,0.00012960295321,4.53010219249e-05,-4.80987365871e-05,1793248395866935040
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.380069495,745,715,681,660.619930505,633,879.619930505,784,811,652,629,652.380069495,0.424915770824,0.00461047044547,0.0799855135911,0.999999989202,0.000138307605141,-1.5656665628e-05,-4.71372362449e-05,1793248395883601664
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.938660112,745,715,681,660.061339888,633,879.061339888,784,811,652,629,652.938660112,0.425777487209,0.00461547016802,0.0799337744153,0.999999980556,0.000148058171764,-0.000121894862995,-4.59247282216e-05,1793248395900268288
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.530522153,633,879.530522153,784,811.530522153,652,629,653,0.426747073261,0.00461345830835,0.0799204645401,0.999999982015,0.00014148445579,-0.000116379396963,-4.90783505891e-05,1793248395916934656
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,880,784,812,651.877665463,629,653,0.427717916305,0.00460984759573,0.0799145609244,0.999999984489,0.000133016071333,-0.000103201974421,-5.17414693249e-05,1793248395933601280
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,880,784,812,651.301271022,629,653,0.428644035713,0.00460351285597,0.0799185513698,0.999999984553,0.000124989605746,-0.000112753648956,-5.05849509559e-05,1793248395950267904
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.435213999,633,880,784,812,651,629.282393001,653,0.429592747486,0.00460110824944,0.0799395117937,0.999999987359,0.000121607958731,-8.93358292911e-05,-5.01320486634e-05,1793248395966934272
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.251965069,633,880,784,812,651,629.874017466,653,0.430566198727,0.00460300729411,0.0799790550128,0.99999999068,0.000123312571321,-2.98151133453e-05,-5.04496336543e-05,1793248395983600896
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680.545201373,659.454798627,633,880,784,812,651,629.545201373,653,0.431559767967,0.0046071685185,0.0800161897668,0.99999999035,0.000126857022776,2.64051324035e-05,-5.00945054817e-05,1793248396000267776
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.967419037,745,715,680.032580963,660,633.032580963,880.032580963,784,812.032580963,651.032580963,629,653,0.432550115565,0.00461200685443,0.0800467966919,0.999999987545,0.000130983164956,7.27226149325e-05,-4.96433232244e-05,1793248396016934400
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.390724601,745,715,680.609275399,660,633.609275399,880.609275399,784,812.609275399,651.609275399,629,653,0.433395758382,0.00461793177084,0.0799792689288,0.999999988907,0.000136510632588,-3.14267662408e-05,-5.06275875113e-05,1793248396033601280
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.189021592,745,715,681,660,633.810978408,880.810978408,784,813,651.810978408,629.189021592,653,0.434255972353,0.00462117340014,0.0799273697125,0.999999983261,0.000138471565766,-0.00010759067246,-5.2228814799e-05,1793248396050267904
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.775179671,745,715,681,660,633.224820329,880.224820329,784,813,651.224820329,629.775179671,653,0.435146800637,0.00461877741421,0.079908306236,0.999999981837,0.000132939173657,-0.000124956801841,-5.51262894175e-05,1793248396066934528
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.359260165,715,681,660,633.359260165,880.359260165,784,813,651.359260165,630,653,0.436066936855,0.00461467541918,0.0799272608886,0.999999985809,0.000124385304954,-9.92963166963e-05,-5.52242369519e-05,1793248396083601408
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.942047974,715,681,660,633.942047974,880.942047974,784,813,651.942047974,630,653,0.437005308087,0.00460951196458,0.0799698699955,0.999999990974,0.000113951507478,-4.68651535221e-05,-5.35803498539e-05,1793248396100268032
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.481651331,715,681,660,633.481651331,880.481651331,784,813,651.481651331,630,653,0.437953766184,0.00460515145519,0.0800061446117,0.999999991931,0.000114924851308,1.17156264607e-05,-5.28504748505e-05,1793248396116934656
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.093743601,745.093743601,715,681,660,633,880.093743601,784,813.093743601,651.093743601,630,652.906256399,0.43888784255,0.00460185648645,0.080035636645,0.999999990199,0.000114780783005,6.0497038452e-05,-5.26039074979e-05,1793248396133601024
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.668167049,745.668167049,715,681,660,633,880.668167049,784,813.668167049,651.668167049,630,652.331832951,0.439742464056,0.00460357056923,0.0800339367968,0.999999991734,0.000102448503275,5.55493637344e-05,-5.43180488018e-05,1793248396150267648
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.751653984,746,715,681,660,633.248346016,880.751653984,784,813.751653984,651.751653984,630,652,0.440532975188,0.00460676895384,0.0799971803346,0.999999993147,0.00010294849562,-2.87325076225e-06,-5.56749104352e-05,1793248396166934528
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.163602247,746,715,681,660,633.836397753,880.163602247,784,813.163602247,651.163602247,630,652,0.441235791424,0.00461199767418,0.0799124708892,0.999999982043,0.000121001401631,-0.000134442772228,-5.65430581581e-05,1793248396183601152
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.418252823,745.581747177,715,681.418252823,660,633.581747177,880,784,813.418252823,651,630,652,0.441995226637,0.00461156246135,0.0798621657959,0.999999971508,0.000110136388638,-0.000203819831956,-5.75492077748e-05,1793248396200267520
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.997719463,745.002280537,715,681.997719463,660,633.002280537,880,784,813.997719463,651,630,652,0.442776485458,0.0046089441094,0.0798251217105,0.999999963343,8.81250855103e-05,-0.000249225076545,-5.86085498422e-05,1793248396216934400
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,682,660.574721871,633,880,784,814,651.574721871,630,652.574721871,0.44364572972,0.00460742497775,0.0799015331892,0.999999984847,9.93694760786e-05,-0.000130668829487,-5.79366657042e-05,1793248396233601024
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.849205719,745.150794281,715,681.849205719,661,633,880.150794281,784,814,652,630,653,0.444485934441,0.00460635736222,0.0799681331829,0.999999992162,0.000107402027218,-2.91158030679e-05,-5.73901804488e-05,1793248396250267904
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.275712804,745.724287196,715,681.275712804,661,633,880.724287196,784,814,652,630,653,0.445243762748,0.00460654323817,0.0800059735645,0.999999992475,0.000106062997348,2.29587363632e-05,-5.72143829085e-05,1793248396266934528
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.308670362,745.691329638,715,681.308670362,661,633,881,784,814,652,630,653,0.445971078571,0.00460390839093,0.0800259162425,0.999999992349,9.74654999086e-05,5.1130817341e-05,-5.64646480449e-05,1793248396283601152
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.90313671,745.09686329,715,681.90313671,661,633,881,784,814,652,630,653,0.446670143028,0.00459866185345,0.0800292875446,0.999999993469,8.21474323428e-05,5.71717562987e-05,-5.51835082566e-05,1793248396300267520
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.481688434,715.481688434,682,660.518311566,633,881,784,814,652,630,652.518311566,0.447311605471,0.00459988395393,0.0800057446337,0.999999993597,9.34569538504e-05,3.07893416208e-05,-5.58876287934e-05,1793248396316934400
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.942769213,715.942769213,682.057230787,659.942769213,633,880.942769213,784,814,652,630,652,0.447934097341,0.00460300310333,0.0799744767349,0.999999992443,0.00010867760968,-7.34310546438e-06,-5.69938590881e-05,1793248396333601280
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745.366423487,715.366423487,682.633576513,659.366423487,633,880.366423487,784,814,652,630,652,0.448486221902,0.00461190804557,0.0799206605833,0.999999987498,0.000112358838096,-9.48058547634e-05,-5.8242129816e-05,1793248396350267904
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.790393262,745,715,683,659,632.790393262,880,784,814,651.790393262,630,652.209606738,0.449029044963,0.00461916402374,0.0798743459204,0.999999978245,0.000109553199143,-0.000167344518681,-5.91882129604e-05,1793248396366934528
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.21491381,745,715,683,659,632.21491381,880,784,814,651.21491381,630,652.78508619,0.449555632013,0.00462354170151,0.0798411252605,0.999999970808,9.54246053863e-05,-0.000213832887708,-5.96068221058e-05,1793248396383601152
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715,682.628838801,659,632.371161199,880.371161199,784,814,651,630,653,0.450093482231,0.00462687474037,0.0798433340205,0.999999971132,0.000102887771848,-0.000208958759679,-5.90457856979e-05,1793248396400267776
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,682.036448294,659,632.963551706,880.963551706,784,814,651,630,653,0.45063804587,0.00462958512636,0.0798666603568,0.999999975686,0.000123220628579,-0.000173470202855,-5.79008350693e-05,1793248396416934400
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.540292404,745,715,682,658.459707596,633,881,784,814,651.540292404,630,653,0.45116620053,0.00463585585347,0.0798993388317,0.999999981537,0.000132412652116,-0.000126454312323,-5.8328571437e-05,1793248396433601280
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.309837308,745,715,682.690162692,657.309837308,632.309837308,881,784,814,651.309837308,630,653,0.452072490323,0.00464382065441,0.0798943410764,0.999999976339,0.000148716138731,-0.000147814491812,-5.79419746672e-05,1793248396466934784
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765.862172239,745,715,683,657,632,881,784,814.862172239,651.862172239,630,653,0.452797117558,0.0046488165247,0.079820959744,0.999999950423,0.000165305792993,-0.000261868270075,-5.70408388059e-05,1793248396500267776
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,683,657,632,881,783.554623971,815,651.554623971,630,653,0.453136746596,0.00465341307651,0.0797932624246,0.999999938708,0.000168816108405,-0.00030095245274,-5.92700271852e-05,1793248396516934656
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745.026032838,715,683,657,632,881,783.026032838,814.973967162,651.026032838,630,653,0.453473562745,0.00465846583678,0.0797707782724,0.999999928427,0.000170333144989,-0.000332056553674,-6.2210686211e-05,1793248396533601536
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745.598499651,715,683,657,632,881,783.598499651,814.401500349,651.598499651,630,653,0.453797926099,0.00466012789542,0.0797756439449,0.999999931133,0.000161427460965,-0.00032809522398,-6.34796304268e-05,1793248396550268672
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,715,683,656.824542336,631.824542336,881,783.824542336,814.175457664,652,630,653,0.454107232412,0.00466175853936,0.0797775790601,0.999999933524,0.000147268135841,-0.000327652452153,-6.25080269369e-05,1793248396566935552
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,715,683,656.237037202,631.237037202,881,783.237037202,814.762962798,652,630,653,0.454381178492,0.0046633154083,0.0797726320089,0.999999934853,0.000120771080612,-0.000335472716017,-5.62746866621e-05,1793248396583602176
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745.654253882,715,683.345746118,655.654253882,631,881,783,815,652,630.345746118,653,0.454633512056,0.00466669892561,0.0797670863108,0.999999931939,0.000119842094499,-0.000344701085794,-5.42401597577e-05,1793248396600268800
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+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,684,655,631,881,783,814.496993855,652,630.496993855,652.496993855,0.455079505005,0.00467925452471,0.0797602192316,0.999999923533,0.0001490138227,-0.000356680767987,-5.92276113561e-05,1793248396633602304
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,715,684,655,631,881,783,814.080279554,652,630,652,0.455278512704,0.00468630028907,0.0797594564348,0.999999921015,0.000160546095743,-0.000358018239522,-6.3382436381e-05,1793248396650269440
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715,684,655,631,881,783,814.656854866,652,630,652,0.455447129542,0.00468480572953,0.0797550418265,0.999999917607,0.000167443163842,-0.00036416508731,-6.42815164143e-05,1793248396666935808
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+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745.825807355,715,683.174192645,654.174192645,631,881.825807355,783,814.174192645,652,630,652.825807355,0.4557313185,0.00466217487962,0.0797433342949,0.999999911981,0.000149038492651,-0.000386906211298,-6.42577007006e-05,1793248396700268544
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+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745.01344861,715,683,654,631,881.01344861,783,814,651.01344861,630,653,0.4559567262,0.00467334895484,0.0797373524081,0.999999903485,0.000159600996142,-0.000403691048367,-6.77505132582e-05,1793248396733602048
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765.272504219,745,714.272504219,683.727495781,654,631,881,783,815,652,630,653,0.456191944357,0.00467003319418,0.0797295372836,0.99999989963,0.000154613975994,-0.000415010755378,-6.78251773225e-05,1793248396783602432
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+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,714,683.249183208,652.750816792,631,881,783,814.750816792,651.249183208,630,653,0.456424569308,0.00467876448299,0.0796842560287,0.999999867795,0.000156051554831,-0.000485492001413,-6.59961450777e-05,1793248397100268800
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,714,683,653,631,881,783,814.665266494,651.334733506,630,653,0.456423493667,0.0046784574246,0.0796830522713,0.999999866676,0.000155926854345,-0.000487868652526,-6.57140990603e-05,1793248397116935424
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,714,683,653,631,881,783,814.085263834,651.914736166,630,653,0.456423248965,0.00467675905967,0.0796824254647,0.999999866413,0.000153082014544,-0.000489360627339,-6.53132193607e-05,1793248397133601792
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,714,683,652.508194279,631,881,783,814,652,630,653,0.456423551602,0.0046758898931,0.0796816260343,0.999999866326,0.000151522624685,-0.000490029049777,-6.52775724349e-05,1793248397150268160
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,714.067918069,683,652,631,881,783,814,651.932081931,630,653,0.456423890155,0.00467539139532,0.0796808631707,0.999999866283,0.000150534048767,-0.000490417511854,-6.52966002729e-05,1793248397166934784
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745,714.640672516,683,652,631,881,783,814,651.359327484,630,653,0.456423794519,0.00467658587102,0.0796805932422,0.999999866355,0.00015214166458,-0.000489780005482,-6.52541580968e-05,1793248397183601664
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,745,715,683.220620779,652.220620779,631,881,783,814.220620779,651.220620779,630,653,0.456423855979,0.00467702805977,0.0796805120895,0.999999866369,0.000152672837221,-0.000489579667469,-6.53008516842e-05,1793248397200268288
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745,715,683.812680709,652.812680709,631,881,783,814.812680709,651.812680709,630,653,0.456424181926,0.00467620369156,0.0796807487614,0.999999866289,0.000151391700608,-0.000490115349979,-6.54976150468e-05,1793248397216935168
+248,4.133333333,HOLD_POSE2,766,745,715,683,653,631,881,783,814,652,630,653,0.45642389232,0.00468113677822,0.0796796421482,0.999999865243,0.000155756364482,-0.000490795714116,-6.61379858007e-05,1793248397251000576
+249,4.150000000,HOLD_POSE2,766,745,714.423387706,683,653,631,881,783,814,652,630,653,0.456423966662,0.00467885929233,0.0796799737999,0.999999865239,0.000154744719106,-0.00049120071271,-6.55568317571e-05,1793248397267666688
+250,4.166666667,HOLD_POSE2,766,745,714.1557061,683.1557061,653,631,881,783,814.1557061,652,630,653,0.45642383927,0.00467753846086,0.0796798099432,0.999999864899,0.000154338585278,-0.000492070855226,-6.5177727024e-05,1793248397284332800
+251,4.183333333,HOLD_POSE2,766,745,714.741656907,683.741656907,653,631,881,783,814.741656907,652,630,653,0.456423154452,0.00467886104173,0.0796782769054,0.999999863628,0.000155605591451,-0.00049422627639,-6.53569217171e-05,1793248397300999168
+252,4.200000000,HOLD_POSE2,766,745,714.676143396,684,653,631,881,783,814.676143396,652,630,653,0.456423867801,0.0046783919685,0.0796786623204,0.999999864036,0.000155835611788,-0.000493402704295,-6.47918789536e-05,1793248397317665792
+253,4.216666667,HOLD_POSE2,766,745,714.096901765,684,653,631,881,783,814.096901765,652,630,653,0.45642568371,0.00467651004264,0.0796805605783,0.999999865761,0.000155247891566,-0.000490229974244,-6.36399495726e-05,1793248397334332416
+254,4.233333333,HOLD_POSE2,765.517742377,745,714.482257623,683.517742377,653,631,881,783,814.482257623,652,630,653,0.456424310608,0.00467578678107,0.079679402155,0.999999865161,0.000153249447337,-0.000492061965036,-6.37760648991e-05,1793248397350999296
+255,4.250000000,HOLD_POSE2,765.060637523,745.060637523,715,683,653,631,881,783,814.939362477,652,630,653,0.456422553011,0.00467539940087,0.0796778190127,0.999999864146,0.000151280762234,-0.000494675591243,-6.41695750926e-05,1793248397367665920
+256,4.266666667,HOLD_POSE2,765.632583954,745.632583954,715,683,653,631,881,783,814.367416046,652,630,653,0.456422955533,0.00467588143704,0.0796778326474,0.99999986366,0.000151952817684,-0.000495402004724,-6.45515122904e-05,1793248397384332544
+257,4.283333333,HOLD_POSE2,766,745.788812912,715,683,653,631,881,783,814.211187088,652,630,653,0.456423843548,0.0046763740919,0.0796783692639,0.999999863643,0.000152847890756,-0.000495137272659,-6.47372167839e-05,1793248397400999424
+258,4.300000000,HOLD_POSE2,766,745.198251816,715,683,653,631,881,783,814.801748184,652,630,653,0.456425603698,0.00467688582198,0.0796798453585,0.999999864465,0.000154143589998,-0.000493092058293,-6.45704111091e-05,1793248397417666048
+259,4.316666667,HOLD_POSE2,766,745.385025188,715,683.385025188,653,630.614974812,881,783,815,652,630,653,0.456426401314,0.00467663131655,0.0796801568801,0.999999865036,0.000153849442688,-0.000492057058559,-6.43260687196e-05,1793248397434332672
+260,4.333333333,HOLD_POSE2,766,745.964621259,715,683.964621259,653,630.035378741,881,783,815,652,630,653,0.456426712519,0.00467598959724,0.0796798798897,0.999999865481,0.000152751873126,-0.000491532566423,-6.40425434574e-05,1793248397450998784
+261,4.350000000,HOLD_POSE2,766,745.460487511,714.460487511,683.460487511,652.460487511,630,881,783,815,652,630,653,0.456424641497,0.00467684751236,0.079677988107,0.999999864059,0.000152298225481,-0.000494498427279,-6.44885648134e-05,1793248397467665408
+262,4.366666667,HOLD_POSE2,766,745,714,683,652,630.114510362,881,783,815,652,630,653,0.45642324756,0.00467779177326,0.0796766851746,0.99999986302,0.000152113569404,-0.000496601438898,-6.48794359344e-05,1793248397484332032
+263,4.383333333,HOLD_POSE2,766,745,714,683,652,630.691173211,881,783,815,652,630,653,0.456425211284,0.00467869106168,0.0796781824521,0.999999864047,0.00015284559219,-0.000494306321187,-6.48563167854e-05,1793248397500998656
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,684,652,631,881,783,814,652,630,653,0.456423996706,0.00467915306239,0.0796769181255,0.999999863105,0.000153588919283,-0.000496008291904,-6.46228247562e-05,1793248397538187776
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.421161222,745,715,683.421161222,652.578838778,631,881,783.578838778,814,652,630,653,0.456424070183,0.00467946137261,0.0796767202643,0.999999862482,0.000154040709483,-0.000497122549404,-6.46198810599e-05,1793248397554854400
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.843779193,683,652.843779193,630.843779193,881,783.843779193,814.156220807,652,630.156220807,653,0.45642356966,0.0046796852931,0.0796759721644,0.999999861733,0.000154178706707,-0.000498573164099,-6.47182430213e-05,1793248397571520768
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.270288054,683,652.270288054,630.270288054,881,783.270288054,814.729711946,652,630.729711946,653,0.456421535967,0.00467968380623,0.079673754361,0.999999860642,0.000153478553834,-0.000500922198919,-6.50871953484e-05,1793248397588187392
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.304745163,683,652,630,881,783,814.695254837,652,630.695254837,653,0.456421365892,0.00467960640678,0.0796735312565,0.999999860406,0.000154161394389,-0.00050117914901,-6.51274130568e-05,1793248397604854272
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.881153019,683,652,630,881,783,814.118846981,652,630.118846981,653,0.456422857123,0.00467946133563,0.0796750863109,0.99999986093,0.000156077093668,-0.000499571126374,-6.48745828363e-05,1793248397621520896
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.470290867,745,714.529709133,683,652.470290867,630.470290867,881,783,814.470290867,651.529709133,630,653,0.456422354072,0.00467871367925,0.0796748217648,0.999999861149,0.000153669417161,-0.000499885131751,-6.48234752177e-05,1793248397638187520
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,714.061117451,683,652.938882549,631,881.061117451,783,815,651.061117451,630,653,0.456421501049,0.00467801439519,0.0796742450483,0.999999861295,0.000150776663439,-0.000500477021357,-6.48020787553e-05,1793248397654854144
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,714.638284444,683,652.361715556,631,881.638284444,783,815,651.638284444,630,653,0.456422066744,0.00467904509721,0.07967502313,0.999999861568,0.0001532698739,-0.000499199978684,-6.45891455849e-05,1793248397671521536
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,714.785782601,683.214217399,652,631,881.785782601,783,814.785782601,652,630,653,0.456418943463,0.00467908751529,0.0796734190849,0.99999986044,0.000154053067194,-0.000501246019099,-6.4350863397e-05,1793248397688188160
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,714.211921496,683.788078504,652,631,881.211921496,783,814.211921496,652,630,653,0.45640962686,0.00467747073052,0.0796678157526,0.999999856926,0.000151965359403,-0.000508871092504,-6.40700234594e-05,1793248397704854528
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,714.372334427,683.627665573,652,630.627665573,881,783,814,651.627665573,630,653,0.456386858361,0.00467822448083,0.0796585881712,0.999999848651,0.000152839132182,-0.000524631485244,-6.40342947462e-05,1793248397721521152
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,714.962676741,683.037323259,652,630.037323259,881,783,814,651.037323259,630,653,0.456356213555,0.00468036621799,0.0796472385323,0.999999837264,0.000155446899943,-0.000545155240843,-6.41420826099e-05,1793248397738187776
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.457295861,745,714.457295861,683.542704139,652,630.542704139,881,783,814.542704139,651,630,653,0.456299932845,0.00467923004574,0.0796276706921,0.999999817587,0.00015676058225,-0.000579867170806,-6.32888009322e-05,1793248397754854144
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.121117674,745,714,683.878882326,652.121117674,631,881,783,815,651.121117674,630.121117674,653,0.456240456297,0.00467850344278,0.0796097255396,0.99999979937,0.000158431709376,-0.000610133150031,-6.24245371534e-05,1793248397771521024
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.696092498,745,714,683.303907502,652.696092498,631,881,783,815,651.696092498,630.696092498,653,0.456175487512,0.00468014058205,0.0795999393779,0.999999792714,0.000161769545405,-0.00062015088326,-6.17621765512e-05,1793248397788187648
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.729895203,745,714.270104797,683.270104797,653,631,881,783,814.729895203,652,630.729895203,653,0.456103374201,0.00467990226727,0.0795944257167,0.999999788976,0.000162766357951,-0.000626027859078,-6.03690016177e-05,1793248397804854528
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.156962073,745,714.843037927,683.843037927,653,631,881,783,814.156962073,652,630.156962073,653,0.4560232508,0.00467756128474,0.0795937021754,0.999999788597,0.000161138528891,-0.000627262418982,-5.81564733246e-05,1793248397821521920
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.430782065,745,714.569217935,684,653,631,881,783,814,652,630,653,0.455929188813,0.00467678116197,0.0795957530778,0.999999790166,0.000162671198203,-0.000624588090973,-5.56390402194e-05,1793248397838188288
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,714.023538583,684,653.023538583,631,881,783,814,652,630,653,0.455828877852,0.0046765409298,0.0795988150658,0.999999792421,0.000165368212032,-0.000620488029308,-5.2975864856e-05,1793248397854854656
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,714.60269008,684,653.60269008,631,881,783,814,652,630,653,0.455705212652,0.00467514213576,0.0796010315441,0.999999794075,0.000167398769046,-0.000617550289447,-4.95882754592e-05,1793248397871521024
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,714.819581848,684,653.819581848,631,881,783,814,651.819581848,630,653,0.455572342053,0.00467402860291,0.0796027556781,0.999999795541,0.000170199841456,-0.000614683638568,-4.59827937811e-05,1793248397888187648
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,714.244963925,684,653.244963925,631,881,783,814,651.244963925,630,653,0.455419358381,0.00467353834395,0.0796034040773,0.99999979661,0.000174684430413,-0.000611972312037,-4.1901234692e-05,1793248397904854528
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,714.330062239,684,653,631,881,783,814,651.330062239,630,653,0.455241860713,0.0046720078258,0.0796007878921,0.999999794714,0.000176829243106,-0.000614732549789,-3.75052041344e-05,1793248397921520896
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,714.905391827,684,653,631,881,783,814,651.905391827,630,653,0.45504614682,0.004669704297,0.0795957458132,0.999999790586,0.000177235382006,-0.000621558675118,-3.28754912137e-05,1793248397938187520
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,714.505767126,683.505767126,653.494232874,631,881,783,814,652,630,653,0.454823317593,0.00466897506109,0.0795899878673,0.999999784259,0.000183645610473,-0.000630082263524,-2.74478250756e-05,1793248397954853888
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.916058932,745,714,683,654,631,881,783,814,652,630,653,0.454591714477,0.00466833591431,0.079584835916,0.999999778312,0.000191024256612,-0.000637504993114,-2.17462198246e-05,1793248397971520512
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.336921909,745,714,683,654,631,881,783,814,652,630,653,0.454339832509,0.00466640045523,0.079584090056,0.999999777907,0.000197145082891,-0.000636462618909,-1.53549909652e-05,1793248397988187648
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.239937196,745,714,683,654,631,881,783,814,652,630,653,0.454062370631,0.00466338065606,0.0795831500863,0.999999776444,0.000202460313489,-0.000637220298635,-8.45182508841e-06,1793248398004854528
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.813627678,745,714,683,654,631,881,783,814,652,630,653,0.453749327043,0.00465885253704,0.0795819401098,0.999999773538,0.000206654957965,-0.000640481858308,-8.36553825065e-07,1793248398021521152
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.60261587,745,714,683,654.39738413,631,881.39738413,783,814,651.60261587,630,653,0.45341418742,0.00465586594179,0.0795810071797,0.99999977238,0.000211995373882,-0.000640515131785,6.16490676233e-06,1793248398038187776
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.014015826,745,714,683,654.985984174,631,881.985984174,783,814,651.014015826,630,653,0.45306841549,0.00465362110726,0.0795802075607,0.999999772022,0.000217887119522,-0.000638994997113,1.28710096632e-05,1793248398054854400
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.565383686,683.565383686,655,631.565383686,881.434616314,783,813.434616314,651.565383686,630,653,0.452687006201,0.00465214139458,0.0795844016771,0.999999773929,0.0002216749439,-0.000634550002006,1.86453205248e-05,1793248398071521024
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.143760132,745,715,683.856239868,655.143760132,632,881,783.143760132,813.143760132,651.856239868,630,652.856239868,0.452297173477,0.00464993131964,0.0795899237914,0.999999779661,0.000214849811814,-0.000627753636633,2.1040051892e-05,1793248398088187648
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.719735365,745,715,683.280264635,655.719735365,632,881,783.719735365,813.719735365,651.280264635,630,652.280264635,0.451884629307,0.00464546929731,0.0795990723044,0.999999795814,0.000176271102242,-0.000614102374652,1.33424055934e-05,1793248398104854528
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,683,656,632,881,784,813.705094159,651.294905841,630,652.294905841,0.45145590417,0.00464048588874,0.0796120761542,0.999999812165,0.000156683264446,-0.000592405620841,1.32898602378e-05,1793248398121521408
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,683,656,632,881,784,813.130686336,651.869313664,630,652.869313664,0.4510118432,0.00463500832708,0.0796287339657,0.999999829232,0.000155094341036,-0.000563083615284,2.04830872592e-05,1793248398138188544
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.543253746,745,715,683.456746254,656.456746254,632,881,784,813,652,630,653,0.450538443229,0.00463085896226,0.0796493636264,0.999999854063,0.000127841076254,-0.000524608501799,1.77759887645e-05,1793248398154854912
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,683.95297005,657.04702995,632,880.95297005,784,813,651.95297005,630,653,0.450051387342,0.00462691465043,0.0796708583632,0.999999877757,9.59200936859e-05,-0.000484882615024,1.31929420405e-05,1793248398171521024
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,683.373830391,657.626169609,632,880.373830391,784,813,651.373830391,630,653,0.449507591217,0.00462086438769,0.0796889053593,0.999999888622,9.67089903125e-05,-0.00046150618317,2.03759295792e-05,1793248398188187904
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.796322632,658,632.203677368,880,784,813,651,630,653,0.448938540176,0.00461534619324,0.0796943342163,0.99999988649,0.000128586542728,-0.000458080326564,2.54506809993e-05,1793248398204854784
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.221786295,658,632.778213705,880,784,813,651,630,653,0.448323504621,0.00461079679747,0.0796767877653,0.999999855553,0.000217070810072,-0.000490980791585,2.66867222351e-05,1793248398221521152
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.36072008,715,682.36072008,658.36072008,632.63927992,880.36072008,784,812.63927992,651.36072008,630,652.63927992,0.44770033982,0.00460302009605,0.0796707354909,0.999999850212,0.000230553014463,-0.000495626817477,2.78444332933e-05,1793248398238188032
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.948237474,715,682.948237474,658.948237474,632.051762526,880.948237474,784,812.051762526,651.948237474,630,652.051762526,0.447072063903,0.00459321427501,0.0796719100073,0.999999863793,0.000196878799484,-0.000482508290766,2.89528954623e-05,1793248398254855168
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.52801925,745.47198075,715,683,659,632.52801925,881,784,812,652,630,652,0.446455100805,0.00458468587074,0.0797250131397,0.999999904674,0.000165958890192,-0.000402640708164,3.14534653708e-05,1793248398271521792
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.892960186,745,715,683,659.107039814,633,881,784,812,651.892960186,630,652.107039814,0.445826086048,0.00457672793956,0.0797813149315,0.999999938857,0.000137238503403,-0.000319815480207,3.41875525902e-05,1793248398288188416
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.314000743,745,715,683,659.685999257,633,881,784,812,651.314000743,630,652.685999257,0.44513911899,0.00457074099336,0.0798295993543,0.999999960604,0.000117042203676,-0.000252383191089,3.73581899141e-05,1793248398304854784
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.737744589,633,881,784,812,651,630,653,0.444416826913,0.0045642294547,0.0798505631529,0.999999967208,0.000107674171352,-0.000228814249696,4.04359760493e-05,1793248398321521152
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.164692008,633,881,784,812,651,630,653,0.443652671296,0.00455709622417,0.0798391494653,0.999999959799,0.000111138645608,-0.000257227466507,4.34037254127e-05,1793248398338187520
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880.582068417,784,812,651,630,653,0.442852962322,0.00454996562526,0.0798161727541,0.999999949821,0.000117682672715,-0.000290809144175,4.4041819018e-05,1793248398354854144
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784.004372842,812,651,630,653,0.442038706319,0.00454284415653,0.0797886157544,0.999999937953,0.000125207320041,-0.00032635046688,4.37414367605e-05,1793248398371520768
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784.585239094,812,651,630,653,0.441196976694,0.00453678638729,0.0797720119618,0.999999934557,9.82750221308e-05,-0.000345439423869,4.3582830043e-05,1793248398388187648
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784.835711393,811.835711393,651,629.835711393,652.835711393,0.440334749681,0.00452974966071,0.0797433821036,0.999999920584,8.63314713001e-05,-0.00038655066052,4.42341742864e-05,1793248398404854272
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,880,784.261198267,811.261198267,651,629.261198267,652.261198267,0.439421341258,0.00452026850264,0.0796847234633,0.999999876173,0.000111814446132,-0.000482650972815,4.69079455354e-05,1793248398421521152
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714.685803886,683,659,632.685803886,880,784,811.314196114,651,629.314196114,652,0.438562608219,0.00450958698105,0.0796813541399,0.999999873995,0.000104677662825,-0.000488580921173,4.83855468542e-05,1793248398438187776
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714.109674868,683,659,632.109674868,880,784,811.890325132,651,629.890325132,652,0.437749455938,0.00449790476422,0.0797240773417,0.999999908409,7.03470729307e-05,-0.000419339390271,4.88659484205e-05,1793248398454854144
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714.479741647,683,659,632.479741647,880.479741647,784,812,651,630,652,0.436917115175,0.00448904750863,0.0797925918096,0.999999947061,6.1020026879e-05,-0.000315461860443,5.13559412457e-05,1793248398471520768
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,683.070567394,659,633,880.858865212,784,811.929432606,651,630,652,0.436071398641,0.00448084831237,0.0798579262551,0.999999973141,5.69545652186e-05,-0.000218060947877,5.40616249492e-05,1793248398488187392
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,683.649049077,659,633,879.701901846,784,811.350950923,651,630,652,0.435161882591,0.00447260479288,0.0798567249253,0.999999971805,4.84455771049e-05,-0.000225891538001,5.49188752107e-05,1793248398504854272
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,683.773667028,659,633,879.452665943,784,811,651,629.773667028,652,0.434236535786,0.00446254348069,0.0798423602596,0.999999966742,4.08435393815e-05,-0.000248456946926,5.58330479536e-05,1793248398521520896
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,683.198230554,659,633,880.603538893,784,811,651,629.198230554,652,0.433286770955,0.00444967834333,0.0798076920266,0.99999995464,3.46404107538e-05,-0.00029374983136,5.68350198843e-05,1793248398538187520
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.615353752,659,633,880.230707504,783.615353752,811,651,629.384646248,652,0.432291000707,0.00444190214711,0.0797532926918,0.999999920515,2.36086057882e-05,-0.000393942843034,5.67574650828e-05,1793248398554854400
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.02856692,659,633,879.05713384,783.02856692,811,651,629.97143308,652,0.431271053594,0.00443680030906,0.0796885242044,0.999999861618,1.00392187197e-05,-0.000522987145551,5.61125929683e-05,1793248398571521280
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.448782848,682,658.448782848,633,879.551217152,783.551217152,811,651,629.448782848,652,0.430362881572,0.00442415911993,0.0797225640267,0.999999895033,6.29828124288e-06,-0.000454468740733,5.78993822956e-05,1793248398588187904
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.13041994,682.13041994,658.260839881,633,879.86958006,784,811,651,629,652,0.429467227301,0.00441193892252,0.0797676447453,0.999999929455,3.46040329807e-07,-0.000370860538001,5.95964641593e-05,1793248398604854272
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.708856937,682.708856937,659.417713875,633,879.291143063,784,811,651,629,652,0.428594924309,0.00440249029837,0.079833282928,0.999999961565,-1.49302448661e-05,-0.000270146752539,6.05579084813e-05,1793248398621521152
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.431400406,633,879,784,811,651,629,652,0.427677067991,0.00439371103447,0.0798509107241,0.999999968268,-2.17457940842e-05,-0.000243225234098,6.19002611157e-05,1793248398638187776
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,658.286583261,633,879,784,811,651,629,652,0.426713048089,0.0043856100993,0.0798198848982,0.999999955411,-1.99872516573e-05,-0.000291084640884,6.36286256943e-05,1793248398654854400
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.557264011,658.442735989,633,879.442735989,784,811,651,629,652,0.425756103105,0.00440316248781,0.0797852381357,0.999999938876,-2.62395792105e-06,-0.000343960681043,6.27087334345e-05,1793248398671520768
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.96733355,633.03266645,880,784,811,651,629,652,0.424798520311,0.00442965811211,0.0797500139308,0.999999918785,2.12165377242e-05,-0.00039783381295,6.08880828668e-05,1793248398688187136
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.388191677,633.611808323,880,784,811,651,629,652,0.423790747238,0.00446246091841,0.0797253569207,0.999999899118,6.624305741e-05,-0.000440363435991,5.87922990782e-05,1793248398704854272
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.81085772,658.18914228,634,879.81085772,784,811,651.18914228,629.18914228,652,0.422841263277,0.00448633710002,0.0797223431698,0.999999895641,9.81086562446e-05,-0.000442640924169,5.62327374784e-05,1793248398721521152
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.237199054,658.762800946,634,879.237199054,784,811,651.762800946,629.762800946,652,0.422010277857,0.00449206592541,0.079763329031,0.999999927366,0.000103218797943,-0.000363087931086,5.27303395453e-05,1793248398738187520
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.663092624,634,879,784,811,651.663092624,629.663092624,652,0.421184189607,0.00448876625124,0.0798139658998,0.999999956106,9.48839323181e-05,-0.00027586678485,5.17934920028e-05,1793248398754854144
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.088670562,634,879,784,811,651.088670562,629.088670562,652,0.420361553838,0.00447910161891,0.0798714065829,0.999999978855,7.70705359626e-05,-0.000183239708556,5.26653193132e-05,1793248398771520768
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,634,878.49789488,784,810.49789488,651,629,652.50210512,0.419474563349,0.00447562075784,0.0798547787427,0.999999972674,7.8186010379e-05,-0.000214076406977,5.20544073177e-05,1793248398788187392
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,633.906625074,878.186749853,784,810.093374926,651,629.093374926,652.906625074,0.418575421845,0.00447347452099,0.0798254999786,0.999999960101,8.08738847563e-05,-0.000265762126117,5.12676418632e-05,1793248398804854272
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,633.328293252,879.343413495,784,810.671706748,651,629.671706748,652.328293252,0.417674184667,0.00447239724036,0.0798007385009,0.999999948338,7.37824558681e-05,-0.000308678709823,5.0973288477e-05,1793248398821520896
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,633.248872719,879.751127281,784,810.751127281,651.248872719,629.751127281,652.248872719,0.416803538625,0.00447506474687,0.0797903255386,0.999999940161,7.51357661395e-05,-0.000333742403759,5.14592237738e-05,1793248398838187520
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,633.824507919,879.175492081,784,810.175492081,651.824507919,629.175492081,652.824507919,0.415973057906,0.00448264904765,0.0797987517522,0.999999938527,8.75767685348e-05,-0.000335365781434,5.29696550281e-05,1793248398854854144
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715.408002626,681,658.408002626,634,879,784,810,651.591997374,629,653,0.415177983259,0.00448619499635,0.0797871252121,0.999999930718,9.96587282405e-05,-0.000354662133481,5.33529012706e-05,1793248398871521280
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715.994944354,681,658.994944354,634,879,784,810,651.005055646,629,653,0.414398436701,0.00448796983188,0.0797667040683,0.999999919506,0.000111583222375,-0.000381709381984,5.3241794237e-05,1793248398888188160
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715.425638824,681,658.425638824,634,878.425638824,784,810.574361176,651.574361176,629,652.425638824,0.413679230609,0.00448268582487,0.0797880098597,0.999999938471,8.48917757157e-05,-0.000336554529093,5.08088375951e-05,1793248398904854528
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,633.846690114,878.153309886,784,810.846690114,651.846690114,629,652,0.412951856323,0.00447785271018,0.0798038757474,0.999999949839,6.92111979696e-05,-0.000305104090758,4.94295486441e-05,1793248398921520896
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,633.26885646,878.73114354,784,810.26885646,651.26885646,629,652,0.412200411976,0.00447443796661,0.0798036743458,0.999999945999,8.49493809634e-05,-0.000313339027544,5.10237855342e-05,1793248398938187520
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.307072926,745,715,680.692927074,658,633.307072926,878.692927074,784,810,651,628.692927074,652,0.411475767668,0.00447421164899,0.0797967905961,0.999999940105,9.05050149427e-05,-0.000329976134382,5.2108404149e-05,1793248398954854144
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.881345278,745,715,680.118654722,658,633.881345278,878.118654722,784,810,651,628.118654722,652,0.410774443452,0.00447675973958,0.0797840922028,0.999999932176,8.72003055936e-05,-0.00035392438672,5.27495784461e-05,1793248398971520768
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.532526744,745,715,680,658,634,878,784,810,651,628,652,0.410146377621,0.00448271685565,0.0797901966346,0.999999935274,9.54277266849e-05,-0.000342874837658,5.27501949701e-05,1793248398988187904
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.055722113,745,715,680,658,634,878.055722113,784,810,651,628.055722113,652,0.409540315341,0.00448874024435,0.0798028819367,0.999999941861,0.000105154727699,-0.00032006396343,5.27165686839e-05,1793248399004855040
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.634890576,745,715,680,658,634,878.634890576,784,810,651,628.634890576,652,0.408961731547,0.00448704631887,0.0798313876829,0.999999956372,0.000100756280058,-0.000272387659228,5.39283364033e-05,1793248399021521152
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.787375432,745,715,680,658,634,878.787375432,784,810,651,629,652,0.408373399016,0.00448527534674,0.0798409059583,0.999999960763,9.4993987289e-05,-0.00025782181488,5.45757717692e-05,1793248399038187776
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.212088204,745,715,680,658,634,878.212088204,784,810,651,629,652,0.407768438632,0.00448337296032,0.0798180382898,0.999999949832,8.69054555027e-05,-0.000299730764408,5.42606547851e-05,1793248399054854912
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.371159166,745,715.371159166,680,658,634,878,784,810,651.371159166,629,652,0.407202557421,0.00448284735461,0.07978918722,0.999999933011,9.32481338446e-05,-0.000349946559594,5.31075839768e-05,1793248399071521536
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.959054875,745,715.959054875,680,658,634,878,784,810,651.959054875,629,652,0.406659496241,0.00448312571296,0.0797568421708,0.999999910824,0.000108017844424,-0.000405013099171,5.14651940797e-05,1793248399088187904
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.461002722,745,716,680,658,634,878,784,810,651.461002722,629,652.538997278,0.406211163832,0.00448492459041,0.0797683388626,0.999999923858,9.68450688424e-05,-0.000374591704361,5.08502720783e-05,1793248399104854528
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.118237845,745,716,680,658,634,878,784,810,651,628.881762155,652.881762155,0.405775846105,0.00448726651218,0.0797842222913,0.999999937285,9.1016400077e-05,-0.000338510695677,5.0571843295e-05,1793248399121521152
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.697063938,745,716,680,658,634,878,784,810,651,628.302936062,652.302936062,0.405363601775,0.00449128042341,0.0798044090613,0.999999945627,0.000113570595294,-0.000305312598088,5.13045776952e-05,1793248399138188288
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.726963594,745.273036406,715.726963594,680,658,634,878.273036406,784,810,651.273036406,628,652,0.404958702073,0.00449426482249,0.0798189925652,0.999999949843,0.000126847505911,-0.000285550560894,5.18077808251e-05,1793248399154855168
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.154124532,745.845875468,715.154124532,680,658,634,878.845875468,784,810,651.845875468,628,652,0.404561867031,0.00449611878425,0.0798274235035,0.999999950851,0.000129937661837,-0.000280541747648,5.20589513454e-05,1793248399171522048
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745.569083787,715,680.430916213,658,634,878.569083787,784,809.569083787,651.569083787,628.430916213,652,0.40419704033,0.00449709461259,0.0798303274808,0.99999995005,0.000125575239875,-0.000285160271804,5.30606981144e-05,1793248399188188416
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.020099277,745,715,680.979900723,658,634,878,784,809.020099277,651,629,652,0.403845532027,0.00449774117385,0.0798311878157,0.999999948553,0.000118643345557,-0.000293042669303,5.42521789304e-05,1793248399204854784
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.599569952,745,715,680.400430048,658,634,878,784,809.599569952,651,629,652,0.403536783719,0.00449821977457,0.0798317914259,0.999999948837,0.000116546852517,-0.000293136699795,5.3035065792e-05,1793248399221521408
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745.178072926,715,680,658,633.821927074,878,784,809.821927074,651,629,652,0.403239894867,0.00449739680133,0.079832403923,0.999999949064,0.000113394713821,-0.000293766657976,5.21047553235e-05,1793248399238188032
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745.754411532,715,680,658,633.245588468,878,784,809.245588468,651,629,652,0.402969530099,0.00449366281705,0.079833036296,0.99999994915,0.000107881590817,-0.000295595235215,5.18158881766e-05,1793248399254854656
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.693258802,745.693258802,715,680,658,633,878,784,809,651,629,652,0.402726132159,0.00449000905897,0.0798342676457,0.999999950359,0.000102283201533,-0.00029333596851,5.26651933858e-05,1793248399271521024
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.158756188,745.158756188,715,680,658,633,878,784,809,651,629,652,0.402502757593,0.00448641487004,0.0798359437477,0.999999952371,9.66214997673e-05,-0.000288041396893,5.43596140813e-05,1793248399288187392
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.449542574,745,715,680,658,633.449542574,878,784.449542574,809.449542574,651,628.550457426,652,0.402301806038,0.00448487093127,0.079837587507,0.999999953884,8.74251217701e-05,-0.000285776941809,5.40324086348e-05,1793248399304854016
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.919414233,658,634,878,784.919414233,810,651,628.080585767,652,0.402115475837,0.00448418235484,0.0798393520534,0.99999995518,7.78566327902e-05,-0.000284170682918,5.31602796467e-05,1793248399321520896
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.340528912,658,634,878,784.340528912,810,651,628.659471088,652,0.401960974538,0.00448342646189,0.0798419479816,0.99999995686,7.52217922991e-05,-0.00027871796716,5.42002727199e-05,1793248399338187776
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,715.237274509,679.237274509,658,634,878,784.237274509,810,651,629,652,0.401815158498,0.00448393029276,0.0798440142122,0.999999958027,7.57288500526e-05,-0.00027417978858,5.51135994956e-05,1793248399354854400
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715.813532235,679.813532235,658,634,878,784.813532235,810,651,629,652,0.401681750699,0.00448623383339,0.0798453236881,0.999999958476,8.07245940141e-05,-0.00027094816769,5.58459638749e-05,1793248399371521024
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.603307765,745,715.603307765,680,658,634,878,784.603307765,810,651,629,652,0.401559892194,0.00449238072002,0.0798417680526,0.999999956376,8.42573424241e-05,-0.000277868797038,5.4198350718e-05,1793248399388187392
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.016845871,745,715.016845871,680,658,634,878,784.016845871,810,651,629,652,0.401443558644,0.0045003661867,0.0798358850448,0.999999952939,8.70902227711e-05,-0.000289646060593,5.14122037208e-05,1793248399404854016
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.437869315,658,634,878,784,809.437869315,651,629,652,0.401351046188,0.00451558124938,0.0798296525344,0.999999943854,0.000146997620039,-0.000297759281963,4.49831948344e-05,1793248399421521152
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,878,783.859197913,809.140802087,651.140802087,629,652,0.401266245835,0.00452611107257,0.0798247954206,0.999999934568,0.000192059133158,-0.000303873232302,4.04661667557e-05,1793248399438187776
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,878,783.280787018,809.719212982,651.719212982,629,652,0.401203224966,0.00452141479307,0.0798242451252,0.999999935618,0.000185734031512,-0.000304110289634,4.22263564441e-05,1793248399454854656
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715.29548345,679.29548345,658,634,878,783.5909669,810,651.70451655,628.70451655,652,0.401149570635,0.00451724941416,0.0798238604098,0.999999936681,0.000179731147671,-0.000303965612744,4.40337276713e-05,1793248399471521280
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715.869734645,679.869734645,658,634,878,784.73946929,810,651.130265355,628.130265355,652,0.401104752963,0.00451358490186,0.0798236319074,0.999999937759,0.000174032252812,-0.000303460796631,4.58856115499e-05,1793248399488187904
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715.544301579,680,658,633.544301579,878,784.544301579,810,651,628,652,0.401068576661,0.00449795871018,0.0798230769507,0.999999940338,0.000155291794884,-0.000304652187209,4.89483138636e-05,1793248399504854528
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.044298987,745,715,680,658,633.044298987,878,784,810,651,628.044298987,652,0.40103586769,0.00448015635081,0.0798223927142,0.999999942717,0.000134213660047,-0.000306327443741,5.21244305259e-05,1793248399521521152
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.623248575,745,715,680,658,633.623248575,878,784,810,651,628.623248575,652,0.401014406571,0.00447844680395,0.0798213041831,0.999999942653,0.000131103016125,-0.00030783614013,5.23817553335e-05,1793248399538187776
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.797890887,745,715,680,658,634,878,784,809.797890887,651.202109113,629,652,0.400997149695,0.00447962779719,0.0798211252059,0.999999942676,0.000131480082276,-0.000307599745383,5.23749280742e-05,1793248399554854144
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.219196309,745,715,680,658,634,878,784,809.219196309,651.780803691,629,652,0.400987726497,0.00448619467035,0.0798226409807,0.999999942841,0.000138355722102,-0.000304111760595,5.187591206e-05,1793248399571520768
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.644337078,878,784,809.355662922,652,628.644337078,652,0.400980723602,0.00448511022255,0.0798243429957,0.999999943972,0.000135708952459,-0.000301538608025,5.20890189072e-05,1793248399588187904
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.071816387,878,784,809.928183613,652,628.071816387,652,0.400975196436,0.00447936054718,0.0798261585667,0.999999945655,0.000127256099504,-0.000299523254716,5.2736327271e-05,1793248399604855040
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.484018906,658.515981094,633.515981094,878,784,810,652,628,652,0.400972799536,0.0044828462462,0.079827510709,0.999999945763,0.000131703192448,-0.00029731330711,5.22741773616e-05,1793248399621521664
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.104073503,745.104073503,715,679.104073503,658.895926497,633.895926497,878,784,810,652,628.104073503,652,0.400971213867,0.00448617895055,0.0798287017513,0.999999945833,0.000136027137395,-0.000295197542875,5.18483973429e-05,1793248399638187776
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.683504646,745.683504646,715,679.683504646,658.316495354,633.316495354,878,784,810,652,628.683504646,652,0.400971282795,0.00448276254559,0.0798294605691,0.999999946895,0.000131337554449,-0.000293639446774,5.23155687823e-05,1793248399654854144
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.738921829,745.738921829,715,680,658,633.261078171,878,784,810,651.738921829,629,652,0.400971034305,0.00448199213744,0.0798298850002,0.999999947456,0.000129746612576,-0.000292409421986,5.24542153555e-05,1793248399671520768
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.163584238,745.163584238,715,680,658,633.836415762,878,784,810,651.163584238,629,652,0.400970403738,0.00448440671139,0.0798299069309,0.999999947433,0.000131885499896,-0.000291574295967,5.21974170821e-05,1793248399688187392
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.420016773,745,715,680,658,634,878.420016773,784,810,651.420016773,629,652,0.400968728626,0.00448404210068,0.0798293789288,0.999999947212,0.000131831718347,-0.000292374312139,5.20990670624e-05,1793248399704854016
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,634,878.99318931,784,809.99318931,652,628.99318931,652,0.400966674583,0.00448257283332,0.0798286620056,0.999999946927,0.000130884598325,-0.000293776751859,5.20632847017e-05,1793248399721520896
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,634,878.413960306,784,809.413960306,652,628.413960306,652,0.400967650797,0.004481059617,0.0798304295072,0.999999948045,0.000128069971878,-0.000291212420689,5.19954158559e-05,1793248399738187520
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.834973853,745,715,680,658,634,878,784,809,652,628,652,0.400968540917,0.00448018955125,0.0798317466952,0.999999948774,0.000126653354141,-0.00028932398327,5.19904175227e-05,1793248399754854400
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.256594968,745,715,680,658,634,878,784,809,652,628,652,0.400969215392,0.00448093043061,0.0798319359504,0.999999948556,0.000128738428513,-0.000289128505208,5.21428954433e-05,1793248399771521280
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.319726203,745.319726203,715,679.680273797,658,633.680273797,878,784,809.319726203,651.680273797,628.319726203,652,0.40096933038,0.00448116417093,0.0798319437721,0.999999948577,0.000128964944891,-0.00028894789229,5.21839548634e-05,1793248399788187904
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.894406498,745.894406498,715,679.105593502,658,633.105593502,878,784,809.894406498,651.105593502,628.894406498,652,0.400968999227,0.00448099351155,0.0798318069162,0.999999948789,0.000127709421346,-0.000288779133055,5.21361676247e-05,1793248399804854784
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745.519489771,715,679.480510229,658,633.480510229,878,784,810,651,629,652,0.400968170836,0.00448241657375,0.0798320355752,0.999999948919,0.000127944599245,-0.000288263732068,5.19179015249e-05,1793248399821521408
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.931895889,745,715,679.931895889,658,634,878,784,809.931895889,651,629,652,0.400967407201,0.00448394560431,0.0798322766199,0.999999949009,0.000128395085181,-0.000287799352556,5.16538450088e-05,1793248399838187776
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.352421554,745,715,679.352421554,658,634,878,784,809.352421554,651,629,652,0.400967970242,0.0044835765558,0.0798319928595,0.999999948938,0.00012794261441,-0.000288303980664,5.13341129069e-05,1793248399854854400
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,878,784,809,651,628.774682145,652,0.40096859378,0.00448260439635,0.0798323061742,0.999999949133,0.000127227342496,-0.000287947064696,5.1316795555e-05,1793248399871520768
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,878,784,809,651,628.199635526,652,0.400969311219,0.00448069611379,0.0798335462434,0.999999949739,0.000126104161788,-0.000286252896848,5.17688734287e-05,1793248399888187648
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,878,784,809.383271588,651.383271588,628.383271588,652,0.400970035872,0.00448148815934,0.0798343084259,0.99999994988,0.000127834860393,-0.00028496134738,5.19141280884e-05,1793248399904854528
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,878,784,809.97035871,651.97035871,628.97035871,652,0.400970764362,0.00448371618104,0.0798348164784,0.999999949767,0.000131083190303,-0.000283883901752,5.18962207777e-05,1793248399921520896
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.549750529,745.549750529,715,679.549750529,658,634,878,784,809.450249471,651.450249471,629,652,0.400969593944,0.0044826178946,0.0798341522297,0.99999994974,0.000129005576107,-0.000284930611434,5.18887554769e-05,1793248399938187776
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765.871693174,745.871693174,715.128306826,680,658,633.871693174,878,784,809,651.128306826,628.871693174,652,0.40096853079,0.00448171805155,0.0798334565836,0.999999949577,0.000127574610626,-0.000286158619348,5.18118165375e-05,1793248399954854400
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.294628038,745.294628038,715.705371962,680,658,633.294628038,878,784,809,651.705371962,628.294628038,652,0.400968195947,0.00448213088624,0.0798328691435,0.999999948938,0.000129395823687,-0.000287625682951,5.14899487751e-05,1793248399971521024
diff --git a/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..de3806628c6148b5fed8dfa431bab07b197774b0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_12.5/position_12/depth_05/simulation_data.csv
@@ -0,0 +1,412 @@
+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,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+1,0.016666667,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+2,0.033333333,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+3,0.050000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+4,0.066666667,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+5,0.083333333,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+6,0.100000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+7,0.116666667,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+8,0.133333333,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+9,0.150000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+10,0.166666667,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
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+369,6.150000000,pose2_to_pose3_retreat,0.584643980572,0.00992794180376,1.07004242222,0.555215771128,0.0186023967569,1.06966579973
+370,6.166666667,pose2_to_pose3_retreat,0.584460897522,0.00992800734389,1.07004249257,0.555032687881,0.018602461872,1.06966587565
+371,6.183333333,pose2_to_pose3_retreat,0.584295555396,0.00992796371068,1.07004244765,0.554867348237,0.0186024270672,1.06966584017
+372,6.200000000,pose2_to_pose3_retreat,0.584146904563,0.00992783389736,1.07004250293,0.554718697249,0.0186022961809,1.06966588286
+373,6.216666667,pose2_to_pose3_retreat,0.584012669451,0.00992787825703,1.07004238746,0.554584460819,0.018602336347,1.06966577395
+374,6.233333333,pose2_to_pose3_retreat,0.583891245952,0.00992786698167,1.07004244693,0.554463035993,0.018602320368,1.06966582873
+375,6.250000000,pose2_to_pose3_retreat,0.583781081033,0.00992790267782,1.07004263203,0.5543528706,0.0186023542759,1.06966600971
+376,6.266666667,pose2_to_pose3_retreat,0.58368210855,0.00992792408785,1.0700425201,0.554253898848,0.0186023783212,1.06966590156
+377,6.283333333,pose2_to_pose3_retreat,0.583596084565,0.0099278868907,1.07004227922,0.554167875878,0.0186023447668,1.0696656655
+378,6.300000000,pose2_to_pose3_retreat,0.583522506832,0.00992790391784,1.07004242862,0.55409429847,0.0186023629079,1.06966581508
+379,6.316666667,pose2_to_pose3_retreat,0.58346194715,0.00992793220655,1.0700425775,0.554033738819,0.0186023912085,1.06966596182
+380,6.333333333,pose2_to_pose3_retreat,0.583411556495,0.00992797682915,1.07004247912,0.553983347615,0.0186024341898,1.06966586847
+381,6.350000000,pose2_to_pose3_retreat,0.583370751314,0.00992807449112,1.07004259358,0.553942540262,0.0186025244162,1.06966598132
+382,6.366666667,pose2_to_pose3_retreat,0.583337483359,0.00992793103298,1.07004246456,0.55390927401,0.0186023867795,1.06966585334
+383,6.383333333,pose2_to_pose3_retreat,0.583310803896,0.00992785258945,1.07004246428,0.553882594029,0.0186023065642,1.06966585276
+384,6.400000000,pose2_to_pose3_retreat,0.583290638016,0.00992772542926,1.07004244582,0.553862430819,0.018602188688,1.0696658395
+385,6.416666667,pose2_to_pose3_retreat,0.583275669391,0.0099278758671,1.07004245924,0.553847461664,0.0186023372219,1.06966585056
+386,6.433333333,pose2_to_pose3_retreat,0.583265462769,0.00992801243025,1.07004240779,0.553837253663,0.0186024690863,1.06966579867
+387,6.450000000,pose2_to_pose3_retreat,0.583258582497,0.00992801406752,1.07004233446,0.553830372851,0.0186024689752,1.06966572724
+388,6.466666667,pose2_to_pose3_retreat,0.583254482182,0.00992790877081,1.07004244651,0.553826272546,0.0186023633717,1.0696658314
+389,6.483333333,pose2_to_pose3_retreat,0.583251925155,0.00992786491717,1.07004249599,0.553823715673,0.0186023198771,1.06966587715
+390,6.500000000,pose2_to_pose3_retreat,0.583250477498,0.00992787080079,1.07004249529,0.553822268311,0.018602326739,1.06966587601
+391,6.516666667,pose2_to_pose3_retreat,0.583249761432,0.00992787371106,1.07004249494,0.553821552389,0.0186023301331,1.06966587545
+392,6.533333333,pose2_to_pose3_retreat,0.583249153206,0.00992787618304,1.07004249465,0.553820944287,0.0186023330161,1.06966587497
+393,6.550000000,pose2_to_pose3_retreat,0.58324850208,0.00992787566632,1.07004251149,0.553820293136,0.0186023323712,1.06966589086
+394,6.566666667,pose2_to_pose3_retreat,0.583248018605,0.00992787071921,1.07004254874,0.553819809413,0.0186023265093,1.06966592632
+395,6.583333333,pose2_to_pose3_retreat,0.583247686696,0.00992786732299,1.07004257431,0.553819477335,0.018602322485,1.06966595066
+396,6.600000000,pose2_to_pose3_retreat,0.583247528509,0.00992786570436,1.07004258649,0.553819319067,0.0186023205671,1.06966596227
+397,6.616666667,pose2_to_pose3_retreat,0.583247448406,0.00992786488471,1.07004259266,0.553819238923,0.0186023195959,1.06966596814
+398,6.633333333,pose2_to_pose3_retreat,0.58324713896,0.00992786171834,1.0700426165,0.553818929319,0.018602315844,1.06966599084
+399,6.650000000,pose2_to_pose3_retreat,0.583247069734,0.00992786101,1.07004262184,0.553818860059,0.0186023150046,1.06966599591
+400,6.666666667,pose2_to_pose3_retreat,0.583246918819,0.00992785946577,1.07004263346,0.553818709066,0.0186023131749,1.06966600698
+401,6.683333333,pose2_to_pose3_retreat,0.583246753071,0.00992785776976,1.07004264623,0.553818543233,0.0186023111652,1.06966601914
+402,6.700000000,pose2_to_pose3_retreat,0.583246659067,0.00992785914219,1.07004266024,0.553818449219,0.0186023124935,1.069666033
+403,6.716666667,pose2_to_pose3_retreat,0.583246621357,0.00992786095871,1.07004266954,0.553818411524,0.0186023143648,1.06966604234
+404,6.733333333,pose2_to_pose3_retreat,0.583246395932,0.00992787181753,1.07004272508,0.553818186192,0.0186023255513,1.06966609819
+405,6.750000000,pose2_to_pose3_retreat,0.583245990155,0.00992789136399,1.07004282507,0.553817780583,0.0186023456875,1.06966619871
+406,6.766666667,pose2_to_pose3_retreat,0.5832457939,0.00992790081769,1.07004287343,0.553817584409,0.0186023554265,1.06966624733
+407,6.783333333,pose2_to_pose3_retreat,0.583245786286,0.00992790118444,1.0700428753,0.553817576798,0.0186023558043,1.06966624922
+408,6.800000000,pose2_to_pose3_retreat,0.583245678796,0.00992786812636,1.07004276627,0.553817470006,0.0186023252666,1.06966614369
+409,6.816666667,pose2_to_pose3_retreat,0.583245521515,0.00992778455181,1.07004248196,0.553817314349,0.0186022475564,1.06966586761
+410,6.833333333,pose2_to_pose3_retreat,0.583245386146,0.00992787289459,1.07004235874,0.553817176622,0.0186023279212,1.06966574481
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..83c8b50fd3b4b38469983f78dfd217928ffdcc10
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9736fb6e4975acc1011f74239c19c332ec91dda7fc67d92074f2d01a8b7bd4aa
+size 25707444
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bfc272f6fb2fab8681d2492e9a3aad9b509e8ae6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_01/franka_data.csv
@@ -0,0 +1,406 @@
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+33,0.550000000,BASELINE,765,745,714,679.782515608,659,635,879,787,805,652,631.782515608,651.217484392,0.400776610157,-0.00544597234317,0.0598670883601,0.999999930226,-9.67164805297e-05,-0.000359018042522,-3.60550425456e-05,1793242819486515968
+34,0.566666667,BASELINE,765,745,714,679.207736576,659,635,879,787,805,652,631.207736576,651.792263424,0.400776321318,-0.00544640085971,0.0598675606797,0.999999930145,-9.70681959719e-05,-0.000359151427585,-3.60203960316e-05,1793242819503182336
+35,0.583333333,BASELINE,765,745,714,679,658.624415648,635.375584352,879,787,805,652,631,652,0.400776749873,-0.00544645015224,0.059867966595,0.999999930457,-9.62680240005e-05,-0.000358496425378,-3.60292646595e-05,1793242819519849216
+36,0.600000000,BASELINE,765,745,714,679,658.036260173,635.963739827,879,787,805,652,631,652,0.400777584456,-0.00544628481373,0.0598683349272,0.999999930989,-9.48159132856e-05,-0.000357395216181,-3.60627617399e-05,1793242819536516096
+37,0.616666667,BASELINE,765.543546431,745,714,679.543546431,658,635.456453569,878.456453569,787,805,652.543546431,631,652,0.400777271684,-0.00544627980991,0.0598677008727,0.999999930275,-9.64382177675e-05,-0.000358944827293,-3.61640383703e-05,1793242819553182464
+38,0.633333333,BASELINE,766,745,714,679.877252675,658.122747325,635,878.122747325,786.877252675,805,653,631,651.877252675,0.400776910772,-0.00544659800732,0.0598673624615,0.999999929756,-9.81647812317e-05,-0.000359922491452,-3.61484588928e-05,1793242819569848832
+39,0.650000000,BASELINE,766,745,714,679.29826415,658.70173585,635,878.70173585,786.29826415,805,653,631,651.29826415,0.400776651115,-0.00544807836111,0.0598683677195,0.999999930283,-9.95280774099e-05,-0.000358126933522,-3.56819832445e-05,1793242819586515712
+40,0.666666667,BASELINE,766,745,714,679,659,635,878.722263666,786.277736334,804.722263666,652.722263666,631,651.277736334,0.400777138969,-0.00544909680059,0.0598690051648,0.999999930676,-0.000101316195063,-0.000356540356557,-3.55317001321e-05,1793242819603182336
+41,0.683333333,BASELINE,766,745,714,679,659,635,878.149437953,786.850562047,804.149437953,652.149437953,631,651.850562047,0.40077842104,-0.00544962446511,0.0598692518161,0.999999930925,-0.000103555677076,-0.000355175817856,-3.57173653832e-05,1793242819619848960
+42,0.700000000,BASELINE,766,745,714,679.424197305,659,635,878.424197305,787,804.424197305,652,631,652,0.400778378893,-0.00544842166675,0.0598689454116,0.999999931058,-0.000100641343604,-0.000355619580043,-3.59158583846e-05,1793242819636515584
+43,0.716666667,BASELINE,766,745,714,679.998118285,659,635,878.998118285,787,804.998118285,652,631,652,0.400777869353,-0.0054466080883,0.0598684438016,0.999999931131,-9.59079315758e-05,-0.000356701595849,-3.61188790339e-05,1793242819653182208
+44,0.733333333,BASELINE,766,745,714,680,659,635,878.408816691,786.408816691,804.408816691,652,631,652,0.400775849966,-0.00544502335626,0.059867272964,0.999999930214,-9.49195609713e-05,-0.000359508568117,-3.62840356597e-05,1793242819669848832
+45,0.750000000,BASELINE,766,745,714,680,659,635,878.179063491,786.179063491,804,652.179063491,631,651.820936509,0.400774772487,-0.00544422542665,0.0598666926156,0.999999929702,-9.44620643086e-05,-0.000361042693085,-3.63514572331e-05,1793242819686515456
+46,0.766666667,BASELINE,766,745,714,680,659,635,878.75530354,786.75530354,804,652.75530354,631,651.24469646,0.400775795247,-0.00544517101563,0.0598674269003,0.999999930111,-9.51547618369e-05,-0.000359740958895,-3.62023712117e-05,1793242819703182080
+47,0.783333333,BASELINE,766,745,714,679.66739533,658.66739533,635,878.66739533,787,804,652.66739533,631,651.33260467,0.400775838126,-0.00544610872781,0.0598672569137,0.999999929746,-9.64094444569e-05,-0.000360428424861,-3.6132189631e-05,1793242819719848960
+48,0.800000000,BASELINE,766,745,714,679.089311008,658.089311008,635,878.089311008,787,804,652.089311008,631,651.910688992,0.400775157801,-0.00544704062661,0.0598664195275,0.999999928804,-9.80789015563e-05,-0.000362584024505,-3.61202436411e-05,1793242819736515584
+49,0.816666667,BASELINE,765.501118361,745,714,679.498881639,658.498881639,635,878.498881639,787,804,652,631,652,0.400776401427,-0.00544681824007,0.0598675877019,0.999999929775,-9.74088697417e-05,-0.000360108781342,-3.58305713645e-05,1793242819753182208
+50,0.833333333,BASELINE,765,745,714,679.912695729,659,635,878.912695729,786.912695729,804,652,631,652,0.400777409559,-0.00544658300884,0.059868647104,0.999999930691,-9.67007620662e-05,-0.000357774394204,-3.55726542683e-05,1793242819769848832
+51,0.850000000,BASELINE,765,745,714,679.33338583,659,635,878.33338583,786.33338583,804,652,631,652,0.40077510937,-0.00544746401702,0.0598670282909,0.999999929378,-9.81871666954e-05,-0.000361002417305,-3.57796830662e-05,1793242819786515456
+52,0.866666667,BASELINE,765.242145628,745,714,679.242145628,659.242145628,635,878.242145628,786.242145628,804,652.242145628,631,652,0.400774503281,-0.00544777079036,0.0598664367658,0.999999928913,-9.92974833925e-05,-0.000361966197191,-3.59835273457e-05,1793242819803182336
+53,0.883333333,BASELINE,765.812554826,745,714,679.812554826,659.812554826,635,878.812554826,786.812554826,804,652.812554826,631,652,0.400776193789,-0.00544729910492,0.059867237879,0.999999929606,-9.98979581819e-05,-0.000359860466325,-3.61830545363e-05,1793242819819849216
+54,0.900000000,BASELINE,765.602477118,745,714,679.602477118,659.602477118,635,879,787,804.397522882,652.602477118,631,652,0.400776376096,-0.00544802127651,0.0598673055998,0.999999929773,-9.99261287903e-05,-0.000359405462517,-3.59942561629e-05,1793242819836516096
+55,0.916666667,BASELINE,765.010383114,745,714,679.010383114,659.010383114,635,879,787,804.989616886,652.010383114,631,652,0.4007758202,-0.00544932779209,0.0598670143551,0.999999929685,-9.96741799945e-05,-0.000359758421854,-3.56153883723e-05,1793242819853182464
+56,0.933333333,BASELINE,765,745,714,679.569170976,659,635,878.430829024,787,804.430829024,652,631,651.430829024,0.400775258929,-0.00544778388188,0.0598669539664,0.999999929574,-9.88915457924e-05,-0.000360243281825,-3.60239111557e-05,1793242819869848832
+57,0.950000000,BASELINE,765,745,714,680,659,635,878,787,804.147333009,652,631,651,0.400775111104,-0.00544647096052,0.0598669947341,0.999999929633,-9.75174195782e-05,-0.000360424290468,-3.63024295278e-05,1793242819886515712
+58,0.966666667,BASELINE,765,745,714,680,659,635,878,787,804.722105699,652,631,651,0.400776163038,-0.00544597578613,0.0598673170199,0.999999930187,-9.44547492967e-05,-0.000359716941081,-3.6163007341e-05,1793242819903182592
+59,0.983333333,BASELINE,765.297635432,745,714,679.702364568,659,635,878,786.702364568,805,652,631,651.297635432,0.400776402261,-0.00544558610613,0.0598673475866,0.999999930302,-9.37881544931e-05,-0.00035957445573,-3.61275294133e-05,1793242819919849216
+60,1.000000000,BASELINE,765.873873867,745,714,679.126126133,659,635,878,786.126126133,805,652,631,651.873873867,0.40077588074,-0.00544529517458,0.0598671050883,0.999999930012,-9.53644167081e-05,-0.000359960713851,-3.61893489671e-05,1793242819936516096
+61,1.016666667,BASELINE,766,745,714,679,659,635,878.461075776,786,805,652,631,652,0.400775059033,-0.00544543061923,0.0598674479671,0.999999929963,-9.63799127835e-05,-0.000359822017981,-3.62318792477e-05,1793242819953182464
+62,1.033333333,BASELINE,765.949663566,745,714,679.050336434,659,635,878.949663566,786,805,652,631,652,0.400774380958,-0.00544579314353,0.0598679243056,0.99999992999,-9.7298170941e-05,-0.000359498586474,-3.62437906731e-05,1793242819969849088
+63,1.050000000,BASELINE,765.371037563,745,714,679.628962437,659,635,878.371037563,786,805,652,631,652,0.400776093137,-0.0054472849971,0.0598680798164,0.999999930106,-9.88450335144e-05,-0.000358780136558,-3.59910789274e-05,1793242819986515712
+64,1.066666667,BASELINE,765,745,714,679.793868763,659,635,878.206131237,786,804.793868763,652,631.206131237,651.793868763,0.400776906486,-0.00544805247138,0.0598679514747,0.999999930065,-9.97620079158e-05,-0.000358643250762,-3.59548972786e-05,1793242820003182336
+65,1.083333333,BASELINE,765,745,714,679.219304558,659,635,878.780695442,786,804.219304558,652,631.780695442,651.219304558,0.400776113291,-0.0054475252111,0.0598673157832,0.999999929749,-9.95531384558e-05,-0.000359545835773,-3.63057352322e-05,1793242820019849216
+66,1.100000000,BASELINE,765,745,714,679.364041328,659,635,878.635958672,786,804,652,632,651.364041328,0.40077569676,-0.00544717735368,0.0598670276266,0.999999929594,-9.88614002711e-05,-0.000360154954122,-3.64306722907e-05,1793242820036515840
+67,1.116666667,BASELINE,765,745,714,679.952808194,659,635,878.047191806,786,804,652,632,651.952808194,0.400775512748,-0.00544694024306,0.059866954006,0.999999929537,-9.78715834829e-05,-0.000360582913188,-3.64161589604e-05,1793242820053182464
+68,1.133333333,BASELINE,765,745,714,680,659,635,878,786.529529689,804,652,631.470470311,652,0.40077569066,-0.005446492635,0.0598670266155,0.999999929757,-9.71542587442e-05,-0.000360179339191,-3.63151055958e-05,1793242820069849600
+69,1.150000000,BASELINE,765,745,714,680,659,635,878.105946831,786.894053169,804,652,631,652,0.400775880415,-0.00544598021745,0.0598670849321,0.999999929943,-9.63134669308e-05,-0.000359898171862,-3.62025266478e-05,1793242820086516736
+70,1.166666667,BASELINE,765,745,714,680,659,635,878.685696653,786.314303347,804,652,631,652,0.400775982095,-0.00544525999509,0.059867022345,0.999999929879,-9.48143332894e-05,-0.000360488456414,-3.60721280401e-05,1793242820103183104
+71,1.183333333,BASELINE,765,745,714,680,659,635,878.736386292,786,804,652,631,652,0.400775716982,-0.0054457548234,0.0598669015584,0.999999929545,-9.57313078542e-05,-0.000361175461109,-3.6011485563e-05,1793242820119849472
+72,1.200000000,BASELINE,765,745,714,680,659,635,878.160639257,786,804,652,631,652,0.400775017564,-0.00544768833935,0.0598667118603,0.999999928886,-9.95090890288e-05,-0.00036197698792,-3.6033438216e-05,1793242820136516096
+73,1.216666667,BASELINE,765,745,714,679.574413915,659,635,878,786,804,652.425586085,631,651.574413915,0.40077522193,-0.0054474595136,0.0598672257319,0.999999929454,-9.83020582617e-05,-0.000360741207979,-3.59786263102e-05,1793242820153182720
+74,1.233333333,BASELINE,765,745,714,679,659,635,878.01552649,786.01552649,804,652.98447351,631,651.01552649,0.400775769652,-0.00544638471303,0.0598679872299,0.99999993046,-9.52536933691e-05,-0.000358772806828,-3.59037177719e-05,1793242820169849088
+75,1.250000000,BASELINE,765,745,714,679,659,635,878.593164383,786.593164383,804,652.406835617,631,651.593164383,0.400776086014,-0.00544497729511,0.05986785659,0.99999993042,-9.5380307308e-05,-0.000358823823128,-3.61767189467e-05,1793242820186515712
+76,1.266666667,BASELINE,765.169716866,745,714,679.169716866,659,635,878.830283134,786.830283134,804,652,631.169716866,652,0.400776293057,-0.00544440329536,0.0598678126894,0.999999930339,-9.57319173648e-05,-0.000358944119697,-3.62881367433e-05,1793242820203182592
+77,1.283333333,BASELINE,765.743683962,745,714,679.743683962,659,635,878.256316038,786.256316038,804,652,631.743683962,652,0.400776239712,-0.0054458144224,0.0598679753937,0.999999930161,-9.66194478265e-05,-0.000359229435601,-3.60146775244e-05,1793242820219849216
+78,1.300000000,BASELINE,766,745,714,680,659,635,878,786,804.319646303,652,631.680353697,652,0.400775816215,-0.00544627863359,0.0598677952828,0.999999929988,-9.66339749597e-05,-0.00035971157069,-3.59566678628e-05,1793242820236516096
+79,1.316666667,BASELINE,766,745,714,680,659,635,878,786,804.897218598,652,631.102781402,652,0.400775094037,-0.00544597876826,0.0598673385506,0.99999992982,-9.59440664024e-05,-0.000360352521256,-3.60725067476e-05,1793242820253182720
+80,1.333333333,BASELINE,766,745,714,680,659,635,878.486574765,786.486574765,804.513425235,652,631,652,0.400775656729,-0.00544616988148,0.0598676481217,0.999999930004,-9.6359652088e-05,-0.000359718374649,-3.61746487016e-05,1793242820269849088
+81,1.350000000,BASELINE,765.923372128,745,714,679.923372128,659,635,878.923372128,786.923372128,804,652,631,651.923372128,0.400776520286,-0.00544653065321,0.0598680979572,0.999999930255,-9.70035165532e-05,-0.000358840963631,-3.62377602402e-05,1793242820286515456
+82,1.366666667,BASELINE,765.345448089,745,714,679.345448089,659,635,878.345448089,786.345448089,804,652,631,651.345448089,0.40077753247,-0.00544730600718,0.059868380169,0.999999930443,-9.75751868434e-05,-0.000358177900568,-3.60649338479e-05,1793242820303182080
+83,1.383333333,BASELINE,765,745,714,679.23045412,659,635,878,786.23045412,804,652,631,651.23045412,0.400777266129,-0.00544748151994,0.0598681789734,0.99999993021,-9.7987167776e-05,-0.000358722992961,-3.59951475254e-05,1793242820319848960
+84,1.400000000,BASELINE,765,745,714,679.803352072,659,635,878,786.803352072,804,652,631,651.803352072,0.400775099962,-0.0054467656974,0.0598672594573,0.999999929348,-9.81618580242e-05,-0.000361063346639,-3.60784738063e-05,1793242820336515328
+85,1.416666667,BASELINE,765,745,714,679.622310213,659,635.377689787,878,787,804.377689787,652.377689787,631,652,0.400775404946,-0.00544617891676,0.0598673970665,0.999999929477,-9.85154939648e-05,-0.0003606126533,-3.60403625637e-05,1793242820353182208
+86,1.433333333,BASELINE,765,745,714,679.047220035,659,635.952779965,878,787,804.952779965,652.952779965,631,652,0.400777001484,-0.00544565958021,0.0598680871846,0.999999930123,-9.89626562504e-05,-0.000358703213019,-3.59387817297e-05,1793242820369849088
+87,1.450000000,BASELINE,765,745,714,679.545163242,659,635.454836758,878,786.454836758,805,652.454836758,631,652,0.400775414798,-0.00544710821141,0.0598676618188,0.999999929847,-9.8700180704e-05,-0.000359547590082,-3.5921679927e-05,1793242820386515968
+88,1.466666667,BASELINE,765,745,714,680,658.864976894,635.135023106,878.135023106,786.135023106,805,652.135023106,631,652,0.400774359297,-0.00544810099375,0.0598672913925,0.999999929657,-9.81791834492e-05,-0.000360216772746,-3.59144207844e-05,1793242820403182592
+89,1.483333333,BASELINE,765,745,714,680,658.288427127,635.711572873,878.711572873,786.711572873,805,652.711572873,631,652,0.400775971913,-0.00544702748659,0.059867426914,0.999999930026,-9.70203977753e-05,-0.000359507535539,-3.59146358422e-05,1793242820419848960
+90,1.500000000,BASELINE,765.286557352,745,714,680,658.286557352,635.713442648,879,787,805,652.713442648,631,652,0.400776330533,-0.00544672199458,0.0598674435839,0.999999929847,-9.76291501799e-05,-0.000359840033899,-3.58988693293e-05,1793242820436515584
+91,1.516666667,BASELINE,765.859974855,745,714,680,658.859974855,635.140025145,879,787,805,652.140025145,631,652,0.400775433831,-0.00544718532934,0.0598673412764,0.999999929118,-0.000100007308451,-0.000361215368645,-3.58671043581e-05,1793242820453182208
+92,1.533333333,BASELINE,765.554154593,745,714,680,659,635,878.554154593,787,804.554154593,652.445845407,631,652,0.400775589931,-0.00544659772216,0.0598674709529,0.999999929421,-9.88908736145e-05,-0.000360679870957,-3.58882664387e-05,1793242820469848832
+93,1.550000000,BASELINE,765,745,714,680,658.964797739,635,878,786.964797739,804,652.964797739,631,652,0.400776076901,-0.00544577817888,0.0598676583732,0.999999930021,-9.67522590145e-05,-0.000359590852193,-3.59226853946e-05,1793242820486515200
+94,1.566666667,BASELINE,765,745,714,680,658.383770602,635,878,786.383770602,804,652.383770602,631,652,0.400776419988,-0.00544662722971,0.0598675789753,0.999999930104,-9.62710436945e-05,-0.000359491878628,-3.58975112514e-05,1793242820503182336
+95,1.583333333,BASELINE,765.195557537,745,714,680,658.195557537,635,878.195557537,786,804.195557537,652,631,652,0.400776881774,-0.00544740258855,0.0598678422517,0.999999930248,-9.6707581867e-05,-0.0003589768536,-3.58717309017e-05,1793242820519849216
+96,1.600000000,BASELINE,765.771580307,745,714,680,658.771580307,635,878.771580307,786,804.771580307,652,631,652,0.400777574493,-0.00544803457673,0.0598687722151,0.999999930506,-9.89296471195e-05,-0.00035765238332,-3.58447711479e-05,1793242820536515840
+97,1.616666667,BASELINE,765.646874622,745,714,679.646874622,658.646874622,635,878.646874622,786,805,652,631,652,0.400776692186,-0.00544764377914,0.0598682134125,0.999999930245,-9.83829995811e-05,-0.00035852790049,-3.58956954083e-05,1793242820553182464
+98,1.633333333,BASELINE,765.061700726,745,714,679.061700726,658.061700726,635,878.061700726,786,805,652,631,652,0.400774774886,-0.00544658088052,0.0598666763002,0.999999929636,-9.6016953651e-05,-0.000360849090742,-3.59977994243e-05,1793242820569849088
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+101,1.683333333,BASELINE,765,745,714,679.324351917,659.324351917,635,879,786.324351917,804.675648083,652,631,652,0.400777222983,-0.00544587646115,0.0598681533415,0.999999930488,-9.62372324071e-05,-0.000358417059365,-3.60624570847e-05,1793242820619848704
+102,1.700000000,BASELINE,765,745,714,679.252075266,659,635,878.747924734,786,804.747924734,652,631,652,0.400777951588,-0.00544614402025,0.0598681138328,0.999999930519,-9.69430312985e-05,-0.000358125572114,-3.62049703636e-05,1793242820636515584
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+108,1.800000000,POSE1_TO_POSE2_PRESS,765.425201284,745,714,679.574798716,659,635,878,786,804.425201284,652,631,651.574798716,0.400775602096,-0.00544592100656,0.0598674134216,0.999999930027,-9.6079091997e-05,-0.000359727494061,-3.6218110634e-05,1793242820760996096
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+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714.482188861,679,658.482188861,635,878,787,804,652,631,652,0.400773972252,-0.00544615558645,0.0598659947046,0.999999929082,-9.61578041562e-05,-0.000362337559287,-3.60636503142e-05,1793242820844329472
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+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714.366091455,679,659,635,878,786.366091455,804.633908545,652,631,651.366091455,0.400778446353,-0.00544681629606,0.0598684734792,0.999999929991,-9.62358205726e-05,-0.000359807553466,-3.60014173625e-05,1793242820877662464
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.216887201,745,714,679,659,635,878.216887201,786,804.783112799,652,631,651.216887201,0.400783902909,-0.00544695804256,0.059870420184,0.999999930469,-9.62481279345e-05,-0.000358479336558,-3.59357758677e-05,1793242820894329344
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+118,1.966666667,POSE1_TO_POSE2_PRESS,765.608434123,745,714,679,659,635,878.608434123,786,804.391565877,652.391565877,631,652,0.40081444476,-0.00544680686915,0.0598764383602,0.999999932518,-9.7340873501e-05,-0.000352439377961,-3.57231921666e-05,1793242820927662336
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.033074207,745,714,679,659,635,878.033074207,786,804.966925793,652.966925793,631,652,0.400839426057,-0.00544864225533,0.0598794937498,0.999999933841,-9.77504167545e-05,-0.000348558963287,-3.56425291413e-05,1793242820944328960
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+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,714,679.02714095,659,635,878.02714095,786,804.97285905,652.97285905,631,652,0.401282287624,-0.00545876003965,0.0598817923129,0.99999993776,-0.000107499728618,-0.000333644169734,-4.00684694308e-05,1793242821060995584
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+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,714,679.820229672,659,635,878.820229672,786.179770328,804,652,631,651.820229672,0.401541096723,-0.0054644305068,0.0598923011611,0.999999945957,-0.000109082174551,-0.000307293264304,-4.19187924291e-05,1793242821094328576
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,714,679.226254293,659,635,878.226254293,786.773745707,804,652,631,651.226254293,0.401694855439,-0.00546769315907,0.0598973600313,0.999999950097,-0.000110787741719,-0.000292693357724,-4.31484310319e-05,1793242821110995456
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+135,2.250000000,POSE1_TO_POSE2_PRESS,765.738482746,745,714,679,658,635,878,786.261517254,804.261517254,652,631,651.738482746,0.402961978048,-0.00548633022236,0.0598976607672,0.999999955328,-0.000139050106739,-0.000258520366275,-5.63636308176e-05,1793242821210995456
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.158775165,745,714,679,658,635,878,786.841224835,804.841224835,652,631,651.158775165,0.403244468427,-0.00548799549452,0.0599008262286,0.999999956274,-0.00014403234108,-0.000251377103795,-5.92982516243e-05,1793242821227661824
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+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.32205217,658.32205217,635,879,786,804,652.67794783,631,652,0.405319300329,-0.00547109217795,0.0598503656432,0.999999918844,-0.000215766716026,-0.00032981951623,-8.351617849e-05,1793242821327662336
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+156,2.600000000,POSE1_TO_POSE2_PRESS,765.43607083,745,714.43607083,679.43607083,659,635,879,786.43607083,804,652,631,651.56392917,0.413530321765,-0.00549631747579,0.0598716470318,0.999999926751,-0.000213077935251,-0.000306044006957,-8.62092278931e-05,1793242821560995840
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.982515428,745,714.982515428,680,659,635,878.982515428,787,804.017484572,651.982515428,631,651.017484572,0.414223867989,-0.00549199390712,0.0598433180097,0.999999912538,-0.00019197743335,-0.00036096630213,-8.81625396459e-05,1793242821577662208
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.394882467,745,714.394882467,680,659,635,878.394882467,787,804.605117533,651.394882467,631,651.605117533,0.415033390969,-0.00549347414858,0.0598835618797,0.999999940483,-0.000183740279074,-0.000278750311814,-8.70191558039e-05,1793242821594328832
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.190086431,745,714,679.809913569,659,635,878,787,805,651.190086431,631,652,0.41584993998,-0.00549576731275,0.0599225966021,0.999999959526,-0.000178920280008,-0.00020416954132,-8.51434825236e-05,1793242821610995456
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.769597503,745,714,679.230402497,659,635,878,787,805,651.769597503,631,652,0.416680882972,-0.00549972588838,0.059959154176,0.999999969712,-0.000181100911421,-0.000145230835188,-8.17675896767e-05,1793242821627662080
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.652795794,744.652795794,714,679.347204206,659,635,878.347204206,787,805,652.347204206,631,652,0.417506424675,-0.00550332212001,0.0599667086207,0.999999971854,-0.000180046640322,-0.000131902503881,-8.04834282307e-05,1793242821644328704
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.076445947,744.076445947,714,679.923554053,659,635,878.923554053,787,805,652.923554053,631,652,0.418328401638,-0.00550667921397,0.0599551217618,0.999999970062,-0.000176857418854,-0.000148675822281,-8.05797547127e-05,1793242821660995584
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.49866615,744.49866615,714,680,659.49866615,635,879,787,805,652.50133385,631,652,0.419141437682,-0.00550732859644,0.0599352811109,0.999999964255,-0.00017827487108,-0.000181625826663,-8.19708785626e-05,1793242821677662208
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+166,2.766666667,POSE1_TO_POSE2_PRESS,765.749391715,745,714,679.749391715,659.749391715,635,879,786.749391715,805,652,631,652,0.42155248282,-0.00550477180186,0.0598636474972,0.999999941182,-0.000169842125817,-0.00028522656777,-8.62338713104e-05,1793242821727662336
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+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.724575932,714,679.275424068,660,634.275424068,879,787,805.275424068,652,631,651.275424068,0.426964318398,-0.00552443282912,0.0599794211371,0.999999981038,-0.000162518096943,-7.32436994426e-05,-7.84002829849e-05,1793242821827662336
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.69102899,714,679.30897101,660,634.30897101,879,787,805.30897101,652,631,651.30897101,0.427830229571,-0.00552568701516,0.0599604362839,0.999999978942,-0.000163354946223,-9.49332046868e-05,-8.01235461831e-05,1793242821844329216
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+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,805.206388275,651,631,651.206388275,0.433064273968,-0.00553160078078,0.0599750671549,0.999999982889,-0.000157911611156,-5.45754168925e-05,-7.94236612906e-05,1793242821944328960
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765.661116905,745,714,680.338883095,660,635,880,787,806,651.661116905,631,651.338883095,0.442966780145,-0.00555100029971,0.0599517876299,0.999999980412,-0.000151889874778,-0.000102826071067,-7.43853602835e-05,1793242822160995584
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+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,714,681,659,633,879.677944641,787,806.677944641,652,631,651.322055359,0.451736628038,-0.00557579518996,0.0598348372286,0.999999955533,-0.000135766912743,-0.000256903932676,-6.71000004578e-05,1793242822544328960
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.736919956,745,714,681,659,633,880,786.736919956,806.736919956,652,631,651.263080044,0.45188034574,-0.00557752126993,0.0598369905901,0.999999956418,-0.000136489004556,-0.000253235859462,-6.63803884435e-05,1793242822560995328
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.157661132,745,714,681,659,633,880,786.157661132,806.157661132,652,631,651.842338868,0.45201491377,-0.00557707420577,0.0598451322536,0.999999959553,-0.000138216178113,-0.000239611003431,-6.61537652911e-05,1793242822577661952
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.41859018,745.41859018,714.41859018,681.41859018,659,633.41859018,880,786,806.41859018,652,631,652,0.452125000374,-0.00557708909891,0.0598498316464,0.999999961024,-0.000138588609785,-0.000233225707279,-6.59561285659e-05,1793242822594328832
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.993716788,745.993716788,714.993716788,681.993716788,659,633.993716788,880,786,806.993716788,652,631,652,0.452225931875,-0.00557727674609,0.0598532437639,0.999999961906,-0.000138454420712,-0.000229547724916,-6.57693316431e-05,1793242822610995456
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745.430340122,714.430340122,682,659,633.430340122,880,786,806.430340122,652,631,652,0.452300325411,-0.00557886742828,0.0598506498051,0.9999999612,-0.000138363456899,-0.000232890841416,-6.49474161509e-05,1793242822627662336
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,714.149438122,681.850561878,659,632.850561878,880,786,806,652,631,652,0.452369928098,-0.00558015090315,0.0598476148166,0.999999960444,-0.000138366420484,-0.000236274160688,-6.43598504307e-05,1793242822644328960
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+224,3.733333333,POSE1_TO_POSE2_PRESS,765.09645897,745.90354103,714.09645897,681.90354103,659,632,880,786,806,652,631,652,0.452512784298,-0.00557769928907,0.0598417579907,0.999999958951,-0.000137670720712,-0.000242752219184,-6.4933674667e-05,1793242822694328832
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765.047628772,745.047628772,714.952371228,681,658.952371228,632.952371228,879.952371228,786,806,652,631,651.047628772,0.452563103893,-0.00557778650275,0.0598333728714,0.999999956433,-0.00013559611019,-0.0002540705238,-6.47742286416e-05,1793242822727662336
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+229,3.816666667,POSE1_TO_POSE2_PRESS,765.193184705,745.193184705,714,681,658.806815295,632.806815295,880.61363059,786,806,652,631,652,0.452607975068,-0.00557887572339,0.0598317885194,0.999999955789,-0.000137759916833,-0.00025560004071,-6.41288372274e-05,1793242822777662464
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+233,3.883333333,POSE1_TO_POSE2_PRESS,765.868704767,745.868704767,714,681.131295233,659,632.868704767,880,786,806.868704767,651.131295233,631,652,0.452621136411,-0.00557891659917,0.0598263852368,0.999999954672,-0.000131132368427,-0.000263823545012,-6.21105616225e-05,1793242822844328960
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+236,3.933333333,POSE1_TO_POSE2_PRESS,765.866601874,745,714,682,659,632.866601874,880,786,806.866601874,652,631,651.133398126,0.452623062507,-0.00557470148544,0.0598249513605,0.999999953793,-0.000130813978792,-0.000267029318493,-6.32249972277e-05,1793242822894328832
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765.984234083,745.015765917,714.015765917,681.984234083,658.984234083,632.015765917,880,786,806,652,631,652,0.452623355631,-0.00557681383964,0.0598231415343,0.999999952845,-0.000133603152264,-0.000269393111581,-6.23432417012e-05,1793242822927662080
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+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.651164535,714.348835465,681.348835465,659,632.651164535,879.651164535,786,806.348835465,652,630.651164535,652,0.452622327443,-0.00557475070513,0.0598213578093,0.999999952564,-0.00012891655005,-0.000272659063257,-6.25240094527e-05,1793242822994328576
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+245,4.083333333,HOLD_POSE2,765,746,714,682,658,633,880,786,806,652,631,652,0.452622278791,-0.00557955119737,0.0598197093476,0.999999951675,-0.000133119769189,-0.000274184261664,-6.12576881406e-05,1793242823070323200
+246,4.100000000,HOLD_POSE2,765,745.421990799,714,682,658,633,880,786,806,652,631,652,0.452623262396,-0.00557638637259,0.0598198446793,0.999999952049,-0.000131310490197,-0.000273586525848,-6.17298921866e-05,1793242823086990080
+247,4.116666667,HOLD_POSE2,765,745,714,681.845041673,658.154958327,632.845041673,880,786,806,652,631,651.845041673,0.452623745561,-0.00557388985937,0.0598197902106,0.999999952357,-0.000129107127601,-0.000273431239831,-6.20634380381e-05,1793242823103656704
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+253,4.216666667,HOLD_POSE2,765,745,714,681,658,632.366268567,880,786,806.366268567,652,631,651.633731433,0.452621995931,-0.00557549452359,0.0598169641237,0.99999995145,-0.000128559216165,-0.000277110676476,-6.14986424053e-05,1793242823203656448
+254,4.233333333,HOLD_POSE2,765,745,714,681,658,632.21053845,879.78946155,786.21053845,806.21053845,651.78946155,631,652,0.452621941264,-0.00557674663788,0.0598169248517,0.999999951205,-0.000130066215498,-0.000277377043009,-6.11168088897e-05,1793242823220323328
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.209233582,658.790766418,632.209233582,879.209233582,785.790766418,806.209233582,652,631,652,0.452611774228,-0.00557543822032,0.0598093515215,0.999999948551,-0.000128502792956,-0.000287526992768,-6.09350182714e-05,1793242823536347392
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.783248453,658.216751547,632.783248453,879.783248453,785.216751547,806.783248453,652,631,652,0.452594411491,-0.00557361035793,0.059801061913,0.999999944985,-0.000126837615103,-0.000300295814246,-6.13562371932e-05,1793242823553014016
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,632.630991318,879.630991318,785.369008682,806.630991318,652,631,651.630991318,0.452559831669,-0.00557169280084,0.0597862982214,0.999999937605,-0.000125762350033,-0.000324209027109,-6.21508819669e-05,1793242823569680384
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.457679051,658,632,879.542320949,786,806,651.457679051,631,651.542320949,0.452452913433,-0.00556680162803,0.0597493501715,0.999999919015,-0.000122629240474,-0.000377904690577,-6.41804593916e-05,1793242823603013888
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.695773377,658.695773377,632,880,786,806.695773377,651.695773377,631,652,0.452315141706,-0.0055627862832,0.0597240231902,0.999999905764,-0.000119811242384,-0.000412186130709,-6.49580539637e-05,1793242823636347136
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745.446259452,714,681.553740548,658.446259452,632.553740548,879.553740548,786.446259452,806,651.553740548,631,651.446259452,0.452046140056,-0.00555600981371,0.0597271736589,0.999999908131,-0.000114531825184,-0.000408229529071,-6.30071993333e-05,1793242823686347008
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,632.66182614,879,786,806,651.66182614,631,651.33817386,0.451250586529,-0.00553248595141,0.0597085611624,0.999999894946,-9.58471746699e-05,-0.000444504702111,-5.7772719683e-05,1793242823769680640
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,632.073533998,879,786,806,651.073533998,631,651.926466002,0.451029182388,-0.00552555110153,0.0596949696155,0.999999885426,-9.09881298337e-05,-0.000466478070185,-5.7159683295e-05,1793242823786347520
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.507067648,659,632.507067648,879.507067648,786,806,651.507067648,631,652,0.450789191575,-0.00551854047528,0.0596899823082,0.999999883172,-8.36644800985e-05,-0.000472791589599,-5.58891595172e-05,1793242823803014144
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.91419627,659,633,879.91419627,786,806.08580373,651.91419627,631,652,0.450541013854,-0.00551118271725,0.0596870513176,0.999999882294,-7.60333559471e-05,-0.000476090336084,-5.44839630903e-05,1793242823819681024
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.339827048,659,633,879.339827048,786,806.660172952,651.339827048,631,652,0.450261338181,-0.00550191002807,0.0596888303235,0.999999883453,-6.86561704522e-05,-0.000474960645336,-5.28467385939e-05,1793242823836347392
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633,879.235196618,786,806.764803382,651,631,652,0.449964605128,-0.00549300445769,0.0596883895392,0.999999883665,-6.18244856846e-05,-0.000475645627696,-5.10695248704e-05,1793242823853014016
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633,879.811168473,786,806.188831527,651,631,652,0.449643157735,-0.0054846308045,0.0596847325117,0.999999882538,-5.57831747101e-05,-0.000478959881166,-4.90894815368e-05,1793242823869680640
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.397770876,714,681,659,633,880,786,806,651,631,651.602229124,0.449292167025,-0.0054761828688,0.0596845900191,0.999999883795,-4.76572862605e-05,-0.000477442674589,-4.67610699354e-05,1793242823886347008
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634.623894926,880,787,806,651.623894926,631,651,0.445139812618,-0.00545582363279,0.0597744014499,0.999999940222,-2.4722879855e-05,-0.000344671292826,-1.20865684824e-05,1793242824036347904
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634.233308374,879.233308374,787,806,651.233308374,631,651.766691626,0.443942903915,-0.00543906592998,0.0597662758712,0.999999939462,-7.15691137302e-06,-0.00034783338796,-6.04662057664e-06,1793242824069681152
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.951850172,745,714,681,660,634.951850172,879.951850172,787,806,651,631,652,0.442700479138,-0.00542668675828,0.0598103212988,0.999999946049,0.00017387096263,-0.000278650718043,5.01003307897e-06,1793242824103014144
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+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745,714,681,660,634.145667092,879.145667092,787,806,651,631.145667092,652,0.439010695291,-0.00543143926502,0.0597990550177,0.99999993484,0.000162550424156,-0.000320986347156,2.94098383794e-05,1793242824186347008
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.835398797,745,714,680.164601203,660,634.164601203,879,787,806,652,631,651.164601203,0.435654266741,-0.00541429630136,0.0597377719452,0.999999888793,0.000199526650088,-0.000426125890093,3.19266695794e-05,1793242824253014016
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.541864295,745,714,680.458135705,659,634.541864295,879,787,805,652,631,652,0.42152005332,-0.00540798793893,0.0598257212641,0.9999999436,0.000175446040312,-0.000284508040637,3.27746724382e-05,1793242824519681024
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744.850007505,714,680.850007505,659,635,879,787,804.149992495,652,631,651.149992495,0.409840760386,-0.00537790356462,0.0598046088306,0.999999922536,0.000217975072157,-0.000326474117046,2.87883507023e-05,1793242824769681152
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.109670063,745,714,679,658.890329937,635,878.109670063,787,805,652,631,651.109670063,0.400961056044,-0.00537955478015,0.0598368314196,0.999999932182,0.000241963012907,-0.00027644050296,2.58829889156e-05,1793242825486347264
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.685838856,745,714,679,658.314161144,635,878.685838856,787,805,652,631,651.685838856,0.400961597658,-0.0053817128168,0.05983714927,0.999999932996,0.000240518055411,-0.000274721441339,2.62190700483e-05,1793242825503013888
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.733054608,745,714,679,658.266945392,635,878.733054608,787,804.733054608,652,631,651.733054608,0.400961597277,-0.00538241229918,0.0598373900021,0.999999933315,0.0002398443522,-0.000274142281181,2.62683095051e-05,1793242825519680512
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.146027377,745,714,679,658.853972623,635,878.146027377,787,804.146027377,652,631,651.146027377,0.400960947016,-0.00538136289704,0.0598375382653,0.999999933047,0.000240095424042,-0.000274929923777,2.59736104553e-05,1793242825536347136
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878,787,804.435283528,652,631,651.435283528,0.400961035006,-0.00538247760243,0.0598379594703,0.9999999333,0.000238986517088,-0.000274967798829,2.60272619057e-05,1793242825553014272
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.014590642,745,714,679,659,635,878.014590642,787,805,652,631,652,0.400961332928,-0.00538424218727,0.0598384613124,0.999999933704,0.000237496155298,-0.000274774909938,2.61909108343e-05,1793242825569680896
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.589637102,745,714,679,659,635,878.589637102,787,805,652,631,652,0.400960304752,-0.0053834440416,0.0598385889632,0.999999933298,0.000238651307353,-0.000275254424476,2.61490133836e-05,1793242825586347520
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.835126587,745,714,679.164873413,658.835126587,635,878.835126587,786.835126587,805,652,631,651.835126587,0.400960143162,-0.00538282371522,0.0598391155749,0.999999933233,0.000239414760991,-0.000274833704805,2.60923730928e-05,1793242825603014400
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.259417235,745,714,679.740582765,658.259417235,635,878.259417235,786.259417235,805,652,631,651.259417235,0.400962140957,-0.00538264648371,0.059840636328,0.999999934015,0.000239202170055,-0.000272169757643,2.59989962049e-05,1793242825619681024
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,635,878,786.324594244,805,652,631,651.324594244,0.400962279037,-0.00538252656759,0.059840336762,0.999999934136,0.000238964770629,-0.000271955599396,2.57764662963e-05,1793242825636347648
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,635,878,786.915414954,805,652,631,651.915414954,0.400960891814,-0.00538245366055,0.0598385442024,0.999999933716,0.000238707023727,-0.00027375071487,2.54480073664e-05,1793242825653014272
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.50277931,658.49722069,635,878,787,804.50277931,652,631,652,0.400961919854,-0.00538412386964,0.0598398689216,0.999999934398,0.00023793530021,-0.00027186650606,2.6068728885e-05,1793242825669680640
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.923408787,635,878,787,804.076591213,652,631,651.923408787,0.400963070313,-0.00538559460097,0.0598413304074,0.999999935104,0.000237223682255,-0.000269827875077,2.66605216379e-05,1793242825686347520
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.350063402,635,878,787,804.649936598,652,631,651.350063402,0.400962397371,-0.00538388257112,0.0598403007806,0.999999934808,0.000237458885698,-0.000270774928061,2.60360747924e-05,1793242825703014400
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.228827221,635,878,787,804.771172779,652,631,651.228827221,0.400961925211,-0.00538298736627,0.0598396908719,0.9999999347,0.000237285446003,-0.000271358825243,2.56798274784e-05,1793242825719681024
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.816411808,635,878,787,804.183588192,652,631,651.816411808,0.400961767837,-0.00538337278671,0.0598397390009,0.999999934888,0.000236471331973,-0.000271373363659,2.57440656942e-05,1793242825736347648
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..61d86fca789522085af1b73a272f7aaa41cdce91
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,406 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+1,0.016666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+2,0.033333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+3,0.050000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+4,0.066666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+5,0.083333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+6,0.100000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+7,0.116666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+8,0.133333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+9,0.150000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+10,0.166666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+11,0.183333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+12,0.200000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+13,0.216666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+14,0.233333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+15,0.250000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+16,0.266666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+17,0.283333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+18,0.300000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+19,0.316666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+20,0.333333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+21,0.350000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+22,0.366666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+23,0.383333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+24,0.400000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+25,0.416666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+26,0.433333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+27,0.450000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+28,0.466666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+29,0.483333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+30,0.500000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+31,0.516666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+32,0.533333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+33,0.550000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+34,0.566666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+35,0.583333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+36,0.600000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+37,0.616666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+38,0.633333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+39,0.650000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+40,0.666666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+41,0.683333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+42,0.700000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+43,0.716666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+44,0.733333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+45,0.750000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+46,0.766666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+47,0.783333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+48,0.800000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+49,0.816666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+50,0.833333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+51,0.850000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+52,0.866666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+53,0.883333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+54,0.900000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+55,0.916666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+56,0.933333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+57,0.950000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+58,0.966666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+59,0.983333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+60,1.000000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+61,1.016666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+62,1.033333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+63,1.050000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+64,1.066666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+65,1.083333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+66,1.100000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+67,1.116666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+68,1.133333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+69,1.150000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+70,1.166666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+71,1.183333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+72,1.200000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+73,1.216666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+74,1.233333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+75,1.250000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+76,1.266666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+77,1.283333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+78,1.300000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+79,1.316666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+80,1.333333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+81,1.350000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fd869e120e369f60c7dbe420b98d5b29a9de2f56
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef25bbb010c858209a037ea932504f7353372d3182868254caddf17b7a3aabf7
+size 25778266
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8b43957a4cf104c51067b9162d5c66ab09ee43bd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_02/franka_data.csv
@@ -0,0 +1,407 @@
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+7,0.116666667,BASELINE,765.057858381,745,714,679,658.942141619,635,878,787,805,652,631,651.057858381,0.400963158515,-0.00538289749788,0.0598433435701,0.999999935542,0.000238549376777,-0.000267115651724,2.56762207716e-05,1793242826001901056
+8,0.133333333,BASELINE,765.632674131,745,714,679,658.367325869,635,878,787,805,652,631,651.632674131,0.400962537795,-0.00538188788838,0.0598426416739,0.999999934847,0.000240983653394,-0.000267526587365,2.5737828771e-05,1793242826018567936
+9,0.150000000,BASELINE,765.787357769,745,714,679,658.212642231,635,877.787357769,787,804.787357769,651.787357769,631,651.787357769,0.400961968377,-0.00538194351966,0.0598424379845,0.999999934783,0.00024087411234,-0.000267859305865,2.5789643434e-05,1793242826035234560
+10,0.166666667,BASELINE,765.198268367,745,714,679,658.801731633,635,877.198268367,787,804.198268367,651.198268367,631,651.198268367,0.400961489779,-0.00538388497999,0.0598431162863,0.999999935831,0.000236261171282,-0.000268053554072,2.58241206413e-05,1793242826051901184
+11,0.183333333,BASELINE,765,745,714,679,659,635,877.386481942,787,804,651.386481942,631,651.386481942,0.400961595028,-0.00538420698522,0.0598428311311,0.999999935821,0.000236311386981,-0.000268055964061,2.56971949395e-05,1793242826068567552
+12,0.200000000,BASELINE,765,745,714,679,659,635,877.969031027,787,804,651.969031027,631,651.969031027,0.40096199647,-0.00538370742071,0.0598420572021,0.999999935278,0.000238727280262,-0.000267961052131,2.54883875175e-05,1793242826085234176
+13,0.216666667,BASELINE,765,745,714,679,659,635,878.543613251,787,804,652,631,652,0.400962713366,-0.00538520131779,0.0598422761298,0.999999935839,0.000236770476135,-0.000267600484732,2.55330111709e-05,1793242826101901056
+14,0.233333333,BASELINE,765,744.882375317,714,679.117624683,659.117624683,635,878.882375317,787,804,652,630.882375317,652,0.40096309102,-0.00538644386388,0.0598423496946,0.999999936199,0.000235197549304,-0.000267636427555,2.56040150605e-05,1793242826118567680
+15,0.250000000,BASELINE,765,744.30884234,714,679.69115766,659.69115766,635,878.30884234,787,804,652,630.30884234,652,0.400962085139,-0.00538627836915,0.0598416437742,0.999999935554,0.000236064096951,-0.000269267038847,2.57221161767e-05,1793242826135234048
+16,0.266666667,BASELINE,765,744.274394206,713.725605794,679.725605794,659.725605794,634.725605794,878,787,803.725605794,652,630.274394206,652,0.400961909654,-0.00538582809039,0.0598416770878,0.999999935694,0.000235455806256,-0.000269284113883,2.56525516685e-05,1793242826151900672
+17,0.283333333,BASELINE,765,744.868952888,713.131047112,679.131047112,659.131047112,634.131047112,878,787,803.131047112,652,630.868952888,652,0.400962703079,-0.00538504552428,0.0598425729432,0.999999936748,0.000233126667051,-0.00026741850697,2.53640180018e-05,1793242826168567552
+18,0.300000000,BASELINE,765.449066611,745,713.449066611,679,659,634.449066611,877.550933389,787,803.898133221,652,631,651.550933389,0.400963222619,-0.00538520572133,0.0598427909687,0.999999936885,0.000233850107943,-0.000266262177731,2.54814644364e-05,1793242826185234176
+19,0.316666667,BASELINE,766,745,714,679,659,635,877.025001344,787,805,652,631,651.025001344,0.400963634216,-0.00538563497719,0.0598427957756,0.999999936776,0.000235300549546,-0.000265371558281,2.56971918773e-05,1793242826201900800
+20,0.333333333,BASELINE,766,745,714,679,659,635,877.59885044,787,805,652,631,651.59885044,0.400963376067,-0.00538611943246,0.0598423268848,0.999999936996,0.000233764426057,-0.000265911774214,2.55506900811e-05,1793242826218567680
+21,0.350000000,BASELINE,765.822825309,745,714,679,659,635,878,787,805,652,631,652,0.400962953477,-0.0053863956315,0.0598421000281,0.999999936952,0.000233080128132,-0.000266679226104,2.55177875806e-05,1793242826235234304
+22,0.366666667,BASELINE,765.234106173,745,714,679,659,635,878,787,805,652,631,652,0.400962148921,-0.00538618808929,0.0598424353721,0.999999936298,0.000234374465619,-0.000267974505543,2.57487555155e-05,1793242826251900928
+23,0.383333333,BASELINE,765,745,714,679,659,635,878.350464296,787,805,652,631,652,0.400961596586,-0.00538587783969,0.0598422928329,0.999999936107,0.000234701911983,-0.000268417070473,2.55495145381e-05,1793242826268567552
+24,0.400000000,BASELINE,765,745,714,679,659,635,878.932295983,787,805,652,631,652,0.400961210759,-0.00538549978534,0.0598418348077,0.999999936225,0.000234391042168,-0.000268296695649,2.50662608774e-05,1793242826285234432
+25,0.416666667,BASELINE,765,745,714,679.507286087,659,635,878.492713913,787,804.492713913,652,631,652,0.400961214673,-0.00538505967553,0.0598421138341,0.999999936245,0.000234705811891,-0.000267923307449,2.52886343021e-05,1793242826301901056
+26,0.433333333,BASELINE,765,744.918991219,714,679.918991219,659,635,878.081008781,787,804,652,631,652,0.400961423672,-0.0053848467326,0.0598425490648,0.999999936293,0.00023505158118,-0.00026741344537,2.55988399812e-05,1793242826318567680
+27,0.450000000,BASELINE,765,744.347487146,714,679.347487146,659,635,878.652512854,787,804,652,631,652,0.400962563672,-0.00538605872843,0.0598433424033,0.99999993658,0.000235086197597,-0.000266278994391,2.58782279965e-05,1793242826335234304
+28,0.466666667,BASELINE,765,744.232732767,714,679.232732767,659,635,879,787,804.232732767,652,631,652,0.400962999033,-0.00538661519137,0.0598437097183,0.999999936659,0.000235319004673,-0.000265762063411,2.60178040825e-05,1793242826351900928
+29,0.483333333,BASELINE,765,744.826472346,714,679.826472346,659,635,879,787,804.826472346,652,631,652,0.400962341382,-0.00538615481486,0.0598434162007,0.999999936417,0.000235859238064,-0.000266203007613,2.59405088469e-05,1793242826368567552
+30,0.500000000,BASELINE,765,745,714,679.589145751,659,635,878.589145751,787.410854249,805,652,631,652,0.400963489487,-0.00538582993885,0.0598439278331,0.999999936621,0.00023630627777,-0.000265038419222,2.59187296448e-05,1793242826385234176
+31,0.516666667,BASELINE,765,745,714,679.00862814,659,635,878.00862814,787.99137186,805,652,631,652,0.400965383283,-0.00538556101813,0.0598447719544,0.999999937007,0.000236714832881,-0.000263210821836,2.59198759394e-05,1793242826401900800
+32,0.533333333,BASELINE,765,745,714,679.561870223,659,635,878,787.438129777,804.438129777,652.561870223,631,652,0.400963131068,-0.00538587309849,0.0598438040281,0.999999936772,0.000235542628322,-0.000265152910437,2.58893438768e-05,1793242826418567424
+33,0.550000000,BASELINE,765.136935882,745,714,680,659,635,878,787,804,652.863064118,631,652,0.400961405824,-0.00538618415282,0.0598429112821,0.999999936673,0.000234087705955,-0.000266822835858,2.575560287e-05,1793242826435234048
+34,0.566666667,BASELINE,765.727637004,745,714,680,659,635,878,787,804,652.272362996,631,652,0.400961634084,-0.00538646276049,0.0598423582533,0.999999937069,0.000231774968874,-0.000267402429957,2.52814415158e-05,1793242826451900928
+35,0.583333333,BASELINE,766,745,714,679.687651798,659,635,878,787,804.312348202,652.312348202,631,652,0.400962420525,-0.00538637778195,0.0598427085949,0.999999936959,0.000232986264622,-0.000266759321161,2.52727771185e-05,1793242826468567808
+36,0.600000000,BASELINE,766,745,714,679.108065381,659,635,878,787,804.891934619,652.891934619,631,652,0.400963684533,-0.00538598172714,0.0598438318402,0.999999936405,0.000237212644681,-0.000265070094868,2.56623815721e-05,1793242826485234432
+37,0.616666667,BASELINE,765.528995222,745,714,679,659,635,878,787,805,652.528995222,631,652,0.400963914733,-0.00538557120572,0.0598440768724,0.999999936791,0.0002357975831,-0.000264885811809,2.55669598631e-05,1793242826501901056
+38,0.633333333,BASELINE,765.049143882,745,714,679,659.049143882,635,878,787,804.950856118,652,631,652,0.400963878107,-0.00538520645699,0.0598441033757,0.999999937339,0.000233299561453,-0.000265047339573,2.53693401442e-05,1793242826518567680
+39,0.650000000,BASELINE,765.61867724,745,714,679,659.61867724,635,878,787,804.38132276,652,631,652,0.400963524946,-0.00538536150785,0.0598439471549,0.99999993736,0.000233024949498,-0.00026521840765,2.52666254941e-05,1793242826535234304
+40,0.666666667,BASELINE,765.803695578,745,714.196304422,679,659.803695578,635,878,787,804.196304422,652,631,652,0.400962659129,-0.00538602561655,0.0598434668436,0.999999937283,0.000232493898643,-0.000265972268065,2.52892747539e-05,1793242826551900672
+41,0.683333333,BASELINE,765.209669998,745,714.790330002,679,659.209669998,635,878,787,804.790330002,652,631,652,0.400960754651,-0.00538772109822,0.059842329911,0.999999937003,0.000231443291622,-0.000267906890688,2.55659166658e-05,1793242826568567296
+42,0.700000000,BASELINE,765.374484273,745,714.625515727,679.374484273,659,635,878.374484273,786.625515727,804.625515727,652,631,652,0.400961585502,-0.00538710016501,0.0598430738316,0.999999936889,0.000233152950574,-0.00026682695477,2.57714882839e-05,1793242826585233920
+43,0.716666667,BASELINE,765.953253622,745,714.046746378,679.953253622,659,635,878.953253622,786.046746378,804.046746378,652,631,652,0.400963908503,-0.00538521560328,0.0598448437773,0.999999936854,0.000236368363434,-0.000264102545667,2.59382903063e-05,1793242826601900800
+44,0.733333333,BASELINE,765.471219571,745,714,679.471219571,659,635,878.471219571,786.528780429,804.528780429,652,631,652,0.400963210464,-0.0053848663609,0.0598443088903,0.999999936754,0.000235905535265,-0.000264930340933,2.55619629919e-05,1793242826618567680
+45,0.750000000,BASELINE,765,745,714,679.106220666,659,635,878.106220666,787,804.893779334,652,631,652,0.400962637107,-0.00538444500349,0.059843752551,0.999999936619,0.000235659000882,-0.000265690006984,2.52019358807e-05,1793242826635234304
+46,0.766666667,BASELINE,765,745,714,679.693619164,659,635,878.693619164,787,804.306380836,652,631,652,0.400963831021,-0.00538308586536,0.0598440164224,0.999999936356,0.000237856318704,-0.000264727169942,2.51319294962e-05,1793242826651900928
+47,0.783333333,BASELINE,765,745,714,680,659,635,878.722895666,787,804.277104334,652,631,652,0.400963961571,-0.00538303593699,0.0598439998796,0.999999936211,0.000238937563889,-0.000264288955794,2.52588038983e-05,1793242826668567552
+48,0.800000000,BASELINE,765,745,714,680,659,635,878.143676949,787,804.856323051,652,631,652,0.400962932784,-0.00538441338095,0.059843677614,0.999999936199,0.000238802005585,-0.000264422714256,2.56003285526e-05,1793242826685234176
+49,0.816666667,BASELINE,765,745,714,680,659,635,878.435388218,787,805,652,631,652,0.400962946024,-0.00538392802925,0.0598438137647,0.999999935916,0.000239624073576,-0.00026473595269,2.57498898651e-05,1793242826701901056
+50,0.833333333,BASELINE,765,745,714,679.985777472,659,635,878.985777472,787,805,652,631,652,0.40096329001,-0.00538286918771,0.0598440909166,0.99999993557,0.000240676254704,-0.000265080720414,2.58196205697e-05,1793242826718567424
+51,0.850000000,BASELINE,765,745,714,679.414006048,659,635,878.414006048,787,805,652,631,652,0.400963124355,-0.00538341805069,0.0598439673543,0.999999936334,0.000238365331669,-0.000264340471413,2.5242303954e-05,1793242826735234304
+52,0.866666667,BASELINE,765,745,714,679,659,635,878,787,804.836937125,652,631,652,0.400962746164,-0.00538412883933,0.0598436556596,0.999999936838,0.000236278522331,-0.000264351171947,2.47971298598e-05,1793242826751901184
+53,0.883333333,BASELINE,765,745,714,679,659,635,878,787,804.245966599,652,631,652,0.400961810237,-0.0053852645513,0.0598428502701,0.999999936668,0.000234779829622,-0.000266332505337,2.46987226278e-05,1793242826768567808
+54,0.900000000,BASELINE,765.338091652,745,714,679,659,635,878,787,804.338091652,652,631,652,0.400961380968,-0.00538603803735,0.0598428409439,0.999999936847,0.000233418309986,-0.000266831035818,2.49538071908e-05,1793242826785234176
+55,0.916666667,BASELINE,765.917221853,745,714,679,659,635,878,787,804.917221853,652,631,652,0.400961312915,-0.00538655327856,0.0598433991618,0.999999937277,0.000232154586376,-0.000266272418965,2.54609096605e-05,1793242826801901056
+56,0.933333333,BASELINE,765.506239612,745,714,679.493760388,659,635,878.493760388,787,804.506239612,652,631,652,0.400961305705,-0.00538664438467,0.0598431119778,0.999999937423,0.000230879054335,-0.000266849967654,2.53108995745e-05,1793242826818567680
+57,0.950000000,BASELINE,765,745,714,679.930418666,659,635,878.930418666,786.930418666,804.069581334,652,631,652,0.400961301693,-0.00538671413149,0.0598427218386,0.999999937492,0.00022990347872,-0.000267451499573,2.50923535344e-05,1793242826835234048
+58,0.966666667,BASELINE,765,745,714,679.356665741,659,635,878.356665741,786.356665741,804.643334259,652,631,652,0.400961247328,-0.00538714163919,0.0598426072934,0.999999937371,0.000231115593742,-0.000266853863584,2.51712668797e-05,1793242826851900672
+59,0.983333333,BASELINE,765.22391971,745,714,679,659,635,878,786.22391971,805,652,631,652,0.400961499389,-0.00538723748609,0.0598427742406,0.999999937305,0.000232220157466,-0.000266128603591,2.52770284142e-05,1793242826868567296
+60,1.000000000,BASELINE,765.815730829,745,714,679,659,635,878,786.815730829,805,652,631,652,0.400962254898,-0.0053867884272,0.0598434036687,0.999999937334,0.000233148018763,-0.000265193662208,2.54269004956e-05,1793242826885234432
+61,1.016666667,BASELINE,765.60021675,745,714.39978325,679,659,635,878,787,804.60021675,652,631.39978325,652,0.400962426938,-0.00538613351612,0.059843364709,0.999999937079,0.000233833673728,-0.000265565490558,2.52742909553e-05,1793242826901901056
+62,1.033333333,BASELINE,765.019672441,745,714.980327559,679,659,635,878,787,804.019672441,652,631.980327559,652,0.400962335166,-0.00538538552948,0.0598430235392,0.999999936695,0.000234409815613,-0.000266528171832,2.49849150511e-05,1793242826918567680
+63,1.050000000,BASELINE,765,745,714.445891941,679,659,635,878.554108059,787,804,652,631.445891941,652,0.400962052691,-0.00538612436115,0.0598433075353,0.999999937306,0.000232796101223,-0.000265634389689,2.5155637562e-05,1793242826935234304
+64,1.066666667,BASELINE,765.130926508,745,714,679.130926508,659,635,878.869073492,787,804.130926508,652,631,651.869073492,0.400961988812,-0.00538663208068,0.0598437503494,0.999999937825,0.00023153443267,-0.000264770957418,2.5261870087e-05,1793242826951900928
+65,1.083333333,BASELINE,765.719185309,745,714,679.719185309,659,635,878.280814691,787,804.719185309,652,631,651.280814691,0.400962711866,-0.00538615035329,0.0598446713281,0.999999937915,0.000231770772639,-0.000264240988348,2.50864659193e-05,1793242826968567552
+66,1.100000000,BASELINE,766,745,714,679.697206301,659,635,878,787,805,652,631,651,0.400963283344,-0.00538572859692,0.0598450595214,0.999999937878,0.000232300573117,-0.000263915177071,2.50778487823e-05,1793242826985234176
+67,1.116666667,BASELINE,766,745,714,679.117845554,659,635,878,787,805,652,631,651,0.400963716375,-0.00538536161719,0.059844961077,0.999999937726,0.000233098415838,-0.000263775840372,2.52215723298e-05,1793242827001901056
+68,1.133333333,BASELINE,765.539963651,745,714,679,658.539963651,635,878,787,804.539963651,652,631,651.460036349,0.40096153867,-0.00538600658237,0.0598439278381,0.999999937303,0.00023263897874,-0.00026576066669,2.53907881452e-05,1793242827018567680
+69,1.150000000,BASELINE,765,745,714,679.037159493,658.037159493,635,878,787,804,652,631,652,0.400959033778,-0.00538684740435,0.0598428079502,0.999999936851,0.00023200471162,-0.000267992089189,2.55495799716e-05,1793242827035234304
+70,1.166666667,BASELINE,765,745,714,679.608799857,658.608799857,635,878,787,804,652,631,652,0.400961411359,-0.00538678871186,0.0598438750061,0.999999937051,0.000233473445974,-0.000265968919455,2.54648125763e-05,1793242827051901184
+71,1.183333333,BASELINE,765.187006144,745,714,679.812993856,659,635,878.187006144,787,804,652,631,652,0.400963303946,-0.00538662787201,0.0598447180575,0.999999937397,0.000234147496496,-0.000264079433323,2.53706385953e-05,1793242827068567552
+72,1.200000000,BASELINE,765.779447673,745,714,679.220552327,659,635,878.779447673,787,804,652,631,652,0.400964145053,-0.00538624557336,0.0598450754601,0.999999938066,0.000233098646978,-0.000262479777197,2.52560708152e-05,1793242827085234432
+73,1.216666667,BASELINE,766,745,714,679,659,635,879,787,804,652,631,652,0.400964086327,-0.00538631993848,0.0598448801992,0.999999938166,0.000232349815236,-0.000262765246896,2.52290624863e-05,1793242827101901056
+74,1.233333333,BASELINE,766,745,714,679,659,635,879,787,804,652,631,652,0.400963493949,-0.00538666513224,0.0598443571762,0.999999937928,0.000231778911844,-0.000264168707795,2.52539820973e-05,1793242827118567680
+75,1.250000000,BASELINE,766,745,714,679,659,635,878.480390841,787,804,652,631,652,0.400962501277,-0.00538634452572,0.0598443995103,0.999999937457,0.000233591337337,-0.000264346500156,2.53432926991e-05,1793242827135234304
+76,1.266666667,BASELINE,765.902956606,744.902956606,714,679,658.902956606,635,878,787,804.097043394,652,631,651.902956606,0.400961804389,-0.00538621376444,0.0598444153969,0.999999937198,0.000234668918747,-0.000264366219432,2.53912065523e-05,1793242827151901184
+77,1.283333333,BASELINE,765.3162594,744.3162594,714,679,658.3162594,635,878,787,804.6837406,652,631,651.3162594,0.400962817576,-0.00538740289788,0.0598439904573,0.999999938146,0.000230742891028,-0.000264254729572,2.51952352726e-05,1793242827168567552
+78,1.300000000,BASELINE,765,744.266999174,714,679,658.266999174,635,878,786.733000826,804.733000826,652,631,651.266999174,0.400962944564,-0.00538753612423,0.0598438661121,0.999999938395,0.000229394200577,-0.000264489795871,2.51587533332e-05,1793242827185234176
+79,1.316666667,BASELINE,765,744.846236452,714,679,658.846236452,635,878,786.153763548,804.153763548,652,631,651.846236452,0.400962035201,-0.00538643453608,0.0598440932924,0.999999937838,0.000231059538073,-0.000265130136984,2.53087837787e-05,1793242827201900800
+80,1.333333333,BASELINE,765.424071068,745,714,679.424071068,659,635,878,786.424071068,804.424071068,652,631,652,0.400961496425,-0.00538711383809,0.0598437733813,0.999999937351,0.000232344281673,-0.000265837281971,2.53882327999e-05,1793242827218567680
+81,1.350000000,BASELINE,766,745,714,679.998582967,659,635,878,787,805,652,631,652,0.400961094156,-0.00538843078673,0.059843257768,0.99999993689,0.000233486095378,-0.000266565598235,2.54411014327e-05,1793242827235234048
+82,1.366666667,BASELINE,766,745,714,679.413737788,659,635,878,787,805,652,631,652,0.400961753639,-0.00538729547883,0.0598435710905,0.999999937282,0.000232410467457,-0.000266070561546,2.50523095957e-05,1793242827251900672
+83,1.383333333,BASELINE,766,744.830511558,714,679.169488442,659,635,878.169488442,787,804.830511558,652,631,652,0.400961984147,-0.00538630266717,0.0598436809797,0.999999937338,0.000232327797613,-0.000265951158867,2.48470279247e-05,1793242827268567040
+84,1.400000000,BASELINE,766,744.251199827,714,679.748800173,659,635,878.748800173,787,804.251199827,652,631,652,0.400961177395,-0.00538565441137,0.059843298967,0.999999936581,0.000234646101571,-0.000266740039648,2.50854740107e-05,1793242827285233920
+85,1.416666667,BASELINE,765.671879314,744.328120686,714,680,659,635,879,787,804.328120686,652.328120686,631,652,0.400961809297,-0.00538614768607,0.0598437587567,0.999999936967,0.000233848210379,-0.000265969617365,2.53148746137e-05,1793242827301900544
+86,1.433333333,BASELINE,765.092552112,744.907447888,714,680,659,635,879,787,804.907447888,652.907447888,631,652,0.400963542619,-0.00538751490722,0.0598448630234,0.999999938221,0.000230664585507,-0.000264005405354,2.55373500544e-05,1793242827318567168
+87,1.450000000,BASELINE,765,745,714,680,659,635,878.51765559,786.51765559,805,652.51765559,631,651.51765559,0.400962730747,-0.00538643248652,0.0598440129097,0.999999937513,0.000232262806674,-0.000265284873757,2.55265248379e-05,1793242827335234048
+88,1.466666667,BASELINE,765.057815634,745,714,680,659,635,878,786.057815634,805,652,631,651,0.400961601253,-0.00538518179112,0.0598430283169,0.999999936592,0.000234432701839,-0.000266850696469,2.54710726823e-05,1793242827351900928
+89,1.483333333,BASELINE,765.646293981,745,714,680,659,635,878,786.646293981,805,652,631,651,0.40096199818,-0.00538666155845,0.0598442200776,0.9999999372,0.000233504715918,-0.000265384142356,2.54131539305e-05,1793242827368567808
+90,1.500000000,BASELINE,766,745,714,679.769044391,659,635,878.230955609,787,804.769044391,652,631,651.230955609,0.400962205994,-0.0053870487931,0.0598446651989,0.999999937428,0.000233161203413,-0.000264828917234,2.54108677695e-05,1793242827385234432
+91,1.516666667,BASELINE,766,745,714,679.190133052,659,635,878.809866948,787,804.190133052,652,631,651.809866948,0.400962128892,-0.00538579002726,0.0598439854398,0.999999937084,0.000233698253601,-0.000265646692651,2.54923971959e-05,1793242827401901056
+92,1.533333333,BASELINE,766,745,714,679.388691684,659,635,878.611308316,787,804.388691684,652,631,652,0.400962206049,-0.00538606673719,0.0598439759448,0.999999937108,0.000233443594704,-0.000265776547888,2.55116236929e-05,1793242827418567424
+93,1.550000000,BASELINE,766,745,714,679.967474118,659,635,878.032525882,787,804.967474118,652,631,652,0.400962358647,-0.0053870943757,0.0598442942444,0.999999937313,0.000232801748324,-0.000265569973921,2.55003807762e-05,1793242827435233792
+94,1.566666667,BASELINE,766,745,714,679.458384017,659,635,878,787,805,652.541615983,631,652,0.400961230159,-0.00538609494857,0.0598435290309,0.999999936997,0.000233230884741,-0.000266405241101,2.52370649475e-05,1793242827451900672
+95,1.583333333,BASELINE,766,745,714,679,659,635,878,787,805,652.881443729,631,651.881443729,0.400960556208,-0.00538558296417,0.0598431749733,0.999999936894,0.000233441895469,-0.00026662061445,2.50961148736e-05,1793242827468567552
+96,1.600000000,BASELINE,766,745,714,679,659,635,878,787,805,652.292298623,631,651.292298623,0.400961989241,-0.00538748489024,0.0598447090128,0.999999937757,0.000232533970513,-0.000264129189866,2.55004512413e-05,1793242827485234432
+97,1.616666667,BASELINE,766,745,714,679.293130272,659,635,878,787,805,652,631,651.293130272,0.400962756034,-0.0053880543944,0.0598451941839,0.999999938215,0.000231470463867,-0.000263323219219,2.55481596011e-05,1793242827501901312
+98,1.633333333,BASELINE,766,745,714,679.874899859,659,635,878,787,805,652,631,651.874899859,0.400962866794,-0.00538731189015,0.0598446465558,0.999999938278,0.000230253759206,-0.000264176880338,2.52447037173e-05,1793242827518567936
+99,1.650000000,BASELINE,766,745,714,680,659,635,878,787,805,652,631,651.552166656,0.400963450355,-0.00538619604201,0.0598445615259,0.999999937878,0.00023251063729,-0.000263715945436,2.52441926969e-05,1793242827535234560
+100,1.666666667,BASELINE,766,745,714,679.981454849,659.018545151,635,878.018545151,787.018545151,804.981454849,652,631,651.018545151,0.40096406581,-0.00538503439492,0.0598445685575,0.999999937367,0.000235483463618,-0.00026300610681,2.53049919203e-05,1793242827551901440
+101,1.683333333,BASELINE,766,745,714,679.404756976,659.595243024,635,878.595243024,787.595243024,804.404756976,652,631,651.595243024,0.400961743072,-0.00538557247293,0.0598435323465,0.999999937646,0.00023136527004,-0.000265643562955,2.47133327462e-05,1793242827568567808
+102,1.700000000,BASELINE,766,745,714.177474075,679,659.822525925,635,878.822525925,788,804.177474075,652.177474075,631,652,0.400960766985,-0.00538598110187,0.0598434106022,0.999999937764,0.000229682989699,-0.000266677129602,2.45279101174e-05,1793242827585234176
+103,1.716666667,BASELINE,766,745,714.772730401,679,659.227269599,635,878.227269599,788,804.772730401,652.772730401,631,652,0.400962960978,-0.0053860850016,0.0598454415554,0.999999937533,0.000233734963343,-0.000263935065185,2.52987873515e-05,1793242827601900544
+104,1.733333333,BASELINE,765.644047564,745,714.644047564,679.355952436,659,635,878,787.644047564,805,652.644047564,631,652,0.400963274747,-0.00538611232051,0.0598459349927,0.999999937394,0.000235403317297,-0.00026295226571,2.55615687551e-05,1793242827618567424
+105,1.750000000,BASELINE,765.068257884,745,714.068257884,679.931742116,659,635,878,787.068257884,805,652.068257884,631,652,0.400962427284,-0.00538609234289,0.059845478856,0.999999937322,0.000235599541299,-0.00026305599304,2.55105487936e-05,1793242827635234304
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,878,787,805,652,631,652,0.400961860697,-0.00538643791546,0.0598430336588,0.999999937602,0.000231152379754,-0.00026597401702,2.49642188838e-05,1793242827666256384
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,878,787,805,652,631,652,0.4009618058,-0.00538657502652,0.0598439399699,0.999999937139,0.000233398079704,-0.000265731325077,2.5187432075e-05,1793242827682923008
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,714,679.175208362,659,635,878.175208362,787,805,652,631,652,0.400962186937,-0.00538705487027,0.0598446138639,0.99999993724,0.000233722597388,-0.000265049529193,2.53424255652e-05,1793242827699589376
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,714,679.758218661,659,635,878.758218661,787,805,652,631,652,0.400963582954,-0.00538833243314,0.0598447468012,0.999999938651,0.000229575514733,-0.000263345707625,2.53386360038e-05,1793242827716256000
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,714.335187157,679.664812843,659,635,879,787,805,652,631,652,0.400963168837,-0.00538811883647,0.0598442957377,0.999999938329,0.000230356732694,-0.000263888196428,2.52969606519e-05,1793242827732922624
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,714.907874636,679.092125364,659,635,879,787,805,652,631,652,0.400961472128,-0.00538684866324,0.0598434308742,0.999999936772,0.000234629949209,-0.000266022331747,2.52284409321e-05,1793242827749589248
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.51649566,745,714.51649566,679.48350434,658.51649566,635,878.51649566,787,805,652,631,652,0.400961928244,-0.00538620679482,0.0598440797691,0.999999937099,0.000233900654638,-0.000265435985338,2.52326787315e-05,1793242827766255872
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.938961925,658,635,878,787,805,652,631,652,0.400962861143,-0.00538576156454,0.059845033432,0.999999937754,0.000232433190518,-0.000264252198914,2.52666844584e-05,1793242827782922752
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.349834785,658,635,878,787,805,652,631,652,0.400964348457,-0.00538597551464,0.059846113199,0.999999938131,0.00023287629018,-0.000262411614888,2.54375622113e-05,1793242827799589632
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.2358146,745,714,679,658.2358146,635,878,787,805,652,631,652,0.400966751464,-0.0053861717951,0.0598471828795,0.999999938578,0.000232878990033,-0.00026069042155,2.55181848957e-05,1793242827816256256
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.81637961,745,714,679,658.81637961,635,878,787,805,652,631,652,0.400970493173,-0.00538634224331,0.0598482378138,0.999999939131,0.000232237845,-0.000259143772227,2.5466858687e-05,1793242827832922624
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.606500874,745,714,679.393499126,659,635,878.393499126,787,805,652,631,652,0.400989668976,-0.00538763319437,0.0598567554734,0.999999942883,0.000231882287304,-0.000244511960328,2.60446665162e-05,1793242827849589248
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.03097514,745,714,679.96902486,659,635,878.96902486,787,805,652,631,652,0.401015984352,-0.00538944247271,0.0598687252744,0.999999947756,0.000231658837751,-0.000223827154439,2.69135020041e-05,1793242827866255872
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.459337656,714,680,659,635,878.459337656,787,805,652,631,652,0.401067247353,-0.00539049344345,0.0598875933291,0.999999954838,0.000231445571029,-0.000189688672437,2.78550922787e-05,1793242827882922496
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,714,679.883543717,659,635,878.116456283,787,805,652,631,652,0.401121765848,-0.00539156345312,0.0599056998383,0.999999960299,0.000231274235741,-0.000158396331055,2.8733380717e-05,1793242827899589120
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744,714,679.289808544,659,635,878.710191456,787,805,652,631,652,0.401183810664,-0.00539288826992,0.0599190771329,0.999999962758,0.000231272377297,-0.000141904822747,2.93352755427e-05,1793242827916256000
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.296016856,714,679,659,635,878.703983144,787.296016856,804.703983144,652,631,652,0.401257203225,-0.00539518281163,0.0599300143173,0.999999965385,0.000229793811967,-0.000124714438238,2.95162507194e-05,1793242827932922624
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.874299876,714,679,659,635,878.125700124,787.874299876,804.125700124,652,631,652,0.401341416397,-0.00539840203214,0.0599386247397,0.999999968118,0.000226907136308,-0.000106857642987,2.92958589348e-05,1793242827949589504
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.450666939,745,713.549333061,679,659,635,878,787.549333061,804,652,631,652,0.401432635827,-0.00540166733601,0.0599419248589,0.999999969312,0.000224494763429,-0.000100689892559,2.89826158008e-05,1793242827966255872
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+128,2.133333333,POSE1_TO_POSE2_PRESS,765.775723649,744.775723649,714,679,659,635,879,787,805,652,631,652,0.401912095931,-0.00541130210109,0.0599461918709,0.999999972214,0.000218592675737,-8.48738757205e-05,2.42177531878e-05,1793242828032922624
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+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.086312531,787,805.827374938,652,631,652,0.402680503572,-0.00543175165401,0.0599555288834,0.999999977678,0.000204555598275,-4.99391438397e-05,1.74989283961e-05,1793242828099589376
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.676065848,787,804.647868304,652,631,652,0.402918895019,-0.0054380084921,0.0599540965409,0.999999979225,0.00019797747743,-4.62082995052e-05,1.48398142682e-05,1793242828116256000
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.261249482,745,714,679,659,635,879,786.738750518,804.261249482,652.261249482,631,652,0.403175687482,-0.00544451115414,0.0599534327856,0.999999980721,0.000191023815113,-4.37706833892e-05,1.22907086728e-05,1793242828132922624
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.840864345,745,714,679,659,635,879,786.159135655,804.840864345,652.840864345,631,652,0.403454903886,-0.00545131338325,0.0599537056508,0.999999982174,0.000183612508629,-4.29090288845e-05,9.87566248288e-06,1793242828149588992
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,714.416866798,679,659,635,878.583133202,786.416866798,804.583133202,652.583133202,631,652,0.403756746453,-0.00545961097757,0.0599476211858,0.999999983411,0.000174303450954,-5.24662055061e-05,6.65818644613e-06,1793242828166255872
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,714.991502075,679,659,635,878.008497925,786.991502075,804.008497925,652.008497925,631,652,0.40406715217,-0.0054684745115,0.0599391307094,0.999999984326,0.00016427616561,-6.59665197432e-05,3.13702080025e-06,1793242828182922752
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.421176621,745,715,679.578823379,659,635,878,787,804,652,631,652,0.404387684774,-0.00547690262333,0.0599257544847,0.999999984136,0.000153171332005,-9.09214166017e-05,-6.57428801769e-07,1793242828199589376
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714.836197275,679.836197275,659,635,878,787,804.163802725,652,631,652,0.404725205832,-0.00548536038816,0.0599140287632,0.999999983668,0.000141663774258,-0.000112146701958,-4.39144535377e-06,1793242828216256256
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714.257630246,679.257630246,659,635,878,787,804.742369754,652,631,652,0.40510535834,-0.00549390978531,0.0599066679729,0.999999984,0.000129177437178,-0.000123492885353,-7.96205211933e-06,1793242828232922880
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.320264873,787,804.679735127,652,631,652,0.405528645227,-0.00550286424547,0.0599114708881,0.999999988666,9.62482386333e-05,-0.000115193464658,-1.15697678394e-05,1793242828249589504
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.897620683,787,804.102379317,652,631,652,0.40598655805,-0.00551214386874,0.0599260381528,0.999999994632,4.69086393689e-05,-9.11236399357e-05,-1.5207272939e-05,1793242828266255872
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,804.473699875,652,631,652,0.406503061576,-0.00551915268156,0.0599547333439,0.999999998941,-4.79100248318e-07,-4.28121552794e-05,-1.68749836947e-05,1793242828282922496
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.050641858,659,635,879,787,804.949358142,652,631,652,0.407031087371,-0.00552406018092,0.0599849412424,0.999999998952,-4.13458812184e-05,7.35154777552e-06,-1.82349131629e-05,1793242828299588864
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.639682458,659,635,879,787,804.360317542,652,631,652,0.407547347381,-0.00551183131538,0.0599988562702,0.999999999398,-1.73579817765e-05,2.16555016151e-05,-2.08366045535e-05,1793242828316256000
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.775283699,659,635,879,787,804,652,631,652,0.408067597203,-0.00550240423965,0.0600034176715,0.999999999526,-1.28949106425e-06,1.90411068051e-05,-2.41549221741e-05,1793242828332923136
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.196561913,659,635,879,787,804,652,631,652,0.408594132318,-0.00549739094751,0.0599932438923,0.999999999536,2.30320488127e-06,-1.02255085086e-05,-2.86021725037e-05,1793242828349589760
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714.379613465,679.379613465,659,634.620386535,879,787,804.379613465,652,631,652,0.409156042969,-0.00550540516849,0.0599817600235,0.999999998667,-1.94311486375e-05,-3.54212342894e-05,-3.21377869718e-05,1793242828366256384
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714.954479094,679.954479094,659,634.045520906,879,787,804.954479094,652,631,652,0.409736148823,-0.00552012002164,0.0599696023175,0.999999996199,-5.41923352692e-05,-5.85231187706e-05,-3.52045062147e-05,1793242828382923008
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.524314916,745,714.475685084,678.951370167,659.524314916,634.524314916,879.524314916,787,805,652,631,652,0.410396207391,-0.00552563133792,0.0599793648219,0.999999997451,-5.2165188816e-05,-3.30824793895e-05,-3.5804657551e-05,1793242828399589632
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,714,678.197221096,659.901389452,635,879.901389452,787,804.901389452,652,631,652,0.411064602014,-0.00552854522837,0.0599895402284,0.999999998555,-4.02544614913e-05,-7.37839362597e-06,-3.48569109162e-05,1793242828416256000
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,714,679.395476082,659.302261959,635,879.302261959,787,804.302261959,652,631,652,0.411740409641,-0.00552229257013,0.0599922435869,0.999999999614,5.76479751498e-06,-1.52515019914e-06,-2.71291240517e-05,1793242828432922624
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,714,680,659.286505383,635,879,787,804.286505383,652,631,652,0.412402851241,-0.00551664296936,0.0599797219937,0.999999999251,1.29707677122e-05,-2.58502646585e-05,-2.57308536137e-05,1793242828449589248
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,714,680,659.864724318,635,879,787,804.864724318,652,631,652,0.413051683923,-0.00551160738782,0.059951698686,0.999999996067,-1.93421032645e-05,-8.09023261692e-05,-3.07771582045e-05,1793242828466255872
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.55986053,745,714,679.55986053,659.55986053,635,879,787,805,652,631,652,0.413741742098,-0.00551045364189,0.0599274136249,0.999999990899,-2.35798888668e-05,-0.000128208008749,-3.47796163325e-05,1793242828482922496
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.015062318,745,714,679.015062318,659,635,879,787,805.015062318,652,631,652,0.414448060201,-0.00551074549525,0.0599061365489,0.999999984702,-1.92786256523e-05,-0.000169579961864,-3.83132466035e-05,1793242828499589376
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.60385042,745,714,679.60385042,659,635,879,787,805.60385042,652,631,652,0.415294155053,-0.00552094381581,0.0599559477146,0.999999996398,-1.63156015792e-05,-7.50475093125e-05,-3.61320238644e-05,1793242828516256000
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659,635,879,787,805.810286071,652,631,652,0.416129362221,-0.00552808831593,0.0599967801299,0.999999999248,-1.78534085449e-05,-3.36328331394e-07,-3.44295705234e-05,1793242828532922880
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,714,680,659,635,879,787,805.230436846,652,631,652,0.416942179468,-0.00552895281716,0.0600191482814,0.999999998457,-2.86469045308e-05,3.3613591826e-05,-3.37116783405e-05,1793242828549589504
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,714,680,659.346515775,635,879,787,805,652,631,652,0.417744298247,-0.00552765269438,0.0600190384511,0.999999998385,-3.08433313576e-05,3.25409687392e-05,-3.49363780902e-05,1793242828566256128
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659.921558068,635,879,787,805,652,631,652,0.418539361373,-0.00552492500602,0.0600041044321,0.999999998889,-2.73700064197e-05,8.37104128771e-06,-3.74422136876e-05,1793242828582922496
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,805,652,631,652,0.419355717107,-0.00552568625739,0.0599830976063,0.999999998367,-3.01172710196e-05,-2.81446867734e-05,-3.95945342493e-05,1793242828599589376
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.925831742,745,714,680,660,635,879,787,805,651.925831742,631,652,0.420174656776,-0.0055267999921,0.0599601401344,0.999999996326,-3.36578166306e-05,-6.68829828541e-05,-4.17365627704e-05,1793242828616256000
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.334114731,745,714,680,660,635,879,787,805,651.334114731,631,652,0.420988157369,-0.0055265277339,0.0599302646586,0.999999992599,-3.58773486202e-05,-0.000107522438479,-4.41964292132e-05,1793242828632922624
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.251418638,745,714,680,659.748581362,635,879,786.748581362,805,651.251418638,631,652,0.421811290496,-0.00552653858456,0.059905242075,0.999999987245,-3.49592327519e-05,-0.000148919671334,-4.5932443791e-05,1793242828649589248
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.828931794,745,714,680,659.171068206,635,879,786.171068206,805,651.828931794,631,652,0.422646917305,-0.00552691663246,0.059886513776,0.999999980161,-2.9971531217e-05,-0.000191299760566,-4.67296097707e-05,1793242828666255872
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.595578087,745,714,680,659.404421913,635,879,786.404421913,805,652,631,652,0.423565366254,-0.0055293205964,0.0599240667381,0.999999990083,-3.68959250041e-05,-0.000127764815164,-4.63539846506e-05,1793242828682922496
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.020939476,745,714,680,659.979060524,635,879,786.979060524,805,652,631,652,0.424518674073,-0.00553257724589,0.05998530786,0.99999999758,-4.88339875441e-05,-1.9651402592e-05,-4.54847442718e-05,1793242828699589376
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.554994226,745,714,680,660,635,879,787,805,651.445005774,631,652,0.425433588459,-0.00553529844527,0.0600162735182,0.999999997169,-5.26138471279e-05,3.0143348153e-05,-4.45466170322e-05,1793242828716256256
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,805,651.134921455,631,652,0.426344189771,-0.0055380935303,0.0600356535888,0.999999995423,-5.54108380097e-05,6.41829848045e-05,-4.4313079256e-05,1793242828732922624
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,805,651.728250617,631,652,0.427245070082,-0.00554120844726,0.0600195606237,0.999999995995,-5.59166765723e-05,5.21864632727e-05,-4.64822986341e-05,1793242828749589248
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,805.311353538,652,631,652,0.428120093404,-0.00554257825135,0.0599995589888,0.999999996714,-5.92536867041e-05,2.66321973576e-05,-4.84888871063e-05,1793242828766255872
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,805.885814797,652,631,652,0.428973266364,-0.00554247335654,0.059976254353,0.999999996567,-6.4983163857e-05,-1.03789707719e-05,-5.03580450025e-05,1793242828782922496
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660.461299516,635,879,787,805.538700484,652,631,652,0.429787663345,-0.00553895760716,0.05994333866,0.9999999942,-6.16830268069e-05,-7.16061154943e-05,-5.16413998179e-05,1793242828799589376
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714,680.038056655,660.961943345,635,879.038056655,787,805.038056655,652,631,652,0.43060173391,-0.00553507582514,0.0599123594173,0.999999988512,-5.6863874019e-05,-0.000130238390978,-5.27290874774e-05,1793242828816256000
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,680.629627004,660.370372996,635,879.629627004,787,805.629627004,652,631,652,0.431550967094,-0.00553817730477,0.059944223351,0.999999994604,-6.25320078902e-05,-6.37538050262e-05,-5.30845902894e-05,1793242828832922624
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.783520937,745,714,680.783520937,660,635,880,787,805.783520937,651.783520937,631,651.783520937,0.432481136535,-0.00554183797695,0.0599783645652,0.999999996389,-6.66483224475e-05,-1.41067935585e-06,-5.27056361374e-05,1793242828849589504
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.204569097,745,714,680.204569097,660,635,880,787,805.204569097,651.204569097,631,651.204569097,0.433379385776,-0.00554643496226,0.0600163188652,0.999999994913,-6.81662702087e-05,5.39979910666e-05,-5.10969067125e-05,1793242828866256128
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.372009699,745,714,680,660,635,879.627990301,787,805,651,631,651.372009699,0.434229382481,-0.00554864262311,0.0600148585323,0.999999994722,-7.45958971896e-05,4.78650145227e-05,-5.19589183617e-05,1793242828882922752
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.94729179,745,714,680,660,635,879.05270821,787,805,651,631,651.94729179,0.43505301313,-0.00554954471639,0.0599918613752,0.999999994996,-8.37093486466e-05,8.10463799437e-06,-5.41709848012e-05,1793242828899589120
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.533736957,714.533736957,680,660,635,879,787,805.533736957,651,631,652,0.435835830099,-0.00554909533798,0.059963701895,0.999999994004,-8.34604686126e-05,-4.3562207643e-05,-5.59293759762e-05,1793242828916255744
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.880332847,714.880332847,680.119667153,660,635,879.119667153,787,806,651.119667153,631,651.880332847,0.43661717931,-0.00554827240155,0.0599379391816,0.999999990888,-8.21547398401e-05,-9.04487771256e-05,-5.73870796002e-05,1793242828932922368
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.30070972,714.30070972,680.69929028,660,635,879.69929028,787,806,651.69929028,631,651.30070972,0.437408709569,-0.00554653758393,0.0599233900702,0.999999988555,-8.04164547721e-05,-0.00011434585967,-5.78649328625e-05,1793242828949589248
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.722860236,745,714,681,660,635,880,787.277139764,806,652,631.277139764,651.277139764,0.438183338665,-0.00554520843102,0.059911822747,0.999999985637,-7.96168063557e-05,-0.000137814659669,-5.82680936198e-05,1793242828966255872
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.146923039,745,714,681,660,635,880,787.853076961,806,652,631.853076961,651.853076961,0.43893974577,-0.00554431664444,0.0599034702308,0.999999982165,-7.98291464412e-05,-0.000160821706542,-5.85907248431e-05,1793242828982922752
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680.571438868,660,635,880,787.571438868,806,651.571438868,631.571438868,652,0.4397459358,-0.00554409815139,0.0599396844274,0.999999990071,-8.03024093393e-05,-9.99537232432e-05,-5.84640498406e-05,1793242828999589376
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.003992961,745,714,680.003992961,660,635,880,787.003992961,806,651,631.003992961,651.996007039,0.440568474676,-0.00554414133092,0.0599909597305,0.999999994979,-8.08741420292e-05,-1.07925484071e-05,-5.81735423436e-05,1793242829016256000
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.594519217,745,714,680.594519217,660,635,880,787.594519217,806,651,631.594519217,651.405480783,0.441288158338,-0.00554875167027,0.0600126348476,0.999999994869,-8.27844905732e-05,1.50264643006e-05,-5.64200401186e-05,1793242829032922624
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,714,680.818374159,660,635,880,787.818374159,806,651,632,651.181625841,0.441994424515,-0.00555231369899,0.0600172806161,0.999999994575,-8.6068456011e-05,1.84020485098e-05,-5.57049187796e-05,1793242829049589504
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714,680.238760692,660,635,880,787.238760692,806,651,632,651.761239308,0.442671289762,-0.00555357861792,0.059984610828,0.99999999372,-9.23623598375e-05,-2.74015253798e-05,-5.72651492282e-05,1793242829066256128
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,680.338133284,660,635,879.661866716,787,806,651.338133284,631.661866716,652,0.443323521942,-0.00555515436192,0.05996373109,0.999999991846,-9.85699602069e-05,-5.70083068383e-05,-5.78041361929e-05,1793242829082922752
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714,680.913122276,660,635,879.086877724,787,806,651.913122276,631.086877724,652,0.443958499102,-0.00555694783267,0.0599511100517,0.999999990024,-0.000104717106398,-7.52695513793e-05,-5.76277621548e-05,1793242829099589376
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.519230493,745,714,681,660,635,879.480769507,787,806,652,631,652,0.444576098467,-0.00555884430077,0.0599605341894,0.999999991176,-0.000103121466985,-6.00817317647e-05,-5.83467060269e-05,1793242829116256256
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.049996385,745,714,681,660,635,880,787,806,651.950003615,631,651.950003615,0.445185234965,-0.00556044382333,0.0599719973661,0.999999992281,-0.000100391391827,-4.30520797041e-05,-5.92103131231e-05,1793242829132922880
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.651036099,745,714,681,660,635,880,787,806,651.348963901,631,651.348963901,0.445735186992,-0.00555856846027,0.0599626877101,0.999999990626,-0.000100347115641,-7.13400262523e-05,-5.99119879091e-05,1793242829149589504
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634.757600841,879.757600841,787,806,651,631,651.242399159,0.44627587434,-0.00555647978128,0.0599499894578,0.999999988377,-0.000100159499247,-9.71110082504e-05,-6.15178675956e-05,1793242829166256128
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634.179633813,879.179633813,787,806,651,631,651.820366187,0.446803735987,-0.00555409579625,0.0599326001666,0.999999985823,-9.9773448362e-05,-0.000119397601119,-6.43754929849e-05,1793242829182922752
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.605008196,745,713.605008196,681,660,634,879.394991804,787,806,651,631,651.605008196,0.447311938975,-0.00555585183715,0.059932628556,0.999999986286,-0.000101545864653,-0.000112991383721,-6.59516228718e-05,1793242829199589120
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.031889385,745,713.031889385,681,660,634,879.968110615,787,806,651,631,651.031889385,0.447811276664,-0.0055594748797,0.0599405116876,0.999999987936,-0.000104291671469,-9.36457492508e-05,-6.69498449034e-05,1793242829216255744
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.553475679,713,681,660,634.553475679,880,787,806,651,631,651,0.44826505578,-0.00556148655272,0.0599506368314,0.999999988778,-0.000106544908373,-8.06090734218e-05,-6.77788702584e-05,1793242829232922880
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.281225923,713.718774077,681,660,634.281225923,879.281225923,787,806,651,631,651.718774077,0.449069549327,-0.00556909418289,0.0599263199637,0.999999983885,-0.000110022219391,-0.000123312777584,-7.01378344637e-05,1793242829266256384
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633.702113911,879,786.702113911,806.297886089,651,631,651.702113911,0.449422935107,-0.00557320632228,0.0598959374469,0.999999978947,-9.22405748083e-05,-0.000171327110179,-6.51517744378e-05,1793242829282923008
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633.124338042,879,786.124338042,806.875661958,651,631,651.124338042,0.449758654162,-0.00557651710338,0.0598613918962,0.999999971692,-5.63986529305e-05,-0.00022472566039,-5.41642659903e-05,1793242829299589376
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633,879.450271471,786.450271471,807,651,631,651.450271471,0.45007545978,-0.00557455929658,0.0598432769642,0.999999966378,-4.12380305871e-05,-0.000250568402129,-5.25169803145e-05,1793242829316256256
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.024735691,745,714,681,660,633,880,786.975264309,807,651.024735691,631,651.975264309,0.450386631024,-0.0055711846717,0.0598305656623,0.999999962336,-3.26172270896e-05,-0.000267225610802,-5.34271091642e-05,1793242829332922880
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.615750938,745,714,681,660,633,880,786.384249062,807,651.615750938,631,651.384249062,0.450687544271,-0.00556844856832,0.0598384161095,0.999999967165,-4.38851472145e-05,-0.00024658055015,-5.42505736713e-05,1793242829349591296
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.797744457,745,714,681,659.797744457,633,879.797744457,786.202255543,807,652,631,651,0.450973608092,-0.00556360920654,0.0598457039189,0.999999969475,-6.75400041195e-05,-0.000231146799237,-5.53183590714e-05,1793242829366258176
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.219622376,745,714,681,659.219622376,633,879.219622376,786.780377624,807,652,631,651,0.451232076083,-0.00555486120336,0.0598519461357,0.99999996646,-0.000114214426747,-0.000225397615434,-5.6840184053e-05,1793242829382923008
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,879.357350912,786.642649088,807,652,631,651.357350912,0.451466316974,-0.00555193683628,0.0598513559705,0.999999964266,-0.000130392472585,-0.000225931525956,-5.84898711168e-05,1793242829399589376
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,879.933620488,786.066379512,807,652,631,651.933620488,0.451685715996,-0.00555258011739,0.0598465801836,0.999999963487,-0.000127887973595,-0.000230314556344,-6.02178886582e-05,1793242829416256256
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.518501412,745,714,681,659,633,880,786,806.481498588,651.481498588,631,651.481498588,0.45187310066,-0.00555731684204,0.0598462246116,0.99999996295,-0.000131092128967,-0.000230656279402,-6.09340398754e-05,1793242829432922880
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+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745.684473114,714,681,659,633,880,786,806.684473114,651.684473114,631,651.684473114,0.452213728276,-0.00556532735033,0.059851584209,0.999999964945,-0.000131139586551,-0.000221740467204,-6.11908762087e-05,1793242829466255872
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+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745.158376686,714,681,658.158376686,633,880.841623314,786,807,651.158376686,630.158376686,652,0.452485275973,-0.00556813989674,0.0598506030509,0.999999965153,-0.000127664210925,-0.000222680044084,-6.17269551155e-05,1793242829499589376
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+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714,681.949581004,658.949581004,632,880,785.050418996,805.949581004,652,631,651.050418996,0.453042684855,-0.00557069574396,0.0598330971096,0.999999958945,-0.000119233806213,-0.000253341468843,-6.09267111284e-05,1793242829649589504
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,681.35833004,658.35833004,632,880,785.64166996,805.35833004,652,631,651.64166996,0.453061475807,-0.00557050258031,0.0598312133604,0.999999958374,-0.000120108558115,-0.000255047896774,-6.14523175899e-05,1793242829666255872
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+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658.80599917,632,880,785.19400083,805.80599917,651.19400083,631,651.19400083,0.45308868263,-0.00557110268723,0.0598293494297,0.999999957728,-0.000120664644782,-0.000257420726813,-6.09820697066e-05,1793242829699589376
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658.617430546,632,880,785,806,651,631,651,0.453095214027,-0.00556999589604,0.0598278622934,0.999999957141,-0.000120052987571,-0.000259948237691,-6.10970876198e-05,1793242829716256000
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,632,880,785,806.545126344,651,630.454873656,651.545126344,0.453102281422,-0.00556856740484,0.0598256646751,0.999999956296,-0.000117683531705,-0.000264350179871,-6.06502077631e-05,1793242829749589248
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+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,632,880,785.685096649,806.314903351,651,630.685096649,652,0.453105340948,-0.00556535694581,0.0598239389998,0.999999956125,-0.00011241059564,-0.00026727820134,-6.06289086645e-05,1793242829782922752
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681.857197929,658,632,880,786,806,651,630.142802071,651.142802071,0.453105053633,-0.00556397262822,0.0598220175922,0.999999955024,-0.000113594116861,-0.000270850314807,-6.07294688738e-05,1793242829816256000
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+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,632,880.00831228,786,806,651.00831228,630.00831228,651.99168772,0.453105527959,-0.0055653620421,0.0598205098582,0.999999954828,-0.00011500113365,-0.000271095470615,-6.02149124195e-05,1793242829849589504
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+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,632,880.228756739,785.228756739,806,651.228756739,631,651,0.453102843952,-0.00556698888506,0.05981717183,0.999999952751,-0.000116839010995,-0.000277972999981,-5.98105819564e-05,1793242829899589376
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681.347222051,658,632,880,785,806,651,631,651,0.453103761684,-0.00556586585015,0.0598171897812,0.999999953087,-0.000115141794622,-0.000277470879629,-5.98212537722e-05,1793242829916256000
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+253,4.216666667,HOLD_POSE2,765.943490804,745.943490804,714,681,658.943490804,632,879.056509196,786,806,651.056509196,630.056509196,652,0.453103611307,-0.00556445903257,0.059815077956,0.999999952405,-0.00011355559029,-0.000280670017623,-5.93292342884e-05,1793242830137913856
+254,4.233333333,HOLD_POSE2,765.368085534,745.368085534,714,681,658.368085534,632,879.631914466,786,806,651.631914466,630.631914466,652,0.453101998514,-0.00556400598695,0.0598132970938,0.999999951851,-0.000111961347955,-0.000283246211829,-5.94484037611e-05,1793242830154580224
+255,4.250000000,HOLD_POSE2,765,745,714,681.213945287,658,632,879.786054713,786,806,651.786054713,630.786054713,652,0.45310172626,-0.00556370138425,0.0598125044747,0.99999995168,-0.000110659966088,-0.000284369984025,-5.94048032863e-05,1793242830171247104
+256,4.266666667,HOLD_POSE2,765,745,714,681.807739372,658,632,879.192260628,786,806,651.192260628,630.192260628,652,0.45310383406,-0.00556366033432,0.0598134664303,0.999999952198,-0.000109878543008,-0.000282915055751,-5.90722131722e-05,1793242830187913728
+257,4.283333333,HOLD_POSE2,765,745,714,681.611303922,658,632,879.388696078,786,806,651.388696078,630.388696078,652,0.453103603428,-0.00556388692526,0.0598132043443,0.999999952026,-0.000109774030504,-0.000283620453839,-5.87913593731e-05,1793242830204580608
+258,4.300000000,HOLD_POSE2,765,745,714,681.036493905,658,632,879.963506095,786,806,651.963506095,630.963506095,652,0.453102253118,-0.00556424166696,0.0598123561677,0.999999951522,-0.000109993633607,-0.000285360250826,-5.85352777246e-05,1793242830221247232
+259,4.316666667,HOLD_POSE2,765,745,714,681,658,632,880,786,806,651.462570816,631,652,0.453102537369,-0.00556268741004,0.0598128371952,0.999999951576,-0.000109777933659,-0.000285184323081,-5.88834406328e-05,1793242830237913600
+260,4.333333333,HOLD_POSE2,765.115047686,745.115047686,714,681,658.115047686,632,880,786,806,651.115047686,631,652,0.453102835404,-0.0055612276717,0.0598131095127,0.99999995166,-0.000109118384406,-0.000285076959589,-5.92001455342e-05,1793242830254580224
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,632,880,786,807,652,631,652,0.453104088573,-0.00556356246635,0.0598131678148,0.999999951688,-0.000111008007596,-0.000284318461753,-5.88573508591e-05,1793242830308402432
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.421720758,745,714,681.578279242,658.421720758,632,879.421720758,786,806.421720758,652,631,652,0.453103796147,-0.00556381638011,0.0598125495526,0.99999995151,-0.000111695910358,-0.000284664249842,-5.89077083233e-05,1793242830325068800
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.746242924,745,714,681.253757076,658.746242924,632,879.746242924,786,806,652,631,651.253757076,0.453100974587,-0.00556195509545,0.0598103965012,0.999999950718,-0.000110017147583,-0.000287980325347,-5.93961253516e-05,1793242830358402304
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,714,681,658.670897557,632,880,785.670897557,806,651.670897557,630.670897557,651.329102443,0.453101019013,-0.00556137235599,0.0598103103308,0.999999950751,-0.000109544226968,-0.000288069560244,-5.92752226178e-05,1793242830375068928
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,714,681,658.091382254,632,880,785.091382254,806,651.091382254,630.091382254,651.908617746,0.453102659057,-0.00556157160161,0.0598111778308,0.99999995121,-0.000110017073124,-0.000286392070894,-5.87918579694e-05,1793242830391735552
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.515328531,745,714,681,658.484671469,632,880,785.484671469,806,651,630,652,0.453100863888,-0.00556210744263,0.059810160343,0.999999950589,-0.000110685726509,-0.000288264543648,-5.89507983287e-05,1793242830408402432
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.057871606,745.057871606,714,681.057871606,658.942128394,632,880,786,806,651,630.057871606,651.942128394,0.453098397411,-0.0055625359678,0.0598088141691,0.999999949805,-0.000111246172387,-0.000290700640078,-5.92222633109e-05,1793242830425068800
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,714,682,658,632,880,786,806.184757691,651,631,651.184757691,0.453088802529,-0.00556076240525,0.0598044977882,0.999999947957,-0.0001102690992,-0.000297284571605,-5.95766897465e-05,1793242830458402304
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,746,714,682,658,632,880,786,806.800061425,651,631,651.800061425,0.453072179983,-0.00556070060097,0.0597965680924,0.999999943927,-0.000110876634818,-0.000310323346625,-5.95952177282e-05,1793242830475068928
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745.029345372,714,681.029345372,658,632,880,786,806.029345372,651.970654628,630.029345372,652,0.452997800672,-0.00555787318803,0.0597640170635,0.999999926783,-0.000109101658349,-0.000361625830777,-6.12913797636e-05,1793242830508402176
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.454071961,745,714,681,658,632,879.454071961,786,806.545928039,652,630.545928039,652,0.452937551269,-0.00555663857401,0.0597446079318,0.999999916955,-0.000108944540204,-0.000387733982133,-6.23117261869e-05,1793242830525068800
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.020955139,658.979044861,632,879.979044861,786,807,651.020955139,630.979044861,652,0.452454695088,-0.00554087972833,0.0597207678701,0.999999906894,-9.31698083464e-05,-0.000416976071653,-6.05171340891e-05,1793242830625069056
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.597887417,658.402112583,632,879.402112583,786,807,651.597887417,630.402112583,652,0.452311039994,-0.00553512487168,0.0597174141763,0.999999904252,-9.00057533615e-05,-0.000423983260806,-6.02833619711e-05,1793242830641735424
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.820836456,658,632,879.179163544,786,806.820836456,652,630.179163544,652,0.452160685105,-0.00553006679773,0.0597146601582,0.999999901836,-8.63722227029e-05,-0.000430466925855,-5.97097379258e-05,1793242830658402048
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+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880,786,806,651.645669318,631,652,0.451811113073,-0.00552196665904,0.0597128674283,0.999999900256,-7.72481933782e-05,-0.000436223977627,-5.68323187553e-05,1793242830691735552
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880,786,806,651.066446152,631,652,0.451615855812,-0.00551656697017,0.0597130565257,0.999999901782,-7.30297250346e-05,-0.000433653801358,-5.52044023297e-05,1793242830708402176
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.508558026,745,714,681.508558026,658.508558026,632.508558026,879.491441974,786,806,651.508558026,631,652,0.451379188221,-0.0055091471385,0.0597098712518,0.999999898344,-6.82660375181e-05,-0.000442485999212,-5.34588673794e-05,1793242830725069056
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,714.083452413,681.916547587,659,633,879.083452413,786,806,652,631,651.916547587,0.451130752796,-0.00550131098387,0.0597056180234,0.999999894004,-6.32070212029e-05,-0.000453109756679,-5.18495010738e-05,1793242830741735680
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,714.16639052,681,659,633,880,786.83360948,806.83360948,651.16639052,631,651,0.45023524058,-0.00547716286111,0.059686422848,0.999999882279,-4.14920399591e-05,-0.000481136802519,-4.71963104298e-05,1793242830791735552
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+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.005770024,745,714,681,659,633.994229976,880,787,807,651.994229976,631,651.994229976,0.449538501571,-0.00545822584068,0.0596795025657,0.99999988192,-2.03669047635e-05,-0.000483608702031,-4.32230306808e-05,1793242830825069312
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.911946961,745,714,679,659,635,878,787,804.911946961,652.911946961,631,652,0.401546096342,-0.00537548663651,0.0598318090246,0.9999999431,0.000185108391813,-0.000281221478418,2.11856261724e-05,1793242832091736576
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.241698347,745,714,679,659,635,878,787,804.241698347,652,631,652,0.401351838975,-0.00537330212676,0.0598341607163,0.999999922691,0.000279229435086,-0.000275962426002,2.222051284e-05,1793242832125069056
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.834412114,745,714,679,659,635,878,787,804.834412114,652,631,652,0.401275694863,-0.00537036593329,0.0598363013649,0.999999923205,0.000280013450537,-0.000273282484494,2.23512667284e-05,1793242832141735424
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.582502339,745,714,679,659,635,878.417497661,787,805,652,631,651.582502339,0.401210058052,-0.0053709565706,0.0598355433754,0.999999923479,0.000276554048342,-0.000275767641014,2.26212328194e-05,1793242832158402048
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.003149466,745,714,679,659,635,878.996850534,787,805,652,631,651.003149466,0.401148494706,-0.00537291448733,0.0598336616437,0.999999923623,0.000271449560837,-0.000280255199294,2.29451685988e-05,1793242832175068928
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.573070339,745,714,679.573070339,659,635,879,787,805,652.573070339,631,651.573070339,0.401099343172,-0.00537177583473,0.0598297680559,0.999999922021,0.000268795202486,-0.000288434316818,2.26375034351e-05,1793242832191735552
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,635,878.848163868,787,804.848163868,652.848163868,631,652,0.401055988843,-0.00537076294103,0.0598271759199,0.999999920977,0.000266911159028,-0.000293769216125,2.24539672368e-05,1793242832208402176
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,635,878.262067524,787,804.262067524,652.262067524,631,652,0.401029020837,-0.00537015813333,0.0598283374635,0.999999921733,0.000267191959373,-0.000290911774421,2.26353208681e-05,1793242832225069312
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.679461407,745,714,680,659,635,878.320538593,787,804,652,631,652,0.401009065492,-0.00537003531323,0.0598299076138,0.999999922806,0.000266770656686,-0.000287582511877,2.273704925e-05,1793242832241735936
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.099678046,745,714,680,659,635,878.900321954,787,804,652,631,652,0.400994781836,-0.00537030231433,0.0598318082365,0.999999924129,0.000265781508093,-0.000283871650403,2.27743784506e-05,1793242832258402304
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.478319385,745,714,679.521680615,659,634.521680615,878.521680615,787,804,652,631,652,0.400984292385,-0.00536992768161,0.0598332154197,0.999999924718,0.000266279972402,-0.000281328945742,2.26312358371e-05,1793242832275068928
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.944266919,745,714,679.055733081,659,634.055733081,878.055733081,787,804.055733081,652,631,652,0.400975154483,-0.00536953174259,0.0598345139738,0.99999992516,0.000266910187371,-0.000279164369224,2.24875445942e-05,1793242832291735808
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.36883853,745,714,679.63116147,659,634.63116147,878.63116147,787,804.63116147,652,631,652,0.40097127392,-0.00537017931227,0.0598357548768,0.999999925679,0.00026588896593,-0.000278264212697,2.26881255437e-05,1793242832308402432
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.210907011,745,714,680,659,635,878.789092989,787,804.789092989,652,630.789092989,652,0.400967944876,-0.00537080281551,0.0598363114383,0.999999926178,0.000264645158463,-0.000277647255349,2.27711492589e-05,1793242832325069056
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.798360216,745,714,680,659,635,878.201639784,787,804.201639784,652,630.201639784,652,0.400965600496,-0.00537138335132,0.0598356461997,0.999999926645,0.000263003953552,-0.000277535912223,2.26442902808e-05,1793242832341735936
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.619289857,745,714,679.619289857,659,635,878.380710143,787,804.380710143,652,630.380710143,652,0.40096387308,-0.00537228876913,0.0598358780702,0.999999927211,0.000260956393067,-0.000277425147456,2.27057309119e-05,1793242832358402816
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.039607102,745,714,679.039607102,659,635,878.960392898,787,804.960392898,652,630.960392898,652,0.400962468112,-0.00537336398177,0.0598365788018,0.999999927825,0.00025869645681,-0.000277314684963,2.28655835956e-05,1793242832375069696
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.462269468,787,804.462269468,652,631,652,0.400963435733,-0.00537336259865,0.0598375558603,0.999999928338,0.000259001287713,-0.000275160275567,2.29842248495e-05,1793242832391736064
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.113537316,787.113537316,804,652,631,652,0.400964456838,-0.00537335282297,0.0598385699802,0.999999928949,0.000258859107715,-0.000273060225378,2.30508166233e-05,1793242832408402432
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.683876726,787.683876726,804,652,631,652,0.400964993071,-0.00537362693956,0.0598396516781,0.999999929995,0.000256161683456,-0.00027178196636,2.29201540734e-05,1793242832425069056
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.265199662,745,714.265199662,679,659,635,878.734800338,787.469600676,804.265199662,652,631,652,0.400964763125,-0.00537401085923,0.0598402471077,0.999999930567,0.00025443106358,-0.000271308061938,2.28835572829e-05,1793242832441735936
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.860180928,745,714.860180928,679,659,635,878.139819072,786.279638143,804.860180928,652,631,652,0.400963580417,-0.00537453132148,0.059840237852,0.999999930556,0.00025390268583,-0.000271834389953,2.2963933313e-05,1793242832458402304
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,714.557585685,679.442414315,658.557585685,635,878.442414315,786.88482863,805,652,631,652,0.400963162301,-0.00537510136377,0.0598401642877,0.999999930527,0.0002543823417,-0.000271501980542,2.28648398367e-05,1793242832475068928
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.979416296,745,714,679.979416296,658.020583704,635,878.979416296,787.979416296,805,652,631,652,0.400963002307,-0.00537563457112,0.0598400931185,0.999999930492,0.000255177736805,-0.000270894597328,2.27135216309e-05,1793242832491735808
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.405227479,745,714,679.405227479,658.594772521,635,878.405227479,787.405227479,805,652,631,652,0.400963467659,-0.00537476747008,0.059840617674,0.999999930494,0.000256136825253,-0.000269986458775,2.26403512445e-05,1793242832508402432
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.346612326,787,805.173306163,652,631,652,0.400964078051,-0.00537395189577,0.0598413134519,0.999999930567,0.000256986169329,-0.000268913364459,2.25971264286e-05,1793242832525069312
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879.524520317,787,805.762260159,652,631,652,0.400965036298,-0.00537325990035,0.0598424198799,0.999999930809,0.00025757230857,-0.000267444649493,2.26257214027e-05,1793242832541735936
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.654430683,635,879.308861366,787,805.654430683,652,631,652,0.400965008105,-0.00537421431299,0.0598425988222,0.999999931228,0.000255629292046,-0.000267728822101,2.27648756413e-05,1793242832558402816
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.074942586,635,878.149885173,787,805.074942586,652,631,652,0.400964312182,-0.00537628319313,0.0598421499417,0.999999931756,0.000251974268668,-0.000269199539119,2.29788683753e-05,1793242832575069184
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.501427928,745,714.501427928,679,658.501427928,635,878,787,805,652,631,652,0.40096408081,-0.00537544604448,0.0598418348701,0.999999931303,0.000254078644301,-0.000268903778875,2.30009582373e-05,1793242832591735808
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.923690271,745,714.923690271,679,659,635,878,787,805,652,631.076309729,652,0.400963949703,-0.00537432930312,0.0598416100266,0.999999930853,0.000256366511428,-0.0002684088756,2.29542123563e-05,1793242832608402688
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.355420928,745,714.355420928,679,659,635,878,787,805,652,631.644579072,652,0.400964020153,-0.00537419283486,0.0598418387387,0.999999931405,0.000254322203834,-0.000268321675708,2.26474542907e-05,1793242832625069312
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.223818895,744.776181105,714,679,658.776181105,635,878.223818895,787,804.776181105,652,631.776181105,652,0.400964367413,-0.00537459148971,0.0598423154208,0.999999932058,0.000252539030336,-0.000267585174644,2.24998955452e-05,1793242832641735936
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.821377665,744.178622335,714,679,658.178622335,635,878.821377665,787,804.178622335,652,631.178622335,652,0.4009651769,-0.00537588371005,0.0598432061711,0.99999993288,0.000251191906492,-0.000265764449923,2.26181728134e-05,1793242832658402816
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.593963388,744.406036612,714,679,658.406036612,635,878.593963388,787,804.406036612,652,631,652,0.400964330579,-0.00537503363949,0.0598427355228,0.999999932413,0.000251935514906,-0.000266830214298,2.2436444656e-05,1793242832675069440
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.014804585,744.985195415,714,679,658.985195415,635,878.014804585,787,804.985195415,652,631,652,0.40096277827,-0.00537327015837,0.0598416844137,0.999999931392,0.00025357055077,-0.000269126693701,2.21268029114e-05,1793242832691736320
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..01cd246a7ee35b70019a8bb21beec449b06183f1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_02/simulation_data.csv
@@ -0,0 +1,407 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+1,0.016666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+2,0.033333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+3,0.050000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+4,0.066666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+5,0.083333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+6,0.100000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+7,0.116666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+8,0.133333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+9,0.150000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+10,0.166666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+11,0.183333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+12,0.200000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+13,0.216666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+14,0.233333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+15,0.250000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+16,0.266666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+17,0.283333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+18,0.300000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+19,0.316666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+20,0.333333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+21,0.350000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+22,0.366666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+23,0.383333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+24,0.400000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+25,0.416666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+26,0.433333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+27,0.450000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+28,0.466666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+29,0.483333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+30,0.500000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+31,0.516666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+32,0.533333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+33,0.550000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+34,0.566666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+35,0.583333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+36,0.600000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+37,0.616666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+38,0.633333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+39,0.650000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+40,0.666666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+41,0.683333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
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+388,6.466666667,pose2_to_pose3_retreat,0.580745001626,1.75047215116e-06,1.05004063309,0.551316721817,0.00867658086463,1.04967843282
+389,6.483333333,pose2_to_pose3_retreat,0.580744875162,1.76518950406e-06,1.05004062258,0.551316595082,0.00867659467163,1.0496784225
+390,6.500000000,pose2_to_pose3_retreat,0.580744844074,1.76880739235e-06,1.05004062,0.551316563928,0.00867659806573,1.04967841996
+391,6.516666667,pose2_to_pose3_retreat,0.5807446787,1.78805287451e-06,1.05004060626,0.5513163982,0.00867661612077,1.04967840646
+392,6.533333333,pose2_to_pose3_retreat,0.580744505267,1.80823621157e-06,1.05004059185,0.551316224396,0.00867663505565,1.04967839231
+393,6.550000000,pose2_to_pose3_retreat,0.580744427377,1.81730070002e-06,1.05004058538,0.551316146339,0.00867664355945,1.04967838595
+394,6.566666667,pose2_to_pose3_retreat,0.580744261849,1.83656404457e-06,1.05004057163,0.551315980458,0.00867666163125,1.04967837244
+395,6.583333333,pose2_to_pose3_retreat,0.580744101605,1.84390962094e-06,1.05004065777,0.551315820697,0.00867667061174,1.04967845851
+396,6.600000000,pose2_to_pose3_retreat,0.580743991748,1.84779391944e-06,1.05004072696,0.551315711254,0.00867667590097,1.04967852761
+397,6.616666667,pose2_to_pose3_retreat,0.580743940324,1.84961215516e-06,1.05004075934,0.551315660025,0.00867667837685,1.04967855996
+398,6.633333333,pose2_to_pose3_retreat,0.580743929559,1.84999275784e-06,1.05004076612,0.551315649301,0.00867667889512,1.04967856673
+399,6.650000000,pose2_to_pose3_retreat,0.580743844337,1.85300603048e-06,1.0500408198,0.5513155644,0.00867668299827,1.04967862034
+400,6.666666667,pose2_to_pose3_retreat,0.580743790603,1.85490593618e-06,1.05004085364,0.551315510869,0.00867668558536,1.04967865414
+401,6.683333333,pose2_to_pose3_retreat,0.58074371808,1.85747016775e-06,1.05004089931,0.551315438621,0.00867668907706,1.04967869976
+402,6.700000000,pose2_to_pose3_retreat,0.580743697132,1.85821083183e-06,1.0500409125,0.551315417752,0.00867669008562,1.04967871294
+403,6.716666667,pose2_to_pose3_retreat,0.580743616642,1.87103919888e-06,1.05004089767,0.551315337368,0.00867670321873,1.04967869681
+404,6.733333333,pose2_to_pose3_retreat,0.580743537809,1.88806158974e-06,1.05004085388,0.55131525855,0.008676720216,1.04967865119
+405,6.750000000,pose2_to_pose3_retreat,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976188,1.04967862557
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bfd4c3f3eaa5d201400cc301f102d5ed567a98d2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac0cbfa09ff3600c12b7bec4865c4caa91e63ca463fc70bc57b9f7d60d915050
+size 25837184
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec2e033c748bf594ffed748ba5a5759000ac784a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+22,0.366666667,BASELINE,765,745,714,679,658,635,878.225582893,787,805,652,631,652,0.400964592585,-0.00537394358394,0.059845262079,0.999999933393,0.000251982322229,-0.000263116395308,2.21097507067e-05,1793242833173890560
+23,0.383333333,BASELINE,765,744.64640097,713.64640097,679,658,634.64640097,878.35359903,787,805,652,630.64640097,652,0.400963363769,-0.00537333801382,0.059844039253,0.999999932387,0.000254240964735,-0.0002647680917,2.20391511465e-05,1793242833190557440
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+27,0.450000000,BASELINE,765.67188437,744.32811563,713.67188437,679,658.32811563,635,878.32811563,787,805,652,631,652,0.400963993801,-0.00537589382514,0.0598441205984,0.999999932972,0.000251584512986,-0.000265078214276,2.22584390324e-05,1793242833257224448
+28,0.466666667,BASELINE,766,744.255710663,714,679,658.255710663,635,878.255710663,787,805,652,631,652,0.400963691232,-0.00537619100453,0.0598441251992,0.999999933069,0.000250988108212,-0.000265283293234,2.21688310716e-05,1793242833273891328
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+30,0.500000000,BASELINE,765.586755089,745,714,679.413244911,659,635,878.586755089,787,805,652,630.586755089,652,0.400964104653,-0.00537629479407,0.059844901441,0.99999993386,0.000249592166184,-0.000263628552517,2.19891383024e-05,1793242833307224576
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+48,0.800000000,BASELINE,765,745,714,680,658,635,879,787,805,652,631,652,0.400964061027,-0.00537567945177,0.0598448820631,0.999999933637,0.000250377022064,-0.000263748479179,2.17951040944e-05,1793242833607223808
+49,0.816666667,BASELINE,765,745,714,679.562800476,658.437199524,635,879,787.437199524,805,652,631,652,0.400963753549,-0.00537543334271,0.0598449889749,0.999999933843,0.00024987924407,-0.000263438870713,2.17991738956e-05,1793242833623890432
+50,0.833333333,BASELINE,765.013583494,745,714,679.013583494,659,635,879,787.986416506,804.986416506,652,631,651.986416506,0.400963709484,-0.00537528366724,0.0598453725081,0.999999934136,0.000249720094262,-0.000262463177316,2.19315737981e-05,1793242833640557056
+51,0.850000000,BASELINE,765.592970886,745,714,679.592970886,659,635,879,787.407029114,804.407029114,652,631,651.407029114,0.400963702734,-0.00537494193355,0.0598453876788,0.999999933752,0.000250878901238,-0.00026280441438,2.21491615022e-05,1793242833657223680
+52,0.866666667,BASELINE,765.825805186,745,714.174194814,679.825805186,659,635,879,787,804.174194814,652,631,651.174194814,0.400963767559,-0.00537510679508,0.0598452611085,0.999999933567,0.000251149998788,-0.000263237813297,2.22672797425e-05,1793242833673890048
+53,0.883333333,BASELINE,765.240244262,745,714.759755738,679.240244262,659,635,879,787,804.759755738,652,631,651.759755738,0.400964001411,-0.00537646799597,0.0598447998128,0.999999933855,0.000249324744687,-0.000263888855087,2.2150497943e-05,1793242833690556672
+54,0.900000000,BASELINE,765.342424988,745,714.657575012,679,659,635,878.657575012,787,805,652,631,652,0.400964916771,-0.00537656848661,0.0598453060955,0.999999934112,0.0002495242821,-0.000262728398862,2.20773457894e-05,1793242833707223296
+55,0.916666667,BASELINE,765.923082414,745,714.076917586,679,659,635,878.076917586,787,805,652,631,652,0.400966306271,-0.00537579187393,0.0598464855433,0.999999934343,0.000251132510644,-0.000260307644433,2.20345477248e-05,1793242833723889920
+56,0.933333333,BASELINE,766,745,714.497594774,679,658.502405226,635,878,787,805,652,631,652,0.400965796088,-0.0053758028926,0.0598458531419,0.999999934376,0.000250373298353,-0.000260921154634,2.19185745318e-05,1793242833740556800
+57,0.950000000,BASELINE,766,745,714.927128135,679.072871865,658.072871865,635,878,787,805,652,631,652,0.400965133542,-0.00537597527511,0.059845156688,0.999999934386,0.000249458313981,-0.000261768678159,2.18266623552e-05,1793242833757223168
+58,0.966666667,BASELINE,766,745,714.339828991,679.660171009,658.660171009,635,878,787,805,652,631,652,0.400965443114,-0.00537643778216,0.0598459610807,0.99999993445,0.000249995575776,-0.000260997509474,2.19834815141e-05,1793242833773890048
+59,0.983333333,BASELINE,765.755152879,744.755152879,714,680,658.755152879,635,878.244847121,787,805,652,631,652,0.40096522364,-0.00537623891249,0.0598458954421,0.999999934016,0.000251224125132,-0.000261477287823,2.20080490686e-05,1793242833790556672
+60,1.000000000,BASELINE,765.174078663,744.174078663,714,680,658.174078663,635,878.825921337,787,805,652,631,652,0.400964277674,-0.00537513183221,0.0598446350659,0.999999932893,0.000253401959192,-0.000263674882001,2.18510071072e-05,1793242833807223296
+61,1.016666667,BASELINE,765,744.402218421,714,679.597781579,658.402218421,635,878.597781579,787,805,652,631,652,0.400964981826,-0.00537534061357,0.0598452500761,0.99999993333,0.000252618225857,-0.000262772524214,2.17978144639e-05,1793242833823890432
+62,1.033333333,BASELINE,765,744.976472212,714,679.023527788,658.976472212,635,878.023527788,787,805,652,631,652,0.40096639176,-0.00537611221045,0.0598466672198,0.999999934429,0.000250567781765,-0.000260544266337,2.17890398752e-05,1793242833840557824
+63,1.050000000,BASELINE,765.552731022,745,714,679,659,635,878.552731022,786.447268978,805,652.552731022,631,652,0.400965365603,-0.00537757908459,0.0598458258029,0.999999934048,0.000250467480563,-0.000262052812954,2.23181284272e-05,1793242833857224704
+64,1.066666667,BASELINE,765.867363471,745,714,679,659,635,879,786.132636529,805,652.867363471,631,652,0.400964586153,-0.00537853090052,0.0598451061789,0.999999933766,0.000250327831398,-0.000263232185269,2.26424812785e-05,1793242833873891328
+65,1.083333333,BASELINE,765.275118374,745,714,679,659,635,879,786.724881626,805,652.275118374,631,652,0.400965022213,-0.0053775950236,0.0598451429389,0.999999934053,0.000249763141288,-0.000262717725888,2.21777657179e-05,1793242833890557440
+66,1.100000000,BASELINE,765.310144871,745,714,679.310144871,659,635,878.689855129,787,805,652,631,652,0.400964782107,-0.00537680843324,0.0598449764488,0.999999933841,0.000250165346923,-0.00026315236629,2.20422023505e-05,1793242833907223808
+67,1.116666667,BASELINE,765.889351088,745,714,679.889351088,659,635,878.110648912,787,805,652,631,652,0.400963955404,-0.00537615135417,0.0598446336322,0.999999933195,0.000251406367914,-0.000264410383434,2.21921898596e-05,1793242833923890176
+68,1.133333333,BASELINE,766,744.536688859,714,679.536688859,659,635,878.463311141,786.536688859,805,652,631,652,0.400963477677,-0.00537725548595,0.0598447415256,0.999999933732,0.000249502582793,-0.000264182179315,2.21839543339e-05,1793242833940556800
+69,1.150000000,BASELINE,765.963984609,744.036015391,714,679.036015391,659,635,879,786.036015391,805,652,631,652,0.400963093712,-0.0053786102439,0.0598449108196,0.999999934477,0.000247035365743,-0.000263684256074,2.21368020126e-05,1793242833957223680
+70,1.166666667,BASELINE,765.391533196,744.608466804,714,679.608466804,659,635,879,786.608466804,805,652,631,652,0.400962878835,-0.00537750320929,0.0598444093543,0.999999934241,0.000247237389397,-0.000264396510361,2.20665224264e-05,1793242833973890816
+71,1.183333333,BASELINE,765,745,714.188550188,679.811449812,659,635,879,787,804.811449812,652,630.811449812,651.811449812,0.400962661867,-0.00537655281733,0.0598441870763,0.999999933966,0.000248042541183,-0.000264686188434,2.20219965426e-05,1793242833990557696
+72,1.200000000,BASELINE,765,745,714.785150376,679.214849624,659,635,879,787,804.214849624,652,630.214849624,651.214849624,0.400962440377,-0.00537594142261,0.0598445689999,0.999999933605,0.00025015294991,-0.000264061350316,2.2033205399e-05,1793242834007224320
+73,1.216666667,BASELINE,765.368105426,745,714.631894574,679,659,635,878.631894574,787,804,652,630.368105426,651.368105426,0.400962670311,-0.00537644796546,0.0598448330869,0.999999933802,0.000249951448138,-0.000263501080606,2.20960594857e-05,1793242834023890688
+74,1.233333333,BASELINE,765.943380944,745,714.056619056,679,659,635,878.056619056,787,804,652,630.943380944,651.943380944,0.400963154307,-0.0053775836847,0.0598450308553,0.999999934312,0.000248448800763,-0.000262977150094,2.21879795575e-05,1793242834040557312
+75,1.250000000,BASELINE,766,745,714,679,659,635,878,787,804,652,631,652,0.400964190599,-0.00537865077508,0.0598454646818,0.999999934642,0.000247608431522,-0.000262515883694,2.21897121834e-05,1793242834057223936
+76,1.266666667,BASELINE,765.905971278,744.905971278,714,679,659,635,878,787,804,652,631,652,0.40096500603,-0.00537926129419,0.059845812556,0.99999993483,0.00024714105322,-0.000262242417849,2.21436665133e-05,1793242834073890304
+77,1.283333333,BASELINE,765.313749371,744.313749371,714,679,659,635,878,787,804,652,631,652,0.400964331828,-0.00537749245197,0.0598455684949,0.999999934377,0.00024826684158,-0.000262927733067,2.18966401207e-05,1793242834090557184
+78,1.300000000,BASELINE,765.272325531,744.272325531,714,679,659,635,878.272325531,787,804,652,630.727674469,652,0.400963699857,-0.00537671745113,0.0598452296815,0.999999934077,0.000248963070049,-0.000263409044153,2.18806823476e-05,1793242834107224064
+79,1.316666667,BASELINE,765.851474688,744.851474688,714,679,659,635,878.851474688,787,804,652,630.148525312,652,0.400963115464,-0.00537706219124,0.0598447841125,0.999999933953,0.000249175322065,-0.000263660507893,2.2125064897e-05,1793242834123890944
+80,1.333333333,BASELINE,765.572798716,745,714,679,659,635,878.572798716,787,804.427201284,652,630,651.572798716,0.400964726927,-0.00537656658609,0.0598455955859,0.999999934268,0.000249942641639,-0.000261739478908,2.20387804843e-05,1793242834140557568
+81,1.350000000,BASELINE,765.001744536,745,714,679,659,635,878.001744536,787,804.998255464,652,630.001744536,651.001744536,0.400967084132,-0.00537578749583,0.0598468348418,0.999999934726,0.000250894785242,-0.000259081986578,2.18401960588e-05,1793242834157223936
+82,1.366666667,BASELINE,765.575329701,745,714,679,659,635,878.575329701,787,804.424670299,652,630.575329701,651.575329701,0.400965631227,-0.0053770918918,0.0598461792396,0.999999934619,0.000249676010302,-0.000260635111885,2.22150648751e-05,1793242834173890560
+83,1.383333333,BASELINE,765.845909572,745,714,679,659.154090428,635,879,787,804,652,631,652,0.400964805111,-0.00537803553262,0.0598458046159,0.999999934617,0.000248793289282,-0.000261467826941,2.2414046115e-05,1793242834190557184
+84,1.400000000,BASELINE,765.252389219,745,714,679,659.747610781,635,879,787,804,652,631,652,0.400965766453,-0.00537795038427,0.0598462312772,0.999999934924,0.000248868915311,-0.000260246100502,2.21114371372e-05,1793242834207223808
+85,1.416666667,BASELINE,765,745,714,679.331584705,659.668415295,635,878.668415295,787,804.331584705,652,631,652,0.400965046314,-0.00537799943814,0.0598461724002,0.999999934914,0.000247943470163,-0.000261174998777,2.19935807453e-05,1793242834223890432
+86,1.433333333,BASELINE,765,745,714,679.908495575,659.091504425,635,878.091504425,787,804.908495575,652,631,652,0.400963082113,-0.00537814778283,0.0598457542931,0.999999934664,0.000246277372774,-0.000263695057712,2.20124153669e-05,1793242834240557056
+87,1.450000000,BASELINE,765.485041106,745,714,679.514958894,659,635,878,787,804.514958894,652,631,652,0.400964722887,-0.00537715050738,0.0598464222699,0.999999934532,0.000248466851039,-0.000262131290418,2.20580967158e-05,1793242834257223936
+88,1.466666667,BASELINE,766,745,714,679,659,635,878.062688423,787,804.062688423,652,631,652,0.400966650117,-0.00537615383344,0.0598471201012,0.999999934414,0.00025098095084,-0.000260176780786,2.21110342194e-05,1793242834273891072
+89,1.483333333,BASELINE,766,745,714,679,659,635,878.650135209,787,804.650135209,652,631,652,0.400965286584,-0.0053769699898,0.059846353994,0.999999934308,0.000250128303782,-0.000261395708328,2.21823479635e-05,1793242834290557952
+90,1.500000000,BASELINE,765.765629795,745,714,679,659,635,878.765629795,787,805,652,631,652,0.400964825225,-0.00537753585041,0.0598459983007,0.999999934518,0.000249006424279,-0.000261656275503,2.22532883906e-05,1793242834307224320
+91,1.516666667,BASELINE,765.186124552,745,714,679,659,635,878.186124552,787,805,652,631,652,0.400965692412,-0.00537773312387,0.0598462469855,0.999999935194,0.000247488071457,-0.000260505555064,2.23236790626e-05,1793242834323890688
+92,1.533333333,BASELINE,765,745,714,679,659,635,878.391068255,787,805,652,631,652,0.400966227716,-0.00537818727751,0.0598468163271,0.999999935517,0.000247309979828,-0.000259434672826,2.23195883451e-05,1793242834340557056
+93,1.550000000,BASELINE,765,745,714,679,659,635,878.967167004,787,805,652,631,652,0.400966605992,-0.00537876297174,0.0598475373847,0.999999935672,0.000247766020821,-0.000258401565229,2.22802574217e-05,1793242834357223936
+94,1.566666667,BASELINE,765,745,714,679.540583969,659,635,879,787,805,652,631,652,0.400965532284,-0.00537855362137,0.0598466830167,0.999999935195,0.000247860065103,-0.000260164880376,2.21116662244e-05,1793242834373890304
+95,1.583333333,BASELINE,765.117626297,745,714,680,659,635,879,787,805,652,631,652,0.400964609141,-0.00537846144891,0.0598459570157,0.999999934773,0.00024794008861,-0.00026171690549,2.20116336064e-05,1793242834390557184
+96,1.600000000,BASELINE,765.709953666,745,714,680,659,635,879,787,805,652,631,652,0.400964647775,-0.00537903364128,0.0598461333094,0.999999934736,0.000248051820339,-0.000261734183154,2.22198075631e-05,1793242834407223808
+97,1.616666667,BASELINE,765.704521527,744.704521527,714,680,658.704521527,635,879,787,805,652,631,652,0.400965116493,-0.00537817622375,0.059846562894,0.999999934595,0.000249324553627,-0.000261070228992,2.21250372825e-05,1793242834423890432
+98,1.633333333,BASELINE,765.125523986,744.125523986,714,680,658.125523986,635,879,787,805,652,631,652,0.400965997888,-0.00537594705931,0.0598472355175,0.999999934349,0.000251711297272,-0.000259752615654,2.17395843297e-05,1793242834440557056
+99,1.650000000,BASELINE,765,744.451336229,714,679.548663771,658.451336229,635,879.451336229,787.451336229,804.548663771,652,631,652,0.400965494416,-0.00537626194142,0.0598466332082,0.999999934388,0.000250845910601,-0.000260418403472,2.19468951204e-05,1793242834457223936
+100,1.666666667,BASELINE,765.027431302,744.972568698,714,679,659,635,879.972568698,787.972568698,804,652,631,652,0.400964713175,-0.00537726725558,0.05984577825,0.99999993453,0.000249149563462,-0.00026147081914,2.23059149341e-05,1793242834473890560
+101,1.683333333,BASELINE,765.600077775,744.399922225,714,679,659,635,879.399922225,787.399922225,804,652,631,652,0.400966030182,-0.00537799880106,0.0598469160161,0.999999935174,0.000248829548962,-0.000259295655953,2.2419048004e-05,1793242834490556928
+102,1.700000000,BASELINE,765.821022821,744.178977179,714.178977179,679.178977179,659,635,878.821022821,787,804.178977179,652,631,652,0.400966603689,-0.0053786743907,0.0598474713988,0.999999935582,0.000248320837706,-0.000258202322588,2.24734856208e-05,1793242834507223552
+103,1.716666667,BASELINE,765.227645587,744.772354413,714.772354413,679.772354413,659,635,878.227645587,787,804.772354413,652,631,652,0.400965455714,-0.00537922042124,0.0598466783428,0.999999935452,0.000247375221933,-0.0002596138359,2.23920209853e-05,1793242834523890176
+104,1.733333333,BASELINE,765,745,714.643762855,679.643762855,659,635,878,787,804.643762855,652,631,652,0.400965517604,-0.00537903645518,0.059846768618,0.999999935399,0.000247560392056,-0.000259645479587,2.23592183051e-05,1793242834540556800
+105,1.750000000,BASELINE,765,745,714.065789815,679.065789815,659,635,878,787,804.065789815,652,631,652,0.400966332561,-0.00537839811081,0.059847408713,0.999999935393,0.000248449407345,-0.000258818238727,2.2356704716e-05,1793242834557223680
+106,1.766666667,BASELINE,765.505842376,745,714,679,659,635,878.505842376,787,804.505842376,652,631,652,0.400965749847,-0.00537738557532,0.0598469612082,0.999999934979,0.000249239437256,-0.000259663047596,2.22689997437e-05,1793242834573890560
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878,787,804,652,631,652,0.400966070186,-0.00537943655898,0.0598463721146,0.999999935957,0.000245003743266,-0.000259918254069,2.24059081509e-05,1793242834616443648
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.420647531,635,878,787,804.579352469,652,630.420647531,652,0.400965829507,-0.0053779268602,0.0598463774167,0.999999935262,0.000247716574193,-0.000260027297846,2.23032839639e-05,1793242834633110272
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.158016892,659,635,878.158016892,787,805,652,630.158016892,652,0.400965618929,-0.00537659203995,0.0598464075024,0.999999934602,0.000250300488517,-0.000260100054326,2.22277799128e-05,1793242834649776640
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679.734857771,659,635,878.734857771,787,805,652,630.734857771,652,0.400965488134,-0.00537572073516,0.0598465032773,0.999999934044,0.000252542709807,-0.000260076631301,2.2224157797e-05,1793242834666443520
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.690479476,659,635,878.690479476,787,804.690479476,652,631,652,0.400965121438,-0.00537575091775,0.0598463545644,0.999999933793,0.000253260739735,-0.000260344506612,2.2212365712e-05,1793242834683109888
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.117669552,659,635,878.117669552,787,804.117669552,652,631,652,0.400964554075,-0.00537654793829,0.0598459978816,0.999999933806,0.000252682236995,-0.00026086017087,2.21936239545e-05,1793242834699776768
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.468413209,787,804,652.468413209,631,652.468413209,0.4009654955,-0.00537686638159,0.0598465515663,0.999999934663,0.000250462745464,-0.000259731540264,2.19626696754e-05,1793242834716443648
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.057170137,745,714,679,659,635,878.942829863,787,804,652.942829863,631,652.942829863,0.400966734453,-0.00537712540201,0.0598473451017,0.999999935597,0.000248198429026,-0.000258322562407,2.17493236354e-05,1793242834733110528
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.638977355,745,714,679,659,635,878.361022645,787,804,652.361022645,631,652.361022645,0.40096712413,-0.00537797454286,0.0598481798332,0.999999935305,0.000249416030888,-0.000258242012728,2.22010411394e-05,1793242834749777152
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659.217548294,635,878,787,804.217548294,652,631,652,0.400970192122,-0.00537822624946,0.0598496240723,0.999999935523,0.000250402869199,-0.0002564083366,2.25161689534e-05,1793242834766443776
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,714,679,659.790827277,635,878,787,804.790827277,652,631,652,0.400977639639,-0.00537750104325,0.0598520649664,0.999999936562,0.000251012367367,-0.000251707982612,2.26079479495e-05,1793242834783110400
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.62588352,745,714,679,659.62588352,635,878,787,805,652,631,651.62588352,0.401000607961,-0.00537709016683,0.0598615930319,0.999999940482,0.000251889330319,-0.000234634955809,2.31030664759e-05,1793242834799776768
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.036843565,745,714,679,659.036843565,635,878,787,805,652,631,651.036843565,0.401032492718,-0.00537685986739,0.0598751925556,0.999999945586,0.000252919947121,-0.000210454040976,2.3829896615e-05,1793242834816443392
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.543090074,745,714.543090074,679,659,635,878,787,805,652,631,651.543090074,0.401088348056,-0.00538085826154,0.0598941843945,0.999999953234,0.000248702230805,-0.000176251444659,2.47939868307e-05,1793242834833110272
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.878377188,745,714.878377188,679,659,635,878.121622812,787,804.878377188,652,631,652,0.401147769058,-0.00538437700324,0.0599119888266,0.999999958928,0.000245198064479,-0.000146155001299,2.56898670602e-05,1793242834849777408
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.302805264,745,714.302805264,679,659,635,878.697194736,787,804.302805264,652,631,652,0.401214529168,-0.00538505238271,0.0599240184722,0.999999960517,0.000245664194133,-0.000133880241911,2.62720723533e-05,1793242834866444288
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.273401958,635,878.726598042,787,804.273401958,652,631,652,0.401288468638,-0.00538652737982,0.0599326600934,0.999999962202,0.000245642150688,-0.000120693564641,2.62429225146e-05,1793242834883110912
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.850314406,635,878.149685594,787,804.850314406,652,631,652,0.401370378096,-0.00538889005283,0.0599375405815,0.999999963972,0.000245078173797,-0.000106494544798,2.55350917106e-05,1793242834899777024
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.435914496,745,714,679,659.564085504,635,878,787,805,652.435914496,631,652,0.401464575424,-0.00539113273382,0.0599391159952,0.999999964997,0.000242536916603,-0.000102817575955,2.47015814791e-05,1793242834916448512
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.975834268,745,714.024165732,679.024165732,659,635,878,787,805.024165732,652.975834268,631,652,0.401564376048,-0.00539339095661,0.0599397280467,0.999999965826,0.000239378664039,-0.000102358040548,2.3828036407e-05,1793242834933120768
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.396602863,745,714.603397137,679.603397137,659,635,878,787,805.603397137,652.396602863,631,652,0.401693991748,-0.00539697180853,0.0599448104025,0.99999996727,0.000237960909871,-9.11229702385e-05,2.30463423499e-05,1793242834949781504
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.818752135,714.818752135,679.818752135,659,635,878,787,805.637504271,652,631,652,0.40182938246,-0.00540061789609,0.0599484707632,0.999999968555,0.000235998720024,-8.19036959492e-05,2.20683829755e-05,1793242834966444032
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.243899811,714.243899811,679.243899811,659,635,878,787,804.487799622,652,631,652,0.401977314379,-0.00540440565129,0.059949043067,0.999999969707,0.000232854214073,-7.70619991545e-05,2.06642068008e-05,1793242834983110400
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,878.330039175,787,804.330039175,652,631,652.330039175,0.40214432948,-0.00540866035246,0.0599494917667,0.999999970692,0.000230396969343,-7.19063911624e-05,1.9041643025e-05,1793242834999777280
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,878.903305125,787,804.903305125,652,631,652.903305125,0.402325408201,-0.00541325917608,0.0599498493747,0.999999971545,0.000228446210611,-6.65194416195e-05,1.7258135446e-05,1793242835016443904
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.494725511,744.494725511,714,679.494725511,659,635,879,787,805.494725511,652,631,652.505274489,0.402540052005,-0.00541967914647,0.0599513464067,0.999999973658,0.000221024410857,-5.99437363069e-05,1.54308602162e-05,1793242835033110272
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.913007283,745.086992717,714,679.913007283,659,635,879.086992717,787,805.913007283,652,631,652,0.402766375751,-0.00542633450752,0.0599529072266,0.999999975791,0.000213102753381,-5.31454839482e-05,1.34634641747e-05,1793242835049776640
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.336695582,745.663304418,714,679.336695582,659,635,879.663304418,787,805.336695582,652,631,652,0.403020090731,-0.00543223549938,0.0599535264636,0.999999977103,0.000208613364779,-4.64521207887e-05,1.07578623912e-05,1793242835066443264
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745.760685007,714,679,659,635,879.760685007,787,805,652,631,652,0.403286003549,-0.00543797420615,0.059954459796,0.999999978695,0.000202058853627,-4.14428605746e-05,7.9974547766e-06,1793242835083110144
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745.185097592,714,679,659,635,879.185097592,787,805,652,631,652,0.403569056091,-0.00544348487839,0.0599558344784,0.999999980686,0.000192602544788,-3.88000106833e-05,5.16003714968e-06,1793242835099776768
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,652,630.600082077,651.600082077,0.403870089323,-0.00545213274208,0.0599466797084,0.999999982092,0.000181779586347,-5.26230210974e-05,1.6643093282e-06,1793242835116443392
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,652,630.010597529,651.010597529,0.404179645642,-0.00546226767773,0.0599325338324,0.999999982739,0.000170308817277,-7.42510770602e-05,-2.14346654964e-06,1793242835133110016
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.432165245,787,805,652,631.13566951,651.567834755,0.404521950827,-0.00546861507255,0.0599225532371,0.999999982439,0.000162245096318,-9.36166962876e-05,-5.93168865645e-06,1793242835149777152
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.145622146,659,635,878,787,805,652,631.854377854,652,0.404877954057,-0.00547600106345,0.0599138426529,0.999999982091,0.000153196140489,-0.000110700488901,-9.67606763736e-06,1793242835166443776
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.722100017,659,635,878,787,805,652,631.277899983,652,0.405272712132,-0.00548666512276,0.0599086640721,0.999999982625,0.000141047607046,-0.000121155527088,-1.32917853564e-05,1793242835183110400
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.297393707,745,714,680,659,635,878.297393707,787,805,652,631,652,0.405703797315,-0.00549601575409,0.0599162955373,0.999999985527,0.000128237562482,-0.000110571418267,-1.65835445646e-05,1793242835199777024
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.871585293,745,714,680,659,635,878.871585293,787,805,652,631,652,0.406168693839,-0.00550414391936,0.0599358498956,0.999999989985,0.000114811817872,-8.04052173693e-05,-1.95737812272e-05,1793242835216443648
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.540280954,745,714,680,659,635,879,787,805,652,631,652,0.406687297446,-0.00551275140391,0.0599631174509,0.99999999894,2.59366882905e-05,-3.18535099047e-05,-2.07785570359e-05,1793242835233110272
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.949475832,659.050524168,635,879,787,805,652,630.949475832,652,0.407220251764,-0.00551957629891,0.0599907853844,0.999999996982,-7.25698389496e-05,1.74187873306e-05,-2.1603196691e-05,1793242835249777152
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.37267957,659.62732043,635,879,787,805,652,630.37267957,652,0.407741533372,-0.00550639506449,0.0599994795412,0.999999998522,-4.50058545467e-05,1.90293680439e-05,-2.38257058285e-05,1793242835266443776
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.203557008,659.796442992,635,879,787,805,652,630.203557008,652,0.408268945626,-0.00549783623593,0.0600003129445,0.99999999927,-2.53059953555e-05,9.33879753549e-06,-2.70650740433e-05,1793242835283110400
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.778771672,659.221228328,635,879,787,805,652,630.778771672,652,0.408807551277,-0.00549771707103,0.059986794057,0.999999999063,-1.99645840283e-05,-2.09855965585e-05,-3.21610397789e-05,1793242835299777280
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.362320187,745,714,680,659,635,879.362320187,786.637679813,804.637679813,652,631,652,0.40937330025,-0.00550925296526,0.0599784009689,0.999999997844,-3.5562966526e-05,-4.2076465313e-05,-3.57298945331e-05,1793242835316444160
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.951077028,745,714,680,659,635,879.951077028,786.048922972,804.048922972,652,631,652,0.40995601277,-0.00552807283837,0.0599732113154,0.999999995554,-6.42479422453e-05,-5.73967226786e-05,-3.83443614625e-05,1793242835333110784
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.468061206,745,714.531938794,679.468061206,659,635,879.468061206,786.531938794,804.531938794,652,631,652,0.410638906701,-0.00553278217227,0.0599848969577,0.999999995627,-7.99094937653e-05,-2.33013964691e-05,-4.26273736292e-05,1793242835349777408
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714.888476478,679,659,635,879,787,804.888476478,652,631,652,0.411326335699,-0.0055350233108,0.0599944376612,0.99999999595,-7.88069096665e-05,5.0507802229e-06,-4.31836565215e-05,1793242835366443776
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714.311236867,679,659,635,879,787,804.311236867,652,631,652,0.411994789136,-0.00553229752124,0.0599886347746,0.999999999498,-1.26269172124e-05,-9.28141308991e-06,-2.7545862531e-05,1793242835383110144
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679.264679242,659,635,879,787,804,652,631,652,0.412653450084,-0.00552255106086,0.0599696600263,0.999999998443,2.08783853456e-05,-4.75579160451e-05,-2.03918783522e-05,1793242835399776768
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679.839046861,659,635,879,787,804,652,631,652,0.413300653403,-0.00550459005284,0.0599352735192,0.99999999312,1.61526225504e-05,-0.00011385049915,-2.31643876079e-05,1793242835416443392
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679.575891557,659.424108443,635,879,786.575891557,804.424108443,652,631,652,0.414003771547,-0.00550267446697,0.0599192487953,0.999999989397,1.29345926595e-05,-0.000142341760297,-2.7873579434e-05,1793242835433110272
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679.012316411,659.987683589,635,879,786.012316411,805,652,631,652,0.414731103314,-0.00550725403169,0.0599117962524,0.999999987605,1.00980821832e-05,-0.00015357797737,-3.31899402012e-05,1793242835449777152
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679.556597716,659.443402284,635,879,786.556597716,805,652,631,652,0.415564019229,-0.00552255571124,0.0599658249374,0.999999997958,-1.61346591862e-06,-5.51943076675e-05,-3.21643881149e-05,1793242835466443776
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.113625442,745,714,680.113625442,659,635,879,787,805.113625442,652,631,652,0.416397589152,-0.00553505572709,0.0600118106598,0.999999999027,-1.51490092219e-05,2.71498918542e-05,-3.12908625441e-05,1793242835483110144
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.726678575,745,714,680.726678575,659,635,879,787,805.726678575,652,631,652,0.417234033645,-0.00553524134834,0.060022444453,0.999999998083,-3.67017150545e-05,3.89944190583e-05,-3.10855535163e-05,1793242835499776768
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.673754328,745,714,680.347508656,659.326245672,635,879.326245672,787,805.673754328,652,631,652,0.418043771891,-0.00553358713272,0.0600168358822,0.999999998317,-3.86970900759e-05,2.88237396617e-05,-3.22226984253e-05,1793242835516443392
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.085037063,745,714,679.170074127,659.914962937,635,879.914962937,787,805.085037063,652,631,652,0.418832024352,-0.00553045272916,0.0599981599829,0.999999999095,-2.49581748278e-05,9.4135704443e-07,-3.44398761178e-05,1793242835533110016
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.495523962,745,714,679,660,635,879.504476038,787,805,652,631,652,0.419653070638,-0.00552807373765,0.0599747048663,0.999999998256,-2.66037698915e-05,-3.70359822257e-05,-3.75414037607e-05,1793242835549776384
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714,679.074595099,659.925404901,635,879,787,805,652,631,652,0.420478960524,-0.00552624997137,0.0599491930901,0.99999999557,-3.04256767794e-05,-7.92791846573e-05,-4.06180533059e-05,1793242835566443264
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714,679.652903878,659.347096122,635,879,787,805,652,631,652,0.421300170234,-0.00552731422768,0.0599152420315,0.999999988968,-3.140419802e-05,-0.000138819364068,-4.25184988332e-05,1793242835583109888
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.770783801,745,714,680.229216199,659.229216199,635,879.229216199,787,805,652,631,652,0.422143110754,-0.00552930789831,0.0598961492259,0.999999983943,-3.20084490689e-05,-0.000170756539145,-4.39416425887e-05,1793242835599776768
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.197468473,745,714,680.802531527,659.802531527,635,879.802531527,787,805,652,631,652,0.423018673668,-0.00553269680495,0.0598993616097,0.999999985488,-3.20508463595e-05,-0.000161256121275,-4.46482618666e-05,1793242835616443648
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.386328456,745,714,680.613671544,660,634.613671544,879.613671544,787,805.386328456,652,631,652,0.423936422614,-0.00553572610108,0.0599442693042,0.999999994345,-4.178127933e-05,-8.76779594637e-05,-4.33168346711e-05,1793242835633110528
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.975632342,745,714,680.024367658,660,634.024367658,879.024367658,787,805.975632342,652,631,652,0.424876335879,-0.00553856645908,0.0600110835484,0.99999999737,-5.66017672308e-05,1.95663939302e-05,-4.09146255193e-05,1793242835649777408
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.444330824,745,714,680,660,634.555669176,879,787,805.444330824,652,631,652,0.425788270251,-0.00553993109936,0.0600264452756,0.999999996712,-5.26888931478e-05,4.58296000988e-05,-4.12302691259e-05,1793242835666443520
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.134396401,745,714,680,660,635,879,786.865603599,805.134396401,651.865603599,631,652,0.426698966602,-0.00554171375575,0.0600318747887,0.999999996108,-5.01528133714e-05,5.91038941112e-05,-4.21444154504e-05,1793242835683109888
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.710135625,745,714,680,660,635,879,786.289864375,805.710135625,651.289864375,631,652,0.427609560469,-0.0055450781592,0.0600119760328,0.999999996654,-5.4791469561e-05,4.11946604681e-05,-4.46390064605e-05,1793242835699776512
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,786.284216619,806,651.284216619,631,651.715783381,0.428483844356,-0.00554647843184,0.0599896360886,0.999999997079,-5.9187907767e-05,1.24608107531e-05,-4.67299669779e-05,1793242835716443392
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,786.856616207,806,651.856616207,631,651.143383793,0.429321311488,-0.00554588716327,0.0599648208896,0.999999996451,-6.33387474086e-05,-2.72487156057e-05,-4.84116639899e-05,1793242835733110272
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714,680.444567507,660,634.555432493,879,787,806,652,631,651.444567507,0.430142224429,-0.00554264667327,0.0599349674759,0.999999993289,-6.19548349213e-05,-8.44087130055e-05,-4.95760067602e-05,1793242835749776896
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,680.963240976,660,634.036759024,879.036759024,787,806,651.963240976,631,651.963240976,0.430966812425,-0.00553902756044,0.0599083076408,0.999999987504,-5.90789538099e-05,-0.000137678136845,-5.04713872398e-05,1793242835766443776
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,680.385149456,660,634.614850544,879.614850544,787,806,651.385149456,631,651.385149456,0.431926997193,-0.00554287168248,0.0599534753943,0.999999995722,-6.14727013856e-05,-4.77645688267e-05,-4.99522214117e-05,1793242835783110656
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,880,787,806,651.192564622,631,651,0.432866641994,-0.00554604522521,0.0599908358111,0.999999996574,-6.31729365943e-05,2.06917829132e-05,-4.93273874074e-05,1793242835799777536
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,880,787,806,651.769525355,631,651,0.433765285231,-0.00554788016304,0.0600126112867,0.999999995736,-6.34887886425e-05,4.63154096502e-05,-4.84916199076e-05,1793242835816443904
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.647400181,787,805.647400181,651.647400181,631,651.352599819,0.434608205633,-0.00555037431609,0.0600041607286,0.999999995749,-7.19851713453e-05,2.90122898021e-05,-4.97791304126e-05,1793242835833110272
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.060259038,787,805.060259038,651.060259038,631,651.939740962,0.435414060425,-0.00555330696392,0.0599756045039,0.99999999479,-8.59230555683e-05,-1.68447203954e-05,-5.24789967953e-05,1793242835849776896
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714,680.520475025,660.520475025,635,879.520475025,787,805.520475025,651,631,652,0.436212065464,-0.00555449996511,0.0599508372981,0.999999993071,-8.41193703189e-05,-6.24137622579e-05,-5.37292360371e-05,1793242835866443520
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.900754371,745,714,680.900754371,660.900754371,635,880,787,806,651.099245629,631.099245629,652,0.437002909626,-0.00555464260407,0.0599279561543,0.999999989607,-8.08833330558e-05,-0.000106095638043,-5.46543214092e-05,1793242835883110144
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.327857262,745,714,680.327857262,660.327857262,635,880,787,806,651.672142738,631.672142738,652,0.437763862975,-0.00555072191995,0.05991200812,0.999999985415,-7.94035699037e-05,-0.000140928161576,-5.48188525565e-05,1793242835899777024
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.246613562,745,714,680,660,635,880,787,805.753386438,652,632,652,0.438550454906,-0.00554903658283,0.0599080507865,0.99999998385,-7.99015925604e-05,-0.000151234052069,-5.51657057627e-05,1793242835916443904
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.823189931,745,714,680,660,635,880,787,805.176810069,652,632,652,0.43937135056,-0.00555034208467,0.0599201367131,0.999999986712,-8.30458435775e-05,-0.000128723915544,-5.57565013806e-05,1793242835933110528
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,714,680.409540547,660,635,880,787,805.409540547,652,632,652,0.440180205268,-0.005551243899,0.059959374903,0.999999992897,-8.23050754108e-05,-6.60561616057e-05,-5.53864783195e-05,1793242835949777408
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660.000203006,635,880,787,806,651.999796994,631.999796994,652,0.440983693039,-0.00555196774569,0.0600106031812,0.999999995219,-7.98471301586e-05,1.43420664737e-05,-5.4591378252e-05,1793242835966444288
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660.560003672,635,880,787,806,651.439996328,631.439996328,652,0.441672796179,-0.00555428116039,0.0600096875478,0.999999995282,-8.04317229851e-05,1.04232399051e-05,-5.3459095988e-05,1793242835983110656
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660.873150472,635,880,787,806,651,631,651.873150472,0.442362103391,-0.00555649022785,0.0600031686338,0.999999995031,-8.44789219326e-05,1.69743432172e-07,-5.2934448686e-05,1793242835999777280
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660.280430114,635,880,787,806,651,631,651.280430114,0.443052160276,-0.00555831606764,0.0599760709679,0.999999992826,-0.000101242977095,-3.33486254291e-05,-5.46414167828e-05,1793242836016443648
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.696703621,745,714,681,660.303296379,635,880,787,806,651.303296379,631.303296379,651.303296379,0.443725591983,-0.00556063696021,0.0599603851494,0.999999991291,-0.000106110585142,-5.51490015184e-05,-5.58357399773e-05,1793242836033110016
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.121053465,745,714,681,660.878946535,635,880,787,806,651.878946535,631.878946535,651.878946535,0.444384094588,-0.00556340239967,0.0599549469317,0.999999991164,-0.000100295432657,-6.64268642678e-05,-5.656971876e-05,1793242836049776640
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.533026415,635,880,787,806,651.533026415,631.533026415,652,0.445005678687,-0.00556454976597,0.0599635792139,0.999999991896,-9.87574251287e-05,-5.68296767677e-05,-5.67893695544e-05,1793242836066443520
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,635,880,787,806,651.057192507,631.057192507,652,0.445610269232,-0.00556459218791,0.0599725020036,0.999999992414,-9.82189749298e-05,-4.74931712088e-05,-5.71733086844e-05,1793242836083110400
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,635,880,787,806,651.637317736,631.637317736,652,0.446149369342,-0.00555847131896,0.0599498226074,0.99999998936,-9.64059985035e-05,-9.13660888878e-05,-6.03116677368e-05,1793242836099777024
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.78440355,880,787,806.21559645,651.78440355,631.78440355,652,0.446687413546,-0.00555470768876,0.0599337337341,0.999999986459,-9.56880790988e-05,-0.000118148936313,-6.2977411965e-05,1793242836116443136
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.209204772,880,787,806.790795228,651.209204772,631.209204772,652,0.447223696507,-0.00555487579619,0.0599286374719,0.999999986435,-9.67966514891e-05,-0.00011642653735,-6.48548620254e-05,1793242836133109760
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,787,806.625115776,651,631,652,0.447746662478,-0.00555687830637,0.0599372596339,0.999999988026,-9.88103868292e-05,-9.91007820351e-05,-6.60587442075e-05,1793242836149776384
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,787,806.035945013,651,631,652,0.448262016412,-0.0055599293745,0.0599537233462,0.999999989975,-0.000101341519922,-7.28560348885e-05,-6.68776102467e-05,1793242836166443008
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.878021593,745,714,680.121978407,660,634,879.121978407,787,807,651.878021593,631,651.121978407,0.449127611625,-0.00557015310498,0.0599337727523,0.999999985474,-0.000112882184927,-0.000106192046557,-7.09435530647e-05,1793242836199777280
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765.273615184,745,714,681.273615184,660,633.726384816,880,786.726384816,806.726384816,651,631,651.726384816,0.449829751789,-0.00557924938068,0.0598618185261,0.999999964722,-0.000127388353544,-0.000220759229961,-7.47919670348e-05,1793242836233111296
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+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,714,681.562789797,659.562789797,633,879.562789797,786,806,651,631,651,0.45051454815,-0.00557963659782,0.0598319586132,0.999999961406,-7.91916777652e-05,-0.000259130502254,-6.13873720084e-05,1793242836266444288
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745.025800067,714,681,659.025800067,633,879,786.025800067,806,651.025800067,631,651.025800067,0.450849379977,-0.00557870694964,0.0598322907242,0.999999967261,-2.94883676169e-05,-0.000250266936501,-4.4449512669e-05,1793242836283110400
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745.60511416,714,681,659.60511416,633,879,786.60511416,806,651.60511416,631,651.60511416,0.451154944887,-0.00556850780418,0.0598431297285,0.999999968035,-8.38009047999e-05,-0.00023417557441,-4.54974890773e-05,1793242836299776768
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+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,681.073398552,659,633,880,786,806,651.073398552,631,651.926601448,0.452155129799,-0.00556039619118,0.0598520469038,0.999999967936,-0.000112773117088,-0.000220496593421,-5.28352397551e-05,1793242836366444032
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+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.63798871,714,681.63798871,658,632,880,785.36201129,806.36201129,651.63798871,631,651.36201129,0.45355936715,-0.00556898889678,0.0598125781802,0.99999995234,-0.000102583796609,-0.000285514719209,-5.72579988641e-05,1793242836666443520
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.048532161,714,681.048532161,658,632,880,785.951467839,806.951467839,651.048532161,631,651.951467839,0.453562240609,-0.00556809987591,0.059808862367,0.999999950764,-0.00010291908602,-0.00029078026143,-5.76795827593e-05,1793242836683110144
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,632,880,786,806.467195877,651.532804123,631,652,0.45356730476,-0.00556716136279,0.0598094617176,0.999999951376,-9.97385612467e-05,-0.000289884628034,-5.71629532197e-05,1793242836699777024
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.112294219,745,714,681,658,632,880,786,806,652,631,652,0.453572051379,-0.00556644549451,0.059810167383,0.999999952014,-9.68866235755e-05,-0.00028875040496,-5.66454514074e-05,1793242836716443648
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.687180113,745,714,681,658,632,880,786,806,652,631,652,0.453574680248,-0.00556666509561,0.0598097161173,0.999999951997,-9.66877381412e-05,-0.00028891049986,-5.64711213676e-05,1793242836733110272
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.7398786,745,714,681.2601214,658,632,880,785.7398786,806.2601214,651.7398786,631,652,0.45357594638,-0.00556649409323,0.0598092858489,0.999999951796,-9.67841433685e-05,-0.00028960296243,-5.63143689217e-05,1793242836749776640
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.169258452,745,714,681.830741548,658,632,880,785.169258452,806.830741548,651.169258452,631,652,0.453575585855,-0.00556585683977,0.059808880644,0.999999951374,-9.72330277599e-05,-0.000290930895591,-5.61785982746e-05,1793242836766443520
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681.581421341,658,632,879.581421341,785,807,651,630.581421341,651.581421341,0.45357527396,-0.00556546218061,0.0598077835036,0.999999951008,-9.716671807e-05,-0.000292220988317,-5.61268646417e-05,1793242836783110400
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681.013302589,658,632,879,785.013302589,807,651.013302589,630.013302589,651.013302589,0.453575002996,-0.00556518791876,0.0598064467024,0.999999950675,-9.69075523235e-05,-0.00029344628958,-5.61051530973e-05,1793242836799777024
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681.592138592,658,632,879,785.592138592,807,651.592138592,630.592138592,651.592138592,0.453575600298,-0.00556568283307,0.0598073263402,0.999999950863,-9.76859891521e-05,-0.000292595523244,-5.58531396991e-05,1793242836816443648
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.169696694,745,714,682,658,632,879.169696694,786,806.830303306,652,631,652,0.453575932186,-0.00556581769245,0.0598076753899,0.999999950907,-9.75240895708e-05,-0.000292527899146,-5.57074026098e-05,1793242836833110272
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.744206314,745,714,682,658,632,879.744206314,786,806.255793686,652,631,652,0.453575630928,-0.00556509363766,0.0598067587168,0.999999950604,-9.51190093235e-05,-0.000294328467668,-5.58151885868e-05,1793242836849776640
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.68197794,745,714,681.68197794,658,632,880,785.68197794,806,652,631,652,0.453574600693,-0.00556455455771,0.059805283738,0.999999950018,-9.4373520149e-05,-0.000296508892845,-5.60363924364e-05,1793242836866443520
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.108719108,745,714,681.108719108,658,632,880,785.108719108,806,652,631,652,0.453572985399,-0.00556416393412,0.0598033606767,0.999999949205,-9.49599785218e-05,-0.000298994181648,-5.63486227066e-05,1793242836883110400
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.481650097,714,681.481650097,658.481650097,632,880,785,806.481650097,651.518349903,631,651.518349903,0.453573900394,-0.00556411662387,0.0598037718349,0.999999949393,-9.54103827503e-05,-0.00029823236891,-5.6283994115e-05,1793242836899777024
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.07388016,745.92611984,714,682,658.92611984,632,880,785,806.92611984,651,631,651.07388016,0.453575076604,-0.00556425769093,0.0598044724825,0.999999949698,-9.58213911104e-05,-0.000297107953722,-5.61144404862e-05,1793242836916443648
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.651494371,745.348505629,714,682,658.348505629,632,880,785,806.348505629,651,631,651.651494371,0.453573996212,-0.00556513533145,0.0598034221846,0.999999949207,-9.61808922625e-05,-0.00029869268467,-5.58308418495e-05,1793242836933110272
+247,4.116666667,HOLD_POSE2,766,745,714,681,658,632,880,786,807,651,631,652,0.453573187154,-0.00556084878342,0.0598028772484,0.999999948602,-9.27791548854e-05,-0.000301651816861,-5.65185141691e-05,1793242836972335616
+248,4.133333333,HOLD_POSE2,765.406618731,745,714,681.593381269,658,632,879.406618731,786,806.406618731,651.593381269,631,652,0.453573461333,-0.0055619715219,0.0598028952605,0.999999948925,-9.11676614994e-05,-0.000301191611364,-5.58790422144e-05,1793242836989002496
+249,4.150000000,HOLD_POSE2,765.182181694,745,714,681.817818306,658,632,879,785.817818306,806.182181694,652,630.817818306,652,0.453573579543,-0.00556257961792,0.0598026032149,0.999999948953,-9.08306102399e-05,-0.000301248084784,-5.56112960773e-05,1793242837005669120
+250,4.166666667,HOLD_POSE2,765.761008832,745,714,681.238991168,658,632,879,785.238991168,806.761008832,652,630.238991168,652,0.453573358178,-0.00556206723611,0.0598016361128,0.999999948342,-9.32682703001e-05,-0.000302429469928,-5.6152870169e-05,1793242837022335488
+251,4.183333333,HOLD_POSE2,765.661695256,745,714,681,658,632,879,785.338304744,806.661695256,651.661695256,630.338304744,651.661695256,0.453572392172,-0.00556214895035,0.0598007586264,0.999999947881,-9.33914258078e-05,-0.000303915807866,-5.61291079593e-05,1793242837039002112
+252,4.200000000,HOLD_POSE2,765.08547622,745,714,681,658,632,879,785.91452378,806.08547622,651.08547622,630.91452378,651.08547622,0.453570902494,-0.00556264846527,0.0597999441626,0.999999947526,-9.18868957104e-05,-0.000305616605119,-5.5707770488e-05,1793242837055668992
+253,4.216666667,HOLD_POSE2,765,745.499299506,714,681.499299506,658,632,879.499299506,785.500700494,806,651,631,651,0.453571321221,-0.00556166081484,0.0598004779331,0.999999947631,-9.14967107188e-05,-0.000305359354889,-5.58756588361e-05,1793242837072335616
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+256,4.266666667,HOLD_POSE2,765,745,714,681.242432112,658,632,880,785,806.242432112,651,630.242432112,651.242432112,0.453571999703,-0.00556202283923,0.0597996348736,0.999999947316,-9.23505413174e-05,-0.000306107648962,-5.60157743344e-05,1793242837122335488
+257,4.283333333,HOLD_POSE2,765,745,714,681.819114216,658,632,880,785,806.819114216,651,630.819114216,651.819114216,0.453572558783,-0.00556277235403,0.0597999576733,0.999999947222,-9.34241524884e-05,-0.00030614343821,-5.57103258481e-05,1793242837139002112
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+260,4.333333333,HOLD_POSE2,765,745.443752333,714,681,658.443752333,632,880,785.556247667,806,651.556247667,631,652,0.453573766768,-0.0055589272534,0.0597998624827,0.9999999477,-8.86151599686e-05,-0.000305928065974,-5.61781853e-05,1793242837189002240
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+262,4.366666667,HOLD_POSE2,765,745.724771895,714,681,658,632,880,786,806.724771895,652,631,652,0.453572274777,-0.00556012796419,0.0597979609107,0.999999947087,-9.02643562109e-05,-0.000307410975363,-5.63678444989e-05,1793242837222335744
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880,785,807,652,631,652,0.45357003673,-0.00555824218645,0.059797160918,0.999999946227,-8.95303893014e-05,-0.0003104705146,-5.60175173025e-05,1793242837259406080
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880,785.556160484,807,652,631,651.443839516,0.453571576013,-0.00555875936873,0.0597979113179,0.999999946836,-8.97581469868e-05,-0.000308429746555,-5.60511818681e-05,1793242837276072704
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.125336786,745,714,681,658,632,880,786,807,652,631,651.125336786,0.453572536789,-0.00555951033447,0.0597984011014,0.999999947223,-9.02131962537e-05,-0.00030705152106,-5.5985591315e-05,1793242837292739328
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.745945649,745,714,681,658,632,880,786,807,652,631,651.745945649,0.453571211579,-0.0055611851027,0.0597978610513,0.999999946744,-9.15663951079e-05,-0.000308291351768,-5.55277911861e-05,1793242837309405952
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745.338941739,714,681,658,632,880,785.661058261,806.661058261,652,631,652,0.45357103801,-0.00556217217469,0.0597975398805,0.999999946556,-9.27613755387e-05,-0.000308570031674,-5.53850764805e-05,1793242837326072832
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745.912799727,714,681,658,632,880,785.087200273,806.087200273,652,631,652,0.45357166263,-0.00556268261299,0.0597973704123,0.99999994657,-9.38466966929e-05,-0.000308182549999,-5.54607435385e-05,1793242837342739712
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745.510630406,714,681,658,632,879.510630406,785.489369594,806.489369594,652,630.510630406,652,0.453571686696,-0.00556086376154,0.0597973956165,0.999999946502,-9.16002674302e-05,-0.00030903981075,-5.56808511936e-05,1793242837359406336
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.345174526,745.654825474,714,681,658,631.345174526,879.654825474,785.345174526,806.345174526,652,630.654825474,652,0.453569050033,-0.00556046706263,0.0597958829001,0.999999945667,-9.15387286799e-05,-0.000311749500797,-5.56606428432e-05,1793242837392739584
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.238454383,745.761545617,714,681,658,631.238454383,880,785.238454383,806.238454383,651.761545617,631,652,0.453562776535,-0.00556076206034,0.0597927914713,0.999999944183,-9.17894276474e-05,-0.000316404947866,-5.56497874242e-05,1793242837409406208
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.816949378,745.183050622,714,681,658,631.816949378,880,785.816949378,806.816949378,651.183050622,631,652,0.453550834172,-0.00555945451058,0.0597872940817,0.999999941492,-8.92586870103e-05,-0.000325456435875,-5.5927657795e-05,1793242837426073088
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745.116036677,714,681.883963323,658,632,880,786,806,651.116036677,631,651.883963323,0.453374178667,-0.00555449682867,0.0597188930236,0.999999901456,-8.85644179194e-05,-0.000430992150079,-5.90740308726e-05,1793242837492740608
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745.80642519,714,681,659.19357481,634,880,786.80642519,806,651,631,651.80642519,0.445462682337,-0.00542193676121,0.0597952185756,0.999999947828,2.94914385325e-05,-0.000321595334563,-7.16251818484e-06,1793242837942739200
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,745.612817499,714,680.612817499,659.387182501,634,880,787,806,651,631,651.612817499,0.44481831409,-0.00540930968886,0.0597758618984,0.99999993914,4.00637143361e-05,-0.00034654073084,-4.96749506846e-06,1793242837959405824
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,659.732055124,634,879.267944876,787,805,652,631,652,0.425841053242,-0.00539214185775,0.059775450631,0.999999925895,0.000181922657034,-0.000338649735094,2.0741304392e-05,1793242838342738944
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.184022806,745,714,679.184022806,659,635,879.815977194,786.184022806,805,652,631,652,0.410921881524,-0.00536766106477,0.0597436254425,0.999999882896,0.00022986154084,-0.000425237158865,2.33473844029e-05,1793242838642739200
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.763288731,745,714,679.763288731,659,635,879.236711269,786.763288731,805,652,631,652,0.410302033688,-0.00536881996196,0.0597772013372,0.999999905295,0.000232100374467,-0.000367288328394,2.52553164415e-05,1793242838659405824
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.661028304,659,634.661028304,879,787,805,652,631,652,0.40970647183,-0.00537060294144,0.0598140307782,0.999999926077,0.000226281806403,-0.00030962370204,2.78497600367e-05,1793242838676072704
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.087821261,659,634.087821261,879,787,805,652,631,652,0.409127692042,-0.00537281717256,0.0598531084746,0.999999944641,0.000214895433032,-0.000252155468859,3.09185949298e-05,1793242838692739584
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.5103971,745,714,679,659,634,879,787,805,652,631,652,0.408538781469,-0.00537316248648,0.05985853212,0.999999946282,0.000215819205781,-0.000244764224293,3.08133394978e-05,1793242838709406208
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.069223843,878.930776157,787,805,652,631,652,0.407950805601,-0.0053733581336,0.0598553361512,0.999999943914,0.000220485157204,-0.000250313570964,3.0020633963e-05,1793242838726072832
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.659639819,878.340360181,787,805,652,631,652,0.40738366779,-0.00537497284715,0.0598330873955,0.999999930983,0.000236556868417,-0.00028507666066,2.83759428011e-05,1793242838742739456
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.245359373,787,805,652,631,652,0.406851080149,-0.00537460998806,0.059821655016,0.999999925266,0.000242554533553,-0.000299821752124,2.72301930301e-05,1793242838759406080
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.824686408,787,805,652,631,652,0.40636552006,-0.00537155538202,0.0598249452055,0.999999930791,0.000234840043309,-0.000287319607963,2.67635709003e-05,1793242838776072704
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.400830618,659,635,879,787,805,652,631,652,0.405911651648,-0.005367962133,0.0598310079298,0.999999933879,0.000236637477711,-0.000274785482235,2.71703940971e-05,1793242838792739328
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.975593753,659,635,879,787,805,652,631,652,0.405471535172,-0.00536413515026,0.059838273741,0.999999935807,0.000242562422965,-0.000262237477635,2.79562315719e-05,1793242838809405952
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.450695671,659,635,878.450695671,787,805,652.549304329,631,652,0.405041895678,-0.00535890591941,0.0598237905569,0.999999927226,0.00025590859229,-0.000281611317072,2.7439205813e-05,1793242838826072832
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.127118367,659,635,878,787,805,653,631,652,0.404617081874,-0.00535352424812,0.0598059750791,0.999999915866,0.000268719293925,-0.000308757305281,2.6972345908e-05,1793242838842739456
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.720143411,659,635,878,787,805,653,631,652,0.404208251909,-0.00534781177434,0.059779481248,0.999999896383,0.000278361225571,-0.000359200895877,2.69011117927e-05,1793242838859406080
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.881834802,745,714,679.118165198,659,635,878.881834802,787,804.118165198,653,631,652,0.403544641014,-0.00534196849425,0.0597762149668,0.999999896045,0.000285408114953,-0.000354487022983,2.81140724005e-05,1793242838892739584
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.543244588,745,714,679.456755412,659,635,878.543244588,787,804,652.543244588,631,652,0.403278623814,-0.00534045539721,0.0597932749526,0.999999905352,0.000287358093348,-0.000325298007358,3.00372552927e-05,1793242838909405952
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.031240588,745,714,680,658.968759412,634.968759412,878,787,804,652,631,652,0.403024933384,-0.00533917946677,0.0598130170765,0.999999914525,0.000289327285163,-0.000293600406302,3.22295906584e-05,1793242838926072576
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.607850493,745,714,680,658.392149507,634.392149507,878,787,804,652,631,652,0.402797639708,-0.00533958656423,0.0598300674322,0.999999922081,0.000290211106765,-0.00026542352689,3.41428054859e-05,1793242838942738944
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.810204059,745,714,679.810204059,658.189795941,634.189795941,878.189795941,787,804,652.189795941,631,652,0.402572902359,-0.00534385183605,0.0598417859786,0.999999928253,0.000284510919626,-0.000247545576893,3.56300884357e-05,1793242838959405824
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.216915709,745,714,679.216915709,658.783084291,634.783084291,878.783084291,787,804,652.783084291,631,652,0.402353599602,-0.00535631930676,0.0598421694831,0.999999932639,0.000264813607568,-0.000251562407924,3.62118708951e-05,1793242838976072704
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.36456647,658.63543353,635,878.63543353,787,804.36456647,652.63543353,631,652,0.402153638875,-0.00536698558274,0.059838169903,0.999999943349,0.000209080944314,-0.000262483655974,2.62621267875e-05,1793242838992739328
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.939244427,658.060755573,635,878.060755573,787,804.939244427,652.060755573,631,652,0.401964825567,-0.00537661377294,0.0598316442092,0.999999952688,0.000132579935982,-0.00027738414265,1.02427221191e-05,1793242839009405952
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,635,878,787,805,652,631,652,0.401812478479,-0.00537987989808,0.0598295444011,0.999999951872,0.000125938794004,-0.000283354149478,1.02438134257e-05,1793242839026072576
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.908753627,714,679.908753627,658,635,878,786.908753627,804.908753627,652,631,652,0.401669122598,-0.00538117027938,0.0598284055396,0.999999950343,0.00012922228003,-0.00028717869568,1.19736915424e-05,1793242839042739456
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.320066576,714,679.320066576,658,635,878,786.320066576,804.320066576,652,631,652,0.401551281302,-0.00537578992365,0.0598296529672,0.999999949264,0.000141587293362,-0.00028506258382,1.28032574762e-05,1793242839059405824
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.264726806,744.264726806,714,679,658.264726806,635,878.264726806,786.264726806,804,652,631,652,0.401447443891,-0.00537250793786,0.0598326083905,0.999999944434,0.000180150211226,-0.000280146216177,1.39918418015e-05,1793242839076072448
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.844880771,744.844880771,714,679,658.844880771,635,878.844880771,786.844880771,804,652,631,652,0.401360292389,-0.00537172620116,0.0598375989239,0.999999931683,0.000249928442661,-0.000271893288235,1.56082034547e-05,1793242839092739328
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.001064279,745,714,679.998935721,658.001064279,635,878.001064279,787,804.998935721,652,631,652,0.401212835214,-0.00536998929535,0.05983829964,0.999999927546,0.000268744417084,-0.000269067172665,1.69433843661e-05,1793242839126072576
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.57165845,744.42834155,714,679.42834155,658.57165845,635,878,787,805,652,631,652,0.401155697521,-0.00537037925463,0.0598344835492,0.999999925467,0.000266851594542,-0.000278478677148,1.74884288699e-05,1793242839142739200
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.849820168,744.150179832,714,679,659,635,878.300359664,787,804.849820168,652,631,651.849820168,0.401103142736,-0.00537011274625,0.0598310795942,0.99999992368,0.000265876032472,-0.000285710448618,1.78958601092e-05,1793242839159406080
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.254073975,744.745926025,714,679,659,635,879.491852051,787,804.254073975,652,631,651.254073975,0.40106410526,-0.00536789159525,0.0598289173315,0.999999923008,0.000267632766637,-0.000286421598688,1.78948775047e-05,1793242839176072704
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744.669630786,714,679.330369214,659,635,879.339261572,787,804.330369214,652,631,651.330369214,0.401034510503,-0.00536773999751,0.0598286409891,0.999999923047,0.000267703995578,-0.000286200927505,1.81421320896e-05,1793242839192739328
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744.093592667,714,679.906407333,659,635,878.187185334,787,804.906407333,652,631,651.906407333,0.401011937532,-0.00536912735917,0.0598297670532,0.999999923616,0.000266521850581,-0.000285287336183,1.85739806254e-05,1793242839209405952
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744.480874683,714,679.519125317,658.519125317,635,878.480874683,786.519125317,805,652,631,652,0.401000347133,-0.00536932728427,0.0598329683469,0.999999925062,0.000266330003737,-0.000280334579227,1.88947103693e-05,1793242839226072320
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744.944610615,714,679,658.055389385,635,878.944610615,786.055389385,805,652,630.944610615,651.944610615,0.400990866707,-0.00536934673305,0.0598361851875,0.999999926501,0.000266213016148,-0.000275247716509,1.91570526557e-05,1793242839242739200
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,744.366774697,714,679,658.633225303,635,878.366774697,786.633225303,805,652,630.366774697,651.366774697,0.400981191914,-0.00536983668186,0.0598357513722,0.999999926541,0.000264990050225,-0.000276286886463,1.9071997676e-05,1793242839259405824
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744.216225666,714,679.216225666,658.783774334,634.783774334,878,787,804.783774334,652,630.216225666,651.216225666,0.400974316851,-0.00536941782946,0.0598359319515,0.999999926765,0.000264531597754,-0.00027592285028,1.89704546004e-05,1793242839276072448
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,744.808200581,714,679.808200581,658.191799419,634.191799419,878,787,804.191799419,652,630.808200581,651.808200581,0.400972307062,-0.00536741969469,0.0598371802037,0.999999927306,0.000265401689562,-0.000273120372458,1.88402591048e-05,1793242839292739584
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.388463154,878.388463154,787,804.388463154,652,631,652,0.400971448316,-0.00536780042891,0.0598387453063,0.999999927952,0.000265446624969,-0.000270689143733,1.89871586253e-05,1793242839309405952
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.963112123,878.963112123,787,804.963112123,652,631,652,0.400971141251,-0.00536932132708,0.0598404622715,0.999999928648,0.00026509607261,-0.000268435850406,1.92668665263e-05,1793242839326072832
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.46329737,658.53670263,635,878.46329737,787.53670263,805,652,631,652,0.400968871491,-0.00537098786334,0.0598395389819,0.99999992877,0.000262481590338,-0.00027050984507,1.97049847293e-05,1793242839342739200
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878,787.885549171,805,652,630.885549171,652,0.400967147915,-0.00537212409207,0.0598389368591,0.999999929033,0.000259912505583,-0.000271990947677,1.99876051476e-05,1793242839359405824
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878,787.290019637,805,652,630.290019637,652,0.400968286054,-0.00537098925182,0.0598404459858,0.9999999301,0.000258187005342,-0.00026973221575,1.95709367522e-05,1793242839376072448
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.295140577,745,714,679,658.704859423,635,878,787,805,652,630.295140577,652,0.400968796141,-0.0053699781695,0.0598410922959,0.999999930196,0.00025934214195,-0.000268286645491,1.93006637609e-05,1793242839392739072
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.870457295,745,714,679,658.129542705,635,878,787,805,652,630.870457295,652,0.400968710019,-0.00536908457011,0.0598409195369,0.999999929362,0.000263231859017,-0.00026761300711,1.91693634764e-05,1793242839409405952
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.554928326,744.554928326,714,679,658.445071674,635,878.445071674,787,805,652.445071674,631,652,0.400969389942,-0.00536971322953,0.0598414728912,0.99999992959,0.000263517583502,-0.000266466628673,1.93211230492e-05,1793242839426072832
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744,713.980079301,679,659,635,878.980079301,787,805,652.980079301,631,652,0.400970237815,-0.00537077753886,0.0598422167234,0.999999930135,0.000262682651556,-0.000265227040216,1.95411171157e-05,1793242839442739456
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744,713.39273185,679,659,635,878.39273185,787,805,652.39273185,631,652,0.400969528653,-0.00537165040306,0.0598423757191,0.999999930898,0.000259758968754,-0.000265245573352,1.93616710151e-05,1793242839459406080
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744.192388005,713.192388005,679,658.807611995,635,878.192388005,787,805,652,631,652,0.400968948793,-0.00537194124598,0.0598425191486,0.999999931426,0.00025791184253,-0.00026506372838,1.92405555826e-05,1793242839476072704
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744.773012565,713.773012565,679,658.226987435,635,878.773012565,787,805,652,631,652,0.400968629865,-0.00537105757727,0.0598426311655,0.999999931498,0.000258237194018,-0.000264477522931,1.92371507102e-05,1793242839492739328
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.350972639,745,714,679,658,635,879,787,804.649027361,652,631,652,0.400968237436,-0.00537057916143,0.0598424214069,0.999999931034,0.000259619132218,-0.000264885318727,1.91448878148e-05,1793242839509405696
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.927222451,745,714,679,658,635,879,787,804.072777549,652,631,652,0.400967797831,-0.00537036086338,0.0598420051117,0.999999930222,0.000261679256795,-0.000265931129491,1.89955900342e-05,1793242839526072320
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.499766935,745,714,679,658.500233065,635,878.499766935,787,804,652,631,651.499766935,0.400967495362,-0.00537159865163,0.0598419318011,0.999999930717,0.000259904225142,-0.00026579722379,1.91746936662e-05,1793242839542739456
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.075419835,745,714,679,659,635,878,787,804.075419835,652,631,651.075419835,0.400967444602,-0.00537272804586,0.0598420056654,0.999999931272,0.000258121160319,-0.000265432863169,1.93586728086e-05,1793242839559406336
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b989af9727e4cf5becb57ca17e770abd5f6318cd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..65e85900115443b03b2010a4c94dcc0f5f83177d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f5b98dfc5177ce0c8d302dfcaf1d533995193c5f981caac70097a48faea55f5
+size 32846034
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5e3a73de256079ab80dbea512cfd8acb262b87a6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_04/franka_data.csv
@@ -0,0 +1,518 @@
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+17,0.283333333,BASELINE,765.137548594,745,714,679,659.137548594,635,879,786.137548594,805,652,631,652,0.400971319663,-0.00537424547741,0.0598470114206,0.999999934478,0.000252830946782,-0.00025836792209,1.91641280022e-05,1793242840070156800
+18,0.300000000,BASELINE,765,745,714,679,658.550675489,635,878.550675489,786.449324511,805,652,631,652,0.400969339552,-0.00537308141542,0.0598463317321,0.99999993368,0.000254500140295,-0.0002598201004,1.90326070714e-05,1793242840086823424
+19,0.316666667,BASELINE,765,745,714,679,658.039267062,635,877.960732938,787,805,652,631,652,0.400966630671,-0.00537160993024,0.0598451923597,0.999999932607,0.000256595099491,-0.000261899122838,1.8809790801e-05,1793242840103489792
+20,0.333333333,BASELINE,765,745,714,679,658.619169833,635,877.380830167,787,805,652,631,652,0.400967720234,-0.00537226174753,0.059845620932,0.999999932957,0.000255973428524,-0.000261164702744,1.88990763086e-05,1793242840120156672
+21,0.350000000,BASELINE,765,745,714,679.197311941,659.197311941,635,877.394623883,786.802688059,805,652,631,651.802688059,0.400968784153,-0.00537285951875,0.0598461065636,0.999999933312,0.000255533268456,-0.000260223394708,1.90395562743e-05,1793242840136823040
+22,0.366666667,BASELINE,765,745,714,679.7720858,659.7720858,635,878.5441716,786.2279142,805,652,631,651.2279142,0.400969799015,-0.00537335389864,0.0598467013507,0.999999933678,0.000255440342647,-0.000258886305745,1.92779723107e-05,1793242840153489664
+23,0.383333333,BASELINE,765,745,714,679.646031106,659.292062211,635,878.646031106,786.353968894,805,652.353968894,631,651.353968894,0.400969691836,-0.00537264028932,0.0598465054184,0.999999933665,0.000255531995568,-0.000258864785658,1.90114745341e-05,1793242840170156288
+24,0.400000000,BASELINE,765,745,714,679.059476623,658.118953247,635,878.059476623,786.940523377,805,652.940523377,631,651.940523377,0.400968847388,-0.0053711329355,0.0598457899208,0.999999933404,0.00025574493132,-0.000259707698345,1.84132084314e-05,1793242840186822912
+25,0.416666667,BASELINE,765,744.477622077,714,679,658.522377923,635,878,787,804.477622077,652.477622077,631,651.477622077,0.400969014492,-0.00537065271431,0.0598460979708,0.999999933033,0.000257241363543,-0.000259648177561,1.85154300528e-05,1793242840203490048
+26,0.433333333,BASELINE,765,744.102820658,714,679,658.897179342,635,878,787,804.102820658,652.102820658,631,651,0.400969112149,-0.00537081773457,0.0598463431412,0.999999932933,0.000257683927842,-0.000259577955604,1.8757404058e-05,1793242840220156928
+27,0.450000000,BASELINE,765,744.67920383,714,679,658.32079617,635,878,787,804.67920383,652.67920383,631,651,0.40096836423,-0.00537342073197,0.0598457667492,0.999999934128,0.00025260562142,-0.000259927458737,1.92789809198e-05,1793242840236823296
+28,0.466666667,BASELINE,765.254147878,745,714,679,658.254147878,635,878.254147878,787,805,652.745852122,631,651.254147878,0.400967701785,-0.00537495134069,0.059845392039,0.999999934719,0.000249771088928,-0.000260371981975,1.9546489678e-05,1793242840253489664
+29,0.483333333,BASELINE,765.827285595,745,714,679,658.827285595,635,878.827285595,787,805,652.172714405,631,651.827285595,0.40096714662,-0.00537513595692,0.0598452704666,0.999999934578,0.000249752795428,-0.000260935768238,1.94951086942e-05,1793242840270156288
+30,0.500000000,BASELINE,765.587719696,745,714,679.412280304,659,635,878.587719696,786.587719696,805,652,631,652,0.400967307311,-0.00537451040329,0.0598450593104,0.999999934066,0.000251332727625,-0.000261395209414,1.92960936702e-05,1793242840286822912
+31,0.516666667,BASELINE,765,744.997654108,714,679.997654108,658.997654108,635,878.002345892,786.002345892,804.997654108,652,631,652,0.400967777801,-0.0053735317715,0.0598448120855,0.999999933391,0.000253601734939,-0.000261805502192,1.90336439445e-05,1793242840303489792
+32,0.533333333,BASELINE,765,744.418258492,714,679.418258492,658.418258492,635,878.581741508,786.581741508,804.418258492,652,631,652,0.400968501362,-0.00537166071556,0.0598451973714,0.999999932994,0.000255800198481,-0.000261197113163,1.88312669005e-05,1793242840320156416
+33,0.550000000,BASELINE,765,744.159542587,714,679,658.159542587,635,878.840457413,787,804,652,631,652,0.400968963594,-0.00537086062275,0.0598456045236,0.999999932974,0.000256407005694,-0.000260686528475,1.87229555599e-05,1793242840336823296
+34,0.566666667,BASELINE,765,744.733204688,714,679,658.733204688,635,878.266795312,787,804,652,631,652,0.400968747498,-0.00537284039447,0.0598460684329,0.999999933936,0.00025288240188,-0.000260429811437,1.88588075449e-05,1793242840353490176
+35,0.583333333,BASELINE,765,745.308833501,714,679.308833501,659,635,878,787,804,652,631,651.691166499,0.400968220641,-0.00537368063836,0.0598460094842,0.99999993418,0.000251765687041,-0.000260559175667,1.90399903927e-05,1793242840370156544
+36,0.600000000,BASELINE,765,745.886172271,714,679.886172271,659,635,878,787,804,652,631,651.113827729,0.400967423603,-0.00537353015697,0.0598454959536,0.999999933808,0.000252742432764,-0.000261024205701,1.9260584704e-05,1793242840386823168
+37,0.616666667,BASELINE,765,745.525683151,714,680,659,635,878.474316849,787,804.474316849,652,631,651.474316849,0.400968178084,-0.0053728277204,0.0598459208608,0.999999933869,0.000253524681821,-0.000260049381049,1.90057422711e-05,1793242840403489536
+38,0.633333333,BASELINE,765.063476081,745,714,679.936523919,659,635.063476081,878.936523919,787,805,652,631,652,0.400969107322,-0.00537217657023,0.0598464726814,0.999999933986,0.000254185835713,-0.000258976462771,1.8699518133e-05,1793242840420156416
+39,0.650000000,BASELINE,765.639403705,745,714,679.360596295,659,635.639403705,878.360596295,787,805,652,631,652,0.400968371389,-0.00537303375734,0.0598461885642,0.999999933707,0.000254254976468,-0.00025996624669,1.89210731922e-05,1793242840436823040
+40,0.666666667,BASELINE,765.784377091,745,714,679.215622909,659,635.784377091,878,787,804.784377091,652,631,652,0.400967674322,-0.00537333110951,0.0598458664597,0.99999993337,0.000254823133713,-0.000260700152344,1.90096416132e-05,1793242840453489664
+41,0.683333333,BASELINE,765.20766964,745,714,679.79233036,659,635.20766964,878,787,804.20766964,652,631,652,0.400967042338,-0.00537269095576,0.0598454807412,0.999999932934,0.000256226949572,-0.000261005561323,1.88755091042e-05,1793242840470156288
+42,0.700000000,BASELINE,765,745,714,679.623244914,659,635,878.376755086,787,804.376755086,652,631,651.623244914,0.400966636407,-0.00537258954293,0.0598454688635,0.999999932917,0.000256488827677,-0.000260800100179,1.90382497088e-05,1793242840486823168
+43,0.716666667,BASELINE,765,745,714,679.034477445,659,635,878.965522555,787,804.965522555,652,631,651.034477445,0.400966357683,-0.00537279129723,0.0598456673582,0.999999933137,0.000256108100092,-0.000260307155735,1.9368050507e-05,1793242840503489792
+44,0.733333333,BASELINE,765.546021904,745,714,679.546021904,658.453978096,635,879,787,804.453978096,652,631,651.546021904,0.400967558512,-0.00537430682689,0.0598459695845,0.999999934179,0.000252919565018,-0.000259424086316,1.93153029105e-05,1793242840520156416
+45,0.750000000,BASELINE,765.874843627,745,714,679.874843627,658,635,878.874843627,787,804,652,631,652,0.400968317663,-0.0053750988727,0.0598460396149,0.999999934898,0.000250419895069,-0.000259088289276,1.91491027037e-05,1793242840536823040
+46,0.766666667,BASELINE,765.298773811,745,714,679.298773811,658,635,878.298773811,787,804,652,631,652,0.400967153963,-0.00537298993558,0.0598452498434,0.999999934306,0.00025103129392,-0.000260811631931,1.86598837727e-05,1793242840553489664
+47,0.783333333,BASELINE,765,745,714,679,658.276246362,635,878,787,804.276246362,652,631,652,0.40096717711,-0.00537189837761,0.0598451986932,0.999999934008,0.000252006043278,-0.000261015476049,1.86257801992e-05,1793242840570156032
+48,0.800000000,BASELINE,765,745,714,679,658.850135664,635,878,787,804.850135664,652,631,652,0.40096847903,-0.00537190299932,0.0598459433736,0.999999934028,0.000253372286424,-0.000259582129545,1.90820427448e-05,1793242840586822912
+49,0.816666667,BASELINE,765,745,714,679,658.562800335,635,878,787,805,652,631,652,0.400969056676,-0.00537281355324,0.0598467111206,0.999999934122,0.000254143864024,-0.000258453514038,1.92168403442e-05,1793242840603489536
+50,0.833333333,BASELINE,765,745,714,679,658.028291437,635,878,787,805,652,631,652,0.400969399187,-0.00537391449967,0.0598474295112,0.999999934237,0.000254683759094,-0.000257473621649,1.92120590614e-05,1793242840620156416
+51,0.850000000,BASELINE,765,745,714,679,658.607151002,635,878,787,805,652,631,652,0.400970147402,-0.00537248958611,0.0598470287474,0.999999934263,0.000254805092221,-0.000257292024584,1.87020297764e-05,1793242840636823040
+52,0.866666667,BASELINE,765.18453482,744.81546518,714,679.18453482,658.81546518,635,878,787,804.81546518,652,631,652,0.400970110284,-0.0053716146967,0.0598465384348,0.999999934125,0.000254968925805,-0.000257685111735,1.84090373654e-05,1793242840653489664
+53,0.883333333,BASELINE,765.758801869,744.241198131,714,679.758801869,658.241198131,635,878,787,804.241198131,652,631,652,0.400968414564,-0.00537190144257,0.0598458589981,0.999999933642,0.00025522251912,-0.000259291915424,1.85744206161e-05,1793242840670156288
+54,0.900000000,BASELINE,765.659010348,744,714,679.659010348,658,635,878,787,804.340989652,652,631,652,0.400968836102,-0.0053729969165,0.0598463385836,0.999999934245,0.000253313370707,-0.000258820632927,1.88180653746e-05,1793242840686822912
+55,0.916666667,BASELINE,765.071086642,744,714,679.071086642,658,635,878,787,804.928913358,652,631,652,0.400970790893,-0.00537467804602,0.0598476574967,0.999999935623,0.000249838032279,-0.000256844465257,1.91183846652e-05,1793242840703489792
+56,0.933333333,BASELINE,765,744.511135669,714,679,658,635,878,787,805,652,631,651.488864331,0.400969646406,-0.00537500906557,0.0598464195001,0.999999935335,0.000249248277649,-0.000258549118487,1.89065059102e-05,1793242840720156416
+57,0.950000000,BASELINE,765,745,714,679.091480603,658.091480603,635,878,787,805,652,631,651.091480603,0.4009683932,-0.00537516800351,0.0598451687274,0.999999934869,0.000249339982558,-0.000260270389843,1.8728270518e-05,1793242840736823040
+58,0.966666667,BASELINE,765,745,714,679.666052369,658.666052369,635,878,787,805,652,631,651.666052369,0.400968816976,-0.00537539883855,0.0598457076493,0.999999934688,0.000250934453832,-0.000259405924123,1.90997244269e-05,1793242840753489664
+59,0.983333333,BASELINE,765,745,714,679.759137138,658.759137138,635,878.240862862,787,804.759137138,652,631,652,0.400968685873,-0.00537491403919,0.0598460307071,0.99999993447,0.000252103263855,-0.00025910989686,1.91131018918e-05,1793242840770156288
+60,1.000000000,BASELINE,765,745,714,679.183995249,658.183995249,635,878.816004751,787,804.183995249,652,631,652,0.400967784688,-0.00537343605409,0.0598460541802,0.999999934206,0.000252681324549,-0.000259602770895,1.86295267263e-05,1793242840786823168
+61,1.016666667,BASELINE,765,745,714,679,658.401087944,635,879,787,804,652,631,652,0.400967511655,-0.00537330883326,0.0598457306228,0.999999934366,0.000252370093988,-0.000259294493808,1.85198811237e-05,1793242840803490048
+62,1.033333333,BASELINE,765,745,714,679,658.990847486,635,879,787,804,652,631,652,0.400967534103,-0.00537381701147,0.0598452438225,0.999999934726,0.000251640541162,-0.000258609355542,1.85861318579e-05,1793242840820157184
+63,1.050000000,BASELINE,765,745,714,679.569968022,659,635,879,787,804.569968022,652,631,652,0.400968900518,-0.00537292814942,0.0598463245942,0.99999993457,0.000252921117668,-0.000257953314056,1.87601277115e-05,1793242840836823296
+64,1.066666667,BASELINE,765,745,714,679.851357362,659,635,878.851357362,787,805,652,631,652,0.400969861402,-0.00537233241556,0.0598471086098,0.999999934317,0.000254297486787,-0.000257568654437,1.89151655941e-05,1793242840853489408
+65,1.083333333,BASELINE,765,745,714,679.273486157,659,635,878.273486157,787,805,652,631,652,0.400969590072,-0.00537264672812,0.0598469643401,0.999999933814,0.000255858970472,-0.000257966327412,1.9010554829e-05,1793242840870156288
+66,1.100000000,BASELINE,765,745,714,679.30223636,658.69776364,635,878,787,804.69776364,652,631,652,0.400969553946,-0.00537260799886,0.0598469435819,0.999999933605,0.000256641902664,-0.000257993976097,1.90557075888e-05,1793242840886823168
+67,1.116666667,BASELINE,765,745,714,679.876028277,658.123971723,635,878,787,804.123971723,652,631,652,0.400969729145,-0.00537225206597,0.0598470337972,0.999999933663,0.000256725316075,-0.000257689162601,1.90557235042e-05,1793242840903489792
+68,1.133333333,BASELINE,765.462453966,745,714,680,658.462453966,635,878,787,804.462453966,652,631,652,0.400969816967,-0.00537310672782,0.0598475708521,0.999999934046,0.000255804223179,-0.000257117415735,1.90323591417e-05,1793242840920156160
+69,1.150000000,BASELINE,765.948694975,745,714,679.948694975,659,635,878,787,805,652.051305025,631,652,0.400969848355,-0.00537420731431,0.0598481313175,0.999999934487,0.000254617731542,-0.000256580019969,1.90227717401e-05,1793242840936823040
+70,1.166666667,BASELINE,765.370690806,745,714,679.370690806,659,635,878,787,805,652.629309194,631,652,0.400969547602,-0.00537440737672,0.0598476678497,0.999999934609,0.000253548746431,-0.000257150521728,1.92207700618e-05,1793242840953489664
+71,1.183333333,BASELINE,765,745,714,679,659,635,878,787,805,652.7934447,631,651.7934447,0.40096898282,-0.00537420661614,0.0598471608878,0.999999934411,0.000253518882827,-0.000257943312981,1.92497605861e-05,1793242840970156544
+72,1.200000000,BASELINE,765,745,714,679,659,635,878,787,805,652.217553971,631,651.217553971,0.400967945935,-0.00537328915587,0.0598465761552,0.999999933644,0.000255347041518,-0.000259133573603,1.89765532929e-05,1793242840986823168
+73,1.216666667,BASELINE,765,745,714,679.365800893,659,635,878,787,805,652.365800893,631,651.365800893,0.400968545603,-0.00537315556583,0.059846904705,0.999999933949,0.000254789164659,-0.00025851381344,1.88503146309e-05,1793242841003489792
+74,1.233333333,BASELINE,765,745,714,679.95368736,659,635,878,787,805,652.95368736,631,651.95368736,0.400970138858,-0.00537349788028,0.059847787728,0.999999934902,0.000252782674292,-0.000256795150735,1.88133037956e-05,1793242841020156416
+75,1.250000000,BASELINE,765,745,714,680,658.464437237,635,878.535562763,787,805,652.464437237,631,651.464437237,0.400968008334,-0.00537364220242,0.0598462712927,0.999999934497,0.000252522078344,-0.00025862896313,1.86993385173e-05,1793242841036823296
+76,1.266666667,BASELINE,765,745,714,679.885623902,658.114376098,635,878.885623902,787,805,652,631,651.114376098,0.40096648869,-0.00537371535604,0.0598451611153,0.999999934137,0.000252541691048,-0.000260002472377,1.86646559187e-05,1793242841053490176
+77,1.283333333,BASELINE,765,745,714,679.316931692,658.683068308,635,878.316931692,787,805,652,631,651.683068308,0.400968660411,-0.00537357307267,0.0598464796829,0.999999934425,0.000253081289177,-0.000258340909943,1.89710335744e-05,1793242841070156800
+78,1.300000000,BASELINE,765,745,714,679,658.742657083,635,878,786.742657083,804.742657083,652,631,651.742657083,0.400969661834,-0.00537276322484,0.0598471214779,0.999999934403,0.000253980485753,-0.000257542276176,1.89698975334e-05,1793242841086823680
+79,1.316666667,BASELINE,765,745,714,679,658.161355048,635,878,786.161355048,804.161355048,652,631,651.161355048,0.400969190015,-0.00537111300577,0.0598469113097,0.999999933992,0.000255332366966,-0.0002578299503,1.85816442839e-05,1793242841103490304
+80,1.333333333,BASELINE,765,745,714,679,658.425686847,635,878,786.425686847,804,652.425686847,631,651.425686847,0.400968798632,-0.00537105227301,0.0598466511542,0.99999993372,0.000255782749106,-0.000258439466189,1.85595910742e-05,1793242841120157184
+81,1.350000000,BASELINE,765,744.985318547,714,679,659,635,878,787,804.014681453,652.985318547,631,652,0.400968512933,-0.00537163751637,0.0598464249428,0.99999993355,0.000255810430598,-0.000259057922972,1.86846929886e-05,1793242841136823552
+82,1.366666667,BASELINE,765,744.406043764,714,679,659,635,878,787,804.593956236,652.406043764,631,652,0.40097110297,-0.00537357842769,0.0598482427056,0.999999935258,0.000252903124597,-0.000255264699305,1.90578800321e-05,1793242841153490176
+83,1.383333333,BASELINE,765,744,714,679,659,635,878,787,805,652,631,652,0.400972655117,-0.0053748050825,0.0598492550239,0.999999936127,0.00025157684328,-0.000253145842121,1.92898424258e-05,1793242841170156800
+84,1.400000000,BASELINE,765,744,714,679,659,635,878,787,805,652,631,652,0.400971774508,-0.00537435756014,0.0598483794253,0.999999935069,0.00025395639535,-0.000254951606135,1.9190782167e-05,1793242841186823680
+85,1.416666667,BASELINE,765,744.322470089,714,679,659,635,878.322470089,787,804.677529911,652,631,651.677529911,0.40097058986,-0.00537400184181,0.0598475364765,0.99999993453,0.00025473836378,-0.000256292021795,1.90340822084e-05,1793242841203490304
+86,1.433333333,BASELINE,765,744.897206591,714,679,659,635,878.897206591,787,804.102793409,652,631,651.102793409,0.400969167364,-0.00537371794124,0.0598467190695,0.999999934402,0.000254270551985,-0.000257268398126,1.8832291065e-05,1793242841220156928
+87,1.450000000,BASELINE,765,745,714,679,659,634.513720782,879,787,804,652,631,651,0.400969981179,-0.00537317808946,0.0598479026957,0.999999934905,0.000253356538365,-0.000256217840295,1.87843695243e-05,1793242841236823808
+88,1.466666667,BASELINE,765,744.923404567,714,679,659,634.076595433,878.923404567,787,804.076595433,652,631,651,0.400970868408,-0.00537286438154,0.059849081959,0.999999935423,0.000252270044176,-0.000255265271339,1.87815030826e-05,1793242841253490176
+89,1.483333333,BASELINE,765,744.345388585,714,679,659,634.654611415,878.345388585,787,804.654611415,652,631,651,0.400969047569,-0.00537439603952,0.0598473794819,0.999999935158,0.000250690650107,-0.000257844282942,1.88541876072e-05,1793242841270156800
+90,1.500000000,BASELINE,765,744,714,679.231759895,658.768240105,635,878.231759895,787,805,652,631,651.231759895,0.400968283439,-0.00537469942689,0.0598466326916,0.999999934911,0.000250565168091,-0.000258920198653,1.88262795812e-05,1793242841286823424
+91,1.516666667,BASELINE,765,744,714,679.807620319,658.192379681,635,878.807620319,787,805,652,631,651.807620319,0.400969088235,-0.00537317916571,0.059847304837,0.999999934702,0.000252598350926,-0.000257764424774,1.86490189183e-05,1793242841303490048
+92,1.533333333,BASELINE,765,744.391069475,714,679.608930525,658,635,879,786.608930525,805,652,631,652,0.400968947705,-0.00537342968628,0.0598477926877,0.999999934794,0.000252661735748,-0.000257322017303,1.89324437379e-05,1793242841320156672
+93,1.550000000,BASELINE,765,744.9783257,714,679.0216743,658,635,879,786.0216743,805,652,631,652,0.400968332937,-0.00537456854995,0.0598481880839,0.99999993504,0.000251736937589,-0.000257237482298,1.94469793633e-05,1793242841336823552
+94,1.566666667,BASELINE,765,745,714,679,658,635,878.43970042,786.56029958,804.43970042,652,631,651.43970042,0.400969891764,-0.00537434868519,0.0598482319696,0.999999935206,0.000251959812659,-0.000256382179462,1.9317713537e-05,1793242841353489920
+95,1.583333333,BASELINE,765.140165625,745,714,679,658.140165625,635,878.140165625,787,804.140165625,652,631,651,0.400970686707,-0.00537400750735,0.0598479892627,0.999999935108,0.000252519193478,-0.000256229719218,1.91010725339e-05,1793242841370156800
+96,1.600000000,BASELINE,765.714134713,745,714,679,658.714134713,635,878.714134713,787,804.714134713,652,631,651,0.400968859683,-0.0053734520246,0.0598469012612,0.999999934201,0.000253983918519,-0.000258343927229,1.8690368751e-05,1793242841386823168
+97,1.616666667,BASELINE,765.712352828,745,714,679,659,635,878.712352828,787,805,652,631,651.287647172,0.400968727967,-0.00537316289705,0.0598471400564,0.999999934097,0.000254588697919,-0.000258154982474,1.86264513843e-05,1793242841403490048
+98,1.633333333,BASELINE,765.139293483,745,714,679,659,635,878.139293483,787,805,652,631,651.860706517,0.400970278388,-0.00537313805518,0.0598486953394,0.99999993479,0.00025434021331,-0.000255680780179,1.89066259501e-05,1793242841420156928
+99,1.650000000,BASELINE,765.449404788,745,714,679,658.550595212,635,878,786.550595212,804.550595212,652,631,652,0.400969330705,-0.00537367316937,0.0598480109135,0.999999934653,0.000253810928586,-0.000256739812167,1.89541128318e-05,1793242841436823808
+100,1.666666667,BASELINE,765.958602379,745,714,679,658,635,878.041397621,786.041397621,804.041397621,652,631,651.958602379,0.400967778989,-0.00537421414241,0.0598467891558,0.999999934283,0.000253317730606,-0.000258662317562,1.89175273829e-05,1793242841453490176
+101,1.683333333,BASELINE,765.388665145,745,714,679,658,635,878.611334855,786.611334855,804.611334855,652,631,651.388665145,0.400968757406,-0.0053725341309,0.0598478897477,0.999999934399,0.000254436529961,-0.000257123074471,1.87615633472e-05,1793242841470156800
+102,1.700000000,BASELINE,765,745,714,679.183902702,658,635,878.816097298,787,804.816097298,652,631,651.183902702,0.400969631645,-0.00537212328335,0.0598485181504,0.999999934702,0.00025443934404,-0.000255938603104,1.87771982483e-05,1793242841486823424
+103,1.716666667,BASELINE,765,745,714,679.762110764,658,635,878.237889236,787,804.237889236,652,631,651.762110764,0.400970282513,-0.00537443364757,0.0598481341334,0.999999935408,0.00025204937651,-0.000255514797173,1.91607580558e-05,1793242841503490304
+104,1.733333333,BASELINE,765,745,714,679.651569315,658,635,878,787,804.348430685,652,631,652,0.400969691632,-0.00537382964552,0.0598477585342,0.999999935079,0.000252539789267,-0.000256316234401,1.91552230122e-05,1793242841520156928
+105,1.750000000,BASELINE,765,745,714,679.059578994,658,635,878,787,804.940421006,652,631,652,0.400968232744,-0.00537118844658,0.0598473888194,0.999999934023,0.000255043642064,-0.000257974139722,1.88777033495e-05,1793242841536823552
+106,1.766666667,BASELINE,765,745,714,679.523619188,658.523619188,635,878,787,805,652.523619188,631,652,0.400968145418,-0.00537425197628,0.059847135816,0.999999934871,0.000251878606019,-0.000257767854117,1.92500573287e-05,1793242841553490432
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787,805,652,631,651,0.400966722234,-0.00537149178461,0.0598467454102,0.999999933238,0.000256476593375,-0.000259617171386,1.85066826374e-05,1793242841596225792
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.551103805,745,714,679,659,635,878,786.448896195,805,652,630.448896195,651.551103805,0.400966773941,-0.0053715419815,0.0598471790438,0.999999933384,0.000256482257629,-0.000259032140397,1.87616944768e-05,1793242841612892672
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,878,786.114867202,804.885132798,652,630.114867202,651.885132798,0.400967282335,-0.00537184610849,0.0598475992299,0.999999933725,0.000256072761625,-0.000258102785962,1.89781637793e-05,1793242841629559552
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,878,786.734231771,804.265768229,652,630.734231771,651.265768229,0.400969796502,-0.00537326549787,0.0598479603545,0.99999993492,0.000253839879542,-0.000255661160913,1.90253541356e-05,1793242841646225920
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.668851763,745,714,679.331148237,659,635,878.331148237,787,804.331148237,652,631,651.331148237,0.400970188019,-0.00537392053885,0.0598476586304,0.999999935008,0.0002532005218,-0.000255948934868,1.90932452424e-05,1793242841662892544
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.088807656,745,714,679.911192344,659,635,878.911192344,787,804.911192344,652,631,651.911192344,0.400968984121,-0.00537400108429,0.0598468586995,0.999999934263,0.000253758880442,-0.000258288165263,1.91766953341e-05,1793242841679559424
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.514222874,635,879,787,804.514222874,652,631,652,0.400969110399,-0.00537321854874,0.0598469564519,0.999999934189,0.000254301420827,-0.000258048011878,1.90887395222e-05,1793242841696226048
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,635,878.939082888,787,804.060917112,652.060917112,631,652,0.400969667791,-0.0053723409565,0.0598473874688,0.999999934316,0.00025466865151,-0.000257202426296,1.89548563792e-05,1793242841712892672
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,635,878.350586838,787,804.649413162,652.649413162,631,652,0.400971876242,-0.00537199144023,0.0598492992562,0.999999935132,0.000253542361034,-0.000255151968392,1.8691584702e-05,1793242841729559296
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.765978745,658.234021255,635,878.234021255,787,805,652.765978745,631,652,0.400977198392,-0.00537228687205,0.0598520260406,0.999999936164,0.000253313651013,-0.00025128594605,1.89621261888e-05,1793242841746225920
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.187100059,658.812899941,635,878.812899941,787,805,652.187100059,631,652,0.40098710894,-0.00537353270963,0.0598559538171,0.999999937488,0.000254407629861,-0.000244744479357,2.00193032351e-05,1793242841762892544
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.609405945,787,804.609405945,652,631,651.609405945,0.401017660152,-0.00537580987114,0.0598683378878,0.99999994298,0.000252718048977,-0.000223014906692,2.09086657056e-05,1793242841779559424
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.03227749,787,804.03227749,652,631,651.03227749,0.401058068642,-0.0053785795579,0.0598847603967,0.999999949765,0.000249699134815,-0.000194032011857,2.17178857373e-05,1793242841796226048
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.542483179,745,714,679.542483179,659,635,878.542483179,787,804.542483179,652,631,651.542483179,0.401119770495,-0.0053791974642,0.0599034993819,0.999999955328,0.000249486699728,-0.00016314873893,2.195752135e-05,1793242841812892672
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.879623855,745,714,680,659,635,878.879623855,787,805,652,631,652,0.401184733891,-0.00538009541251,0.0599209769082,0.999999959501,0.000249543231769,-0.000135017387102,2.23007604408e-05,1793242841829559296
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.288944987,745,714,680,659,635,878.288944987,787,805,652,631,652,0.401257511591,-0.00538258550084,0.0599329898413,0.99999996151,0.000250001041321,-0.000118077469592,2.3180603419e-05,1793242841846225920
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714.29524516,680,659,635,878,787.29524516,804.70475484,652,631,652,0.401338302318,-0.00538478086444,0.0599401414288,0.999999963205,0.000248861874069,-0.000105464409849,2.31174433274e-05,1793242841862892800
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.873221574,680,659,635,878,787.873221574,804.126778426,652,631,652,0.401426766435,-0.005386693995,0.0599426377171,0.999999964745,0.000246193417563,-9.69948159134e-05,2.21512491114e-05,1793242841879559424
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714.548969025,680,658.548969025,635,878,787.548969025,804,652,631,652,0.401528090954,-0.00538969124729,0.0599436849989,0.999999965362,0.000244409174467,-9.53314016155e-05,2.12391027431e-05,1793242841896226048
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.029210485,744.970789515,714,680,658.029210485,635,878,787,804.029210485,652,631,652,0.401634264713,-0.00539288817382,0.0599444542446,0.99999996576,0.000242925711302,-9.5152853279e-05,2.03362873332e-05,1793242841912892672
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.615341256,744.384658744,714,680,658.615341256,635,878,787,804.615341256,652,631,652,0.401763998069,-0.00539408425871,0.0599476850397,0.999999966656,0.000242439998289,-8.68227993433e-05,1.93218320169e-05,1793242841929559040
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.800961784,744.199038216,714.199038216,679.800961784,659,635,878,787.199038216,805,652,631,652,0.401902137695,-0.00539664373507,0.0599491444662,0.999999967593,0.000240619913232,-8.11789980535e-05,1.80756229974e-05,1793242841946225664
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.221911624,744.778088376,714.778088376,679.221911624,659,635,878,787.778088376,805,652,631,652,0.402056326906,-0.00540180625431,0.0599472219226,0.999999968705,0.000236252190299,-8.06639016973e-05,1.63869403993e-05,1793242841962892544
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714.643833832,679,659,635,878,787.643833832,805,652,630.643833832,652,0.402237914454,-0.00540797297096,0.0599474970771,0.999999970477,0.000230531993872,-7.5403045507e-05,1.46782040061e-05,1793242841979559168
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714.066360176,679,659,635,878,787.066360176,805,652,630.066360176,652,0.402436526254,-0.00541476365644,0.0599491377936,0.999999972577,0.000223971423772,-6.71933628826e-05,1.29570068167e-05,1793242841996226048
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745.509187848,714,679,659,635,878,787,805,652,630.509187848,651.490812152,0.402664932721,-0.00542078313291,0.059951505857,0.999999974423,0.00021850733701,-5.73342377381e-05,1.09926069145e-05,1793242842012892672
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745.826833556,714,679,659,635,878.086583222,787,805,652,631,651,0.402900766707,-0.00542668042561,0.0599539770879,0.999999976211,0.000212641905628,-4.77665548236e-05,8.95483437419e-06,1793242842029559296
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+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.839792071,714,679.839792071,658.160207929,635,878.160207929,787,805,652.839792071,631,651.839792071,0.403715688522,-0.00544579777299,0.0599483402556,0.999999980731,0.000189074610813,-5.27992954143e-05,9.00424947113e-07,1793242842079559168
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.583649749,714,679.583649749,658.416350251,635,878.416350251,787,805,652.583649749,631,652,0.404032108826,-0.0054532872702,0.0599373459316,0.999999981595,0.000179148226582,-6.86000485888e-05,-3.10296166494e-06,1793242842096225792
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.007977845,714,679.007977845,658.992022155,635,878.992022155,787,805,652.007977845,631,652,0.404359481707,-0.00546095768934,0.0599246619371,0.999999982135,0.000167952074598,-8.6410101238e-05,-7.44573631198e-06,1793242842112892416
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+140,2.333333333,POSE1_TO_POSE2_PRESS,765.856141273,745,714,679,659,635,878.856141273,787,805,652,631,651.856141273,0.405065506711,-0.00547748901332,0.0599029014805,0.999999979785,0.000150590797976,-0.000132412564861,-1.4795264285e-05,1793242842146225664
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.262899467,745,714,679,659,635,878.262899467,787,805,652,631,651.262899467,0.405477603561,-0.00548472425382,0.0599064225437,0.999999981683,0.000139551038105,-0.000129675423268,-1.85367309715e-05,1793242842162892288
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.321307497,744.678692503,714,679,659,635,878.321307497,787,805,652,631,651.321307497,0.405935031963,-0.0054927639828,0.0599230544011,0.999999986868,0.000123939268082,-0.000102156590188,-2.16110434832e-05,1793242842179558912
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.89832424,744.10167576,714,679,659,635,878.89832424,787,805,652,631,651.89832424,0.406428537056,-0.00550144395639,0.0599501203489,0.999999992721,0.000104688909663,-5.49155039189e-05,-2.41544086115e-05,1793242842196225536
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.524856943,744.475143057,714,679,659,635,879,787,805,652,631,652,0.40696703097,-0.00550616603743,0.0599791372531,0.999999999525,1.74037946461e-05,-6.20265859692e-06,-2.46555828847e-05,1793242842212892160
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.052879823,659,635,879,787,805,652,631,652,0.407511045035,-0.00550891540938,0.0600055363674,0.999999996335,-7.32116440817e-05,3.67444801972e-05,-2.48814424096e-05,1793242842229559040
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.640324553,659,635,879,787,805,652,631,652,0.408013582143,-0.00550028084667,0.0600012535064,0.999999998207,-5.03797519245e-05,1.82233878274e-05,-2.67400305311e-05,1793242842246225920
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.223785437,745,714,679.776214563,659,635,879,787,805,652,631,652,0.408533316647,-0.00549999530697,0.0599926350441,0.999999998758,-3.98047951236e-05,-5.62121756065e-06,-2.94599705916e-05,1793242842262892800
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.800955309,745,714,679.199044691,659,635,879,787,805,652,631,652,0.409080207903,-0.00551289389104,0.05997717014,0.99999999754,-4.8585032057e-05,-3.78722966389e-05,-3.35400900681e-05,1793242842279559168
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.621771913,745,714,679.378228087,659,635,879,787,805,652,631,652,0.409680770967,-0.00552544421244,0.0599746674724,0.99999999624,-6.46039962881e-05,-4.38117588685e-05,-3.77764601252e-05,1793242842296225536
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.044444982,745,714,679.955555018,659,635,879,787,805,652,631,652,0.410309586794,-0.00553781120835,0.059978988112,0.999999994905,-8.44334182167e-05,-3.59008143099e-05,-4.20950801839e-05,1793242842312892160
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.470267486,659,635,878.470267486,787,805,652,631,651.470267486,0.410996037935,-0.00554189555247,0.0599899402671,0.999999993842,-0.000100605840692,-8.57214388603e-06,-4.60433070737e-05,1793242842329558784
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679.107158662,659.107158662,635,878.107158662,786.892841338,805,652,631,651.107158662,0.411681355937,-0.00554351922731,0.0599968906369,0.99999999225,-0.000113709480883,1.02716911013e-05,-4.96401180287e-05,1793242842346225664
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679.700516207,659.700516207,635,878.700516207,786.299483793,805,652,631,651.700516207,0.412339721899,-0.00553711273676,0.0599831746324,0.99999999199,-0.000114273373263,-1.67298961745e-05,-5.17826537795e-05,1793242842362892288
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.285695146,745,714,679.714304854,659.714304854,635,879,786.285695146,805,652,631,652,0.412992286553,-0.00552486985425,0.0599572035514,0.999999994225,-7.00845252643e-05,-6.92012400342e-05,-4.30015705638e-05,1793242842379559168
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.86253942,745,714,679.13746058,659.13746058,635,879,786.86253942,805,652,631,652,0.413638939231,-0.00550667916104,0.0599187434402,0.999999988642,1.97114034119e-05,-0.000147628566337,-2.30883339149e-05,1793242842396225792
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,714,679.437131831,659,635,879.437131831,787,805,652,631,652,0.414389874521,-0.00550810485556,0.059920135899,0.99999998917,3.28542498462e-05,-0.000141737526326,-2.21482837998e-05,1793242842412892416
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.988915045,745,714,680,659.011084955,635,879.988915045,787,805,652,631,652,0.415174984948,-0.00551578415258,0.0599347199139,0.999999993521,2.19300729053e-05,-0.000108371637972,-2.70632335957e-05,1793242842429559296
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.411629568,745,714,680,659.588370432,635,879.411629568,787,805,652,631,652,0.416039292961,-0.00552942138532,0.0599862711052,0.999999999409,6.60225588412e-06,-1.90256529454e-05,-2.78543808659e-05,1793242842446225920
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.829813626,635,879,786.829813626,805,652,631,652,0.416881486903,-0.00554008204932,0.060022364915,0.999999998649,-1.28984088804e-05,4.14970564652e-05,-2.85130201251e-05,1793242842462892288
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.236740209,635,879,786.236740209,805,652,631,652,0.41766873072,-0.00554334639557,0.0600200494989,0.999999998207,-4.27679594186e-05,3.03983398521e-05,-2.88423977166e-05,1793242842479558912
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.346139577,745,714,680,659.346139577,635,879,786.346139577,805,652,631,652,0.41847072241,-0.00553981378778,0.0600071583458,0.99999999862,-4.13231825752e-05,9.47128029312e-06,-3.10266600382e-05,1793242842496225792
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.922246908,745,714,680,659.922246908,635,879,786.922246908,805,652,631,652,0.419282512242,-0.00553176542852,0.0599872408986,0.999999999063,-1.90738330725e-05,-1.79855203232e-05,-3.44432681954e-05,1793242842512892672
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.520453149,745,714,680,660,635,879,787,805,652,631,652,0.420098641659,-0.00553128194426,0.0599614551928,0.999999997263,-3.09265490334e-05,-5.59189866995e-05,-3.72851145151e-05,1793242842529559296
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680.037553534,659.962446466,635,879,787,805,652,631,652,0.420914959685,-0.00553206794395,0.0599342124389,0.99999999337,-4.65146151648e-05,-9.74844684536e-05,-3.99172515815e-05,1793242842546226176
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680.651438801,659.348561199,635,879,787,805,652,631,652,0.421723780582,-0.00553422310802,0.0598986595947,0.999999984058,-3.77740125297e-05,-0.000169704631716,-4.07072158294e-05,1793242842562892800
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680.749792217,659.250207783,635,879,787,805,652,631,652,0.422587421495,-0.00553605754174,0.0598918445124,0.999999981872,-3.38669353903e-05,-0.000182733490024,-4.14465003841e-05,1793242842579559424
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680.170881702,659.829118298,635,879,787,805,652,631,652,0.423523080621,-0.0055374706262,0.0599227827708,0.999999991492,-3.63097517023e-05,-0.000118001613314,-4.2119206268e-05,1793242842596226304
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.594772968,660,635,879,787,805,652,631,652,0.424459767814,-0.00554094473873,0.0599720370867,0.999999997341,-4.63596506021e-05,-3.86815549252e-05,-4.08907500952e-05,1793242842612892672
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.01983765,660,635,879,787,805,652,631,652,0.425396885503,-0.0055452820057,0.0600289621296,0.999999996376,-5.95953803979e-05,4.67480016647e-05,-3.88660907225e-05,1793242842629559296
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.554873161,745,714,679.554873161,660,635,879,787,805,652,631,652,0.426302784908,-0.00554568811728,0.0600288874022,0.999999996095,-5.6419174417e-05,5.50215716394e-05,-4.0001692236e-05,1793242842646225664
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.13367611,787,805.13367611,652,631,652,0.427204209938,-0.00554666704165,0.0600217908419,0.999999996265,-5.53459118801e-05,5.18204429986e-05,-4.14851074412e-05,1793242842662892288
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.726564143,787,805.726564143,652,631,652,0.428094096848,-0.00555009634022,0.0599975701417,0.999999996851,-6.35116399424e-05,1.86729409595e-05,-4.37753778654e-05,1793242842679558656
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,679.689756446,660,635,880,787,806,652,631,652,0.428951043486,-0.00555073254204,0.0599698762132,0.999999996465,-6.63759660918e-05,-2.46905317597e-05,-4.53216335979e-05,1793242842696225536
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,679.113959208,660,635,880,787,806,652,631,652,0.429779794777,-0.00554897798607,0.0599392093682,0.999999993889,-6.47025445368e-05,-7.67983864016e-05,-4.62310480596e-05,1793242842712892160
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714,679.924236786,660,635,879.537881607,787,806,652,631,651.537881607,0.430644523001,-0.00554593617988,0.0599248865813,0.999999992042,-6.21499197858e-05,-9.87288061284e-05,-4.80142782609e-05,1793242842729559040
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.960815971,745,714,680.960815971,660,635,879,787,806,651.960815971,631,651,0.431524435089,-0.00554311703403,0.059918949495,0.999999991374,-5.97632549332e-05,-0.000105844153692,-4.9766796663e-05,1793242842746225920
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.37083489,745,714,680.37083489,660,635,879,787,806,651.37083489,631,651,0.432492994719,-0.00554789258807,0.0599741980284,0.999999996832,-6.27589564929e-05,-9.37943721277e-06,-4.80567732011e-05,1793242842762892544
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879,787,806,651,631,651,0.433420301736,-0.00555119017275,0.0600087487627,0.999999995539,-6.70050595472e-05,4.69765794225e-05,-4.71757069064e-05,1793242842779558912
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879,787,806,651,631,651,0.434277802026,-0.00555198676677,0.0600082750869,0.999999995542,-7.33670693384e-05,3.54614381662e-05,-4.7697386382e-05,1793242842796225536
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.370336499,745,714,680,660,635,879.740672998,787,806,651.370336499,631,651,0.435113893534,-0.00555476363869,0.0599882947929,0.999999995657,-7.90810424777e-05,2.88517990616e-07,-4.93153301432e-05,1793242842812892416
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.944381229,745,714,680,660,635,880.888762457,787,806,651.944381229,631,651,0.435938208821,-0.00555862978722,0.0599575846393,0.99999999396,-8.44385544097e-05,-4.78976591436e-05,-5.15362876837e-05,1793242842829559296
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.530942572,714,680,660,635,880.469057428,787,806,652,631,651,0.436727881494,-0.0055585099303,0.059940880075,0.999999992334,-8.23125212884e-05,-7.59294135639e-05,-5.28320160515e-05,1793242842846226176
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.882908521,714,680.117091479,660,635,879.882908521,787,806,651.882908521,631,651,0.437512716447,-0.00555731432097,0.0599243560362,0.999999989529,-8.11553495304e-05,-0.000107040967704,-5.38336403245e-05,1793242842862892544
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.303687222,714,680.696312778,660,635,879.303687222,787,806,651.303687222,631,651,0.43829312658,-0.00555356075691,0.0599026142112,0.999999982139,-8.69907205693e-05,-0.000158841519625,-5.40662739952e-05,1793242842879559424
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,714,680.725121496,660.274878504,634.725121496,879,787,806,651.274878504,631,651,0.439099579477,-0.00555152917084,0.0599070424797,0.999999982311,-8.80764009447e-05,-0.000157018878932,-5.4464184034e-05,1793242842896226048
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,714,680.147278366,660.852721634,634.147278366,879,787,806,651.852721634,631,651,0.439934736043,-0.00555139550868,0.0599403148119,0.999999990346,-8.39270834737e-05,-9.60940121397e-05,-5.50442577598e-05,1793242842912892416
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660.571761468,634,879,787,806,651.571761468,631,651,0.440739173214,-0.00555461296797,0.0599817512741,0.999999994708,-8.12961516158e-05,-3.36073064227e-05,-5.33406415157e-05,1793242842929559040
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.996963076,745,714,680.003036924,660.003036924,634.003036924,879,787,806,651,631,651.003036924,0.441532535148,-0.00555896055525,0.0600256362591,0.999999995145,-7.92808103521e-05,2.89330441981e-05,-5.08662889096e-05,1793242842946225920
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.407259944,745,714,680.592740056,660.592740056,634.592740056,879,787,806,651,631,651.592740056,0.442216274847,-0.00556018790559,0.0600030504301,0.999999994135,-9.58519095363e-05,-1.36796415791e-06,-5.04047897313e-05,1793242842962892544
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680.820850493,660.820850493,635,879.179149507,787,806,651.179149507,631,651.820850493,0.442902861692,-0.00556132769594,0.0599807992478,0.999999992694,-0.000105252050546,-3.09135485932e-05,-5.07693969957e-05,1793242842979559168
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680.241793271,660.241793271,635,879.758206729,787,806,651.758206729,631,651.241793271,0.443595804234,-0.00556227203015,0.0599592950785,0.999999992004,-9.86447744234e-05,-5.87728386764e-05,-5.29780860224e-05,1793242842996226048
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.335967014,745,714,680.335967014,660.335967014,635,880,787,806,652,631,651,0.444265767255,-0.00556608577985,0.0599548738307,0.999999991575,-9.86417182583e-05,-6.47940736073e-05,-5.4048629663e-05,1793242843012892672
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.912797458,745,714,680.912797458,660.912797458,635,880,787,806,652,631,651,0.444919255623,-0.00557195668757,0.0599626997718,0.999999991661,-0.000103373398372,-5.51590411533e-05,-5.43032073673e-05,1793242843029559552
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660.513902461,635,880,787,806,651.513902461,631,651,0.445521873621,-0.0055692422403,0.0599603966603,0.999999990993,-0.000101011568913,-6.87505598942e-05,-5.55373473205e-05,1793242843046225920
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,714,680.939725468,660,634.939725468,880,787,806,651,631,651,0.446109868386,-0.00556510790498,0.0599547074534,0.999999989771,-9.77801751361e-05,-8.73961836983e-05,-5.70875494811e-05,1793242843062892800
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714,680.352382192,660,634.352382192,880,787,806,651,631,651,0.446649215595,-0.00556192811923,0.0599351834925,0.999999986901,-9.79922396321e-05,-0.000114064553591,-5.98759907971e-05,1793242843079559424
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,714,680.231580894,660,634,880,786.768419106,806,651,631,651.231580894,0.447199000571,-0.00555934996531,0.0599277605678,0.99999998604,-9.81144957794e-05,-0.000119895879269,-6.26045483315e-05,1793242843096226048
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714,680.810474498,660,634,880,786.189525502,806,651,631,651.810474498,0.447764439504,-0.00555767410711,0.0599384861355,0.999999988597,-9.81020621616e-05,-9.44769116718e-05,-6.52432951275e-05,1793242843112892672
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.612891304,745,714,681,660,634,880,786,806,651.387108696,631,652,0.44828585809,-0.00556243819711,0.0599483251539,0.999999989524,-0.000102415939943,-7.81010626673e-05,-6.60490113149e-05,1793242843129559552
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.037356826,745,714,681,660,634,880,786,806,651.962643174,631,652,0.448785849753,-0.00557033694216,0.0599577326439,0.999999989715,-0.000108835656793,-6.61269639905e-05,-6.59624971307e-05,1793242843146226432
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,681.538575095,660,634,880,786.538575095,806,651.461424905,631,651.461424905,0.44918640498,-0.00557585032036,0.0599252236413,0.99999998304,-0.000119740901002,-0.000122131734189,-6.83010978915e-05,1793242843162893056
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,681.882209657,659.882209657,634,879.882209657,786.882209657,806.117790343,651,631,651,0.449574579263,-0.00558098665227,0.0598899844645,0.999999972832,-0.00012969862079,-0.000180319347267,-7.06984543579e-05,1793242843179559680
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,681.289877847,659.289877847,634,879.289877847,786.289877847,806.710122153,651,631,651,0.449940681617,-0.00558527103962,0.0598554680196,0.999999962246,-0.000134584697385,-0.000228290963668,-7.26543472936e-05,1793242843196226304
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879,786,806.706116707,651,631,651,0.450308778888,-0.00558808651647,0.0598331060875,0.999999959836,-0.000103120431202,-0.000256288658128,-6.33335840198e-05,1793242843212892928
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879,786,806.1305699,651,631,651,0.450678788105,-0.00558949416046,0.059822393281,0.999999963239,-3.68172829349e-05,-0.000265142950565,-4.32050519809e-05,1793242843229559808
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.448064485,745,714,681.448064485,659,633.551935515,879,786.448064485,806.448064485,651.448064485,631,651.448064485,0.451027669711,-0.00558638090797,0.0598314979588,0.999999967331,-2.35837028784e-05,-0.000251418093803,-3.96389403256e-05,1793242843246226176
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,714.02796058,682,659,633,879,786.97203942,807,652,631,652,0.451367705739,-0.0055816909151,0.0598458427101,0.999999971975,-2.59047657253e-05,-0.00023172974292,-4.0989288507e-05,1793242843262892800
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,714.614969127,682,659,633,879,786.385030873,807,652,631,652,0.451654835565,-0.00557199897676,0.0598486911225,0.999999973292,-2.78739424447e-05,-0.000225275953861,-4.34700389438e-05,1793242843279559680
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.800109638,745,714.800109638,681.800109638,659,633,879.199890362,786,806.800109638,652,631,652,0.451934698359,-0.00556380851403,0.0598525215284,0.999999974015,-4.72506253982e-05,-0.000218272702384,-4.57735920987e-05,1793242843296226304
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.21916752,745,714.21916752,681.21916752,659,633,879.78083248,786,806.21916752,652,631,652,0.452200707951,-0.00555848032107,0.0598582239121,0.999999971783,-9.98113031888e-05,-0.000210222008952,-4.77393530373e-05,1793242843312893184
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.357887849,745,714,681.357887849,659,633,880,786,806,651.642112151,631,652,0.45244048053,-0.00556033784357,0.0598590124293,0.99999996993,-0.000121085575908,-0.00020756565779,-4.89417545038e-05,1793242843329559552
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+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,714,681.493377946,659,632.493377946,880,786,806.506622054,651.506622054,630.493377946,652,0.452842790827,-0.00557089219089,0.0598482972296,0.999999966568,-0.000126077597691,-0.000219959985134,-5.08505687415e-05,1793242843362892544
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.916899082,745,714.083100918,681,658.916899082,632.083100918,880,786,806.916899082,652,630.083100918,652,0.453011341708,-0.00557437983464,0.0598400553873,0.999999963456,-0.000128172758719,-0.000232279638464,-5.20172204247e-05,1793242843379559680
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.32490138,745,714.67509862,681,658.32490138,632.67509862,880,786,806.32490138,652,630.67509862,652,0.453156361936,-0.00557414494228,0.0598387168479,0.999999962098,-0.000126453367578,-0.000238796692819,-5.28212784057e-05,1793242843396226048
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.261345467,745,714.738654533,681,658,632.738654533,880.261345467,786,806,652,631,652,0.45329364778,-0.00557452402528,0.0598369886596,0.999999961278,-0.000123914584218,-0.00024336531681,-5.35042321321e-05,1793242843412892672
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.840596821,745,714.159403179,681,658,632.159403179,880.840596821,786,806,652,631,652,0.453421525354,-0.00557564996029,0.0598347864949,0.999999961143,-0.000120379075771,-0.000245563830485,-5.40398721582e-05,1793242843429559296
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,714.417299838,681.417299838,658.417299838,632,880.582700162,786,806.417299838,652,631,651.582700162,0.453531181958,-0.00557579088898,0.0598338978873,0.99999996062,-0.000117256061569,-0.000249228681746,-5.38076146171e-05,1793242843446226176
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+220,3.666666667,POSE1_TO_POSE2_PRESS,765.420162494,745,714.420162494,682,658.420162494,632,880.579837506,785.420162494,807,652,631,651,0.453710631266,-0.00557813451555,0.0598306389937,0.999999958774,-0.000115154750717,-0.000257559448172,-5.34191724804e-05,1793242843479559168
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.165150866,745,714,681.834849134,658,632,880.669698269,785.165150866,806.834849134,651.834849134,631,651,0.45378148051,-0.0055798301018,0.0598275814935,0.999999957483,-0.000115757763318,-0.000262233909707,-5.3544176699e-05,1793242843496225792
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.746371873,745,714,681.253628127,658,632,879.507256254,785.746371873,806.253628127,651.253628127,631,651,0.453838365892,-0.00557921925512,0.0598241255848,0.999999955881,-0.000115582309744,-0.00026833593786,-5.36227511516e-05,1793242843512892416
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,714,681,658,632,879,786,806.324366327,651,630.675633673,651,0.453886738686,-0.00557764453005,0.059820375213,0.999999954467,-0.000114247014149,-0.000274064002252,-5.38835259735e-05,1793242843529559296
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,714,681,658,632,879,786,806.899862789,651,630.100137211,651,0.453928520891,-0.00557532355326,0.0598163968623,0.999999953192,-0.000112013748381,-0.000279502537948,-5.42853635441e-05,1793242843546225920
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.933446349,714,681.066553651,658,632,879.933446349,785,807,652,630.933446349,652,0.453997112263,-0.00557804940484,0.0598172716514,0.999999954012,-0.000113266455085,-0.00027616360189,-5.36756002919e-05,1793242843579559168
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.353817542,714,681.646182458,658,632,879.353817542,785,807,652,630.353817542,652,0.454018575353,-0.00557636302029,0.0598173444334,0.999999954183,-0.000111065115799,-0.000276483200331,-5.34328624571e-05,1793242843596225792
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.224944485,714,682,658,632,879.224944485,785,806.775055515,652,630.224944485,652,0.454034334969,-0.00557442317021,0.0598160597651,0.999999953636,-0.000108777802991,-0.000279335518511,-5.35376362955e-05,1793242843612892672
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.802348345,714,682,658,632,879.802348345,785,806.197651655,652,630.802348345,652,0.454041157963,-0.00557208617202,0.0598126481451,0.999999951933,-0.000106355780743,-0.000286156286103,-5.4186916704e-05,1793242843629559552
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765,746,714,681.046783398,658,632,880,785.953216602,806,652,631,652,0.454057757655,-0.00557639455532,0.0598119692631,0.999999951307,-0.00011044296903,-0.000287004564637,-5.30820140456e-05,1793242843662892544
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,746,714.541516262,681.541516262,658,632,880,785.458483738,806,652,631,652,0.454062161227,-0.00557509351793,0.0598119831192,0.999999951295,-0.000110078845864,-0.000287219482027,-5.28908019054e-05,1793242843679559168
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.871370781,714.871370781,681.871370781,658,632,880,785.128629219,806.128629219,652,631,651.871370781,0.4540646942,-0.00557342005579,0.0598111009556,0.999999950939,-0.000109153155602,-0.000288793882111,-5.29604008303e-05,1793242843696225792
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.292525731,714.292525731,681.292525731,658,632,880,785.707474269,806.707474269,652,631,651.292525731,0.454061982194,-0.00557180161796,0.0598071697664,0.999999949351,-0.000107294123163,-0.000294782014258,-5.37539635856e-05,1793242843712892672
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.283959478,745,714,681,658,632,879.716040522,786,806.716040522,651.716040522,631,651.283959478,0.454060868619,-0.00557155383087,0.059804963333,0.999999948468,-0.000105838071439,-0.000298296356297,-5.36894564062e-05,1793242843729559296
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.858033763,745,714,681,658,632,879.141966237,786,806.141966237,651.141966237,631,651.858033763,0.454061388123,-0.00557270640561,0.0598045190419,0.999999948333,-0.000104793735531,-0.000299283285153,-5.2748279195e-05,1793242843746226176
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.565052413,745,714,681.434947587,658,632,879.434947587,785.565052413,806.434947587,651,631,652,0.454061317589,-0.00557354012297,0.0598032611125,0.999999947783,-0.000105641692312,-0.000300854301698,-5.25314441367e-05,1793242843762892800
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681.986928422,658,631.986928422,879.986928422,785,806.986928422,651.013071578,631,652,0.454061049221,-0.00557425949251,0.0598017558207,0.999999947103,-0.000107106092188,-0.000302591607225,-5.25481187269e-05,1793242843779559424
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681.396558108,658,631.396558108,879.396558108,785,806.396558108,651.603441892,631,652,0.454060604997,-0.00557455535643,0.0598011317477,0.999999946796,-0.000108338317757,-0.000303197903657,-5.23674593065e-05,1793242843796226304
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.190277468,714,681,658,631.190277468,879.190277468,785,806.190277468,652,630.809722532,652,0.454060731864,-0.00557404501833,0.0598008190493,0.999999946823,-0.000107758989353,-0.000303310379536,-5.23824374932e-05,1793242843812892928
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.7698806,714,681,658,631.7698806,879.7698806,785,806.7698806,652,630.2301194,652,0.454062027236,-0.00557188511479,0.0598011434529,0.999999947526,-0.000103473050405,-0.000302412451893,-5.27977087057e-05,1793242843829559552
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714,681.347146376,658,631.652853624,879.652853624,785,807,652,630.347146376,652,0.454062374811,-0.00557075432874,0.0598011896513,0.999999947621,-0.000102123802395,-0.000302543347383,-5.28869023055e-05,1793242843846226176
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,714,681.922873084,658,631.077126916,879.077126916,785,807,652,630.922873084,652,0.454062098303,-0.00557030117055,0.059801052664,0.999999947323,-0.000102708233945,-0.000303351676842,-5.27613883924e-05,1793242843862892544
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+247,4.116666667,HOLD_POSE2,766,745,714,682,658,631,880,786,806,652,631,651,0.45406146424,-0.00557045648644,0.059799316121,0.999999946549,-0.000102079949191,-0.000306198624844,-5.21834329375e-05,1793242843951346432
+248,4.133333333,HOLD_POSE2,765.421200059,745,714,682,658,631,880,785.421200059,806,652,631,651.578799941,0.454060912956,-0.00557121475747,0.0597983459492,0.999999945944,-0.000103889328608,-0.000307531689245,-5.23687522953e-05,1793242843968013056
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+250,4.166666667,HOLD_POSE2,765,745,714,681.250906216,658,631.749093784,879.250906216,785,806,652,630.250906216,652,0.454060587204,-0.00557121059226,0.0597974179158,0.999999945751,-0.00010356649233,-0.000308279524413,-5.23082000672e-05,1793242844001346304
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+252,4.200000000,HOLD_POSE2,765,745,714,681,658,632,879,785,806,652,630,652,0.45406205138,-0.00557095484539,0.0597989753115,0.999999946221,-0.000104089072164,-0.000306625739097,-5.19938147346e-05,1793242844034679808
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+261,4.350000000,HOLD_POSE2,765,746,714,681.123611834,657.123611834,632,880,785.123611834,806.247223668,651.123611834,631,651.123611834,0.454061023664,-0.00556988990734,0.0597966495159,0.999999945062,-0.000103167641372,-0.000310704238524,-5.19213935001e-05,1793242844184679680
+262,4.366666667,HOLD_POSE2,765,746,714,681.712505808,657.712505808,632,880,785.712505808,807.425011615,651.712505808,631,651.712505808,0.454061577437,-0.00556978939297,0.0597967199888,0.99999994521,-0.000102366904338,-0.000310515362769,-5.17865103862e-05,1793242844201346304
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,631,880,785,806,652,631,652,0.454057070831,-0.00556638193868,0.0597931421879,0.99999994384,-9.9399421743e-05,-0.000315698489771,-5.2677822229e-05,1793242844239526656
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.60095484,657.39904516,631.60095484,880,785,806.60095484,652,630.39904516,651.39904516,0.454060393012,-0.0055675971445,0.0597961808819,0.999999944862,-0.000101480479923,-0.000311778163551,-5.26440520928e-05,1793242844256193280
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.806295637,657,631.806295637,880,785.193704363,806.806295637,652,630,651.193704363,0.454061853136,-0.0055687621936,0.0597973830127,0.999999945307,-0.000102288777113,-0.000310124722489,-5.24043588254e-05,1793242844272859904
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.229762628,657,631.229762628,880,785.770237372,806.229762628,652,630,651.770237372,0.454059633172,-0.00556982811544,0.0597949554425,0.999999944633,-0.000100581646752,-0.000312951451227,-5.17576882818e-05,1793242844289526528
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.354994404,657.354994404,631,879.645005596,785.645005596,806,652,630,652,0.454058506501,-0.00556933422208,0.0597934946321,0.999999943905,-0.000100736322043,-0.000315224846443,-5.17294259981e-05,1793242844306193664
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.945200463,657.945200463,631,879.054799537,785.054799537,806,652,630,652,0.454058104222,-0.00556780682867,0.0597926743762,0.999999943141,-0.000102124589807,-0.000317131614604,-5.21109077617e-05,1793242844322860800
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.475246749,658.524753251,631.524753251,879.524753251,785,806.524753251,652,630,652,0.454057542849,-0.00556766221784,0.0597931408822,0.999999943439,-9.93655236629e-05,-0.00031706550687,-5.21276396642e-05,1793242844339527168
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.102444237,658.897555763,632,880.102444237,785,806.897555763,652,630.102444237,652,0.454056647566,-0.00556759853783,0.0597933733534,0.999999943624,-9.71545210945e-05,-0.000317157354035,-5.21860460312e-05,1793242844356193792
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.676583254,658.323416746,632,880.676583254,785,806.323416746,652,630.676583254,652,0.454054289801,-0.00556725583677,0.0597919218261,0.999999942823,-9.94215258366e-05,-0.000318906240327,-5.26082329901e-05,1793242844372860160
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631.749449333,880.498898666,785,806.250550667,652,631,652,0.454045741847,-0.00556706640295,0.0597875468829,0.999999940565,-0.00010056530716,-0.000325519934234,-5.28437939542e-05,1793242844389526784
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631.175703321,879.351406642,785,806.824296679,652,631,652,0.45402920892,-0.00556707467471,0.0597794009086,0.999999936318,-0.000100260197402,-0.000338408938242,-5.2838618531e-05,1793242844406193408
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631.41263242,879.41263242,785,807,651.58736758,631,651.58736758,0.453995161385,-0.0055666900492,0.059763398434,0.999999927185,-0.000100333586454,-0.000364314856006,-5.32799388686e-05,1793242844422860032
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.007205738,745,714,681.992794262,658,631.992794262,880.007205738,785.007205738,806.992794262,651.007205738,631,651.007205738,0.453953146205,-0.00556609666363,0.0597439188922,0.999999915109,-0.000100532416729,-0.000395938315458,-5.39278900505e-05,1793242844439526656
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.585712218,745,714,681.414287782,658,631.414287782,880.585712218,785.585712218,806.414287782,651.585712218,631,651.585712218,0.453892390444,-0.00556270233043,0.0597237208318,0.999999903277,-9.74302507652e-05,-0.000425312921507,-5.53321674903e-05,1793242844456193280
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.837432816,745,714,681.162567184,658,631,880.674865633,785.837432816,806,652,630.837432816,651.837432816,0.453829457272,-0.00556011222536,0.059706149798,0.999999892578,-9.55337358099e-05,-0.000450040668298,-5.63962542105e-05,1793242844472860160
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.264744142,745,714,681.735255858,658,631,879.529488283,785.264744142,806,652,630.264744142,651.264744142,0.453761030955,-0.00555955101143,0.0596952061741,0.999999886519,-9.66788144881e-05,-0.00046304541127,-5.6602114457e-05,1793242844489526784
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.682279735,658,631.317720265,879.317720265,785.317720265,806.317720265,651.682279735,630.317720265,651.317720265,0.453686209945,-0.00555721704206,0.0596885773342,0.999999883045,-9.501537316e-05,-0.000470869314025,-5.62585252866e-05,1793242844506193408
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.091411032,658,631.908588968,879.908588968,785.908588968,806.908588968,651.091411032,630.908588968,651.908588968,0.453605891336,-0.00555335901073,0.0596856579735,0.999999881877,-9.09374088874e-05,-0.000474239177176,-5.54425669648e-05,1793242844522860032
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.489737733,745,714,681,658,632,880,786,806.510262267,651.489737733,631,652,0.453509629708,-0.005550682024,0.0596885401428,0.999999884269,-8.98032318635e-05,-0.000469476703002,-5.46664235196e-05,1793242844539526656
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.931409287,745.068590713,714,681.068590713,658.068590713,631.931409287,880,785.931409287,806,651.931409287,631,652,0.453407020753,-0.00554808062534,0.0596923721612,0.999999887231,-8.89114598083e-05,-0.000463386201485,-5.39047669658e-05,1793242844556193024
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.356372405,745.643627595,714,681.643627595,658.643627595,631.356372405,880,785.356372405,806,651.356372405,631,652,0.453279090297,-0.00554444133359,0.0596953775847,0.9999998898,-8.583142094e-05,-0.000458479716825,-5.31962719328e-05,1793242844572859648
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.781068037,714,682,658.781068037,631.218931963,879.781068037,785,806.218931963,651.218931963,631,652,0.453140541382,-0.0055405248847,0.0596979585205,0.99999989175,-8.23945881807e-05,-0.000454963129187,-5.21486426655e-05,1793242844589526272
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.380627316,745,714,681.619372684,658,632,879.761254632,785.380627316,806.619372684,652,631,651.619372684,0.452809155401,-0.00553016740731,0.0597001080675,0.999999893056,-7.15335327816e-05,-0.000454225470268,-4.94912425066e-05,1793242844622859776
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.972244787,745,714,681.027755213,658,632,880.944489575,785.972244787,806.027755213,652,631,651.027755213,0.45262271657,-0.00552327942571,0.0596994656756,0.999999892981,-6.31251687488e-05,-0.000455717620707,-4.87353327577e-05,1793242844639526656
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745.548921784,714,681,658,632,880.451078216,785.451078216,806.548921784,651.451078216,631,651.548921784,0.452397873635,-0.00551647622475,0.0596969522658,0.999999890635,-5.71801284912e-05,-0.000461783109925,-4.70928905285e-05,1793242844656193280
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.87524988,746,714,681,658,632.12475012,880,785.12475012,807,651.12475012,631,652,0.452161347321,-0.00550954289994,0.0596948844895,0.999999888792,-5.18511804283e-05,-0.000466539249493,-4.54830351199e-05,1793242844672860160
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.299830471,746,714,681,658,632.700169529,880,785.700169529,807,651.700169529,631,652,0.451889442992,-0.00550212441498,0.0596947593079,0.999999889396,-4.83098744262e-05,-0.000465752019855,-4.41485477009e-05,1793242844689526784
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.282406193,745.717593807,714,681.282406193,658,633,880,786,806.717593807,651.717593807,630.717593807,651.717593807,0.451606720511,-0.00549420652408,0.0596976555259,0.999999891706,-4.19461472661e-05,-0.00046156820318,-4.22333039943e-05,1793242844706193408
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.87205974,745.12794026,714,681.87205974,658,633,880,786,806.12794026,651.12794026,630.12794026,651.12794026,0.451312228302,-0.00548574529867,0.0597038389136,0.999999895767,-3.25117318673e-05,-0.000453689027101,-3.96862192865e-05,1793242844722859776
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.546228976,745,714,681.546228976,658.453771024,633,879.546228976,786,806,651.453771024,630.453771024,651.453771024,0.450971378612,-0.00547794340867,0.0596979453642,0.999999891153,-2.44433556584e-05,-0.000464434449101,-3.73787742512e-05,1793242844739526144
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.033194779,714,681.033194779,659,633,879.033194779,786,806.033194779,652,631.033194779,652,0.450615097211,-0.00547042554789,0.0596887052998,0.999999884015,-1.67575075622e-05,-0.000480057444281,-3.51378139171e-05,1793242844756193024
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.611195085,714,681.611195085,659,633,879.611195085,786,806.611195085,652,631.611195085,652,0.450216371647,-0.00546457072102,0.0596794650904,0.999999878861,-9.13730922369e-06,-0.000491031092577,-3.28981794235e-05,1793242844772859392
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.187432575,745.812567425,714,681.812567425,659,633,880,786.187432575,806.812567425,652,631.812567425,652,0.449803534104,-0.00545762738381,0.0596717992018,0.999999874781,-1.11806528136e-06,-0.000499495774751,-3.06574486857e-05,1793242844789526272
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.760047327,745.239952673,714,681.239952673,659,633,880,786.760047327,806.239952673,652,631.239952673,652,0.449361695872,-0.00544844711071,0.0596673686131,0.99999987316,7.72123397208e-06,-0.000502804420055,-2.84144654021e-05,1793242844806193152
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.656913839,745,714,681,659.343086161,633,879.656913839,786.656913839,806,652,631,651.656913839,0.448910702531,-0.00544005909871,0.059669987239,0.999999874999,1.58168486411e-05,-0.000499103966646,-2.54355866216e-05,1793242844822859776
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.066355946,745,714,681,659.933644054,633,879.066355946,786.066355946,806,652,631,651.066355946,0.448453105467,-0.00543224255222,0.0596776905389,0.999999879266,2.33760365422e-05,-0.00049034777535,-2.19258982809e-05,1793242844839526400
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633.513285081,880.026570162,786,806.513285081,651.486714919,631,651.513285081,0.447979569655,-0.00543673843138,0.0597029714227,0.999999899753,1.77942495047e-05,-0.000447012484489,-1.88761454739e-05,1793242844856193280
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.164273411,745,714,681,660,634.164273411,880,787,806.164273411,651.164273411,631,651.835726589,0.445817728302,-0.00542790972875,0.0598141914472,0.99999995796,2.47651430276e-05,-0.000288888719623,-3.00136648897e-06,1793242844922859776
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.149561165,745,714,681,660.149561165,634,879.149561165,787,806,651,631,651.149561165,0.443149497,-0.00538342855904,0.0597858455044,0.999999944495,9.53901384555e-05,-0.000319123969834,8.41740490114e-06,1793242844989526784
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+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.630069768,660,635,879,787,806,652,631.630069768,651.369930232,0.435923396433,-0.0053871474736,0.0597559933694,0.999999901972,0.000198209214388,-0.000395307709419,2.23728173567e-05,1793242845139526656
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.460595987,745,714,680,660,635,879,787,806.539404013,651.460595987,631,652,0.434206888106,-0.00540051240458,0.0597641692551,0.999999931162,0.00012717995724,-0.000348559382355,2.6101657357e-06,1793242845172859904
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.116931495,659.883068505,635,879,787,806.883068505,651,631,651.883068505,0.433342522649,-0.00540241009754,0.0597868786739,0.999999941836,0.000148044438473,-0.000307107910586,9.78810790948e-06,1793242845189526528
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.267051229,745,714,680.732948771,659.267051229,635,879.267051229,787,805.732948771,651,631,651,0.431559233019,-0.00539130829456,0.0598114405961,0.99999994326,0.000174797678253,-0.000287281753368,1.98982373516e-05,1793242845222859776
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,744.400854938,714,680,659.801709877,634.400854938,879,787,806,652,631,651.599145062,0.427812992487,-0.00538646807756,0.0597664218625,0.999999916379,0.000178573907912,-0.00036745010426,1.82467340652e-05,1793242845289526528
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.081138293,745,714,680,659,634.081138293,879.918861707,787,805.081138293,652,631.081138293,651.081138293,0.42242011669,-0.00538909712637,0.0598492892879,0.999999952414,0.000191758075991,-0.000240104052021,2.73865989993e-05,1793242845389526016
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+495,8.250000000,POSE2_TO_POSE3_RETREAT,765,744.344243492,714,679.344243492,659,635,878,787,805,652.655756508,631,652,0.40096440102,-0.00538425209473,0.0598384422907,0.999999934699,0.000233073763615,-0.000272890770065,4.25358098489e-05,1793242848106193152
+496,8.266666667,POSE2_TO_POSE3_RETREAT,765,744.236479924,714,679,658.763520076,635,878.236479924,787,805,652.763520076,631,652,0.400964648394,-0.00538367768299,0.059839425937,0.99999993444,0.000235282587599,-0.0002719245333,4.26486987456e-05,1793242848122860032
+497,8.283333333,POSE2_TO_POSE3_RETREAT,765,744.827404493,714,679,658.172595507,635,878.827404493,787,805,652.172595507,631,652,0.400964729639,-0.0053820168732,0.0598399407727,0.999999933667,0.000239714900348,-0.000270860811181,4.28700752877e-05,1793242848139526656
+498,8.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.409791669,635,878.590208331,787,805,652.409791669,631,651.590208331,0.400964824312,-0.00538234164484,0.0598405769788,0.999999933899,0.000239938503056,-0.000269813400007,4.28061069278e-05,1793242848156193280
+499,8.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.988656427,635,878.011343573,787,805,652.988656427,631,651.011343573,0.400964924524,-0.00538348563379,0.0598412632602,0.999999934549,0.000238425663156,-0.000268772718515,4.26244100905e-05,1793242848172859904
+500,8.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.56562052,659,635,878.56562052,787,805,652.43437948,631.56562052,651.56562052,0.400965921336,-0.00538490982636,0.0598425078126,0.999999935676,0.000236304376347,-0.000266396410223,4.29045765374e-05,1793242848189526272
+501,8.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.855253547,659,635,879,787,805,652,631.855253547,652,0.400966288602,-0.00538570671204,0.0598430857585,0.999999936321,0.000234865830657,-0.000265220131598,4.30698993488e-05,1793242848206192896
+502,8.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.269424147,659,635,879,787,805,652,631.269424147,652,0.400964682857,-0.00538457495114,0.0598415983643,0.999999935487,0.000235544848121,-0.000267782030772,4.28571299054e-05,1793242848222859520
+503,8.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.687304725,787,805,652,630.687304725,652,0.400963936633,-0.00538428362407,0.0598409140079,0.999999935212,0.000235767062321,-0.000268660349261,4.25562333796e-05,1793242848239526400
+504,8.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.108344438,787,805,652,630.108344438,652,0.400963922306,-0.00538470793984,0.0598409134511,0.999999935416,0.000235600301226,-0.000268105071826,4.21802952493e-05,1793242848256193280
+505,8.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.468776468,659,635,878.468776468,787.468776468,805,652,630.937552937,652,0.400963827136,-0.00538490349996,0.0598411688903,0.99999993553,0.000235291985441,-0.000267907439985,4.24715365933e-05,1793242848272859904
+506,8.433333333,POSE2_TO_POSE3_RETREAT,765.04546762,745,714,680,659,635,879,787.95453238,805,652,631.95453238,652,0.400963701848,-0.00538500166681,0.0598414494282,0.999999935599,0.000235011689171,-0.000267833065078,4.28529287213e-05,1793242848289526784
+507,8.450000000,POSE2_TO_POSE3_RETREAT,765.622084742,745,714,680,659,635,879,787.377915258,805,652,631.377915258,652,0.400963442143,-0.00538457730682,0.0598413346938,0.999999935406,0.000235439411689,-0.000268236718651,4.24931462278e-05,1793242848306193408
+508,8.466666667,POSE2_TO_POSE3_RETREAT,765.797341551,745,714,680,659,635,879,787,805,652.202658449,631,652,0.400963641303,-0.00538435411204,0.0598416812509,0.999999935518,0.000235411161989,-0.000267879764434,4.22549175489e-05,1793242848322859776
+509,8.483333333,POSE2_TO_POSE3_RETREAT,765.209242628,745,714,680,659,635,879,787,805,652.790757372,631,652,0.40096471319,-0.00538451351764,0.0598429051483,0.99999993621,0.000234515688971,-0.000266076193938,4.22478746272e-05,1793242848339526400
+510,8.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,787,805,652.624880263,631,652,0.400964799127,-0.00538491535939,0.0598428238458,0.999999936102,0.00023488031902,-0.000266156355955,4.22854385599e-05,1793242848356192768
+511,8.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,787,805,652.042581637,631,652,0.400964340524,-0.00538545109877,0.0598420216806,0.999999935551,0.000235940904919,-0.000267276904851,4.23476388898e-05,1793242848372859392
+512,8.533333333,POSE2_TO_POSE3_RETREAT,765.531142022,745,714,679.468857978,659,635,879,787,805,652,631,652,0.400964560067,-0.005385926552,0.0598423647163,0.999999936028,0.000235202035907,-0.000266143691335,4.23148421315e-05,1793242848389526272
+513,8.550000000,POSE2_TO_POSE3_RETREAT,765.895260521,745,714,679.104739479,659,635,879,787,805,652,631,652,0.400964950239,-0.00538625050391,0.0598428791522,0.999999936548,0.000234420287809,-0.000264881810045,4.22868568935e-05,1793242848406193152
+514,8.566666667,POSE2_TO_POSE3_RETREAT,765.319186558,745,714,679.680813442,659,635,879,787,805,652,631,652,0.400965867485,-0.00538591409383,0.0598437583106,0.999999936901,0.000234084456285,-0.000263841087155,4.23142514068e-05,1793242848422859776
+515,8.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.735644367,635,879,787,805,652.264355633,631,652,0.400965554943,-0.00538527588458,0.0598435882683,0.999999936766,0.000233990571484,-0.000264452060346,4.22052598471e-05,1793242848439526400
+516,8.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.142822834,635,879,787,805,652.857177166,631,652,0.40096371437,-0.00538426268529,0.0598421145781,0.999999936022,0.000234197309197,-0.000267115291159,4.19268065117e-05,1793242848456192768
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3b983b0454c173ff84f103f1ffa2a369eb7fb218
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,518 @@
+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,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+1,0.016666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+2,0.033333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+3,0.050000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+4,0.066666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+5,0.083333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+6,0.100000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+7,0.116666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+8,0.133333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+9,0.150000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+10,0.166666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+11,0.183333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+12,0.200000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+13,0.216666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+14,0.233333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+15,0.250000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+16,0.266666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+17,0.283333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+18,0.300000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+19,0.316666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+20,0.333333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+21,0.350000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+22,0.366666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+23,0.383333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+24,0.400000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+25,0.416666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+26,0.433333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+27,0.450000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+28,0.466666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+29,0.483333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+30,0.500000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+31,0.516666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+32,0.533333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+33,0.550000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+34,0.566666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+35,0.583333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+36,0.600000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+37,0.616666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+38,0.633333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+39,0.650000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+40,0.666666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+41,0.683333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+42,0.700000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+43,0.716666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+44,0.733333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+45,0.750000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+46,0.766666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+47,0.783333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+48,0.800000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+49,0.816666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+50,0.833333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+51,0.850000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+52,0.866666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+53,0.883333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+54,0.900000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+55,0.916666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+56,0.933333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+57,0.950000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+58,0.966666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+59,0.983333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+60,1.000000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+61,1.016666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+62,1.033333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+63,1.050000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+64,1.066666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+65,1.083333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+66,1.100000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+67,1.116666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+68,1.133333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+69,1.150000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+70,1.166666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+71,1.183333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dbde8237c19751a5084114705464fdf98b308707
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:020d8722e4de9b8d15be9a255139608df8a76318cff1a3ae6cfefeccd0006089
+size 25958479
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..36552c7ed6805f254120ab3829d4a396a2de138d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_05/franka_data.csv
@@ -0,0 +1,410 @@
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+3,0.050000000,BASELINE,765.261164404,745.261164404,714,679.261164404,659,635,879,787,805,652,631,652,0.400966945737,-0.00538687400856,0.0598449111608,0.999999937362,0.000234655249413,-0.000261592374827,4.22261944792e-05,1793242848654114048
+4,0.066666667,BASELINE,765.323384033,745,714,679,659,635,878.676615967,787,805,652,631,652,0.400965851973,-0.0053872263911,0.0598447899558,0.999999937426,0.000233704056862,-0.000262215178751,4.21170287416e-05,1793242848670780672
+5,0.083333333,BASELINE,765.905410478,745,714,679,659,635,878.094589522,787,805,652,631,652,0.400964335393,-0.00538671808969,0.0598445500679,0.999999937182,0.000233728814765,-0.000263148908628,4.19537028964e-05,1793242848687447552
+6,0.100000000,BASELINE,766,745,714,679,659,635,878.480519763,787,805,652,631,652,0.4009644576,-0.00538647925555,0.0598444795937,0.999999936979,0.000234447772198,-0.000263282627791,4.19421230789e-05,1793242848704113920
+7,0.116666667,BASELINE,766,745,714,679.05456332,659,635,878.94543668,787,805,652,631,652,0.400964919071,-0.00538638013388,0.0598444926916,0.999999936843,0.000235126087472,-0.000263190737146,4.19665722674e-05,1793242848720780800
+8,0.133333333,BASELINE,766,745,714,679.63125357,659,635,878.36874643,787,805,652,631,652,0.400965583875,-0.0053871175609,0.0598449909149,0.999999937275,0.00023412639718,-0.000262425521626,4.20540053731e-05,1793242848737447424
+9,0.150000000,BASELINE,765.786203248,745,714,680,659,635,878.213796752,787,805,652,631,652,0.400966267623,-0.00538707550421,0.0598454232338,0.999999937497,0.000233968561456,-0.000261712443472,4.20816585313e-05,1793242848754114048
+10,0.166666667,BASELINE,765.193281137,745,714,680,659,635,878.806718863,787,805,652,631,652,0.400966984962,-0.00538565119051,0.0598457386844,0.99999993735,0.000235303584888,-0.00026109182049,4.20033040172e-05,1793242848770780672
+11,0.183333333,BASELINE,765.387881343,745,714,680,659,635,878.612118657,787,805,652.387881343,631,652,0.400965912374,-0.00538641459252,0.05984533438,0.999999937666,0.000232879089939,-0.000262059909887,4.19529518736e-05,1793242848787447552
+12,0.200000000,BASELINE,765.963356483,745,714,680,659,635,878.036643517,787,805,652.963356483,631,652,0.400963974109,-0.00538823605481,0.0598445819754,0.99999993819,0.000228636352649,-0.000263796359425,4.19161427071e-05,1793242848804114432
+13,0.216666667,BASELINE,765.461559153,745,714,679.461559153,659,635,878,787.538440847,805,652.461559153,631,652,0.40096428807,-0.00538724177387,0.0598444582422,0.999999937985,0.000230756096609,-0.000262753621073,4.17349252734e-05,1793242848820781056
+14,0.233333333,BASELINE,765,745,714,679.113301788,658.886698212,635,878.113301788,787.886698212,805,652,631,652,0.40096486367,-0.00538657091938,0.0598445665525,0.999999937881,0.000232605788757,-0.000261522437453,4.16923396348e-05,1793242848837447680
+15,0.250000000,BASELINE,765,745,714,679.687362389,658.312637611,635,878.687362389,787.312637611,805,652,631,652,0.40096588041,-0.00538799403388,0.0598454446407,0.999999938412,0.000231597701479,-0.000260293509678,4.22534578285e-05,1793242848854114304
+16,0.266666667,BASELINE,765,745,714,679.728835949,658.271164051,635,878.728835949,787,805,652,631,652,0.400966669191,-0.00538827089555,0.0598459720261,0.999999938626,0.000231160174624,-0.000259861229539,4.22586138306e-05,1793242848870781184
+17,0.283333333,BASELINE,765,745,714,679.133384918,658.866615082,635,878.133384918,787,805,652,631,652,0.400967185355,-0.00538717694539,0.0598460800037,0.999999938461,0.000231404985016,-0.000260381665934,4.15988907393e-05,1793242848887447808
+18,0.300000000,BASELINE,765,745,714,679.447711229,659,635,878.447711229,787,804.552288771,652,631,652,0.400967107822,-0.00538688173022,0.0598461536081,0.999999938594,0.000230846729837,-0.000260387747707,4.14686448115e-05,1793242848904114432
+19,0.316666667,BASELINE,765,745,714,679.975456693,659,635,878.975456693,787,804,652,631,652,0.400966835847,-0.00538680881923,0.0598461911644,0.999999938759,0.000230238018321,-0.000260289472382,4.15017507118e-05,1793242848920781056
+20,0.333333333,BASELINE,765,745,714,679.401316866,659,635,878.401316866,787,804,652,631,652,0.400966047518,-0.0053865507826,0.0598456436907,0.999999937715,0.000233690602493,-0.000261179217286,4.17701462518e-05,1793242848937447424
+21,0.350000000,BASELINE,765,745,714,679,658.82166234,635,878.17833766,787,804.17833766,652,631,652,0.400965360106,-0.00538661875549,0.0598452113509,0.99999993717,0.000235230420744,-0.000261848325807,4.19771168149e-05,1793242848954114048
+22,0.366666667,BASELINE,765,745,714,679,658.229202068,635,878.770797932,787,804.770797932,652,631,652,0.400964907037,-0.00538744376377,0.059845046367,0.999999937805,0.000232328554011,-0.000262005088611,4.20414507723e-05,1793242848970780672
+23,0.383333333,BASELINE,765.353127524,745,714,679.353127524,658,635,878.646872476,787,805,652,631,652,0.400964880148,-0.00538791039169,0.0598452656213,0.999999938105,0.000231224585456,-0.000261850803006,4.19543169407e-05,1793242848987447552
+24,0.400000000,BASELINE,765.929065099,745,714,679.929065099,658,635,878.070934901,787,805,652,631,652,0.400965122164,-0.00538815089531,0.0598457273154,0.999999938197,0.000231255022062,-0.000261500257693,4.17716126955e-05,1793242849004114432
+25,0.416666667,BASELINE,766,745,714,680,658.499703028,635,878.499703028,787,805,652,631,652,0.400965416165,-0.00538804333635,0.0598458171819,0.999999937786,0.000232998947773,-0.000261512743995,4.18481620857e-05,1793242849020781056
+26,0.433333333,BASELINE,766,745,714.072827893,679.927172107,659,635,879.072827893,787.072827893,805,652,631,652,0.400965711741,-0.00538792700316,0.0598458091395,0.999999937442,0.000234391602276,-0.000261573778506,4.19056416424e-05,1793242849037447936
+27,0.450000000,BASELINE,766,745,714.669181693,679.330818307,659,635,879.669181693,787.669181693,805,652,631,652,0.400965966148,-0.00538809904649,0.0598454727218,0.999999938112,0.000231528964986,-0.000261617238441,4.15642600272e-05,1793242849054114304
+28,0.466666667,BASELINE,765.742009629,745,714.742009629,679.257990371,658.742009629,635,879.742009629,787.742009629,805,652,631,651.742009629,0.400966273221,-0.005388186305,0.0598455600352,0.999999938434,0.000230515450132,-0.000261310066007,4.1378239259e-05,1793242849070780672
+29,0.483333333,BASELINE,765.162601102,745,714.162601102,679.837398898,658.162601102,635,879.162601102,787.162601102,805,652,631,651.162601102,0.400966645908,-0.00538816793406,0.0598461752553,0.999999938329,0.000231805670742,-0.00026056605708,4.13857753363e-05,1793242849087447296
+30,0.500000000,BASELINE,765,745,714,679.587350684,658.412649316,635,878.587350684,787,805,652,631.412649316,651.412649316,0.400965986138,-0.00538681316156,0.0598456767693,0.99999993771,0.000233525017884,-0.000261389027354,4.14915038459e-05,1793242849104113920
+31,0.516666667,BASELINE,765,745,714,679.013722404,658.986277596,635,878.013722404,787,805,652,631.986277596,651.986277596,0.400964923595,-0.00538493704435,0.0598447438145,0.999999936886,0.000235411771899,-0.000262823293193,4.16355382858e-05,1793242849120780544
+32,0.533333333,BASELINE,765,745,714,679.562012604,659,635,878.562012604,787,805,652,631.437987396,652,0.40096696274,-0.00538733228383,0.0598463008962,0.999999938155,0.000232872563297,-0.000260212359798,4.18213712318e-05,1793242849137447424
+33,0.550000000,BASELINE,765,745,714,680,658.858287205,635,879,787,805,652,631,652,0.400967939529,-0.00538924035412,0.0598471435677,0.999999938966,0.000230843288506,-0.00025887386327,4.19891376309e-05,1793242849154114048
+34,0.566666667,BASELINE,765,745,714,680,658.266148121,635,879,787,805,652,631,652,0.400965298058,-0.00538926725073,0.0598455215547,0.99999993819,0.000230779587128,-0.000261894853045,4.20962244265e-05,1793242849170780672
+35,0.583333333,BASELINE,765,745,714,679.681620544,658.318379456,635,879,787.318379456,805,652,631,652,0.400964919544,-0.00538887990704,0.0598453738282,0.999999937965,0.000231254052515,-0.000262336285747,4.20900438415e-05,1793242849187447552
+36,0.600000000,BASELINE,765,745,714,679.10330715,658.89669285,635,879,787.89669285,805,652,631,652,0.400966388572,-0.00538815436593,0.0598464297503,0.999999938193,0.000232167892369,-0.000260671695873,4.19913885948e-05,1793242849204114432
+37,0.616666667,BASELINE,765.470887548,745,714,679.470887548,658.529112452,635,879,787.529112452,805,652,631,652,0.400965227391,-0.00538957669717,0.0598454973472,0.999999938432,0.000229857706376,-0.000261803028855,4.19698524488e-05,1793242849220780800
+38,0.633333333,BASELINE,765.954508913,745,714,680,658.045491087,635,879,787,805,652,631,652.045491087,0.400963908781,-0.0053911139303,0.0598444121659,0.999999938665,0.000227388255805,-0.000263069671077,4.19512726341e-05,1793242849237447168
+39,0.650000000,BASELINE,765.364282941,745,714,680,658.635717059,635,879,787,805,652,631,652.635717059,0.400967554855,-0.00538843337231,0.059846675717,0.999999938896,0.00023140799235,-0.00025867517691,4.17672527545e-05,1793242849254114048
+40,0.666666667,BASELINE,765,745,714,679.780411827,659,635,878.780411827,787,805,652,631,652.780411827,0.400969344241,-0.00538682398983,0.0598478733219,0.999999939068,0.00023321474746,-0.000256407537349,4.15838427265e-05,1793242849270780928
+41,0.683333333,BASELINE,765,745,714,679.206786543,659,635,878.206786543,787,805,652,631,652.206786543,0.40096814013,-0.00538694163985,0.0598473523257,0.999999939187,0.000231453561755,-0.000257568978286,4.14014159613e-05,1793242849287447552
+42,0.700000000,BASELINE,765,745,714.370693172,679.370693172,659,635,878.370693172,787,804.629306828,652,631,652,0.40096646735,-0.00538791189797,0.0598463523916,0.999999939023,0.000229740871437,-0.000259731906272,4.13855836297e-05,1793242849304114432
+43,0.716666667,BASELINE,765,745,714.950345606,679.950345606,659,635,878.950345606,787,804.049654394,652,631,652,0.400964530383,-0.00538936277016,0.0598450824808,0.999999938693,0.000228055517965,-0.00026245937117,4.14636603703e-05,1793242849320781056
+44,0.733333333,BASELINE,765,744.477488611,714.477488611,680,658.477488611,635,878.477488611,787,804.522511389,652,631,652,0.40096556847,-0.00538942661091,0.0598455157637,0.999999938753,0.000228945409505,-0.000261438183481,4.15725240584e-05,1793242849337447424
+45,0.750000000,BASELINE,765.097520796,744.097520796,714,680,658.097520796,635,878,787,804.902479204,652.097520796,631,652,0.400966493982,-0.00538936109268,0.0598459979363,0.999999938803,0.000229863703302,-0.000260425085228,4.16567748716e-05,1793242849354114048
+46,0.766666667,BASELINE,765.690542231,744.690542231,714,680,658.690542231,635,878,787,804.309457769,652.690542231,631,652,0.400965431306,-0.00538929856744,0.0598459177518,0.999999938631,0.000229700425009,-0.000261237544672,4.16013128878e-05,1793242849370780672
+47,0.783333333,BASELINE,765.72159649,745,714,679.72159649,659,635,878.27840351,787,804,652.72159649,631,652,0.400965508608,-0.00538934347524,0.0598461429521,0.999999938747,0.000229789154026,-0.00026070638787,4.16504359877e-05,1793242849387447296
+48,0.800000000,BASELINE,765.139366503,745,714,679.139366503,659,635,878.860633497,787,804,652.139366503,631,652,0.400966829987,-0.00538950562653,0.059846701424,0.999999939175,0.000230152902878,-0.000258708919951,4.18136945577e-05,1793242849404114176
+49,0.816666667,BASELINE,765,745,714.435563914,679,659,635,879,787,804.435563914,652,631,652,0.400968006789,-0.0053893556342,0.0598473646627,0.999999939326,0.000230914702784,-0.000257441557689,4.18309294843e-05,1793242849420780800
+50,0.833333333,BASELINE,765,745,714.991763713,679,659,635,879,787,805,652,631,652,0.400969094654,-0.00538909692045,0.0598480364914,0.999999939375,0.000231804256414,-0.000256453930161,4.18006856337e-05,1793242849437447424
+51,0.850000000,BASELINE,765,745,714.416397441,679,659,635,879,787,805,652,631,652,0.400967191347,-0.00538811577426,0.0598470296174,0.999999938502,0.000232865229262,-0.000258907439019,4.16653647664e-05,1793242849454114048
+52,0.866666667,BASELINE,765.164299609,745,714,679,659,635,879,787,805,652,631,652,0.400965954987,-0.00538738646479,0.0598462824735,0.999999937952,0.000233580875168,-0.000260408949854,4.15012460887e-05,1793242849470780672
+53,0.883333333,BASELINE,765.758959883,745,714,679,659,635,879,787,805,652,631,652,0.400966465606,-0.00538731680772,0.0598462156572,0.999999938264,0.000233391983672,-0.000259416830135,4.12616954404e-05,1793242849487447040
+54,0.900000000,BASELINE,765.657463051,745,714,679,659,635,879,787,804.657463051,652.342536949,631,652,0.400966541526,-0.00538817564328,0.0598462275152,0.999999938625,0.000232013386551,-0.000259248558971,4.13476176687e-05,1793242849504113920
+55,0.916666667,BASELINE,765.08144072,745,714,679,659,635,879,787,804.08144072,652.91855928,631,652,0.40096632114,-0.0053896673725,0.0598462930004,0.999999939016,0.000229823843717,-0.000259641852359,4.16553938099e-05,1793242849520780288
+56,0.933333333,BASELINE,765.493654599,745,714,679.493654599,659,635,879.987309198,787,804.493654599,652.506345401,631,652,0.400966613634,-0.00538948203665,0.0598463047601,0.999999938426,0.000232145381829,-0.000259847668446,4.1651486387e-05,1793242849537446912
+57,0.950000000,BASELINE,766,745,714,680,659,635,880.788484601,787,805,652,631,652,0.400967120167,-0.00538909351665,0.059846384889,0.999999937907,0.000234451769977,-0.000259781622654,4.16173694162e-05,1793242849554113792
+58,0.966666667,BASELINE,766,745,714,680,659,635,879.015685689,787,805,652,631,652,0.400968583225,-0.00538924362829,0.0598470349816,0.999999939145,0.000231163255203,-0.000257936723317,4.17391044883e-05,1793242849570780416
+59,0.983333333,BASELINE,765.752823199,745,714,679.752823199,659,635,878,787,805,652,631,652,0.400968481486,-0.0053889591395,0.0598470031375,0.999999939489,0.000230024840575,-0.000257625564689,4.17063519175e-05,1793242849587447296
+60,1.000000000,BASELINE,765.174052664,745,714,679.174052664,659,635,878,787,805,652,631,652,0.400966280532,-0.00538809162363,0.0598460564587,0.999999938645,0.000231770837511,-0.000259371956542,4.14663504063e-05,1793242849604114176
+61,1.016666667,BASELINE,765.401390144,745,714,679,659,635,878.401390144,787,805,652.401390144,631,652,0.400966463675,-0.00538898673529,0.0598465585337,0.999999939212,0.000230047954416,-0.000258721241547,4.14340796469e-05,1793242849620780800
+62,1.033333333,BASELINE,765.975401797,745,714,679,659,635,878.975401797,787,805,652.975401797,631,652,0.40096767212,-0.00539063988112,0.0598476836585,0.999999940378,0.000226833247569,-0.000257039628679,4.1491145415e-05,1793242849637447424
+63,1.050000000,BASELINE,766,745,714,679,659,635,879,787,805,653,631,652,0.400968292123,-0.00538952709916,0.05984825649,0.999999940135,0.000228591560764,-0.000256444322358,4.13730533479e-05,1793242849654114048
+64,1.066666667,BASELINE,765.850621512,745,714,679.149378488,659,635,878.850621512,787,805,652.850621512,631,652,0.400968490953,-0.00538876502892,0.0598484630232,0.999999939942,0.00022965292268,-0.000256258710259,4.13210350747e-05,1793242849670780928
+65,1.083333333,BASELINE,765.271243459,745,714,679.728756541,659,635,878.271243459,787,805,652.271243459,631,652,0.400967553232,-0.00538936898588,0.0598476863126,0.999999940079,0.000228067126214,-0.000257112437569,4.14817904978e-05,1793242849687447552
+66,1.100000000,BASELINE,765,745,714,679.69322486,659,635,878.30677514,787,804.69322486,652,631,652,0.400967361186,-0.00538875247309,0.0598476169833,0.999999939797,0.000229057614514,-0.000257324560074,4.15012606818e-05,1793242849704114176
+67,1.116666667,BASELINE,765,745,714,679.116402986,659,635,878.883597014,787,804.116402986,652,631,652,0.400967825541,-0.00538706161029,0.0598481703446,0.999999939141,0.000232315944051,-0.000256971893343,4.13963608788e-05,1793242849720780800
+68,1.133333333,BASELINE,765,745,714,679.459187908,659,635,878.540812092,787,804.459187908,652,631,652,0.40096741371,-0.00538684459202,0.0598477899131,0.999999939277,0.000231032261444,-0.000257650291004,4.10712462529e-05,1793242849737447424
+69,1.150000000,BASELINE,765,745,714,680,659,635,878,787,805,652.03432001,631,651.96567999,0.400966821824,-0.00538701737134,0.0598471956868,0.999999939552,0.000228899840027,-0.000258536148968,4.07347966991e-05,1793242849754114304
+70,1.166666667,BASELINE,765,745,714,680,659,635,878,787,805,652.607135874,631,651.392864126,0.400966880497,-0.00538745972143,0.0598469511456,0.999999938933,0.00023146782915,-0.00025858706862,4.10940571745e-05,1793242849770780672
+71,1.183333333,BASELINE,765,745,714,679.812971863,658.812971863,635,878,787,805,652.812971863,631,651,0.400967403165,-0.00538798332838,0.0598470890509,0.999999938699,0.000232888197389,-0.000258159458244,4.14672385077e-05,1793242849787447552
+72,1.200000000,BASELINE,765,745,714,679.217630549,658.217630549,635,878,787,805,652.217630549,631,651,0.400968938813,-0.00538868433248,0.0598480618998,0.999999939313,0.00023180312102,-0.000256687138139,4.18708114314e-05,1793242849804113920
+73,1.216666667,BASELINE,765.365100359,745,714,679.365100359,658,635,878,787,805,652,631,651.365100359,0.400968470624,-0.00538869784587,0.0598477759161,0.999999939446,0.000230969318121,-0.000256945558452,4.17077595853e-05,1793242849820780544
+74,1.233333333,BASELINE,765.940565331,745,714,679.940565331,658,635,878,787,805,652,631,651.940565331,0.400966847858,-0.00538831523876,0.0598467646145,0.999999939302,0.000230280294785,-0.000258201202023,4.12182281674e-05,1793242849837447168
+75,1.250000000,BASELINE,766,745,714,679.48288904,658.51711096,635,878,787,805,652,631,652,0.400967251555,-0.00538786539525,0.0598470134062,0.99999993913,0.000231987135059,-0.000257337598743,4.12184247732e-05,1793242849854114048
+76,1.266666667,BASELINE,765.904170685,745,714,679,658.904170685,635,878,787,805,652.095829315,631,651.904170685,0.400967709044,-0.00538765703239,0.0598473560214,0.999999939038,0.000233261147047,-0.00025652997465,4.12897665092e-05,1793242849870780672
+77,1.283333333,BASELINE,765.314905636,745,714,679,658.314905636,635,878,787,805,652.685094364,631,651.314905636,0.400967241709,-0.00538873195513,0.0598474344366,0.999999939394,0.000230885593242,-0.000257267429004,4.14370054672e-05,1793242849887447296
+78,1.300000000,BASELINE,765,745,714,679,658.269782128,635,878.269782128,787,805,652.730217872,631,651.269782128,0.400966399425,-0.00539005175732,0.0598469003565,0.99999993962,0.000228442047235,-0.0002585466949,4.15735336128e-05,1793242849904114176
+79,1.316666667,BASELINE,765,745,714,679,658.849216111,635,878.849216111,787,805,652.150783889,631,651.849216111,0.40096512678,-0.00539165262837,0.0598456632635,0.999999939694,0.000225920460966,-0.000260447843856,4.16977680395e-05,1793242849920781056
+80,1.333333333,BASELINE,765,745,714,679,659,635,879,787,805,652,631,652,0.400965693078,-0.00539152210642,0.0598464921283,0.999999939522,0.00022803955303,-0.000259220760537,4.19356017478e-05,1793242849937447680
+81,1.350000000,BASELINE,765,745,714,679,659,635,879,787,805,652,631,652,0.400966906251,-0.00539078254181,0.0598480477237,0.999999939248,0.000231791071323,-0.000256893275943,4.22133956732e-05,1793242849954114304
+82,1.366666667,BASELINE,765,745,714,679.573231786,659,635.573231786,878.426768214,787,805,652,631,652,0.400966926113,-0.00538919548478,0.0598475991419,0.999999939031,0.000232051562462,-0.0002576285611,4.14371109725e-05,1793242849970780672
+83,1.383333333,BASELINE,765.152846999,745,714,679.847153001,659,635.847153001,878.152846999,787,805,652,631,652,0.400966932475,-0.00538820709342,0.0598473735921,0.999999939034,0.000231630658411,-0.000258078788588,4.0928151346e-05,1793242849987447296
+84,1.400000000,BASELINE,765.746055169,745,714,679.253944831,659,635.253944831,878.746055169,787,805,652,631,652,0.400966909935,-0.00538895058645,0.0598478073869,0.999999939668,0.000229275836343,-0.000257682111627,4.1198193868e-05,1793242850004113920
+85,1.416666667,BASELINE,765.671611369,745,714,679.328388631,659,635,879,787,805,652,631,652,0.400967306743,-0.00538974185655,0.0598483127168,0.999999940084,0.000228261807094,-0.000256932068655,4.1394607317e-05,1793242850020780800
+86,1.433333333,BASELINE,765.097417859,745,714,679.902582141,659,635,879,787,805,652,631,652,0.400968017442,-0.00539056888863,0.059848871592,0.999999940341,0.000228251385862,-0.000255917524807,4.15359080462e-05,1793242850037447680
+87,1.450000000,BASELINE,765.477654632,745,714,679.522345368,658.522345368,635,878.522345368,787.477654632,805,652,631,652,0.4009670335,-0.00539000747887,0.0598478272815,0.999999940123,0.000227801241742,-0.000257207819154,4.12823474537e-05,1793242850054114304
+88,1.466666667,BASELINE,765.945551328,745,714,679,658,635,878.054448672,787.945551328,805,652,631,652,0.40096586265,-0.00538923818646,0.0598466290617,0.999999939785,0.000227593935993,-0.000258745528691,4.10065101375e-05,1793242850070780928
+89,1.483333333,BASELINE,765.353533664,745,714,679,658,635,878.646466336,787.353533664,805,652,631,652,0.400966265078,-0.00538921738882,0.0598471454173,0.999999939241,0.000230671216103,-0.000258076395883,4.13072913021e-05,1793242850087447552
+90,1.500000000,BASELINE,765,745,714,679,658.233061695,635,879,787,805,652,631,652,0.400966705915,-0.00538865824553,0.0598474265843,0.999999938947,0.000232707075153,-0.000257373573476,4.13897410516e-05,1793242850104113920
+91,1.516666667,BASELINE,765,745,714,679,658.811618863,635,879,787,805,652,631,652,0.400967203693,-0.00538730104752,0.0598473591029,0.999999939035,0.000233199109832,-0.000256620808976,4.11485317735e-05,1793242850120780288
+92,1.533333333,BASELINE,765.386528227,745,714,679.386528227,658.613471773,635,879,787,805,652,631,652,0.400967745018,-0.00538849747689,0.0598476536588,0.999999939464,0.000231592728153,-0.000256389609991,4.12336655762e-05,1793242850137446912
+93,1.550000000,BASELINE,765.959676445,745,714,679.959676445,658.040323555,635,879,787,805,652,631,652,0.400968307367,-0.00539092682494,0.0598481230102,0.999999940052,0.0002289732085,-0.000256410228384,4.1476361311e-05,1793242850154113792
+94,1.566666667,BASELINE,766,745,714,679.465149598,658.534850402,635,879,787,805,652,631,652,0.400967843109,-0.00538861580523,0.0598479873248,0.999999939328,0.000231754687822,-0.000256810771302,4.10058561634e-05,1793242850170780416
+95,1.583333333,BASELINE,765.886291861,745,714,679,659,635,878.886291861,787,805,652,631,652,0.400967296857,-0.00538670544567,0.0598477955726,0.999999938776,0.000233725283194,-0.00025723582981,4.06125149702e-05,1793242850187447296
+96,1.600000000,BASELINE,765.292528937,745,714,679,659,635,878.292528937,787,805,652,631,652,0.400966732448,-0.00538800115609,0.0598475604276,0.999999939403,0.000230546846478,-0.00025764300207,4.0772814792e-05,1793242850204114176
+97,1.616666667,BASELINE,765,744.706867863,714,679,659,635,878.293132137,787,804.706867863,652,631,652,0.400966460841,-0.0053882115699,0.0598472738588,0.999999939657,0.0002288118655,-0.000258190000381,4.08499249012e-05,1793242850220780800
+98,1.633333333,BASELINE,765,744.129074548,714,679,659,635,878.870925452,787,804.129074548,652,631,652,0.400966473576,-0.00538736805003,0.0598469373525,0.999999939557,0.000228478627339,-0.000258872784015,4.08462493123e-05,1793242850237447424
+99,1.650000000,BASELINE,765,744.447038319,714,679,658.552961681,635,879.447038319,787,804.447038319,652,631,652,0.400967907449,-0.00538842679266,0.0598479760093,0.999999940217,0.000228123721338,-0.00025663034006,4.08170499636e-05,1793242850254114304
+100,1.666666667,BASELINE,765.023152469,745,714,679,658.023152469,635,879.953695063,787,805,652,631,652,0.400969629762,-0.00538993314025,0.0598493195796,0.999999941021,0.000227844573052,-0.000253733668165,4.07835498086e-05,1793242850270780928
+101,1.683333333,BASELINE,765.611089828,745,714,679,658.611089828,635,878.777820344,787,805,652,631,652,0.400968416175,-0.00538901023652,0.0598484517226,0.999999940201,0.000229565513556,-0.000255404011507,4.08242356167e-05,1793242850287447552
+102,1.700000000,BASELINE,765.802932766,745,714,679.197067234,659,635,878,787,805,652,631,652,0.40096761881,-0.00538828139624,0.0598479854077,0.999999939569,0.000230970861217,-0.000256600177109,4.08694637474e-05,1793242850304114176
+103,1.716666667,BASELINE,765.220785284,745,714,679.779214716,659,635,878,787,805,652,631,652,0.400967634767,-0.00538793176674,0.0598483037287,0.999999939315,0.000231759522859,-0.000256869773051,4.09235678228e-05,1793242850320781056
+104,1.733333333,BASELINE,765,745,714,679.644044992,658.644044992,635,878.355955008,787,805,652.355955008,631,652,0.400966977274,-0.00538756120642,0.0598478001259,0.999999939128,0.000231671456503,-0.000257691070122,4.08250829424e-05,1793242850337448192
+105,1.750000000,BASELINE,765,745,714,679.070608333,658.070608333,635,878.929391667,787,805,652.929391667,631,652,0.400965908318,-0.00538717785774,0.0598467943437,0.999999938981,0.000231047726309,-0.000258849445977,4.06333691549e-05,1793242850354115328
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+108,1.800000000,POSE1_TO_POSE2_PRESS,765.418928823,745,714,679.581071177,658.581071177,635,879,787.581071177,804.581071177,652,631,652,0.400967539441,-0.00538817118797,0.0598479156842,0.999999939898,0.000229515702267,-0.000256644341956,4.07567861266e-05,1793242850430057984
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+111,1.850000000,POSE1_TO_POSE2_PRESS,765.692391155,745,714,679.692391155,659,635,879,787,805,652.307608845,631,652,0.400967749439,-0.00539050591494,0.0598479145056,0.999999939829,0.000229953239259,-0.000256432530281,4.12942023421e-05,1793242850480057600
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+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.061765639,635,878.938234361,787,805,652,631,652,0.400966445397,-0.00538844235848,0.0598462463304,0.999999939139,0.000230535732146,-0.000258718830492,4.05008894425e-05,1793242850530057984
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.640010458,635,878.359989542,787,805,652,631,652,0.400969734089,-0.0053895717707,0.0598485654747,0.999999940282,0.000228531978008,-0.000256050400434,4.05971540187e-05,1793242850546724608
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.216585254,659,635,878,787,805,652.216585254,631,652,0.400979308582,-0.0053902043525,0.059853486526,0.999999942152,0.000228551330316,-0.000248551924848,4.10202214598e-05,1793242850563391232
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.79040546,659,635,878,787,805,652.79040546,631,652,0.40099925085,-0.00539001746385,0.0598626991532,0.999999945063,0.000231907587418,-0.000233086789442,4.19823163765e-05,1793242850580057856
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.626131557,659,635,878,787,805,652.626131557,631,652,0.401036324406,-0.00539117335146,0.0598773550541,0.999999951058,0.000230867901824,-0.000206799169663,4.26323253874e-05,1793242850596724480
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+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.542495143,635,878,787,805,652,631,652,0.401148519066,-0.005394169533,0.0599130545157,0.999999962,0.00022888748594,-0.000147044230077,4.46000171401e-05,1793242850630057984
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.121067095,659.878932905,635,878,787,804.878932905,652,631,652,0.40121719368,-0.00539550252151,0.0599291247677,0.999999964962,0.000230199629701,-0.00012242464556,4.579371976e-05,1793242850646724864
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+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,714,679.974778636,658.025221364,635,878.974778636,787.025221364,804.025221364,652,631,652,0.401683286483,-0.005407076762,0.0599500836211,0.999999970423,0.000224408893784,-8.36024216748e-05,4.24898346355e-05,1793242850730057984
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,714,679.395920131,658.604079869,635,878.395920131,787.604079869,804.604079869,652,631,652,0.401821878209,-0.0054115401688,0.0599499123729,0.999999972202,0.000217722285922,-8.06827044062e-05,4.10204821955e-05,1793242850746724608
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.818164818,745,714,679,659,635,878.181835182,787.818164818,805,652,631,652,0.401968587893,-0.00541597019927,0.0599494349825,0.999999973635,0.000212536775681,-7.74654182477e-05,3.94664032822e-05,1793242850763391232
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.242797136,745,714,679,659,635,878.757202864,787.242797136,805,652,631,652,0.402132866657,-0.00542032799521,0.0599482950308,0.999999974403,0.000210599981407,-7.3604126033e-05,3.77289572936e-05,1793242850780058112
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.339542572,745,714,679.339542572,658.660457428,635,878.660457428,787,805,652,631,652,0.402316418034,-0.00542485263602,0.0599496723772,0.999999975638,0.000207374113856,-6.65192028679e-05,3.59966516755e-05,1793242850796724736
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.926972352,745,714,679.926972352,658.073027648,635,878.073027648,787,805,652,631,652,0.402514039637,-0.00542949908441,0.059952887508,0.999999977137,0.00020320714237,-5.70808280788e-05,3.42680986646e-05,1793242850813391616
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.492954641,745,714,680,658.507045359,635,878,787,805,652,631,651.492954641,0.402745728561,-0.00543436776922,0.0599529816235,0.999999978415,0.000198629976119,-5.19847622439e-05,3.1836663852e-05,1793242850830057984
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.085597598,745,714,680,659,635,878,787,805,652,631,651.085597598,0.402987690115,-0.0054395640155,0.059952728847,0.9999999797,0.000193548077925,-4.7762487547e-05,2.92989916819e-05,1793242850846724608
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.661421932,745,714,680,659,635,878,787,805,652,631,651.661421932,0.403260785616,-0.00544645555333,0.0599530269403,0.999999981349,0.000185909034202,-4.50139714098e-05,2.67243672328e-05,1793242850863391232
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.762182921,745,714,680,659,635,878.237817079,787,805,652,631,651.762182921,0.403543194752,-0.00545367094959,0.059949984225,0.999999982718,0.000177982986808,-4.81463039664e-05,2.38400627407e-05,1793242850880058112
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.184973191,745,714,680,659,635,878.815026809,787,805,652,631,651.184973191,0.403838895512,-0.00546134852909,0.0599421737868,0.999999983619,0.000169647352218,-5.96712922199e-05,2.05138089378e-05,1793242850896724736
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679.600068767,659,635,878.600068767,787,804.600068767,652,631,651.399931233,0.404147256533,-0.00546969116666,0.05993162603,0.999999984124,0.000159408817217,-7.77928355822e-05,1.70072041808e-05,1793242850913391360
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679.011535649,659,635,878.011535649,787,804.011535649,652,631,651.988464351,0.404461587944,-0.00547834743594,0.0599197873929,0.999999984015,0.000148272901604,-9.90252201936e-05,1.34155485648e-05,1793242850930057984
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.561870343,745,714,679,659,635,878.561870343,787,804.561870343,652,631,652,0.404825708671,-0.00548684135535,0.0599104382848,0.999999983701,0.000138564201947,-0.000115372476419,9.38431489516e-06,1793242850946725120
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.863831978,745,714,679.136168022,659,635,879,787,805,652,631,652,0.40520962125,-0.00549502045379,0.0599049278939,0.999999983701,0.000129512028296,-0.000125677933026,5.49836994189e-06,1793242850963392000
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.285658276,745,714,679.714341724,659,635,879,787,805,652,631,652,0.405654547584,-0.00550218816768,0.0599117165405,0.999999985687,0.000122498339525,-0.000116688542383,2.11256459184e-06,1793242850980058112
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.701222367,659,635,879,787,805,652.298777633,631,651.701222367,0.406123894296,-0.00551125081109,0.0599297802434,0.999999989751,0.000113410826089,-8.73782779245e-05,-5.33497945989e-07,1793242850996724736
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.110670981,659,635,879,787,805,652.889329019,631,651.110670981,0.406617088984,-0.00552216396433,0.0599588546961,0.999999994034,0.00010229810109,-3.82234959098e-05,-2.45715896265e-06,1793242851013391616
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.469880624,659,635,879,787,805,652.530119376,631,651,0.407141351638,-0.00552787311737,0.0599838561046,0.99999999647,8.39047010156e-05,9.42330848753e-07,-4.46964927592e-06,1793242851030058240
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.951928831,658.951928831,635,879,787,805,652,631,651,0.40767194773,-0.00553063187195,0.0600052567342,0.999999997511,6.21871587335e-05,3.26543868505e-05,-6.67697905105e-06,1793242851046724864
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.374342505,658.374342505,635,879,787,805,652,631,651,0.40819338483,-0.00551411131087,0.0599973409394,0.999999999663,2.23489011347e-05,7.63693816459e-06,-1.08048545713e-05,1793242851063391488
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.20247074,658.20247074,635,879,787,804.79752926,652,631,651.20247074,0.408735126271,-0.00550210110079,0.059987779355,0.999999999725,1.79729759898e-06,-1.78549408441e-05,-1.50979511445e-05,1793242851080058112
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.777860058,658.777860058,635,879,787,804.222139942,652,631,651.777860058,0.409314265016,-0.00549839823371,0.0599751864911,0.999999998688,1.67686150334e-05,-4.42206427687e-05,-1.9695358137e-05,1793242851096724736
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787,804.360780275,652,631,652,0.409921351745,-0.00550024044611,0.0599744442652,0.999999998495,1.99794254267e-05,-4.51031002402e-05,-2.3992783625e-05,1793242851113391360
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787,804.948436256,652,631,652,0.410546013468,-0.00550556966697,0.0599811542816,0.999999999032,1.57946720576e-05,-2.99604870363e-05,-2.81015663815e-05,1793242851130057984
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.529669074,745,714,680,659,635,879,787,805,652,631,652,0.41122097453,-0.00551347427249,0.0599900675144,0.999999999423,1.18553532299e-05,-9.24132819365e-06,-3.04476997935e-05,1793242851146724352
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.890772993,745,714,679.890772993,659,635,879,786.890772993,805,652,631,651.890772993,0.411897901773,-0.00552077478383,0.0599936725034,0.999999999507,4.9807092778e-06,1.08432858148e-06,-3.09757982034e-05,1793242851163390976
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.315723359,745,714,679.315723359,659,635,879,786.315723359,805,652,631,651.315723359,0.412562581254,-0.00552444257786,0.0599737355564,0.999999998976,-1.45129512369e-05,-3.52028972763e-05,-2.44735238044e-05,1793242851180057856
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679.258735318,659,635,879,786.258735318,805,652,631,651.258735318,0.413236076228,-0.00552168950375,0.059946841263,0.99999999576,-1.49181647435e-05,-8.77489377996e-05,-2.36336936403e-05,1793242851196724480
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679.832474595,659,635,879,786.832474595,805,652,631,651.832474595,0.413920303938,-0.00551111917927,0.0599114765668,0.999999986714,7.91633933417e-06,-0.000160089694479,-2.96877507368e-05,1793242851213391104
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.420586872,745,714,680,659,635,879,787,804.579413128,652,631,652,0.414693143667,-0.00550679966289,0.059925160407,0.999999990366,1.88681739883e-05,-0.000133453481577,-3.32041139767e-05,1793242851230057728
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.985812558,745,714,680,659,635,879,787,804.014187442,652,631,652,0.415502895782,-0.00550531537033,0.059959240979,0.999999996904,2.38706654018e-05,-6.60129698067e-05,-3.55560078254e-05,1793242851246724352
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.409610062,745,714,680,659,635,879,787,804.590389938,652,631,652,0.41632723469,-0.00551402551929,0.0600000074763,0.999999999367,-1.26754409862e-05,8.53827168856e-07,-3.32371978996e-05,1793242851263391232
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.162087754,745,714,680,659,635,878.837912246,787,805,652,631,652,0.417140220749,-0.00552145195311,0.0600264739614,0.999999997986,-3.37685083043e-05,4.34992121202e-05,-3.154001865e-05,1793242851280057856
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.722709627,745,714,680,659,635,878.277290373,787,805,652,631,652,0.417925292881,-0.00552572204503,0.0600177802138,0.999999999012,-1.68663322439e-05,2.6590068475e-05,-3.13712776379e-05,1793242851296724736
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.71866776,745,714,680,659.28133224,635,878.28133224,787,805,652,631,651.71866776,0.418729506213,-0.00552721913985,0.060002269081,0.999999999365,-1.32022147823e-05,9.05270800176e-07,-3.3103254533e-05,1793242851313391360
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.162001812,745,714,680,659.837998188,635,878.837998188,787,805,652,631,651.162001812,0.419552452574,-0.00552600236284,0.0599800859229,0.999999998517,-2.24938966251e-05,-3.33680664808e-05,-3.66954224508e-05,1793242851330057728
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679.5537276,660,635,879.4462724,787,805,652,631,651.4462724,0.420388581491,-0.00552219365482,0.0599525743168,0.999999996414,-2.09664379547e-05,-7.19770462401e-05,-3.93817894264e-05,1793242851346724352
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.069503945,745,714,679,659.930496055,635,879.930496055,787,805.069503945,651.930496055,631,651.930496055,0.421225911731,-0.00551790157844,0.0599224886752,0.999999992283,-1.5247082112e-05,-0.000116034547608,-4.16901791905e-05,1793242851363391232
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.647205809,745,714,679,659.352794191,635,879.352794191,787,805.647205809,651.352794191,631,651.352794191,0.422032459903,-0.00551785449339,0.0598895747565,0.999999981501,-1.13494301376e-05,-0.000186917693736,-4.39534988443e-05,1793242851380057600
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,679.222848063,659.222848063,634.777151937,879.222848063,787,805.777151937,651.222848063,631,651.222848063,0.422897127326,-0.00552088498531,0.0598905736829,0.999999980978,-1.87340781479e-05,-0.000188822068721,-4.51499509183e-05,1793242851396724480
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679.795259663,659.795259663,634.204740337,879.795259663,787,805.204740337,651.795259663,631,651.795259663,0.423852961793,-0.00552874302059,0.0599447689118,0.999999994637,-4.38163471616e-05,-8.2525094975e-05,-4.46728952953e-05,1793242851413391872
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634.382594737,879.617405263,787,805.382594737,652,631,652,0.424811317409,-0.00553304627714,0.0599943297787,0.999999998042,-4.58816148139e-05,-9.90102859045e-07,-4.25390319196e-05,1793242851430058496
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634.978240017,879.021759983,787,805.978240017,652,631,652,0.425771076888,-0.00553537002993,0.0600413099657,0.999999996375,-3.51297035372e-05,6.67560008071e-05,-3.94825636734e-05,1793242851446725120
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.442063195,745,714,680,660,635,879,786.442063195,806,652,631,651.442063195,0.426678177746,-0.00553501772396,0.0600314030037,0.999999996444,-3.80252144624e-05,6.22411835046e-05,-4.2335901284e-05,1793242851463392000
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744.864314909,714,680,660,635,879.135685091,786.135685091,806,652,631,651.135685091,0.427573449571,-0.00553523622502,0.0600164542377,0.999999996977,-4.21744811527e-05,4.73656798139e-05,-4.49886641195e-05,1793242851480058624
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.290901781,714,680,660,635,879.709098219,786.709098219,806,652,631,651.709098219,0.428437001525,-0.00553762352467,0.059992198886,0.999999997712,-4.86990527501e-05,7.90511948996e-06,-4.62714596608e-05,1793242851496725504
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.290203967,714,680,660,635,880,787,805.709796033,651.709796033,631,651.709796033,0.429288906433,-0.00553739447105,0.0599629216125,0.999999996667,-5.13829782997e-05,-4.17326200122e-05,-4.77900828129e-05,1793242851513392128
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.879230766,714,680,660,635,880,787,805.120769234,651.120769234,631,651.120769234,0.430128818331,-0.00553447136008,0.0599284732712,0.99999999233,-5.01121927016e-05,-0.000101849791593,-4.95515373487e-05,1793242851530058752
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.460558229,745,714,680,660,635,879.539441771,787,805,651.460558229,631,651,0.431035905759,-0.00553589998225,0.0599297317818,0.999999993328,-4.95247760933e-05,-9.11119784546e-05,-5.08864638093e-05,1793242851546725376
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,713.960142545,680,660,635,879.039857455,787,805.039857455,651.960142545,631,651.039857455,0.431961389268,-0.00553852374666,0.0599427321531,0.999999995653,-5.00298569899e-05,-5.90907597555e-05,-5.19479266857e-05,1793242851563391744
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,713.381418313,680,660,635,879.618581687,787,805.618581687,651.381418313,631,651.618581687,0.432901347646,-0.00554213145788,0.0599899733693,0.999999996637,-6.29224792864e-05,1.36124183082e-05,-5.07994758363e-05,1793242851580058112
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,713.195852829,680,660,635,880,786.804147171,805.804147171,651,631,652,0.433810275757,-0.00554521638941,0.0600173698697,0.999999994773,-7.09270029151e-05,5.39471108247e-05,-5.01315130075e-05,1793242851596724736
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,713.770315058,680,660,635,880,786.229684942,805.229684942,651,631,652,0.434659218426,-0.00554729071933,0.0600064039203,0.999999995814,-6.94821886316e-05,3.17092560367e-05,-5.03923972463e-05,1793242851613390848
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.646874047,745,714,680,660,635,880,786.353125953,805.353125953,651,631,652,0.435497642251,-0.00554729355286,0.0599827544022,0.99999999624,-6.85240560593e-05,-1.11731482034e-05,-5.19510827802e-05,1793242851630057472
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.058501443,745,714,680,660,635,880,786.941498557,805.941498557,651,631,652,0.436329058545,-0.00554591638972,0.0599506553019,0.999999993918,-6.78901426934e-05,-6.78086073753e-05,-5.4374341865e-05,1793242851646724096
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.521090024,745,714,680,660.521090024,635,879.478909976,787,806,651.521090024,631,652,0.437122872922,-0.00554399044585,0.0599287751088,0.999999990096,-7.66229189667e-05,-0.000103628363693,-5.65583451707e-05,1793242851663391232
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,714,680.099434261,660.900565739,635,879.099434261,787,806,652,631.099434261,652,0.437912212051,-0.00554219858756,0.0599097885174,0.999999985635,-8.27427039288e-05,-0.000135899197345,-5.84309294465e-05,1793242851680057856
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,714,680.676444557,660.323555443,635,879.676444557,787,806,652,631.676444557,652,0.438699996273,-0.00554134173906,0.0598992808481,0.99999998257,-7.13455283833e-05,-0.000162162882729,-5.893466115e-05,1793242851696724992
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.742611807,745,714,681,660,635,880.257388193,787,806,651.742611807,632,652,0.439510970203,-0.00554430712139,0.0599160859356,0.999999986802,-6.52110127259e-05,-0.000137380646756,-5.7176510308e-05,1793242851713391616
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.156646991,745,714,681,660,635,880.843353009,787,806,651.156646991,632,652,0.440351547592,-0.00555215188726,0.0599677579433,0.999999995331,-6.57947040627e-05,-4.74342048628e-05,-5.2530885079e-05,1793242851730057984
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680.575292439,660,635,880.150584878,787,806,651,631.575292439,652,0.44115877665,-0.00555336699421,0.05999896189,0.99999999574,-7.68724871264e-05,-1.23086028948e-06,-5.10780225106e-05,1793242851746724608
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680.004343079,660,635,879.004343079,787,806,651,631,652,0.441953070388,-0.00555214844207,0.0600222955789,0.999999994107,-9.16141053909e-05,2.84609056419e-05,-5.0826606022e-05,1793242851763391232
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680.57913004,660,635,879.57913004,787,806,651,631,652,0.442646564267,-0.00554900336644,0.0599928293395,0.999999994783,-8.46588623496e-05,-1.41995555432e-05,-5.53679072276e-05,1793242851780057856
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.84537089,880,787,806,651,631,651.84537089,0.443337792506,-0.00554764771023,0.0599688357156,0.99999999383,-8.08001385144e-05,-4.80865604035e-05,-5.91542650076e-05,1793242851796724736
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.267924504,880,787,806,651,631,651.267924504,0.444022825737,-0.00555118503524,0.0599598063852,0.999999992819,-8.54085243595e-05,-5.79834677871e-05,-6.08763094886e-05,1793242851813391360
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.315892728,634.315892728,879.684107272,787,806,651,631,651,0.444685391881,-0.00555464805271,0.0599609583082,0.999999992279,-9.19112111021e-05,-5.58242157986e-05,-6.22684058638e-05,1793242851830057984
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.905224579,634.905224579,879.094775421,787,806,651,631,651,0.445328510304,-0.0055580467488,0.0599709232012,0.999999992052,-0.000100053618669,-4.32290609486e-05,-6.33748965668e-05,1793242851846724608
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681,661,634.514681782,879,787,806,651,631,651,0.445931456063,-0.00555680610301,0.0599540236763,0.999999989631,-0.000100229851307,-8.0103051091e-05,-6.53933430951e-05,1793242851863391232
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.063344852,745,714,681,661,634,879,786.936655148,806,651,631,651.063344852,0.44652408753,-0.0055550588997,0.0599335841609,0.99999998543,-9.92482972929e-05,-0.000121318312128,-6.76106868399e-05,1793242851880057856
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.638972681,745,714,681,661,634,879,786.361027319,806,651,631,651.638972681,0.447095565186,-0.0055564051591,0.0599261507504,0.999999985105,-0.000101249541388,-0.000120974558118,-7.00231964492e-05,1793242851896724480
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.78548362,745,714,681,660.78548362,634,879.21451638,786.21451638,806,651.21451638,631,652,0.447661719405,-0.00555861271237,0.0599286265511,0.999999986048,-0.000103677954347,-0.000110075882315,-7.09787333523e-05,1793242851913391104
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.210081514,745,714,681,660.210081514,634,879.789918486,786.789918486,806,651.789918486,631,652,0.448218917828,-0.00556226923952,0.059947772841,0.999999988566,-0.000106825002825,-8.14204243715e-05,-6.94831720493e-05,1793242851930057728
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680.62442178,660,634,879.62442178,787,806,651.62442178,631,652,0.448716981229,-0.00556215575832,0.0599478886287,0.99999999245,-7.06705483484e-05,-8.27988684922e-05,-5.70045302111e-05,1793242851946724352
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680.03286323,660,634,879.03286323,787,806,651.03286323,631,652,0.449181038446,-0.00555987429328,0.0599370607214,0.999999994053,-1.19153384067e-05,-0.000101448630785,-3.82099484709e-05,1793242851963391232
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.877285586,745,714,681,660,633.122714414,879.122714414,786.877285586,806,651,631,652,0.4499935965,-0.00554526604316,0.0598579449728,0.999999973408,-6.80789477246e-07,-0.000225575667796,-4.79463515696e-05,1793242851996724992
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.302727923,745,714,681,660,633.697272077,879.697272077,786.302727923,806,651,631,652,0.450376191663,-0.00554748260344,0.0598326855201,0.999999964816,-3.04084663444e-06,-0.000260213089555,-5.14656351159e-05,1793242852013391360
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.721029996,633.721029996,879.721029996,786,806,651,631,651.721029996,0.450753728009,-0.00555314787702,0.0598234815677,0.999999961778,-9.82775240353e-06,-0.000271029915213,-5.37628288895e-05,1793242852030058240
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.131380225,633.131380225,879.131380225,786,806,651,631,651.131380225,0.451125630495,-0.00556265386962,0.0598321581022,0.999999965678,-2.15446944932e-05,-0.000255318520481,-5.46990210954e-05,1793242852046724864
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,879.449989985,786,806.449989985,651.449989985,631,651.449989985,0.451477945184,-0.00556715566215,0.0598416320493,0.999999966457,-8.88511994623e-05,-0.000236805855894,-5.58029366141e-05,1793242852063391488
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880,786,806.971199183,652,631,652,0.451822750019,-0.00557024891195,0.059851256256,0.999999960583,-0.000167637064374,-0.000217932387337,-5.6895652175e-05,1793242852080057856
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880,786,806.395912327,652,631,652,0.452131611708,-0.00557383739535,0.0598593938259,0.999999963769,-0.000161843709402,-0.00020745116426,-5.68634771564e-05,1793242852096724736
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,632.820684416,880,786,806,651.820684416,631,652,0.452420662422,-0.00557658927813,0.0598625361323,0.999999965444,-0.000157280612242,-0.000202734269352,-5.72095313984e-05,1793242852113391360
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,632.245586683,880,786,806,651.245586683,631,652,0.452665986664,-0.00557749463054,0.0598546529816,0.99999996401,-0.00015543291891,-0.000210740297824,-5.83904065111e-05,1793242852130057984
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658.661238684,632,879.661238684,785.661238684,806,651,631,651.661238684,0.452889547094,-0.00557828957619,0.0598480170707,0.999999962899,-0.000149689518668,-0.000219788727329,-5.9065362502e-05,1793242852146724864
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.06999634,632,879.06999634,785.06999634,806,651,631,651.06999634,0.453096886838,-0.00557900223506,0.0598423107351,0.99999996193,-0.00014104262235,-0.000229614065969,-5.93632537764e-05,1793242852163390976
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+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658,632,880,785,806.569299509,651,631,652,0.454183151753,-0.0055801679591,0.0598270302151,0.999999957248,-0.000116969263111,-0.000261698520125,-5.77539088443e-05,1793242852296724480
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+245,4.083333333,POSE1_TO_POSE2_PRESS,765,746,714,682,657.926057057,631.073942943,880.073942943,785.926057057,806.926057057,651,630.926057057,652,0.454559930862,-0.00555210398542,0.0598068353136,0.99999995211,-8.43875251514e-05,-0.000292301776938,-5.67364854043e-05,1793242852713392128
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,746,714,682,657.352046179,631.647953821,880.647953821,785.352046179,806.352046179,651,630.352046179,652,0.454558479741,-0.00555351697817,0.0598049254644,0.999999951012,-8.61502576422e-05,-0.000295542853128,-5.66478934736e-05,1793242852730058752
+247,4.116666667,HOLD_POSE2,766,745,714,681,658,631,880,785,807,652,631,651,0.454562003554,-0.00555449580142,0.0598071166669,0.99999995212,-8.66657497004e-05,-0.000291690386999,-5.62579708155e-05,1793242852769374720
+248,4.133333333,HOLD_POSE2,765.402211685,745,714,681,657.402211685,631.597788315,880,785,807,652,630.402211685,651.597788315,0.454561463412,-0.00555518227355,0.0598062338249,0.99999995175,-8.89983652832e-05,-0.000292343463226,-5.5807998235e-05,1793242852786041088
+249,4.150000000,HOLD_POSE2,765,745.187945004,714,681.187945004,657.187945004,631.812054996,880,785,807,651.812054996,630,651.812054996,0.454560356318,-0.00555471650292,0.0598051103208,0.99999995133,-8.87594760547e-05,-0.000293892159232,-5.55882930651e-05,1793242852802707712
+250,4.166666667,HOLD_POSE2,765,745.762407035,714,681.762407035,657.762407035,631.237592965,880,785,807,651.237592965,630,651.237592965,0.454558083258,-0.00555188109536,0.0598034918844,0.999999950789,-8.32321764251e-05,-0.000297282736158,-5.58421426977e-05,1793242852819374592
+251,4.183333333,HOLD_POSE2,765.337564763,745.662435237,714,681.662435237,657.662435237,631,880,785,807,651.337564763,630,651.337564763,0.454558078607,-0.00555181713544,0.059803273802,0.999999950542,-8.34916569101e-05,-0.000297995965402,-5.60708640574e-05,1793242852836041216
+252,4.200000000,HOLD_POSE2,765.91321313,745.08678687,714,681.08678687,657.08678687,631,880,785,807,651.91321313,630,651.91321313,0.454559673859,-0.00555370787095,0.059804043386,0.999999950508,-8.78325396122e-05,-0.000296820867662,-5.62818624928e-05,1793242852852707840
+253,4.216666667,HOLD_POSE2,766,745.501133947,714.501133947,681,657,631,879.498866053,785,807,652,630.501133947,651.498866053,0.454560512303,-0.00555322014583,0.0598045857812,0.999999951011,-8.62202857494e-05,-0.000295661887451,-5.59229185037e-05,1793242852869374464
+254,4.233333333,HOLD_POSE2,765.910154909,745.910154909,714.910154909,681.089845091,657,631,879.089845091,785,807,651.910154909,631,651.089845091,0.454561064622,-0.00555237115643,0.0598049068268,0.999999951459,-8.40106337096e-05,-0.000294850101573,-5.55651719344e-05,1793242852886041088
+255,4.250000000,HOLD_POSE2,765.329035467,745.329035467,714.329035467,681.670964533,657,631,879.670964533,785,807,651.329035467,631,651.670964533,0.454560787058,-0.00555185560857,0.0598042380678,0.999999951106,-8.43132804827e-05,-0.000295921133954,-5.57672324222e-05,1793242852902707712
+256,4.266666667,HOLD_POSE2,765,745,714.249150217,682,657.249150217,631,879.750849783,785,807,651,630.750849783,652,0.45456097474,-0.00555115250224,0.0598040368794,0.999999951044,-8.37771465379e-05,-0.00029625613459,-5.59064454351e-05,1793242852919374080
+257,4.283333333,HOLD_POSE2,765,745,714.823506533,682,657.823506533,631,879.176493467,785,807,651,630.176493467,652,0.45456176969,-0.00555020458315,0.0598044459926,0.999999951361,-8.21461846812e-05,-0.000295630421496,-5.59636260648e-05,1793242852936040704
+258,4.300000000,HOLD_POSE2,765,745,714.601688717,681.601688717,657.601688717,631,879.398311283,785,806.601688717,651.398311283,630.398311283,651.601688717,0.454561718977,-0.00554980790985,0.0598037959575,0.999999951317,-8.14893033835e-05,-0.000295932405847,-5.61261127954e-05,1793242852952707328
+259,4.316666667,HOLD_POSE2,765,745,714.026684991,681.026684991,657.026684991,631,879.973315009,785,806.026684991,651.973315009,630.973315009,651.026684991,0.454561293124,-0.00554965577125,0.0598026760801,0.999999951112,-8.12645278898e-05,-0.000296645920358,-5.63353137294e-05,1793242852969374208
+260,4.333333333,HOLD_POSE2,765.565017272,745,714,681.565017272,658.130034544,631,880,785,806,652,630.434982728,651.565017272,0.454559454778,-0.00555252936008,0.0598013444678,0.999999950147,-8.48590398063e-05,-0.000298977322239,-5.58424808191e-05,1793242852986040832
+261,4.350000000,HOLD_POSE2,765.846577491,745.153422509,714,681.846577491,658.693154981,631,880,785,806,652,630,651.846577491,0.454558153532,-0.00555429527625,0.0598005132635,0.999999949442,-8.74468971053e-05,-0.000300637352261,-5.5560303575e-05,1793242853002707712
+262,4.366666667,HOLD_POSE2,765.269519932,745.730480068,714,681.269519932,657.539039865,631,880,785,806,652,630,651.269519932,0.454558525161,-0.00555259605332,0.0598010922543,0.999999949605,-8.67419105582e-05,-0.000300226157011,-5.59541350261e-05,1793242853019374592
+263,4.383333333,HOLD_POSE2,765,745.693916448,714,681,657.306083552,631,879.693916448,785,806.306083552,652,630.306083552,651.306083552,0.454557976368,-0.00555174187264,0.0598007238249,0.999999949406,-8.62027351767e-05,-0.000300992454583,-5.62174068341e-05,1793242853036040960
+264,4.400000000,HOLD_POSE2,765,745.119587321,714,681,657.880412679,631,879.119587321,785,806.880412679,652,630.880412679,651.880412679,0.454556620935,-0.00555162827038,0.059799525095,0.999999948889,-8.58088734657e-05,-0.00030279068362,-5.63662587272e-05,1793242853052707584
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,682,657,632,880,785,807,651,630,652,0.454555399283,-0.00554849720421,0.0597993526926,0.999999948806,-8.11323194252e-05,-0.000304285573483,-5.6705758296e-05,1793242853084345344
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,714,681.423132326,657.576867674,632,879.423132326,785,806.423132326,651.576867674,630.576867674,652,0.45455909138,-0.00554844265558,0.0598015574259,0.999999949815,-8.21052278995e-05,-0.000300701949452,-5.66245297209e-05,1793242853101012224
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.846987533,745,714,681,657.846987533,631.846987533,879.306024934,785,806.153012467,652,630.846987533,652,0.454561309043,-0.00554880675809,0.0598027574738,0.999999950336,-8.29903480953e-05,-0.000298760166461,-5.64247754106e-05,1793242853117679104
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.272832224,745,714,681,657.272832224,631.272832224,880.454335552,785,806.727167776,652,630.272832224,652,0.454559468558,-0.00555032313228,0.059801192283,0.999999949538,-8.36338450311e-05,-0.000301337292888,-5.58987975676e-05,1793242853134345728
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.309685729,714,681,657,631,880.690314271,785,807,652,630.309685729,652,0.454557961396,-0.00555072024021,0.0598002134349,0.999999949038,-8.42715675585e-05,-0.000302836726935,-5.57847461785e-05,1793242853151012608
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.899775583,714,681,657,631,880.100224417,785,807,652,630.899775583,652,0.454556756041,-0.00555010391138,0.0597997654894,0.999999948811,-8.49040616249e-05,-0.000303360367113,-5.6043672539e-05,1793242853167679232
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.518854378,714,681,657,631,879.518854378,785,806.518854378,652,630.518854378,652,0.454555765271,-0.00554983964319,0.0597992171866,0.999999948725,-8.22773521745e-05,-0.000304389463131,-5.59290000039e-05,1793242853184346112
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.060556522,714,681.060556522,657,631.060556522,879.060556522,785,806.060556522,652,630,652,0.454554100135,-0.0055495734346,0.0597982765967,0.999999948475,-7.94507798227e-05,-0.000305983349894,-5.57804136918e-05,1793242853201012992
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.638471489,714,681.638471489,657,631.638471489,879.638471489,785,806.638471489,652,630,652,0.454546298547,-0.00554867526617,0.0597941599604,0.999999946661,-8.06136023155e-05,-0.000311518960463,-5.59951182095e-05,1793242853217679104
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.784520421,714,682,657.215479579,631.784520421,880,785,807,652,630.215479579,652,0.454530648757,-0.00554772367465,0.0597862498771,0.999999942742,-8.13774606658e-05,-0.000323567525882,-5.65468883699e-05,1793242853234345728
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.209027556,714,682,657.790972444,631.209027556,880,785,807,652,630.790972444,652,0.454501886556,-0.0055466828264,0.0597720018791,0.999999934988,-8.14747480909e-05,-0.000346497633497,-5.76618121316e-05,1793242853251012608
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.374595102,745,714,681.625404898,658,631,880,785,806.625404898,652,631,651.625404898,0.454456949589,-0.00554450020545,0.0597531068043,0.999999923526,-8.03571078564e-05,-0.000378183786233,-5.88936193745e-05,1793242853267679232
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.962854956,745,714,681.037145044,658,631,880,785,806.037145044,652,631,651.037145044,0.454402786719,-0.00554166633034,0.0597315610889,0.999999909047,-7.85464867518e-05,-0.000414864288531,-6.01920956669e-05,1793242853284345856
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.458740223,745.541259777,714,681.541259777,657.458740223,631,879.458740223,785,806.541259777,651.458740223,630.458740223,651.541259777,0.454340732151,-0.0055431952534,0.0597156293846,0.999999900911,-8.02838979195e-05,-0.000433750548708,-5.99419606946e-05,1793242853301012224
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.880902964,714,682,657.119097036,631,879.119097036,785,807,651,630.119097036,651.880902964,0.454274706052,-0.00554356476005,0.0597016834971,0.999999893727,-8.06373237472e-05,-0.000449970559406,-5.97501956941e-05,1793242853317679104
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.302692895,714,682,657.697307105,631,879.697307105,785,807,651,630.697307105,651.302692895,0.454195420328,-0.00553833122083,0.0596939341796,0.99999988935,-7.47336968256e-05,-0.000460535671124,-6.01858086231e-05,1793242853334345984
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,657.72677487,631,880,785,807,651.27322513,630.72677487,651.27322513,0.454109762296,-0.00553456637463,0.0596902190913,0.999999886881,-7.13327725783e-05,-0.000466394176,-6.02208489456e-05,1793242853351012608
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,657.153374999,631,880,785,807,651.846625001,630.153374999,651.846625001,0.454017103425,-0.00553241508658,0.0596909361495,0.99999988663,-7.06814059126e-05,-0.000467081836413,-5.98158060892e-05,1793242853367679232
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.56905839,657.43094161,631,879.56905839,785,806.56905839,652,630,652,0.453907699877,-0.00553026045553,0.0596905639858,0.999999886032,-6.92238609066e-05,-0.000468707159631,-5.8798636412e-05,1793242853384345856
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.980979245,631,879.019020755,785,806.019020755,652,630.019020755,652,0.453791011099,-0.00552798961575,0.0596897059766,0.999999885255,-6.74129950991e-05,-0.000470776511785,-5.75789656846e-05,1793242853401012736
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.399517133,631,879.600482867,785,806.600482867,652,630.600482867,652,0.453639701988,-0.00552231859351,0.0596862426118,0.99999988312,-6.38593039674e-05,-0.000475851195203,-5.69808917647e-05,1793242853417679360
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.178995686,657.178995686,631,879.821004314,785,806.821004314,651.821004314,630.821004314,652,0.453479971068,-0.00551650503923,0.0596836636995,0.999999881577,-5.96327059917e-05,-0.000479721317562,-5.61922774165e-05,1793242853434345984
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.751032334,657.751032334,631,879.248967666,785,806.248967666,651.248967666,630.248967666,652,0.453301747453,-0.00551037851204,0.0596830268796,0.999999881379,-5.39285312441e-05,-0.000480946449074,-5.49852721002e-05,1793242853451012864
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.674430813,658.325569187,631.325569187,879.325569187,785.325569187,806,651,630.325569187,652,0.453108700523,-0.00550542413454,0.0596845463163,0.999999882394,-4.95838979484e-05,-0.000479478132475,-5.34216159209e-05,1793242853467679744
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.09796716,658.90203284,631.90203284,879.90203284,785.90203284,806,651,630.90203284,652,0.452904230234,-0.00550137305399,0.0596877274362,0.999999884342,-4.62869720051e-05,-0.000475934155112,-5.15831125708e-05,1793242853484346112
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,713.50926394,681.49073606,658.50926394,632,880,786,806,651.49073606,631,651.50926394,0.452678968111,-0.00549395283958,0.0596919117723,0.99999988831,-3.9574183799e-05,-0.000468337191703,-4.97420380418e-05,1793242853501012480
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713.080204162,682,658,632,880,786,806,651.919795838,631,651.080204162,0.452441636999,-0.00548579341951,0.0596957927312,0.999999891978,-3.22224921319e-05,-0.000461203513654,-4.79306228482e-05,1793242853517679104
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.658852484,682,658,632,880,786,806,651.341147516,631,651.658852484,0.452155756136,-0.00547732692378,0.0596965118114,0.999999891838,-2.52465292436e-05,-0.000462106000181,-4.63068020716e-05,1793242853534345472
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.235256713,714,681.764743287,658,632.235256713,880,786,806,651,630.764743287,652,0.451851129125,-0.00546891406987,0.0596978368608,0.999999892459,-1.742881558e-05,-0.000461311561795,-4.43881499039e-05,1793242853551012352
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.808437478,714,681.191562522,658,632.808437478,880,786,806,651,630.191562522,652,0.45151957506,-0.0054605782679,0.0597000323276,0.999999894162,-8.40200683121e-06,-0.000458079650948,-4.20460003804e-05,1793242853567678976
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.607307672,714,681,658.392692328,632.607307672,880,786,806.392692328,651.392692328,630.392692328,652,0.45116560262,-0.00545512113311,0.0596982224423,0.999999892467,-2.36159562637e-06,-0.000462076822616,-3.93141245984e-05,1793242853584345344
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.017493934,714,681,658.982506066,632.017493934,880,786,806.982506066,651.982506066,630.982506066,652,0.450800376745,-0.00545110901516,0.0596944019735,0.999999889025,2.17972084892e-06,-0.000469702807128,-3.63866163665e-05,1793242853601011968
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,632.562470628,880,786,807,652,631,652,0.450382960629,-0.00544409490901,0.0596823693637,0.999999881567,9.36428667297e-06,-0.000485333130366,-3.50743147247e-05,1793242853617678592
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,634,880,787,805.889047638,651.889047638,631,652,0.434845784263,-0.00541999025414,0.0597434890178,0.999999922014,0.000106746258215,-0.000380015443834,1.28781151184e-05,1793242854001012480
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744.459182787,714,679.540817213,659,635,878.540817213,787,804.459182787,652,631,652,0.404968208601,-0.00539001970139,0.0598194094121,0.999999931719,0.000227869194738,-0.00028855083015,3.70897835575e-05,1793242854651011840
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,744.118957011,714,680,659,635,878.881042989,787,804.118957011,652,631,651.881042989,0.404551230043,-0.00539124488617,0.0598043542593,0.999999926384,0.000221903628304,-0.000310854464942,3.68780272486e-05,1793242854667678720
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744.695894516,714,680,659,635,878.304105484,787,804.695894516,652,631,651.304105484,0.404143896003,-0.00538371852606,0.0597794065984,0.999999910828,0.00022388999825,-0.000356405940689,3.45130644431e-05,1793242854684345344
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744.730835354,714,679.730835354,658.730835354,635,878,787,805,652,631,651,0.403789398438,-0.00537997499201,0.0597702973541,0.999999908467,0.00021049201105,-0.000371264759086,3.0350663238e-05,1793242854701012224
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,744.161653007,714,679.161653007,658.161653007,635,878,787,805,652,631,651,0.403493793765,-0.0053804478917,0.0597788420095,0.999999921596,0.000179946231603,-0.000351912765397,2.41847920502e-05,1793242854717678848
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744.427235654,714,679,658,635,878,787,805,652,631,651.427235654,0.403234881841,-0.00538398465953,0.0597970526535,0.99999993431,0.000172417749274,-0.000317892499329,2.44110823382e-05,1793242854734345472
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,635,878,787,805,652,631,652,0.402991302153,-0.00538886173026,0.0598189120343,0.999999945438,0.000175429343562,-0.000278585229628,2.71920276705e-05,1793242854751012096
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,635,878,787,805,652,631,652,0.402766322475,-0.0053967285881,0.0598363351857,0.999999945279,0.000212171180166,-0.000251991098894,3.04299767947e-05,1793242854767678720
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634.821023125,878.178976875,787,805,652,631,652,0.402542111258,-0.00540159482579,0.0598469946087,0.999999943289,0.00023662106232,-0.000237362739511,3.30299455501e-05,1793242854784345856
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634.245109073,878.754890927,787,805,652,631,652,0.402319604375,-0.00539980624914,0.0598426533469,0.999999941013,0.000233809688449,-0.000249272223554,3.42149930645e-05,1793242854801013504
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.337336195,658.674672389,634.337336195,879,787,805,652,631.337336195,652,0.402119274214,-0.0053947941253,0.0598364276242,0.999999936519,0.000235461345017,-0.000265153517345,3.48253437786e-05,1793242854817680384
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.924620811,659.849241622,634.924620811,879,787,805,652,631.924620811,652,0.401935375816,-0.00538739352192,0.0598288056144,0.999999930165,0.00024041987264,-0.00028397771496,3.50098744314e-05,1793242854834346496
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.991545028,635,878.495772514,787,805,652,631.495772514,652,0.401789535101,-0.00538625743178,0.0598295654472,0.999999929753,0.000241365363538,-0.000284488898715,3.60975937433e-05,1793242854851013120
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.082546718,635,878.082546718,787,805,652,631,652,0.401653002225,-0.00538591208986,0.0598311865392,0.999999930216,0.000241566914239,-0.000282543957316,3.71792258308e-05,1793242854867679744
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.659925949,635,878.659925949,787,805,652,631,652,0.401538671776,-0.00538477717234,0.0598305717429,0.999999930521,0.000240851224281,-0.000282040746343,3.74271105883e-05,1793242854884347392
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744.763807017,713.763807017,679.763807017,658.763807017,634.763807017,878.763807017,787,804.763807017,652,631,652,0.401436585903,-0.00538343560567,0.0598330300046,0.999999931936,0.000240678794735,-0.000277036973403,3.81075757132e-05,1793242854901014272
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744.189133871,713.189133871,679.189133871,658.189133871,634.189133871,878.189133871,787,804.189133871,652,631,652,0.401352047326,-0.00538179789718,0.0598398921617,0.999999934847,0.000241284893302,-0.000265583597552,3.94079570923e-05,1793242854917679872
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.394472506,713.394472506,679.394472506,658.394472506,634.394472506,878,787,804.394472506,652,631,652,0.40127764675,-0.00538166937083,0.0598414499791,0.999999935319,0.000241235507784,-0.000263741466593,4.00889226753e-05,1793242854934345984
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.982461237,713.982461237,679.982461237,658.982461237,634.982461237,878,787,804.982461237,652,631,652,0.401208219572,-0.00538228120343,0.0598404056483,0.999999934632,0.000240864561681,-0.000266614320674,4.04660216537e-05,1793242854951012864
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.43552387,658.43552387,635,878,787,805,652,631,652,0.401150561646,-0.00537960515313,0.0598358099802,0.999999931317,0.000243690948693,-0.000276302923926,4.04534683615e-05,1793242854967679232
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,635,878.144167713,787,804.855832287,652.144167713,631,652,0.401098120661,-0.00537757853287,0.0598318378604,0.999999928557,0.000245585132164,-0.000284495837695,4.04569808454e-05,1793242854984345856
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,635,878.717489963,787,804.282510037,652.717489963,631,652,0.401060132189,-0.00537778603361,0.0598300469299,0.999999927949,0.000244411729565,-0.000287612628574,4.05439793968e-05,1793242855001013760
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,635,878.709295332,787,804.290704668,652.709295332,631,651.709295332,0.401032107711,-0.00537893830391,0.0598306352293,0.999999928843,0.000242371465947,-0.000286196693908,4.07505010445e-05,1793242855017681152
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,635,878.136185034,787,804.863814966,652.136185034,631,651.136185034,0.40101376277,-0.00538100837251,0.0598335348362,0.999999931173,0.00023948908832,-0.00028037743433,4.10731336519e-05,1793242855034348288
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.453979734,658,635,878.453979734,787,805,652,631,651.453979734,0.400999645439,-0.00538008997819,0.0598345792649,0.999999931775,0.00024034812249,-0.000277516080319,4.08291609822e-05,1793242855051014144
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.952231784,658.047768216,635,879,787,805,652,631,652,0.400987323395,-0.00537849398806,0.0598351141645,0.999999931876,0.000242075711721,-0.00027569958087,4.04698164215e-05,1793242855067679488
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.377121708,658.622878292,635,879,787,805,652,631,652,0.400980273706,-0.00537970069443,0.0598364076014,0.999999932365,0.000240517875762,-0.000275239916492,4.078645971e-05,1793242855084346112
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.801538899,878.801538899,786.801538899,804.801538899,652,631,652,0.400974532428,-0.00537977296815,0.0598373058913,0.999999932578,0.000240259966152,-0.000274687699964,4.08071480529e-05,1793242855101012736
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.22505568,878.22505568,786.22505568,804.22505568,652,631,652,0.400971283365,-0.00537768441216,0.059837451518,0.999999932265,0.000242478113199,-0.0002739591932,4.02641112189e-05,1793242855117679360
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.639654479,745,714,679.360345521,659,634.360345521,878.360345521,786.360345521,804.360345521,652,631,652,0.400969598034,-0.00537842485685,0.0598379392093,0.999999932643,0.000242019150421,-0.000272966862591,4.03637306749e-05,1793242855134345728
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.048542188,745,714,679.951457812,659,634.951457812,878.951457812,786.951457812,804.951457812,652,631,652,0.400968914123,-0.00538097700542,0.0598386459601,0.999999933462,0.000239845755295,-0.000271805578123,4.08749099114e-05,1793242855151012352
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.531934892,745,714,680,659,635,879,787,804.468065108,652,631,652,0.400969456325,-0.00538105488458,0.059839590151,0.999999934016,0.00023949915977,-0.000270084176944,4.07714261448e-05,1793242855167678976
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.110623078,745,714,679.889376922,659,635,879,787,804.110623078,652,631,652,0.400969666995,-0.00538125186758,0.0598403864691,0.999999934616,0.000238624150436,-0.000268652745039,4.0656360975e-05,1793242855184345600
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.685794581,745,714,679.314205419,659,635,879,787,804.685794581,652,631,652,0.400968024777,-0.00538287861218,0.0598404726056,0.999999935509,0.00023484378985,-0.000268649444514,4.07235940291e-05,1793242855201012480
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.733680158,745,714,679.266319842,658.733680158,635,878.733680158,787,805,652,631,652,0.400967457518,-0.00538363778343,0.0598407871913,0.999999935958,0.000233514220862,-0.000268114095775,4.08580299983e-05,1793242855217679360
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.14670885,745,714,679.85329115,658.14670885,635,878.14670885,787,805,652,631,652,0.400968184518,-0.00538335238885,0.0598413768321,0.999999935884,0.000235135426334,-0.00026693815624,4.10733788864e-05,1793242855234346240
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.43390895,635,878,787,805,652.43390895,631,652,0.400967622599,-0.00538302084465,0.0598411584077,0.999999935541,0.00023589893032,-0.000267544115547,4.11111367766e-05,1793242855251012864
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878.012408738,787,805,652.987591262,631,652,0.400966649656,-0.00538266558478,0.0598406847884,0.999999935113,0.000236378733466,-0.000268720673224,4.10872792225e-05,1793242855267679488
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878.590872351,787,805,652.409127649,631,652,0.400966519823,-0.00538193000129,0.0598408533193,0.99999993495,0.000236954854578,-0.000268839614164,4.09522647298e-05,1793242855284346112
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.168266774,745,714,680,659,635,879,787,805,652,631,652,0.400966505103,-0.00538150102271,0.059841076981,0.999999934979,0.000236975424115,-0.000268740780182,4.07909292401e-05,1793242855301012992
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.743077926,745,714,680,659,635,879,787,805,652,631,652,0.400966768502,-0.00538181282323,0.0598414338427,0.999999935468,0.000235653741888,-0.000268115786643,4.05660003759e-05,1793242855317679360
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.681946141,745,714,680,659,635,879,787,805,652,631,652,0.400967299046,-0.00538145127536,0.0598418907153,0.999999935627,0.000236217143427,-0.000267027504056,4.05488964052e-05,1793242855334346240
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.106837058,745,714,680,659,635,879,787,805,652,631,652,0.400968045498,-0.00538054551863,0.059842428418,0.999999935515,0.000238304094012,-0.00026556478532,4.06997592011e-05,1793242855351013632
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.517832642,659,635,879,787,805,652,631,652,0.400968211285,-0.00538257515129,0.0598425534293,0.999999936311,0.000235556120433,-0.000265002578685,4.08016508413e-05,1793242855367680000
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,805,652,631,652,0.400968180418,-0.0053846605076,0.0598425928354,0.999999937036,0.000232753818269,-0.000264733987921,4.08697315867e-05,1793242855384346112
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,805,652,631,652,0.400967702551,-0.00538246908718,0.0598426918042,0.99999993589,0.000237256751191,-0.00026507949688,4.07801260856e-05,1793242855401012736
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.227870299,745,714,679,659,635,879,787,805,652,631,652,0.400967616874,-0.00538096390833,0.0598427267793,0.999999935342,0.000239512838808,-0.000265135629508,4.06602463519e-05,1793242855417679360
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.800566254,745,714,679,659,635,879,787,805,652,631,652,0.400968124679,-0.00538049718701,0.0598426649159,0.999999935723,0.000238368879302,-0.000264753862286,4.04945540001e-05,1793242855434346240
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.614541706,745,714,679.385458294,658.614541706,635,879,787,805,652,631,652,0.400968189798,-0.00538046651058,0.0598431187983,0.999999935912,0.000238165342476,-0.0002642250148,4.04864517498e-05,1793242855451012608
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.023133341,745,714,679.976866659,658.023133341,635,879,787,805,652,631,652,0.400968018388,-0.00538066881262,0.0598438482432,0.999999935998,0.000238464272831,-0.000263617582466,4.05625497793e-05,1793242855467678976
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..41fcb67f52d0a37595a797819ff9926725e66917
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+1,0.016666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+2,0.033333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+3,0.050000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+4,0.066666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+5,0.083333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+6,0.100000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+7,0.116666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+8,0.133333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+9,0.150000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+10,0.166666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+11,0.183333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+12,0.200000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+13,0.216666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+14,0.233333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+15,0.250000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+16,0.266666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
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+364,6.066666667,pose2_to_pose3_retreat,0.582739999947,1.83566489934e-06,1.05004078725,0.55331172036,0.00867666726894,1.04967859766
+365,6.083333333,pose2_to_pose3_retreat,0.582520420141,1.8846463682e-06,1.0500410193,0.553092138559,0.00867670923549,1.04967882362
+366,6.100000000,pose2_to_pose3_retreat,0.582313772962,1.85157432188e-06,1.05004096382,0.552885493509,0.00867668305044,1.04967875984
+367,6.116666667,pose2_to_pose3_retreat,0.58211750846,1.90774741557e-06,1.05004097078,0.552689226703,0.00867673122284,1.04967876263
+368,6.133333333,pose2_to_pose3_retreat,0.581931956364,1.95764276146e-06,1.05004095114,0.552503673902,0.00867677887731,1.04967874663
+369,6.150000000,pose2_to_pose3_retreat,0.58176047003,1.92123737573e-06,1.0500408806,0.552332189316,0.00867674834283,1.04967867465
+370,6.166666667,pose2_to_pose3_retreat,0.581604520741,1.82961048039e-06,1.05004091479,0.552176241074,0.0086766602199,1.04967870768
+371,6.183333333,pose2_to_pose3_retreat,0.581467708044,1.78015202104e-06,1.0500409575,0.55203942947,0.00867661455108,1.04967875242
+372,6.200000000,pose2_to_pose3_retreat,0.581348305574,1.8447778114e-06,1.05004081985,0.551920026115,0.00867667621132,1.04967861565
+373,6.216666667,pose2_to_pose3_retreat,0.58124644662,1.92902801132e-06,1.05004065877,0.551818165011,0.00867675308272,1.04967845274
+374,6.233333333,pose2_to_pose3_retreat,0.581157142182,1.84872303642e-06,1.05004084109,0.551728863975,0.00867668424435,1.04967863396
+375,6.250000000,pose2_to_pose3_retreat,0.581079782439,1.9233832297e-06,1.05004076681,0.551651500174,0.00867674490566,1.04967855394
+376,6.266666667,pose2_to_pose3_retreat,0.581012353191,1.82521697442e-06,1.05004078582,0.551584070613,0.00867664627357,1.04967858705
+377,6.283333333,pose2_to_pose3_retreat,0.580953732101,1.78250173739e-06,1.05004087405,0.551525451135,0.00867660919684,1.04967867931
+378,6.300000000,pose2_to_pose3_retreat,0.580903483355,1.79693043571e-06,1.05004104307,0.551475203092,0.00867662549949,1.049678836
+379,6.316666667,pose2_to_pose3_retreat,0.580861479229,1.86878390877e-06,1.05004096787,0.551433198689,0.00867669626416,1.0496787572
+380,6.333333333,pose2_to_pose3_retreat,0.58082835477,1.93736570246e-06,1.05004098448,0.55140007345,0.00867676222699,1.04967877449
+381,6.350000000,pose2_to_pose3_retreat,0.580802874251,1.92858037444e-06,1.05004108538,0.551374592874,0.00867675294534,1.04967886814
+382,6.366666667,pose2_to_pose3_retreat,0.580784409965,1.86427679409e-06,1.05004102436,0.55135612963,0.00867669208418,1.04967880489
+383,6.383333333,pose2_to_pose3_retreat,0.580771189679,1.83075700198e-06,1.05004096406,0.551342910126,0.00867666177921,1.04967875808
+384,6.400000000,pose2_to_pose3_retreat,0.580761872401,2.01055082446e-06,1.05004093567,0.551333590584,0.0086768341858,1.0496787368
+385,6.416666667,pose2_to_pose3_retreat,0.58075519463,1.9014279296e-06,1.05004071833,0.551326912955,0.00867672547381,1.04967851779
+386,6.433333333,pose2_to_pose3_retreat,0.580750658596,1.7790634916e-06,1.05004067806,0.551322377986,0.00867660656068,1.04967847353
+387,6.450000000,pose2_to_pose3_retreat,0.580748025808,1.72745806772e-06,1.05004083711,0.551319746362,0.00867655876927,1.04967862913
+388,6.466666667,pose2_to_pose3_retreat,0.580746484929,1.822481795e-06,1.05004085372,0.55131820447,0.00867665032981,1.04967864522
+389,6.483333333,pose2_to_pose3_retreat,0.580745792711,1.88226730037e-06,1.05004085074,0.551317511566,0.00867670778193,1.04967864221
+390,6.500000000,pose2_to_pose3_retreat,0.580745329104,1.92230820328e-06,1.05004084875,0.551317047498,0.00867674626006,1.04967864019
+391,6.516666667,pose2_to_pose3_retreat,0.580745024567,1.9486104524e-06,1.05004084743,0.55131674266,0.00867677153575,1.04967863887
+392,6.533333333,pose2_to_pose3_retreat,0.580744943421,1.94760038399e-06,1.05004085331,0.551316661697,0.0086767711741,1.04967864546
+393,6.550000000,pose2_to_pose3_retreat,0.580744743646,1.94322672968e-06,1.05004086926,0.551316462432,0.00867676861378,1.04967866333
+394,6.566666667,pose2_to_pose3_retreat,0.580744414921,1.93603001777e-06,1.05004089549,0.551316134547,0.00867676440085,1.04967869273
+395,6.583333333,pose2_to_pose3_retreat,0.580744250963,1.93244052373e-06,1.05004090858,0.551315971009,0.00867676229957,1.0496787074
+396,6.600000000,pose2_to_pose3_retreat,0.580744147202,1.93016890083e-06,1.05004091686,0.551315867513,0.00867676096977,1.04967871668
+397,6.616666667,pose2_to_pose3_retreat,0.580743992933,1.92679153448e-06,1.05004092917,0.551315713639,0.00867675899268,1.04967873048
+398,6.633333333,pose2_to_pose3_retreat,0.580743957684,1.92601982215e-06,1.05004093198,0.551315678479,0.00867675854092,1.04967873363
+399,6.650000000,pose2_to_pose3_retreat,0.58074384447,1.9174735063e-06,1.0500409089,0.551315565093,0.00867674932862,1.04967870869
+400,6.666666667,pose2_to_pose3_retreat,0.580743713397,1.90629592871e-06,1.05004087538,0.551315433721,0.00867673702189,1.04967867239
+401,6.683333333,pose2_to_pose3_retreat,0.580743583806,1.8952960465e-06,1.05004084229,0.551315303839,0.00867672492247,1.04967863657
+402,6.700000000,pose2_to_pose3_retreat,0.580743535529,1.89653970492e-06,1.05004083533,0.551315255945,0.00867672751057,1.04967863069
+403,6.716666667,pose2_to_pose3_retreat,0.580743519102,1.89696288344e-06,1.05004083297,0.551315239649,0.00867672839121,1.04967862869
+404,6.733333333,pose2_to_pose3_retreat,0.58074351501,1.89706831058e-06,1.05004083238,0.551315235589,0.00867672861061,1.04967862819
+405,6.750000000,pose2_to_pose3_retreat,0.580743513899,1.89709691988e-06,1.05004083222,0.551315234487,0.00867672867015,1.04967862805
+406,6.766666667,pose2_to_pose3_retreat,0.580743505525,1.897312658e-06,1.05004083101,0.551315226179,0.00867672911911,1.04967862703
+407,6.783333333,pose2_to_pose3_retreat,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976187,1.04967862557
+408,6.800000000,pose2_to_pose3_retreat,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8cd525d37b3184ce67c7b03b2aa3e0a14d4d1f7f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b3e9a3facdb0cdbe543caadc2ffc1afbf7374596e78b8ed0ad1bc1434e5a041
+size 25691539
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a7a03c2c0649c0448bbed465767fc57218b4a54
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+31,0.516666667,BASELINE,765,745,714,679,661,635,878.988630933,788,805,652.988630933,631,652,0.400947011807,-0.00542435131392,0.0499336863517,0.999999975609,7.77653675848e-05,-0.000204511948584,-3.01713982722e-05,1793242857248827392
+32,0.533333333,BASELINE,764.437972856,745,714,679,661,635,879,787.437972856,805,653,631,652,0.400949218486,-0.00542627753672,0.0499344838008,0.999999976179,7.58736319953e-05,-0.000202450729602,-2.99802959176e-05,1793242857265494272
+33,0.550000000,BASELINE,764,745,714,679,661,635,879,787.134808783,805,653,631,652,0.400950655475,-0.00542776055377,0.0499349712911,0.999999976585,7.4031490233e-05,-0.000201148302478,-2.98060058867e-05,1793242857282161408
+34,0.566666667,BASELINE,764,745,714,679,661,635,879,787.706032208,805,653,631,652,0.400949519621,-0.00542755209855,0.0499344623215,0.999999976449,7.26158670351e-05,-0.000202352345981,-2.971016052e-05,1793242857298828288
+35,0.583333333,BASELINE,764.29139342,745,714,679,661,635,879,788,805,653,631.29139342,652,0.400947836644,-0.00542730327179,0.0499336446273,0.999999976196,7.1843717393e-05,-0.000203850525168,-2.98654128454e-05,1793242857315494912
+36,0.600000000,BASELINE,764.891744676,745,714,679,661,635,879,788,805,653,631.891744676,652,0.400945573564,-0.00542701163998,0.0499324995991,0.999999975819,7.17538279972e-05,-0.000205660569901,-3.0286898349e-05,1793242857332161536
+37,0.616666667,BASELINE,765,745,714,679,661.472130615,635,878.527869385,787.527869385,805,653,631.527869385,652,0.400945640239,-0.00542527855882,0.0499321386117,0.999999975493,7.48847530471e-05,-0.000206106378561,-3.04220536393e-05,1793242857348828160
+38,0.633333333,BASELINE,765,745,714,679,661.952027962,635,878.047972038,787,805,653,631,652,0.40094621883,-0.00542351985369,0.0499319869911,0.999999975219,7.83496312089e-05,-0.000206142929414,-3.04626691893e-05,1793242857365494528
+39,0.650000000,BASELINE,765,745,714,679,661.377857581,635,878.622142419,787,805,653,631,652,0.400946790806,-0.00542495832659,0.0499322399789,0.999999975517,7.77057080092e-05,-0.000204982318733,-3.01572123962e-05,1793242857382161408
+40,0.666666667,BASELINE,765,745,714,679,661.20143061,635,878.79856939,787.20143061,805,653,631,652,0.400946785681,-0.00542549603554,0.0499322065477,0.999999975588,7.73763190015e-05,-0.000204763368917,-3.01368313483e-05,1793242857398828032
+41,0.683333333,BASELINE,765,745,714,679,661.790569391,635,878.209430609,787.790569391,805,653,631,652,0.40094566977,-0.00542429997839,0.0499316218248,0.999999975223,7.76523369058e-05,-0.000206356902438,-3.06651563736e-05,1793242857415494656
+42,0.700000000,BASELINE,765,745,714.373209428,679,661.626790572,635,878.373209428,788,805,653,631,652,0.400945706776,-0.00542471765707,0.0499314626265,0.999999975304,7.65166708843e-05,-0.000206381060321,-3.0740079785e-05,1793242857432161280
+43,0.716666667,BASELINE,765,745,714.95226502,679,661.04773498,635,878.95226502,788,805,653,631,652,0.400946379682,-0.0054260254026,0.0499315381292,0.999999975627,7.46023811149e-05,-0.00020553961849,-3.05649264772e-05,1793242857448827904
+44,0.733333333,BASELINE,765,745,714.472110443,679,661,635,879,788,805,652.472110443,631,652,0.400945502738,-0.00542624163805,0.049930723196,0.999999975377,7.52738846096e-05,-0.000206548220293,-3.02811454792e-05,1793242857465494528
+45,0.750000000,BASELINE,765,745,714,679,661,635,878.89671686,787.89671686,805,652.10328314,631,652,0.40094480316,-0.00542640885454,0.0499301799871,0.999999975158,7.61239408799e-05,-0.00020733788178,-3.00070355145e-05,1793242857482161408
+46,0.766666667,BASELINE,765,745,714,679,661,635,878.320969846,787.320969846,805,652.679030154,631,652,0.400945551893,-0.0054268004234,0.049931245718,0.999999975318,7.67280723702e-05,-0.000206365682301,-2.98218089863e-05,1793242857498828032
+47,0.783333333,BASELINE,765,745,714,679,661,635,878.261179205,787,805.261179205,653,631,652,0.400945928116,-0.00542652012298,0.049931786141,0.99999997543,7.68332489173e-05,-0.000205761965678,-2.99713969667e-05,1793242857515494912
+48,0.800000000,BASELINE,765,745,714,679,661,635,878.851393659,787,805.851393659,653,631,652,0.40094583505,-0.00542539339735,0.0499316647778,0.999999975482,7.63098388836e-05,-0.000205622466008,-3.0542786404e-05,1793242857532161280
+49,0.816666667,BASELINE,765,745,714,679,661,635,878.568282802,787,805.568282802,653,631,652,0.400945965169,-0.00542545179057,0.0499315397956,0.999999975345,7.6561433453e-05,-0.000206178530146,-3.0644613608e-05,1793242857548827904
+50,0.833333333,BASELINE,765,745,713.991297187,679.008702813,661,635,878,787.008702813,805,653,631,652,0.400946183237,-0.0054258979625,0.0499314274364,0.999999975152,7.70590367553e-05,-0.000206936130746,-3.05874084627e-05,1793242857565494784
+51,0.850000000,BASELINE,765,745,713.414929781,679.585070219,661,635,878,787.585070219,805,653,631,652,0.400947239144,-0.00542562481914,0.0499322178839,0.999999975473,7.65919594715e-05,-0.000205571944403,-3.04637283861e-05,1793242857582161664
+52,0.866666667,BASELINE,765,745,713.161420337,679.838579663,661,635,878.161420337,787.838579663,805.161420337,653,631,652,0.400947462194,-0.00542569348975,0.0499325536665,0.999999975644,7.61562626403e-05,-0.000204919796948,-3.03367986148e-05,1793242857598828288
+53,0.883333333,BASELINE,765,745,713.737725986,679.262274014,661,635,878.737725986,787.262274014,805.737725986,653,631,652,0.400945544615,-0.00542664069649,0.0499317208612,0.999999975433,7.58012204127e-05,-0.000206097744102,-3.02015164301e-05,1793242857615494912
+54,0.900000000,BASELINE,765,745,714,679.321808495,661,635,879,787,805.678191505,653,631,652,0.40094621709,-0.00542546361794,0.0499321619766,0.999999975469,7.80730432834e-05,-0.000205053392085,-3.0325320511e-05,1793242857632161536
+55,0.916666667,BASELINE,765,745,714,679.912386081,661,635,879,787,805.087613919,653,631,652,0.400949052733,-0.00542251237169,0.0499336670494,0.999999975691,8.25387801014e-05,-0.000202153012791,-3.06655091273e-05,1793242857648827904
+56,0.933333333,BASELINE,765,745.491519268,714,679.508480732,661,635,878.508480732,787,805,653,631,652,0.400947868889,-0.00542362878749,0.0499337158505,0.999999975621,8.07783356514e-05,-0.000203238772603,-3.04512703613e-05,1793242857665494272
+57,0.950000000,BASELINE,765,746,714,679,661,635,878,787,805,653,631,652,0.400946205699,-0.00542521139505,0.0499334249608,0.999999975502,7.8181694461e-05,-0.000204866180154,-3.02087130303e-05,1793242857682160896
+58,0.966666667,BASELINE,765,746,714,679,661,635,878,787,805,653,631,652,0.400946177951,-0.00542499899129,0.0499324970522,0.999999975452,7.74244929576e-05,-0.000205362565738,-3.04716828207e-05,1793242857698827520
+59,0.983333333,BASELINE,765,745.776617697,714,679.223382303,661,635,878.223382303,787,805,653,631,652,0.400946351167,-0.00542515980635,0.0499318503034,0.999999975493,7.64353648362e-05,-0.000205501925122,-3.06597483338e-05,1793242857715494400
+60,1.000000000,BASELINE,765,745.187313379,714,679.812686621,661,635,878.812686621,787,805,653,631,652,0.400946853582,-0.00542593199024,0.0499316641218,0.999999975686,7.50663181584e-05,-0.000205056440827,-3.0725113372e-05,1793242857732161024
+61,1.016666667,BASELINE,765,745,714,679.604317857,661,635,878.604317857,787,805,653,631,652,0.400947975665,-0.00542532938972,0.049932427591,0.999999975927,7.61483185437e-05,-0.000203487924361,-3.06547039682e-05,1793242857748827904
+62,1.033333333,BASELINE,765,745,714,679.024262042,661,635,878.024262042,787,805,653,631,652,0.400949386489,-0.00542408618897,0.0499336335634,0.999999976183,7.8372418936e-05,-0.000201396115253,-3.05210285454e-05,1793242857765494528
+63,1.050000000,BASELINE,765,745,714,679,661.548362698,635,878.548362698,787,805,653,631,652,0.400948546662,-0.00542499181664,0.0499331400017,0.999999976087,7.67379241276e-05,-0.000202504308236,-3.04855317261e-05,1793242857782161152
+64,1.066666667,BASELINE,765,745.120851137,714,679,661.879148863,635,879,787.120851137,805,653,631,652,0.400947588008,-0.00542572846711,0.0499325032941,0.999999975938,7.53968283955e-05,-0.000203739399457,-3.04993678968e-05,1793242857798828288
+65,1.083333333,BASELINE,765,745.694043553,714,679,661.305956447,635,879,787.694043553,805,653,631,652,0.40094655233,-0.00542548154213,0.0499316084858,0.99999997566,7.57843757168e-05,-0.000204926613197,-3.0681814065e-05,1793242857815494912
+66,1.100000000,BASELINE,765,745.721459473,714,679,661,635,878.721459473,787.721459473,805,653,631,652,0.400945953603,-0.00542504671443,0.0499313233864,0.99999997542,7.66431258549e-05,-0.000205769067226,-3.07482992582e-05,1793242857832161536
+67,1.116666667,BASELINE,765,745.124020037,714,679,661,635,878.124020037,787.124020037,805,653,631,652,0.400945855138,-0.00542439675837,0.0499317363383,0.999999975221,7.80413524534e-05,-0.000206216808429,-3.06820216091e-05,1793242857848828160
+68,1.133333333,BASELINE,764.546528979,745,714,679,661.453471021,635,878.453471021,787,805,653,631,652,0.400947651534,-0.00542406267449,0.0499330482192,0.999999975663,7.83977250736e-05,-0.000203941734148,-3.05854086425e-05,1793242857865494528
+69,1.150000000,BASELINE,764.026110997,745,714,679,661.973889003,635,879,787,805.026110997,653,631,652,0.400949745404,-0.00542389697573,0.0499344442954,0.999999976222,7.83968699932e-05,-0.000201201678192,-3.04764442873e-05,1793242857882161152
+70,1.166666667,BASELINE,764.606707619,745,714,679,661.393292381,635,879,787,805.606707619,653,631,652,0.40094761513,-0.00542554984374,0.0499326275286,0.999999975854,7.66059115279e-05,-0.000203734557314,-3.02739463338e-05,1793242857898828288
+71,1.183333333,BASELINE,765,745,714,679,661.190931844,635,879,787.190931844,805.809068156,652.809068156,631,652,0.400946658932,-0.00542674178243,0.0499317759823,0.999999975748,7.49973909557e-05,-0.000204869449887,-3.01263608501e-05,1793242857915495168
+72,1.200000000,BASELINE,765,745,714,679,661.782773247,635,879,787.782773247,805.217226753,652.217226753,631,652,0.400948167998,-0.00542696588406,0.0499329511591,0.999999976208,7.37719444182e-05,-0.000203068917609,-3.00940779081e-05,1793242857932161536
+73,1.216666667,BASELINE,765.364774026,745.364774026,714,679,662,635,878.635225974,787.635225974,805,652.364774026,631,652,0.400947185197,-0.00542587256559,0.0499321268909,0.999999975737,7.5263950228e-05,-0.000204789577015,-3.03856990145e-05,1793242857948828416
+74,1.233333333,BASELINE,765.941068515,745.941068515,714,679,662,635,878.058931485,787.058931485,805,652.941068515,631,652,0.400944757443,-0.0054240153185,0.0499301432101,0.999999974709,7.8331717378e-05,-0.000208552059807,-3.08651414301e-05,1793242857965495040
+75,1.250000000,BASELINE,765.483343959,745.483343959,714,679,661.483343959,635,878,787,805,653,631,652,0.400945938472,-0.00542414605842,0.0499309575737,0.9999999751,7.84374658763e-05,-0.000206624050132,-3.08933406035e-05,1793242857982161920
+76,1.266666667,BASELINE,765,745,714,679,661,635,878.090991043,787,805,653,631,652,0.400947185923,-0.00542446968842,0.0499317732679,0.999999975538,7.81598859239e-05,-0.000204603774478,-3.08705812739e-05,1793242857998828544
+77,1.283333333,BASELINE,765,745,714,679,661,635,878.659179567,787,805,653,631,652,0.400946625901,-0.00542461733386,0.0499309244409,0.999999975395,7.76414152756e-05,-0.000205499008002,-3.08501371074e-05,1793242858015494912
+78,1.300000000,BASELINE,764.760617501,745,714,679,661,635,879.239382499,787.239382499,805,653,631,652,0.400946880652,-0.00542488977566,0.0499310171462,0.999999975507,7.68302907832e-05,-0.000205263200441,-3.08187522877e-05,1793242858032161280
+79,1.316666667,BASELINE,764.162405254,745,714,679,661,635,879.837594746,787.837594746,805,653,631,652,0.40094835673,-0.00542534928475,0.0499325211903,0.999999975998,7.55804838683e-05,-0.000203331984021,-3.07709676417e-05,1793242858048828160
+80,1.333333333,BASELINE,764.421086503,745,714,679.421086503,661,635,879.578913497,787.578913497,805,653,631,652,0.400948600491,-0.00542501283112,0.0499326654754,0.999999976011,7.62377246815e-05,-0.000203021265129,-3.07969980632e-05,1793242858065494784
+81,1.350000000,BASELINE,764.999092658,745,714,679.999092658,661,635,879.000907342,787.000907342,805,653,631,652,0.400948385022,-0.00542437975867,0.0499323030408,0.999999975844,7.76056347227e-05,-0.000203314431276,-3.08505359751e-05,1793242858082161408
+82,1.366666667,BASELINE,765,745,714,679.423950393,661,635,878.423950393,787,805.576049607,653,631,652,0.400948423816,-0.00542691193852,0.0499325753376,0.999999976111,7.50707756278e-05,-0.000203034750468,-3.03262577429e-05,1793242858098827776
+83,1.383333333,BASELINE,765,745,714,679,661,635,878,787,805.848542177,653,630.848542177,652,0.400948121712,-0.00542809440385,0.0499325323705,0.999999976211,7.34067743283e-05,-0.000203179209699,-3.01431714191e-05,1793242858115494400
+84,1.400000000,BASELINE,765,745,714,679,661,635,878,787,805.277420537,653,630.277420537,652,0.40094687393,-0.00542552325165,0.0499316130953,0.999999975861,7.41727731332e-05,-0.000204501384191,-3.09079868227e-05,1793242858132161024
+85,1.416666667,BASELINE,765,745.307493083,714,679.307493083,661.307493083,635,878.307493083,787,805,653,630.307493083,652,0.400947324844,-0.00542425346786,0.0499317879491,0.999999975793,7.58439525418e-05,-0.000204208466918,-3.09954705709e-05,1793242858148827904
+86,1.433333333,BASELINE,765,745.905434125,714,679.905434125,661.905434125,635,878.905434125,787,805,653,630.905434125,652,0.40094938029,-0.00542421291449,0.0499329962815,0.999999975985,7.83701360453e-05,-0.000202389986443,-3.04431688335e-05,1793242858165494784
+87,1.450000000,BASELINE,765,745.51884916,714,679.51884916,661.51884916,635,879,787.48115084,805,653,631,652,0.400948861048,-0.00542415731584,0.0499329843006,0.999999976002,7.75659533057e-05,-0.000202589870104,-3.06046865497e-05,1793242858182161152
+88,1.466666667,BASELINE,765,745,714,679.051701189,661.051701189,635,879.051701189,787.948298811,805,652.948298811,631,652,0.400947899876,-0.0054242007949,0.0499327266563,0.999999975972,7.63021116937e-05,-0.000203179712107,-3.08474929193e-05,1793242858198827776
+89,1.483333333,BASELINE,765,745,714,679.612491249,661.612491249,635,879.612491249,787.387508751,805,652.387508751,631,652,0.400947349917,-0.00542524769907,0.0499323074185,0.999999975811,7.66727891689e-05,-0.000203875713728,-3.05702721255e-05,1793242858215494656
+90,1.500000000,BASELINE,765.188134272,745,714,680,662,635,879.811865728,787.188134272,805,652.188134272,631,652,0.400946490792,-0.00542562725386,0.0499317541191,0.999999975568,7.73507581942e-05,-0.000204832693336,-3.03986433742e-05,1793242858232161280
+91,1.516666667,BASELINE,765.796992872,745,714,680,662,635,879.203007128,787.796992872,805,652.796992872,631,652,0.400944940281,-0.0054245144163,0.049930901018,0.999999975143,7.87159227034e-05,-0.000206373297442,-3.0463149952e-05,1793242858248827904
+92,1.533333333,BASELINE,765.614860514,745,714,679.614860514,662,635,879,787.614860514,805,653,631,652,0.400946199601,-0.00542467884489,0.0499315191353,0.999999975478,7.78009583822e-05,-0.000205071600619,-3.06010256916e-05,1793242858265494528
+93,1.550000000,BASELINE,765.037073995,745,714,679.037073995,662,635,879,787.037073995,805,653,631,652,0.400948864399,-0.00542548216279,0.049932873157,0.999999976185,7.57454721876e-05,-0.000202348183072,-3.07756007413e-05,1793242858282161152
+94,1.566666667,BASELINE,765,745,714,679,661.461207691,635,879,787,805,653,631,652,0.400948739742,-0.00542593455073,0.0499326402611,0.999999976133,7.50988659295e-05,-0.000202863155546,-3.06591830873e-05,1793242858298827776
+95,1.583333333,BASELINE,765,745,714,679,661,635,879,787,805,653,631.113838785,652,0.400948349096,-0.00542606740116,0.0499323454945,0.999999976003,7.51296510036e-05,-0.000203510724779,-3.05495437131e-05,1793242858315494656
+96,1.600000000,BASELINE,765,745,714,679,661,635,879,787,805,653,631.686114139,652,0.400947657504,-0.00542501034977,0.049932239744,0.999999975764,7.74993224711e-05,-0.00020379809836,-3.05475487067e-05,1793242858332161792
+97,1.616666667,BASELINE,765,745,714,679,661,635,878.731171988,787,805,653,631.731171988,652,0.400947311692,-0.00542446885863,0.0499323765341,0.999999975707,7.83215655256e-05,-0.000203754019546,-3.05982290017e-05,1793242858348828416
+98,1.633333333,BASELINE,765,745,714,679,661,635,878.135777668,787,805,653,631.135777668,652,0.400947385926,-0.0054245536587,0.0499328079572,0.999999975877,7.72640267209e-05,-0.000203307299697,-3.07128980853e-05,1793242858365495296
+99,1.650000000,BASELINE,765,745,714,679,661,635.442955572,878.442955572,787.442955572,805,653,631,652,0.400947536073,-0.00542439213867,0.049933092485,0.999999975896,7.81560880134e-05,-0.00020288320263,-3.0624975109e-05,1793242858382161920
+100,1.666666667,BASELINE,765,745,714,679,661,635.983061295,879,787.983061295,805,653,631,652,0.400947728093,-0.00542418573084,0.04993330122,0.999999975876,7.95035444886e-05,-0.000202479941458,-3.04843250905e-05,1793242858398828800
+101,1.683333333,BASELINE,765,745,714,679,661,635.4033693,879,787.4033693,805,653,631,652,0.400948566183,-0.00542490554003,0.0499324336061,0.999999976067,7.68461116118e-05,-0.000202546876955,-3.05802785975e-05,1793242858415494912
+102,1.700000000,BASELINE,765,745.178946432,714,679.178946432,661.178946432,635,878.821053568,787.178946432,805,653,631,652,0.400948462442,-0.00542484267921,0.0499316370078,0.999999975921,7.62888144811e-05,-0.000203466091568,-3.06567685012e-05,1793242858432161280
+103,1.716666667,BASELINE,765,745.767264345,714,679.767264345,661.767264345,635,878.232735655,787.767264345,805,653,631,652,0.400946204096,-0.00542298932279,0.0499310028701,0.999999974999,8.05359481242e-05,-0.000206335044754,-3.06887319712e-05,1793242858448827904
+104,1.733333333,BASELINE,765.350198828,745.649801172,714,679.649801172,661.649801172,635,878.350198828,787.649801172,805.350198828,653,631,652,0.400944749225,-0.00542295530128,0.0499301675914,0.999999974706,8.05967071924e-05,-0.00020773892086,-3.06218465849e-05,1793242858465494528
+105,1.750000000,BASELINE,765.929609807,745.070390193,714,679.070390193,661.070390193,635,878.929609807,787.070390193,805.929609807,653,631,652,0.400943820244,-0.00542411207074,0.0499292006618,0.999999974829,7.79174006237e-05,-0.000208183874942,-3.04902626444e-05,1793242858482161152
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,714,679,662,635,879,788,805,653,631,652,0.400949966715,-0.00542650212914,0.049933220804,0.999999976369,7.62492564537e-05,-0.000201356377895,-3.00593690072e-05,1793242858513276928
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.589929187,745,714,679,661.410070813,635,878.410070813,787.410070813,805.589929187,653,631,652,0.400948586275,-0.00542491954335,0.0499326334408,0.999999975998,7.7204879661e-05,-0.000202758270767,-3.05298013834e-05,1793242858529943552
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745.176403734,714,679,661,635,878.176403734,787,805.823596266,653,631,652,0.40094749401,-0.00542420951196,0.0499320814699,0.999999975739,7.72600802121e-05,-0.000203972868692,-3.07868601438e-05,1793242858546610432
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745.755001935,714,679,661,635,878.755001935,787,805.244998065,653,631,652,0.400947058773,-0.0054254888744,0.0499316101918,0.999999975737,7.52623481492e-05,-0.000204760440837,-3.05574344639e-05,1793242858563277056
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745.679775951,714.320224049,679,661.320224049,635,879.320224049,787,805,653,631,652,0.400946808434,-0.00542546514737,0.0499313840201,0.999999975718,7.46217344124e-05,-0.000205075709372,-3.06598547338e-05,1793242858579943680
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745.124377355,714.875622645,679,661.875622645,635,879.875622645,787,805,653,631,652,0.400946693885,-0.00542448442319,0.0499313378563,0.999999975687,7.49777969964e-05,-0.000205044115132,-3.1005984762e-05,1793242858596610048
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745.463517011,714.536482989,679.463517011,661.536482989,635,879.536482989,787.463517011,805,653,631,652,0.400949698665,-0.00542387810915,0.0499326630449,0.999999976077,7.68375163753e-05,-0.00020245049433,-3.09069328604e-05,1793242858613276928
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,746,714,679.939855216,661.060144784,635,879,788,805,653,631,652,0.400954040573,-0.00542360144352,0.0499344256422,0.999999976669,7.85941196498e-05,-0.0001988542992,-3.06944777535e-05,1793242858629943552
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,746,714,679.348908411,661.651091589,635,879,788,805,653,631,652,0.4009622392,-0.00542528054915,0.0499365561286,0.999999978061,7.56113238737e-05,-0.000192934685065,-3.06149369167e-05,1793242858646610176
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745.763656123,714,679,662,635,878.763656123,787.763656123,805,653,631,652,0.400975605033,-0.00542587342582,0.0499397744604,0.999999979845,7.49305083184e-05,-0.000183751268805,-3.0494518642e-05,1793242858663276800
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745.18661277,714,679,662,635,878.18661277,787.18661277,805,653,631,652,0.400996419606,-0.00542490045835,0.0499445609664,0.999999982105,7.75680927368e-05,-0.000169862947256,-3.03151738536e-05,1793242858679943424
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.610135145,635,878,787.389864855,805,653,631,652,0.401026350924,-0.00542479574133,0.0499503147525,0.999999985092,7.78499748762e-05,-0.000151123195213,-3.02970630861e-05,1793242858696610048
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661.033927867,635,878,787.966072133,805,653,631,652,0.401060639743,-0.00542510601903,0.0499565308666,0.999999988116,7.70059099593e-05,-0.000130064619625,-3.0356016788e-05,1793242858713276928
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,787.458711647,805,653,631,652,0.401110632839,-0.0054285909098,0.0499625067045,0.99999999131,7.43566031314e-05,-0.000104551696036,-3.03293402477e-05,1793242858729943552
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.120136061,635,878,787.120136061,805.120136061,653,631,652,0.401162448344,-0.005431385463,0.0499675536838,0.999999993585,7.21128809532e-05,-8.18814139595e-05,-3.04288353394e-05,1793242858746610176
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661.71353402,635,878,787.71353402,805.71353402,653,631,652,0.401217572416,-0.0054306780711,0.0499690007566,0.999999994376,7.19118466453e-05,-7.15072336642e-05,-3.10464739742e-05,1793242858763276544
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661.70314946,635,878.29685054,787.70314946,805.70314946,653,631,652,0.401280263241,-0.00543166322851,0.0499708276114,0.999999994678,7.28235987244e-05,-6.62616774291e-05,-3.08134354868e-05,1793242858779943424
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.129242189,635,878.870757811,787.129242189,805.129242189,653,631,652,0.40135001627,-0.00543422807715,0.0499730089244,0.999999994596,7.4773937301e-05,-6.58027724079e-05,-2.97864424655e-05,1793242858796610304
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787,805,653,631,652,0.401435793631,-0.00543779421469,0.0499738242638,0.999999994886,7.24634852845e-05,-6.4295942684e-05,-2.9049605093e-05,1793242858813276928
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661.025956666,635,879,787.025956666,805,653,631,652,0.401527285305,-0.00544166806449,0.0499742306546,0.999999995259,6.89448401799e-05,-6.26340505751e-05,-2.8388810012e-05,1793242858829943808
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.615729148,635,879,787.615729148,805,653,631,652,0.401641732882,-0.00544590438069,0.0499743779637,0.999999995375,6.60823637903e-05,-6.42198933791e-05,-2.75479086435e-05,1793242858846610176
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661.798455512,635,879,787.798455512,805,653,631,652,0.401766852113,-0.00545051777835,0.0499752454648,0.999999995593,6.32881306206e-05,-6.40160101294e-05,-2.66403075604e-05,1793242858863276544
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661.220039759,635,879,787.220039759,805,653,631,652,0.401911926429,-0.00545583628618,0.049977459664,0.999999996007,6.06215068615e-05,-6.04654893035e-05,-2.56079837075e-05,1793242858879943168
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.643327543,787,805,653,631,652,0.402072662212,-0.00546031010593,0.0499785161406,0.999999996228,5.90804280491e-05,-5.871044908e-05,-2.46410340652e-05,1793242858896609792
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.067661227,787,805,653,631,652,0.402243014016,-0.00546426529489,0.0499788617855,0.999999996338,5.82304240145e-05,-5.80578183499e-05,-2.37142235328e-05,1793242858913276416
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,787.507070531,805,653,631,652,0.402444112793,-0.00547143115821,0.0499770899174,0.999999996571,5.45518557125e-05,-5.81180301919e-05,-2.24444849614e-05,1793242858929943296
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745.08428511,714,679.08428511,661.08428511,635,878,787.91571489,805,653,630.91571489,652,0.402653972838,-0.0054789442312,0.0499750993247,0.999999996765,5.07105601627e-05,-5.87604315867e-05,-2.10923510543e-05,1793242858946610176
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745.677235087,714,679.677235087,661.677235087,635,878,787.322764913,805,653,630.322764913,652,0.402891992977,-0.00548597196727,0.0499734907923,0.999999996706,4.81608203052e-05,-6.23433871644e-05,-1.95186051438e-05,1793242858963276800
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745.474377206,714,679.737188603,661.737188603,635,878,787,805,652.737188603,630.262811397,652,0.403154704077,-0.0054943067179,0.0499758433791,0.999999997274,4.48947578496e-05,-5.58669951385e-05,-1.77632181083e-05,1793242858979943424
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.320841918,714,679.160420959,661.160420959,635,878,787,805,652.160420959,630.839579041,652,0.403446911148,-0.00550420283639,0.0499829279451,0.999999998346,4.07729717851e-05,-3.73736391791e-05,-1.57908414636e-05,1793242858996609792
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.586137999,744.413862001,714,679.413862001,661,635,878.413862001,787.413862001,805,652.413862001,631,652,0.403764937718,-0.00551367355398,0.0499925709565,0.999999999039,3.7839865599e-05,-1.78493900417e-05,-1.31196202199e-05,1793242859013276416
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.012812416,744.987187584,714,679.987187584,661,635,878.987187584,787.987187584,805,652.987187584,631,652,0.404092912692,-0.00552298036173,0.0500031997524,0.999999999321,3.53647651877e-05,2.07206817273e-06,-1.01791298837e-05,1793242859029943552
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.560049317,745,714.560049317,679.439950683,661,635,879,787.439950683,805.560049317,653,631,652,0.404452460964,-0.00553229262167,0.0500067553198,0.999999999429,3.06426853815e-05,1.18547255817e-05,-7.9088983542e-06,1793242859046610176
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714.861033393,679,661,635,879,787,805.861033393,653,631,652,0.404825225066,-0.00554041732742,0.0500105139427,0.99999999934,2.88650667031e-05,2.14424479651e-05,-5.20774242947e-06,1793242859063276544
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714.262034945,679,661,635,879,787,805.262034945,653,631,652,0.405239349327,-0.00554461036679,0.0500154799852,0.99999999883,3.70047535233e-05,3.11520611622e-05,-1.02934645611e-06,1793242859079943424
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.321661745,635,879,787,805,653,631,652,0.405642879284,-0.00554105575229,0.0500046568472,0.999999998633,5.13494545308e-05,9.75381937196e-06,1.32374941034e-06,1793242859096610304
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661.893459297,635,879,787,805,653,631,652,0.406038170773,-0.00553147628236,0.0499815554717,0.999999996869,7.05193997946e-05,-3.58350146635e-05,2.25742633369e-06,1793242859113276672
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661.544576127,635,878.544576127,787.455423873,805,653,631,652,0.406467812339,-0.00552581195349,0.0499617960915,0.999999993816,8.7357076866e-05,-6.87539680873e-05,3.07981664455e-06,1793242859129943040
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.016377363,787.983622637,805,653,631,652,0.406907936593,-0.00552130692261,0.0499432618103,0.999999989834,0.000103453995819,-9.80443830218e-05,3.96104149848e-06,1793242859146609664
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.621965314,787.378034686,805,653,631,652,0.407442205008,-0.00552625512106,0.0499412699279,0.999999988566,0.000112115043582,-0.000101171550123,7.87580380116e-06,1793242859163276288
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.780817814,787,805,653,631,652,0.408003875602,-0.00553054703882,0.049951007074,0.999999989328,0.000121284914105,-8.05373259125e-05,1.21552051403e-05,1793242859179942912
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.197507869,787,805,653,631,652,0.40861106945,-0.00553374867599,0.0499802296766,0.999999991026,0.000131300091985,-2.04282590793e-05,1.70403817069e-05,1793242859196609536
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.366772444,714,679,661.366772444,635,878.366772444,787,805,653,631,652,0.409226883396,-0.00553677853433,0.0500035153409,0.999999990306,0.000136436364212,1.77771211774e-05,2.13812094032e-05,1793242859213276416
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.921310691,714,679,661.921310691,635,878.921310691,787,805,653,631,652,0.409847110304,-0.00553972045198,0.0500237616431,0.999999989003,0.000139074925011,4.47691072133e-05,2.5443362526e-05,1793242859229943040
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.489897793,714,679,662,635,879,787,805.510102207,652.489897793,631,652,0.410446763347,-0.00554033160033,0.0500175527387,0.999999991109,0.000128685204402,2.56588768108e-05,2.37586953227e-05,1793242859246609920
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,713.895129889,679,661.790259777,635,879.104870111,787,805.895129889,652,631,652,0.41104814139,-0.00554068410433,0.0500019536837,0.999999992689,0.000118579927271,-9.98941378685e-06,2.14681761104e-05,1793242859263276800
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,713.29890006,679,660.597800119,635,879.70109994,787,805.29890006,652,631,652,0.411673542378,-0.00554163065292,0.0499628556266,0.999999988776,0.000119901813986,-8.74049329171e-05,2.07916771839e-05,1793242859279943424
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,713.286477957,679,660,635,879.713522043,787.286477957,805,652.286477957,631,652,0.412355570635,-0.00554439237828,0.049951396063,0.99999998765,0.000118588749649,-0.000100965384003,2.10541815985e-05,1793242859296610048
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,713.860946918,679,660,635,879.139053082,787.860946918,805,652.860946918,631,652,0.413094525316,-0.00554897886748,0.0499677209621,0.999999991916,0.000114626818106,-5.03335228253e-05,2.226064872e-05,1793242859313276672
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.436324011,714,679,660.872648023,635,879.436324011,788,805,652.563675989,631,652,0.41384867674,-0.0055494656184,0.0499868501639,0.999999992623,0.000117332152996,-1.93826050626e-05,2.47172806793e-05,1793242859329943296
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.987641973,714,678.987641973,661.975283946,635,879.987641973,787.987641973,805,652,631,652,0.414606722761,-0.00554861131563,0.0500057606181,0.999999992166,0.000122064971734,3.67631231788e-06,2.74744332512e-05,1793242859346610176
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.394358903,714,678.394358903,660.788717807,635,879.394358903,787.394358903,805,652,631,652,0.415319709753,-0.0055462633891,0.0499722892136,0.999999991038,0.000122014564309,-4.8794878001e-05,2.5590587461e-05,1793242859363277056
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,678.193110598,660.193110598,635,879,787.193110598,805,652.193110598,631,652,0.4160644123,-0.0055459677529,0.0499481847206,0.999999988919,0.000119978427873,-8.47026961434e-05,2.43331710818e-05,1793242859379943680
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,678.769054905,660.769054905,635,879,787.769054905,805,652.769054905,631,652,0.416871989571,-0.00554974069688,0.0499426497414,0.999999989354,0.000114005667007,-8.77743165021e-05,2.43176251239e-05,1793242859396610304
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714.34710737,679.34710737,661,635,879,787.65289263,805,653,631,652,0.417704543599,-0.0055534739233,0.0499599327291,0.999999992048,0.000109564846528,-5.69132849438e-05,2.5704343173e-05,1793242859413276672
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714.926571027,679.926571027,661,635,879,787.073428973,805,653,631,652,0.418553817222,-0.00555718056235,0.049992490236,0.999999993968,0.000106149518472,-3.33748029923e-06,2.80297472544e-05,1793242859429943296
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714.498566258,679.498566258,661,635,879,787,805,652.498566258,631,652,0.419355299693,-0.0055536398996,0.0499859791117,0.999999993138,0.000110510739789,-2.60802630135e-05,2.88229796384e-05,1793242859446609920
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.922172679,634.922172679,879,787,805,652,631,652,0.420157067382,-0.00554949996514,0.0499748718461,0.999999991511,0.00011520639089,-5.34402546819e-05,2.91444260588e-05,1793242859463276544
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.331286302,634.331286302,879,787,805,652,631,652,0.421006431126,-0.0055483421114,0.0499708379318,0.999999992308,0.000114667781752,-3.82331128196e-05,2.78213785107e-05,1793242859479943168
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.509103035,634.254551517,879,787,805,652,631,652,0.421890510506,-0.00554949450733,0.0499802476717,0.999999993302,0.000111877566495,-9.72936374376e-06,2.80259746726e-05,1793242859496609792
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661.66789349,634.833946745,879,787,805,652,631,652,0.422818892062,-0.00555359510816,0.0500068134137,0.999999993265,0.000106213983408,3.57427373593e-05,3.01800598844e-05,1793242859513276416
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679.409868475,661.590131525,635,879.409868475,787,805,652.409868475,631,652,0.423686917833,-0.00555486420888,0.0500016964275,0.99999999382,0.000104230813498,2.37423987013e-05,3.05172910832e-05,1793242859529943296
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.984394751,661.015605249,635,879.984394751,787,805,652.984394751,631,652,0.424530696623,-0.00555499580156,0.0499838514337,0.999999994102,0.00010372618828,-1.13465335926e-05,3.01246314416e-05,1793242859546609920
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.55761996,745,714,678.88476008,661,635,880,787.55761996,805,652.44238004,631,652,0.425428763354,-0.00555938491749,0.0499956892036,0.999999994592,9.84189048609e-05,1.12320757237e-05,3.16777622678e-05,1793242859563276544
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714,678.135711122,661,635,879.864288878,787.864288878,805,652,631,652,0.426321245026,-0.00556276678594,0.0500078243538,0.999999994503,9.48627064863e-05,2.96129923257e-05,3.34296857065e-05,1793242859579943424
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,678.730381177,661,635,879.269618823,787.269618823,805,652,631,652,0.427189712598,-0.00556234025359,0.0500181624668,0.999999994191,9.7681953e-05,2.83526553806e-05,3.56701744452e-05,1793242859596610048
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.684377263,745,714.315622737,679,660.684377263,635,879.315622737,787.315622737,805.315622737,651.684377263,631,652,0.428043970736,-0.00555960840316,0.0499986150439,0.999999994341,9.96761585169e-05,-1.1605937572e-05,3.53353972751e-05,1793242859613276672
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.106956344,745,714.893043656,679,660.106956344,635,879.893043656,787.893043656,805.893043656,651.106956344,631,652,0.428886442595,-0.00555496437085,0.0499542785984,0.999999990861,0.000100986020425,-8.36633999858e-05,3.28645255422e-05,1793242859629943296
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714.532622367,679,660,635,880,787.532622367,806,651.467377633,631,652,0.429785458349,-0.00555746396626,0.049958167325,0.99999999261,9.63065746096e-05,-6.66264513757e-05,3.26346933592e-05,1793242859646609920
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.041692542,745,714,679.041692542,660.041692542,635,880,787,806,652,631,651.958307458,0.430691021032,-0.00556121254823,0.0499716478606,0.999999994771,9.09091455344e-05,-3.32599456469e-05,3.29761468234e-05,1793242859663276544
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.624873875,745,714,679.624873875,660.624873875,635,880,787,806,652,631,651.375126125,0.431514658307,-0.0055600899743,0.0499673119459,0.999999993718,9.38710749051e-05,-5.08745046283e-05,3.41202807676e-05,1793242859679943424
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.209067648,745,714,679.790932352,660.790932352,635,880,787,806,652,631,651.209067648,0.432351225597,-0.00555926292147,0.0499592303999,0.999999992456,9.6877163966e-05,-6.71327663018e-05,3.45856612103e-05,1793242859696610048
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.79508696,745,714,679.20491304,660.20491304,635,880,787,806,652,631,651.79508696,0.433211106007,-0.00555896869679,0.0499443954318,0.999999991155,9.99628740472e-05,-8.09456094236e-05,3.38272405444e-05,1793242859713276672
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.626254912,745,714,679,660.373745088,635,880,787,805.626254912,652,631,652,0.434087602085,-0.0055609748291,0.0499576353763,0.999999992902,9.82979356952e-05,-5.75797330943e-05,3.49060350296e-05,1793242859729943296
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.051554777,745,714,679,660.948445223,635,880,787,805.051554777,652,631,652,0.434973032016,-0.00556421781608,0.0499859706249,0.99999999479,9.40786710363e-05,-1.422362291e-05,3.6972662316e-05,1793242859746609920
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714,679.522902249,661,634.477097751,879.477097751,787,805.522902249,652,631,652,0.435751117076,-0.00556310367371,0.0499771613764,0.999999993562,9.58178541399e-05,-4.75523946931e-05,3.78636592976e-05,1793242859763276288
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.899772,745.100228,714,680,660.899772,634,879,787,806,652,631,651.899772,0.436520962495,-0.00556153557107,0.0499649426856,0.99999999104,9.7882178524e-05,-8.28727319232e-05,3.83671563217e-05,1793242859779943168
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.308267526,745.691732474,714,680,660.308267526,634,879,787,806,652,631,651.308267526,0.437302272454,-0.0055598470111,0.0499539546009,0.999999990296,9.86620415812e-05,-9.09130094693e-05,3.7539164906e-05,1793242859796609792
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,746,714,680,660.554313752,634.277156876,879.277156876,787,806,652,631,651.277156876,0.438103081863,-0.00556083554494,0.0499616836377,0.999999992245,9.64750932043e-05,-6.91004736059e-05,3.77885362973e-05,1793242859813276416
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,746,714,680,661.711927704,634.855963852,879.855963852,787,806,652,631,651.855963852,0.438925113898,-0.00556473775588,0.0499897838877,0.999999994976,9.10591466853e-05,-1.47969367282e-05,3.92104804052e-05,1793242859829943040
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.431446742,746,714,679.568553258,661.568553258,635,879.568553258,787.431446742,806,652,631,652,0.439679301664,-0.00556517172442,0.0499845953491,0.999999994903,9.06661522371e-05,-2.18745029739e-05,3.86789550269e-05,1793242859846609664
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.994016978,745.994016978,714,679.005983022,661,634.994016978,879.005983022,787.994016978,806,652,631,652,0.440410566099,-0.0055644851949,0.0499684420339,0.999999993867,9.18858983585e-05,-4.91528702367e-05,3.75147588313e-05,1793242859863276544
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.404401028,745.404401028,714,679.595598972,661,634.404401028,879.595598972,787.404401028,806,652,631,652,0.441098214965,-0.00556657911803,0.0499584867274,0.999999993401,8.80990861435e-05,-6.33327871293e-05,3.77648473352e-05,1793242859879943168
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.181798234,745,714,680,661,634.181798234,880,787,806,652,631.181798234,652,0.441793340946,-0.00556796009245,0.0499603124236,0.999999993903,8.61776677812e-05,-5.73793132172e-05,3.84092583232e-05,1793242859896609792
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.760537558,745,714,680,661,634.760537558,880,787,806,652,631.760537558,652,0.442504792705,-0.00556778440396,0.0499878609419,0.999999995275,8.83291785147e-05,-7.46628358146e-06,3.99146391507e-05,1793242859913276416
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,680,661.338222924,635,879.661777076,787,806.338222924,652,631.661777076,652,0.443169854275,-0.005568981269,0.0500012531767,0.999999995211,8.76678520003e-05,1.39702534415e-05,4.11977428817e-05,1793242859929943296
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714,680,661.915164369,635,879.084835631,787,806.915164369,652,631.084835631,652,0.443802173499,-0.0055711468855,0.0500046538722,0.999999995373,8.50212184379e-05,1.53080131938e-05,4.23239628841e-05,1793242859946609920
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.501869103,745,714,680,661.501869103,634.501869103,879.498130897,787,806.501869103,652,631,652,0.44436561363,-0.00556779051208,0.0499744560558,0.999999994526,8.89728499533e-05,-3.72397955351e-05,4.05661115954e-05,1793242859963276544
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680.08165155,661,634,880,787,806,652,631.08165155,652,0.444920902974,-0.00556519987835,0.0499436409741,0.999999991113,9.2024643788e-05,-8.83737096506e-05,3.86822704155e-05,1793242859979943168
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680.66221145,661,634,880,787,806,652,631.66221145,652,0.445498943644,-0.00557310471122,0.0499444455427,0.999999993077,8.26279020865e-05,-7.41076145494e-05,3.9066565544e-05,1793242859996609792
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680.758712528,660.758712528,634.241287472,880,787.241287472,806,652,631.758712528,651.758712528,0.446072882734,-0.00557810199181,0.049956541802,0.999999995435,7.55515151486e-05,-4.32867830449e-05,3.93425226755e-05,1793242860013276416
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680.181701199,660.181701199,634.818298801,880,787.818298801,806,652,631.181701199,651.181701199,0.4466411149,-0.00557905374607,0.0499843491543,0.999999996595,7.17036365098e-05,1.05680652345e-05,3.94677398031e-05,1793242860029943296
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.786407221,634.60679639,880.39320361,788,806,652,631,651.39320361,0.447138434332,-0.00557565217224,0.0499874586487,0.999999996315,7.4722692708e-05,1.48387253486e-05,3.95854717099e-05,1793242860046609920
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661.934280448,634.032859776,880.967140224,788,806,652,631,651.967140224,0.447603159325,-0.00557024962485,0.0499792159658,0.999999995933,8.08980821817e-05,-3.68159902079e-06,3.96997631259e-05,1793242860063276544
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661.443047495,634.556952505,880.443047495,787.443047495,806.556952505,652,631,652,0.44801085244,-0.00556288961447,0.0499474703721,0.999999994091,8.92451170532e-05,-4.93752090323e-05,3.76258733307e-05,1793242860079943424
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.855150633,634.855150633,880,787,806.855150633,652,631,651.855150633,0.448412116248,-0.00555765772584,0.0499206110007,0.999999991031,9.47584189472e-05,-8.76093755658e-05,3.58155157553e-05,1793242860096609792
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.27588958,634.27588958,880,787,806.27588958,652,631,651.27588958,0.44880448572,-0.00555916471664,0.0499126863611,0.999999990352,9.13776631737e-05,-9.85230746441e-05,3.51940480993e-05,1793242860113276160
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.301719791,634,880,787,806,652,631,651,0.4491829028,-0.00556283781553,0.0499145254451,0.999999990975,8.69852721948e-05,-9.60504012427e-05,3.54622342695e-05,1793242860129943040
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.877827068,634,880,787,806,652,631,651,0.449548631388,-0.00556848079823,0.0499252437734,0.999999992684,8.16728885912e-05,-8.14040043904e-05,3.65394820075e-05,1793242860146609920
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,880,787,806,652,631,651.453456828,0.449881047881,-0.00557039630862,0.0499328360439,0.999999993558,7.92337586722e-05,-7.22807857933e-05,3.71797616259e-05,1793242860163276544
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,879.9703,787,806.0297,652,631,652,0.4502019722,-0.00557106938249,0.049938992205,0.99999999411,7.78536075838e-05,-6.55757147038e-05,3.76661198494e-05,1793242860179943168
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,879.380053746,787,806.619946254,652,631,652,0.450475212773,-0.00556722758551,0.0499339231932,0.999999993025,8.18649811994e-05,-7.6453800332e-05,3.74670869543e-05,1793242860196609792
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,879.20602928,787.20602928,807,652,631,651.79397072,0.450734453662,-0.0055635527261,0.0499281011269,0.999999991666,8.57508561116e-05,-8.90217326928e-05,3.72875560213e-05,1793242860213276416
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,879.78458462,787.78458462,807,652,631,651.21541538,0.450968381384,-0.00556017971058,0.0499209174465,0.999999989838,8.94098136324e-05,-0.000104645112812,3.71432870362e-05,1793242860229943040
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714.361595243,680,660.638404757,633.638404757,879.638404757,787.638404757,806.638404757,651.638404757,631,651.361595243,0.451180768583,-0.00555952067182,0.0499161092327,0.999999988446,9.06185346517e-05,-0.00011612410144,3.75664134643e-05,1793242860246609664
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714.93768959,680,660.06231041,633.06231041,879.06231041,787.06231041,806.06231041,651.06231041,631,651.93768959,0.451380377917,-0.00556047156981,0.0499127101504,0.999999987351,9.03737702599e-05,-0.000125144629278,3.83261201062e-05,1793242860263276288
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714.487802557,680,660,633,879.512197443,787,806,651.512197443,631,652,0.451546542121,-0.0055617316309,0.049903535257,0.999999985489,8.71591649523e-05,-0.000141514856467,3.74067688733e-05,1793242860279942912
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,880,787,806.089271947,651.910728053,631,652,0.45170420331,-0.00556291991491,0.0498939711085,0.99999998314,8.40917240595e-05,-0.000159119303344,3.64679753228e-05,1793242860296609536
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,880,787,806.681903618,651.318096382,631,652,0.451836790864,-0.00556349207171,0.0498861617724,0.999999979854,8.38849129084e-05,-0.000178657011384,3.65677338523e-05,1793242860313276672
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.266744342,714,680,660,633,880,787,807,651.266744342,631,652,0.451963747584,-0.00556434649734,0.0498812775695,0.999999977971,8.19837735982e-05,-0.000189784946647,3.63197872778e-05,1793242860329943552
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.842557878,714,680,660,633,880,787,807,651.842557878,631,652,0.452084180007,-0.00556552797992,0.0498797826372,0.99999997804,7.81194637625e-05,-0.000191168712711,3.56689645475e-05,1793242860346609920
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745.581040073,714.418959927,680,660.418959927,633,880,787,806.581040073,652,631,652,0.452190311608,-0.00556662160829,0.0498814302274,0.999999978707,7.72041213821e-05,-0.000187987795504,3.58665817174e-05,1793242860363276800
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.004416567,714.995583433,680,660.995583433,633,880,787,806.004416567,652,631,652,0.452291061501,-0.0055676821752,0.0498842604161,0.999999979582,7.73985385961e-05,-0.000183089090347,3.63834849771e-05,1793242860379943424
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.581418081,745,714.418581919,680,660.418581919,633,880,787,806.581418081,651.418581919,631,652,0.452362574946,-0.00556777233345,0.0498819830766,0.999999978885,7.80367819418e-05,-0.00018659316073,3.63901825532e-05,1793242860396609792
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.83466166,745,714,680,660,633,880,787,807,651.16533834,631,652,0.452428196702,-0.00556753800015,0.0498794452161,0.999999977998,7.84670009144e-05,-0.000191130664772,3.62809613964e-05,1793242860413276672
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.255708432,745,714,680,660,633,880,787,807,651.744291568,631,652,0.452479644154,-0.00556651064733,0.0498763542496,0.999999976665,7.83682506286e-05,-0.000198091186886,3.58916062199e-05,1793242860429943808
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.321058281,745,714.321058281,680,660,633,880,787.321058281,806.678941719,652,631,652,0.45252354625,-0.00556631402322,0.0498729822002,0.9999999758,7.74329401023e-05,-0.000202857336084,3.54108000266e-05,1793242860446610432
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.896095376,745,714.896095376,680,660,633,880,787.896095376,806.103904624,652,631,652,0.452561479464,-0.00556677456161,0.0498693877948,0.999999975322,7.58358538396e-05,-0.000205887588649,3.48576498528e-05,1793242860463276800
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745.474814921,715,680,660,632.525185079,880,787.525185079,806.474814921,652,631,652,0.45258710464,-0.00556734046382,0.0498662985979,0.99999997443,7.39892776291e-05,-0.000210837530918,3.4823973823e-05,1793242860479943424
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.944942541,745.944942541,714.944942541,680,659.944942541,632.055057459,880.055057459,787,806.944942541,652,631,652,0.452609378654,-0.00556759910113,0.0498635013267,0.999999973458,7.26684024059e-05,-0.000215846673181,3.48396895802e-05,1793242860496610048
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.357830174,745.357830174,714.357830174,680,659.357830174,632.642169826,880.642169826,787,806.357830174,652,631,652,0.452625499659,-0.00556466388894,0.0498624483966,0.999999972835,7.69594284215e-05,-0.000217336588487,3.42255858696e-05,1793242860513276672
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.227033977,745.227033977,714,680,659.227033977,632.772966023,880.772966023,787,806.227033977,652,631,651.772966023,0.452637897706,-0.00556277056755,0.049860405904,0.99999997199,7.96811166033e-05,-0.000220283883101,3.38476751406e-05,1793242860529943296
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.808389406,745.808389406,714,680,659.808389406,632.191610594,880.191610594,787,806.808389406,652,631,651.191610594,0.452644485507,-0.00556250327722,0.0498568190471,0.999999970805,7.99536113929e-05,-0.000225505642253,3.38383799355e-05,1793242860546609664
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.614920417,746,714,680.385079583,660,632.385079583,880,787,807,652,631,651.385079583,0.452650538891,-0.00556371697773,0.0498553310056,0.99999997062,7.76317613157e-05,-0.000227124147711,3.38884587477e-05,1793242860563277056
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.040523839,746,714,680.959476161,660,632.959476161,880,787,807,652,631,651.959476161,0.452656329538,-0.00556565877901,0.0498548748067,0.999999970925,7.40344513039e-05,-0.000226971182401,3.3967727658e-05,1793242860579943936
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.534644529,746,714,681,660,632.465355471,879.465355471,787,806.465355471,652,631,652,0.452658491263,-0.00556383033377,0.0498541847679,0.9999999704,7.63030733373e-05,-0.000228536587965,3.38871131214e-05,1793242860596610560
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.886682706,746,714,680.886682706,660,632,879.226634588,787,806.113317294,652,631,652,0.452660179333,-0.00556175724239,0.0498534882052,0.999999969855,7.87873845214e-05,-0.000230113993173,3.36296171717e-05,1793242860613277184
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.293415517,746,714,680.293415517,660,632,880.413168965,787,806.706584483,652,631,652,0.452661027934,-0.00555986007549,0.0498528391892,0.999999969518,8.02993753828e-05,-0.000231189776336,3.26743501416e-05,1793242860629944064
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,746,714.290334013,680,660,632,880.709665987,787,807,652,630.709665987,651.709665987,0.452660583201,-0.00555861969085,0.0498516288109,0.999999969011,8.1201647257e-05,-0.000233131406403,3.21462046074e-05,1793242860646610432
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,746,714.864770246,680,660,632,880.135229754,787,807,652,630.135229754,651.135229754,0.452658872896,-0.00555802199093,0.0498498691196,0.999999968336,8.1507287468e-05,-0.000235920298769,3.20360126241e-05,1793242860663276800
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.441050536,746,715,680,660,632,880,786.558949464,807,652,630.441050536,651,0.452659364577,-0.00555867760307,0.0498500345994,0.999999968433,8.01450826255e-05,-0.000235947129404,3.2253242599e-05,1793242860679943680
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.981675552,745.981675552,714.981675552,680,660,632,879.981675552,786.018324448,807,652,631,651.018324448,0.452660507558,-0.00555966932181,0.0498507601396,0.99999996875,7.83683423839e-05,-0.00023515393428,3.25618689667e-05,1793242860696610304
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.391101943,745.391101943,714.391101943,680,660,632,879.391101943,786.608898057,807,652,631,651.608898057,0.452660817289,-0.00555910639172,0.0498504647704,0.999999968609,7.96828302273e-05,-0.000235310121127,3.25764651118e-05,1793242860713277184
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.194738425,714.194738425,680,660,632,879.194738425,787,807,652,631,652,0.452660736939,-0.00555850477304,0.0498498538419,0.999999968398,8.0453914796e-05,-0.000235963479766,3.2430960488e-05,1793242860729944320
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.771298343,714.771298343,680,660,632,879.771298343,787,807,652,631,652,0.45265989176,-0.0055578272981,0.0498486241999,0.999999968051,8.01595544437e-05,-0.00023759163768,3.19715480412e-05,1793242860746611712
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,714.65170204,680,660,632,880,787,806.65170204,652,631,652,0.452660487259,-0.00555812255496,0.0498481219972,0.999999968117,7.92727699775e-05,-0.000237663897958,3.1571455759e-05,1793242860763278080
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714.074413363,680,660,632,880,787,806.074413363,652,631,652,0.452662029941,-0.00555905734056,0.0498480980543,0.999999968455,7.79964925094e-05,-0.000236713223346,3.12103639156e-05,1793242860779944448
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.505888726,714,680,660,632.494111274,880,787,806.494111274,652,631,652,0.452661145279,-0.00555729397366,0.0498473135446,0.999999967902,7.8997171987e-05,-0.00023873684538,3.09950095399e-05,1793242860796610560
+244,4.066666667,HOLD_POSE2,765,745,714,680,660,632,880,787,806,652,631,652,0.452660063875,-0.00555988489429,0.0498468249451,0.999999967498,7.93904522884e-05,-0.000240136286157,3.21910323807e-05,1793242860839249664
+245,4.083333333,HOLD_POSE2,765,745,714,680,660,632,880,786.423858773,806.576141227,652,631,652,0.452661176573,-0.00555828167073,0.0498476758848,0.999999967802,7.84402133718e-05,-0.000239201118117,3.20242353685e-05,1793242860855916288
+246,4.100000000,HOLD_POSE2,765,745.150473523,714,680,660,632,880,786.150473523,807,652,631,652,0.452661861495,-0.00555739843546,0.0498479551633,0.999999967927,7.79016325666e-05,-0.000238871723306,3.19148369574e-05,1793242860872582912
+247,4.116666667,HOLD_POSE2,765,745.719771021,714,680,660,632,880,786.719771021,807,652,631,652,0.452661355759,-0.00555851919593,0.0498466432956,0.999999967552,7.85088497053e-05,-0.000240228421262,3.19652002374e-05,1793242860889249792
+248,4.133333333,HOLD_POSE2,765.300717381,746,714.300717381,680,660,632,880,787,807,652,631,652,0.452661472698,-0.00555844989099,0.0498465194164,0.999999967569,7.82578321525e-05,-0.00024027033467,3.17425998502e-05,1793242860905916416
+249,4.150000000,HOLD_POSE2,765.892956355,746,714.892956355,680,660,632,880,787,807,652,631,652,0.452662193274,-0.0055572269122,0.0498475471978,0.999999967964,7.71748242666e-05,-0.000239037668915,3.12553828876e-05,1793242860922583040
+250,4.166666667,HOLD_POSE2,766,745.520672011,714.520672011,680,660,632,880,786.520672011,806.520672011,652,631,651.520672011,0.452662892587,-0.00555629228123,0.0498476262163,0.999999967871,8.00508460257e-05,-0.000238515194846,3.10011318916e-05,1793242860939249664
+251,4.183333333,HOLD_POSE2,765.936911037,745,714,680,659.936911037,632.063088963,880,786.063088963,806,652,631,651.063088963,0.452663351099,-0.00555549410955,0.0498473923214,0.999999967631,8.32311975476e-05,-0.000238452196929,3.0836090309e-05,1793242860955916288
+252,4.200000000,HOLD_POSE2,765.363790703,745,714,680,659.363790703,632.636209297,880,786.636209297,806,652,631,651.636209297,0.452661900822,-0.0055552848327,0.0498463209105,0.999999967172,8.18106806195e-05,-0.000240837081659,3.09767373407e-05,1793242860972582912
+253,4.216666667,HOLD_POSE2,765,745,714,680.210575454,659.210575454,632.789424546,879.789424546,787,806,652,631,652,0.452660784983,-0.00555541725439,0.049845668648,0.999999966835,8.08872447384e-05,-0.00024252666867,3.11028077083e-05,1793242860989249536
+254,4.233333333,HOLD_POSE2,765,745,714,680.787106648,659.787106648,632.212893352,879.212893352,787,806,652,631,652,0.452660250358,-0.00555614350857,0.0498457448173,0.99999996672,8.08276782663e-05,-0.000243007908565,3.12035455083e-05,1793242861005916160
+255,4.250000000,HOLD_POSE2,765,745,714,680.628686819,660,632,879.371313181,786.628686819,806,652,631,652,0.452659979207,-0.00555578437042,0.0498450967155,0.999999966536,8.10804855441e-05,-0.000243709140948,3.09784621407e-05,1793242861022582784
+256,4.266666667,HOLD_POSE2,765,745,714,680.039986668,660,632,879.960013332,786.039986668,806,652,631,652,0.452659862309,-0.00555478978452,0.049844024586,0.999999966311,8.15161734304e-05,-0.000244539168966,3.05626253173e-05,1793242861039249664
+257,4.283333333,HOLD_POSE2,765,745.540301234,714,680,660,632.540301234,880,786.540301234,806.540301234,652,631,652,0.45266204825,-0.00555546375285,0.0498462715869,0.999999966965,8.05457048759e-05,-0.000242127048929,3.09359376821e-05,1793242861055917056
+258,4.300000000,HOLD_POSE2,765,746,714.119040092,680,659.880959908,633,880,787,806.880959908,652,630.880959908,652,0.452663832483,-0.00555611103761,0.0498480333578,0.999999967476,7.97958900394e-05,-0.000240213216734,3.12623244229e-05,1793242861072583936
+259,4.316666667,HOLD_POSE2,765,746,714.694192699,680,659.305807301,633,880,787,806.305807301,652,630.305807301,652,0.45266343454,-0.00555619018646,0.0498470091566,0.999999967223,8.02841575254e-05,-0.000241113893524,3.11885645111e-05,1793242861089250304
+260,4.333333333,HOLD_POSE2,765,746,715,680,659.269975558,632.730024442,879.730024442,787,806.269975558,652,630.269975558,652,0.452663035051,-0.00555619395667,0.0498463459038,0.999999967049,8.03449291739e-05,-0.00024180433082,3.12683445778e-05,1793242861105916672
+261,4.350000000,HOLD_POSE2,765,746,715,680,659.846473952,632.153526048,879.153526048,787,806.846473952,652,630.846473952,652,0.452662633807,-0.00555611214405,0.049846092462,0.999999966966,7.99203337556e-05,-0.000242256067915,3.15224497252e-05,1793242861122583296
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,880,786,807,652,631,652,0.452660325556,-0.00555555554124,0.0498447412536,0.999999966577,7.84512439003e-05,-0.000244454722206,3.05660034158e-05,1793242861155307520
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.579050361,679.420949639,660,632,880,786.579050361,806.420949639,652,631,652,0.452660880865,-0.00555628292994,0.0498451785644,0.999999966744,7.895734717e-05,-0.00024357696824,3.07805762876e-05,1793242861171974144
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.84908708,679.15091292,660,632,879.84908708,787,806,652,631,652,0.452661000685,-0.00555697956959,0.0498452135071,0.999999966719,7.93605561251e-05,-0.000243524695878,3.09844678592e-05,1793242861188640768
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.29636222,679.70363778,660,632,879.29636222,787,806,652,631,652,0.452659960999,-0.00555759433876,0.0498441771276,0.999999966178,7.94898047889e-05,-0.000245670302509,3.11599200706e-05,1793242861205307392
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,879.284249169,786.715750831,806,652,631,651.715750831,0.45265928537,-0.00555785294142,0.049843323292,0.999999966002,7.86044905063e-05,-0.000246691397479,3.09824399718e-05,1793242861221974016
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,879.897098111,786.102901889,806,652,631,651.102901889,0.452659030602,-0.00555769980586,0.0498426804822,0.999999966249,7.65463138427e-05,-0.000246412526241,3.03969605084e-05,1793242861238640896
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.484825587,714,680,660,632.484825587,879.515174413,786.484825587,806.484825587,652,630.515174413,651.484825587,0.452660235144,-0.00555666716139,0.0498435410575,0.999999966445,7.76851282685e-05,-0.000245241235612,3.05306772317e-05,1793242861255307520
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.933767544,714.066232456,680,659.933767544,632.933767544,879.066232456,787,807,652,630.066232456,652,0.452660468515,-0.00555561948963,0.0498439857156,0.999999966368,7.92738559845e-05,-0.000245016541528,3.07730261897e-05,1793242861271973888
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.361913621,714.638086379,680,659.361913621,632.361913621,879.638086379,787,807,652,630.638086379,652,0.452651039903,-0.00555581195494,0.0498389393249,0.999999964274,7.93723764894e-05,-0.000253392951119,3.07367791056e-05,1793242861288640512
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.211213342,632,879.788786658,787,806.788786658,652,631,652,0.452634883322,-0.0055557294214,0.0498313965285,0.999999960945,7.8884947664e-05,-0.000266386005077,3.04303528563e-05,1793242861305307392
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.786534826,632,879.213465174,787,806.213465174,652,631,652,0.452607128477,-0.00555517282064,0.0498195502086,0.999999955284,7.73874078053e-05,-0.000287337635853,2.96581679891e-05,1793242861321975040
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.37390835,659.62609165,632,879.37390835,787,806.37390835,652,631,652,0.452562818436,-0.00555281890541,0.0498006492585,0.999999945326,7.88670660355e-05,-0.000319867556676,2.85158424722e-05,1793242861338641664
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.968391634,659.031608366,632,879.968391634,787,806.968391634,652,631,652,0.4525087422,-0.00554940472358,0.04977758666,0.999999931739,8.21030241245e-05,-0.000359227710531,2.71551645487e-05,1793242861355308032
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.454149142,681,659.545850858,632,880,787,807,652,631,652,0.452441554246,-0.00554857288595,0.0497567098003,0.999999920483,8.30758059416e-05,-0.000389168186778,2.60965305277e-05,1793242861371974400
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,632,880,787,807,652,631,651.878211303,0.452371921112,-0.00554698066463,0.049738795706,0.999999910221,8.43697253917e-05,-0.000414503823706,2.5013755382e-05,1793242861388641024
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,632,880,787,807,652,631,651.304371912,0.452295944971,-0.00554202782908,0.0497314231022,0.999999905715,8.73273566258e-05,-0.000424710790023,2.37784174205e-05,1793242861405307648
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.277768899,681,660.277768899,632.277768899,880,787,806.722231101,652,631,651.277768899,0.452214039189,-0.00553859178515,0.0497290530493,0.999999904384,8.86783876141e-05,-0.000427596762132,2.29990805149e-05,1793242861421974272
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714.869286389,681,660.869286389,632.869286389,880,787,806.130713611,652,631,651.869286389,0.452125435699,-0.0055368690047,0.0497323335332,0.999999906719,8.82147136013e-05,-0.000422213443538,2.27348110276e-05,1793242861438641152
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714.54929387,680.54929387,660.54929387,633,880,787,806,652,631,652,0.452015926223,-0.00553273386478,0.0497350726831,0.999999907145,9.12606951809e-05,-0.00042057289709,2.23501560969e-05,1793242861455308032
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.029060322,714,680,660,633,880.029060322,787,806.029060322,652,631,651.970939678,0.451898998663,-0.00552792843795,0.0497374602673,0.99999990697,9.53007353844e-05,-0.000420115493194,2.1934143526e-05,1793242861471975168
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.603638174,714,680,660,633,880.603638174,787,806.603638174,652,631,651.396361826,0.451754142191,-0.00552338606701,0.0497361308542,0.99999990582,9.93125177357e-05,-0.000421937968654,2.15705309784e-05,1793242861488641536
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.822800532,714,680,660,633,880.822800532,787,806.822800532,651.822800532,631,651.177199468,0.451600940562,-0.00551819742284,0.0497353070926,0.999999905139,0.000103802263746,-0.000422503200421,2.09423691702e-05,1793242861505307904
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.251500195,714,680,660,633,880.251500195,787,806.251500195,651.251500195,631,651.748499805,0.451429178887,-0.00551157143386,0.0497356079263,0.999999905512,0.000109355025359,-0.000420272256329,1.97258360416e-05,1793242861521974528
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633,880,787,806,651.320779571,631,651.679220429,0.451240352558,-0.0055042485062,0.0497349295903,0.99999990549,0.000114420432776,-0.000419036425121,1.8367715737e-05,1793242861538640896
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633,880,787,806,651.89382965,631,651.10617035,0.451038106063,-0.00549637748473,0.0497334812065,0.999999905159,0.000119102571089,-0.000418583179773,1.68982469747e-05,1793242861555307520
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633,879.513850547,787,806.486149453,652,631,651,0.450808919843,-0.00548940782645,0.0497427925073,0.99999991211,0.000122904149481,-0.000400500481647,1.65251253562e-05,1793242861571974144
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.076009042,714,680,660,633,879.076009042,787,806.923990958,652,631,651.076009042,0.45056783899,-0.00548222015953,0.0497532814031,0.999999919402,0.000127200804618,-0.0003804668565,1.61824567976e-05,1793242861588641024
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.623432793,714,680,660,633,879.623432793,787,806.376567207,652,631,651.623432793,0.450290981724,-0.00547240911661,0.0497558986088,0.999999921035,0.000135809894782,-0.000373197628578,1.44823948155e-05,1793242861605307904
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,660,633,880,786.811157274,806,652,631,651.811157274,0.449997966615,-0.00546237178127,0.0497580391956,0.999999922548,0.000142814560724,-0.000366533966266,1.27179935439e-05,1793242861621974528
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,660,633,880,786.206105896,806,652,631,651.206105896,0.449669339695,-0.00545183569887,0.0497591293163,0.999999924008,0.000146283081284,-0.000361204968773,1.08117888278e-05,1793242861638640896
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.605930701,714,680,660,633.394069299,879.605930701,786.394069299,806,652,631,651.394069299,0.449306047766,-0.00544032679285,0.0497579231908,0.999999921656,0.000153297556042,-0.000364842250335,8.82257956297e-06,1793242861655307776
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.008274691,714,680,660,633.991725309,879.008274691,786.991725309,806,652,631,651.991725309,0.448924846977,-0.00542831530053,0.0497555307632,0.999999917225,0.000162143965189,-0.000373111750927,6.79048799261e-06,1793242861671974400
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,879,787,806,652,631,651.433595624,0.448518253662,-0.00542210216502,0.0497526066329,0.999999919316,0.000161801604879,-0.000367660086924,3.74772961177e-06,1793242861688641024
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.140508235,634,879.140508235,787,806,651.859491765,631,651,0.448100062615,-0.00541611041108,0.0497502810882,0.999999921043,0.000161481830283,-0.000363094676742,6.4116923402e-07,1793242861705307648
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.713833817,634,879.713833817,787,806,651.286166183,631,651,0.447647244498,-0.00541054983257,0.0497498224036,0.999999921466,0.000161629016966,-0.000361852659677,-2.61821578761e-06,1793242861721974272
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,634,879.703620247,787,806.296379753,651.296379753,631.296379753,651.296379753,0.447170686937,-0.00541139960575,0.0497524306041,0.999999924406,0.000153549096556,-0.000357191693399,-4.91775599104e-06,1793242861738640896
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,634,879.111885778,787,806.888114222,651.888114222,631.888114222,651.888114222,0.446670471981,-0.00541863755958,0.0497580950825,0.999999929615,0.000137270522721,-0.000349123602203,-6.26077141657e-06,1793242861755307520
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.450378888,745.450378888,714,680,660.549621112,634,879.450378888,787,806.549621112,652,631.549621112,652,0.446144914117,-0.00542207035282,0.049765255995,0.999999935375,0.000124262386186,-0.000337247093775,-8.56393347687e-06,1793242861771974400
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745.393950518,714,679.393950518,661.212098964,634,880,787,806,652,631,652,0.445048282204,-0.00542210022463,0.049797405512,0.999999949632,0.00010837044405,-0.000298091061245,-1.15444300432e-05,1793242861805307904
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.802383407,744.802383407,714,679.197616593,661.604766814,634,880,787,806,652,631,651.802383407,0.444453119484,-0.00541690854385,0.0498089372935,0.999999952358,0.000106552839852,-0.000289399680068,-1.33280803468e-05,1793242861821974528
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.226601162,744.226601162,714,679.773398838,660.453202323,634,880,787,806,652,631,651.226601162,0.443799888694,-0.00540649635034,0.0497957225325,0.999999944573,0.000108404085194,-0.000314311647056,-1.76164148622e-05,1793242861838640896
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,744.35830187,714,680,660,634,880,787,806,652,631.35830187,651,0.443114261435,-0.0053985588025,0.0497721207283,0.999999931933,0.000106377587102,-0.000352555453125,-2.28429410873e-05,1793242861855307520
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,744.949123815,714,680,660,634,880,787,806,652,631.949123815,651,0.442407610505,-0.0053922271769,0.0497417782507,0.999999914623,0.000101834626347,-0.000399450957511,-2.86783068213e-05,1793242861871974400
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.530374139,634,879.469625861,787,806,652,631.469625861,651,0.44174082632,-0.0053998114214,0.0497638989731,0.999999931801,8.36000219762e-05,-0.000358439208814,-3.05005610089e-05,1793242861888641024
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.890284843,661,634,879.109715157,787.109715157,805.890284843,652,631,651,0.441068926568,-0.00540852493973,0.0497913242467,0.99999994942,6.40864668387e-05,-0.000309897341067,-3.1897785631e-05,1793242861905307648
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.315216935,661,634,879.684783065,787.684783065,805.315216935,652,631,651,0.440359396766,-0.00541646674792,0.0498202816396,0.999999963464,4.46201642044e-05,-0.000264548923752,-3.30961039507e-05,1793242861921974272
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.265770238,745,714,679.265770238,660.734229762,634.265770238,880.265770238,788,805.265770238,652,631.265770238,651.265770238,0.439615434326,-0.0054161070071,0.0498246910463,0.999999964784,3.4369058433e-05,-0.000260701889648,-3.58647166528e-05,1793242861938640896
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.85393796,745,714,679.85393796,660.14606204,634.85393796,880.85393796,788,805.85393796,652,631.85393796,651.85393796,0.438829702645,-0.00540567692035,0.0497993220697,0.99999995137,3.52966144653e-05,-0.000307198867302,-4.05382040693e-05,1793242861955307520
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.564420936,745,714,680,660.435579064,634.564420936,880.564420936,787.564420936,806,652,631.564420936,652,0.437993392088,-0.00539728694697,0.0497764547587,0.999999937496,3.54346280547e-05,-0.000348911911492,-4.48747822154e-05,1793242861971974144
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,634.015023397,880,787,806,652,631,651.984976603,0.437141604195,-0.00538983333156,0.0497558288305,0.999999923393,3.50306647609e-05,-0.000386763447239,-4.89999666119e-05,1793242861988640768
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.257253607,634.257253607,879.257253607,787,805.257253607,652,631,651.742746393,0.434640826161,-0.00539253092083,0.0497854013294,0.999999934246,2.96601332825e-05,-0.000358281168387,-4.7561654515e-05,1793242862038640640
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.677882515,660,634,879,787,805,652,631,652,0.433797178302,-0.00539031384353,0.0497803553429,0.999999931241,5.34148785379e-05,-0.000364548213238,-4.20576997352e-05,1793242862055307776
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.093528973,660,634,879,787,805,652,631,652,0.432975323064,-0.00538714147196,0.0497873032442,0.999999936791,8.81702577742e-05,-0.000342825065391,-3.33783903074e-05,1793242862071974912
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.073677738,660.926322262,634.073677738,880,787.926322262,805.073677738,651.073677738,631,652,0.431185293822,-0.00538062637053,0.0498150021924,0.999999949413,8.02645577838e-05,-0.000305534960652,-3.71415970943e-05,1793242862105307648
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661.713643201,635,879.286356799,787.286356799,805.286356799,652,631,652,0.423106344787,-0.0053760736594,0.049837407349,0.999999966373,6.83027096621e-05,-0.000246124975351,-4.48492589798e-05,1793242862255307776
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,661.121903039,635,879.878096961,787.878096961,805.878096961,652,631,652,0.422193027185,-0.00537512241765,0.0498161397458,0.999999955554,7.24100312761e-05,-0.000285643684055,-4.53592132666e-05,1793242862271974144
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.538598726,634.538598726,879.538598726,787.538598726,805.538598726,652,631,651.538598726,0.421284686217,-0.00537381075893,0.0497990627603,0.999999946731,7.41719659421e-05,-0.000314396226248,-4.6818853191e-05,1793242862288640512
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.041641758,745,714,679.958358242,660.041641758,634,879,787,805,652,631,651.041641758,0.420379665621,-0.00537231061301,0.0497850965556,0.999999938753,7.54020522522e-05,-0.00033833367156,-4.8353435809e-05,1793242862305306880
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.610796285,745,714,679.389203715,660.610796285,634,879,787,805,652,631,651.610796285,0.419500350876,-0.00536960734784,0.0497967637075,0.99999993918,7.76035265503e-05,-0.000336660087134,-4.77159706991e-05,1793242862321973760
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.244624889,745,714,679,660.244624889,634.755375111,879,787,805,652,631,652,0.417769124927,-0.00536661532529,0.0497758739763,0.999999921423,8.48567598629e-05,-0.000384182392584,-4.85552549286e-05,1793242862355307776
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.329350852,635,879,787.670649148,805,652,631,652,0.413811639476,-0.00537169270054,0.0497891803795,0.99999993551,8.05970388352e-05,-0.000346330358059,-5.0393803229e-05,1793242862438641152
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.31323999,634.31323999,879,788,805,652,631,652,0.408452815556,-0.00537512216115,0.0498029995004,0.999999940233,8.77425623153e-05,-0.000330529252127,-5.08486381248e-05,1793242862571974656
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.783336758,635,878.783336758,787.783336758,805,653,631,652,0.405824020715,-0.00538224973405,0.0497780142548,0.999999918206,9.3505919527e-05,-0.000390262486437,-5.0398976305e-05,1793242862655308544
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.178419652,745,714,679,661,634.821580348,878.178419652,788,805,653,631,652,0.402071988462,-0.0053890200865,0.0498132613855,0.999999931496,0.000104727723047,-0.000352080988564,-4.56006387682e-05,1793242862855308032
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..801b545e0ab383d3daec9f42f56c90a343d41c34
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c6e5277dc0c239ebfaae812754ffa10744f40541
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ad94bdd65e0871de69808540a9f2367d0f2c6e0679241f4631cc179a53b016e
+size 25762308
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..659ab9126c469e6766870ccd93a8f2a3fc68cf2d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_02/franka_data.csv
@@ -0,0 +1,406 @@
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+9,0.150000000,BASELINE,764.207541757,745,714,679,661,635,878,787,805,652.207541757,631,652,0.400987010324,-0.00541127987776,0.049854272158,0.999999962217,9.11200710323e-05,-0.000255958018383,-4.18159092502e-05,1793242863804093696
+10,0.166666667,BASELINE,764.801115251,745,714,679,661,635,878,787,805,652.801115251,631,652,0.400987340493,-0.0054131445138,0.0498540224062,0.999999962371,8.96240738648e-05,-0.000255908035031,-4.16738271722e-05,1793242863820760320
+11,0.183333333,BASELINE,765,745,714,678.616397534,661.383602466,635,878,787.383602466,805,653,631,652,0.400988132586,-0.00541156012921,0.0498544654381,0.999999962403,9.15638398942e-05,-0.000255057602901,-4.18944709166e-05,1793242863837427200
+12,0.200000000,BASELINE,765,745,714,678.039496674,661.960503326,635,878,787.960503326,805,653,631,652,0.400989157445,-0.0054082377733,0.0498552575658,0.999999962362,9.52348968213e-05,-0.000253803822304,-4.2297893241e-05,1793242863854094080
+13,0.216666667,BASELINE,765,745,714,678.535303513,661.464696487,635,878.535303513,788,805,653,631,652,0.400988348935,-0.00540903538271,0.0498543999304,0.99999996224,9.42603588254e-05,-0.000254616788593,-4.24995430808e-05,1793242863870760448
+14,0.233333333,BASELINE,764.890618404,745,714,679,661,634.890618404,879,787.890618404,805,652.890618404,631,652,0.400987474331,-0.00541019806429,0.0498536556115,0.999999962138,9.29257472363e-05,-0.000255493934771,-4.25582466684e-05,1793242863887427328
+15,0.250000000,BASELINE,764.31893957,745,714,679,661,634.31893957,879,787.31893957,805,652.31893957,631,652,0.400986889872,-0.00541162394555,0.0498539026781,0.999999962159,9.15123359409e-05,-0.00025600035174,-4.20754689027e-05,1793242863904093952
+16,0.266666667,BASELINE,764,745,713.735561699,679,661,634.264438301,879,787.264438301,805,652.264438301,631,652,0.400986620588,-0.00541274730492,0.0498539943627,0.99999996223,9.04401450043e-05,-0.000256158128801,-4.17576204739e-05,1793242863920760832
+17,0.283333333,BASELINE,764,745,713.137420485,679,661,634.862579515,879,787.862579515,805,652.862579515,631,652,0.400986749031,-0.00541348890243,0.0498538899661,0.999999962365,8.97985507309e-05,-0.000255875946296,-4.16479015319e-05,1793242863937427456
+18,0.300000000,BASELINE,764.442822757,745,713.442822757,678.557177243,661.442822757,634.557177243,878.557177243,787.557177243,805,653,631,652,0.400988013013,-0.00541271754052,0.0498544358,0.99999996266,9.05682516195e-05,-0.000254397934458,-4.19354454698e-05,1793242863954094080
+19,0.316666667,BASELINE,764.9821645,744.9821645,714,678.0178355,661.964329001,634.0178355,878,787,805,653,631,652,0.400989465961,-0.00541156715898,0.0498551058443,0.999999962971,9.16476985222e-05,-0.000252718480263,-4.23254078109e-05,1793242863970760448
+20,0.333333333,BASELINE,764.403757655,744.403757655,714,678.596242345,660.80751531,634.596242345,878,787,805,653,631,652,0.400986212752,-0.00541268776056,0.0498535840867,0.999999962381,8.92319624526e-05,-0.000255918265774,-4.22101527901e-05,1793242863987427072
+21,0.350000000,BASELINE,764,744.177588653,714,679,660.177588653,635,878,787,805.177588653,652.822411347,631,652,0.400984732487,-0.00541347056533,0.0498529067757,0.999999962143,8.80088007582e-05,-0.00025729259669,-4.20613242543e-05,1793242864004093440
+22,0.366666667,BASELINE,764,744.765730389,714,679,660.765730389,635,878,787,805.765730389,652.234269611,631,652,0.400987350946,-0.00541347244433,0.0498541816737,0.999999962744,8.95426572612e-05,-0.000254446803858,-4.18348797953e-05,1793242864020760320
+23,0.383333333,BASELINE,764.349346731,745,714,679,661,635,878,787,806,652,630.650653269,652,0.400988489222,-0.00541332798777,0.0498551566166,0.999999963025,9.10714338205e-05,-0.000252821604206,-4.16816932604e-05,1793242864037426944
+24,0.400000000,BASELINE,764.929967239,745,714,679,661,635,878,787,806,652,630.070032761,652,0.40098864759,-0.00541308665446,0.0498559329841,0.999999963095,9.25968475193e-05,-0.000252004458767,-4.15770047578e-05,1793242864054093568
+25,0.416666667,BASELINE,765,745,714,679,661.504450552,635,878,787.504450552,804.991098896,652,630.504450552,652,0.400988717036,-0.00541167737296,0.0498557063361,0.999999962964,9.35638357448e-05,-0.000252130044956,-4.1817436624e-05,1793242864070760192
+26,0.433333333,BASELINE,765,745,714,679,661.921499013,635,878,788,804.078500987,652.078500987,631,652,0.400988712612,-0.00541045926214,0.0498553685425,0.999999962839,9.41967301683e-05,-0.000252350320262,-4.20581373475e-05,1793242864087426816
+27,0.450000000,BASELINE,765,745,714,679,661.344853522,635,878,788,804.655146478,652.655146478,631,652,0.400988316832,-0.00541147082817,0.0498551984589,0.999999962935,9.31956073693e-05,-0.00025235092649,-4.20001569115e-05,1793242864104093440
+28,0.466666667,BASELINE,765,745,714,678.761427635,661,635,878.238572365,787.761427635,804.761427635,653,631,652,0.400987713651,-0.00541263105461,0.0498550534498,0.999999962921,9.157108915e-05,-0.000253031822072,-4.17966560983e-05,1793242864120759808
+29,0.483333333,BASELINE,765,745,714,678.167914102,661,635,878.832085898,787.167914102,804.167914102,653,631,652,0.400986801905,-0.00541401245369,0.0498549457457,0.999999962739,8.90191010457e-05,-0.000254724832773,-4.13766542173e-05,1793242864137426432
+30,0.500000000,BASELINE,765,745,714,678.412124328,661,635,878.587875672,787,804.412124328,652.587875672,631,652,0.400985912292,-0.00541304237426,0.0498542505522,0.999999962405,9.02746973847e-05,-0.000255557219671,-4.16016876551e-05,1793242864154093056
+31,0.516666667,BASELINE,765,745,714,678.986846338,661,635,878.013153662,787,804.986846338,652.013153662,631,652,0.400985031411,-0.00541114455302,0.0498533235732,0.999999962006,9.30325210429e-05,-0.000256050059879,-4.20812104393e-05,1793242864170759680
+32,0.533333333,BASELINE,765,745,714,679,661,634.439603959,878,787,805,652.560396041,631,652,0.400986800628,-0.00541193402434,0.0498546244398,0.999999962559,9.29593237978e-05,-0.000253979751529,-4.1652921749e-05,1793242864187426816
+33,0.550000000,BASELINE,765,745,714,678.863429852,660.863429852,634.136570148,878,787,805,653,631,652,0.400988132479,-0.00541245064104,0.0498555626204,0.999999962956,9.27776558364e-05,-0.000252520100078,-4.14089921257e-05,1793242864204093440
+34,0.566666667,BASELINE,765,745,714,678.278550789,660.278550789,634.721449211,878,787,805,653,631,652,0.400987824854,-0.00541186495352,0.0498551389405,0.99999996278,9.24575940483e-05,-0.000253262086754,-4.18400456783e-05,1793242864220759808
+35,0.583333333,BASELINE,765,745,714,678.307010989,660.307010989,635,878.307010989,787,805,652.692989011,631,652,0.40098756428,-0.00541196444606,0.049855007846,0.999999962765,9.19872915209e-05,-0.000253477319175,-4.19334462879e-05,1793242864237426432
+36,0.600000000,BASELINE,765,745,714,678.893193642,660.893193642,635,878.893193642,787,805,652.106806358,631,652,0.400987346489,-0.00541268698744,0.0498551428056,0.999999962896,9.13803718372e-05,-0.000253213562763,-4.17198118992e-05,1793242864254093056
+37,0.616666667,BASELINE,764.530045344,745,714,678.530045344,660.530045344,635,879,787,805,652.469954656,631,652,0.400988581897,-0.00541266903794,0.0498555296899,0.999999963141,9.16969218536e-05,-0.000252143930135,-4.16212117497e-05,1793242864270759936
+38,0.633333333,BASELINE,764.089271522,745,714,678.044635761,660,635,879,787.044635761,804.955364239,652.955364239,631,652,0.400989901953,-0.00541261114834,0.0498559136691,0.999999963377,9.20561068608e-05,-0.000251092533458,-4.1530136345e-05,1793242864287426816
+39,0.650000000,BASELINE,765.239092172,745,714,678.619546086,660,635,879,787.619546086,804.380453914,652.380453914,631,652,0.400988381155,-0.00541403877773,0.0498555963149,0.999999963207,9.04774607601e-05,-0.000252390857664,-4.12239704035e-05,1793242864304093440
+40,0.666666667,BASELINE,765.800295449,745,714,679,660.199704551,635,879,787.800295449,804,652.199704551,631,652,0.400987033611,-0.00541478520103,0.0498550832347,0.99999996291,8.98270838108e-05,-0.000253813820254,-4.11002050839e-05,1793242864320760320
+41,0.683333333,BASELINE,765.209869037,745,714,679,660.790130963,635,879,787.209869037,804,652.790130963,631,652,0.400986025036,-0.00541419884481,0.0498541872165,0.999999962371,9.09928651264e-05,-0.000255480637707,-4.13333065158e-05,1793242864337426688
+42,0.700000000,BASELINE,765,745,714,678.626014778,661,634.626014778,878.626014778,787.373985222,804.373985222,653,631,652,0.400986503282,-0.00541386524878,0.0498545301965,0.999999962651,9.11879460267e-05,-0.000254281581292,-4.15153186412e-05,1793242864354093568
+43,0.716666667,BASELINE,765,745,714,678.045784938,661,634.045784938,878.045784938,787.954215062,804.954215062,653,631,652,0.400987801476,-0.00541367104445,0.0498555564569,0.999999963379,9.0847706972e-05,-0.000251502058452,-4.16691561307e-05,1793242864370760192
+44,0.733333333,BASELINE,765,745,714,678.529183732,661,634.529183732,878,788,805,653,631,652,0.40098685781,-0.00541291297739,0.0498551129023,0.999999963052,9.07887638126e-05,-0.000252807490321,-4.17448994334e-05,1793242864387426816
+45,0.750000000,BASELINE,765.103314654,745,714,679,661,635,878,788,805,652.896685346,631,652,0.400985828927,-0.00541214139169,0.0498544491596,0.999999962582,9.12106832363e-05,-0.000254493441546,-4.18318271137e-05,1793242864404093440
+46,0.766666667,BASELINE,765.675688236,745,714,679,661,635,878,788,805,652.324311764,631,652,0.400985285108,-0.00541152774034,0.0498533574144,0.999999961878,9.37063593174e-05,-0.000256318176814,-4.19999071059e-05,1793242864420760064
+47,0.783333333,BASELINE,765.752731148,745,714,679,661,635,878.247268852,787.752731148,805,652,631,652,0.400985119669,-0.00541208473369,0.04985282008,0.999999961718,9.35983409954e-05,-0.000256983820795,-4.19799601828e-05,1793242864437428480
+48,0.800000000,BASELINE,765.182187163,745,714,679,661,635,878.817812837,787.182187163,805,652,631,652,0.400985448918,-0.00541417220811,0.0498530075727,0.99999996227,9.0086296791e-05,-0.000256134088598,-4.17141900593e-05,1793242864454098688
+49,0.816666667,BASELINE,765,745,714,679,661,635,879,787.40878407,805,652.40878407,631,652,0.400985860977,-0.00541404222397,0.0498534997033,0.999999962354,9.07723943798e-05,-0.000255575571197,-4.16427623456e-05,1793242864470764032
+50,0.833333333,BASELINE,765,745,714,679,661,635,878.991072177,788,805,653,631,652,0.400986323432,-0.00541288296443,0.0498541426874,0.999999962228,9.33684611079e-05,-0.000255130755934,-4.16606971252e-05,1793242864487426816
+51,0.850000000,BASELINE,765,745,714,679,661,635,878.416907572,788,805,653,631,652,0.400987517012,-0.00541241922309,0.0498552884295,0.999999962822,9.21989897606e-05,-0.000253235246267,-4.15641627119e-05,1793242864504093440
+52,0.866666667,BASELINE,765,745,714,679,661,635,878,787.83810884,805,653,631,652,0.400988125556,-0.00541231438427,0.0498558651743,0.999999963201,9.11247754424e-05,-0.000252131741229,-4.15260008233e-05,1793242864520760064
+53,0.883333333,BASELINE,765,745,714,679,661,635,878,787.247024508,805,653,631,652,0.400987183099,-0.00541316103976,0.0498549334375,0.999999963019,9.03030991749e-05,-0.000253127936987,-4.16425916089e-05,1793242864537426688
+54,0.900000000,BASELINE,765,745,714,679,661,635,878,787.327524016,805,652.672475984,631,652,0.400987198735,-0.00541345364125,0.0498549803321,0.99999996305,9.01840643715e-05,-0.000253040809772,-4.16728582838e-05,1793242864554093568
+55,0.916666667,BASELINE,765,745,714,679,661,635,878,787.890200307,805,652.109799693,631,652,0.400987902254,-0.00541334844882,0.0498557298542,0.999999963235,9.05695047905e-05,-0.000252175889588,-4.16411468693e-05,1793242864570759936
+56,0.933333333,BASELINE,765,745,714,679,661,635,878.483752778,788,805,652,631,652,0.400987693313,-0.00541105384662,0.0498556323079,0.999999962869,9.35230816253e-05,-0.000252513959918,-4.18630945136e-05,1793242864587426560
+57,0.950000000,BASELINE,765,745,714,678.918286746,661,634.918286746,879,788,805,652,631,651.918286746,0.400987244518,-0.00540872999298,0.0498552761681,0.999999962399,9.65879084396e-05,-0.000253181638652,-4.20894068607e-05,1793242864604093440
+58,0.966666667,BASELINE,765,745,714,678.339066238,661,634.339066238,879,788,805,652,631,651.339066238,0.400986682296,-0.00540945992448,0.0498545959881,0.999999962181,9.65391396169e-05,-0.000254080337275,-4.19678565568e-05,1793242864620760064
+59,0.983333333,BASELINE,765,745,714,678.239818316,661,634.239818316,878.760181684,788,805,652,631,651.239818316,0.40098634396,-0.00541069946863,0.0498542348348,0.999999962201,9.51904815032e-05,-0.000254569338739,-4.16013913784e-05,1793242864637426688
+60,1.000000000,BASELINE,765,745,714,678.818228628,661,634.818228628,878.181771372,788,805,652,631,651.818228628,0.400986321722,-0.00541265851907,0.0498543241053,0.999999962551,9.20065502533e-05,-0.000254479901697,-4.08891385134e-05,1793242864654093312
+61,1.016666667,BASELINE,765,745,714,678.604167996,661.395832004,635,878,788,805,652.395832004,631,652,0.400986440527,-0.0054133168515,0.0498545416401,0.999999962726,9.04552196672e-05,-0.000254332539829,-4.10075031117e-05,1793242864670760192
+62,1.033333333,BASELINE,765,745,714,678.026934457,661.973065543,635,878,788,805,652.973065543,631,652,0.400986623967,-0.00541337909195,0.0498548179556,0.999999962822,8.96520760354e-05,-0.000254158632231,-4.15065223764e-05,1793242864687426816
+63,1.050000000,BASELINE,765,745,713.451924649,678.548075351,661.451924649,635,878,788,805,653,631,652,0.400987436353,-0.00541302926301,0.0498553127263,0.999999963052,8.98071880285e-05,-0.000253165777285,-4.16762318872e-05,1793242864704093184
+64,1.066666667,BASELINE,765,745,713.126510905,679,661.126510905,635,878.126510905,787.873489095,805,652.873489095,631,652,0.40098765731,-0.00541260121872,0.049855317612,0.999999963073,9.03645062472e-05,-0.000252855591026,-4.18541280047e-05,1793242864720759808
+65,1.083333333,BASELINE,765,745,713.71793566,679,661.71793566,635,878.71793566,787.28206434,805,652.28206434,631,652,0.400985591703,-0.00541195985966,0.0498534829298,0.999999962296,9.22275291471e-05,-0.000255201440602,-4.21213412996e-05,1793242864737426688
+66,1.100000000,BASELINE,764.697793671,745,714,679,662,635,878.697793671,787,805,652.302206329,631,652,0.400985774196,-0.00541111408113,0.0498536829702,0.999999962221,9.38701014344e-05,-0.000254877824545,-4.22448869301e-05,1793242864754093312
+67,1.116666667,BASELINE,764.120045888,745,714,679,662,635,878.120045888,787,805,652.879954112,631,652,0.400988006429,-0.0054100819199,0.0498557382016,0.999999962784,9.53116742469e-05,-0.000252120280364,-4.22374412543e-05,1793242864770760192
+68,1.133333333,BASELINE,764.456514668,745,714,678.543485332,661.543485332,635,878.456514668,787.456514668,805,652.543485332,631,652,0.400987491242,-0.00541163252166,0.0498557412026,0.999999963034,9.20115773564e-05,-0.000252402703237,-4.19387110477e-05,1793242864787427072
+69,1.150000000,BASELINE,764.96746035,745,714,678,661,635,878.96746035,787.96746035,804.96746035,652,630.96746035,652,0.400986312951,-0.0054136661988,0.0498552152843,0.999999963156,8.79071688584e-05,-0.00025343762542,-4.15974484855e-05,1793242864804093952
+70,1.166666667,BASELINE,764.39515491,745,714,678,661,635,878.39515491,787.39515491,804.39515491,652,630.39515491,652,0.400986088286,-0.00541247632568,0.0498548442797,0.999999962788,9.10903762245e-05,-0.000253729039125,-4.1817947744e-05,1793242864820760832
+71,1.183333333,BASELINE,764.184293911,744.815706089,714,678,661,635,878.184293911,787,804.184293911,652,630.184293911,652,0.40098646573,-0.00541186334306,0.0498550166403,0.999999962716,9.26973119207e-05,-0.000253420857548,-4.18650343557e-05,1793242864837427456
+72,1.200000000,BASELINE,764.779676994,744.220323006,714,678,661,635,878.779676994,787,804.779676994,652,630.779676994,652,0.400988186248,-0.00541253718212,0.0498564010407,0.999999963321,9.07881895084e-05,-0.000251775208474,-4.15253037754e-05,1793242864854093824
+73,1.216666667,BASELINE,765,744.362290898,714,678.362290898,660.637709102,634.637709102,878.637709102,787,805,652.362290898,631,652,0.400987719596,-0.00541268366646,0.049856223061,0.999999963179,9.11608875723e-05,-0.00025223423367,-4.13493052759e-05,1793242864870760448
+74,1.233333333,BASELINE,765,744.937403717,714,678.937403717,660.062596283,634.062596283,878.062596283,787,805,652.937403717,631,652,0.400985968126,-0.00541252036476,0.0498551272862,0.999999962595,9.28740042465e-05,-0.000253929615789,-4.12694885569e-05,1793242864887427072
+75,1.250000000,BASELINE,765,745,714,679,660.523290924,634.523290924,878,787,805,652.476709076,631,652,0.400986491342,-0.0054123035074,0.0498546705616,0.999999962593,9.24143047967e-05,-0.000254075218814,-4.14746692354e-05,1793242864904093952
+76,1.266666667,BASELINE,765,745,714,679,661,635,878,787.108992009,804.891007991,652.108992009,631,652,0.400987180463,-0.00541256970259,0.0498545120835,0.999999962733,9.14483799165e-05,-0.000253850267329,-4.16167745476e-05,1793242864920760576
+77,1.283333333,BASELINE,765,745,714,679,661,635,878,787.688212704,804.311787296,652.688212704,631,652,0.400987386751,-0.00541494817145,0.049855303607,0.999999963181,8.94433537446e-05,-0.000252843246572,-4.13365767795e-05,1793242864937427200
+78,1.300000000,BASELINE,764.732904344,745,714,679,661,635,878,788,804,652.732904344,631,652,0.40098822438,-0.00541531480082,0.0498561734376,0.999999963472,8.98130463172e-05,-0.000251569589192,-4.12681069992e-05,1793242864954093824
+79,1.316666667,BASELINE,764.154415192,745,714,679,661,635,878,788,804,652.154415192,631,652,0.400989798057,-0.00541333592676,0.0498571345626,0.999999963575,9.29513051103e-05,-0.000249985073549,-4.14464803336e-05,1793242864970760192
+80,1.333333333,BASELINE,764.42142008,745,714,679,661,635,878.42142008,787.57857992,804.42142008,652,631,651.57857992,0.400989703303,-0.0054134463661,0.0498573025404,0.999999963692,9.13707776007e-05,-0.000250103161884,-4.14214613338e-05,1793242864987426816
+81,1.350000000,BASELINE,764.99628906,745,714,679,661,635,878.99628906,787.00371094,804.99628906,652,631,651.00371094,0.400989001035,-0.00541431757311,0.049857181715,0.999999963807,8.80720299738e-05,-0.000250841207986,-4.1322382446e-05,1793242865004093184
+82,1.366666667,BASELINE,765,745,714,678.429772844,661,635,878.429772844,787.570227156,805,652,631,651.570227156,0.400989064278,-0.0054143053445,0.0498567510785,0.999999963853,8.91953336021e-05,-0.000250277562453,-4.12199760297e-05,1793242865020760064
+83,1.383333333,BASELINE,765,745,714,678,661,635,878,787.851111965,805,652,630.851111965,652,0.400988867594,-0.0054142059922,0.0498563202129,0.999999963809,9.0045374775e-05,-0.000250157048114,-4.11670774933e-05,1793242865037426688
+84,1.400000000,BASELINE,765,745,714,678,661,635,878,787.258353177,805,652,630.258353177,652,0.400987881183,-0.0054138640153,0.0498558946653,0.999999963503,8.99951015502e-05,-0.000251382826911,-4.12618381869e-05,1793242865054093824
+85,1.416666667,BASELINE,765,745,714,678.324636591,661,635,878.324636591,787,805,652,630.324636591,652,0.400987135762,-0.0054131842963,0.0498557359697,0.999999963227,9.08529835142e-05,-0.000252135256922,-4.14607770953e-05,1793242865070760448
+86,1.433333333,BASELINE,765,745,714,678.900079031,661,635,878.900079031,787,805,652,630.900079031,652,0.400986576525,-0.00541224364648,0.0498557834371,0.999999962975,9.24124827357e-05,-0.000252521989807,-4.17402013975e-05,1793242865087427072
+87,1.450000000,BASELINE,765,745,714,679,661,635,878.523746022,787.476253978,805,652,631,652,0.400987724309,-0.0054115789242,0.0498558678054,0.999999963052,9.26835658249e-05,-0.000252127927731,-4.16878324308e-05,1793242865104093696
+88,1.466666667,BASELINE,765,745,714,679,661,635,878,787.947560035,805,652,631,651.947560035,0.400988906879,-0.00541114456607,0.0498558420706,0.999999963138,9.27504183156e-05,-0.000251779040226,-4.15706326425e-05,1793242865120760320
+89,1.483333333,BASELINE,765,745,714,679,661,635,878,787.372797152,805,652,631,651.372797152,0.400986863196,-0.00541242721819,0.0498546424317,0.999999962635,9.34796702651e-05,-0.000253514290523,-4.15021257267e-05,1793242865137426944
+90,1.500000000,BASELINE,765,744.791796509,714,679,661,635,878.208203491,787,804.791796509,652,631,651,0.400985973682,-0.00541264426309,0.0498541865846,0.999999962389,9.41863813559e-05,-0.000254217448098,-4.15261401967e-05,1793242865154093824
+91,1.516666667,BASELINE,765,744.199282,714,679,661,635,878.800718,787,804.199282,652,631,651,0.400987214581,-0.00541089436389,0.0498551036609,0.999999962623,9.48514854736e-05,-0.000253015524058,-4.17209346535e-05,1793242865170760960
+92,1.533333333,BASELINE,765,744,714,679,661,635,878.614594872,787,804.385405128,652.385405128,631,651.385405128,0.400988307779,-0.00541119530342,0.049856036771,0.999999963084,9.40206717234e-05,-0.000251510560058,-4.16384568834e-05,1793242865187427584
+93,1.550000000,BASELINE,765,744,714,679,661,635,878.033874444,787,804.966125556,652.966125556,631,651.966125556,0.400989326125,-0.0054125355652,0.0498569780067,0.999999963658,9.24317579796e-05,-0.000249852021601,-4.14154633348e-05,1793242865204094208
+94,1.566666667,BASELINE,764.459688643,744.540311357,714,679,661,635,878.540311357,787.540311357,805,653,631,652,0.400990462587,-0.00541187773421,0.0498582195367,0.999999964118,9.36368393096e-05,-0.000247552029081,-4.14138358506e-05,1793242865220760576
+95,1.583333333,BASELINE,764.116931409,745,714,679,661,635,878.883068591,788,805,652.883068591,631,651.883068591,0.400991184247,-0.00541152606918,0.0498588769647,0.999999964426,9.4153512283e-05,-0.000246104175421,-4.14145405513e-05,1793242865237426944
+96,1.600000000,BASELINE,764.704990387,745,714,679,661,635,878.295009613,788,805,652.295009613,631,651.295009613,0.400990205151,-0.00541290666452,0.0498571060433,0.999999964172,9.1199191262e-05,-0.000248249763961,-4.13693927062e-05,1793242865254093568
+97,1.616666667,BASELINE,765,745,714,679,661.288801636,635,878,787.711198364,805,652.288801636,631,651.288801636,0.400989741522,-0.00541338538643,0.0498563638927,0.999999963906,9.05030703133e-05,-0.000249586002625,-4.12754504829e-05,1793242865270759936
+98,1.633333333,BASELINE,765,745,714,679,661.868336708,635,878,787.131663292,805,652.868336708,631,651.868336708,0.400989796809,-0.00541295620216,0.0498566573942,0.999999963638,9.2080254754e-05,-0.000250107477531,-4.11323874979e-05,1793242865287426560
+99,1.650000000,BASELINE,765,745,714,679,661.553708001,635,878.446291999,787.446291999,805,653,631,652,0.400989511676,-0.00541343792702,0.0498568151203,0.999999963783,9.10957141515e-05,-0.000249892351434,-4.109512431e-05,1793242865304093184
+100,1.666666667,BASELINE,765,745,714,679,661,635,879,788,805,653,631,652,0.400989055467,-0.00541415004424,0.0498568797177,0.999999964007,8.94233886862e-05,-0.000249600110911,-4.10963777265e-05,1793242865320759808
+101,1.683333333,BASELINE,765,745,714,679,661,635,879,788,805,653,631,652,0.400986946243,-0.00541399159657,0.0498557053998,0.999999963272,8.92713484687e-05,-0.00025255400928,-4.12702439605e-05,1793242865337426432
+102,1.700000000,BASELINE,765,745,714,679,661,635,879,788,805,652.821680119,631,652,0.400985810639,-0.00541367494613,0.0498549428058,0.999999962804,8.97311859325e-05,-0.000254212060903,-4.14207347308e-05,1793242865354092800
+103,1.716666667,BASELINE,765,745,714,679,661,635,879,788,805,652.232531703,631,652,0.400986918143,-0.00541299381467,0.0498551287768,0.999999962967,9.16007193593e-05,-0.000252884629961,-4.15173710921e-05,1793242865370759680
+104,1.733333333,BASELINE,765,745,714,679,661.351363665,635,879,788,805,652.351363665,631,652,0.400987310377,-0.00541245692791,0.0498556191985,0.999999963086,9.23245173533e-05,-0.000252157254868,-4.14808824158e-05,1793242865387426304
+105,1.750000000,BASELINE,765,745,714,679,661.931833844,635,879,788,805,652.931833844,631,652,0.400987236222,-0.00541201409578,0.0498563081372,0.999999963178,9.23012392814e-05,-0.000251821145778,-4.1357589631e-05,1793242865404093184
+106,1.766666667,BASELINE,765,745,714,678.49917954,661.49917954,635,878.49917954,788,804.49917954,653,631,652,0.400988073468,-0.00541271319062,0.0498558506369,0.99999996329,9.14335040015e-05,-0.000251696335486,-4.13360134216e-05,1793242865420759808
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787,805,653,631,652,0.400987483952,-0.0054127916925,0.0498562055213,0.999999963215,9.43563551414e-05,-0.000250923828621,-4.12898588468e-05,1793242865463468800
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787.582699659,805,652.417300341,631,652,0.400989214946,-0.00541351614684,0.0498569527129,0.999999963692,9.24312559565e-05,-0.000249725397822,-4.13517688338e-05,1793242865480135424
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.836792882,787.836792882,805,652.163207118,631,652,0.400989929149,-0.00541365033829,0.0498571872575,0.99999996384,9.13188725685e-05,-0.000249516113317,-4.15087535223e-05,1793242865496802048
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.261816193,787.261816193,805,652.738183807,631,652,0.400988078003,-0.00541229530382,0.0498561284002,0.999999963164,9.22569608252e-05,-0.000251802432604,-4.19056105374e-05,1793242865513468416
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,787,805,652.687524464,630.687524464,652,0.400986765852,-0.00541148462172,0.0498553622664,0.999999962812,9.28867287379e-05,-0.00025295211229,-4.19835319373e-05,1793242865530135040
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,787,805,652.113805426,630.113805426,652,0.400985904325,-0.0054111290426,0.0498548408626,0.999999962735,9.32587270182e-05,-0.000253151510377,-4.17948088966e-05,1793242865546801664
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,787.473305197,805,652,630.473305197,652,0.400987544765,-0.00541232840674,0.0498557178608,0.999999963212,9.20686766754e-05,-0.00025174582453,-4.15248770143e-05,1793242865563468544
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.937430036,745,714,678.937430036,661,634.937430036,878,787.937430036,805,652.062569964,631,652,0.400989681696,-0.00541365424748,0.0498568449054,0.999999963753,9.07934359333e-05,-0.000250096330683,-4.12492036682e-05,1793242865580135168
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.357748767,745,714,678.357748767,661,634.357748767,878,787.357748767,805,652.642251233,631,652,0.400990805241,-0.00541284541467,0.0498571786579,0.999999963744,9.20086107052e-05,-0.000249714362079,-4.10921562951e-05,1793242865596802304
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,678,660.77957776,634.22042224,878,787,805,652.77957776,631,652,0.400998436934,-0.00541300242079,0.0498602294172,0.999999965136,9.21690178949e-05,-0.000244072479905,-4.07552100936e-05,1793242865613469440
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,678,660.203841307,634.796158693,878,787,805,652.203841307,631,652,0.401016559571,-0.00541471633114,0.0498676599124,0.999999968649,9.06291704134e-05,-0.000229951770659,-4.01282722437e-05,1793242865630135808
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.370340366,745,714,678.370340366,660.370340366,634.629659634,878,787,805,652.370340366,631,652,0.401053272219,-0.00541593961517,0.0498807874857,0.999999974545,9.0139817778e-05,-0.00020309275952,-3.92245773273e-05,1793242865646802432
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.943669893,745,714,678.943669893,660.943669893,634.056330107,878,787,805,652.943669893,631,652,0.401100174333,-0.00541689397964,0.0498970377145,0.999999980878,9.02262570498e-05,-0.000169251690781,-3.81691875808e-05,1793242865663469312
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.534592693,878,787.534592693,805,652.465407307,631,652,0.401165843714,-0.00541928802114,0.04991377399,0.999999986396,8.85843384204e-05,-0.000134041191277,-3.73367775528e-05,1793242865680135936
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.124086172,788,805,652.124086172,631,652,0.40123463676,-0.00542177874271,0.0499287549076,0.99999999007,8.70649864104e-05,-0.000104670708741,-3.63900267608e-05,1793242865696802304
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.701358812,788,805,652.701358812,631,652,0.401307370036,-0.00542404967193,0.0499371315153,0.999999990912,8.66810322937e-05,-9.7174011782e-05,-3.49369517191e-05,1793242865713468928
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.722308297,787.722308297,805,652.722308297,631,652,0.401386779841,-0.00542674180295,0.0499419481163,0.999999991483,8.59075597729e-05,-9.22295236234e-05,-3.38880924115e-05,1793242865730135552
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.146982676,787.146982676,805,652.146982676,631,652,0.40147334564,-0.00542988538392,0.049942949051,0.999999991806,8.47165959136e-05,-9.00205296083e-05,-3.32724773649e-05,1793242865746802432
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.561470809,635,878,787,805,652.438529191,631,652,0.401572357474,-0.00543280359149,0.0499421839095,0.999999991698,8.27951850978e-05,-9.31687170203e-05,-3.26967087183e-05,1793242865763468800
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,678.972932028,660,635,878.027067972,787.027067972,805,653,631,652,0.401677524295,-0.00543585900896,0.0499410224954,0.999999991469,8.05429664561e-05,-9.76972411423e-05,-3.20835774183e-05,1793242865780135680
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,678.393944181,660,635,878.606055819,787.606055819,805,653,631,652,0.40182111072,-0.00544328903318,0.0499441377782,0.999999992285,7.66562645486e-05,-9.2888303895e-05,-3.04298216953e-05,1793242865796802304
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,678.184157322,660,635,878.815842678,787.815842678,805,653,631,652,0.401973003378,-0.00544998171494,0.0499474800428,0.999999993007,7.32760534387e-05,-8.82331709236e-05,-2.88511691957e-05,1793242865813469184
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,678.760371791,660,635,878.239628209,787.239628209,805,653,631,652,0.402142579362,-0.00545510464888,0.049951305534,0.999999993585,7.09741238033e-05,-8.39054763557e-05,-2.7432406047e-05,1793242865830135808
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.334326296,635,878,787,805,652.665673704,631,652,0.402323933654,-0.00546104597433,0.0499507208957,0.999999993635,6.85068966088e-05,-8.57060159514e-05,-2.62890749746e-05,1793242865846802432
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.906671907,635,878,787,805,652.093328093,631,652,0.402513673378,-0.00546756994364,0.0499469965229,0.999999993286,6.59219877006e-05,-9.18694727664e-05,-2.53418340881e-05,1793242865863468800
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.503406724,634.503406724,878.496593276,787,805,652.496593276,630.503406724,652,0.402736903074,-0.00547544740076,0.0499477936195,0.999999993682,6.2173936066e-05,-9.06704365555e-05,-2.34270648794e-05,1793242865880135424
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,678.912185057,660,634.087814943,878.912185057,787,805,653,630.087814943,652,0.402975886137,-0.00548361457039,0.0499503623852,0.999999994359,5.83048689768e-05,-8.61825875888e-05,-2.13449447749e-05,1793242865896801792
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,678.33285178,660,634.66714822,878.33285178,787,805,653,630.66714822,652,0.403266522771,-0.00549192732286,0.0499579168107,0.999999995755,5.50268783637e-05,-7.13154957911e-05,-1.93812321107e-05,1793242865913468672
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,678.243624476,660.243624476,635,878.243624476,787,805,652.756375524,631,652,0.403568700504,-0.00550150281793,0.0499658578162,0.99999999705,5.10411185762e-05,-5.47935340548e-05,-1.70847441256e-05,1793242865930135296
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,678.816242539,660.816242539,635,878.816242539,787,805,652.183757461,631,652,0.403886463466,-0.00551278353616,0.0499743208636,0.999999998185,4.60995785016e-05,-3.60368158258e-05,-1.43388722381e-05,1793242865946802432
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.599725634,635,878.599725634,787.400274366,805,652.400274366,630.599725634,652,0.404225897962,-0.00552178927393,0.04998164129,0.999999998772,4.35673344281e-05,-2.0519037454e-05,-1.17236964519e-05,1793242865963469568
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.010300209,635,878.010300209,787.989699791,805,652.989699791,630.010300209,652,0.404575573408,-0.00552971996136,0.0499884217666,0.999999999047,4.21736117922e-05,-6.5318320357e-06,-9.17028164542e-06,1793242865980136448
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.56845178,635,878.56845178,787.43154822,805,652.43154822,630.56845178,652,0.404975633915,-0.00553759408724,0.049994244394,0.999999999055,4.28213293658e-05,4.98837391115e-06,-5.69164296182e-06,1793242865996802560
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.853148604,635,879,787.146851396,805,652,631,652,0.405379043363,-0.00554031281177,0.0499938285494,0.999999998735,5.00251975944e-05,4.56247905874e-06,-2.66459149724e-06,1793242866013468928
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.275226208,635,879,787.724773792,805,652,631,652,0.405789652756,-0.00552790120292,0.049975150156,0.999999996609,7.63675614311e-05,-3.08014806252e-05,-1.01144517139e-06,1793242866030135552
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.698974474,745,714,679,660,635,879,788,805,652,631,652,0.406215985832,-0.00551558611218,0.0499565260842,0.999999992708,0.000101563105025,-6.53311097028e-05,7.05692445773e-09,1793242866046801920
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.124241723,745,714,679,660,635,879,788,805,652,631,652,0.406656615702,-0.00550335877903,0.0499379514021,0.999999987187,0.000125715906204,-9.91021283508e-05,4.48509435343e-07,1793242866063468544
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.4620514,745,714,678.5379486,660,635,879,787.5379486,805,652.4620514,631,652,0.407131351666,-0.00550765477874,0.0499279286009,0.999999984349,0.000132247823254,-0.000117466838357,3.68491381394e-06,1793242866080135168
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,678.050705313,660,635,878.949294687,787.050705313,805,652.949294687,631,652,0.407625270363,-0.00551637694573,0.0499232219707,0.999999983061,0.000134350121228,-0.000125567535074,7.80672906511e-06,1793242866096802048
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,678.630721739,660,635,878.369278261,787.630721739,805,652.369278261,631,652,0.408221246502,-0.00552373336622,0.0499493899634,0.99999998747,0.000140941968968,-7.08770174744e-05,1.31247077814e-05,1793242866113468672
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.208905412,634.791094588,878.208905412,788,805,652,630.791094588,652,0.408831124643,-0.00552932722733,0.0499756181072,0.999999988561,0.000148564161608,-2.14536526735e-05,1.85885408145e-05,1793242866130135296
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.783877504,634.216122496,878.783877504,788,805,652,630.216122496,652,0.409465363342,-0.0055318325406,0.0500019516526,0.999999987048,0.000157991836182,1.87400332182e-05,2.43079552934e-05,1793242866146801920
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.366552943,714,679,660.633447057,634.366552943,878.633447057,787.633447057,805,652,630.366552943,652,0.410073185449,-0.00552987937157,0.0500073827338,0.999999984608,0.000171759401925,2.21575003666e-05,2.81448617946e-05,1793242866163468800
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.953867815,714,679,660.046132185,634.953867815,878.046132185,787.046132185,805,652,630.953867815,652,0.41066509775,-0.00552524101554,0.0500002249958,0.99999998182,0.000188140730995,3.42594447415e-06,3.08479998249e-05,1793242866180135424
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.466535027,714,679,660,635,878.533464973,787,805,652,631,652,0.411261838214,-0.00552324113137,0.0499655445729,0.999999977874,0.000196285165651,-6.86994158547e-05,3.16919037786e-05,1793242866196801792
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.88812011,879,787,805,652,631,652,0.411884271395,-0.00552324765909,0.0499372449964,0.99999997398,0.000188700000553,-0.000124774756355,2.9387273643e-05,1793242866213468416
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.311881695,879,787,805,652,631,652,0.412611634058,-0.00553064831926,0.0499451668011,0.999999988297,0.000118743224503,-9.53434318435e-05,1.46724264021e-05,1793242866230135296
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.263755423,634,879,787,805,652,631,652,0.413364902103,-0.00553843051275,0.0499615364556,0.999999994491,8.5191545962e-05,-6.05146693152e-05,9.9307012586e-06,1793242866246801920
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.83868322,634,879,787,805,652,631,652,0.414148732795,-0.00554666283114,0.0499878726835,0.999999995196,9.45897267339e-05,-1.9318134355e-05,1.6955026445e-05,1793242866263468800
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.42529289,745,714,678.57470711,660.57470711,634.42529289,879.42529289,787.42529289,805,652,631,652,0.414882493245,-0.00554480251969,0.0499781428594,0.999999993412,0.000107310541521,-3.56502761689e-05,1.97379828283e-05,1793242866280135424
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.983859128,745,714,678.016140872,660.016140872,634.983859128,879.983859128,787.983859128,805,652,631,652,0.415598615205,-0.00553920400056,0.0499547255972,0.999999989762,0.000120904591746,-7.36413704927e-05,2.08395359325e-05,1793242866296802048
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.404108903,745,714,678.595891097,660.595891097,634.404108903,879.404108903,787.404108903,805,652,631,652,0.416380731642,-0.00554052362518,0.0499445444237,0.999999989045,0.0001197401727,-8.4451869541e-05,2.09919310249e-05,1793242866313468416
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,678.825716504,661,634.174283496,879,787.174283496,805,652,631,652,0.417178222914,-0.00554243726599,0.0499446865118,0.999999989671,0.000117295038329,-8.02464031944e-05,2.14658586324e-05,1793242866330135040
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,678.250448174,661,634.749551826,879,787.749551826,805,652,631,652,0.418011087972,-0.00554571759657,0.0499685799679,0.999999992621,0.000111903282855,-4.14927744288e-05,2.26795559887e-05,1793242866346801664
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,678,660.668599227,635,879,788,805,652,631,652,0.418830226913,-0.00554619308616,0.0499777354396,0.99999999297,0.00011120468734,-3.33546301568e-05,2.40981217613e-05,1793242866363468544
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,678,660.081676412,635,879,788,805,652,631,652,0.41963878248,-0.00554450594123,0.0499755273884,0.999999991966,0.000114124689077,-4.88221391647e-05,2.56746484891e-05,1793242866380135424
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,678,660,634.501226204,879.498773796,787.501226204,805,652,631,651.501226204,0.420488596609,-0.0055423536109,0.0499669547105,0.999999991449,0.000117898474768,-5.07195360754e-05,2.50980842986e-05,1793242866396802048
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,678.077873463,660.155746926,634.077873463,879.922126537,787.077873463,805.077873463,652,631,651.077873463,0.421350832306,-0.00554111763598,0.0499618430438,0.999999991496,0.000120161555585,-4.43404659871e-05,2.45482198011e-05,1793242866413468672
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,678.655022523,661.310045046,634.655022523,879.344977477,787.655022523,805.655022523,652,631,651.655022523,0.42224994486,-0.00554623889276,0.049985517761,0.999999993395,0.000111854050273,1.03748720153e-06,2.64010874065e-05,1793242866430136320
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.231327325,745,714,679,661.768672675,634.768672675,879,788,805.768672675,652,631,652,0.423129455289,-0.00554891446104,0.0499923392595,0.999999993845,0.000106681059657,1.37306341892e-05,2.72313614118e-05,1793242866446803456
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.806377753,745,714,679,661.193622247,634.193622247,879,788,805.193622247,652,631,652,0.423979839578,-0.00554795604678,0.0499741190134,0.999999993767,0.000106165559769,-2.21416938592e-05,2.65421911789e-05,1793242866463469568
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.608975165,745,714,679,660.608975165,634.391024835,879.391024835,787.608975165,805,652,631,652,0.424867313876,-0.00554913366173,0.0499735322465,0.999999993864,0.000105108458714,-2.2342782793e-05,2.69252831139e-05,1793242866480135936
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.019456624,745,714,679,660.019456624,634.980543376,879.980543376,787.019456624,805,652,631,652,0.425773615912,-0.00555139557707,0.0499818966631,0.999999994218,0.000103776427795,-4.43628188435e-06,2.78526814242e-05,1793242866496802304
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.560411292,745.560411292,714,679,661.120822585,634.439588708,880,787,805,651.439588708,631,652,0.426674131231,-0.00555380558509,0.0499974427359,0.999999994258,0.000102357629347,7.95633150058e-06,3.07326302937e-05,1793242866513468928
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.861160911,714,679,661.861160911,634,879.861160911,787.138839089,805.138839089,651,631,652,0.427553646494,-0.00555445619956,0.0500002881972,0.9999999942,0.000102642838222,-5.80928890437e-07,3.26258132015e-05,1793242866530136064
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.286222022,714,679,661.286222022,634,879.286222022,787.713777978,805.713777978,651,631,652,0.428367819964,-0.00554956460345,0.0499624705507,0.999999990892,0.000108289712263,-7.42687391667e-05,3.12101943635e-05,1793242866546802432
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.710941337,745,714,679,660.710941337,634,879.289058663,787.710941337,806,651,631,652,0.429234981976,-0.00554849152265,0.0499457973191,0.999999988982,0.000108044517833,-9.72420451664e-05,3.0107160846e-05,1793242866563469056
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.135321843,745,714,679,660.135321843,634,879.864678157,787.135321843,806,651,631,652,0.430154674592,-0.00555120396065,0.0499500857904,0.999999991927,0.000101958169884,-6.9939080143e-05,2.93140117091e-05,1793242866580135424
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.449749603,660.899499206,634.449749603,880,787,805.550250397,651,631,652,0.431034037063,-0.00555355134427,0.0499510829512,0.999999992177,9.91819116036e-05,-6.99035386595e-05,3.03759529657e-05,1793242866596802048
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.962599766,661.925199531,634.962599766,879.962599766,787,805.037400234,651,631,651.962599766,0.431898295442,-0.00555560244185,0.0499501892677,0.999999991643,9.75670937156e-05,-7.86200860631e-05,3.18446819105e-05,1793242866613468416
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.379701653,660.759403306,634.379701653,879.379701653,787,805.620298347,651,631,651.379701653,0.432723041596,-0.00555496851409,0.0499364708152,0.999999990412,9.80542063881e-05,-9.27576089894e-05,3.09307502924e-05,1793242866630135040
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.199259748,714,679,660.398519497,634.199259748,879,787,806,651,631,651.199259748,0.43357577446,-0.00555577627379,0.0499379593856,0.999999991138,9.78257436073e-05,-8.47487348703e-05,3.11774065058e-05,1793242866646802176
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.770864941,714,679,661.541729882,634.770864941,879,787,806,651,631,651.770864941,0.434480804653,-0.00555927803339,0.0499678644589,0.999999994178,9.62601253217e-05,-3.53561409982e-05,3.35927874897e-05,1793242866663469312
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.660540749,714,679,661.321081498,635,879.339459251,787,806,651,631,651.660540749,0.435317283159,-0.00555849015245,0.0499772720387,0.999999994093,9.82038581563e-05,-3.08207489227e-05,3.49193257554e-05,1793242866680135936
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.093960951,714,679,660.187921903,635,879.906039049,787,806,651,631,651.093960951,0.436107896028,-0.00555483221989,0.0499729654465,0.999999992532,0.00010249557766,-5.62977756133e-05,3.55173565655e-05,1793242866696802304
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.504886099,660,634.495113901,880,787,806,651,631,651,0.436912570464,-0.00555232852578,0.0499530752008,0.999999989303,0.000105738735652,-9.46526144961e-05,3.54151365559e-05,1793242866713468928
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.104692286,745,714,679.895307714,660.104692286,634.104692286,879.895307714,787,806,651.104692286,631,651,0.437725161092,-0.00555118070037,0.0499396258776,0.999999986794,0.000107940117885,-0.00011618816363,3.55106869039e-05,1793242866730135296
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.679974357,745,714,679.320025643,660.679974357,634.679974357,879.320025643,787,806,651.679974357,631,651,0.43856076882,-0.00555509600091,0.0499690546016,0.99999999237,0.000106395778644,-5.06131632145e-05,3.71209856985e-05,1793242866746801920
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.745236387,745,714,679,661,634.745236387,879,787,806,651.745236387,631,651.254763613,0.439348526572,-0.00555777443099,0.0499804178325,0.999999993949,0.000100974223846,-2.34050020711e-05,3.68550192828e-05,1793242866763468800
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.171065037,745,714,679,661,634.171065037,879,787,806,651.171065037,631,651.828934963,0.440076292758,-0.00555890214484,0.0499691316013,0.99999999432,9.06916431558e-05,-4.42989482465e-05,3.42367011524e-05,1793242866780135680
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714.413277496,679.413277496,661,634.413277496,879,787,806,651.413277496,631,651.586722504,0.440797363141,-0.00555992227994,0.0499566485751,0.999999993425,8.77321519452e-05,-6.58290823693e-05,3.34484566158e-05,1793242866796802048
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714.998088468,679.998088468,660.998088468,634.998088468,879.001911532,787,806,651.998088468,631,651.001911532,0.441515636909,-0.00556090527647,0.0499437937956,0.999999991761,8.78757700659e-05,-8.73865069585e-05,3.34459230999e-05,1793242866813468672
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714.416987469,679.416987469,660.416987469,634.416987469,879.583012531,787,806,651.416987469,631,651.583012531,0.442247485473,-0.00556446806183,0.0499721855173,0.999999994965,8.66351293689e-05,-3.54098799395e-05,3.61970605894e-05,1793242866830135296
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679.161320455,660.161320455,634,879.838679545,787,805.838679545,651,631,652,0.442954738985,-0.00556637805217,0.0499938783362,0.999999995381,8.79916080884e-05,2.85305551427e-06,3.85618367249e-05,1793242866846802176
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.732531723,660.732531723,634,879.267468277,787,805.267468277,651,631,652,0.443599500358,-0.00556408854179,0.049998550265,0.99999999458,9.59469736595e-05,6.27159109439e-06,3.99449280447e-05,1793242866863468800
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.692269046,660.692269046,634,879.307730954,787,805.307730954,651,631,652,0.444203338063,-0.00556100889373,0.0499812362258,0.999999993675,0.000101904854766,-2.58730044331e-05,3.99610585406e-05,1793242866880135424
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679.113558152,660.113558152,634,879.886441848,787,805.886441848,651,631,652,0.444771139401,-0.00555723347097,0.0499445619099,0.999999989629,0.000106103801793,-8.93335760449e-05,3.87734783895e-05,1793242866896802048
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.477279779,744.522720221,714,679,660.477279779,634,879.522720221,787,806,651.477279779,631,651.522720221,0.445373136918,-0.00556117627136,0.0499391760307,0.999999990306,0.000103830068566,-8.40901944261e-05,3.92055916062e-05,1793242866913468672
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.930988367,744.069011633,714,679,661,634,879.069011633,787,806,652,631,651,0.445979489809,-0.00556644837268,0.0499437849127,0.99999999235,0.000100610366462,-5.96838428346e-05,4.01819400454e-05,1793242866930135296
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.354455014,744.645544986,714,679,661,634,879.645544986,787,806,652,631,651,0.446556477846,-0.00556763924811,0.0499657222804,0.999999993743,0.000102054754591,-1.76995117056e-05,4.22527182662e-05,1793242866946801920
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,633.781030042,880,787,806,651.781030042,631,651.218969958,0.447092427471,-0.00556637615315,0.0499744549796,0.99999999337,0.000106549760427,-1.19285649934e-06,4.36595380039e-05,1793242866963468800
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,633.212566351,880,787,806,651.212566351,631,651.787433649,0.447562876423,-0.00556119632321,0.0499621119599,0.999999991992,0.000115913798472,-2.53506331489e-05,4.40066262742e-05,1793242866980135168
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.372290855,661,633.372290855,879.627709145,787,806,651,631,651.627709145,0.44800235668,-0.00555530786153,0.0499390883261,0.99999998989,0.000121590821957,-6.01354793091e-05,4.26654019036e-05,1793242866996802048
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.966939453,661,633.966939453,879.033060547,787,806,651,631,651.033060547,0.448423340343,-0.00554899615568,0.0499096854928,0.999999986239,0.000125065707142,-0.00010126754563,4.03158009167e-05,1793242867013468928
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,744.45274219,714,679.45274219,660.45274219,634,879,787,806,651,631,651,0.448845645372,-0.00555333669443,0.0499052884323,0.999999990377,7.9172561992e-05,-0.000110468596659,2.78239013739e-05,1793242867030135296
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,744.126150575,714,679.126150575,660,634,879.126150575,787,806,651,631,651,0.449259670281,-0.00555895813983,0.0499055068568,0.999999992729,4.06130107562e-05,-0.00011204738277,1.8363065823e-05,1793242867046801920
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,744.702964444,714,679.702964444,660,634,879.702964444,787,806,651,631,651,0.449643837317,-0.005566915279,0.0499169548425,0.99999999468,3.8634626575e-05,-9.31115500833e-05,2.1863474733e-05,1793242867063468800
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.721184984,880,787,806,651.278815016,631,651.278815016,0.450008070228,-0.00557029437815,0.0499262527406,0.999999995663,4.07945299222e-05,-8.00451242882e-05,2.45566714627e-05,1793242867080135168
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.14635716,880,787,806,651.85364284,631,651.85364284,0.45035113942,-0.00556881305541,0.0499332679291,0.999999995851,4.73479776436e-05,-7.32101416917e-05,2.63928655663e-05,1793242867096801792
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.4402865,745,714,680,660.4402865,633,880,787,806,651.5597135,631,651.5597135,0.450649045512,-0.00556891018583,0.0499320097486,0.999999995092,5.20078577824e-05,-7.95150043257e-05,2.80827503765e-05,1793242867113468672
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.969710684,745,714,680,660.969710684,633,879.969710684,786.969710684,806,651,631,651.030289316,0.450929696903,-0.00556935096694,0.0499275556346,0.999999993851,5.60729737526e-05,-9.0964879882e-05,2.9643533368e-05,1793242867130135296
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.391942666,745,714,680,660.391942666,633,879.391942666,786.391942666,806,651,631,651.608057334,0.451177309598,-0.00556625776666,0.0499164153461,0.999999991161,6.10787365204e-05,-0.000114284596268,2.97741263969e-05,1793242867146801920
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.184829229,745,713.815170771,680,660,633,879,786.184829229,806,651,631,652,0.45141168617,-0.00556364673026,0.0499051849154,0.999999988106,6.53719357099e-05,-0.000136435113887,3.00159661268e-05,1793242867163469312
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.759500032,745,713.240499968,680,660,633,879,786.759500032,806,651,631,652,0.451618145094,-0.00556205267367,0.0498937643581,0.999999985025,6.81621961197e-05,-0.000156119556087,3.04924472623e-05,1793242867180137216
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.657111504,745,713.342888496,680,660,633,879.342888496,787,806,651,631,652,0.451804482449,-0.00556101025586,0.049883612373,0.999999981514,7.05359702349e-05,-0.000176178755471,3.09381209255e-05,1793242867196803840
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.067448951,745,713.932551049,680,660,633,879.932551049,787,806,651,631,652,0.451976338497,-0.00556036484784,0.0498743733677,0.999999977564,7.26100028365e-05,-0.00019650766655,3.1361622747e-05,1793242867213469184
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.51305727,745,714,680,660,633,879.48694273,786.48694273,806,651.51305727,631,651.48694273,0.452137581927,-0.00555831978903,0.0498718364703,0.999999976471,7.4882054331e-05,-0.000201159012041,3.14066586054e-05,1793242867230135552
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.908346275,745,714,679.908346275,660,633,879.091653725,786.091653725,806,652,631,651,0.452293906498,-0.00555658746982,0.0498704725335,0.999999975835,7.68682326591e-05,-0.000203551199497,3.14344405366e-05,1793242867246801920
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.333582367,745,714,679.333582367,660,633,879.666417633,786.666417633,806,652,631,651,0.452431528775,-0.00555745650189,0.0498707284831,0.999999975566,7.72127514151e-05,-0.000204708655842,3.16289381029e-05,1793242867263468800
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679.242050806,660,632.757949194,879.757949194,786.757949194,806,652,631,651,0.452558800197,-0.00555891528238,0.0498720221865,0.99999997609,7.6191475717e-05,-0.000202467369098,3.19814216964e-05,1793242867280135680
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679.818886241,660,632.181113759,879.181113759,786.181113759,806,652,631,651,0.452671755166,-0.00556118975398,0.0498747512251,0.99999997767,7.3281146225e-05,-0.00019552522233,3.25524184647e-05,1793242867296802304
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632.402894738,879.402894738,786.402894738,806,652,631,651.402894738,0.452761316339,-0.0055628176393,0.0498735727412,0.999999977689,7.24130874057e-05,-0.000195762691721,3.24893578074e-05,1793242867313468672
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632.990186184,879.990186184,786.990186184,806,652,631,651.990186184,0.452840170647,-0.00556414959518,0.0498706058639,0.999999976999,7.24797343148e-05,-0.000199286125238,3.21361019785e-05,1793242867330135296
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632.4302841,880,786.4302841,806.5697159,652,630.4302841,651.4302841,0.452899928809,-0.00556430414113,0.049866779034,0.999999975748,7.14684472187e-05,-0.000205828087853,3.21176647519e-05,1793242867346802176
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,880,786,806.85151863,651.85151863,630,651.14848137,0.452955492628,-0.00556395027646,0.0498629363239,0.999999974543,7.08782565177e-05,-0.000211840692175,3.18552873447e-05,1793242867363468544
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,880,786,806.274577949,651.274577949,630,651.725422051,0.452999889652,-0.00556218707588,0.049859089962,0.999999973597,7.15560465862e-05,-0.000216177748598,3.08725746203e-05,1793242867380135424
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,880,786,806,651,630.307204916,652,0.453038867229,-0.00556219485472,0.0498580230308,0.999999973386,7.24994021861e-05,-0.000216834812848,3.08790109243e-05,1793242867396802048
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,880,786,806,651,630.893385074,652,0.453072923368,-0.00556381087392,0.0498594801227,0.99999997385,7.3683920048e-05,-0.000214150047262,3.1783701263e-05,1793242867413468928
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,879.525868409,786,806.474131591,651,631,651.525868409,0.453095467244,-0.00556284859823,0.0498589729758,0.999999973443,7.49093703433e-05,-0.000215609637659,3.18518681103e-05,1793242867430135296
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,879,786,807,651,631,651,0.4531144251,-0.00556131795278,0.0498578445622,0.999999972789,7.60729610726e-05,-0.000218246806597,3.16832222659e-05,1793242867446801920
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,879,786,807,651,631,651,0.453123323563,-0.00555983459153,0.0498549075489,0.999999971637,7.65412797124e-05,-0.000223394490112,3.10164345755e-05,1793242867463469056
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714.209364253,679.790635747,660,632,879.209364253,786.209364253,806.790635747,651.209364253,631,651,0.453131304904,-0.0055589011965,0.0498519528817,0.999999970649,7.58603775658e-05,-0.00022805899414,3.06130377979e-05,1793242867480135936
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714.784426968,679.215573032,660,632,879.784426968,786.784426968,806.215573032,651.784426968,631,651,0.453137684302,-0.0055589284326,0.0498489673783,0.999999969969,7.31721208941e-05,-0.000231879523821,3.0669708387e-05,1793242867496802048
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,714.642560069,679.357439931,659.642560069,632,879.642560069,786.642560069,806,651.642560069,631,651,0.453142494684,-0.00555749028841,0.0498478091251,0.9999999696,7.41534703419e-05,-0.000233185447158,3.04362874018e-05,1793242867513468672
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714.070776287,679.929223713,659.070776287,632,879.070776287,786.070776287,806,651.070776287,631,651,0.453146364182,-0.00555517340846,0.049847746608,0.999999969418,7.73353504772e-05,-0.000232983451524,3.00289089481e-05,1793242867530135296
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.522236416,632,879.522236416,786.522236416,806,651.522236416,631,651.522236416,0.453146797908,-0.00555619151874,0.0498465093509,0.99999996875,7.80867379357e-05,-0.000235535068055,3.04316881517e-05,1793242867546801920
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.885774308,660,632,880,786.885774308,806,652,631,652,0.453146894727,-0.00555730247023,0.0498452944849,0.999999968152,7.8263236534e-05,-0.000237954101497,3.07925171731e-05,1793242867563469056
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.310037059,660,632,880,786.310037059,806,652,631,652,0.453147591368,-0.00555688501452,0.0498448405957,0.999999968145,7.75042400457e-05,-0.000238265768758,3.0521437753e-05,1793242867580135424
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.264933143,660,632,879.735066857,786,806,651.735066857,630.735066857,652,0.453148498418,-0.00555608447076,0.0498446465581,0.999999968049,7.78059082234e-05,-0.00023859593278,3.0335069189e-05,1793242867596802048
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.839008377,660,632,879.160991623,786,806,651.160991623,630.160991623,652,0.453149650987,-0.00555483691365,0.0498447557331,0.999999967847,7.93452322945e-05,-0.000238947680125,3.0247547004e-05,1793242867613468672
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,879,786.426550264,806,651.426550264,630,651.573449736,0.453150030205,-0.0055538514174,0.0498444280376,0.999999967684,8.05761793409e-05,-0.000239226573818,3.01683041812e-05,1793242867630135552
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.981158269,632,879,786.981158269,806,652,630,651,0.45315009348,-0.00555301313214,0.0498439387087,0.999999967534,8.16155595928e-05,-0.00023951004415,3.0093333051e-05,1793242867646802176
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.403655179,632,879,786.403655179,806,652,630,651,0.45314972555,-0.00555351140766,0.049843705217,0.99999996732,8.05384322695e-05,-0.000240771082233,3.00493452383e-05,1793242867663468800
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,632,879.173169613,786,806,652,630,651,0.453149058907,-0.00555334638498,0.0498428720867,0.999999966947,8.02327175313e-05,-0.000242432682582,2.99124190473e-05,1793242867680135680
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,632,879.748419438,786,806,652,630,651,0.453147698684,-0.00555164125901,0.0498406466631,0.999999966206,8.17181354353e-05,-0.000245024343027,2.955970048e-05,1793242867696802304
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.331567405,632,880,786.331567405,806,652,630.331567405,651.331567405,0.453148886854,-0.00555109767081,0.0498411215874,0.999999966465,8.13968119043e-05,-0.000244090232216,2.94041146301e-05,1793242867713469184
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.920854387,632,880,786.920854387,806,652,630.920854387,651.920854387,0.45315205583,-0.00555145691878,0.049843695429,0.999999967494,7.96711505108e-05,-0.000240415621879,2.94017554394e-05,1793242867730135808
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714.501226002,680,660,632,880,787,806.501226002,651.498773998,631,652,0.45315084183,-0.00555129120704,0.0498428577759,0.999999967178,7.9749321444e-05,-0.000241708187567,2.93603468129e-05,1793242867746802176
+245,4.083333333,HOLD_POSE2,765,745,714,680,660,632,880,787,807,651,630,652,0.453149163978,-0.0055495326277,0.0498398960986,0.999999966248,8.09592077251e-05,-0.000245183930969,2.8879877775e-05,1793242867790297856
+246,4.100000000,HOLD_POSE2,765,745,714,680,659.422253018,632,880,787,807,651,630.577746982,652,0.453149169863,-0.00555247231136,0.049840036323,0.999999966413,7.90095350068e-05,-0.000245056124741,2.96426441169e-05,1793242867806964480
+247,4.116666667,HOLD_POSE2,765,745.159523949,714,680,659,632,879.840476051,787,807,651,631,652,0.45314929407,-0.00555381582919,0.0498402843375,0.999999966538,7.8079502631e-05,-0.000244799943597,2.99984800578e-05,1793242867823631104
+248,4.133333333,HOLD_POSE2,765,745.752244708,714,680,659,632,879.247755292,787,807,651,631,652,0.453149739589,-0.00555082486404,0.0498408250628,0.999999966563,7.99183640607e-05,-0.000244195152675,2.92492723647e-05,1793242867840297728
+249,4.150000000,HOLD_POSE2,765,746,714,680,659.33709314,632,879.33709314,786.66290686,806.66290686,651.33709314,631,652,0.453149639055,-0.00554984389072,0.0498406122325,0.9999999664,8.1332227328e-05,-0.000244411989,2.91022578524e-05,1793242867856964352
+250,4.166666667,HOLD_POSE2,765,746,714,680,659.916287607,632,879.916287607,786.083712393,806.083712393,651.916287607,631,652,0.453149146345,-0.00555030649988,0.0498398581963,0.999999966104,8.24408555e-05,-0.000245218920571,2.93877403762e-05,1793242867873630976
+251,4.183333333,HOLD_POSE2,765,745.509708383,714.490291617,680,660,632,880,786,806.490291617,652,631,652,0.453149341699,-0.00554933713467,0.0498398933713,0.999999966004,8.3014174361e-05,-0.000245478522874,2.89832031612e-05,1793242867890297600
+252,4.200000000,HOLD_POSE2,765,745,714.936567063,680,659.936567063,632.063432937,880,786.063432937,806.936567063,651.936567063,631,651.936567063,0.453149494755,-0.00554832509015,0.0498398861506,0.99999996591,8.3427027557e-05,-0.000245772275238,2.8564544771e-05,1793242867906964224
+253,4.216666667,HOLD_POSE2,765,745,714.363311243,680,659.363311243,632.636688757,880,786.636688757,806.363311243,651.363311243,631,651.363311243,0.453148373525,-0.00554891449506,0.0498384665219,0.999999965588,8.32770809766e-05,-0.000247083714177,2.89693663485e-05,1793242867923630848
+254,4.233333333,HOLD_POSE2,765,745,714,679.783382173,659.216617827,632.783382173,880,786.783382173,806,651,631,651.216617827,0.453148053616,-0.00554859227609,0.0498378413453,0.99999996541,8.33802339553e-05,-0.000247762885945,2.90050042287e-05,1793242867940297472
+255,4.250000000,HOLD_POSE2,765,745,714,679.191905037,659.808094963,632.191905037,880,786.191905037,806,651,631,651.808094963,0.453149120404,-0.00554669248285,0.0498385909763,0.999999965485,8.39213782615e-05,-0.000247347912927,2.84017659965e-05,1793242867956964352
+256,4.266666667,HOLD_POSE2,765,745,714,679.393071743,660,632,880,786,806.393071743,651.393071743,630.606928257,652,0.453149165684,-0.00554740583783,0.0498388450016,0.999999965481,8.30503440231e-05,-0.000247640336025,2.85559894164e-05,1793242867973631488
+257,4.283333333,HOLD_POSE2,765,745,714,679.974926606,660,632,880,786,806.974926606,651.974926606,630.025073394,652,0.453148720358,-0.00554937422633,0.0498388609991,0.999999965437,8.15010736633e-05,-0.000248272504815,2.90740038138e-05,1793242867990298368
+258,4.300000000,HOLD_POSE2,765,745,714,680,660,632,880,786.550252178,806.449747822,651.449747822,630,651.449747822,0.453148712969,-0.00554951340837,0.0498380566899,0.999999965356,8.10062871185e-05,-0.000248780051109,2.88770160882e-05,1793242868006964992
+259,4.316666667,HOLD_POSE2,765,745,714,680,660,632,880,787,806,651.12775223,630,651.12775223,0.453148914833,-0.00554955815321,0.0498375812095,0.999999965342,8.0651484876e-05,-0.000248968175371,2.87344115775e-05,1793242868023631872
+260,4.333333333,HOLD_POSE2,765,745,714,680,660,632,880,787,806,651.714113992,630,651.714113992,0.453149797086,-0.00554955959381,0.0498384187818,0.999999965572,8.06287351795e-05,-0.000248029773597,2.89026211589e-05,1793242868040297984
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,632,879,786,806,652,631,652,0.453150281931,-0.00555018114387,0.0498388760266,0.99999996576,7.97816165879e-05,-0.000247565638056,2.87444402975e-05,1793242868077261568
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.158522951,632,879.579261476,786.579261476,806.579261476,651.420738524,631,652,0.453149576449,-0.00554923970107,0.0498375703512,0.999999965386,8.08484624525e-05,-0.000248757186763,2.84818180074e-05,1793242868093928192
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.155613206,680,660.844386794,632,880,786.844386794,806.844386794,651,631,652,0.453148654058,-0.00554851725013,0.0498364285464,0.999999964989,8.16437573865e-05,-0.000250105754676,2.83342156451e-05,1793242868110594816
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.724242256,680,660.275757744,632,880,786.275757744,806.275757744,651,631,652,0.453147155967,-0.0055483760293,0.0498357216729,0.999999964536,8.17183242855e-05,-0.000251871070383,2.84918897094e-05,1793242868127261440
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.693654876,680,659.693654876,632,880,786.306345124,806.306345124,651.306345124,630.693654876,652,0.453146127334,-0.00554840924263,0.0498352185801,0.999999964283,8.1711603477e-05,-0.000252849315266,2.87199417135e-05,1793242868143928064
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.098865552,680,659.098865552,632,880,786.901134448,806.901134448,651.901134448,630.098865552,652,0.453145540729,-0.00554860669729,0.0498349073603,0.999999964221,8.16283449097e-05,-0.000253086480794,2.9014259194e-05,1793242868160594432
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.484820971,632,880,786.515179029,806.515179029,651.515179029,630,652,0.453147532311,-0.00554910189878,0.0498361836851,0.999999964769,8.13571272113e-05,-0.000251021040295,2.88409295021e-05,1793242868177260800
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.934450031,659.934450031,632,879.934450031,786,806,651,630,651.934450031,0.453149273404,-0.00554949791154,0.0498373629649,0.999999965269,8.11321710893e-05,-0.000249120714984,2.86075955808e-05,1793242868193927424
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.359503586,659.359503586,632,879.359503586,786,806,651,630,651.359503586,0.453145073733,-0.00554866184119,0.0498353286382,0.999999964494,8.15579094125e-05,-0.000252070765828,2.86324508237e-05,1793242868210594048
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,632,879,786,806,651,630.219550623,651.219550623,0.45313598791,-0.00554827033682,0.0498310830703,0.999999962677,8.15930510188e-05,-0.000259166829889,2.86565539298e-05,1793242868227260672
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,632,879,786,806,651,630.805459286,651.805459286,0.453118748701,-0.00554862066744,0.0498231476653,0.999999958996,8.09764146584e-05,-0.000273181230952,2.86794019603e-05,1793242868243927552
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.389220988,745,714,679.389220988,659,632,879.389220988,786.389220988,806,651.389220988,631,652,0.45308288425,-0.0055466963514,0.0498068759853,0.999999951005,8.12127106129e-05,-0.000301077391142,2.7313946077e-05,1793242868260594176
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.971915534,745,714,679.971915534,659,632,879.971915534,786.971915534,806,651.971915534,631,652,0.453037761581,-0.00554364135643,0.0497864605178,0.999999939924,8.18729811297e-05,-0.000335873882483,2.52583935256e-05,1793242868277261056
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.453561354,745,714,680,659.546438646,632,879.453561354,787,806,652,630.453561354,652,0.452975911643,-0.0055427443322,0.0497651011445,0.999999927796,8.131001062e-05,-0.000370447114287,2.37642797814e-05,1793242868293927424
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.120933535,745,714,680,660,632,879,787,806.120933535,652,630.120933535,652,0.452911307877,-0.00554164428531,0.0497456430491,0.999999916076,8.11778465249e-05,-0.000400941891345,2.24554693977e-05,1793242868310594304
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.69687927,745,714,680,660,632,879,787,806.69687927,652,630.69687927,652,0.4528395298,-0.00553936921589,0.0497335183414,0.999999909744,8.28996503455e-05,-0.000416134038072,2.17368934252e-05,1793242868327260672
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.721510402,745.278489598,714.278489598,680,660,632,879.278489598,787,807,652,631,652,0.452764223187,-0.00553647896627,0.0497273038579,0.999999905928,8.54028725122e-05,-0.000424730428048,2.13106536493e-05,1793242868343927296
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.133606495,745.866393505,714.866393505,680,660,632,879.866393505,787,807,652,631,652,0.452684996218,-0.00553290522428,0.0497276558966,0.999999905097,8.87742850706e-05,-0.000425998638575,2.12092124153e-05,1793242868360593920
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.550920869,714.550920869,680,660,632,880,787,807,652,631,652,0.452582839084,-0.00552822203909,0.0497279082457,0.999999904509,9.196604782e-05,-0.000426731761044,2.06011542866e-05,1793242868377260544
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,879.970176302,786.970176302,806.970176302,652,631,651.970176302,0.45247270313,-0.00552325138865,0.049728103897,0.99999990393,9.50954705613e-05,-0.000427439155017,1.98368022673e-05,1793242868393927680
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,879.396837717,786.396837717,806.396837717,652,631,651.396837717,0.452340056928,-0.00551898813325,0.0497278005773,0.999999902329,9.80516554259e-05,-0.000430545556502,1.89394036512e-05,1793242868410594816
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,879.180981412,786.180981412,806,651.819018588,631,651.180981412,0.452198867531,-0.00551469660361,0.0497279219391,0.999999900958,0.000101076583624,-0.000433046517272,1.83920211803e-05,1793242868427261696
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,879.768874343,786.768874343,806,651.231125657,631,651.768874343,0.452038469969,-0.00551034150387,0.0497289981382,0.999999900133,0.000104256071243,-0.000434186228445,1.86316014215e-05,1793242868443928064
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.648381943,632.351618057,879.648381943,787,806,651.351618057,631,652,0.45185193227,-0.00550354585362,0.0497262871148,0.999999896844,0.000110174211961,-0.000440280921604,1.80728312647e-05,1793242868460594432
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.068974006,632.931025994,879.068974006,787,806,651.931025994,631,652,0.451648460105,-0.00549516913309,0.0497211226026,0.999999891846,0.000117866543609,-0.000449585617076,1.69968631695e-05,1793242868477260800
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.509697904,632.490302096,879,787,806,652,631,651.490302096,0.451421265073,-0.00548742961041,0.0497213817931,0.999999893173,0.000123025079626,-0.000445294944928,1.52014503801e-05,1793242868493927424
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632.087359633,879.087359633,786.912640367,806,652,631,651.087359633,0.451187416968,-0.00547965294509,0.0497232075255,0.999999895868,0.000127900127874,-0.000437866856202,1.3384742593e-05,1793242868510594048
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632.659962937,879.659962937,786.340037063,806,652,631,651.659962937,0.45093441976,-0.00547119170023,0.0497296637926,0.999999901514,0.000133102337897,-0.000423216184058,1.19897481917e-05,1793242868527260672
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.239960048,714,680,660,633,880,786.239960048,806.239960048,651.760039952,631,652,0.450669722601,-0.00546180830407,0.0497382991804,0.999999908261,0.000139272500901,-0.000404925253159,1.08261995818e-05,1793242868543927296
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.830767674,714,680,660,633,880,786.830767674,806.830767674,651.169232326,631,652,0.450387918861,-0.00545107662335,0.0497501206781,0.999999916467,0.000146857915665,-0.000381311870539,1.00010498663e-05,1793242868560594176
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.586591994,714,680,660,633,880,787,806.586591994,651,631,652,0.450062456125,-0.00544318084271,0.0497577466768,0.999999921971,0.000150373028225,-0.000365201230455,8.58039779544e-06,1793242868577261312
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.00723026,714,680,660,633,880,787,806.00723026,651,631,652,0.449719467433,-0.00543642347325,0.0497636884826,0.999999926397,0.000152254205575,-0.000352102405109,6.92069416841e-06,1793242868593927936
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.568688188,745,714.568688188,680,660,633,880,787,806,651.568688188,631.568688188,652,0.449310845018,-0.00542769087508,0.0497613838601,0.999999923207,0.000154853062253,-0.000359977276778,4.77984226086e-06,1793242868610594304
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.85580658,745,714.85580658,680,660,633.14419342,880,787,806,651.85580658,631.85580658,652,0.448896664038,-0.00542036950572,0.0497593021863,0.999999921343,0.000156570542273,-0.000364407774435,2.46573935662e-06,1793242868627260928
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.281404478,745,714.281404478,680,660,633.718595522,880,787,806,651.281404478,631.281404478,652,0.448468373533,-0.00541733308838,0.0497581966185,0.999999923889,0.00015563132841,-0.000357770998691,-3.47125252916e-07,1793242868643927808
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.698409887,660,634,879.698409887,787,806,651.301590113,631,651.698409887,0.44801783547,-0.00541738979073,0.0497569701217,0.999999926302,0.000148483729096,-0.000354029723247,-3.48426035256e-06,1793242868660594176
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.107162719,660,634,879.107162719,787,806,651.892837281,631,651.107162719,0.44754593007,-0.0054204172265,0.0497556274804,0.999999928484,0.000135373392268,-0.000353069380614,-6.93283581656e-06,1793242868677260800
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.47293228,660,634,879.47293228,787,806.47293228,652,631,651.47293228,0.447031238801,-0.00542152686802,0.0497581692738,0.99999993119,0.000126186250653,-0.000348729654177,-9.19552226623e-06,1793242868693927680
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.050252271,660.050252271,634.050252271,879.949747729,787,807,651.949747729,631.050252271,652,0.446503728496,-0.00542162055438,0.0497620792975,0.999999934208,0.000118464645881,-0.000342670824998,-1.12534241135e-05,1793242868710594304
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.624380226,660.624380226,634.624380226,879.375619774,787,807,651.375619774,631.624380226,652,0.445941321009,-0.00541554884898,0.0497712885742,0.999999939765,0.000116967246613,-0.000326489378991,-1.39132407377e-05,1793242868727261184
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.795992863,661,634.795992863,879.204007137,787.204007137,806.795992863,651.204007137,632,651.795992863,0.445369598616,-0.00541147604442,0.0497840539205,0.999999945153,0.000113382405874,-0.000310776748937,-1.59980233619e-05,1793242868743927808
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.205960792,661,634.205960792,879.794039208,787.794039208,806.205960792,651.794039208,632,651.205960792,0.44478025047,-0.00541118558617,0.0498035481066,0.99999995046,0.000105847681597,-0.000295951219519,-1.69947190828e-05,1793242868760594176
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,634,880,787.046190067,806.953809933,651.046190067,631.046190067,651,0.443467264481,-0.00540578868684,0.049792640011,0.99999994339,8.93233490443e-05,-0.000323582079185,-2.31613620921e-05,1793242868793927424
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.532431885,745,714,680,660.467568115,634,880,787,806.467568115,651.532431885,631,651.532431885,0.442756143642,-0.00539962804037,0.0497676327834,0.999999931275,8.55006191008e-05,-0.000359598585319,-2.87863384292e-05,1793242868810594048
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,661.366607923,634,880,787,806,652,631,652,0.44135649522,-0.00540485564133,0.0497855470323,0.99999994631,6.07786296136e-05,-0.000320143128478,-3.45619105545e-05,1793242868843927808
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.649121655,745,714,679,661.649121655,634.350878345,880.29824331,788,806,652,631,652,0.431456643376,-0.00538282294191,0.0498173581774,0.999999951873,7.52995517339e-05,-0.000298453840442,-3.88592385629e-05,1793242869043927552
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.229116194,661.541767612,634.229116194,880.541767612,787.770883806,805.770883806,652,631,652,0.430541020534,-0.0053770240641,0.0498066319284,0.999999942266,0.000121597061484,-0.000315949079764,-2.92804145352e-05,1793242869060593920
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.018699614,745,713.018699614,679.018699614,660.981300386,635,879,787,805,651.018699614,631,651.018699614,0.427762054517,-0.00537260142999,0.049780442181,0.999999930896,8.3163758345e-05,-0.000359735350794,-4.33921356469e-05,1793242869110594048
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.054015703,660.108031406,634.945984297,879,788,805,651.054015703,631,652,0.417109037031,-0.00536543237881,0.0497733075111,0.999999923419,8.71207199402e-05,-0.000378293137871,-4.96578111225e-05,1793242869310594560
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,634.904689533,879,787.095310467,805,652,631,652,0.415572306405,-0.0053696360156,0.049820596572,0.999999954849,8.34557767772e-05,-0.000284527505646,-4.87981245609e-05,1793242869343927552
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,634.328769745,879,787.671230255,805,652,631,652,0.41479125821,-0.00536759917221,0.0498186440221,0.999999952772,8.80169702054e-05,-0.000290283186961,-4.94433359417e-05,1793242869360594176
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.745873856,634,879,787.745873856,805,652,631,651.745873856,0.41399917263,-0.00536653491633,0.0498056959003,0.999999944991,9.00000072882e-05,-0.000315240564243,-5.04025182111e-05,1793242869377260800
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+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.546137411,634.726931295,879,788,805,653,631,652,0.409773380909,-0.00536682461076,0.0497939613561,0.999999930968,9.87042251016e-05,-0.000354569813615,-5.0999326282e-05,1793242869477261312
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,713.763209262,679,660.236790738,635,878.236790738,787.763209262,805,652.763209262,631,652,0.400983699422,-0.00540546407053,0.0498490998732,0.999999959086,0.000107131474908,-0.000261939838891,-4.16943519969e-05,1793242870310594304
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,878.501239316,787.501239316,805,652,630.498760684,652,0.400982493168,-0.00540437143782,0.0498486830891,0.99999995848,0.000109824268828,-0.000263122262998,-4.1782187654e-05,1793242870360594176
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,678.984164793,661,634.015835207,878,788,804.984164793,652,630.984164793,652,0.400982611948,-0.00540641947317,0.0498498509387,0.999999959226,0.000106172846936,-0.000261803774249,-4.16540586974e-05,1793242870460593920
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..98a287bd9910213ec5c56e10c3be325a82a9c20e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,406 @@
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+380,6.333333333,pose2_to_pose3_retreat,0.580756645212,1.90540875262e-06,1.0400409775,0.551328363562,0.00867672918972,1.03967876848
+381,6.350000000,pose2_to_pose3_retreat,0.580751843723,1.94563678871e-06,1.04004100011,0.551323561058,0.00867676573866,1.0396787855
+382,6.366666667,pose2_to_pose3_retreat,0.580748924129,1.89664090532e-06,1.04004100223,0.551320642544,0.00867672038396,1.03967878709
+383,6.383333333,pose2_to_pose3_retreat,0.580747507542,1.85724673892e-06,1.04004099753,0.551319226684,0.00867668350053,1.03967878338
+384,6.400000000,pose2_to_pose3_retreat,0.580746685242,1.82423832696e-06,1.04004099107,0.55131840494,0.00867665243255,1.03967877832
+385,6.416666667,pose2_to_pose3_retreat,0.580746201355,1.80481435458e-06,1.04004098727,0.55131792138,0.00867663415044,1.03967877534
+386,6.433333333,pose2_to_pose3_retreat,0.580745885394,1.79213117862e-06,1.04004098479,0.551317605632,0.00867662221286,1.03967877339
+387,6.450000000,pose2_to_pose3_retreat,0.580745612877,1.78119191515e-06,1.04004098265,0.551317333299,0.00867661191668,1.03967877171
+388,6.466666667,pose2_to_pose3_retreat,0.580745215175,1.78588088623e-06,1.04004097731,0.551316935559,0.00867661653158,1.03967876765
+389,6.483333333,pose2_to_pose3_retreat,0.580745115703,1.80308954941e-06,1.04004097424,0.55131683584,0.00867663293555,1.03967876539
+390,6.500000000,pose2_to_pose3_retreat,0.580744944452,1.83271635015e-06,1.04004096896,0.551316664163,0.00867666117697,1.03967876148
+391,6.516666667,pose2_to_pose3_retreat,0.58074490652,1.83927867245e-06,1.04004096779,0.551316626137,0.00867666743243,1.03967876062
+392,6.533333333,pose2_to_pose3_retreat,0.580744894542,1.84135081421e-06,1.04004096742,0.55131661413,0.00867666940767,1.03967876035
+393,6.550000000,pose2_to_pose3_retreat,0.580744814342,1.85522553968e-06,1.04004096495,0.55131653373,0.0086766826336,1.03967875852
+394,6.566666667,pose2_to_pose3_retreat,0.580744775827,1.86188861123e-06,1.04004096376,0.55131649512,0.0086766889851,1.03967875764
+395,6.583333333,pose2_to_pose3_retreat,0.5807445923,1.89363913405e-06,1.04004095811,0.551316311137,0.00867671925093,1.03967875346
+396,6.600000000,pose2_to_pose3_retreat,0.58074431398,1.94178887848e-06,1.04004094953,0.551316032125,0.00867676514914,1.03967874712
+397,6.616666667,pose2_to_pose3_retreat,0.580744008137,1.97671286547e-06,1.04004092285,0.551315725759,0.00867679838094,1.03967872242
+398,6.633333333,pose2_to_pose3_retreat,0.580744006754,1.97599433809e-06,1.04004092189,0.551315724385,0.00867679769287,1.03967872145
+399,6.650000000,pose2_to_pose3_retreat,0.580743884538,1.91250405017e-06,1.04004083696,0.551315602978,0.00867673689342,1.03967863525
+400,6.666666667,pose2_to_pose3_retreat,0.58074376648,1.85117363206e-06,1.04004075491,0.551315485701,0.00867667816231,1.03967855197
+401,6.683333333,pose2_to_pose3_retreat,0.580743649697,1.79050545969e-06,1.04004067376,0.551315369691,0.00867662006537,1.0396784696
+402,6.700000000,pose2_to_pose3_retreat,0.580743586606,1.75773009552e-06,1.04004062991,0.551315307017,0.00867658867909,1.0396784251
+403,6.716666667,pose2_to_pose3_retreat,0.580743534687,1.7784584159e-06,1.04004072672,0.551315255262,0.00867660994154,1.03967852142
+404,6.733333333,pose2_to_pose3_retreat,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051294,1.03967877686
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eaf8ebcc5aa4fbea6a368c387d1c573d2e3f70b7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30fb188180d3e252b679593c307d2b43bb1dd1fb99776db4da9a9e0a63e8b691
+size 25881968
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c67b79dcc59c09a3962bc7b704502f23769c71d4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+27,0.450000000,BASELINE,765,745,714,679,661,635,879,788,805,652.670212519,631,652.329787481,0.400985164208,-0.00540814177992,0.0498530031973,0.999999961002,0.000104556904274,-0.000255737800858,-4.07704663701e-05,1793242871026086400
+28,0.466666667,BASELINE,764.743845953,745,714,679,660.743845953,635,878.743845953,788,805,652.743845953,631,652,0.40098430028,-0.00540806310636,0.0498524855451,0.999999960941,0.000103879897377,-0.000256245835803,-4.08102601225e-05,1793242871042752768
+29,0.483333333,BASELINE,764.163840503,745,714,679,660.163840503,635,878.163840503,788,805,652.163840503,631,652,0.400982263429,-0.00540800175617,0.0498513295998,0.999999960349,0.000106076137183,-0.000257634584772,-4.09292221572e-05,1793242871059419136
+30,0.500000000,BASELINE,764.413414926,745,714,678.586585074,660.413414926,635,878.413414926,788,805,652.413414926,631,652,0.400982907259,-0.0054075174769,0.0498515302585,0.99999996024,0.000107521973375,-0.000257451414328,-4.09490035034e-05,1793242871076085760
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+43,0.716666667,BASELINE,765,745,714,678.954411586,661,635,878.045588414,787,805,652.045588414,631,651.045588414,0.400982672864,-0.0054075730565,0.0498517237174,0.999999960135,0.000106660953223,-0.000258194023,-4.11103764437e-05,1793242871292752640
+44,0.733333333,BASELINE,765.529664164,745,714,679,661,635,878,787.529664164,804.470335836,652,631,651.529664164,0.400984046678,-0.00540937866714,0.0498524643469,0.999999960908,0.000103827405815,-0.000256385001282,-4.08617847165e-05,1793242871309419264
+45,0.750000000,BASELINE,765.892455754,745,714,678.892455754,661,635,878.107544246,788,804.107544246,652,631,652,0.400985582592,-0.00541068102128,0.0498533628237,0.999999961629,0.000101905752795,-0.000254368934307,-4.06556605824e-05,1793242871326085888
+46,0.766666667,BASELINE,765.302394549,745,714,678.302394549,661,635,878.697605451,788,804.697605451,652,631,652,0.400986940537,-0.00540922937449,0.049854341632,0.999999961728,0.000104535064516,-0.000252884300476,-4.0812738551e-05,1793242871342752512
+47,0.783333333,BASELINE,765,745,714,678.282290357,661,634.717709643,878.717709643,787.717709643,805,652.282290357,631,652,0.400987076085,-0.00540873536821,0.0498546895901,0.999999961679,0.000105765749549,-0.000252564220113,-4.08369554698e-05,1793242871359419392
+48,0.800000000,BASELINE,765,745,714,678.861323779,661,634.138676221,878.138676221,787.138676221,805,652.861323779,631,652,0.400985926654,-0.00540924803157,0.0498543743997,0.99999996148,0.000105526201295,-0.000253468315872,-4.0721509135e-05,1793242871376086016
+49,0.816666667,BASELINE,765,745,714,679,661,634.436742329,878,787.436742329,805,652.563257671,631,652,0.400986012264,-0.00540868141351,0.0498543265874,0.999999961635,0.000104702273146,-0.000253190373012,-4.07630537335e-05,1793242871392752640
+50,0.833333333,BASELINE,765,745,714,679,660.988721901,635,878,787.988721901,805,652,631,652,0.400986461637,-0.00540779593046,0.0498543560409,0.999999961887,0.000103751752427,-0.000252571689349,-4.0849104371e-05,1793242871409419264
+51,0.850000000,BASELINE,765,745,714,679,660.401122606,635,878,787.401122606,805,652,631,652,0.400985624645,-0.00540798456964,0.0498540310467,0.999999961435,0.000105736410523,-0.000253562883146,-4.06830660641e-05,1793242871426085888
+52,0.866666667,BASELINE,765,745,713.816420831,678.816420831,660.183579169,635,878,787.183579169,805,652,631,652,0.400984949243,-0.00540834617978,0.0498537292574,0.999999961176,0.000106542892812,-0.000254271603341,-4.05200633148e-05,1793242871442752768
+53,0.883333333,BASELINE,765,745,713.237951832,678.237951832,660.762048168,635,878,787.762048168,805,652,631,652,0.400984621435,-0.00540907986085,0.0498534773829,0.99999996134,0.000104815047987,-0.000254372705774,-4.03635902421e-05,1793242871459419392
+54,0.900000000,BASELINE,765,745,713,678.340911966,660.659088034,635,878.340911966,788,805,652.340911966,630.659088034,652,0.400985775971,-0.00540879481163,0.0498539907497,0.999999961642,0.000104904944857,-0.000253120391261,-4.05059960396e-05,1793242871476085760
+55,0.916666667,BASELINE,765,745,713,678.920051625,660.079948375,635,878.920051625,788,805,652.920051625,630.079948375,652,0.400987966364,-0.0054077978784,0.0498550388635,0.999999962038,0.000106265071222,-0.000250922315293,-4.08572570041e-05,1793242871492752384
+56,0.933333333,BASELINE,765,745,713.495208255,679,660.495208255,635,879,788,805,653,630.495208255,652,0.400988027709,-0.0054085396878,0.0498548524768,0.999999962215,0.000104563224372,-0.000250932997404,-4.08450591504e-05,1793242871509419776
+57,0.950000000,BASELINE,765,745,714,679,661,635,878.928603589,787.928603589,805,652.928603589,631,652,0.400987545633,-0.00540948659815,0.0498544434824,0.999999962268,0.000102748709441,-0.000251486288785,-4.07682682155e-05,1793242871526087168
+58,0.966666667,BASELINE,765,745,714,679,661,635,878.340329803,787.340329803,805,652.340329803,631,652,0.400985597978,-0.00540990235182,0.049853854259,0.999999961693,0.000103668749475,-0.000253406868075,-4.0645266978e-05,1793242871542753280
+59,0.983333333,BASELINE,765,745,714,679,661,635,878.244329738,787.244329738,805,652,631,652,0.400984464623,-0.00540987060216,0.0498534082999,0.999999961308,0.000104789554382,-0.000254475096302,-4.05720538066e-05,1793242871559419904
+60,1.000000000,BASELINE,765,745,714,679,661,635,878.824028422,787.824028422,805,652,631,652,0.400984448985,-0.00540922460592,0.0498531589865,0.999999961187,0.000106185930885,-0.000254373380943,-4.05671801144e-05,1793242871576086784
+61,1.016666667,BASELINE,765,745,714,678.601531521,661,635,879,787.601531521,805,652.398468479,631,652,0.400985177835,-0.00540789033141,0.0498533994135,0.999999961231,0.000106719537636,-0.000253938051047,-4.07956041072e-05,1793242871592754176
+62,1.033333333,BASELINE,765,745,714,678.029383564,661,635,879,787.029383564,805,652.970616436,631,652,0.400986231184,-0.00540625605877,0.0498538533024,0.999999961348,0.000106877090966,-0.000253357309404,-4.11257149901e-05,1793242871609421312
+63,1.050000000,BASELINE,765,744.456613428,714,678,661,635,878.456613428,787.543386572,805,653,631,652,0.400985758273,-0.00540884445928,0.0498539098241,0.999999961718,0.000103402412683,-0.000253404557601,-4.07211450485e-05,1793242871626087680
+64,1.066666667,BASELINE,765,744.120774323,714,678.120774323,661,635,878.120774323,787.879225677,804.879225677,653,631,652,0.400985059407,-0.00541096344326,0.0498537029336,0.999999961841,0.000101183100105,-0.000253876376287,-4.03421044511e-05,1793242871642754304
+65,1.083333333,BASELINE,765,744.716176322,714,678.716176322,661,635,878.716176322,787.283823678,804.283823678,653,631,652,0.400983797279,-0.00541033930223,0.0498525454069,0.999999960975,0.000104669975521,-0.000255883097368,-4.02196950027e-05,1793242871659421440
+66,1.100000000,BASELINE,765.303622228,745,714,679,660.696377772,634.696377772,878.696377772,787,804.303622228,652.696377772,631,652,0.400983688341,-0.00540875866478,0.0498522086222,0.999999960619,0.000106475089417,-0.000256485202638,-4.04978422218e-05,1793242871676088320
+67,1.116666667,BASELINE,765.88382072,745,714,679,660.11617928,634.11617928,878.11617928,787,804.88382072,652.11617928,631,652,0.40098462987,-0.00540630673343,0.0498526194696,0.999999960737,0.000106748249017,-0.000255807811908,-4.11408654566e-05,1793242871692754944
+68,1.133333333,BASELINE,766,745,714,679,660.459706173,634.459706173,878.919412346,787,805,652.459706173,631,652,0.400984972695,-0.00540677606982,0.0498530208744,0.999999960887,0.000107184821527,-0.000255026840913,-4.12117247179e-05,1793242871709421312
+69,1.150000000,BASELINE,765.96469539,745,714,679,661,635,879.96469539,787,805,652.96469539,631,652,0.400985200176,-0.00540793383774,0.0498534154122,0.999999961053,0.000107611017879,-0.000254208852868,-4.11211555052e-05,1793242871726087424
+70,1.166666667,BASELINE,765.376685064,745,714,679,661,635,879.376685064,787,805,652.376685064,631,652,0.400985968655,-0.00540841867756,0.0498537394579,0.999999961361,0.000107234238242,-0.000253217357044,-4.07460922023e-05,1793242871742754304
+71,1.183333333,BASELINE,765,745,714,679,661,634.792097746,879,787,805,652,631,652,0.400986029845,-0.00540900593677,0.0498537645384,0.999999961513,0.000106057788784,-0.000253149440998,-4.05142494765e-05,1793242871759421184
+72,1.200000000,BASELINE,765,745,714,679,661,634.213611806,879,787,805,652,631,652,0.400984830297,-0.00540977575759,0.0498532567166,0.999999961384,0.000103455935822,-0.000254727796482,-4.05376959315e-05,1793242871776088064
+73,1.216666667,BASELINE,765,745,714,679,660.638462568,634.361537432,878.638462568,787,805,652,630.638462568,652,0.400984855142,-0.00541025047401,0.0498535539504,0.99999996148,0.000102858772513,-0.000254604583389,-4.04663689518e-05,1793242871792754688
+74,1.233333333,BASELINE,765,745,714,679,660.065266801,634.934733199,878.065266801,787,805,652,630.065266801,652,0.400985596794,-0.00541055242457,0.0498543224957,0.99999996171,0.000103435234097,-0.00025348520455,-4.03395578475e-05,1793242871809421312
+75,1.250000000,BASELINE,765,745,714,679,660,635,878,787.51212186,805,652.51212186,630.51212186,652,0.400985213485,-0.00540991962643,0.0498541092945,0.999999961625,0.000104873787766,-0.000253214866915,-4.04310486519e-05,1793242871826087936
+76,1.266666667,BASELINE,765,745,714,679,660.092111035,635,878,788,805,652.907888965,631,652,0.400984946182,-0.00540928617671,0.0498539648308,0.99999996158,0.00010610065396,-0.000252864224193,-4.0515879884e-05,1793242871842754560
+77,1.283333333,BASELINE,765,745,714,679,660.683270529,635,878,788,805,652.316729471,631,652,0.400986090564,-0.00540929994847,0.0498548762507,0.999999961987,0.000105580448679,-0.000251487412533,-4.04126531888e-05,1793242871859420928
+78,1.300000000,BASELINE,765,745,714,678.731939164,661,635,878,788,805.268060836,652,630.731939164,652,0.400986338825,-0.00540914732884,0.0498549888196,0.999999962068,0.000104659344347,-0.000251525831194,-4.05662968135e-05,1793242871876087040
+79,1.316666667,BASELINE,765,745,714,678.1544998,661,635,878,788,805.8455002,652,630.1544998,652,0.400985552839,-0.00540880267102,0.0498541794062,0.999999961771,0.000103275548227,-0.000253197617506,-4.10164036006e-05,1793242871892753152
+80,1.333333333,BASELINE,764.577940531,745,714,678,661,634.577940531,878,787.577940531,805.155881062,652,630.422059469,652,0.400985835317,-0.00540905771923,0.0498539643923,0.99999996182,0.000103029289624,-0.000253141581769,-4.08049470341e-05,1793242871909420032
+81,1.350000000,BASELINE,764.001702714,745,714,678,661,634.001702714,878,787.001702714,804.003405427,652,630.998297286,652,0.400986508105,-0.00540953184006,0.0498539665124,0.999999961994,0.000103198573432,-0.000252454372673,-4.03518213725e-05,1793242871926087168
+82,1.366666667,BASELINE,764,745.571893025,714,678.571893025,661,634.571893025,878.571893025,787.571893025,804.571893025,652.571893025,631,652,0.400985232174,-0.00540941993429,0.0498531018176,0.99999996162,0.000103128114905,-0.000253938226598,-4.0505086775e-05,1793242871942753280
+83,1.383333333,BASELINE,764.150825984,745.849174016,714,678.849174016,661,635,879,787.849174016,805,652.849174016,630.849174016,652,0.400984574365,-0.00540928172544,0.049852810989,0.999999961425,0.000103336348867,-0.000254607975839,-4.05701720007e-05,1793242871959419392
+84,1.400000000,BASELINE,764.74548797,745.25451203,714,678.25451203,661,635,879,787.25451203,805,652.25451203,630.25451203,652,0.400985752497,-0.00540907122525,0.0498542164377,0.999999961769,0.000104366782712,-0.000252863123463,-4.03704808362e-05,1793242871976086272
+85,1.416666667,BASELINE,765,745,714,678,661,635,878.670184153,787.329815847,805,652,630.329815847,652,0.400985722706,-0.00540932382741,0.04985408844,0.999999961777,0.000103743527983,-0.000253072991595,-4.04551864997e-05,1793242871992753152
+86,1.433333333,BASELINE,765,745,714,678,661,635,878.09358865,787.90641135,805,652,630.90641135,652,0.400984789105,-0.00540992293885,0.0498528130645,0.999999961532,0.000101882926045,-0.000254745449515,-4.07526877462e-05,1793242872009419776
+87,1.450000000,BASELINE,765,745,714,678.482303921,661,635,878.482303921,788,805,652.482303921,631,652,0.400984893834,-0.00541049124937,0.04985321744,0.999999961782,0.000102102496513,-0.000253685201015,-4.06877276148e-05,1793242872026086400
+88,1.466666667,BASELINE,765,745,714,679,660.94069325,635,879,787.94069325,805,653,631,652,0.400985110116,-0.0054108463802,0.0498538483345,0.999999962035,0.000102885271617,-0.000252387825797,-4.05552487557e-05,1793242872042752768
+89,1.483333333,BASELINE,765,745,714,679,660.352576309,635,879,787.352576309,805,653,631,652,0.400984527156,-0.00540935390302,0.0498535969039,0.999999961478,0.000105095984568,-0.000253697370886,-4.04469579364e-05,1793242872059419648
+90,1.500000000,BASELINE,765,745,714,678.767998612,660.232001388,635,878.767998612,787,805.232001388,653,631,652,0.40098405467,-0.00540921326698,0.0498532934293,0.999999961173,0.000105550388138,-0.000254731152673,-4.03088418347e-05,1793242872076086272
+91,1.516666667,BASELINE,765,745,714,678.188718795,660.811281205,635,878.188718795,787,805.811281205,653,631,652,0.400983747549,-0.00541109617616,0.0498529120509,0.999999961249,0.000103375805681,-0.000255352149548,-4.01260808498e-05,1793242872092752896
+92,1.533333333,BASELINE,765,745,714,678,660.611396969,635,878,787,805.611396969,652.611396969,631,652,0.400982533685,-0.00541140785237,0.0498520838954,0.99999996098,0.0001026276352,-0.000256696915062,-4.01718383224e-05,1793242872109419776
+93,1.550000000,BASELINE,765,745,714,678,660.035021191,635,878,787,805.035021191,652.035021191,631,652,0.400980881685,-0.00541096030993,0.0498510398575,0.999999960544,0.000102568705914,-0.000258391405195,-4.03280157569e-05,1793242872126086656
+94,1.566666667,BASELINE,765,745,714,678.540369408,660.540369408,635,878.540369408,787,805,652,630.459630592,652,0.400981715448,-0.00540995865985,0.0498517791199,0.99999996074,0.000103166881644,-0.000257375175391,-4.04391429007e-05,1793242872142753024
+95,1.583333333,BASELINE,765,745,714,679,661,635,878.881211596,787.118788404,805,652,630.118788404,651.881211596,0.400982718969,-0.00540937994186,0.0498525870896,0.999999960996,0.000103733509143,-0.000256143586909,-4.04704481879e-05,1793242872159419392
+96,1.600000000,BASELINE,765,745,714,679,661,635,878.290508213,787.709491787,805,652,630.709491787,651.290508213,0.400983758045,-0.00541062382865,0.0498532097011,0.999999961334,0.000104005925845,-0.000254753099014,-4.01962204145e-05,1793242872176086016
+97,1.616666667,BASELINE,764.705332106,745,714,679.294667894,661,634.705332106,878,787.705332106,805,652,631,651,0.40098505162,-0.00541083430305,0.0498538523316,0.999999961725,0.000103996138862,-0.000253214098618,-4.02154422074e-05,1793242872192752640
+98,1.633333333,BASELINE,764.12550495,745,714,679.87449505,661,634.12550495,878,787.12550495,805,652,631,651,0.400986591481,-0.00541004471216,0.049854514335,0.999999962167,0.000103713254605,-0.000251531378148,-4.05186442649e-05,1793242872209419520
+99,1.650000000,BASELINE,764.448541411,745,714,679.551458589,660.551458589,634.448541411,878,787.448541411,805,652,631,651.448541411,0.400987257451,-0.0054092844335,0.0498552997472,0.999999962205,0.000105395601304,-0.00025069363014,-4.04278520929e-05,1793242872226086656
+100,1.666666667,BASELINE,765,745,714,679,660,635,878,787.978375798,805,652,631,652,0.40098764468,-0.00540864864469,0.0498560735887,0.999999962144,0.000107401669059,-0.000250118959295,-4.02262442358e-05,1793242872242753280
+101,1.683333333,BASELINE,765,745,714,679,660,635,878,787.388653714,805,652,631,652,0.400987051154,-0.00541107064751,0.0498556478258,0.999999962499,0.000103649908854,-0.000250323403726,-3.99727205746e-05,1793242872259419648
+102,1.700000000,BASELINE,764.80240497,745,714,679,660.19759503,635,878.19759503,787,804.80240497,652,631,652,0.400986725371,-0.00541203945832,0.0498551320262,0.999999962629,0.000101932937788,-0.00025050589841,-3.99755394889e-05,1793242872276086016
+103,1.716666667,BASELINE,764.222870065,745,714,679,660.777129935,635,878.777129935,787,804.222870065,652,631,652,0.400986917119,-0.00541019933193,0.0498544421908,0.999999962346,0.000104149098022,-0.000250645965471,-4.04738539494e-05,1793242872292752640
+104,1.733333333,BASELINE,764.35407295,745,714,679,661,635,878.64592705,787.35407295,804.35407295,652,631,651.64592705,0.400986561063,-0.00540968784314,0.0498543754297,0.999999962163,0.000105067285745,-0.000250989713773,-4.04831184898e-05,1793242872309419264
+105,1.750000000,BASELINE,764.92939642,745,714,679,661,635,878.07060358,787.92939642,804.92939642,652,631,651.07060358,0.400985862699,-0.00541000658354,0.0498546980106,0.999999962045,0.000105174406098,-0.000251460736937,-4.01867891349e-05,1793242872326086144
+106,1.766666667,BASELINE,764.496687269,745,714,678.496687269,661,635,878.503312731,787.496687269,805,652.503312731,631,651.503312731,0.400984492577,-0.00540931710044,0.0498536890169,0.999999961551,0.00010602771747,-0.000253033060121,-4.03862761583e-05,1793242872342752768
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,678,661,634,878,787,805,652,631,652,0.400985352433,-0.00540951773242,0.0498535042051,0.999999961758,0.000104519741148,-0.000252824517884,-4.04829419669e-05,1793242872385299456
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,678.577848319,660.422151681,634.577848319,878.577848319,787.577848319,805,652,631,652,0.400985144726,-0.0054094287571,0.0498536803583,0.999999961601,0.000104344360999,-0.000253497962003,-4.06037765787e-05,1793242872401966080
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.845214684,745,714,679.154785316,660.154785316,635,879,787.845214684,805,652,631,652,0.400984813175,-0.00540934385497,0.0498537573222,0.999999961478,0.000104470324079,-0.000253924960499,-4.06392208847e-05,1793242872418632960
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.270748495,745,714,679.729251505,660.729251505,635,879,787.270748495,805,652,631,652,0.400984145837,-0.00540926999674,0.0498535653468,0.999999961448,0.000105413341305,-0.000253683752897,-4.04431401672e-05,1793242872435299840
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.311654505,745,714,679.688345495,661,635,878.688345495,787.311654505,804.688345495,652,631,652,0.400984068905,-0.00540996746004,0.0498535285514,0.999999961625,0.000104008910012,-0.000253574861485,-4.03983866014e-05,1793242872451966464
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.901132721,745,714,679.098867279,661,635,878.098867279,787.901132721,804.098867279,652,631,652,0.400984518291,-0.00541135251621,0.0498536300908,0.999999961977,0.000100511850926,-0.000253583923053,-4.0488533298e-05,1793242872468633088
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.517643844,714,679,661,635,878,788,804.482356156,652,631,651.517643844,0.400983739643,-0.00541080784205,0.0498535017583,0.99999996161,0.000102717454126,-0.000254158499924,-4.03944547761e-05,1793242872485299712
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.061374348,714,679,661,635,878,788,805,652,631,651.061374348,0.400983099308,-0.00541010855654,0.0498534248702,0.999999961233,0.000105432777718,-0.000254555228545,-4.02525485582e-05,1793242872501966336
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.635863314,714,679,661,635,878,788,805,652,631,651.635863314,0.400985684291,-0.00541136782537,0.0498541653612,0.999999962034,0.000102801848448,-0.000252512305078,-4.00211619774e-05,1793242872518633216
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.420598027,788,805,652,631,652,0.400991613234,-0.00541233049078,0.0498565691229,0.99999996337,0.000101460470417,-0.000247770464911,-3.96964317461e-05,1793242872535299840
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.56928489,788,805,652,631,652,0.401003330838,-0.00541277971178,0.049861852139,0.999999965586,0.000102351409019,-0.000238356584204,-3.92101162102e-05,1793242872551966720
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.62938438,635,879.62938438,787.62938438,805.37061562,652,631,652,0.401027593297,-0.00541270862078,0.0498714698352,0.99999996977,0.000103428125475,-0.000219681564249,-3.87683357307e-05,1793242872568633344
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.036434404,635,879.036434404,787.036434404,805.963565596,652,631,652,0.401059381485,-0.00541232539177,0.0498836879304,0.999999974692,0.000104616291131,-0.000195450734714,-3.83532720138e-05,1793242872585299712
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.541236191,635,878.458763809,787,805.458763809,652,631,652,0.401119553933,-0.00541398998646,0.0499027447185,0.999999982002,0.000104017302829,-0.000154170141011,-3.7522873658e-05,1793242872601966336
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.117530623,787.117530623,805,652,631,652,0.401183098191,-0.00541608434749,0.0499208646444,0.999999987184,0.000103189090387,-0.000116846007863,-3.64764813419e-05,1793242872618632960
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.692362863,787.692362863,805,652,631,652,0.401252531473,-0.00541932924386,0.0499335972809,0.999999989278,0.000101924234736,-9.92592592249e-05,-3.46954745773e-05,1793242872635299840
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,678.725991069,660.725991069,635,878.725991069,787.725991069,805,652.274008931,631,652,0.401325218255,-0.0054220709758,0.0499418646807,0.999999990369,0.000101236123544,-8.88557285366e-05,-3.34239876098e-05,1793242872651966720
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,678.136499884,660.136499884,635,878.136499884,787.136499884,805,652.863500116,631,652,0.401401650975,-0.00542423338534,0.0499449909959,0.999999990582,0.000101212051551,-8.67226512402e-05,-3.27391402304e-05,1793242872668633600
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.555324914,745,714,678.444675086,660,635,878.444675086,787.444675086,804.555324914,652.555324914,631,652,0.401492907206,-0.00542690105304,0.0499448439639,0.999999990542,0.000100367061412,-8.84135923518e-05,-3.20304357568e-05,1793242872685300224
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.023198873,745,714,678.976801127,660,635,879,787.976801127,804.023198873,652,630.976801127,652,0.40158956919,-0.00542977163568,0.0499437122139,0.999999990432,9.91766409822e-05,-9.12145499838e-05,-3.13172030815e-05,1793242872701966592
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.598267342,745,714,678.401732658,660,635,879,787.401732658,804.598267342,652,630.401732658,652,0.40170856835,-0.00543384748217,0.049942619477,0.99999999063,9.56534349661e-05,-9.30098420845e-05,-3.06672635589e-05,1793242872718633216
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,678.173773474,660,635,878.826226526,787.173773474,804.826226526,652,630.173773474,652,0.401839048812,-0.00543892241334,0.0499436300231,0.999999991175,9.12145910882e-05,-9.19300727763e-05,-2.96463851834e-05,1793242872735299840
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,678.750293878,660,635,878.249706122,787.750293878,804.249706122,652,630.750293878,652,0.401996138954,-0.00544631287738,0.0499495152536,0.999999992488,8.46536151865e-05,-8.41869032626e-05,-2.77657986747e-05,1793242872751966464
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878,788,804,652.334177239,631,652,0.402164324189,-0.00545315045045,0.0499505320711,0.999999992716,8.21273328084e-05,-8.44698923198e-05,-2.62348415943e-05,1793242872768633344
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878,788,804,652.923686412,631,652,0.402340986773,-0.00545956558165,0.0499478291228,0.99999999214,8.26838033706e-05,-9.08853586146e-05,-2.49710226704e-05,1793242872785300480
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.503678499,635,878,787.496321501,804,652.496321501,631,652,0.402552637835,-0.00546598528825,0.0499495915732,0.999999992603,8.0555672132e-05,-8.80788514183e-05,-2.33959514142e-05,1793242872801967104
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745.081880761,714,678.918119239,660.918119239,635,878.081880761,787.081880761,804.081880761,652,631,652,0.402774650597,-0.00547283205387,0.0499522221458,0.999999993266,7.75489137687e-05,-8.35561948507e-05,-2.17185003094e-05,1793242872818633472
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745.657822914,714,678.342177086,660.342177086,635,878.657822914,787.657822914,804.657822914,652,631,652,0.403027791316,-0.00548225155389,0.0499560842721,0.999999994278,7.16493788405e-05,-7.69529426978e-05,-1.97025714939e-05,1793242872835299840
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745.765331156,714,678,660,635,878.765331156,788,805,652,631,651.765331156,0.403301137336,-0.00549166119383,0.0499609192138,0.999999995381,6.62987937522e-05,-6.73254909076e-05,-1.76006932859e-05,1793242872851966720
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745.187162341,714,678,660,635,878.187162341,788,805,652,631,651.187162341,0.403604059148,-0.00550105640037,0.0499671781282,0.999999996556,6.17517424096e-05,-5.3271322845e-05,-1.53730055113e-05,1793242872868633600
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,678.39892828,660.39892828,635,878,788,805,652,631,651.39892828,0.403932698411,-0.00550989514585,0.0499741186526,0.99999999734,6.11840700079e-05,-3.76494138225e-05,-1.26256926349e-05,1793242872885299968
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,678.988810802,660.988810802,635,878,788,805,652,631,651.988810802,0.404273647788,-0.00551846753091,0.0499813854418,0.999999997773,6.25211994778e-05,-2.12770776137e-05,-9.62965186124e-06,1793242872901966592
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.4320281,635,878.5679719,787.4320281,805.5679719,652,631,652,0.404649542029,-0.00552700878021,0.049986974402,0.999999998052,6.09707958425e-05,-1.14358285474e-05,-6.92609991861e-06,1793242872918633472
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.146252167,635,879.146252167,787.146252167,805.707495666,652.146252167,631,652,0.405031718078,-0.00553337388496,0.0499896813255,0.999999998033,6.22311163232e-05,-6.76400955865e-06,-3.87350818542e-06,1793242872935300096
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.722551852,635,879.722551852,787.722551852,804.554896296,652.722551852,631,652,0.405430378642,-0.00553334190915,0.0499840091488,0.999999997271,7.19204064076e-05,-1.69213332693e-05,2.22047207699e-07,1793242872951966720
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.695882794,788,804.304117206,652.695882794,631,652,0.405839437388,-0.00552340387508,0.0499707968667,0.999999994647,9.4024008428e-05,-4.31499769784e-05,1.98482765399e-06,1793242872968633344
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.109428825,788,804.890571175,652.109428825,631,652,0.406258149659,-0.00550426924058,0.0499505844902,0.999999988298,0.000127652827931,-8.42989366651e-05,1.58190365305e-06,1793242872985300224
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.528664274,745.471335726,714,679,661,635,879,787.528664274,805,652.471335726,630.528664274,652,0.406722077515,-0.00550209340443,0.0499365562197,0.999999984504,0.00014058717967,-0.000105900763501,3.5769516762e-06,1793242873001966848
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.050570344,745.949429656,714,679,660.949429656,635,879,787.050570344,805,653,630.050570344,652,0.407202596547,-0.00550444185764,0.0499259344458,0.999999981809,0.000148329475222,-0.000119752035345,6.28239549874e-06,1793242873018633472
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.627465813,745.372534187,714,679,660.372534187,635,879,787.627465813,805,653,630.627465813,652,0.40774783974,-0.00551338850697,0.0499360020048,0.999999983515,0.000151442628705,-9.96065777796e-05,1.06562580091e-05,1793242873035300096
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.798206777,745,714,679,660.201793223,635,879,788,804.798206777,652.798206777,631,652,0.408311589549,-0.00552087462013,0.0499527249761,0.999999985454,0.000155506966247,-6.83729839273e-05,1.53391560668e-05,1793242873051966720
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.228560765,745,714,679,660.771439235,635,879,788,804.228560765,652.228560765,631,652,0.408909075397,-0.00552569829295,0.0499815802277,0.999999986635,0.000161305235335,-1.6926611972e-05,2.05854007525e-05,1793242873068633344
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.356747428,745,714,678.643252572,661,635,879,788,804.356747428,652,631,652,0.409526016688,-0.00552611584158,0.0499981386659,0.999999984683,0.000172999066813,8.6636229129e-06,2.51218833205e-05,1793242873085299712
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.952550804,745,714,678.047449196,661,635,879,788,804.952550804,652,631,652,0.410155995019,-0.00552358085242,0.0500064570259,0.999999981638,0.000188643506238,1.69276948493e-05,2.91827551083e-05,1793242873101966336
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.529708772,745,714,678,661,635,879,787.470291228,805,652,631,652,0.410751572722,-0.0055197378055,0.0499864163336,0.999999977982,0.000205088344479,-3.07978975157e-05,3.20404177958e-05,1793242873118632960
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.894663593,745,714,678.105336407,660.894663593,635,879,787,805,652,631,652,0.411356151125,-0.00551736710424,0.049964261183,0.99999997214,0.000219524219301,-7.95083052551e-05,3.47574684956e-05,1793242873135299840
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.318665011,745,714,678.681334989,660.318665011,635,879,787,805,652,631,652,0.412014246517,-0.00552208084949,0.0499436227911,0.999999967907,0.000224674218272,-0.000110971600886,3.73114387708e-05,1793242873151966720
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,678.736399636,660.527200728,635,879,787,805,652,631,652,0.412715663273,-0.00552659002076,0.0499444660243,0.999999967754,0.000229577340121,-0.000100694200728,4.05824402516e-05,1793242873168633344
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,678.146373796,661.707252407,635,879,787,805,652,631,652,0.413470726464,-0.00553084586164,0.0499719106963,0.99999997083,0.000234174745734,-3.8727852789e-05,4.4741366621e-05,1793242873185299968
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,678.435131554,661.564868446,635,879,787.435131554,805,652,631,652,0.41422565404,-0.00553469691267,0.0499770064307,0.999999985857,0.000162014494121,-3.47378680071e-05,2.88284843491e-05,1793242873201966592
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.986278771,634.986278771,879,787.986278771,805,652,631,652,0.414980336405,-0.00553842012527,0.0499742239953,0.999999996459,6.71097686512e-05,-5.03051889773e-05,6.91412524134e-06,1793242873218632960
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.411957763,634.411957763,879,787.411957763,805,652,631,652,0.415726830289,-0.00554237678377,0.0499508253837,0.999999993455,7.76193875997e-05,-8.34083807031e-05,1.03633763419e-05,1793242873235299840
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.162803907,745,714,679,660,634.162803907,879,787.162803907,805,652,631,652,0.416493345457,-0.00554504897575,0.0499378995837,0.999999990916,8.96275611022e-05,-9.96877937206e-05,1.40771469204e-05,1793242873251966464
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.738683618,745,714,679,660,634.738683618,879,787.738683618,805,652,631,652,0.417310659778,-0.00554446214223,0.0499515460288,0.999999991586,0.000105437956301,-7.32809081342e-05,1.84620719403e-05,1793242873268633344
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,714,679,660.323562306,635,879,787.676437694,805,652,631,652,0.418134854449,-0.00554279730336,0.0499689872081,0.999999992288,0.00011501348586,-4.16214562598e-05,2.15157245201e-05,1793242873285299968
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,714,679,660.915916663,635,879,787.084083337,805,652,631,652,0.418964764774,-0.00554023693601,0.0499895807763,0.99999999258,0.000119409541294,-5.59855532632e-06,2.34634524723e-05,1793242873301966592
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.504664426,745,714.495335574,678.504664426,660.504664426,634.504664426,879,787,805.495335574,652,631,652,0.419784790026,-0.00553941062841,0.0499720978313,0.999999991548,0.000119959403989,-4.3980528118e-05,2.40793265237e-05,1793242873318633216
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714.928179761,678.071820239,660,634.071820239,879,787,805.928179761,652,631,652,0.420613745147,-0.00553928962401,0.0499540604794,0.999999989295,0.000119252378814,-8.11791769457e-05,2.44508829596e-05,1793242873335299840
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714.357215917,678.642784083,660,634.642784083,879,787,805.357215917,652,631,652,0.421516126682,-0.00554207671928,0.049975947512,0.999999992869,0.000114232164598,-2.4608814165e-05,2.46557192737e-05,1793242873351966464
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.216307309,714,679.216307309,660.432614618,634.783692691,879,787,805,652,631,652,0.422409993592,-0.00554424249556,0.0499915333251,0.999999993479,0.000110527467403,1.38861765136e-05,2.51597977753e-05,1793242873368632832
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.79410787,714,679.79410787,661.588215739,634.20589213,879,787,805,652,631,652,0.423289630984,-0.00554536992259,0.0499965885297,0.999999993469,0.000109021264848,2.21735744203e-05,2.6163970621e-05,1793242873385299456
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.619316358,713.619316358,679.619316358,661.238632716,634.380683642,879,787,805.380683642,651.619316358,631,651.619316358,0.424151557397,-0.00554584953497,0.0499876460171,0.999999993618,0.000109582084276,7.86021952841e-06,2.63318845403e-05,1793242873401966336
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.027882579,713.027882579,679.027882579,660.055765158,634.972117421,879,787,805.972117421,651.027882579,631,651.027882579,0.425003678787,-0.00554597051083,0.049970954233,0.999999993289,0.000111287227046,-1.89651306901e-05,2.60368373736e-05,1793242873418633216
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,713.553768417,679,660.553768417,635,879,787.553768417,805.446231583,651.553768417,631,651,0.42594054367,-0.00555090908577,0.0499903378979,0.999999994059,0.000105115661297,3.91315016446e-06,2.85759215956e-05,1793242873435300096
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.866598193,879,787.866598193,805,652,631,651.133401807,0.426858329902,-0.00555379750581,0.0500030093907,0.999999994261,0.000101872394401,1.23059895362e-05,3.07908966515e-05,1793242873451967232
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.292036404,879,787.292036404,805,652,631,651.707963596,0.427699157308,-0.00554911780901,0.0499875810874,0.999999992874,0.000109601796515,-3.53370121343e-05,3.14703240944e-05,1793242873468633856
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.283013479,879.283013479,787,805,651.716986521,631,652,0.428556406313,-0.00554727608705,0.0499669950228,0.999999990685,0.000111913572443,-7.17353442208e-05,3.09755923194e-05,1793242873485300224
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.858567852,879.858567852,787,805,651.141432148,631,652,0.429430629684,-0.00554836787829,0.0499410775661,0.999999989015,0.000108625341927,-9.65104612644e-05,2.92671742223e-05,1793242873501966848
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661.445273816,634.554726184,879.554726184,787,805.445273816,651.445273816,631,651.554726184,0.430323628065,-0.00554920776885,0.0499470197163,0.999999990891,0.000106531553463,-7.74968378092e-05,2.93798458028e-05,1793242873518633216
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661.930153398,634,879.034923301,787,806,651.965076699,631,651,0.431221106521,-0.00554995444845,0.0499612229457,0.999999992873,0.000104865093918,-4.85123681426e-05,3.00566607919e-05,1793242873535299840
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.772337234,634,879.613831383,787,806,651.386168617,631,651,0.432093091091,-0.00555052753374,0.0499424284185,0.99999999042,0.000103793554868,-8.6429779391e-05,3.02794628046e-05,1793242873551966720
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879.8087951,787,806,651.1912049,631,651,0.432967445738,-0.00555122093217,0.0499349086078,0.999999989109,0.000103317437377,-0.000100826402379,3.06898687089e-05,1793242873568633344
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879.234496098,787,806,651.765503902,631,651,0.433846549179,-0.00555215538758,0.0499499785774,0.999999991774,0.000104034293934,-6.8097277629e-05,3.14761539001e-05,1793242873585299968
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.348449346,634,879.348449346,787,805.651550654,651.651550654,631,651,0.434701541447,-0.0055540626588,0.0499689640621,0.99999999345,0.000102162912898,-3.96570345032e-05,3.30015576841e-05,1793242873601966848
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.937361616,634,879.937361616,787,805.062638384,651.062638384,631,651,0.435539894678,-0.00555664126466,0.0499906516207,0.999999994434,9.85054036793e-05,-1.41765263245e-05,3.5037022985e-05,1793242873618633216
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634,879.481694202,787.518305798,805.518305798,651,631,651,0.43632334246,-0.00555311820653,0.049964623086,0.99999999146,0.000101254814772,-7.50614297719e-05,3.45509816493e-05,1793242873635299840
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.902515958,634,879.097484042,787.902515958,806,651.097484042,631,651,0.43711516126,-0.00554969191077,0.0499407069289,0.999999986058,0.000104364867786,-0.000125872922641,3.38950580862e-05,1793242873651966208
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.327343894,634,879.672656106,787.327343894,806,651.672656106,631,651,0.437980021904,-0.00555029843782,0.0499549712114,0.9999999909,0.000105505422629,-7.69521641349e-05,3.38773013314e-05,1793242873668633088
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.488593972,634,879.755703014,787,806,651.755703014,631,651,0.438791014047,-0.00555208275894,0.0499670390584,0.999999993017,0.000103615110996,-4.53660369735e-05,3.42454782472e-05,1793242873685299968
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.62254731,634,879.188726345,787,806,651.188726345,631,651,0.439530853909,-0.00555542276934,0.0499762057425,0.999999993936,9.77214794251e-05,-3.66763623289e-05,3.51234157492e-05,1793242873701966848
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661.19964977,634,879.400175115,787,806,651,631,651.400175115,0.440276933847,-0.00555729028902,0.0499638137905,0.999999993649,9.26659952424e-05,-5.42422610064e-05,3.42399688253e-05,1793242873718633472
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679.000015362,660.000015362,634,879.999984638,787,805.999984638,651,631,652,0.441026127225,-0.00555842313226,0.0499406663162,0.999999991993,8.80289053665e-05,-8.49067280193e-05,3.2477792026e-05,1793242873735300096
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679.57926955,660.57926955,634,879.42073045,787,805.42073045,651,631,652,0.441772110681,-0.0055601697998,0.049957752343,0.999999993589,9.11148951691e-05,-5.75838494705e-05,3.46885629151e-05,1793242873751966720
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.157603442,745,714,680,660.842396558,634,879,787,805.157603442,651,631,651.842396558,0.44251177939,-0.00556116768127,0.0499760232065,0.999999994457,9.45424127493e-05,-2.81074364014e-05,3.68382081259e-05,1793242873768633344
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.733494947,745,714,680,660.266505053,634,879,787,805.733494947,651,631,651.266505053,0.443234688585,-0.00556017824443,0.0499974386945,0.999999994333,9.88763642939e-05,7.08457974808e-06,3.88256229949e-05,1793242873785299968
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.684933184,745,714,679.684933184,660.315066816,634,879.315066816,787,806,651.315066816,631,651.315066816,0.44388102145,-0.00555881971087,0.049991507744,0.9999999938,0.000103838887265,-6.30695034822e-06,3.97243199207e-05,1793242873801966592
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.098468292,745,714,679.098468292,660.901531708,634,879.901531708,787,806,651.901531708,631,651.901531708,0.444461391537,-0.00555714323801,0.0499620206116,0.999999991341,0.000109342860281,-6.15482752893e-05,3.96851966862e-05,1793242873818633216
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.515136609,634,879.515136609,787,806,651.515136609,631,652,0.445063453604,-0.00555860412443,0.0499432058888,0.999999989788,0.000110170826594,-8.18639844962e-05,3.97996106734e-05,1793242873835299584
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.933479535,745,714,679.066520465,660.066520465,634.066520465,879.066520465,787,806,651,631,652,0.445670832181,-0.0055607094013,0.0499312340139,0.999999989268,0.000110133916032,-8.78877967422e-05,4.01375692214e-05,1793242873851966464
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.359770194,745,714,679.640229806,660.640229806,634.640229806,879.640229806,787,806,651,631,652,0.446285373951,-0.00556290107906,0.0499550164288,0.999999992246,0.000110696683924,-3.8674902286e-05,4.19437400928e-05,1793242873868633344
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.213150779,745,714,680,661,635,880,787,806,651,631,652,0.446870434856,-0.00556348628097,0.049970659557,0.999999992556,0.000113563423865,-8.25865986475e-06,4.38636354425e-05,1793242873885300224
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.784745934,745,714,680,661,635,880,787,806,651,631,652,0.447405919291,-0.00556136995729,0.0499726152754,0.999999991662,0.000120304631904,-9.45175684946e-06,4.59747751816e-05,1793242873901966848
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.368548657,714,680,660.631451343,634.631451343,880,787,806,651,631,651.631451343,0.447885204407,-0.00555641292126,0.0499530930212,0.999999989982,0.000128706837185,-3.67363004121e-05,4.6047082985e-05,1793242873918633472
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.959725632,714,680,660.040274368,634.040274368,880,787,806,651,631,651.040274368,0.448330541384,-0.00554973990261,0.0499205966191,0.999999986272,0.000138112397599,-7.97818425836e-05,4.48877985251e-05,1793242873935299840
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.4578199,714,680,660.5421801,634,879.4578199,787,806,651,631,651.5421801,0.448765733326,-0.0055489531847,0.0499083345881,0.999999984266,0.000141103524802,-9.78182818061e-05,4.45947098638e-05,1793242873951966464
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.877666866,634,879.122333134,787,806,651,631,652,0.449195706032,-0.00555005031158,0.0499021931376,0.999999983145,0.000142033055901,-0.000107340876984,4.48733034884e-05,1793242873968633088
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.303656601,634,879.696343399,787,806,651,631,652,0.449609146813,-0.00555651410989,0.0499131883309,0.99999998525,0.000137082179125,-9.21792511938e-05,4.70288513827e-05,1793242873985299712
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.269803648,634,879.730196352,787,806.269803648,651.269803648,631,651.730196352,0.450008976497,-0.00555989353184,0.0499228446602,0.999999988205,0.000123854617269,-7.8958558245e-05,4.48981705102e-05,1793242874001966592
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.842646096,634,879.157353904,787,806.842646096,651.842646096,631,651.157353904,0.450393518408,-0.00555980863513,0.0499309971998,0.999999991839,0.000101330825881,-6.79178884445e-05,3.79532713422e-05,1793242874018633216
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.432735794,745,714,680,660.567264206,633.567264206,879,787,806.567264206,652,631,651.432735794,0.450724252744,-0.00556247218099,0.0499306646449,0.999999994586,6.49214386302e-05,-7.60225792739e-05,2.88818919126e-05,1793242874035300096
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.971763464,745,714,680,660,633,879.028236536,787,806,651.971763464,631,652,0.451032572648,-0.00556586174367,0.0499268497222,0.999999995294,2.56101946657e-05,-9.1519111919e-05,1.94972277491e-05,1793242874051966464
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.397920137,745,714,680,660,633,879.602079863,787,806,651.397920137,631,652,0.451301543564,-0.00556316708669,0.0499178390901,0.999999993279,3.18406437383e-05,-0.00010974222547,1.96204286198e-05,1793242874068633088
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.824186009,660,633,880,787,806,651,631,651.824186009,0.45155799692,-0.00556201750297,0.0499072485186,0.9999999905,3.67666395686e-05,-0.000131318708296,2.01124977032e-05,1793242874085299712
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.250698955,660,633,880,787,806,651,631,651.250698955,0.451786136812,-0.00556436271553,0.0498930842886,0.999999986143,3.8742096253e-05,-0.000160480163089,2.14389085144e-05,1793242874101966592
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,633,880,787,806,651,631,651,0.452000982376,-0.00556409530893,0.0498804364796,0.999999981945,4.24763546644e-05,-0.000183850005568,2.24762101039e-05,1793242874118633216
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,633,880,787,806,651,631,651,0.452205502691,-0.00556179876627,0.049868966424,0.999999978049,4.75766173749e-05,-0.000202721694316,2.32889701116e-05,1793242874135299584
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.534237478,745,714,679.465762522,660,633,880,787,806,651.465762522,631,651.465762522,0.452397695332,-0.0055593175476,0.0498707032147,0.999999978263,5.35397459828e-05,-0.000200036149427,2.4359033867e-05,1793242874151966464
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.000921027,745,714,679.999078973,660,633,880,787,806,651.999078973,631,651.999078973,0.452588099962,-0.00555680954376,0.0498743555195,0.999999979037,5.96280238559e-05,-0.000194223954639,2.54664167603e-05,1793242874168633088
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.626147324,745,714,680,660,632.373852676,880,786.373852676,806,652,630.373852676,651.373852676,0.452742791914,-0.00555617813586,0.0498748018829,0.999999979457,6.24333348494e-05,-0.00019107473503,2.60526687901e-05,1793242874185299712
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,880,786.23213958,806.23213958,652,630.23213958,651.23213958,0.452885286611,-0.00555718926161,0.0498737110868,0.999999979442,6.32249188741e-05,-0.000190790910842,2.67720740213e-05,1793242874201966336
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,880,786.806795251,806.806795251,652,630.806795251,651.806795251,0.453009875713,-0.00556061911429,0.0498703604339,0.999999978793,6.10536792811e-05,-0.00019472810814,2.76892736034e-05,1793242874218632960
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679.605584041,660,632,880,786.605584041,806.605584041,652,631,651.605584041,0.45311908186,-0.00556176000496,0.0498687478549,0.999999978462,6.11895841358e-05,-0.000196328649419,2.80595921039e-05,1793242874235299328
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679.011396563,660,632,880,786.011396563,806.011396563,652,631,651.011396563,0.453220496543,-0.00556174153721,0.0498680156098,0.999999978297,6.24940567538e-05,-0.000196745675286,2.81529155377e-05,1793242874251965952
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679.560839246,660,632,879.439160754,786,806.560839246,651.439160754,631,651.560839246,0.453293027468,-0.00555977877671,0.0498635310971,0.999999976511,6.380027302e-05,-0.00020527389257,2.77441916814e-05,1793242874268632832
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,879.134320925,786.134320925,806.865679075,651,631,652,0.453361637261,-0.00555825729684,0.0498593270984,0.999999974842,6.53430336704e-05,-0.000212808578647,2.75617168181e-05,1793242874285299456
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,879.713348494,786.713348494,806.286651506,651,631,652,0.453419135057,-0.00555832267801,0.0498562947524,0.999999973872,6.76688269125e-05,-0.000216528761879,2.81608059487e-05,1793242874301966336
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.707559437,632,880,787,806.292440563,651.292440563,631,651.707559437,0.453467683459,-0.00555851363581,0.0498526746783,0.999999972737,6.8202964417e-05,-0.000221535627389,2.82255000206e-05,1793242874318633216
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.128404061,632,880,787,806.871595939,651.871595939,631,651.128404061,0.453507457696,-0.00555882771155,0.0498484783829,0.999999971424,6.69805256314e-05,-0.000227803983417,2.77662621283e-05,1793242874335299584
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.459898745,632,880,786.540101255,807,651.540101255,631,651,0.453540617114,-0.00555945856697,0.0498488051001,0.99999997145,6.53085013154e-05,-0.000228154346169,2.79250792459e-05,1793242874351966208
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.950647609,632,880,786.049352391,807,651.049352391,630.950647609,651.049352391,0.45357051898,-0.00555991224947,0.0498499822971,0.999999971704,6.38843814372e-05,-0.000227412060747,2.81905673214e-05,1793242874368633088
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.376660316,632,880,786.623339684,807,651.623339684,630.376660316,651.623339684,0.453585823123,-0.00555752323028,0.049846503641,0.999999970269,6.64570341471e-05,-0.000232975626344,2.7718388117e-05,1793242874385299712
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.197360691,632,880,787,806.802639309,652,630,652,0.45359986351,-0.00555528197645,0.0498436944485,0.999999969141,6.89629981283e-05,-0.00023709520337,2.73609161897e-05,1793242874401966592
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.771446014,632,880,787,806.228553986,652,630,652,0.453611491622,-0.00555332277918,0.0498421631372,0.999999968653,7.13416656527e-05,-0.000238458476062,2.72223990229e-05,1793242874418633216
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.357261545,714,680.357261545,659.642738455,632,880,787,806.357261545,651.642738455,630.357261545,652,0.453618602594,-0.00555340015339,0.0498401291933,0.999999968095,7.19492794086e-05,-0.000240621264541,2.71099483563e-05,1793242874435299840
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.950836075,714,680.950836075,659.049163925,632,880,787,806.950836075,651.049163925,630.950836075,652,0.453622725673,-0.00555482463119,0.0498377627799,0.999999967487,7.13854179748e-05,-0.000243312897911,2.70147395518e-05,1793242874451966464
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.53283189,745.46716811,714,680.46716811,659.53283189,632,880,786.46716811,806.46716811,651,631,652,0.45362271482,-0.00555284992304,0.0498355639205,0.999999966222,7.25164013576e-05,-0.000248123358513,2.70449325491e-05,1793242874468633088
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.887826808,745,714.112173192,680,659.887826808,632,880,786.112173192,806.112173192,651.112173192,631,652,0.453622562627,-0.00555087114943,0.0498336471028,0.999999965062,7.35211466508e-05,-0.000252468431045,2.70251506047e-05,1793242874485299712
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.315091414,745,714.684908586,680,659.315091414,632,880,786.684908586,806.684908586,651.684908586,631,652,0.453623362907,-0.00555013604294,0.0498328261702,0.999999964662,7.33791628091e-05,-0.000254117081649,2.67536840723e-05,1793242874501966848
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.264616556,714.735383444,679.735383444,659.264616556,632,880,787,806.735383444,651.735383444,630.735383444,652,0.453624923423,-0.00555017682377,0.0498330511961,0.999999964654,7.37456646219e-05,-0.00025405301496,2.66668802373e-05,1793242874518633472
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.852851869,714.147148131,679.147148131,659.852851869,632,880,787,806.147148131,651.147148131,630.147148131,652,0.453627413687,-0.0055511664933,0.0498345554004,0.999999965123,7.473403036e-05,-0.000251894342432,2.6805913757e-05,1793242874535299840
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.435682874,745.564317126,714.435682874,679.435682874,660,632,880,787,806.435682874,651.435682874,630.435682874,652,0.453627301088,-0.00555086021277,0.0498337886865,0.999999964887,7.36771973179e-05,-0.000253163882415,2.65626155805e-05,1793242874551966464
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.983461376,745,714.983461376,680,660,632,880,787.016538624,806.983461376,652,631,651.983461376,0.453626287189,-0.00555013558603,0.0498322538401,0.999999964405,7.19683609893e-05,-0.000255587285733,2.6201708009e-05,1793242874568633088
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.408424876,745,714.408424876,680,660,632,880,787.591575124,806.408424876,652,631,651.408424876,0.453624159649,-0.00554988328887,0.0498303628351,0.999999963743,7.12821143263e-05,-0.000258355154314,2.61763893572e-05,1793242874585300224
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.833251767,632,879.833251767,787.666503533,806.166748233,651.833251767,631,651.166748233,0.453623130416,-0.00554960829763,0.0498290342072,0.999999963254,7.11504626319e-05,-0.000260281662771,2.61472618752e-05,1793242874601966848
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.257743814,632,879.257743814,786.515487628,806.742256186,651.257743814,631,651.742256186,0.453624793527,-0.00554927767511,0.0498290841676,0.999999963202,7.23783221373e-05,-0.00026014569567,2.61087975866e-05,1793242874618632960
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714.324827692,680,659,632,879.324827692,786.324827692,807,651,631,651.675172308,0.453626721872,-0.0055487432201,0.0498297629683,0.999999963293,7.44346120789e-05,-0.000259203125987,2.62100972469e-05,1793242874635299328
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714.913128534,680,659,632,879.913128534,786.913128534,807,651,631,651.086871466,0.453628865353,-0.00554804343318,0.0498309518319,0.999999963493,7.71628556849e-05,-0.000257606307517,2.64247617756e-05,1793242874651965952
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714.504992489,679.504992489,659.495007511,632,880,787,806.504992489,651.495007511,631,651.495007511,0.453627328293,-0.00554788507186,0.0498295287113,0.999999963192,7.60729984366e-05,-0.000259141913764,2.5972413771e-05,1793242874668632832
+245,4.083333333,HOLD_POSE2,765,745,714,680,660,632,879,787,807,652,630,651,0.453629794869,-0.00554842612314,0.0498304913624,0.999999963874,7.35254208151e-05,-0.000257218407107,2.61642407848e-05,1793242874712713984
+246,4.100000000,HOLD_POSE2,765,745,714.582388353,680,659.417611647,632,879.582388353,786.417611647,806.417611647,652,630.582388353,651.582388353,0.453627964946,-0.00554768926793,0.0498291467885,0.999999963165,7.55004282269e-05,-0.000259419172102,2.58966559779e-05,1793242874729380864
+247,4.116666667,HOLD_POSE2,765,745,715,679.831365454,659.168634546,632,879.831365454,786,806.168634546,652,631,652,0.453626570273,-0.00554735891435,0.049828158803,0.999999962615,7.63953754569e-05,-0.000261288115683,2.5726547033e-05,1793242874746047488
+248,4.133333333,HOLD_POSE2,765,745,715,679.235341788,659.764658212,632,879.235341788,786,806.764658212,652,631,652,0.453626278701,-0.00554805880254,0.0498280745586,0.999999962483,7.45530075221e-05,-0.000262316088146,2.58034818546e-05,1793242874762714112
+249,4.150000000,HOLD_POSE2,765,745.351108025,715,679.351108025,660,631.648891975,879.351108025,786.351108025,806.648891975,652,630.648891975,652,0.453625649238,-0.00554794249,0.0498273107077,0.999999962275,7.40566659374e-05,-0.000263249174766,2.58021292515e-05,1793242874779380736
+250,4.166666667,HOLD_POSE2,765,745.931310945,715,679.931310945,660,631.068689055,879.931310945,786.931310945,806.068689055,652,630.068689055,652,0.453624799305,-0.00554729361364,0.0498261034196,0.999999962018,7.44385948118e-05,-0.000264120349149,2.5749694788e-05,1793242874796047104
+251,4.183333333,HOLD_POSE2,765,746,714.492889109,680,660,631.507110891,880,787,806,652,630.507110891,652,0.453626074744,-0.00554582610998,0.0498259928085,0.999999962064,7.48358583725e-05,-0.000263867843314,2.54140776195e-05,1793242874812713728
+252,4.200000000,HOLD_POSE2,765,745.916095282,714.083904718,680,660,632,880,786.916095282,806,652,631,652,0.453627439158,-0.00554482771957,0.0498260420875,0.999999962181,7.48353392415e-05,-0.000263451615023,2.51052055291e-05,1793242874829380352
+253,4.216666667,HOLD_POSE2,765,745.32981043,714.67018957,680,660,632,880,786.32981043,806,652,631,652,0.453627627438,-0.00554729635525,0.0498261669406,0.999999962485,7.24407635585e-05,-0.000262958578123,2.5184159262e-05,1793242874846046976
+254,4.233333333,HOLD_POSE2,765,745,715,680,660,632,880,786.253737052,806.253737052,651.746262948,630.746262948,652,0.453627116783,-0.00554786703882,0.0498261033911,0.999999962316,7.29351482958e-05,-0.000263439093909,2.54451288629e-05,1793242874862713600
+255,4.250000000,HOLD_POSE2,765,745,715,680,660,632,880,786.833764398,806.833764398,651.166235602,630.166235602,652,0.453625707341,-0.00554599707216,0.0498257975673,0.99999996153,7.71445592044e-05,-0.0002651715388,2.59401597049e-05,1793242874879380224
+256,4.266666667,HOLD_POSE2,765,745,714.588619626,680,659.588619626,632,880,786.588619626,806.588619626,651,630.411380374,651.588619626,0.453625622813,-0.0055453051433,0.049825876816,0.999999961511,7.63632587431e-05,-0.00026550361452,2.55697633895e-05,1793242874896046848
+257,4.283333333,HOLD_POSE2,765,745,714.011972339,680,659.011972339,632,880,786.011972339,806.011972339,651,630.988027661,651.011972339,0.453626070552,-0.00554508647621,0.0498261107628,0.999999961799,7.35770028467e-05,-0.000265273109608,2.48516925937e-05,1793242874912713728
+258,4.300000000,HOLD_POSE2,764.437928077,745,714.562071923,679.437928077,659,632,880,786.562071923,806.562071923,651,631,651.562071923,0.453625586016,-0.00554486335565,0.0498252196806,0.999999961306,7.66306680459e-05,-0.000266240972028,2.51474231638e-05,1793242874929381120
+259,4.316666667,HOLD_POSE2,764.140104294,745.140104294,715,679.140104294,659.140104294,632,880,787,807,651,630.859895706,652,0.453625106107,-0.00554435387627,0.0498245398358,0.999999960947,7.8870519113e-05,-0.000266917396337,2.53022133807e-05,1793242874946048512
+260,4.333333333,HOLD_POSE2,764.731150637,745.731150637,715,679.731150637,659.731150637,632,880,787,807,651,630.268849363,652,0.453624704716,-0.0055429230214,0.0498246166568,0.999999961109,7.80924889691e-05,-0.000266574014659,2.49341871552e-05,1793242874962714112
+261,4.350000000,HOLD_POSE2,765,745.685699113,714.685699113,680,659.685699113,631.685699113,880,786.685699113,807,651,630.314300887,652,0.453624754005,-0.00554329003736,0.049824296712,0.999999961098,7.78082993128e-05,-0.000266692412504,2.50087175821e-05,1793242874979380480
+262,4.366666667,HOLD_POSE2,765,745.109137599,714.109137599,680,659.109137599,631.109137599,880,786.109137599,807,651,630.890862401,652,0.453625179354,-0.00554515724239,0.0498236456958,0.999999960942,7.7936182724e-05,-0.00026719613091,2.54525285199e-05,1793242874996047104
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,745,713,680,660,631,879,786,806,652,631,651,0.453624683636,-0.00554564855853,0.049823859351,0.99999996052,7.77082713949e-05,-0.000268845902863,2.53705669337e-05,1793242875028139776
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.588548123,745,713.588548123,679.411451877,659.411451877,631,879,786,806,651.411451877,630.411451877,651.588548123,0.453625223853,-0.00554657691745,0.0498239203576,0.999999960881,7.44816447936e-05,-0.00026839877519,2.55288365126e-05,1793242875044806400
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.174563073,659.174563073,631.174563073,879.174563073,786.174563073,806.174563073,651,630.174563073,652,0.453625371127,-0.00554668177413,0.0498238108503,0.999999961031,7.28151650928e-05,-0.000268294881928,2.55827069879e-05,1793242875061472768
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.754692759,659.754692759,631.754692759,879.754692759,786.754692759,806.754692759,651,630.754692759,652,0.453624605468,-0.00554487336829,0.049823305184,0.999999960705,7.47734118183e-05,-0.000268988433396,2.53940245297e-05,1793242875078139648
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.667203465,631.667203465,879.667203465,786.667203465,806.667203465,651.332796535,631,652,0.45362418154,-0.00554414794882,0.0498228210247,0.999999960667,7.48411718398e-05,-0.000269134533314,2.5128536008e-05,1793242875094806016
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.090584003,631.090584003,879.090584003,786.090584003,806.090584003,651.909415997,631,652,0.453624007981,-0.00554421597794,0.0498223526224,0.999999960841,7.35238692461e-05,-0.000268879543561,2.48067756405e-05,1793242875111472640
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.493695501,714.493695501,680,659.493695501,631.493695501,879.987391003,786,806.493695501,652,630.506304499,651.506304499,0.453623238689,-0.00554430661548,0.0498221418888,0.999999960529,7.54874490083e-05,-0.000269481348721,2.49561663575e-05,1793242875128139520
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.92142126,714.92142126,680,660,632,880.92142126,786,807,652,630.07857874,651,0.453622020884,-0.00554433642207,0.0498218012878,0.99999996006,7.77471607161e-05,-0.000270560199345,2.51326910281e-05,1793242875144805888
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.3417915,714.3417915,680,660,632,880.3417915,786,807,652,630.6582085,651,0.453618651135,-0.00554395147734,0.0498203263858,0.999999959202,7.79961531476e-05,-0.000273662682106,2.4922320061e-05,1793242875161472512
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.237498187,714.237498187,679.762501813,660,632,880,786,807,652,631,651.237498187,0.453608097754,-0.0055435695896,0.0498153289325,0.999999956905,7.75401439802e-05,-0.000282087395373,2.45981527619e-05,1793242875178139136
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.816299112,714.816299112,679.183700888,660,632,880,786,807,652,631,651.816299112,0.453587220953,-0.00554319209502,0.0498052693085,0.999999952366,7.60709945098e-05,-0.000298160553449,2.41104515974e-05,1793242875194806016
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.60776821,714.60776821,679.39223179,659.60776821,631.60776821,879.60776821,786,806.60776821,651.60776821,630.60776821,652,0.453547508007,-0.00554206364601,0.0497878476216,0.999999942986,7.56866119791e-05,-0.00032825835832,2.33700325525e-05,1793242875211472640
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.033169068,714.033169068,679.966830932,659.033169068,631.033169068,879.033169068,786,806.033169068,651.033169068,630.033169068,652,0.453499037232,-0.00554058604226,0.049767002958,0.999999930306,7.58065893652e-05,-0.000364876894528,2.25121127891e-05,1793242875228139264
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,631.554107048,880.108214097,786,806,651,630.554107048,651.445892952,0.4534357166,-0.00553766958171,0.0497472842313,0.999999917938,7.79804330959e-05,-0.000397014594272,2.05298608052e-05,1793242875244806144
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.140084092,745,714.140084092,680,659,632,880.859915908,786.140084092,806.140084092,651.140084092,631,651.140084092,0.453368807814,-0.00553487176324,0.0497295056642,0.999999906487,7.98661419586e-05,-0.000424611117434,1.87793237526e-05,1793242875261472512
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.719550752,745,714.719550752,680,659,632,880.280449248,786.719550752,806.719550752,651.719550752,631,651.719550752,0.453293497967,-0.00553272255155,0.0497175961739,0.999999900318,8.04534439282e-05,-0.000438824965098,1.7971617381e-05,1793242875278139136
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.701230489,745,715,680,659.298769511,632,880,787,806.701230489,652,630.701230489,652,0.45321298441,-0.00552984356401,0.0497123729748,0.99999989746,8.26641688738e-05,-0.000444910280851,1.73412012956e-05,1793242875294806272
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.122244272,745,715,680,659.877755728,632,880,787,806.122244272,652,630.122244272,652,0.453127590285,-0.00552628011791,0.0497134208662,0.999999897836,8.63975064587e-05,-0.000443371824422,1.68770662852e-05,1793242875311473408
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,632,880,787,806,652,630.451077412,652,0.453026848219,-0.00552235270773,0.0497158881706,0.999999899497,9.03435979952e-05,-0.000438826035641,1.65802226935e-05,1793242875328140288
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.976363024,680,660,632,880,786.976363024,806.023636976,652,630.976363024,652,0.452920588847,-0.00551835547392,0.0497186921402,0.999999901362,9.41894002526e-05,-0.000433748297612,1.63185861661e-05,1793242875344806912
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.38571714,680,660,632,880,786.38571714,806.61428286,652,630.38571714,652,0.45278051753,-0.00551502005436,0.049720459046,0.999999900725,9.42634978591e-05,-0.000435218032008,1.58274425126e-05,1793242875361473792
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.798948259,660,632,880,786,807,652,630.201051741,651.798948259,0.452628708129,-0.00551041792152,0.0497208752608,0.999999899073,9.63483135431e-05,-0.000438564225207,1.52352486767e-05,1793242875378140416
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.357205544,659.642794456,632,879.642794456,786.357205544,806.642794456,651.642794456,631,651.357205544,0.452264522588,-0.00549607151371,0.0497179714806,0.999999893227,0.000108342854157,-0.000449022165038,1.36974270908e-05,1793242875411472896
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.503973642,745,714,680,659.503973642,632,879.503973642,787,806,651,631,651.496026358,0.451824315196,-0.00548045414608,0.0497144783063,0.999999887235,0.000119044993085,-0.000459579984318,1.20004965411e-05,1793242875444806656
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.836205864,745,714,680,660.836205864,633.163794136,880,787,806,651.836205864,631,651.163794136,0.449261632004,-0.00542150930278,0.0497645769756,0.999999928538,0.000144457276654,-0.000349360765875,-1.61899231176e-06,1793242875578140416
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.678481772,660.321518228,634,880,787,806,651,631.321518228,652,0.448339458832,-0.00542736854279,0.0497578505122,0.999999927404,0.000126461822405,-0.000359386263064,-6.33204957599e-06,1793242875611473664
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.638943422,634,879,787,806,651,631,651.361056578,0.446228924105,-0.00540884493875,0.049760638476,0.999999933586,0.000114215897027,-0.000345622064992,-1.8111412855e-05,1793242875678139904
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634.964072324,879,788,805,652.964072324,631,652,0.405078129671,-0.00537093605847,0.0497741775812,0.999999915084,0.000103561886367,-0.000395283875313,-5.34478332559e-05,1793242876578139648
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..90712e06e8e6277f0ddc96e133f7e3ac6a5b6231
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..668d2f34780fd7ebe73eb86762235f5e117078fe
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8f2a14e24e7b391acad90ea4e90597218680612aa5dd5ed3e9af60939d33a44
+size 25951778
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b15a1156780e44f975d57423b30692434ab90c0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_04/franka_data.csv
@@ -0,0 +1,409 @@
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+15,0.250000000,BASELINE,765,745,714,678.692640859,661,635,878.692640859,787.692640859,805.385281717,652.307359141,630.307359141,652,0.400991611665,-0.00540451047726,0.0498565014165,0.99999996042,0.000129598232915,-0.000246939473159,-3.72059606623e-05,1793242877805178368
+16,0.266666667,BASELINE,764.725516004,745,714,679,660.725516004,635,879,788,805.725516004,652.274483996,630.274483996,651.725516004,0.400991598351,-0.0054045066954,0.0498565659592,0.999999960517,0.000128920782073,-0.000246899153281,-3.72447470576e-05,1793242877821844992
+17,0.283333333,BASELINE,764.135781378,745,714,679,660.135781378,635,879,788,805.135781378,652.864218622,630.864218622,651.135781378,0.400991335463,-0.00540356792822,0.049856605989,0.999999960538,0.000127939198949,-0.000247289519796,-3.74658519558e-05,1793242877838511360
+18,0.300000000,BASELINE,764.444773707,745,714,679,660.444773707,635,878.555226293,787.555226293,805,652.555226293,631,651.444773707,0.400992018209,-0.00540430616541,0.0498570224754,0.999999960864,0.000127422298864,-0.000246248952809,-3.73871279047e-05,1793242877855178240
+19,0.316666667,BASELINE,764.977496531,745,714,679,661,635,878.022503469,787.022503469,805,652,631,652,0.400992887886,-0.00540547267229,0.0498575086331,0.99999996124,0.000127069949441,-0.000244921464362,-3.72299415707e-05,1793242877871844864
+20,0.333333333,BASELINE,764.401724649,745,714,679,661,635,878.598275351,787.598275351,805,652,631,652,0.400991399375,-0.00540483612328,0.0498569393124,0.999999960674,0.000127346013649,-0.000247062636153,-3.73485888199e-05,1793242877888511232
+21,0.350000000,BASELINE,764.177758503,745.177758503,714,679,661,635,879,788,805,652,631,652,0.400990575702,-0.00540459766674,0.049856901592,0.999999960444,0.000127224372428,-0.000248058491759,-3.73342275378e-05,1793242877905177856
+22,0.366666667,BASELINE,764.765807688,745.765807688,714,679,661,635,879,788,805,652,631,652,0.400991286564,-0.0054052780616,0.0498580908772,0.999999960995,0.00012618477322,-0.000246410802311,-3.70128645489e-05,1793242877921844480
+23,0.383333333,BASELINE,765,745.651348231,714,679,661,635,878.651348231,788,805,652,631,652,0.400991514817,-0.00540541468406,0.0498581834489,0.99999996097,0.000126764355956,-0.000246223365897,-3.69477413321e-05,1793242877938511104
+24,0.400000000,BASELINE,765,745.071948975,714,679,661,635,878.071948975,788,805,652,631,652,0.400991423665,-0.00540519142282,0.049857550185,0.999999960563,0.000128415558464,-0.000247002365599,-3.70522047277e-05,1793242877955177728
+25,0.416666667,BASELINE,764.493861279,745,714,679,660.493861279,635,878.506138721,788,804.493861279,652,631,652,0.400991405188,-0.00540601836887,0.0498569992823,0.999999960643,0.000126422159354,-0.000247690825511,-3.71669460243e-05,1793242877971844608
+26,0.433333333,BASELINE,764,745,714,678.916817081,660,635,878.916817081,787.916817081,804,652,630.916817081,652,0.400991209399,-0.00540670938094,0.0498564083625,0.999999960707,0.00012443911311,-0.000248418211585,-3.72763504444e-05,1793242877988511232
+27,0.450000000,BASELINE,764,745,714,678.344811943,660,635,878.344811943,787.344811943,804,652,630.344811943,652,0.400989911088,-0.00540572655097,0.0498555136589,0.999999960308,0.000125553576731,-0.000249449784016,-3.734582938e-05,1793242878005178112
+28,0.466666667,BASELINE,764.226655363,745,714,678.226655363,660.226655363,635,878,787.226655363,804.226655363,652.226655363,630.226655363,652,0.400989702821,-0.0054046706524,0.0498555649466,0.999999960139,0.000127192018709,-0.000249282272823,-3.74584742454e-05,1793242878021844992
+29,0.483333333,BASELINE,764.797306365,745,714,678.797306365,660.797306365,635,878,787.797306365,804.797306365,652.797306365,630.797306365,652,0.400991148918,-0.0054035038574,0.0498570519686,0.999999960313,0.000129625704407,-0.00024729490814,-3.76366321897e-05,1793242878038511616
+30,0.500000000,BASELINE,765.387655623,745,714,679,661,635,878.387655623,788,805,652.612344377,631,652,0.400992276822,-0.00540381833066,0.0498576568611,0.999999960788,0.000129035385026,-0.000245677795793,-3.76242419583e-05,1793242878055178240
+31,0.516666667,BASELINE,765.988855876,745,714,679,661,635,878.988855876,788,805,652.011144124,631,652,0.400993229446,-0.00540494877789,0.0498577758224,0.999999961428,0.000126779257026,-0.000244264641337,-3.75068860316e-05,1793242878071844864
+32,0.533333333,BASELINE,764.868616447,745,714,679,661,635,879,787.434308223,804.434308223,652,631,652,0.400994525507,-0.00540425818467,0.0498592326095,0.999999961776,0.000127814067774,-0.000242299588915,-3.74463110943e-05,1793242878088511488
+33,0.550000000,BASELINE,764.282530479,745,714,678.858734761,661,635,879,787.141265239,804.141265239,652,631,652,0.400994966984,-0.00540386540886,0.0498600285722,0.999999961902,0.000128519932963,-0.000241401867845,-3.74595498685e-05,1793242878105178112
+34,0.566666667,BASELINE,765.428771965,745,714,678.285614017,661,635,879,787.714385983,804.714385983,652,631,652,0.400992776122,-0.005404488219,0.0498587271161,0.999999961375,0.000128030183916,-0.000243798902064,-3.76951628004e-05,1793242878121844736
+35,0.583333333,BASELINE,765.703264015,745,714,678,660.703264015,635,879,788,805,652,631,652,0.400992368138,-0.00540462189006,0.0498583687875,0.999999961341,0.000127134582232,-0.000244400344808,-3.77171528147e-05,1793242878138511616
+36,0.600000000,BASELINE,765.11174544,745,714,678,660.11174544,635,879,788,805,652,631,652,0.400993731297,-0.00540426964209,0.0498589473778,0.999999961801,0.000125835799556,-0.00024321801664,-3.7526926207e-05,1793242878155178240
+37,0.616666667,BASELINE,765,745,714,678.46825889,660.46825889,635,878.53174111,788,805,652.46825889,631,652,0.40099253754,-0.00540379284224,0.0498579823932,0.99999996131,0.000127205871389,-0.000244514566738,-3.75557933748e-05,1793242878171844864
+38,0.633333333,BASELINE,765,745,714,678.954376438,661,635,878,788,805,653,631,652,0.400990924483,-0.00540344291068,0.0498567778144,0.99999996068,0.00012885537835,-0.000246211917272,-3.76219981738e-05,1793242878188511488
+39,0.650000000,BASELINE,765,745,714,678.376519483,661,635,878,788,805,653,631,652,0.400991367394,-0.00540491141416,0.0498569722449,0.999999961072,0.000126513144771,-0.000245849531194,-3.75284734434e-05,1793242878205178112
+40,0.666666667,BASELINE,765,745,714,678.204414856,661.204414856,635,878.204414856,787.795585144,805,653,631,652,0.400991489786,-0.00540593786903,0.049857031203,0.999999961145,0.000125504075971,-0.000246086525656,-3.74091610461e-05,1793242878221844736
+41,0.683333333,BASELINE,765,745,714,678.791104152,661.791104152,635,878.791104152,787.208895848,805,653,631,652,0.400991012778,-0.00540613765255,0.049856836815,0.999999960629,0.00012698814715,-0.000247444416464,-3.72416233637e-05,1793242878238511360
+42,0.700000000,BASELINE,765,745,714,679,661.626902986,635,879,787.373097014,805,653,630.626902986,652,0.400991118272,-0.00540569260991,0.0498568798218,0.999999960617,0.00012724506332,-0.000247370189068,-3.71937998601e-05,1793242878255177984
+43,0.716666667,BASELINE,765,745,714,679,661.047506973,635,879,787.952493027,805,653,630.047506973,652,0.400991545853,-0.00540489101929,0.049857054093,0.999999960883,0.000126823440509,-0.000246504091042,-3.72121707146e-05,1793242878271844352
+44,0.733333333,BASELINE,765,745,714,679,660.470872774,635,879,787.470872774,805.529127226,653,630.529127226,652,0.40099047772,-0.00540485047209,0.0498565915034,0.999999960677,0.000127139495829,-0.000247151189547,-3.73749888637e-05,1793242878288510976
+45,0.750000000,BASELINE,765,745,714,678.894809884,660.105190116,635,879,787.105190116,805.894809884,653,631,652,0.400990054671,-0.00540500554578,0.0498564590406,0.999999960632,0.00012725678595,-0.000247253089117,-3.7515409808e-05,1793242878305177856
+46,0.766666667,BASELINE,765,745,714,678.320195864,660.679804136,635,879,787.679804136,805.320195864,653,631,652,0.400993106566,-0.00540573025742,0.049858053656,0.999999961489,0.000126193030421,-0.000244318825511,-3.74983051318e-05,1793242878321844736
+47,0.783333333,BASELINE,765,745,714,678.261313366,661,634.738686634,878.738686634,788,805,653,631,652,0.400993910806,-0.00540577732215,0.0498581576763,0.999999961629,0.000126582325141,-0.000243541680907,-3.75133679145e-05,1793242878338511616
+48,0.800000000,BASELINE,765,745,714,678.851500588,661,634.148499412,878.148499412,788,805,653,631,652,0.400991886276,-0.00540497153987,0.0498563857202,0.999999960869,0.000128800344528,-0.000245479360841,-3.75689147944e-05,1793242878355178240
+49,0.816666667,BASELINE,765,745,714,679,661,634.433528177,878.433528177,787.566471823,805,652.566471823,631,652,0.400990999811,-0.00540507802342,0.0498562655974,0.999999960854,0.000127275264765,-0.000246336307104,-3.75709058919e-05,1793242878371844864
+50,0.833333333,BASELINE,765,745,714,679,661,635,879,787,805,652,631,652,0.400990550646,-0.00540549187164,0.0498567164029,0.999999961086,0.000124594325782,-0.000246768307562,-3.75476028912e-05,1793242878388511488
+51,0.850000000,BASELINE,765,745,714,679,661,635,879,787,805,652,631,652,0.400992518783,-0.00540593457872,0.0498578554739,0.999999961429,0.000126449807583,-0.000244477090027,-3.72020696108e-05,1793242878405178112
+52,0.866666667,BASELINE,765,745,714,678.836438909,661,635,878.836438909,787.163561091,805,652,631,652,0.400993674611,-0.00540647617349,0.0498586879442,0.999999961706,0.000127209149292,-0.000242985434528,-3.6943408962e-05,1793242878421844736
+53,0.883333333,BASELINE,765,745,714,678.258254009,661,635,878.258254009,787.741745991,805,652,631,652,0.400992771252,-0.00540726844638,0.0498587431887,0.999999961832,0.000125189799588,-0.000243520651547,-3.6904968567e-05,1793242878438511360
+54,0.900000000,BASELINE,765,745,714,678.325671583,661,635,878.325671583,788,805,652,631,652,0.400991801079,-0.00540756548489,0.0498580878163,0.99999996178,0.00012352670116,-0.000244571253029,-3.69622970635e-05,1793242878455177984
+55,0.916666667,BASELINE,765,745,714,678.914231137,661,635,878.914231137,788,805,652,631,652,0.400990776973,-0.00540746276126,0.0498568588211,0.999999961584,0.000122151175281,-0.000246037882112,-3.70969319367e-05,1793242878471845120
+56,0.933333333,BASELINE,765,745,714,679,661,635,878.505660249,788,805,652.494339751,631,652,0.400990776987,-0.00540725960722,0.0498570562455,0.999999961535,0.000122470760462,-0.000246102934227,-3.69486580808e-05,1793242878488512000
+57,0.950000000,BASELINE,765,745,714,678.927502171,661,635,878.072497829,787.927502171,805,652.927502171,631,652,0.400991040003,-0.00540693420665,0.0498575034906,0.999999961493,0.000123344230872,-0.000245857427008,-3.68114225793e-05,1793242878505178624
+58,0.966666667,BASELINE,765,745,714,678.35286931,661,635,878.64713069,787.35286931,805,652.35286931,631,652,0.400991914609,-0.00540588076098,0.0498579957151,0.999999961327,0.000126051232011,-0.000245116900666,-3.70849010209e-05,1793242878521845248
+59,0.983333333,BASELINE,765,745,714,678.226640582,661,635,879,787.226640582,804.773359418,652,631,652,0.400992482041,-0.0054049887812,0.0498584247678,0.999999961284,0.000127779189943,-0.00024436314153,-3.73095375299e-05,1793242878538511872
+60,1.000000000,BASELINE,765,745,714,678.813910878,661,635,879,787.813910878,804.186089122,652,631,652,0.4009925607,-0.00540435372526,0.0498587533017,0.999999961445,0.000127949298109,-0.000243588326308,-3.74564569668e-05,1793242878555178240
+61,1.016666667,BASELINE,765,745,713.603321203,678.603321203,661,635,879,787.603321203,804.396678797,652.396678797,631,652,0.400993027923,-0.00540593836453,0.0498593699431,0.999999961943,0.00012529405792,-0.000242956149816,-3.72595860828e-05,1793242878571844864
+62,1.033333333,BASELINE,765,745,713.022641761,678.022641761,661,635,879,787.022641761,804.977358239,652.977358239,631,652,0.400993675382,-0.0054085526161,0.0498601202242,0.999999962582,0.000121328271438,-0.000242390136767,-3.69032470218e-05,1793242878588511488
+63,1.050000000,BASELINE,765,745,713.552954245,678.552954245,661,635,879,787.552954245,805,652.447045755,631,652,0.400994208686,-0.00540600832647,0.0498601867423,0.999999962335,0.000124405633021,-0.000241814074085,-3.71501619138e-05,1793242878605178112
+64,1.066666667,BASELINE,765,745,714,679,661,635,878.871589077,788,805,652,631,652,0.400994287095,-0.00540380823957,0.0498600257637,0.999999962036,0.000127189919061,-0.000241564228438,-3.73814837792e-05,1793242878621844736
+65,1.083333333,BASELINE,765,745,714,679,661,635,878.295899312,788,805,652,631,652,0.40099279715,-0.00540353611183,0.049859169006,0.99999996172,0.000127957986746,-0.000242452076981,-3.74732365918e-05,1793242878638511360
+66,1.100000000,BASELINE,765,745,714.286761497,678.713238503,661,635,878,787.713238503,805,652,630.713238503,652,0.400992678563,-0.00540491024485,0.0498586698797,0.999999961954,0.000125854756226,-0.000242583147193,-3.74970646084e-05,1793242878655177984
+67,1.116666667,BASELINE,765,745,714.876794668,678.123205332,661,635,878,787.123205332,805,652,630.123205332,652,0.40099401029,-0.00540802542146,0.0498585489754,0.999999962752,0.000120714913613,-0.000241913867803,-3.74490570795e-05,1793242878671844608
+68,1.133333333,BASELINE,765,745,714.541471134,678,661,634.541471134,878.458528866,787,805,652,630.458528866,651.541471134,0.400994074959,-0.00540719898438,0.0498592817782,0.999999962569,0.000122758161902,-0.000241671821011,-3.72428386283e-05,1793242878688511488
+69,1.150000000,BASELINE,765,745,714,678,660.962366518,634,879,787.037633482,805,652.037633482,631,651.037633482,0.400993670735,-0.0054054011785,0.0498600820642,0.999999962094,0.000126521745356,-0.000241729050224,-3.7029936353e-05,1793242878705178112
+70,1.166666667,BASELINE,765,745,714,678,660.38951043,634,879,787.61048957,805,652.61048957,631,651.61048957,0.400991353789,-0.00540458331114,0.0498586377295,0.999999961263,0.000127790388949,-0.000244438972578,-3.73158168852e-05,1793242878721845504
+71,1.183333333,BASELINE,765,745,714,678.188510858,660.377021717,634,879.188510858,787.811489142,804.811489142,652.811489142,631,652,0.400990406992,-0.00540409615753,0.0498579256234,0.999999960893,0.000128147447839,-0.000245737546003,-3.74931805259e-05,1793242878738512384
+72,1.200000000,BASELINE,765,745,714,678.777505517,661.555011034,634,879.777505517,787.222494483,804.222494483,652.222494483,631,652,0.40099237102,-0.00540431159199,0.0498587691074,0.999999961512,0.000126567881624,-0.000244037765429,-3.74400044126e-05,1793242878755179264
+73,1.216666667,BASELINE,765,745,714,679,661.650249346,634.349750654,879.650249346,787,804.349750654,652.349750654,631,652,0.400993206933,-0.00540512281268,0.0498589639048,0.999999961822,0.000125438272052,-0.000243361230041,-3.73835709481e-05,1793242878771845632
+74,1.233333333,BASELINE,765,745,714,679,661.088172523,634.911827477,879.088172523,787,804.911827477,652.911827477,631,652,0.400993357991,-0.00540629572251,0.0498587648983,0.999999961944,0.000124581821666,-0.000243305885107,-3.73251600185e-05,1793242878788512256
+75,1.250000000,BASELINE,765,745,714,679,661,635,878.49868324,787,805,652.49868324,631,652,0.400993519056,-0.00540728876585,0.0498590323329,0.999999962254,0.000123855990689,-0.000242416003285,-3.72219454413e-05,1793242878805178880
+76,1.266666667,BASELINE,764.90778585,744.90778585,714,679,661,635,878.09221415,787.09221415,805,652.09221415,631,652,0.400993414464,-0.00540764592096,0.0498592252679,0.99999996239,0.000123984787619,-0.000241805305034,-3.71309014682e-05,1793242878821845248
+77,1.283333333,BASELINE,764.336086421,744.336086421,714,679,661,635,878.663913579,787.663913579,805,652.663913579,631,652,0.400991918864,-0.00540487066099,0.0498585795779,0.999999961428,0.000128431022029,-0.00024345363314,-3.71464853722e-05,1793242878838512128
+78,1.300000000,BASELINE,764.244794144,744.244794144,714,679,661,635,878.755205856,787.755205856,805,653,630.755205856,652,0.400991214357,-0.0054035076451,0.0498584226663,0.999999960963,0.000130101735411,-0.000244467744282,-3.71957170761e-05,1793242878855179008
+79,1.316666667,BASELINE,764.838770941,744.838770941,714,679,661,635,878.161229059,787.161229059,805,653,630.161229059,652,0.400991638292,-0.0054041591022,0.0498589629647,0.999999961227,0.000127813351264,-0.000244577186744,-3.72929451401e-05,1793242878871845376
+80,1.333333333,BASELINE,765,745,714,679,661,635,878,787,805.421935598,652.578064402,630.421935598,652,0.400991166297,-0.00540505433019,0.0498586169568,0.999999961167,0.000127181444368,-0.000245168614711,-3.71903555805e-05,1793242878888512512
+81,1.350000000,BASELINE,765,745,714,679,661,635,878.001065176,787.001065176,805.998934824,652.001065176,631,652,0.400990363933,-0.0054060410839,0.0498579432833,0.999999960988,0.000127163594113,-0.000245935479911,-3.70133698988e-05,1793242878905179648
+82,1.366666667,BASELINE,765,745,714,679,661,635,878.576506479,787.576506479,805.423493521,652.576506479,631,652,0.400991409994,-0.00540740734547,0.0498586424606,0.999999961565,0.000125475215901,-0.000244471853372,-3.68633739085e-05,1793242878921845248
+83,1.383333333,BASELINE,765,745,714,678.848192575,661,634.848192575,879,787.848192575,805,652.848192575,631,652,0.400991844094,-0.0054079946455,0.0498588677336,0.99999996186,0.000124809205386,-0.000243608938233,-3.68304553985e-05,1793242878938511360
+84,1.400000000,BASELINE,765,745,714,678.273282686,661,634.273282686,879,787.273282686,805,652.273282686,631,652,0.400990572597,-0.0054064109022,0.0498577721881,0.999999961377,0.000126992635422,-0.000244420265456,-3.7123843492e-05,1793242878955177984
+85,1.416666667,BASELINE,764.689351391,745,714,678.621297219,661,634,878.689351391,787.310648609,805,652,631,652,0.400990904066,-0.00540600931444,0.0498578076069,0.999999961374,0.000127309438054,-0.000244241618839,-3.72976815334e-05,1793242878971845120
+86,1.433333333,BASELINE,764.097246485,745,714,679.805507031,661,634,878.097246485,787.902753515,805,652,631,652,0.400992687866,-0.00540667879262,0.049858867711,0.999999961807,0.000125935024113,-0.000243166028285,-3.73632038787e-05,1793242878988512512
+87,1.450000000,BASELINE,764.482308703,745,714,679.035382595,661,634.482308703,878,788,805,652.482308703,631,652,0.400990935923,-0.00540720403921,0.0498581508694,0.999999961649,0.000124563924323,-0.000244566901735,-3.70609634664e-05,1793242879005179392
+88,1.466666667,BASELINE,765,745,714,678.059248901,660.940751099,635,878.059248901,787.940751099,805,652.940751099,631,652,0.400988933846,-0.00540739537834,0.0498572506381,0.99999996137,0.000123675722495,-0.000246194621446,-3.67873306935e-05,1793242879021846016
+89,1.483333333,BASELINE,765,745,714,678.634892257,660.365107743,635,878.634892257,787.365107743,805,652.365107743,631,652,0.400990807524,-0.00540492351976,0.0498577955055,0.999999961088,0.000126990628378,-0.000245557894539,-3.73929189515e-05,1793242879038512128
+90,1.500000000,BASELINE,765,745,714,679,660.210016177,634.789983823,878.789983823,787.210016177,805,652,631,652,0.400991622604,-0.0054033846969,0.0498579808264,0.999999960865,0.000129033728878,-0.000245346030628,-3.77614281817e-05,1793242879055178496
+91,1.516666667,BASELINE,765,745,714,679,660.784239238,634.215760762,878.215760762,787.784239238,805,652,631,652,0.400990601877,-0.00540346393076,0.0498575426271,0.999999960758,0.000128871283348,-0.00024587095778,-3.77187984793e-05,1793242879071845120
+92,1.533333333,BASELINE,765,745,714,679,660.630751795,634.369248205,878.369248205,788,805,652.369248205,631,652,0.400991407575,-0.00540387686149,0.0498580614375,0.999999961163,0.000128213176573,-0.000244567404841,-3.7700965307e-05,1793242879088511744
+93,1.550000000,BASELINE,765,745,714,679,660.039250666,634.960749334,878.960749334,788,805,652.960749334,631,652,0.40099331261,-0.00540449064657,0.0498591562783,0.999999961871,0.000127256728016,-0.000242163277748,-3.7698057325e-05,1793242879105178624
+94,1.566666667,BASELINE,764.463364251,745,714,679.536635749,660.536635749,634.463364251,878.463364251,788,805.536635749,652.463364251,631,652,0.40099432571,-0.00540586185164,0.0498599274834,0.999999962462,0.000125126008383,-0.000240868012869,-3.74443602729e-05,1793242879121845248
+95,1.583333333,BASELINE,764.110993355,745,714,679.889006645,661,634.110993355,878,788,805.889006645,652.110993355,631,652,0.400994733825,-0.00540706488743,0.0498603134548,0.999999962803,0.000123480253879,-0.000240343854591,-3.71798296512e-05,1793242879138511872
+96,1.600000000,BASELINE,764.683608481,745,714,679.316391519,661,634.683608481,878,788,805.316391519,652.683608481,631,652,0.40099288946,-0.00540734461575,0.049859192904,0.999999962154,0.000124198581636,-0.000242698954625,-3.69443746243e-05,1793242879155178496
+97,1.616666667,BASELINE,765,745,714,678.73251927,661,635,878,788,805,652.73251927,630.73251927,652,0.400992475096,-0.00540715830658,0.0498588480848,0.999999961989,0.000124108061959,-0.000243426451037,-3.6919154713e-05,1793242879171844864
+98,1.633333333,BASELINE,765,745,714,678.134746471,661,635,878,788,805,652.134746471,630.134746471,652,0.400993826534,-0.00540639652233,0.0498594611588,0.999999962426,0.000123018756677,-0.000242144140596,-3.71535385303e-05,1793242879188511488
+99,1.650000000,BASELINE,765,745,714,678.448342685,661,635,878,787.551657315,805,652.448342685,630.448342685,652,0.400993579969,-0.00540743805907,0.0498598516287,0.9999999625,0.000122837055415,-0.000241950873471,-3.70304877694e-05,1793242879205178112
+100,1.666666667,BASELINE,765,745,714,679,661,635,878,787.026679153,805,653,631,652,0.400992834683,-0.00540886488448,0.0498601094179,0.999999962431,0.000123065503191,-0.000242152777169,-3.68139016786e-05,1793242879221844992
+101,1.683333333,BASELINE,765,745,714,679,661,635,878,787.595274725,805,653,631,652,0.400991405259,-0.00540745812967,0.049858987996,0.999999961597,0.000126260060132,-0.000243944032355,-3.6810242142e-05,1793242879238511616
+102,1.700000000,BASELINE,765,745,714,678.832158216,661,635,878.167841784,788,805,653,631,652,0.400990923511,-0.0054066743928,0.049858376298,0.999999961279,0.000127468874931,-0.000244604597907,-3.69066128715e-05,1793242879255178240
+103,1.716666667,BASELINE,765,745,714,678.2497825,661,635,878.7502175,788,805,653,631,652,0.400992782328,-0.0054074293795,0.0498590235114,0.99999996225,0.000123773323519,-0.000242472597447,-3.72500373362e-05,1793242879271845120
+104,1.733333333,BASELINE,765,745,714,678.338077907,661,635,878.661922093,788,805,653,631,652,0.400992622995,-0.00540673200035,0.0498589001468,0.999999962186,0.000123657426286,-0.0002427527249,-3.75174431315e-05,1793242879288511744
+105,1.750000000,BASELINE,765,745,714,678.930057463,661,635,878.069942537,788,805,653,631,652,0.400990948002,-0.00540494387244,0.0498581980664,0.999999961347,0.000126229903375,-0.000244844396866,-3.77277577863e-05,1793242879305178368
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,678,661,635,879,787,805,652,631,652,0.400991131945,-0.0054065002194,0.0498588084388,0.999999961741,0.000124387868724,-0.000244269585107,-3.71200913788e-05,1793242879337350656
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,678,661,635,879,787.599027319,805,652,631,652,0.400991428417,-0.00540631416083,0.0498585921421,0.999999961899,0.00012460880475,-0.000243474648812,-3.73370309892e-05,1793242879354017280
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,678.19606505,661,635,878.80393495,788,805,652.19606505,631,652,0.400991715137,-0.00540660646231,0.0498585270633,0.999999962065,0.000124112716291,-0.000243039852212,-3.73978222771e-05,1793242879370683904
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,678.78907486,661,635,878.21092514,788,805,652.78907486,631,652,0.400991982114,-0.00540786723067,0.0498587681337,0.999999962242,0.000122164971339,-0.000243334178605,-3.7142482513e-05,1793242879387350784
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,788,805,653,631,652,0.400991982105,-0.00540765064518,0.0498587389345,0.999999962138,0.000122368474598,-0.000243648177457,-3.72118227772e-05,1793242879404017408
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,788,805,653,631,652,0.400991834711,-0.00540661850475,0.0498585605363,0.999999961879,0.000123759547881,-0.000243973036226,-3.74603986417e-05,1793242879420684032
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,788,805,652.477376052,631,652.522623948,0.400993285863,-0.00540806784753,0.0498591682349,0.99999996235,0.00012259492488,-0.000242697506279,-3.69955274525e-05,1793242879437350656
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.098570093,788,805,652.098570093,631,653,0.400994163927,-0.00540905346181,0.049859556703,0.999999962636,0.000121946480012,-0.000241895381016,-3.66579070157e-05,1793242879454017024
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.675806431,788,805,652.675806431,631,653,0.400991470949,-0.00540656382069,0.0498584930292,0.999999961672,0.000125064577398,-0.000244181129971,-3.72899503582e-05,1793242879470683648
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745.259683283,714,678.740316717,661,635,878.740316717,788,805.259683283,653,630.740316717,652.740316717,0.400991556886,-0.00540570798073,0.0498586181198,0.99999996149,0.000126306715194,-0.000244264884331,-3.74317153124e-05,1793242879487350272
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745.852067789,714,678.147932211,661,635,878.147932211,788,805.852067789,653,630.147932211,652.147932211,0.400995203117,-0.00540694533554,0.0498602662322,0.999999962319,0.000125145409434,-0.000241527485426,-3.69453449842e-05,1793242879504016896
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745.567165807,714,678,661,635,878,788,805.567165807,653,630.432834193,652,0.401010310666,-0.00540851452702,0.0498662181299,0.999999965196,0.000123643348826,-0.000230212470578,-3.63798030085e-05,1793242879520683264
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,678,661,635,878.009698042,788,805,653,631,652,0.401029702161,-0.00541015766004,0.0498737601149,0.999999968645,0.000122095043263,-0.000215690216868,-3.57859471465e-05,1793242879537350144
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,678,661,635,878.584486788,788,805,653,631,652,0.401076429772,-0.00540967354731,0.0498904856877,0.999999975324,0.00012446078529,-0.000180642853665,-3.50777558735e-05,1793242879554017024
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,678.158787251,661,635,879,788,805,652.841212749,631,652,0.401127487477,-0.00541046149317,0.049906603201,0.999999980662,0.000125642208112,-0.000147403724568,-3.41035039975e-05,1793242879570683904
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,678.731814022,661,635,879,788,805,652.268185978,631,652,0.40118984142,-0.00541456794806,0.0499211344297,0.999999984752,0.000123734014528,-0.000118881856373,-3.24351609538e-05,1793242879587350528
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787.682690925,805,652,631,652,0.401258817615,-0.00541748735534,0.0499331477003,0.999999987026,0.000121928056345,-0.00010052172383,-3.12432172656e-05,1793242879604017152
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787.086226843,805,652,631,652,0.401333619783,-0.00541936244847,0.0499429457776,0.999999988161,0.000120212040684,-9.11014552189e-05,-3.0470389552e-05,1793242879620683776
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787.491409074,805,652.491409074,631,652,0.401416523612,-0.00542145129165,0.049943728051,0.999999988568,0.000119042537249,-8.83236945914e-05,-2.98701931484e-05,1793242879637350400
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.934104882,788,805,653,631,652,0.401503222231,-0.00542389842823,0.0499430431792,0.999999988822,0.000117758236306,-8.7373493536e-05,-2.92539233564e-05,1793242879654017280
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.359371988,788,805,653,631,652,0.401608651646,-0.0054288333483,0.0499427943519,0.999999988782,0.00011487430113,-9.18673954643e-05,-2.82882593361e-05,1793242879670684160
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.77980882,635,878,788,805,653,631,652,0.401723143674,-0.00543339833333,0.0499427031576,0.999999988846,0.000112223206773,-9.47072517903e-05,-2.72858314459e-05,1793242879687350528
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.192185451,635,878,788,805,653,631,652,0.40185275844,-0.00543734600869,0.0499428750048,0.999999989118,0.000109960653303,-9.4787008042e-05,-2.62220559229e-05,1793242879704016896
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.391770855,635,878.391770855,787.608229145,805,652.608229145,631,652,0.402011810528,-0.00544314083175,0.0499458992747,0.999999989746,0.000107518561684,-9.12869414151e-05,-2.48070565561e-05,1793242879720683520
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.973944995,635,878.973944995,787.026055005,805,652.026055005,631,652,0.402185169365,-0.00544983338145,0.0499503098412,0.999999990517,0.000104989213107,-8.60470566563e-05,-2.32213599294e-05,1793242879737349888
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787,805,652.549299421,631,652,0.402377042338,-0.00545688104799,0.0499490164369,0.999999990704,0.000101934346119,-8.79316086007e-05,-2.16662968875e-05,1793242879754016768
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.875835366,745.124164634,714,679,661,635,879.124164634,787.124164634,805,653,631,652,0.4025768232,-0.00546400605248,0.0499481191055,0.999999990941,9.84090167592e-05,-8.959813672e-05,-2.01378987601e-05,1793242879770683648
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.301585141,745.698414859,714,679,661,635,879.698414859,787.698414859,805,653,631,652,0.4028021252,-0.00547135109172,0.0499496262213,0.999999991492,9.32675529662e-05,-8.92643886518e-05,-1.8700955535e-05,1793242879787350528
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.280646674,745.719353326,714,679,660.719353326,635,879.438706651,787.719353326,805,652.719353326,631,652,0.403049744583,-0.00547955905838,0.0499530384771,0.999999992338,8.91686702791e-05,-8.41967557503e-05,-1.68237140609e-05,1793242879804017408
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.871706607,745.128293393,714,679,660.128293393,635,878.256586787,787.128293393,805,652.128293393,631,652,0.403322048412,-0.00548872147779,0.04995855794,0.999999993448,8.62229495992e-05,-7.38931420149e-05,-1.44594745126e-05,1793242879820684032
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.451576034,635,878.451576034,787.451576034,805,652,631,652,0.403641083171,-0.0054987417958,0.049968425122,0.999999995116,8.32769326281e-05,-5.19393651047e-05,-1.16485660735e-05,1793242879837350656
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.971741264,635,879,787.971741264,805,652,631,652,0.403973970068,-0.00550889591509,0.0499792077417,0.999999996355,8.03333562712e-05,-2.75584698936e-05,-8.73817918954e-06,1793242879854017024
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.396690891,635,879,787.396690891,805,652,631,652,0.404324210802,-0.00551703701227,0.0499843812141,0.999999996807,7.74385940028e-05,-1.87088525087e-05,-6.29899342906e-06,1793242879870683648
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787.183550814,805,652.183550814,631,652,0.404685893894,-0.00552508323921,0.0499893331761,0.999999997063,7.60711379895e-05,-8.68799607273e-06,-3.50654375979e-06,1793242879887350272
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787.775338524,805,652.775338524,631,652,0.405073025984,-0.00553291846335,0.049993792474,0.999999996942,7.81005769576e-05,3.93782173014e-06,7.16027917141e-08,1793242879904016896
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.64026777,745,714,679,660.35973223,635,879,788,804.64026777,652.64026777,631,652,0.405469752276,-0.00552833342489,0.0499865141792,0.999999995481,9.45442563029e-05,-9.56787871318e-06,2.84898482174e-06,1793242879920683520
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.06039874,745,714,679,660.93960126,635,879,788,804.06039874,652.06039874,631,652,0.405872349741,-0.00551614785366,0.0499720531085,0.999999992047,0.000119808676544,-3.90646633594e-05,5.13634232307e-06,1793242879937350400
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.511041678,745,714,679,660.488958322,634.488958322,879,787.488958322,804.511041678,652,631,652,0.406310918681,-0.00550328048677,0.0499515040527,0.99999998661,0.000144842031217,-7.59734297492e-05,5.45146939432e-06,1793242879954017280
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.916029388,745,714,679,660.083970612,634,879,787.083970612,805,652,631,652,0.406759585125,-0.00549343226246,0.0499322204377,0.999999980094,0.000166108007234,-0.000110384592769,5.99315667861e-06,1793242879970683904
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.328290783,745,714,679,660.671709217,634,879,787.671709217,805,652,631,652,0.407243738463,-0.00550217246733,0.0499247752449,0.999999978588,0.000164933399439,-0.000124641639266,9.26976880571e-06,1793242879987350528
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.25607952,745,714,679.25607952,660.74392048,634.25607952,879,787.74392048,804.74392048,652,631,652,0.407769937007,-0.00551041930841,0.0499301688688,0.999999979899,0.000165555359624,-0.000112363446475,1.29941211689e-05,1793242880004017152
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.836187727,745,714,679.836187727,660.163812273,634.836187727,879,787.163812273,804.163812273,652,631,652,0.408349337173,-0.00551804187405,0.0499518080129,0.999999983451,0.000168450596202,-6.6509046471e-05,1.72850187469e-05,1793242880020683776
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.582235106,660.417764894,635,879,787.417764894,804.417764894,652,631,652,0.408957121223,-0.005522308249,0.0499772938908,0.999999983725,0.000177531304633,-2.24794907236e-05,2.29508379162e-05,1793242880037350144
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.000079918,660.999920082,635,879,787.999920082,804.999920082,652,631,652,0.409576074305,-0.00552525396427,0.0500042934563,0.999999981489,0.000189045993119,2.08319885768e-05,2.91576879707e-05,1793242880054017024
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787.430172866,805,652,631,652,0.410204379805,-0.00552184915708,0.0500024227643,0.999999978448,0.000204730062251,1.11242959206e-05,3.26430243915e-05,1793242880070683904
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,678.856230826,660.856230826,635,879,787.143769174,805,652,631,652,0.41082130182,-0.00551902531321,0.049992281828,0.999999975134,0.000219616218707,-1.47173243402e-05,3.58335673868e-05,1793242880087350784
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,678.269861822,660.269861822,635,879,787.730138178,805,652,631,652,0.411403175194,-0.00551799267577,0.0499566927784,0.999999968283,0.000232044199522,-9.02055499073e-05,3.81177252377e-05,1793242880104017664
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,678.315449821,660,634.684550179,879,787.684550179,805,652,631,652,0.412059593485,-0.00551996621856,0.0499423473918,0.9999999638,0.000240870389787,-0.000112765598849,4.08047591539e-05,1793242880120684544
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,678.899859998,660,634.100140002,879,787.100140002,805,652,631,652,0.41277957069,-0.00552450290519,0.049946114876,0.999999964559,0.000246625606075,-9.01977781291e-05,4.38352955906e-05,1793242880137351168
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.455312305,634.455312305,879,787.455312305,805,652,631,652,0.413516452066,-0.00552672639642,0.0499683506679,0.999999985014,0.000164074413335,-4.94467342791e-05,2.46431757807e-05,1793242880154017536
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,678.994766777,660.994766777,635,879,788,805,652.005233223,631,651.994766777,0.414257173837,-0.00552856830477,0.0499940058273,0.99999999793,6.40907644926e-05,-5.62991827454e-06,1.09626859058e-06,1793242880170684160
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,678.392765247,660.392765247,635,879,788,805,652.607234753,631,651.392765247,0.415037226624,-0.00554144331507,0.0499740919525,0.999999997435,5.85295489594e-05,-4.0981688037e-05,4.97836327634e-06,1793242880187350528
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,678.206443533,660,635,879,788,805,652.793556467,631,651,0.415810521615,-0.00554849370052,0.0499548503561,0.999999995322,6.23383361389e-05,-7.34521748983e-05,8.69722674618e-06,1793242880204017152
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,678.800409901,660,635,879,788,805,652.199590099,631,651,0.416571131251,-0.00554461046521,0.04993687072,0.999999991369,8.37359044029e-05,-0.000100514096344,1.2109682599e-05,1793242880220684032
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.383610674,634.616389326,879,787.616389326,805,652,630.616389326,651.383610674,0.41738237644,-0.00554155431892,0.0499482391777,0.999999991708,0.000101046624586,-7.81590031846e-05,1.62861005619e-05,1793242880237350912
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.961363064,634.038636936,879,787.038636936,805,652,630.038636936,651.961363064,0.418219247778,-0.00553891675463,0.0499744604274,0.999999992547,0.000116289028983,-3.07944277299e-05,2.08491523552e-05,1793242880254017280
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.465246097,714,679,661,634,879.534753903,787,805,652,630.534753903,651.465246097,0.419035824695,-0.00553928214607,0.0499779172497,0.999999991914,0.00011965307533,-3.61450090829e-05,2.34357998417e-05,1793242880270683904
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.107844201,714,678.892155799,660.892155799,634.107844201,879.892155799,787,805,652,631,651.107844201,0.419860206219,-0.0055394473071,0.0499768072122,0.999999991296,0.000121633601696,-4.45186651416e-05,2.51394720061e-05,1793242880287350528
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.680986289,714,678.319013711,660.319013711,634.680986289,879.319013711,787,805,652,631,651.680986289,0.420724536052,-0.00553782001882,0.0499630323,0.99999999113,0.000121317799088,-4.96353733347e-05,2.36446393532e-05,1793242880304017152
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,678.264776713,660.264776713,635,879,787.264776713,805,651.735223287,631,652,0.421608702529,-0.00553844986728,0.0499675349527,0.999999992121,0.000119557859022,-3.01100898688e-05,2.36154080973e-05,1793242880320683776
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,678.861934341,660.861934341,635,879,787.861934341,805,651.138065659,631,652,0.422517770566,-0.00554191315643,0.0499949818938,0.999999992743,0.000115985056365,2.03489093028e-05,2.54259831548e-05,1793242880337350144
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.44126213,745,714,679,661,635,879,787.55873787,805,651.44126213,631.44126213,652,0.423381646568,-0.00554251547424,0.0499906585671,0.999999993025,0.000114693471434,1.16361436547e-05,2.5703825849e-05,1793242880354017024
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.984721236,745,714,679,660.984721236,635,879,787,805.015278764,652,631.984721236,652,0.424233258285,-0.00554233905962,0.0499772025661,0.999999993078,0.000113988740131,-1.40486921879e-05,2.55455416386e-05,1793242880370683392
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.408834725,745,714,679,660.408834725,635,879,787,805.591165275,652,631.408834725,652,0.425133547658,-0.0055451591203,0.0499792232466,0.999999993598,0.000109644476155,-9.53491568885e-06,2.62980060468e-05,1793242880387350272
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.171523899,634.828476101,879,787,806,652,631,651.828476101,0.426038428588,-0.0055480210436,0.049986662522,0.999999994007,0.000105946911399,-6.2854965248e-07,2.75933146671e-05,1793242880404017152
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.762827332,634.237172668,879,787,806,652,631,651.237172668,0.42695454663,-0.00555098541938,0.0500073630117,0.999999993972,0.000103832048175,1.90280333942e-05,3.02171546606e-05,1793242880420684032
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.346730032,879,787,806,651.653269968,631,651,0.427820165461,-0.00554789787842,0.0499913704616,0.999999993468,0.00010839358945,-1.95001935562e-05,3.05644561708e-05,1793242880437350656
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.925676201,879,787,806,651.074323799,631,651,0.428651963328,-0.00554075717608,0.049950803414,0.99999998797,0.000117426530888,-9.69966403316e-05,2.93870871548e-05,1793242880454017280
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.500649702,745,714,679,660.499350298,635,879.500649702,787,805.499350298,651,631,651,0.429559459733,-0.00554301848113,0.0499490828491,0.999999989616,0.000112930695272,-8.48301763737e-05,2.86134440638e-05,1793242880470683904
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.924846556,745,714,679,660.150306888,634.924846556,880,787.075153444,805.075153444,651.075153444,631,651.075153444,0.430472742329,-0.00554665851566,0.0499524358671,0.999999991859,0.000106787936225,-6.39245106868e-05,2.8127643885e-05,1793242880487350784
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.349575412,745,714,679,661.300849176,634.349575412,880,787.650424588,805.650424588,651.650424588,631,651.650424588,0.431350334827,-0.00555025825904,0.0499514769603,0.99999999163,0.000102945521222,-7.27443025563e-05,2.91616247392e-05,1793242880504017664
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.536433717,634.231783142,880,787.768216858,806,651.768216858,631,652,0.432226387771,-0.00555188631432,0.0499462804566,0.999999990956,0.00010153187398,-8.30029915728e-05,2.98279367722e-05,1793242880520684032
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.354859106,634.822570447,880,787.177429553,806,651.177429553,631,652,0.433100056267,-0.00555046046282,0.0499345204254,0.999999989598,0.000103880094819,-9.54903602752e-05,2.99247742521e-05,1793242880537350400
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.405394919,634.594605081,880,787,806,651,631,652,0.433989632515,-0.00555333398199,0.0499509764917,0.999999992057,0.000101529918945,-6.76163492414e-05,3.17137992203e-05,1793242880554017280
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.984801391,634.015198609,880,787,806,651,631,652,0.434886036948,-0.00555805296141,0.0499795440251,0.999999994443,9.7163004818e-05,-2.24176347598e-05,3.42291780129e-05,1793242880570683904
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.557805685,661,634,879.442194315,787,805.442194315,651,631,652,0.435690986251,-0.00555294774819,0.0499757848632,0.999999992789,0.000104856227384,-4.69766048179e-05,3.49316114941e-05,1793242880587350784
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.865888239,660.865888239,634,879,787,805.134111761,651,631,651.865888239,0.43649717806,-0.00554852231615,0.0499678623168,0.999999990529,0.000110803857449,-7.36514543226e-05,3.5203149441e-05,1793242880604017664
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.277822241,660.277822241,634,879,787,805.722177759,651,631,651.277822241,0.437315914653,-0.00554729366354,0.0499487947696,0.999999988281,0.000109743170438,-0.00010112767549,3.41814595312e-05,1793242880620684032
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.308433521,745.308433521,714,679,660.308433521,634.308433521,879.308433521,787,806.308433521,651,631,651,0.438153852575,-0.0055491435478,0.0499526602047,0.999999990222,0.000105206285169,-8.56000164513e-05,3.40553902086e-05,1793242880637350656
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.893068193,745.893068193,714,679,660.893068193,634.893068193,879.893068193,787,806.893068193,651,631,651,0.439008985178,-0.00555375025124,0.0499770620469,0.99999999414,9.75564762596e-05,-3.15625298784e-05,3.4731346017e-05,1793242880654017280
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.531673369,745.531673369,714,679.468326631,660.531673369,635,880,787,806.531673369,651,631.468326631,651,0.439776819032,-0.00555641882469,0.0499701944191,0.999999994191,9.37241709468e-05,-4.10196187108e-05,3.39265221813e-05,1793242880670683648
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.041657683,745,714,680,660,634.958342317,880,787,806,651,631.958342317,651.041657683,0.440524205092,-0.00555868804788,0.0499569620922,0.999999993311,9.09092199295e-05,-6.34654764132e-05,3.29628573476e-05,1793242880687350016
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.617185364,745,714,680,660,634.382814636,880,787,806,651,631.382814636,651.617185364,0.44125997524,-0.00556139930744,0.0499518656894,0.999999992883,9.01809395873e-05,-7.02220322872e-05,3.42114990513e-05,1793242880704016896
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.80249896,745,714,679.80249896,660.19750104,634,880.19750104,787,806,651,631,651.80249896,0.442003274393,-0.00556250977448,0.0499572310374,0.999999993526,9.13382354403e-05,-5.7777156183e-05,3.5586316195e-05,1793242880720683520
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.212672072,745,714,679.212672072,660.787327928,634,880.787327928,787,806,651,631,651.212672072,0.442761529664,-0.00556044034843,0.0499833781243,0.999999994651,9.62411329494e-05,-7.18960576818e-06,3.72117746477e-05,1793242880737350144
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.37061716,714,679,661,634,880.25876568,787,806.37061716,651,631,651,0.443456159293,-0.00555831394536,0.0499906870174,0.999999993986,0.000102508389907,1.05525049547e-06,3.89774457143e-05,1793242880754017024
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.950219869,714,679,661,634,879.099560262,787,806.950219869,651,631,651,0.444114911316,-0.00555615541391,0.0499873733293,0.99999999306,0.000109544988808,-1.45763168002e-05,4.0822180536e-05,1793242880770683648
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.477689258,714,679.522310742,661,634,879.522310742,787,807,651.522310742,631,651,0.444717730893,-0.00555675035912,0.0499546358257,0.999999990716,0.000110960199611,-6.79193176232e-05,4.05202266614e-05,1793242880787350016
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679.9030425,660.9030425,634,880,787,806.9030425,651.9030425,631,651.0969575,0.445320454434,-0.00555777300961,0.0499273611852,0.999999987014,0.000112095587119,-0.000108534328414,4.03229664638e-05,1793242880804016640
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679.3117668,660.3117668,634,880,787,806.3117668,651.3117668,631,651.6882332,0.445949480923,-0.00555965726733,0.0499420323505,0.999999990385,0.000114497093095,-6.61938443065e-05,4.16877663664e-05,1793242880820683776
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679.273766697,660.273766697,634,880,787,806,651.273766697,631,651.726233303,0.446566543743,-0.00556093152336,0.0499578711308,0.999999991724,0.000117149636768,-3.09067815234e-05,4.32811563964e-05,1793242880837350656
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679.852895247,660.852895247,634,880,787,806,651.852895247,631,651.147104753,0.447170262135,-0.00556152537783,0.0499750122782,0.999999991766,0.000120082190111,-3.48717167926e-06,4.5129517874e-05,1793242880854017536
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.396397031,745,714,680,661,634,880,787,806,652,631,651.396397031,0.447678611035,-0.00555843768445,0.0499595562782,0.999999990844,0.000125095108286,-2.4690131128e-05,4.53261254e-05,1793242880870684160
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.927767891,745,714,680,661,634,880,787,806,652,631,651.927767891,0.448154486519,-0.00555409641814,0.0499330008982,0.999999988483,0.000130816394135,-6.24491515659e-05,4.49603081415e-05,1793242880887350528
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.483574912,745,714,680,660.483574912,634,880.516425088,787,806,651.483574912,631,652,0.448607359792,-0.00555363715957,0.0499148788566,0.999999985774,0.00013512633939,-9.02327575288e-05,4.52932374011e-05,1793242880904017152
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.118491888,634,881,787,806,651,631,651.881508112,0.449057765294,-0.00555395981013,0.0499025689705,0.999999983248,0.000138712391122,-0.000110249083227,4.59210463685e-05,1793242880920683776
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.739196116,634,881,787,806,651,631,651.260803884,0.449513049123,-0.00555500801983,0.0499092699246,0.999999983648,0.000140171375763,-0.000103996263711,4.73327516266e-05,1793242880937350656
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.664358088,745,714,679.664358088,660.664358088,633.664358088,880.664358088,787,806,651,631,651,0.449950311567,-0.0055573428882,0.0499175551397,0.999999985022,0.000137724968807,-9.31198598221e-05,4.81401157103e-05,1793242880954017280
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.08549134,745,714,679.08549134,660.08549134,633.08549134,880.08549134,787,806,651,631,651,0.450374514684,-0.00556061014111,0.0499269883983,0.99999998694,0.000132448497323,-7.88929493639e-05,4.85095404037e-05,1793242880970683904
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.487643542,745,714,679.487643542,660,633.487643542,879.512356458,787,806.487643542,651,630.512356458,651.487643542,0.450732422195,-0.0055622823396,0.0499277514741,0.999999992853,7.55628916852e-05,-8.68394787525e-05,3.22886494958e-05,1793242880987350528
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.939393724,660.060606276,633.878787449,879,787,806.939393724,651,630.060606276,652,0.451074262208,-0.00556385551117,0.0499261207787,0.999999994804,1.66451468285e-05,-9.93937201429e-05,1.53726234987e-05,1793242881004017152
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.359394531,660.640605469,632.718789062,879,787,806.359394531,651,630.640605469,652,0.451376852735,-0.00556694866397,0.0499168506982,0.999999992687,1.69510295812e-05,-0.00011850853877,1.71357489248e-05,1793242881020684032
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.21636632,660.78363368,632.21636632,879,787,806,651,631,652,0.451657576852,-0.00556713846792,0.0499034852583,0.999999989162,2.09477121756e-05,-0.000144571367048,1.83333641306e-05,1793242881037350656
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.78522229,660.21477771,632.78522229,879,787,806,651,631,652,0.451902677639,-0.00556259832831,0.0498834479314,0.999999982794,3.09572008708e-05,-0.00018195342956,1.86096874364e-05,1793242881054017280
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632.629046758,879.370953242,787,806.370953242,651.370953242,631,652,0.452147896943,-0.00556142509386,0.0498712349608,0.999999978673,3.59723801858e-05,-0.000202428627681,1.95589015988e-05,1793242881070683904
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632.033079677,879.966920323,787,806.966920323,651.966920323,631,652,0.452393188162,-0.00556229416557,0.0498637681079,0.999999976451,3.7958098545e-05,-0.000212648417146,2.09162797869e-05,1793242881087350784
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.545626123,632.545626123,880,787,807,651.454373877,631,652,0.452616330891,-0.00556201868664,0.0498682912409,0.999999978264,4.38448587359e-05,-0.000202628569639,2.21842794791e-05,1793242881104017408
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.125839551,714,680,660.874160449,633,880,787,806.874160449,651.125839551,631,651.874160449,0.452828404909,-0.00556171002092,0.0498723791385,0.99999997983,4.86894442173e-05,-0.00019345026771,2.33544219497e-05,1793242881120684032
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.715345805,714,680,660.284654195,633,880,787,806.284654195,651.715345805,631,651.284654195,0.453004491297,-0.00556152691103,0.0498722671218,0.999999980129,4.88493358412e-05,-0.000191755303659,2.41833549858e-05,1793242881137350400
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,746,714,680,660,632.703109263,880.296890737,787,806.296890737,651.703109263,631,651,0.453166364047,-0.00556063836292,0.0498709135909,0.999999979675,5.12971217125e-05,-0.000193377824175,2.49663624318e-05,1793242881154017536
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,714,680,660,632.128998211,880.871001789,787,806.871001789,651.128998211,631,651,0.45331496487,-0.00555909111525,0.0498684008018,0.999999978487,5.58812179452e-05,-0.000198098030226,2.57064870259e-05,1793242881170685184
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745.550511789,714.449488211,680,660,632,880.550511789,787,806.550511789,651.449488211,631,651.449488211,0.453443445364,-0.00555961935888,0.0498641645667,0.999999977242,5.62278606713e-05,-0.000204164250515,2.59242715894e-05,1793242881187351808
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.028980577,715,680,660,632,880,787,806.028980577,652,631,652,0.453564719699,-0.00556063185964,0.0498595769416,0.999999975986,5.55837384571e-05,-0.000210388317124,2.59973663425e-05,1793242881204018176
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.603539196,715,680,660,632,880,787,806.603539196,652,631,652,0.45366010722,-0.00555943721779,0.0498577770575,0.999999975369,5.94067913567e-05,-0.000212240275623,2.61963975982e-05,1793242881220684800
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.816633749,714.816633749,680,660,632,880.183366251,787,806.816633749,652,630.816633749,652,0.453746474109,-0.00555834383606,0.049854149224,0.999999974071,6.24671515082e-05,-0.000217391386218,2.6406541989e-05,1793242881237351168
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.22507879,714.22507879,680,660,632,880.77492121,787,806.22507879,652,630.22507879,652,0.453812760297,-0.00555747586802,0.0498464522216,0.999999971184,6.38296928934e-05,-0.000229886686799,2.6641425125e-05,1793242881254017792
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714.35815189,679.64184811,659.64184811,632,880.28369622,787,806.35815189,651.64184811,630.35815189,651.64184811,0.453874111168,-0.00555865336737,0.0498416251231,0.999999969821,6.27018263162e-05,-0.000236021329359,2.68351344056e-05,1793242881270684416
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714.9362701,679.0637299,659.0637299,632,879.1274598,787,806.9362701,651.0637299,630.9362701,651.0637299,0.453932430918,-0.00556108713234,0.049838560634,0.999999969451,6.0044424806e-05,-0.000238249444713,2.70035559438e-05,1793242881287351552
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714.488550278,679.511449722,659,631.488550278,879,787,806.488550278,651.511449722,631,651.511449722,0.453973605526,-0.00556095768428,0.0498361351639,0.999999968441,6.04454696632e-05,-0.000242325549517,2.72370782154e-05,1793242881304018688
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714.088351804,680,659.088351804,631.088351804,879.088351804,787,806,651.911648196,631,652,0.454011206181,-0.00556014035915,0.0498340561893,0.999999967486,6.14318990304e-05,-0.000245982870415,2.73095577378e-05,1793242881320685568
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714.677070899,680,659.677070899,631.677070899,879.677070899,787,806,651.322929101,631,652,0.454040596341,-0.00555722584407,0.0498334911668,0.999999967378,6.35875826035e-05,-0.000245971815693,2.64243172572e-05,1793242881337352192
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.261721184,714.738278816,680,659.738278816,631.738278816,880,786.738278816,806,651.261721184,631,652,0.454064749167,-0.00555537898788,0.049832828019,0.999999967023,6.55007034484e-05,-0.000246956971536,2.59924124666e-05,1793242881354018560
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.841427918,714.158572082,680,659.158572082,631.158572082,880,786.158572082,806,651.841427918,631,652,0.454082538746,-0.00555482931421,0.0498320456513,0.999999966368,6.71191157204e-05,-0.000249152501565,2.61113007404e-05,1793242881370684928
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.581067428,714,680,659,631.418932572,880,786,806.418932572,651.581067428,631,652,0.454093470188,-0.00555432226398,0.0498295257535,0.999999965383,6.67673947519e-05,-0.000253160442084,2.61831202438e-05,1793242881387351808
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.004391949,714,680,659,631.995608051,880,786,806.995608051,651.004391949,631,652,0.454101819299,-0.00555383126299,0.0498263516143,0.999999964256,6.56738490052e-05,-0.000257850819103,2.62372166897e-05,1793242881404018688
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.568454233,631.431545767,880,786,807,651,630.431545767,652,0.454103539108,-0.00555363600844,0.0498228061737,0.999999962835,6.70176797607e-05,-0.000262978594324,2.60955070158e-05,1793242881420685312
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.145931795,714.145931795,680,659.854068205,631,880,786,807,651,630,651.854068205,0.454105425649,-0.00555322540238,0.0498199453578,0.999999961618,6.85706308428e-05,-0.000267191110921,2.59177404298e-05,1793242881437352192
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.737646662,714.737646662,680,659.262353338,631,880,786,807,651,630,651.262353338,0.454107976925,-0.0055521500211,0.0498191845943,0.9999999611,7.07052487485e-05,-0.000268597499257,2.56344198835e-05,1793242881454018816
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.679194475,715,679.679194475,659,631,880.320805525,786,806.679194475,651,630.320805525,651.320805525,0.454108208461,-0.00555087358857,0.0498173992725,0.999999960337,7.12693158186e-05,-0.000271297737199,2.53806337711e-05,1793242881470684672
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.102850847,715,679.102850847,659,631,880.897149153,786,806.102850847,651,630.897149153,651.897149153,0.454106592204,-0.00554943700824,0.0498147978373,0.999999959372,7.05823585881e-05,-0.00027502859306,2.51503733238e-05,1793242881487350528
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679.471505047,659.471505047,631,880.056989907,786.471505047,806.471505047,651.471505047,630.528494953,652,0.454109159369,-0.00555069558961,0.0498157885671,0.999999959935,6.85846001379e-05,-0.000273469339711,2.52919160017e-05,1793242881504017152
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.04576341,715,679.95423659,660,631,879.04576341,787,806.95423659,652,630.04576341,652,0.454112328063,-0.00555210882554,0.0498173338081,0.999999960692,6.68556365552e-05,-0.000271107065322,2.54585746178e-05,1793242881520684032
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.623910558,715,679.376089442,660,631,879.623910558,787,806.376089442,652,630.623910558,652,0.454111923174,-0.00554851061459,0.0498162525866,0.999999959925,7.15660292652e-05,-0.000272770902205,2.49778798543e-05,1793242881537350912
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.80602555,715,679,660,631,880,786.80602555,806,651.80602555,631,652,0.454111304909,-0.00554631321226,0.0498153156358,0.999999959302,7.42492026592e-05,-0.000274362594816,2.46683882461e-05,1793242881554017536
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.251007034,715,679,660,631,880,786.251007034,806,651.251007034,631,652,0.454110289485,-0.00554672313105,0.0498146472156,0.999999958981,7.31591185029e-05,-0.000275820005414,2.46775565899e-05,1793242881570684160
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.338018043,745,715,679.338018043,660,631,880,786.338018043,806.338018043,651,630.661981957,652,0.454109286253,-0.00554670524039,0.0498136574431,0.999999958476,7.27349129618e-05,-0.00027775340883,2.47319050959e-05,1793242881587350784
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.9551206,745,715,679.9551206,660,631,880,786.9551206,806.9551206,651,630.0448794,652,0.454108293088,-0.00554633412895,0.049812402346,0.999999957815,7.2860489992e-05,-0.000280079815528,2.48235565912e-05,1793242881604017408
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.47009507,745,714.47009507,680,659.47009507,631,880,786.47009507,807,651.52990493,630.52990493,652,0.454108678182,-0.00554690266738,0.0498123721121,0.999999957891,7.16567555986e-05,-0.000280122594501,2.48056109936e-05,1793242881620684032
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.894827857,659,631,880,786.105172143,806.894827857,652,630.894827857,652,0.454109234122,-0.00554736191144,0.0498125595544,0.999999958034,7.10259246966e-05,-0.000279766880759,2.48475016111e-05,1793242881637350912
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679.301929876,659,631,880,786.698070124,806.301929876,652,630.301929876,652,0.454110081056,-0.00554697255183,0.0498133109529,0.999999958227,7.35353652165e-05,-0.000278393775822,2.52067386971e-05,1793242881654017536
+246,4.100000000,HOLD_POSE2,765,745,714,680,659,632,879,786,806,651,630,651,0.454108868911,-0.00554486132603,0.0498099811423,0.999999957339,7.22398370763e-05,-0.000281991985177,2.41603459867e-05,1793242881698854400
+247,4.116666667,HOLD_POSE2,765,745,714.784720614,680,659.784720614,632,879,786,806.784720614,651,630,651.784720614,0.454111166214,-0.00554619845676,0.0498121721777,0.999999957961,7.3242196506e-05,-0.000279463746294,2.47512440207e-05,1793242881715520768
+248,4.133333333,HOLD_POSE2,765,745.416165249,714.583834751,680,660,631.583834751,879.416165249,786,807,651,630,652,0.454111231738,-0.00554566339111,0.0498120853105,0.999999957779,7.50508768596e-05,-0.000279648914577,2.46010081422e-05,1793242881732187648
+249,4.150000000,HOLD_POSE2,765,745.989663373,714.010336627,680,660,631.010336627,879.989663373,786,807,651,630,652,0.454110453531,-0.00554442053454,0.0498111372736,0.99999995729,7.7164390028e-05,-0.000280859896686,2.41705837808e-05,1793242881748854272
+250,4.166666667,HOLD_POSE2,765,746,714.581819166,680,659.418180834,631,879.418180834,786.581819166,806.418180834,651.581819166,630,652,0.454109898339,-0.00554397670668,0.0498105007668,0.999999957213,7.58650352488e-05,-0.000281465637348,2.44196152959e-05,1793242881765521152
+251,4.183333333,HOLD_POSE2,765,745.829873663,715,680,659,631,879,786.829873663,806,651.829873663,630,651.829873663,0.454109483125,-0.0055437802896,0.0498098989511,0.999999957115,7.49597307682e-05,-0.000282041581966,2.45706073658e-05,1793242881782187776
+252,4.200000000,HOLD_POSE2,765,745.251620603,715,680,659,631,879,786.251620603,806,651.251620603,630,651.251620603,0.454109393893,-0.00554414221876,0.0498093666406,0.999999956954,7.5150013672e-05,-0.000282572697162,2.44564886601e-05,1793242881798854912
+253,4.216666667,HOLD_POSE2,765,745,714.676749465,680,659.323250535,631,879.323250535,786.323250535,806,651.323250535,630.323250535,651.323250535,0.454108675353,-0.00554385827847,0.0498089383143,0.999999956499,7.61642379065e-05,-0.000283903495169,2.44813790952e-05,1793242881815521792
+254,4.233333333,HOLD_POSE2,765,745,714.104483616,680,659.895516384,631,879.895516384,786.895516384,806,651.895516384,630.895516384,651.895516384,0.454107472028,-0.00554307679411,0.049808590092,0.999999955814,7.78131834564e-05,-0.000285850326974,2.4613354912e-05,1793242881832188928
+255,4.250000000,HOLD_POSE2,765,745,714,680,660,631,880.470831485,786.529168515,806,652,631,652,0.454106978876,-0.00554352158333,0.0498086384223,0.999999955731,7.6830598938e-05,-0.00028642441703,2.43950099005e-05,1793242881848855552
+256,4.266666667,HOLD_POSE2,765,745,714.048363662,680,660,631,880.951636338,786,806.048363662,652,630.951636338,652,0.454106870434,-0.00554415525222,0.0498088393204,0.999999955833,7.53580599502e-05,-0.000286482184691,2.41307735029e-05,1793242881865522176
+257,4.283333333,HOLD_POSE2,765,745,714.643253171,680,660,631,880.356746829,786,806.643253171,652,630.356746829,652,0.454109316859,-0.00554382816363,0.0498097633715,0.999999956518,7.49909520969e-05,-0.000284170186781,2.42321720988e-05,1793242881882188800
+258,4.300000000,HOLD_POSE2,765,745.230680073,714.769319927,680,659.769319927,631,879.769319927,786,806.769319927,651.769319927,630.230680073,651.769319927,0.454110072227,-0.00554347172672,0.0498097180724,0.999999956634,7.55131149489e-05,-0.000283614655782,2.43290799852e-05,1793242881898855168
+259,4.316666667,HOLD_POSE2,765,745.806927653,714.193072347,680,659.193072347,631,879.193072347,786,806.193072347,651.193072347,630.806927653,651.193072347,0.45410829433,-0.00554307132492,0.0498082206495,0.999999955899,7.73674391126e-05,-0.000285690379108,2.44192606092e-05,1793242881915522304
+260,4.333333333,HOLD_POSE2,765,745.618876008,714.381123992,680,659,631,879.381123992,786.381123992,806,651,630.618876008,651.381123992,0.454109064516,-0.00554309381812,0.0498088213848,0.999999956118,7.62881446008e-05,-0.000285222549435,2.43242103807e-05,1793242881932188928
+261,4.350000000,HOLD_POSE2,765,745.045713185,714.954286815,680,659,631,879.954286815,786.954286815,806,651,630.045713185,651.954286815,0.454111118618,-0.00554332939747,0.0498104793292,0.999999956812,7.37306733092e-05,-0.000283473087324,2.41358269746e-05,1793242881948855808
+262,4.366666667,HOLD_POSE2,765,745,714.454589046,680,659,631,880,786.454589046,806.545410954,651.545410954,630,651.454589046,0.454109714314,-0.0055433462487,0.049809597323,0.999999956431,7.45426638488e-05,-0.000284582251824,2.4373923662e-05,1793242881965522432
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,631,880,786,807,652,630,652,0.454109082165,-0.00554493286737,0.0498068922624,0.999999956259,7.36814332695e-05,-0.000285416715148,2.428650647e-05,1793242882007233024
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.576956479,631.576956479,880,786,806.423043521,652,630,651.423043521,0.454107060528,-0.00554383823936,0.0498055370573,0.999999955372,7.4302525248e-05,-0.000288355297068,2.42034030082e-05,1793242882023899648
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.847276012,680,660,632,879.847276012,786.152723988,806.152723988,652,630.152723988,651.152723988,0.454105876346,-0.00554257609976,0.0498049270183,0.999999954745,7.52982787691e-05,-0.000290282712066,2.39928500322e-05,1793242882040566272
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.274776364,680,660,632,879.274776364,786.725223636,806.725223636,652,630.725223636,651.725223636,0.454106993983,-0.00554085353915,0.0498063651351,0.999999954851,7.73238234874e-05,-0.000289430844212,2.34319905482e-05,1793242882057233152
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.691962096,632,879,786.691962096,806.691962096,652,630.691962096,651.691962096,0.454107691338,-0.00554084770096,0.049807262354,0.999999955108,7.76845833547e-05,-0.00028844092714,2.34548857973e-05,1793242882073899520
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.099628237,632,879,786.099628237,806.099628237,652,630.099628237,651.099628237,0.454108000803,-0.00554242626929,0.0498076603645,0.999999955507,7.65088711576e-05,-0.000287323601016,2.40165430518e-05,1793242882090565376
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,632,879.48264386,786,806,651.51735614,630,651,0.454108227499,-0.00554179297794,0.0498073386105,0.999999955467,7.67650585416e-05,-0.000287409849652,2.38381876185e-05,1793242882107232000
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.062136897,680,659.062136897,631.937863103,880,786.062136897,806,651.062136897,630,651,0.454108158821,-0.00554092444883,0.0498067436328,0.999999955294,7.71859039477e-05,-0.000287924793166,2.354874829e-05,1793242882123898624
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.635504536,680,659.635504536,631.364495464,880,786.635504536,806,651.635504536,630,651,0.454105797647,-0.00554180026669,0.0498050981461,0.99999995475,7.65792899907e-05,-0.000289964490981,2.35764903718e-05,1793242882140565248
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,631.214943583,880,786.785056417,806.214943583,652,630,651,0.454099366527,-0.00554179325524,0.0498018618284,0.999999953336,7.63451003734e-05,-0.000294876035212,2.34171712897e-05,1793242882157232128
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,631.804977569,880,786.195022431,806.804977569,652,630,651,0.454085833087,-0.00554024564968,0.0497958494083,0.99999995034,7.67608152881e-05,-0.000304799136277,2.2931418417e-05,1793242882173899264
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.626067302,632,880,786.373932698,806.626067302,652,630,651.373932698,0.454057903913,-0.00553948645208,0.049782735493,0.9999999433,7.60313884614e-05,-0.000327315278062,2.2019866445e-05,1793242882190566400
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.067519034,632,880,786.932480966,806.067519034,652,630,651.932480966,0.454022867372,-0.00553911650188,0.049766115474,0.999999933603,7.47365898404e-05,-0.000356048773017,2.08980917091e-05,1793242882207233792
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.514323576,659.485676424,631.514323576,879.514323576,786.514323576,806.485676424,652,630.485676424,651.514323576,0.45396751262,-0.00553754019567,0.0497445305295,0.999999920032,7.59714682628e-05,-0.000392122566216,2.00965838257e-05,1793242882223899904
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.956900314,679.043099686,659.956900314,631,879,786.043099686,806.956900314,652,631,651,0.453908272727,-0.00553572594143,0.049722686438,0.999999905194,7.7569255366e-05,-0.00042804604429,1.92731938946e-05,1793242882240565760
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.332531031,679.667468969,659.332531031,631,879,786.667468969,806.332531031,652,631,651,0.453834315073,-0.00553293973243,0.0497065546664,0.999999896196,7.93702229874e-05,-0.000448329873082,1.75607597366e-05,1793242882257231872
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.276598568,631,879,786.723401432,806,651.723401432,630.723401432,651.276598568,0.453758302214,-0.00553036677226,0.0496955803779,0.999999889903,8.12432379359e-05,-0.000461867886131,1.6496564285e-05,1793242882273898752
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.868363486,631,879,786.131636514,806,651.131636514,630.131636514,651.868363486,0.453679947586,-0.00552803679562,0.0496904827119,0.999999887028,8.31983461173e-05,-0.000467719473169,1.61709954255e-05,1793242882290565376
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.549898207,660,631,879.450101793,786,806,651.450101793,630.450101793,651.549898207,0.453583390691,-0.00552404526872,0.0496907897046,0.999999886059,8.75678694212e-05,-0.000469000950635,1.58661304469e-05,1793242882307232000
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.028576104,679.028576104,659.971423896,631,880,786,806,651.971423896,631,651.028576104,0.453480748919,-0.00551955217623,0.0496928043403,0.999999885777,9.2549506406e-05,-0.000468656084891,1.55472459544e-05,1793242882323898368
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.599543416,679.599543416,659.400456584,631,880,786,806,651.400456584,631,651.599543416,0.453361452532,-0.00551456143957,0.0496978832637,0.999999888437,9.60389322353e-05,-0.000462258373563,1.48498388816e-05,1793242882340564992
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.166548395,745,715,679.833451605,659,631,880,786,806.166548395,651.166548395,631,652,0.453231058362,-0.00550972152463,0.0497021674185,0.99999989005,9.89149389188e-05,-0.000458161667015,1.4305181521e-05,1793242882357231616
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.724247479,745,715,679.275752521,659,631,880,786,806.724247479,651.724247479,631,652,0.453074600277,-0.00550523582586,0.0497045850026,0.999999889309,0.000100350286865,-0.000459469033908,1.41192677642e-05,1793242882373898496
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.688825627,745,715,679.311174373,659.311174373,631.311174373,880,786.311174373,806.688825627,651.688825627,630.688825627,651.688825627,0.452905937478,-0.00549993270652,0.0497069093134,0.999999889074,0.000103393071194,-0.000459309396799,1.40307362863e-05,1793242882390565120
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.07331295,745,715,679.92668705,659.92668705,631.92668705,880,786.92668705,806.07331295,651.07331295,630.07331295,651.07331295,0.452725338064,-0.00549383012368,0.0497091424002,0.999999889317,0.000108007978929,-0.000457714983873,1.40374477117e-05,1793242882407231744
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.505669403,745,714.494330597,680,659.494330597,632,880,786.494330597,806.505669403,651,630.505669403,651,0.452500810685,-0.00548455039281,0.0497075970973,0.999999885188,0.000114194444109,-0.000465221239802,1.23931572485e-05,1793242882423898624
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.919882386,745,714,680,659.080117614,632.080117614,880,786,806.919882386,651,631,651.080117614,0.452266115665,-0.00547488570717,0.0497057692996,0.999999880672,0.000120814289141,-0.000473229938159,1.06179340006e-05,1793242882440565248
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.342920694,745,714,680,659.657079306,632.657079306,880,786,806.342920694,651,631,651.657079306,0.452005201085,-0.00546549784853,0.0497053578838,0.999999878028,0.000128803930844,-0.000476723409654,9.4151373372e-06,1793242882457232384
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.768135189,660,632.768135189,880,786,806,651,631,652,0.451730886352,-0.00545667433809,0.0497055223125,0.999999877119,0.000134698578709,-0.000477026315859,7.95487501639e-06,1793242882473899264
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.196538304,660,632.196538304,880,786,806,651,631,652,0.451436937513,-0.00544867772034,0.0497065304778,0.999999878824,0.00013752360721,-0.00047265435396,6.11736991808e-06,1793242882490565632
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.392234607,660,632.392234607,880.392234607,786,806.392234607,651,631,652,0.451125165989,-0.00544106922854,0.0497088791643,0.999999883446,0.000141607542014,-0.000461558998925,4.2672479662e-06,1793242882507231744
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.990008085,660,632.990008085,880.990008085,786,806.990008085,651,631,652,0.450804055028,-0.00543366412284,0.0497119303112,0.99999988941,0.000146351169079,-0.000446940449891,2.41051458472e-06,1793242882523897856
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633,879.932408244,786,806.466204122,651,631,652,0.450460971713,-0.00542787181398,0.0497310700372,0.999999903563,0.000147762080858,-0.00041356973916,1.1661992446e-06,1793242882540564736
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633,879,786.086180728,806,651.086180728,631,652,0.450105975505,-0.00542321884069,0.0497489206527,0.999999916104,0.000147852356337,-0.000382009124689,-1.82801225297e-07,1793242882557231360
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633,879,786.696424534,806,651.696424534,631,652,0.449680808728,-0.00542532742444,0.0497572690883,0.999999924134,0.000140256384444,-0.000363394143125,-2.23169651567e-06,1793242882573898496
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.700840198,660,633,879.299159802,787,806,651.700840198,631,652,0.449236507597,-0.00542751960227,0.0497610366981,0.999999927833,0.000131241174805,-0.00035650344572,-3.91576368098e-06,1793242882590565120
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.105537671,660,633,879.894462329,787,806,651.105537671,631,652,0.448773265035,-0.00542979453136,0.0497602696815,0.999999927448,0.00012082103979,-0.000361218788966,-5.23868231874e-06,1793242882607231744
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.473028872,660,633.473028872,879.526971128,787,806,651,631,652,0.448275776487,-0.00542637485184,0.0497601676115,0.999999930913,0.000115159465298,-0.000353313450968,-9.05448085349e-06,1793242882623898368
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,879.047877752,787,806,651,631,651.952122248,0.447766049879,-0.00542144822565,0.0497603818997,0.999999934743,0.000111043391417,-0.000343523581971,-1.32523193065e-05,1793242882640565248
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,879.621505005,787,806,651,631,651.378494995,0.447202971149,-0.00541344869505,0.0497624966958,0.999999934741,0.000112638525363,-0.000342903505137,-1.57465358982e-05,1793242882657231872
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.80416706,660,634,879.80416706,787,806,651,631,651,0.446628426644,-0.00540759488197,0.049763175242,0.99999993445,0.000111650362199,-0.000343943085009,-1.83917848778e-05,1793242882673898752
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.228480059,660,634,879.228480059,787,806,651,631,651,0.446031642187,-0.00540590308373,0.0497610679165,0.999999933569,0.000105651418339,-0.0003482018748,-2.13299888441e-05,1793242882690565120
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.719848439,634,879.359924219,787,806,651,631,651,0.445427764972,-0.00540696337579,0.049774916649,0.999999939951,9.49954437007e-05,-0.000332475282644,-2.31188352249e-05,1793242882707231744
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,661.913394197,634,879.956697099,787,806,651,631,651,0.444819220381,-0.00540983468498,0.0497992652889,0.99999995032,8.12749033003e-05,-0.000303597280195,-2.41513450289e-05,1793242882723898368
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.53498032,660.930039361,634,880,787,805.46501968,651,631,651,0.444131227931,-0.00540779588332,0.0498020294866,0.999999950564,7.61402233531e-05,-0.000303933195721,-2.64551233351e-05,1793242882740565248
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.890425343,660,634,880,787,805.109574657,651.109574657,631,651.109574657,0.44342754836,-0.00540430401264,0.0497975930079,0.999999947622,7.1706719299e-05,-0.000314233259833,-2.9520845518e-05,1793242882757232128
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.253697672,660.253697672,634,880,787,806,651.746302328,631,651.746302328,0.441957882792,-0.00539296429614,0.049765303692,0.999999932232,6.0557733164e-05,-0.000361003180355,-3.93094004516e-05,1793242882790566656
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.017079336,745,714,679.017079336,660.982920664,634,879.982920664,787,806.965841327,651,631,651.017079336,0.43975371123,-0.00540866335335,0.0498427245668,0.999999972631,1.5239117782e-05,-0.000229454983385,-4.30813270718e-05,1793242882840566016
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.264255888,745,714,679.264255888,660.735744112,634,879.735744112,787,805.735744112,651,631,652,0.437173404772,-0.00539124962678,0.0497762751858,0.999999934523,7.96501989207e-07,-0.000357280865723,-5.74749664129e-05,1793242882890566400
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.925889505,660.074110495,634,879,788,805.074110495,651,631,652,0.433695271042,-0.00538891183248,0.0497703080602,0.999999929602,-2.76739689584e-05,-0.000368276165614,-6.63484467595e-05,1793242882957232640
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.693541768,661,634.693541768,880,787,805.306458232,652,631,652,0.426386765621,-0.00537047721513,0.0497670499359,0.999999920988,8.14633787252e-05,-0.000386416995208,-4.54918479723e-05,1793242883090565120
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..72b9ad0c6a9739b4b8d39550a07dcd8709848766
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,409 @@
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+387,6.450000000,pose2_to_pose3_retreat,0.580748064195,1.88020592351e-06,1.04004100199,0.551319783923,0.00867670906579,1.03967880252
+388,6.466666667,pose2_to_pose3_retreat,0.580747348682,1.8632851536e-06,1.04004092789,0.551319068325,0.00867669187238,1.03967872885
+389,6.483333333,pose2_to_pose3_retreat,0.580746875464,1.85209429152e-06,1.04004087889,0.551318595051,0.00867668050121,1.03967868013
+390,6.500000000,pose2_to_pose3_retreat,0.580746590435,1.84535379096e-06,1.04004084937,0.551318309988,0.0086766736521,1.03967865078
+391,6.516666667,pose2_to_pose3_retreat,0.580746340731,1.83944868067e-06,1.04004082351,0.551318060255,0.00867666765185,1.03967862507
+392,6.533333333,pose2_to_pose3_retreat,0.580746096095,1.82906965009e-06,1.04004082868,0.551317815583,0.0086766571332,1.03967862982
+393,6.550000000,pose2_to_pose3_retreat,0.580745979962,1.82318955302e-06,1.04004083745,0.551317699431,0.0086766511772,1.03967863828
+394,6.566666667,pose2_to_pose3_retreat,0.580745915608,1.81993115597e-06,1.04004084232,0.551317635067,0.00867664787674,1.03967864297
+395,6.583333333,pose2_to_pose3_retreat,0.580745818804,1.81502974694e-06,1.04004084964,0.551317538248,0.00867664291206,1.03967865003
+396,6.600000000,pose2_to_pose3_retreat,0.580745684838,1.80824673865e-06,1.04004085977,0.551317404261,0.0086766360415,1.03967865979
+397,6.616666667,pose2_to_pose3_retreat,0.58074545897,1.79681049918e-06,1.04004087684,0.551317178356,0.00867662445763,1.03967867625
+398,6.633333333,pose2_to_pose3_retreat,0.580745170624,1.78221080151e-06,1.04004089864,0.551316889963,0.00867660966948,1.03967869726
+399,6.650000000,pose2_to_pose3_retreat,0.580744880504,1.76752136093e-06,1.04004092057,0.551316599798,0.00867659479042,1.0396787184
+400,6.666666667,pose2_to_pose3_retreat,0.580744812086,1.76405719943e-06,1.04004092574,0.551316531369,0.00867659128154,1.03967872339
+401,6.683333333,pose2_to_pose3_retreat,0.580744600662,1.75335225877e-06,1.04004094173,0.55131631991,0.00867658043841,1.03967873879
+402,6.700000000,pose2_to_pose3_retreat,0.580744195158,1.78086583282e-06,1.04004088278,0.551315914537,0.00867660838746,1.03967867972
+403,6.716666667,pose2_to_pose3_retreat,0.580743866041,1.83470615428e-06,1.04004077618,0.551315585653,0.00867666304065,1.03967857365
+404,6.733333333,pose2_to_pose3_retreat,0.580743668596,1.86566327076e-06,1.04004072514,0.551315388371,0.00867669455339,1.03967852278
+405,6.750000000,pose2_to_pose3_retreat,0.580743651258,1.8638491883e-06,1.04004076424,0.551315371121,0.00867669301754,1.0396785614
+406,6.766666667,pose2_to_pose3_retreat,0.580743584542,1.8568688263e-06,1.04004091469,0.551315304743,0.00867668710778,1.03967870999
+407,6.783333333,pose2_to_pose3_retreat,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051295,1.03967877686
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b666a83b6b0fb1bcc0970875f4192fc20ab0b70
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a402c8ffa75f5d7011b85f89fb7bf5d22523872c509c96f12f88adda512882aa
+size 26061272
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..419c4ba0ff91caaec15cce03cf882b458534dba7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,764.406085982,745,714,679,661,635,878,787.593914018,805,652.406085982,631,652,0.400998444809,-0.00540143072684,0.0498595276503,0.999999960247,0.000140827333048,-0.000241686584806,-3.55014238145e-05,1793242884551993344
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+23,0.383333333,BASELINE,765,745,714,679,661,635,878.640268617,788,805,652.640268617,631,652,0.401000157752,-0.00540044896973,0.0498614547931,0.999999961185,0.000141295758663,-0.000237471894146,-3.56747103478e-05,1793242884918660608
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+27,0.450000000,BASELINE,765,745,714,679,661,635,878,788,804.306899216,652.306899216,630.693100784,652,0.40099906058,-0.00540186644547,0.0498615718813,0.999999961069,0.000140667595675,-0.000238351575658,-3.55414165498e-05,1793242884985326592
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+29,0.483333333,BASELINE,765,745,714,679,660.151172852,635,878.848827148,788,804.848827148,652.848827148,631,652,0.40099976708,-0.00540142984718,0.04986195686,0.999999961423,0.000139911357226,-0.000237295931626,-3.56277529958e-05,1793242885018660096
+30,0.500000000,BASELINE,765,745,714,679,660.422850217,635,878.577149783,788,805,653,631,652,0.400999461561,-0.00540120820338,0.0498616261475,0.99999996117,0.000140412376004,-0.000238089737651,-3.54733888374e-05,1793242885035326464
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+42,0.700000000,BASELINE,764.385903582,745.614096418,714,679,661,635,879,787.385903582,805.614096418,652.614096418,630.614096418,652,0.400996836979,-0.0054033450685,0.0498598376103,0.99999996069,0.000139616687545,-0.000240592801204,-3.52589783173e-05,1793242885235327488
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+46,0.766666667,BASELINE,765,745,714,679,661,635,878,787.291412782,805,652,630.291412782,652,0.400999547309,-0.00540322971399,0.0498627101107,0.999999961989,0.000137582052323,-0.000236340552991,-3.5150966745e-05,1793242885301993216
+47,0.783333333,BASELINE,765,745,714,679,661,635,878.29690901,787.29690901,805,652.29690901,630.29690901,652,0.400999429984,-0.0054039912701,0.0498628920404,0.99999996202,0.000137562040725,-0.000236263527061,-3.48813017731e-05,1793242885318660096
+48,0.800000000,BASELINE,765,745,714,679,661,635,878.87156529,787.87156529,805,652.87156529,630.87156529,652,0.400997087863,-0.0054044188745,0.049861339343,0.999999961138,0.000138804520691,-0.000239243029658,-3.49183068935e-05,1793242885335327488
+49,0.816666667,BASELINE,765,745,714,679,661,634.554769524,878.554769524,787.554769524,805,653,631,652,0.400997975534,-0.00540299816169,0.0498610580325,0.999999960947,0.000140464689509,-0.000239025855876,-3.52472040037e-05,1793242885351994368
+50,0.833333333,BASELINE,764.980722329,745,714,679,661,634.019277671,878.019277671,787.019277671,805,653,631,652,0.400999690412,-0.00540113988933,0.0498611411124,0.999999960956,0.000142122477324,-0.000237946130011,-3.56449057446e-05,1793242885368660992
+51,0.850000000,BASELINE,764.386782849,745,714,679,661,634.613217151,878.613217151,787.613217151,805,653,631,652,0.400998352328,-0.00540209673591,0.0498611780087,0.999999961089,0.000140125501905,-0.000238581604209,-3.55892077068e-05,1793242885385327616
+52,0.866666667,BASELINE,764.201139196,745,714,679,661,635,879,787.798860804,805,653,631,652,0.400998588911,-0.00540313600112,0.049861808618,0.999999961594,0.000138178160307,-0.000237616254935,-3.54647743166e-05,1793242885401993984
+53,0.883333333,BASELINE,764.777826035,745,714,679,661,635,879,787.222173965,805,653,631,652,0.401001765561,-0.00540432915035,0.0498635477507,0.999999962789,0.000136323490297,-0.000233662002958,-3.52120049312e-05,1793242885418660864
+54,0.900000000,BASELINE,765,745,714,679,661,634.64769184,879,787,805,652.64769184,631,652,0.401001015083,-0.00540466371996,0.0498630906158,0.999999962562,0.000136411235616,-0.000234588240144,-3.51682675018e-05,1793242885435327744
+55,0.916666667,BASELINE,765,745,714,679,661,634.074591435,879,787,805,652.074591435,631,652,0.400997803467,-0.00540446021593,0.0498612570753,0.999999961437,0.000137716296667,-0.000238573090026,-3.52555308364e-05,1793242885451994624
+56,0.933333333,BASELINE,765,745,714,679,661.497725147,634.497725147,879,787.497725147,805,652,631,652,0.400997773262,-0.0054026418222,0.0498613375251,0.999999961318,0.000139511310953,-0.000238012033806,-3.53779751629e-05,1793242885468660736
+57,0.950000000,BASELINE,765,745,714,679,661.926591344,635,879,787.926591344,805,652.073408656,631,652,0.400998327376,-0.00540108967479,0.0498617669473,0.999999961408,0.000140829101174,-0.000236838733509,-3.54638096314e-05,1793242885485327104
+58,0.966666667,BASELINE,765,745,714,679,661.325880677,635,879,787.325880677,805,652.674119323,631,652,0.400999659328,-0.00540318568874,0.0498626459145,0.999999961946,0.000138192338074,-0.000236153566225,-3.52488590483e-05,1793242885501993728
+59,0.983333333,BASELINE,765,745,714,679,661,635,879,787.262424787,805,653,631,652,0.400999238759,-0.00540446820065,0.0498624353496,0.999999961914,0.00013678097635,-0.000237114180832,-3.52060823843e-05,1793242885518660352
+60,1.000000000,BASELINE,765,745,714,679,661,635,879,787.836020808,805,653,631,652,0.400996740133,-0.00540478609957,0.0498609328677,0.999999961208,0.000136822638843,-0.00024002628778,-3.5367461602e-05,1793242885535326976
+61,1.016666667,BASELINE,765,745.408345675,714,679,661,635,879,787.591654325,805,653,630.591654325,652,0.400996591378,-0.00540431616897,0.049860862646,0.999999961029,0.000137775745175,-0.000240209576943,-3.54783098879e-05,1793242885551993856
+62,1.033333333,BASELINE,765,745.980161634,714,679,661,635,879,787.019838366,805,653,630.019838366,652,0.400997383333,-0.00540353085184,0.0498613657914,0.999999961062,0.0001390937237,-0.000239300456617,-3.55689294553e-05,1793242885568660480
+63,1.050000000,BASELINE,765,745.424200697,714,679,661,635,878.424200697,787.575799303,805,653,630.575799303,652,0.400998239841,-0.00540379372857,0.0498617325785,0.999999961587,0.00013699782135,-0.000238321398526,-3.55096194406e-05,1793242885585327360
+64,1.066666667,BASELINE,765,745,714,679,661,635,878.16700439,788,805,653,631,652,0.400998810212,-0.00540441015139,0.0498619711425,0.999999962003,0.000135061658584,-0.000237704287651,-3.53428022548e-05,1793242885601994240
+65,1.083333333,BASELINE,765,745,714,679,661,635,878.745188086,788,805,653,631,652,0.400998670377,-0.00540580428209,0.049861906076,0.999999962118,0.000133820878555,-0.000237984511004,-3.49245601577e-05,1793242885618660864
+66,1.100000000,BASELINE,765,745,714,679,661.320598133,635,879,787.679401867,805,652.679401867,631,652,0.400998838311,-0.00540526812236,0.0498619775831,0.999999961982,0.00013550066456,-0.000237598253434,-3.49664217761e-05,1793242885635327232
+67,1.116666667,BASELINE,765,745,714,679,661.893822559,635,879,787.106177441,805,652.106177441,631,652,0.400999248762,-0.00540321092401,0.0498621567082,0.999999961637,0.000139481810791,-0.000236686819345,-3.53708379159e-05,1793242885651993600
+68,1.133333333,BASELINE,765,745,714,679,661.53297944,634.53297944,879,787,805,652,631,652,0.400998821556,-0.00540377777391,0.0498619690026,0.99999996194,0.00013710280293,-0.000236769668825,-3.55244016633e-05,1793242885668660480
+69,1.150000000,BASELINE,765,745.041612844,714,679,661,634.041612844,879,787,805,652.041612844,631,652,0.400998388349,-0.00540481410065,0.0498617981661,0.99999996234,0.000133780441979,-0.000236970128396,-3.56032963867e-05,1793242885685327360
+70,1.166666667,BASELINE,765,745.634764076,714,679,661,634.634764076,879,787,805,652.634764076,631,652,0.40100039958,-0.00540416625419,0.0498629562272,0.999999962186,0.000137118909558,-0.00023573347624,-3.54483792571e-05,1793242885701993984
+71,1.183333333,BASELINE,765,745.777906233,714,679,661,635,879,787.222093767,805.222093767,653,630.777906233,652,0.401001033121,-0.00540342923262,0.049863536975,0.99999996198,0.000139380218124,-0.000235291362925,-3.53712273391e-05,1793242885718660608
+72,1.200000000,BASELINE,765,745.199905511,714,679,661,635,879,787.800094489,805.800094489,653,630.199905511,652,0.400999458902,-0.00540254930717,0.0498631925739,0.999999961708,0.000139915371689,-0.000236122503968,-3.54186947413e-05,1793242885735327744
+73,1.216666667,BASELINE,765,745,714,679,661,635,879,788,805.625777736,652.625777736,630.374222264,652,0.400998173938,-0.00540251744481,0.0498621515118,0.999999961342,0.000139700555005,-0.000237783212843,-3.54947049682e-05,1793242885751994368
+74,1.233333333,BASELINE,765,745,714,679,661,635,879,788,805.053697689,652.053697689,630.946302311,652,0.400997041909,-0.00540293396813,0.0498607421131,0.999999960922,0.00013908921605,-0.000239882528523,-3.55858062771e-05,1793242885768660736
+75,1.250000000,BASELINE,765,745.535712105,714,678.464287895,661,635,878.464287895,788,805.535712105,652.535712105,631,652,0.400998007397,-0.00540305765201,0.0498620844854,0.999999961554,0.00013752997647,-0.000238158848428,-3.54658062679e-05,1793242885785331712
+76,1.266666667,BASELINE,765,745.875443217,714,678.124556783,661,635,878.124556783,787.875443217,805.875443217,653,631,652,0.400999068159,-0.00540331349688,0.0498633110573,0.99999996218,0.000136183375717,-0.000236316811646,-3.53259611658e-05,1793242885802000896
+77,1.283333333,BASELINE,765,745.295232843,714,678.704767157,661,635,878.704767157,787.295232843,805.295232843,653,631,652,0.400999682616,-0.00540416378223,0.0498630712467,0.999999962408,0.000135973849736,-0.00023549049641,-3.5193513922e-05,1793242885818662912
+78,1.300000000,BASELINE,765,745,714,679,661,635,878.718354988,787.281645012,804.718354988,652.718354988,631,652,0.401000017293,-0.00540500517743,0.0498629615851,0.999999962454,0.000135694436236,-0.000235468048109,-3.51373270375e-05,1793242885835327488
+79,1.316666667,BASELINE,765,745,714,679,661,635,878.144929614,787.855070386,804.144929614,652.144929614,631,652,0.40100006212,-0.00540583736248,0.0498629867562,0.999999962309,0.00013534262024,-0.000236278394961,-3.51601448458e-05,1793242885851994368
+80,1.333333333,BASELINE,765,745,714,679,661,635,878.4290573,788,804.4290573,652,631,652,0.401000257473,-0.00540445130112,0.0498630626063,0.999999962248,0.00013716159854,-0.000235447379629,-3.5432610079e-05,1793242885868660992
+81,1.350000000,BASELINE,765,745,714,678.996646307,661,635,878.996646307,788,805,652.003353693,631,652,0.401000493901,-0.00540232815303,0.0498631482775,0.999999962205,0.000139698858411,-0.000234081006437,-3.578857213e-05,1793242885885327872
+82,1.366666667,BASELINE,765,745,714,678.40125344,661,635,878.40125344,788,805,652.59874656,631,652,0.400998993694,-0.00540253318326,0.0498619417145,0.999999961736,0.000139421500648,-0.000236209685295,-3.59783873672e-05,1793242885901994496
+83,1.383333333,BASELINE,765,745,714,678.188259546,661,635,878,788,805,653,630.811740454,652,0.400998321049,-0.00540305356297,0.0498613643897,0.999999961651,0.000138336447358,-0.000237202984965,-3.60047303839e-05,1793242885918660864
+84,1.400000000,BASELINE,765,745,714,678.765619916,661,635,878,788,805,653,630.234380084,652,0.400999358835,-0.00540422571702,0.0498620875939,0.999999962359,0.000135582023179,-0.000235849647165,-3.56932038443e-05,1793242885935326720
+85,1.416666667,BASELINE,765,745,714,679,661,635,878,788,805,653,630.341527066,652,0.400999816339,-0.00540458404059,0.0498623332203,0.999999962461,0.000135085951808,-0.000235725541253,-3.55283281797e-05,1793242885951993600
+86,1.433333333,BASELINE,765,745,714,679,661,635,878,788,805,653,630.916441105,652,0.4009998773,-0.00540438622242,0.0498622524876,0.999999962153,0.000136133155434,-0.000236441447059,-3.5463668321e-05,1793242885968660480
+87,1.450000000,BASELINE,765,745,714,678.496959627,661,635,878,788,805,652.496959627,631,652,0.401000529487,-0.005404163822,0.0498628622316,0.999999962459,0.000135962260319,-0.000235240764193,-3.54804917694e-05,1793242885985327360
+88,1.466666667,BASELINE,765,745,714,678.090267442,661,635,878.090267442,787.909732558,805,652,631,652,0.401001362261,-0.00540404043164,0.0498635588521,0.99999996283,0.000135759907867,-0.000233776817938,-3.54681965546e-05,1793242886001994496
+89,1.483333333,BASELINE,765,745,714,678.67012167,661,635,878.67012167,787.32987833,805,652,631,652,0.401002629178,-0.00540447671918,0.0498640898068,0.999999962998,0.000136510452452,-0.00023265276602,-3.52228132693e-05,1793242886018661120
+90,1.500000000,BASELINE,765,745.249245968,714,679,660.750754032,634.750754032,879,787.249245968,805,652,631,652,0.401001874922,-0.00540401053115,0.0498636558871,0.999999962679,0.000137444138677,-0.000233458042628,-3.53206667574e-05,1793242886035327488
+91,1.516666667,BASELINE,765,745.827406975,714,679,660.172593025,634.172593025,879,787.827406975,805,652,631,652,0.400998453446,-0.00540235339992,0.04986194868,0.99999996171,0.000138619505937,-0.00023680933911,-3.58714693628e-05,1793242886051993856
+92,1.533333333,BASELINE,765,745.600081924,714,678.600081924,660.399918076,634.399918076,879,788,805,652,631,652,0.400999073801,-0.00540271542143,0.0498621155723,0.999999962015,0.00013818082238,-0.000235785239437,-3.57842589748e-05,1793242886068660224
+93,1.550000000,BASELINE,765,745.029975142,714,678.029975142,660.970024858,634.970024858,879,788,805,652,631,652,0.401001414193,-0.00540393671126,0.0498630800043,0.999999962859,0.000137055265192,-0.000232899151165,-3.542553651e-05,1793242886085326592
+94,1.566666667,BASELINE,765,745,714,678.563060839,661,635,879,788,805,652,631,652,0.401000572322,-0.00540379590768,0.0498627192215,0.99999996247,0.000137813217945,-0.000234175527415,-3.50679642339e-05,1793242886101993216
+95,1.583333333,BASELINE,765,745,714,679,661,635,878.847048092,787.847048092,804.847048092,652.152951908,631,652,0.401000009921,-0.00540381166074,0.0498624839418,0.999999962247,0.000137925309078,-0.00023508084433,-3.49271414665e-05,1793242886118659840
+96,1.600000000,BASELINE,765,745,714,679,661,635,878.26942187,787.26942187,804.26942187,652.73057813,631,652,0.401000713819,-0.00540447197599,0.0498628013212,0.99999996268,0.000135953929308,-0.0002343145304,-3.53879511334e-05,1793242886135326720
+97,1.616666667,BASELINE,765,745,714,679,661,635,878.306511469,787.306511469,804.306511469,652.693488531,631,652,0.401000714029,-0.00540471362012,0.0498630908234,0.999999962863,0.000135378030093,-0.000233861101625,-3.54474203677e-05,1793242886151993600
+98,1.633333333,BASELINE,765,745,714,679,661,635,878.880964912,787.880964912,804.880964912,652.119035088,631,652,0.401000099097,-0.00540458927605,0.0498633559562,0.999999962828,0.000136022012968,-0.000233681186531,-3.5156051323e-05,1793242886168660224
+99,1.650000000,BASELINE,765,745.454064121,714,679,661.454064121,635,879,788,805,652.454064121,631,652,0.401000135526,-0.00540389102801,0.0498632618886,0.999999962531,0.000137696457178,-0.000233986694851,-3.50284991776e-05,1793242886185326848
+100,1.666666667,BASELINE,765,745.972095776,714,678.972095776,661.972095776,635,878.972095776,788,805,652.972095776,631,652,0.401000345889,-0.00540308187133,0.0498631108444,0.999999962187,0.000139528400232,-0.00023438150102,-3.49591650165e-05,1793242886201993216
+101,1.683333333,BASELINE,765,745.375960222,714,678.375960222,661.375960222,635,878.375960222,788,805,652.375960222,631,652,0.401000631251,-0.00540306884414,0.0498637114124,0.999999962328,0.000139082910919,-0.000234011045764,-3.5203436881e-05,1793242886218660096
+102,1.700000000,BASELINE,765,745,714,678.212208451,660.787791549,635,878,787.787791549,805,652.212208451,631,652,0.401000669467,-0.00540336332877,0.0498638243612,0.99999996247,0.000138086009208,-0.00023397243826,-3.53354914297e-05,1793242886235326720
+103,1.716666667,BASELINE,765,745,714,678.786773225,660.213226775,635,878,787.213226775,805,652.786773225,631,652,0.40100028567,-0.0054041829049,0.0498631046765,0.999999962614,0.000136147543866,-0.000234500477082,-3.52759293905e-05,1793242886251993344
+104,1.733333333,BASELINE,765,745,714,679,660.363549317,635,878,787.363549317,805.363549317,652.636450683,631,652,0.401000498242,-0.00540331995769,0.049863303442,0.999999962488,0.000137728689324,-0.000234094070375,-3.54332632094e-05,1793242886268659968
+105,1.750000000,BASELINE,765,745,714,679,660.941630371,635,878,787.941630371,805.941630371,652.058369629,631,652,0.401001062735,-0.00540146414757,0.0498640441882,0.999999962191,0.000141386769364,-0.000233136244111,-3.57185880345e-05,1793242886285326848
+106,1.766666667,BASELINE,764.468444508,745,714,679,661,635,878.531555492,787.468444508,805.468444508,652,631,652,0.401000525334,-0.00540078841257,0.0498637131732,0.999999962012,0.000141431833598,-0.00023386853793,-3.57454189692e-05,1793242886301993472
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787,805,653,631,652,0.400998533702,-0.00540186791475,0.0498624051859,0.9999999616,0.000139106378133,-0.000236996090076,-3.58197262872e-05,1793242886344120320
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,678.424350823,661,635,878.424350823,787.575649177,805,653,631,652,0.400998029429,-0.00540292134521,0.0498615881549,0.99999996155,0.000138903868264,-0.00023734003997,-3.57239978587e-05,1793242886360786432
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,678.150546269,661.150546269,635,878.150546269,788,805,653,631,652,0.40099771939,-0.00540370260216,0.0498611726353,0.99999996156,0.000138800635864,-0.000237378527823,-3.55889620139e-05,1793242886377452288
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,678.723334101,661.723334101,635,878.723334101,788,805,653,631,652,0.400997954128,-0.00540372048624,0.0498618832462,0.999999961738,0.000138975849856,-0.000236560277348,-3.53436794768e-05,1793242886394118912
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,713.693010315,679,661.693010315,635,878.693010315,787.693010315,805,652.693010315,631,652,0.400998885215,-0.0054036413511,0.0498626625882,0.999999962063,0.000138603931022,-0.00023540958285,-3.52995754681e-05,1793242886410786048
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,713.099201055,679,661.099201055,635,878.099201055,787.099201055,805,652.099201055,631,652,0.4010004669,-0.00540347157118,0.0498635061455,0.999999962522,0.000137720827561,-0.00023394828691,-3.54434319911e-05,1793242886427452928
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,713.481081407,679,661,635,878.481081407,787.481081407,805.481081407,652.481081407,631,652,0.401001325364,-0.00540318487839,0.0498637195682,0.999999962754,0.000137230146027,-0.000233229072662,-3.55634643912e-05,1793242886444119808
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.941600077,788,805.941600077,653,631,652,0.401001872745,-0.0054030319167,0.0498638550907,0.9999999629,0.000136916680553,-0.000232771543208,-3.56464822263e-05,1793242886460786432
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.366501784,788,805.366501784,653,631,652,0.40100095116,-0.00540426961622,0.0498644195679,0.999999962705,0.000137474790693,-0.000233312457154,-3.54442867753e-05,1793242886477453056
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.786592075,745,714,679,661,635,878.213407925,788,805,652.786592075,630.786592075,652,0.401001891658,-0.00540473722864,0.0498649890578,0.999999962801,0.000137451522501,-0.000232927495,-3.53469503468e-05,1793242886494119680
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.198228824,745,714,679,661,635,878.801771176,788,805,652.198228824,630.198228824,652,0.401006103815,-0.00540385180654,0.0498655673553,0.999999963408,0.000136406779055,-0.000230915778888,-3.54338500633e-05,1793242886510786048
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.384556289,745,714,679,661,635,879,788,804.615443711,652.384556289,630.384556289,652,0.401024769624,-0.00540388649226,0.0498726327852,0.999999966394,0.000136479735832,-0.000217648796032,-3.48561157154e-05,1793242886527452416
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.96450718,745,714,679,661,635,879,788,804.03549282,652.96450718,630.96450718,652,0.401050779393,-0.00540438868841,0.0498829943533,0.999999970289,0.000137120600472,-0.000198662966446,-3.39406781126e-05,1793242886544119040
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.461853404,745,714,679,661,635,879,788,804.538146596,653,630.461853404,652,0.401105592009,-0.00540868432609,0.0499004383381,0.999999977212,0.000135346805319,-0.000161798106466,-3.28294541027e-05,1793242886560785664
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.11152653,745,714,679,661,635,878.88847347,788,805,653,630.11152653,652,0.401165143771,-0.00541265449019,0.0499177624641,0.999999982514,0.000133721433596,-0.000126850314842,-3.16204150204e-05,1793242886577452800
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.685536795,745,714,679,661,635,878.314463205,788,805,653,630.685536795,652,0.401236561808,-0.00541424948446,0.0499326749687,0.999999985176,0.000133364306692,-0.000104685545542,-3.00586783203e-05,1793242886594119680
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.259379696,788,805,653,631,652,0.401310214153,-0.00541562383132,0.0499424675162,0.999999986642,0.000133360110158,-8.99726018121e-05,-2.89241686074e-05,1793242886610786560
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.833019787,788,805,653,631,652,0.40138657355,-0.00541673084512,0.0499460568025,0.999999987098,0.000133783518639,-8.4288175161e-05,-2.830728056e-05,1793242886627453440
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,678.574670911,661,635,879,788,805,653,631,652,0.4014734509,-0.00542066757484,0.0499465160615,0.999999987383,0.000131470372673,-8.48544327624e-05,-2.73592404679e-05,1793242886644119808
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,678.024282752,661,635,878.975717248,787.975717248,805,652.975717248,631,652,0.401565745959,-0.00542567995567,0.0499456333341,0.999999987574,0.000128091676064,-8.80530253783e-05,-2.63004214599e-05,1793242886660786176
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,678.600038484,661,635,878.399961516,787.399961516,805,652.399961516,631,652,0.401682997385,-0.00542873311338,0.0499434617047,0.999999987424,0.000126032836949,-9.27440834655e-05,-2.58138317211e-05,1793242886677453056
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,787,805,652.179401787,631,651.820598213,0.401810856541,-0.00543260553281,0.0499435742396,0.99999998766,0.000123848867907,-9.33631189418e-05,-2.50148032228e-05,1793242886694119680
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,787,805,652.766972848,631,651.233027152,0.401962850055,-0.00543834191018,0.0499488836333,0.999999988769,0.000121380207489,-8.47176167115e-05,-2.35049240059e-05,1793242886710785792
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661.349847393,635,878.349847393,787.349847393,804.650152607,652.650152607,630.650152607,651.349847393,0.40212803041,-0.00544414987599,0.0499501801205,0.999999989208,0.000117944961596,-8.47739485526e-05,-2.20387738999e-05,1793242886727452672
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661.929635171,635,878.929635171,787.929635171,804.070364829,652.070364829,630.070364829,651.929635171,0.402301877951,-0.00545000489454,0.0499488390891,0.999999989204,0.000113874418357,-9.05496391899e-05,-2.06013649999e-05,1793242886744119296
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.4941073,745,714,678.4941073,660.988214601,635,879,788,804.5058927,652,630.5058927,651.4941073,0.402504556562,-0.00545699620746,0.0499494804022,0.999999989757,0.000110475733555,-8.89437907763e-05,-1.92273064959e-05,1793242886760785920
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,678,660.081685275,635,879,787.918314725,805,652.081685275,631,651.081685275,0.402716808929,-0.00546419029463,0.0499504203126,0.999999990332,0.000107330436033,-8.65976062903e-05,-1.77851068875e-05,1793242886777452544
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,678,660.657615248,635,879,787.342384752,805,652.657615248,631,651.657615248,0.402962892819,-0.00547166163435,0.049951510174,0.999999990652,0.000105156777108,-8.59410522244e-05,-1.58776673574e-05,1793242886794119168
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,678.239251127,661,635,879,787.239251127,805,653,630.760748873,652,0.403231220071,-0.00548075285459,0.0499561316492,0.999999991822,0.00010145738636,-7.66415770277e-05,-1.36988419281e-05,1793242886810786048
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,678.829252014,661,635,879,787.829252014,805,653,630.170747986,652,0.403532156786,-0.00549221887072,0.0499659305823,0.999999993882,9.55212243466e-05,-5.46713046901e-05,-1.11221562522e-05,1793242886827453440
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.411612332,745,714,679,661,635,879,788,805,653,630.411612332,652,0.403856550081,-0.00550242314376,0.0499744766371,0.999999995049,9.18383429786e-05,-3.74265122888e-05,-8.17895273578e-06,1793242886844120064
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.990860883,745,714,679,661,635,879,788,805,653,630.990860883,652,0.404190496466,-0.0055121135499,0.0499825124353,0.999999995776,8.90731491396e-05,-2.21062535964e-05,-5.08647857258e-06,1793242886860786688
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.435235866,635,878.435235866,788,805,653,631,652,0.404555198446,-0.00552025413743,0.0499882900435,0.999999996122,8.74168354525e-05,-1.03514432121e-05,-2.49593906592e-06,1793242886877453056
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.860788487,745,714,679,660,635,878.278423026,787.860788487,805,653,630.860788487,652,0.404929587772,-0.00552606274627,0.0499920048321,0.999999995968,8.97649300791e-05,-2.33017217693e-06,3.49370401982e-07,1793242886894119680
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.284363193,745,714,679,660,635,879.431273615,787.284363193,805,653,630.284363193,652,0.405332853111,-0.00552462546618,0.0499893547292,0.999999994501,0.000104633617695,-5.85511479111e-06,4.02009147002e-06,1793242886910786816
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.299615,745,714,679,660.299615,634.700385,880,787,805,653,630.299615,652,0.405736858536,-0.00551580721599,0.0499762585536,0.999999991533,0.000126039283505,-3.18315925127e-05,5.96094795316e-06,1793242886927453440
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.890947063,745,714,679,660.890947063,634.109052937,880,787,805,653,630.890947063,652,0.406141584586,-0.00549980256,0.0499529916666,0.999999984978,0.000153809612392,-7.96677768041e-05,6.21753999981e-06,1793242886944120064
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,678.52823025,660.52823025,634.47176975,879.52823025,787.47176975,805,652.52823025,630.52823025,652,0.40660090596,-0.00549714995701,0.04993911905,0.999999980928,0.000167355832253,-0.000100364303678,7.98123058789e-06,1793242886960786688
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.049689144,745,714,678.099378289,660,635,879,787.950310856,805,652,630.049689144,652,0.40707698953,-0.00549828903902,0.049928754644,0.999999977954,0.000176730570583,-0.000112933828148,1.02153758822e-05,1793242886977453312
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.622066264,745,714,679.244132528,660,635,879,787.377933736,805,652,630.622066264,652,0.407599537631,-0.0055075543743,0.0499329485192,0.999999978939,0.000176058188163,-0.000104568300148,1.3813538153e-05,1793242886994120192
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.799271233,745,714,679.799271233,660,635,878.799271233,787.200728767,804.799271233,652,630.799271233,652,0.408150627949,-0.00551559913142,0.0499447987209,0.999999980748,0.000177061208047,-8.26811779818e-05,1.78306242444e-05,1793242887010786816
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.208392056,745,714,679.208392056,660,635,878.208392056,787.791607944,804.208392056,652,630.208392056,652,0.408757194877,-0.00552127148729,0.0499715302918,0.999999982709,0.000181320656309,-3.45125440918e-05,2.26619596078e-05,1793242887027452928
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.345795867,635,878.345795867,788,804.345795867,652.345795867,630.345795867,652,0.409360862235,-0.00552218616518,0.049989527936,0.999999980936,0.000193228247322,-5.84885909939e-06,2.74951834009e-05,1793242887044119296
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.879993123,635,878.879993123,788,804.879993123,652.879993123,630.879993123,652,0.409962949788,-0.00552050869756,0.050002767038,0.999999977499,0.000209302807454,1.21878624668e-05,3.23294359249e-05,1793242887060785920
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.514234664,635,879,787.514234664,805,652.514234664,631,652,0.410579704735,-0.00551608857141,0.0499933715253,0.999999973444,0.000227404357046,-1.13558294348e-05,3.56371902455e-05,1793242887077452544
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.102836679,714,679,660,635,879,787,805.102836679,652,631,651.897163321,0.411201455643,-0.00551239743544,0.0499747911971,0.999999968226,0.000243864041416,-5.09798037477e-05,3.84560741253e-05,1793242887094118912
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.676676662,714,679,660,635,879,787,805.676676662,652,631,651.323323338,0.411826624255,-0.00551568475756,0.0499441803116,0.99999996193,0.000250113912715,-0.000109074607229,4.10615916635e-05,1793242887110786048
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.740843351,714,679,660.259156649,634.740843351,879.259156649,787,805.740843351,652,631,651.259156649,0.412518183281,-0.00551992510452,0.0499386781021,0.999999960871,0.000251883521558,-0.000113617496258,4.36351562054e-05,1793242887127452928
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.147212266,714,679,660.852787734,634.147212266,879.852787734,787,805.147212266,652,631,651.852787734,0.413295427619,-0.00552539545104,0.0499655818108,0.999999967012,0.000247870785994,-4.90448743541e-05,4.61674817359e-05,1793242887144119808
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.434834687,634,879.565165313,787.434834687,805,652,630.565165313,652,0.41404988205,-0.00553254493043,0.0499772927041,0.999999985709,0.000163649020746,-3.13462632904e-05,2.86176247332e-05,1793242887160786176
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,678.987058604,661.974117207,634.012941396,879,787.987058604,805,652,630.012941396,652,0.414796463932,-0.00554012656312,0.0499831821674,0.999999997974,5.57506778686e-05,-3.02995886894e-05,5.06248361583e-06,1793242887177452800
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,678.414152598,660.828305195,634.585847402,879,787.414152598,805,652,630.585847402,652,0.415527588246,-0.00554244831638,0.049953962686,0.999999994388,6.7853642744e-05,-8.09439765289e-05,8.20746127366e-06,1793242887194119424
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714.163495485,678.163495485,660,634.836504515,879.163495485,787,805.163495485,652,631,652,0.416275618379,-0.00554367580776,0.0499339977437,0.99999999011,8.20741009356e-05,-0.000113619522131,1.16373440028e-05,1793242887210787328
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714.753514564,678.753514564,660,634.246485436,879.753514564,787,805.753514564,652,631,652,0.417067752014,-0.00554204861152,0.0499381758505,0.999999989749,0.000101818630956,-9.94183262569e-05,1.58104809665e-05,1793242887227458560
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714.662070798,679,660.675858404,634.337929202,880,787,806,652,631,652,0.417914146396,-0.00553962714938,0.049958564263,0.999999991268,0.000115482257704,-6.1116061959e-05,1.98342243516e-05,1793242887244124416
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714.081677372,679,661.836645255,634.918322628,880,787,806,652,631,652,0.418799472833,-0.00553663580149,0.0499905835706,0.999999991917,0.000124782834853,-5.52127997503e-06,2.37507776112e-05,1793242887260786432
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.494592508,745,714.494592508,679,661.010814985,635,880,787,805.505407492,652,631,652,0.419605152024,-0.00553657364576,0.0499759488517,0.999999990587,0.000128705746505,-4.04635026509e-05,2.49638463421e-05,1793242887277452544
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.929904657,745,714.929904657,679,660,634.929904657,879.929904657,787.070095343,805,652,631,652,0.420410766496,-0.00553730901152,0.0499577088711,0.999999988064,0.000130240859022,-7.91105824237e-05,2.5501600755e-05,1793242887294119168
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.355062504,745,714.355062504,679,660,634.355062504,879.355062504,787.644937496,805,652,631,652,0.421309844374,-0.00554033275422,0.0499685280876,0.999999991683,0.000120923767687,-3.76634112926e-05,2.43647925577e-05,1793242887310785536
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.677941494,634.225980498,879,788,805.225980498,652,631,652,0.422199449086,-0.00554325679092,0.0499797932838,0.999999993269,0.000113348356577,-5.2620660823e-06,2.42209689821e-05,1793242887327452672
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,662.451123912,634.817041304,879,788,805.817041304,652,631,652,0.423073749669,-0.00554601974915,0.0499917789796,0.999999993696,0.00010858669659,1.25254009902e-05,2.56813506628e-05,1793242887344119296
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.800111526,634.600037175,879,787.600037175,805.600037175,652,631,652,0.423964670228,-0.00554443915666,0.0499841551798,0.999999993487,0.00011116573824,-1.65234442099e-06,2.58102333702e-05,1793242887360786176
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.062293984,634.020764661,879,787.020764661,805.020764661,652,631,652,0.424863041734,-0.00554091128119,0.0499677401309,0.999999992375,0.000117035733292,-3.01606035657e-05,2.53421838272e-05,1793242887377453056
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.554123142,745,714,679,660.554123142,634.554123142,879.554123142,787.554123142,805,652,631,652,0.425779745866,-0.00554523390111,0.0499877726843,0.999999993333,0.000112081357877,1.18508320609e-06,2.77542516111e-05,1793242887394119680
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,679,661,635,880,787.87176457,805.12823543,652,631,652,0.426683299602,-0.00554885839646,0.0500028927113,0.999999993463,0.000108710285184,1.85267686953e-05,3.02251094496e-05,1793242887410786048
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,679,661,635,880,787.299771854,805.700228146,652,631,652,0.427538987875,-0.00554905701894,0.0499963237585,0.999999992969,0.000112210844409,-2.02928614541e-05,3.2528862634e-05,1793242887427452672
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.716698362,745,714,679,660.716698362,635,879.716698362,787,806,652,631,651.716698362,0.42839834076,-0.00554684516205,0.0499772019373,0.999999991238,0.000114488009517,-5.82199116067e-05,3.20466019641e-05,1793242887444119296
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.121422667,745,714,679,660.121422667,635,879.121422667,787,806,652,631,651.121422667,0.429261729089,-0.00554197886576,0.0499442567962,0.999999988405,0.000115417962926,-9.51640428665e-05,2.84963601568e-05,1793242887460785664
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.458320859,745,714,679.458320859,660.458320859,635,879,787,806,652,631,651.458320859,0.430194380118,-0.00554450444841,0.0499494048035,0.999999990661,0.000110037522777,-7.58398688259e-05,2.86154049555e-05,1793242887477452544
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,679.932047281,660.966023641,635,879,787,806,651.966023641,631,652,0.431138843038,-0.00554881876303,0.0499623749634,0.99999999314,0.00010335059259,-4.64699994974e-05,2.96470354335e-05,1793242887494119424
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,678.784169745,660.392084873,635,879,787,806,651.392084873,631,652,0.431988962458,-0.00555145797459,0.0499445292711,0.999999990632,0.000101598538698,-8.65940112683e-05,3.02392080157e-05,1793242887510786304
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.812407978,745,714,678.187592022,660,635,879.187592022,787.187592022,806,651.187592022,631,652,0.43284804759,-0.00555319896448,0.0499360319337,0.999999988941,0.000101220310872,-0.000104522558608,3.07890216173e-05,1793242887527452672
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.220359321,745,714,678.779640679,660,635,879.779640679,787.779640679,806,651.779640679,631,652,0.433726463353,-0.00555300334952,0.0499476900564,0.999999991342,0.000103804112257,-7.45967181202e-05,3.12475075796e-05,1793242887544119296
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.363515428,745,714,679,660.363515428,635,879.636484572,787.636484572,806,652,631,652,0.434613314663,-0.00555239046975,0.0499682902259,0.999999993012,0.000105375743732,-4.24043402713e-05,3.27764193572e-05,1793242887560785920
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.942544169,745,714,679,660.942544169,635,879.057455831,787.057455831,806,652,631,652,0.43550516701,-0.00555153021088,0.0499941917658,0.999999993695,0.000106347301176,-8.86822762393e-06,3.49399424324e-05,1793242887577452544
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.50556458,745,714,679,661,635,879.49443542,787,805.50556458,652,631,652,0.436293641526,-0.00554942368588,0.0499700133578,0.999999991248,0.000108294881307,-6.7390275333e-05,3.51272313864e-05,1793242887594119424
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.047095392,745,714,679,660.952904608,635,880,787,805.047095392,651.952904608,631,652,0.437078936214,-0.00554762813384,0.0499437466039,0.999999985375,0.00010955945598,-0.000126579362923,3.49860291879e-05,1793242887610786304
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.643597323,745,714,679,660.356402677,635,880,787,805.643597323,651.356402677,631,652,0.437959985705,-0.0055510619052,0.0499574749558,0.999999991445,0.000101601934903,-7.52467444015e-05,3.35523530827e-05,1793242887627452672
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.759260534,745,714,679.240739466,660.481478932,634.759260534,880,787,805.759260534,651.240739466,631,651.759260534,0.438806043845,-0.00555427494804,0.0499686957705,0.99999999392,9.60208148502e-05,-4.28347639297e-05,3.32568180869e-05,1793242887644119040
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.161168116,745,714,679.838831884,661.677663768,634.161168116,880,787,805.161168116,651.838831884,631,651.161168116,0.439600160851,-0.00555716034182,0.0499761944034,0.999999994243,9.39672184812e-05,-3.85085274266e-05,3.46507366221e-05,1793242887660785920
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661.158993587,634.420503207,880,787,805.841006413,651.579496793,631,651.420503207,0.440364583505,-0.00555742758091,0.0499631106814,0.99999999326,9.48139695279e-05,-5.73435482326e-05,3.4680105048e-05,1793242887677452288
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.007765334,634.996117333,880,787,806.992234666,651.003882667,631,651.996117333,0.441118052875,-0.00555672906213,0.0499424347516,0.999999991148,9.67305708193e-05,-8.47220562262e-05,3.42061322854e-05,1793242887694118912
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.568421415,745,714,680,660.568421415,634.431578585,880,787,806.431578585,651.568421415,631,652,0.44189697169,-0.00556017055465,0.0499614324418,0.999999993512,9.48927577743e-05,-5.18047059127e-05,3.58962291589e-05,1793242887710785536
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714,680,661,634,880,787,806,652,631,652,0.442660527575,-0.0055621270607,0.0499803527509,0.999999994565,9.52445347411e-05,-1.93771445706e-05,3.77261305024e-05,1793242887727452416
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,680,661,634,880,787,806,652,631,652,0.443376430778,-0.00555944242729,0.0499982093012,0.999999993908,0.000102390651927,1.02921155069e-05,3.99397768251e-05,1793242887744119040
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.674135898,745,714,680,661,634,880,787,806,651.674135898,631,651.674135898,0.444036451525,-0.00555706356597,0.0499861632583,0.99999999321,0.000108407477247,-1.36109973523e-05,4.05291925603e-05,1793242887760785920
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.095285475,745,714,680,661,634,880,787,806,651.095285475,631,651.095285475,0.44465308759,-0.00555492209258,0.0499509021775,0.99999998963,0.000113547570111,-7.91053074259e-05,3.9857628028e-05,1793242887777453056
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.476325579,745,714,679.523674421,660.523674421,634,880,787,806,651,631,651.476325579,0.445292183843,-0.00555745291714,0.0499406597794,0.999999989547,0.000112116303178,-8.19603305426e-05,4.02299584458e-05,1793242887794119424
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,714,679,660.045419443,634,880,787,806,651,631,651.954580557,0.445935512894,-0.00556069154725,0.0499378232421,0.999999990715,0.000109957161095,-6.9293935074e-05,4.09708817583e-05,1793242887810786304
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714,679,660.602232911,634,880,787,806,651,631,651.397767089,0.446576669667,-0.00556153349703,0.0499628646736,0.999999992316,0.000114182051748,-2.08399172567e-05,4.3545905086e-05,1793242887827452928
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,714,679.176569271,661,634,880,787,806,651,631,651.176569271,0.447188275738,-0.00556079308848,0.0499758229063,0.999999991799,0.000119676630376,5.20101687497e-06,4.5297156693e-05,1793242887844119552
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714,679.794729418,661,634,880,787,806,651,631,651.794729418,0.447725976887,-0.00555609528108,0.0499585616621,0.999999990444,0.000128346634733,-2.48120529074e-05,4.49881964104e-05,1793242887860786176
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.612918992,745,714,680,661,634,880,787,806,651.387081008,631,652,0.448228187963,-0.0055530388364,0.0499339542195,0.999999988224,0.000133190025612,-6.20400150261e-05,4.43164631781e-05,1793242887877452800
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.033398233,745,714,680,661,634,880,787,806,651.966601767,631,652,0.448712754975,-0.00555079840507,0.0499056945667,0.9999999845,0.000136130992236,-0.000102854908741,4.34643750234e-05,1793242887894119424
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.458370494,634,880,787,806.541629506,651.458370494,631,652,0.449190717066,-0.00555227565174,0.049909139409,0.999999984959,0.000134544520292,-9.9902151034e-05,4.47172858115e-05,1793242887910785792
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.118895429,634,880,787.118895429,806.881104571,651.118895429,631,651.881104571,0.449661622229,-0.00555452805587,0.0499156017839,0.99999998599,0.000131896037528,-9.22445513378e-05,4.59740063677e-05,1793242887927452672
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.706058761,634,880,787.706058761,806.293941239,651.706058761,631,651.293941239,0.450106324778,-0.00555893797109,0.0499263123599,0.999999988016,0.000126155313832,-7.6598825432e-05,4.67387243904e-05,1793242887944119552
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633.713432804,880,787.426865607,806.286567196,651.713432804,631,651.286567196,0.450522526815,-0.00556163016849,0.0499310346098,0.999999990885,0.000105786200231,-7.2696078171e-05,4.18868896484e-05,1793242887960786176
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633.139595621,880,786.279191242,806.860404379,651.139595621,631,651.860404379,0.450910158418,-0.0055626004352,0.0499297538471,0.999999993759,7.0752821671e-05,-8.05651094283e-05,3.140472778e-05,1793242887977452800
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633,880,786.43989828,806.56010172,651,631,652,0.451257148081,-0.00556468244764,0.0499234800209,0.999999993973,4.24224530839e-05,-9.838702424e-05,2.39831046229e-05,1793242887994119424
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714.02105576,680,660.97894424,633,880,787.02105576,806,651.02105576,630.97894424,652,0.451589093822,-0.00556687876935,0.0499150172463,0.999999992455,1.75672125793e-05,-0.000120272382675,1.77782732217e-05,1793242888010785792
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714.598123493,680,660.401876507,633,880,787.598123493,806,651.598123493,630.401876507,652,0.45186878731,-0.00556265607005,0.0498911375176,0.999999985855,2.75769628455e-05,-0.000164970201231,1.77240876051e-05,1793242888027452672
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714.821549276,680,660.178450724,632.821549276,880,787.821549276,806.178450724,652,630.178450724,652,0.452145036125,-0.00556051618795,0.0498718243844,0.999999979211,3.4720484443e-05,-0.000200101372836,1.82408590781e-05,1793242888044119296
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714.233745065,680,660.766254935,632.233745065,880,787.233745065,806.766254935,652,630.766254935,652,0.452413383066,-0.00556315414347,0.0498629867053,0.99999997643,3.52890765834e-05,-0.000213287319641,2.00673662777e-05,1793242888060785920
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.650860422,632.349139578,880,786.650860422,807,651.650860422,631,652,0.452673533466,-0.00556467668497,0.0498619916176,0.999999976864,3.7405823315e-05,-0.000210717513635,2.17101634852e-05,1793242888077452800
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.071223551,632.928776449,880,786.071223551,807,651.071223551,631,652,0.452928272645,-0.00556546284527,0.0498661741031,0.999999979356,4.05446411087e-05,-0.000197745971115,2.32316779873e-05,1793242888094119680
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714.505158768,679.494841232,660,632.494841232,880,786.505158768,807,651.505158768,631,652,0.453145585137,-0.0055650548813,0.0498717987055,0.999999980946,4.41607851387e-05,-0.000188563847543,2.45337398021e-05,1793242888110786304
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.91930274,745,715,679.08069726,660,632,880,787,807,652,631,652,0.453351731826,-0.0055642500354,0.0498760799171,0.99999998193,4.80071051279e-05,-0.000182146509087,2.56649096453e-05,1793242888127452928
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.346131244,745,715,679.653868756,660,632,880,787,807,652,631,652,0.453521733892,-0.00556204401756,0.0498709298584,0.999999980338,5.28500489316e-05,-0.000189362231681,2.59407881773e-05,1793242888144119296
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.23496494,745,715,680,660,632,880,786.76503506,807,652,630.76503506,651.76503506,0.453679880512,-0.00556029594124,0.0498645254725,0.999999978301,5.6979140218e-05,-0.000198665684905,2.61436014352e-05,1793242888160785920
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.828142566,745,715,680,660,632,880,786.171857434,807,652,630.171857434,651.171857434,0.453819953059,-0.00555924601374,0.049856208819,0.999999975562,6.00199368111e-05,-0.000211151959776,2.62350239802e-05,1793242888177452544
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,632,880,786,807,652,630.408115025,651,0.453940144727,-0.00555776163006,0.0498488243233,0.99999997282,6.36085886182e-05,-0.000222759931821,2.63146896495e-05,1793242888194119936
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,632,880,786,807,652,630.982701054,651,0.454052226939,-0.00555610003079,0.0498418200569,0.999999969999,6.74207116744e-05,-0.000234009641919,2.63895596596e-05,1793242888210787328
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714.85806851,679,660,631.14193149,880,787,807,651,630,652,0.454231710145,-0.00555841167724,0.0498341619801,0.999999968343,6.37564500562e-05,-0.000241956834285,2.65546011245e-05,1793242888244120576
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714.270493307,679,660,631.729506693,880,787,807,651,630,652,0.454305271982,-0.00555947331343,0.0498336475687,0.999999967748,6.24610746035e-05,-0.000244698950155,2.69093996475e-05,1793242888260787456
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.686880379,631.686880379,880,786.686880379,807.313119621,651,630,652,0.454369170555,-0.00555881730879,0.0498328342876,0.999999967102,6.35532116945e-05,-0.000247067572237,2.67152843175e-05,1793242888277454080
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.106647488,631.106647488,880,786.106647488,807.893352512,651,630,652,0.454424825685,-0.00555669603467,0.0498317660494,0.999999966408,6.66820663632e-05,-0.000249117577904,2.60529065352e-05,1793242888294120704
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714.468424064,679.468424064,659,631,880,786,807.063151872,651,630,652,0.454463824674,-0.00555476523756,0.0498278432609,0.999999964931,6.90178271958e-05,-0.000254380364196,2.5788210409e-05,1793242888310787328
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714.957414021,679.957414021,659,631,880,786,806,651.042585979,630.042585979,652,0.454498462122,-0.00555306591602,0.049823605252,0.999999963383,7.08213253222e-05,-0.000259925041388,2.56551902509e-05,1793242888327453696
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714.380079091,679.380079091,659,631,880,786,806,651.619920909,630.619920909,652,0.454525430869,-0.00555373459979,0.0498234808945,0.999999963556,6.81838855315e-05,-0.000259924578628,2.60510848751e-05,1793242888344120320
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.201722244,745.201722244,714.201722244,679.201722244,659,631,880,786,806,652,630.798277756,652,0.454548194152,-0.00555432542827,0.049822510193,0.999999963269,6.60305219941e-05,-0.000261552365189,2.63277261275e-05,1793242888360787200
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.792129561,745.792129561,714.792129561,679.792129561,659,631,880,786,806,652,630.207870439,652,0.454562854208,-0.00555476624259,0.0498199087281,0.99999996209,6.48098927036e-05,-0.000266317516236,2.63745860261e-05,1793242888377453824
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.625620744,745.625620744,715,680,659,631,880,786.374379256,806,651.625620744,630.374379256,652,0.45457266011,-0.00555308452016,0.0498176558778,0.999999960655,6.75299313645e-05,-0.00027099947029,2.6231929045e-05,1793242888394120448
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.047803918,745.047803918,715,680,659,631,880,786.952196082,806,651.047803918,630.952196082,652,0.454579828266,-0.00555024941192,0.0498155924645,0.999999959054,7.23913278003e-05,-0.000275636214959,2.5986288648e-05,1793242888410787072
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714.471168079,680,659.528831921,631,880,786.471168079,806,651,631,652,0.454584762716,-0.00555093043249,0.0498140141119,0.999999958712,7.12569871418e-05,-0.000277153634448,2.6153707408e-05,1793242888427453184
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.892678723,631.107321277,880,786.107321277,806.107321277,651.107321277,630.892678723,652,0.454588826064,-0.0055513344615,0.0498124883193,0.999999958372,7.03685098738e-05,-0.000278597041344,2.62393131484e-05,1793242888444119296
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.305424401,631.694575599,880,786.694575599,806.694575599,651.694575599,630.305424401,652,0.454589894849,-0.00554908160664,0.0498110019273,0.999999957532,7.29978402907e-05,-0.000280967619137,2.57924533807e-05,1793242888460785664
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714.278105485,680,659,631.721894515,880,786.721894515,806.721894515,652,630.278105485,652,0.45458964694,-0.00554713845285,0.0498087040683,0.99999995641,7.49496928067e-05,-0.000284461458987,2.5396325962e-05,1793242888477452032
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714.857599203,680,659,631.142400797,880,786.142400797,806.142400797,652,630.857599203,652,0.454587972104,-0.00554553092774,0.0498055268066,0.999999954975,7.61673498937e-05,-0.000289172599701,2.50551781043e-05,1793242888494118656
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.564752912,745,714.564752912,680,659,631,880.435247088,786.435247088,806,652,630.564752912,652,0.454588131097,-0.00554585351577,0.0498052407526,0.9999999547,7.53499616155e-05,-0.00029032448606,2.51647180238e-05,1793242888510786048
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.012236575,745,714,680,659.012236575,631,880.987763425,786.987763425,806.012236575,652,630.012236575,652,0.454588893339,-0.00554674586761,0.0498058894528,0.999999954803,7.39561499599e-05,-0.000290306874938,2.54068068017e-05,1793242888527453952
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.586607162,745,714,680,659.586607162,631,880.413392838,786.413392838,806.586607162,652,630.586607162,652,0.45458992222,-0.00554492557781,0.0498062085775,0.999999954757,7.65395082698e-05,-0.000289833292522,2.49928430567e-05,1793242888544119552
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714.16548738,680,660,631,880,786,807,652,630.83451262,652,0.454590488382,-0.00554467402621,0.0498060740331,0.999999954727,7.70738263474e-05,-0.000289805400187,2.48764193371e-05,1793242888560785408
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714.755948348,680,660,631,880,786,807,652,630.244051652,652,0.454589866277,-0.00554845101333,0.0498047744609,0.999999954739,7.23461842481e-05,-0.000290922045385,2.5524082015e-05,1793242888577452032
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.339218597,714.660781403,680,660,631,879.660781403,786,807,652,630.339218597,652,0.454589734591,-0.00554885292425,0.0498038046171,0.999999954383,7.22220158257e-05,-0.000292163106729,2.56583255839e-05,1793242888594118656
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.917422828,714.082577172,680,660,631,879.082577172,786,807,652,630.917422828,652,0.454589948414,-0.0055468770328,0.0498030670731,0.99999995377,7.53410780429e-05,-0.000293491821449,2.54308560803e-05,1793242888610785536
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.506038212,714,680,659.506038212,631,879.493961788,786,806.506038212,652,631,651.506038212,0.454589676466,-0.0055453634544,0.0498026803309,0.999999953409,7.6645690277e-05,-0.000294389975276,2.53484023651e-05,1793242888627452672
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,631,880,786,806,652,630.930026064,651,0.454589377106,-0.0055442620023,0.0498024037211,0.999999953144,7.72403742543e-05,-0.000295137246998,2.52831939571e-05,1793242888644120064
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,631,880,786,806,652,630.355811115,651,0.454589463449,-0.00554557532119,0.0498024995585,0.999999953273,7.48976965018e-05,-0.000295314184368,2.51681480673e-05,1793242888660786688
+247,4.116666667,HOLD_POSE2,765,745,714,680,659,631,880,786,807,651,630,652,0.454590832622,-0.0055462080018,0.049803306428,0.999999953471,7.5804017679e-05,-0.000294375603011,2.55960184754e-05,1793242888700554496
+248,4.133333333,HOLD_POSE2,765,745,714,679.396027874,659,631,880,786,807,651.603972126,630.603972126,652,0.454588514117,-0.00554487523323,0.0498013559589,0.999999952335,7.65362280036e-05,-0.000298059325425,2.51672580575e-05,1793242888717220352
+249,4.150000000,HOLD_POSE2,765,745,714.198234556,679,659,631,879.801765444,786.198234556,807,652,631,652,0.454587425902,-0.00554443102833,0.0498003113657,0.999999951697,7.66817761597e-05,-0.000300161981533,2.50595778548e-05,1793242888733886464
+250,4.166666667,HOLD_POSE2,765,745,714.774005061,679,659,631,879.225994939,786.774005061,807,652,631,652,0.454588680764,-0.0055456790848,0.049800992005,0.999999952031,7.57100315678e-05,-0.000299253511585,2.556339199e-05,1793242888750553088
+251,4.183333333,HOLD_POSE2,765,745,715,679.69428181,659.347140905,631,879.347140905,786.652859095,806.652859095,652,630.652859095,652,0.45458974983,-0.00554445476548,0.0498011539057,0.999999952198,7.66140226899e-05,-0.000298485350713,2.53328226145e-05,1793242888767219456
+252,4.200000000,HOLD_POSE2,765,745,715,680.837148847,659.918574423,631,879.918574423,786.081425577,806.081425577,652,630.081425577,652,0.45459069885,-0.00554163300937,0.0498009806422,0.999999952253,7.87299530562e-05,-0.000297807845556,2.46277577096e-05,1793242888783885824
+253,4.216666667,HOLD_POSE2,765,745,714.486369383,681,659.486369383,631,880,786,806,652,630,652,0.454589020684,-0.00554306376127,0.0497995815842,0.999999951975,7.64593182347e-05,-0.000299332308928,2.45810395259e-05,1793242888800552192
+254,4.233333333,HOLD_POSE2,765,745,714.108079578,680.891920422,659,631,880,786.108079578,806.108079578,652,630,652,0.454587558003,-0.00554456096541,0.0497985537643,0.999999951722,7.44963045762e-05,-0.000300665528958,2.46437778711e-05,1793242888817219072
+255,4.250000000,HOLD_POSE2,765,745,714.682952093,680.317047907,659,631,880,786.682952093,806.682952093,652,630,652,0.454588911507,-0.00554329318229,0.0498000090559,0.999999951852,7.70101034931e-05,-0.00029959243774,2.47067657163e-05,1793242888833885696
+256,4.266666667,HOLD_POSE2,765,745.25721736,715,680,659,631,880,786.74278264,807,652,630,651.74278264,0.454589844719,-0.00554245619744,0.0498006702705,0.999999951962,7.83607995904e-05,-0.00029886381948,2.48092031461e-05,1793242888850552576
+257,4.283333333,HOLD_POSE2,765,745.830735851,715,680,659,631,880,786.169264149,807,652,630,651.169264149,0.454590261097,-0.00554214896689,0.0498003550055,0.999999952056,7.82812237024e-05,-0.000298558800958,2.49601518704e-05,1793242888867219200
+258,4.300000000,HOLD_POSE2,765,745.598486669,715,680,659,631,880,786,807,652,630.401513331,651.401513331,0.454589563307,-0.00554167681334,0.0498000889295,0.999999951836,7.83898759722e-05,-0.000299285121687,2.47425260909e-05,1793242888883885568
+259,4.316666667,HOLD_POSE2,765,745.028856821,715,680,659,631,880,786,807,652,630.971143179,651.971143179,0.454588399006,-0.0055411356053,0.0497998434491,0.999999951483,7.85773407176e-05,-0.000300443271544,2.43705755309e-05,1793242888900552192
+260,4.333333333,HOLD_POSE2,765,745.568698894,715,680,659.568698894,631,880,786,807,651.431301106,631,652,0.454588640735,-0.00554259663049,0.049799008091,0.999999951395,7.69850422367e-05,-0.000301125605614,2.46275897141e-05,1793242888917218816
+261,4.350000000,HOLD_POSE2,765,746,714.838697561,680,659.838697561,631,879.838697561,786,806.838697561,651,630.838697561,652,0.454589190824,-0.00554332459627,0.0497986087627,0.999999951402,7.63076641775e-05,-0.000301259308976,2.48240059102e-05,1793242888933885440
+262,4.366666667,HOLD_POSE2,765,746,714.262658307,680,659.262658307,631,879.262658307,786,806.262658307,651,630.262658307,652,0.454590340845,-0.00554189302492,0.0497994114763,0.999999951619,7.82268960556e-05,-0.000300047670453,2.47783179844e-05,1793242888950552320
+263,4.383333333,HOLD_POSE2,765,745.680577179,714.319422821,679.680577179,659,631,879.319422821,786,806,651,630,652,0.45458988559,-0.00554171491282,0.0497993512516,0.999999951417,7.79415334735e-05,-0.000300822682682,2.44439752538e-05,1793242888967218688
+264,4.400000000,HOLD_POSE2,765,745.093432126,714.906567874,679.093432126,659,631,879.906567874,786,806,651,630,652,0.454588084883,-0.0055425873798,0.0497985677604,0.999999950858,7.58084037765e-05,-0.000303262793833,2.38676983141e-05,1793242888983885312
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,631,879,786,807,651,631,652,0.454588957226,-0.00554126558898,0.0497989709171,0.999999951048,7.67601329412e-05,-0.000302356656181,2.43224838549e-05,1793242889015209216
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.422165524,659,631,879.577834476,786,806.422165524,651,630.422165524,651.422165524,0.45458995713,-0.00554024278928,0.0497989575651,0.999999951326,7.79420091964e-05,-0.000301169024664,2.38793904768e-05,1793242889031876608
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.845156801,680,659,631,880,786,806.154843199,651,630,651,0.454590399739,-0.00553940448447,0.0497987675779,0.999999951356,7.90020914478e-05,-0.000300822546751,2.35222932052e-05,1793242889048544000
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.270387342,680,659,631,880,786,806.729612658,651,630,651,0.454589330992,-0.00553906651945,0.0497980985656,0.999999950717,7.97318753087e-05,-0.000302757230992,2.33984125563e-05,1793242889065210112
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.313153661,659.313153661,630.686846339,880.313153661,786,806.686846339,651,630.313153661,651.313153661,0.454588745082,-0.00553997353677,0.0497980581628,0.999999950628,7.87748090259e-05,-0.000303274180793,2.3716101951e-05,1793242889081876480
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.904486528,659.904486528,630.095513472,880.904486528,786,806.095513472,651,630.904486528,651.904486528,0.454588588083,-0.00554198649105,0.0497985761636,0.999999951027,7.63192878111e-05,-0.000302531735203,2.44260448039e-05,1793242889098543104
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.48566329,745,714.48566329,680.51433671,659.51433671,630.48566329,880.51433671,786,806.48566329,651,631,652,0.454587296523,-0.00554187926686,0.0497970006675,0.999999950617,7.56769468096e-05,-0.000304066942562,2.41184425963e-05,1793242889115209728
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.935668216,745,715,680,659,631,880,786,807,651.064331784,631,652,0.454585278732,-0.00554111420508,0.0497950371968,0.999999949931,7.5833229186e-05,-0.000306313635797,2.36556472342e-05,1793242889131876352
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.361374018,745,715,680,659,631,880,786,807,651.638625982,631,652,0.4545792366,-0.00553837204202,0.0497931951018,0.999999948285,7.95514335874e-05,-0.000310722232422,2.35164689484e-05,1793242889148542720
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.787325159,745,714.787325159,680,659,631,880,786,806.787325159,652,630.787325159,651.787325159,0.454567334008,-0.00553779471616,0.0497878657182,0.999999945216,8.10407283425e-05,-0.000320080921214,2.34309076473e-05,1793242889165209088
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.213692752,745,714.213692752,680,659,631,880,786,806.213692752,652,630.213692752,651.213692752,0.454545484881,-0.00554089161158,0.0497766176131,0.999999939557,7.87470562139e-05,-0.00033784104149,2.34363465708e-05,1793242889181875968
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.370707427,745,714.370707427,680,659,631,880,786,806,652,630,651.370707427,0.45450545529,-0.00553925404693,0.0497583237528,0.99999992867,7.90957734611e-05,-0.000368644874791,2.24597836151e-05,1793242889198542336
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.961500387,745,714.961500387,680,659,631,880,786,806,652,630,651.961500387,0.454454632126,-0.00553480567789,0.0497358468924,0.999999913597,8.10132522667e-05,-0.000407192639842,2.09002153028e-05,1793242889215208960
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.543440449,714.456559551,680,659.543440449,631,880,786,806,652,630.543440449,652,0.454388310256,-0.00553284241126,0.0497139504953,0.999999899506,8.17325983649e-05,-0.000440387720424,1.91426619772e-05,1793242889231875840
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.274659199,745,714,680,659,631,879.725340801,786,806.274659199,651,630,651.725340801,0.454165140466,-0.00552842647377,0.0496806450489,0.999999878901,8.37580313996e-05,-0.000484662815815,1.68445069281e-05,1793242889281875712
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.862235817,745,714,680,659,631,879.137764183,786,806.862235817,651,630,651.137764183,0.454074226969,-0.00552390071617,0.0496780023244,0.999999878777,8.7148852518e-05,-0.000484360532386,1.56903921079e-05,1793242889298542336
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.984351578,714.015648422,680,659.984351578,631.984351578,879.015648422,786,806,651.015648422,630,652,0.453856818113,-0.00551583871167,0.0496813233927,0.999999879327,9.26420157768e-05,-0.000482230990811,1.47391519578e-05,1793242889331875840
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.402730523,714.597269477,680,659.402730523,631.402730523,879.597269477,786,806,651.597269477,630,652,0.453714339166,-0.00550835751337,0.049683013478,0.999999879252,9.83640498381e-05,-0.000481276340309,1.39476699474e-05,1793242889348542464
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.17648806,714.82351194,680,659.17648806,631.17648806,880,786.17648806,806.17648806,652,630,652,0.453562342232,-0.00550236455436,0.0496845489802,0.999999878716,0.000102741764376,-0.000481489515571,1.33991648042e-05,1793242889365208832
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.750297954,714.249702046,680,659.750297954,631.750297954,880,786.750297954,806.750297954,652,630,652,0.45338891778,-0.00549972202113,0.0496857364743,0.999999877204,0.000104093055284,-0.000484331779189,1.33976656946e-05,1793242889381875456
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.665987696,714.334012304,679.665987696,660,631.665987696,879.665987696,786.665987696,806.665987696,652,630,651.665987696,0.453197067857,-0.00549278592349,0.0496880804476,0.999999875929,0.000110108170202,-0.000485646882537,1.2837239619e-05,1793242889398542336
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.074642604,714.925357396,679.074642604,660,631.074642604,879.074642604,786.074642604,806.074642604,652,630,651.074642604,0.452991022396,-0.00548254193874,0.0496913154062,0.99999987477,0.000119716430846,-0.000485785417491,1.18461999604e-05,1793242889415208960
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.084125999,714,679.084125999,660,632,880,787,806.084125999,652,631,652,0.452510811558,-0.00546553742962,0.0496977064708,0.99999987447,0.000131180474927,-0.000483476134107,1.00990209164e-05,1793242889448542720
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.658253144,714,679.658253144,660,632,880,787,806.658253144,652,631,652,0.452238775529,-0.00545697680418,0.0497032302683,0.999999876663,0.0001364735721,-0.000477451770532,9.44010612662e-06,1793242889465210112
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.98838766,745,714.01161234,679.01161234,659.98838766,632,880,786.98838766,806.98838766,652,631,651.98838766,0.45091365343,-0.00542506416062,0.0496994783474,0.999999877547,0.000151953082096,-0.000470973194202,1.09618210825e-06,1793242889531876608
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.376478325,660,634,879.376478325,787,807,651.623521675,631,652,0.447150313207,-0.00541103779765,0.0497615506512,0.99999993475,0.000110185074638,-0.000343592690197,-1.7406849072e-05,1793242889665211136
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.196671943,660,634,879,787,806.803328057,651.803328057,631,652,0.446563124726,-0.00540426059643,0.0497607591838,0.999999933866,0.000108549508398,-0.000346478291887,-2.09011489749e-05,1793242889681877760
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.083741996,660.916258004,634,880,787,806,651,631,651.916258004,0.435114928852,-0.00538616315375,0.0497950448395,0.99999993977,-2.76235732837e-05,-0.000339535042607,-6.64285903659e-05,1793242889931875840
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.516136874,660,634.516136874,879.516136874,787,805.483863126,652,631,652,0.417111529339,-0.00536082806594,0.0497897459202,0.999999931428,9.62330538514e-05,-0.000354283532721,-4.86533825782e-05,1793242890265209344
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,713.907485708,679.907485708,660.185028584,635,879.907485708,787.092514292,805,652,631,652,0.416308911759,-0.00536201819373,0.0497955250837,0.999999939569,9.44767677688e-05,-0.000330869863799,-4.96019557552e-05,1793242890281876224
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,713.333140767,679.333140767,661.333718466,635,879.333140767,787.666859233,805,652,631,652,0.415522457884,-0.00536447514188,0.0498183634961,0.999999953054,9.09457732622e-05,-0.000288441865663,-4.92082261978e-05,1793242890298543104
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,713.247957136,679,661.504085727,635,879,787.752042864,805,652,631,652,0.41473426678,-0.00536560110231,0.0498215524288,0.9999999548,8.87522407159e-05,-0.000282961791816,-4.955085342e-05,1793242890315209472
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,713.83838189,679,660.32323622,635,879,787.16161811,805,652,631,652,0.413943676357,-0.00536488876017,0.0497976023526,0.999999940836,8.84059528274e-05,-0.000328512588457,-5.09105046726e-05,1793242890331875840
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634.000162741,879,787.999837259,804.000162741,652,630.000162741,651.000162741,0.412436881194,-0.00536152931811,0.0497714686093,0.999999927187,9.64674100813e-05,-0.000365282971975,-5.37390937919e-05,1793242890365209088
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.576899412,634.576899412,879,788,804.576899412,652,630.576899412,651,0.411754891196,-0.00536412103889,0.0498016762992,0.999999939846,9.46398608833e-05,-0.000329793050814,-5.08666244169e-05,1793242890381875968
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,879,787.273597103,805,652,631,651.726402897,0.410366928226,-0.00536408039008,0.0498069214389,0.999999937735,0.00010631421512,-0.000332935921882,-4.88033930261e-05,1793242890415209472
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.380974852,635,879,787.309512574,805,652.309512574,631,652,0.409717414388,-0.00536378400229,0.0497980549955,0.99999993345,0.000109734717843,-0.000344410339675,-4.93989876287e-05,1793242890431876352
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.197061731,635,879,787.901469134,805,652.901469134,631,652,0.409114822495,-0.00536461593361,0.0497932798897,0.999999933381,0.000106900709095,-0.000345339919392,-5.05065779232e-05,1793242890448543232
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.482267177,745,714,679,659.964534353,635,879,788,805.482267177,652.517732823,631,652,0.408561593027,-0.00536622699537,0.04981437669,0.999999945115,0.000104723263422,-0.000310317525055,-5.00602397112e-05,1793242890465209600
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.939441191,745,714,679,661,635,879,788,806,652,631,652,0.408018471265,-0.00536820437584,0.0498379150609,0.999999956244,0.000102707552195,-0.000273004690947,-4.93180101225e-05,1793242890481875968
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714.21105097,679,661,635,879,788,805.78894903,652.21105097,631,652,0.406933143697,-0.0053741877341,0.0498284375502,0.99999994911,0.000100108227391,-0.000298952139259,-4.88504830486e-05,1793242890515209472
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.783297931,679,661,635,879,788,805.216702069,652.783297931,631,652,0.406383071272,-0.00537373357985,0.0498011896666,0.999999932286,0.00010082274844,-0.000350328416805,-5.03232556057e-05,1793242890531876096
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714.036552805,679,660.036552805,635,879,788,805,653,631,652,0.405422295714,-0.00536912516527,0.0497674446577,0.999999913569,0.000102294071192,-0.000399216969944,-5.49890667812e-05,1793242890565209344
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,713.460640724,679,660.539359276,635,879,788,805,653,631,652,0.405025117743,-0.00536861659696,0.0497776240641,0.999999920163,0.000102657686011,-0.000382210662872,-5.52378600209e-05,1793242890581876224
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,714,678.727783907,661,634.727783907,879,787.727783907,805,652.272216093,631,652,0.40398734883,-0.00537913515686,0.0498485651614,0.999999957583,8.82436303748e-05,-0.000272537830297,-5.26249685885e-05,1793242890631875840
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.027442827,635,879,788,805,652.027442827,631,652,0.403059387461,-0.00538532903579,0.0498518983781,0.999999956486,7.26479820111e-05,-0.000280912353986,-5.32814871284e-05,1793242890681875968
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.602696821,635,879,788,805,652.602696821,631,652,0.402786606219,-0.00538178038606,0.0498340313785,0.999999946988,7.63228342579e-05,-0.000311684655129,-5.52466042592e-05,1793242890698542592
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,879,788,805,653,631,652,0.402528296195,-0.00537850134758,0.0498182821998,0.999999937975,7.94996359499e-05,-0.000338370182891,-5.68817421624e-05,1793242890715209472
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,678.070145298,661.929854702,635,879,788,805,652.070145298,631,652,0.401937114357,-0.00537693497451,0.0498098485871,0.999999935884,8.37696358873e-05,-0.000343364693676,-5.75738111694e-05,1793242890765210368
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,678.508633295,662,634.491366705,879,787.491366705,805,652.508633295,630.491366705,652,0.401795861842,-0.00537696063022,0.0498158378056,0.999999939341,9.1256335248e-05,-0.000331499625001,-5.566921621e-05,1793242890781876736
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,661.914815663,634.085184337,878.914815663,787.085184337,805,652.914815663,630.085184337,652,0.401663895269,-0.00537628466849,0.0498229347792,0.999999942287,0.000107020972334,-0.000318228540578,-5.19991315398e-05,1793242890798543616
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,878,788,805,652,631,652.826930685,0.401376837914,-0.00538332266045,0.0498451924278,0.999999944851,0.00017983827724,-0.000277347738257,-3.21505511276e-05,1793242890848542976
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,678.589428186,660.589428186,635,878.410571814,788,805.410571814,652,631,652.589428186,0.401299260535,-0.00538884972441,0.0498441760188,0.99999994651,0.000170259029426,-0.000277328437374,-3.28655453862e-05,1793242890865209600
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,678.006655463,660.006655463,635,878.993344537,788,805.993344537,652,631,652.006655463,0.401226784981,-0.00539289850367,0.0498420240762,0.999999947305,0.00016255338281,-0.000278970715628,-3.37989496909e-05,1793242890881876224
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,878.700964323,787.700964323,805,652,631,652,0.40107557417,-0.00539379086992,0.0498507347222,0.999999953715,0.000153568789438,-0.000260234074238,-3.55720804868e-05,1793242890948542976
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,878.10625175,787.10625175,805,652,631,652,0.401052996968,-0.00539528663522,0.0498524508903,0.999999954812,0.000152375837657,-0.000256779637389,-3.49522387295e-05,1793242890965209856
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745.948392844,714,679,661,634.051607156,878.051607156,788.948392844,805,652.051607156,631,652,0.401018353811,-0.00539731627996,0.0498505393081,0.99999995457,0.000147335768491,-0.000260565554915,-3.54514371412e-05,1793242890998543616
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,678.796584315,661,635,879.203415685,787.796584315,805,653,631,652,0.401006442099,-0.00539583094198,0.0498527951698,0.999999955206,0.000151255848016,-0.0002558003187,-3.57171729595e-05,1793242891031876608
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,678.209019712,661,635,879.790980288,787.209019712,805,653,631,652,0.401003313295,-0.00539446752532,0.0498529400455,0.999999955485,0.000151076908048,-0.000254733443416,-3.62922357462e-05,1793242891048543232
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.374815584,745,714,678.374815584,661,635,879.625184416,787.374815584,805,653,631,652,0.401002398799,-0.00539472124,0.0498541442226,0.999999956202,0.000151068450713,-0.000251949285403,-3.59993772191e-05,1793242891065209856
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.956591663,745,714,678.956591663,661,635,879.043408337,787.956591663,805,653,631,652,0.401002706968,-0.00539586787998,0.0498559333102,0.99999995715,0.000151154128127,-0.000248216901954,-3.52272818643e-05,1793242891081876480
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,878.98574472,787.01425528,805,652.01425528,631,652,0.40099865504,-0.00539969301073,0.0498583504075,0.999999959189,0.000141278699659,-0.000245744570106,-3.56656083801e-05,1793242891198543616
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,878.410785745,787.589214255,805,652.589214255,631,652,0.400997295153,-0.00539955959306,0.0498579355614,0.999999958773,0.000142631611816,-0.000246689325056,-3.54264331361e-05,1793242891215210240
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b9afe3719d3dc6638d8595a22a5de4b782a5f90
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
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+396,6.600000000,pose2_to_pose3_retreat,0.58074477133,1.889424638e-06,1.04004101081,0.551316489939,0.00867671386513,1.03967879647
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c06a1edfcefccb0ffe8443b1051a120d7b9d7f58
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42db219ed9f183b211bcdc1bd50d71c9bb6c20e7314087b07d040709b6f44b40
+size 25653103
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8c581960e2a759e9c731d6d4aa271eeb00207c67
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+12,0.200000000,BASELINE,765,745,714.033931298,679,658.966068702,635,879,787,805,652,631,652,0.401019204431,-0.00549211636626,0.0698511567743,0.999999986401,4.35528336577e-05,-0.000158353731238,1.50353779942e-05,1793242893179053824
+13,0.216666667,BASELINE,765,745,714,678.458480194,659,635,879,787,805,652,631,652,0.401018619277,-0.00549348051451,0.069850155548,0.99999998626,4.2822263053e-05,-0.000159402069734,1.53903978206e-05,1793242893195720448
+14,0.233333333,BASELINE,765,745,714,678.119837417,659,635,879,787.119837417,805,652,631,652,0.401017995022,-0.00549422953675,0.0698492740426,0.999999986089,4.28214211341e-05,-0.00016045098298,1.5619695272e-05,1793242893212387072
+15,0.250000000,BASELINE,765,745,714,678.70916176,659,635,879,787.70916176,805,652,631,652,0.401018017484,-0.00549220614408,0.0698496033823,0.999999985959,4.58700967561e-05,-0.000160448276391,1.5291666239e-05,1793242893229053696
+16,0.266666667,BASELINE,765,745,714,679.293843974,659,635,879,787.706156026,805,652,631,652,0.401017358627,-0.00549218787429,0.0698496837674,0.999999985861,4.67487395493e-05,-0.000160812596436,1.52527914808e-05,1793242893245720320
+17,0.283333333,BASELINE,765,745,714,679.874002968,659,635,879,787.125997032,805,652,631,652,0.401016035909,-0.00549412335164,0.0698495215767,0.999999985798,4.55129505418e-05,-0.000161534539054,1.54956622224e-05,1793242893262386944
+18,0.300000000,BASELINE,765,745,714.449576164,679.550423836,659,635,879,787,805,652,631,652,0.40101605491,-0.00549426483195,0.0698498943905,0.999999985811,4.52269240252e-05,-0.000161527046493,1.55234211431e-05,1793242893279053568
+19,0.316666667,BASELINE,765,745,715,679.023805272,658.976194728,635,879,787,805.023805272,652,631,651.976194728,0.401016453514,-0.00549395842644,0.0698503754383,0.999999985848,4.51076934267e-05,-0.000161334411403,1.54761011226e-05,1793242893295720192
+20,0.333333333,BASELINE,765,745,715,679.596377971,658.403622029,635,879,787,805.596377971,652,631,651.403622029,0.401017022073,-0.00549480045121,0.0698499299909,0.999999985925,4.27594310507e-05,-0.000161538803926,1.50737518834e-05,1793242893312386816
+21,0.350000000,BASELINE,765,745,714.824443931,680,658.175556069,635,879,787.175556069,805.648887862,652,631,651.175556069,0.401017530652,-0.0054952835417,0.0698497032824,0.999999986025,4.08917715939e-05,-0.000161424696442,1.48140499521e-05,1793242893329053696
+22,0.366666667,BASELINE,765,745,714.229485667,680,658.770514333,635,879,787.770514333,804.458971334,652,631,651.770514333,0.401017895938,-0.00549490914062,0.06984999914,0.999999986194,4.01722694179e-05,-0.00016054969469,1.48951314789e-05,1793242893345720320
+23,0.383333333,BASELINE,765,745,714,679.645262916,659,634.645262916,879,787.645262916,804.354737084,652,631,651.645262916,0.401017965001,-0.00549435821073,0.0698499058333,0.999999986191,4.11609864555e-05,-0.000160316661874,1.49411540448e-05,1793242893362386944
+24,0.400000000,BASELINE,765,745,714,679.067781096,659,634.067781096,879,787.067781096,804.932218904,652,631,651.067781096,0.401017848061,-0.00549369643573,0.0698495681646,0.999999986076,4.32223198858e-05,-0.000160486730895,1.49651625712e-05,1793242893379053568
+25,0.416666667,BASELINE,765,745,714,679,659,634,879,787,805,652,631,651.507996159,0.401018071829,-0.00549405631291,0.0698497429983,0.999999986179,4.24611202667e-05,-0.000160054602598,1.49064917896e-05,1793242893395720448
+26,0.433333333,BASELINE,765,745,714,678.914491922,659,634.085508078,878.914491922,787,805,652,631,652,0.401018186441,-0.0054945172358,0.0698499699164,0.999999986281,4.16021104863e-05,-0.000159647962405,1.48472502903e-05,1793242893412387328
+27,0.450000000,BASELINE,765,745,714,678.325429482,659,634.674570518,878.325429482,787,805,652,631,652,0.401017391417,-0.0054947731298,0.0698501022039,0.999999986214,4.23775029339e-05,-0.000159863018,1.48493962756e-05,1793242893429053696
+28,0.466666667,BASELINE,765,745,714,678.517994932,659,635,878.258997466,787,805,652,631,652,0.401017197799,-0.00549437026052,0.0698503301757,0.999999986207,4.27126658894e-05,-0.00015981867694,1.48283674909e-05,1793242893445720064
+29,0.483333333,BASELINE,765,745,714,679.675404624,659,635,878.837702312,787,805,652,631,652,0.401017746558,-0.00549315421154,0.0698506762604,0.999999986275,4.25044079697e-05,-0.000159454135724,1.47787316886e-05,1793242893462386688
+30,0.500000000,BASELINE,765,745,714,680,658.582973942,635,879,787,805,652,631,652,0.401017309627,-0.00549373169533,0.0698505387353,0.99999998622,4.1228711987e-05,-0.000160114780309,1.4969199668e-05,1793242893479054336
+31,0.516666667,BASELINE,765,745,714,680,658.003408989,635,879,787,805,652,631,652,0.401016488516,-0.00549500822141,0.0698502127197,0.999999986113,3.95369743735e-05,-0.000161174998417,1.52532498183e-05,1793242893495721984
+32,0.533333333,BASELINE,765,745,714,679.43479448,658,635,879,787,805,652,631,652,0.401016624714,-0.00549487386051,0.0698499547163,0.999999986143,3.92205483096e-05,-0.000161091034479,1.50374908834e-05,1793242893512388352
+33,0.550000000,BASELINE,765,745,714,679.139946431,658.139946431,635,879,787,805,652,631,652,0.401016668538,-0.00549458090935,0.0698498138856,0.999999986115,3.98237259286e-05,-0.000161125623507,1.48882345381e-05,1793242893529054976
+34,0.566666667,BASELINE,765,745,714,679.734812768,658.734812768,635,879,787,805,652,631,652,0.401016393674,-0.00549379956961,0.069850052637,0.999999985895,4.33897812083e-05,-0.000161567595959,1.49647694084e-05,1793242893545721600
+35,0.583333333,BASELINE,765.319092598,745,714,679.680907402,659,635,879,787.319092598,805,652,631,652,0.401016109112,-0.00549345032829,0.0698500314177,0.999999985832,4.47404969298e-05,-0.000161581924209,1.50015069212e-05,1793242893562387968
+36,0.600000000,BASELINE,765.894856916,745,714,679.105143084,659,635,879,787.894856916,805,652,631,652,0.40101581675,-0.00549344865823,0.0698498010831,0.999999985905,4.43092380863e-05,-0.000161252264043,1.5006232242e-05,1793242893579054336
+37,0.616666667,BASELINE,765.530494001,745,714,679,659,635,879,787.530494001,805,652,631,652,0.401016075248,-0.00549315814012,0.0698501848635,0.999999985997,4.46571622159e-05,-0.000160588230409,1.49184766872e-05,1793242893595720960
+38,0.633333333,BASELINE,765.044905636,745,714.044905636,679,659,635,878.955094364,787,805,652,631,652,0.401016461992,-0.00549281415282,0.0698507064614,0.999999986092,4.51391375127e-05,-0.000159869069075,1.48384104632e-05,1793242893612387584
+39,0.650000000,BASELINE,765.63238478,745,714.63238478,679,659,635,878.36761522,787,805,652,631,652,0.401016911278,-0.00549260383819,0.0698512355018,0.999999986165,4.51374649369e-05,-0.000159386432387,1.51008933857e-05,1793242893629054464
+40,0.666666667,BASELINE,765.781669296,745,714.781669296,679,658.781669296,635,878.218330704,787,805,652,631,652,0.401017126801,-0.00549290481638,0.0698514048938,0.999999986182,4.47228625202e-05,-0.000159380763291,1.5252866459e-05,1793242893645721600
+41,0.683333333,BASELINE,765.19828697,745,714.19828697,679,658.19828697,635,878.80171303,787,805,652,631,652,0.401016951473,-0.00549406068247,0.0698509729496,0.999999986105,4.36178363325e-05,-0.000160172589903,1.52200656896e-05,1793242893662387968
+42,0.700000000,BASELINE,765,745,714,679,658,635,879,787.378218673,805,652,631,652,0.401016203195,-0.0054941598553,0.0698504113704,0.999999985917,4.3508482523e-05,-0.000161389909927,1.50677259395e-05,1793242893679054336
+43,0.716666667,BASELINE,765,745,714,679,658,635,879,787.951183469,805,652,631,652,0.401015159905,-0.00549371493303,0.0698497830417,0.999999985669,4.39118039545e-05,-0.000162826317977,1.48538351489e-05,1793242893695720704
+44,0.733333333,BASELINE,765,745,714,679,658.52663195,635,879,788,805,652,631,652,0.401016603283,-0.00549331390255,0.0698509365265,0.999999985863,4.53142757529e-05,-0.000161227746101,1.50542012865e-05,1793242893712387328
+45,0.750000000,BASELINE,765,745,714,679,658.894482229,635,879,787.894482229,805,652,631,652,0.401017807488,-0.00549312983002,0.0698518346335,0.999999986036,4.61761264265e-05,-0.000159883253977,1.52725436547e-05,1793242893729053952
+46,0.766666667,BASELINE,765,745,714,679,658.300763215,635,879,787.300763215,805,652,631,652,0.401016833577,-0.00549393064797,0.0698507833778,0.999999985945,4.41061304306e-05,-0.000161022119998,1.53955497161e-05,1793242893745720576
+47,0.783333333,BASELINE,765,744.716174757,714,679,658.283825243,635,879,787,805,652,631,652,0.401016510719,-0.00549390119039,0.0698503239347,0.999999985867,4.36921292553e-05,-0.000161627651592,1.52570071041e-05,1793242893762387456
+48,0.800000000,BASELINE,765,744.140960118,714,679,658.859039882,635,879,787,805,652,631,652,0.401016856267,-0.00549301932992,0.0698504720763,0.999999985807,4.49782561372e-05,-0.000161685635139,1.48499453676e-05,1793242893779054848
+49,0.816666667,BASELINE,765,744,714,679,658.564777058,635,879,787,805,652,631,652,0.401016152407,-0.00549265380862,0.0698501030123,0.999999985827,4.48383622066e-05,-0.000161599514973,1.48498105143e-05,1793242893795721728
+50,0.833333333,BASELINE,765,744,714,679,658.011631954,635,879,787,805,652,631,652,0.40101517008,-0.00549245357073,0.069849607665,0.999999985879,4.42548122995e-05,-0.000161430113756,1.49711138795e-05,1793242893812388352
+51,0.850000000,BASELINE,765,744,714,679,658.583782872,635,879,787,805,652,631,652,0.401017183777,-0.00549214145945,0.0698511170694,0.999999986179,4.45981055368e-05,-0.000159501632548,1.4579155297e-05,1793242893829054464
+52,0.866666667,BASELINE,765,744.162618054,714,679,659,634.837381946,879.162618054,787,805,652,631,652,0.401018461361,-0.00549206302708,0.0698520603287,0.999999986383,4.44952465928e-05,-0.000158272597888,1.42923685167e-05,1793242893845720576
+53,0.883333333,BASELINE,765,744.759294777,714,679,659,634.240705223,879.759294777,787,805,652,631,652,0.401017774116,-0.00549260832842,0.0698514924382,0.999999986338,4.32015221775e-05,-0.000158910519881,1.42863054025e-05,1793242893862386944
+54,0.900000000,BASELINE,765,745,714.343259435,679.343259435,658.656740565,634.343259435,879.656740565,787,805,652.343259435,631,652,0.401017130262,-0.00549332740261,0.0698509831922,0.999999986181,4.28564692761e-05,-0.000159955929397,1.46505370397e-05,1793242893879053568
+55,0.916666667,BASELINE,765,745,714.918628269,679.918628269,658.081371731,634.918628269,879.081371731,787,805,652.918628269,631,652,0.401016515748,-0.00549416398064,0.0698505136011,0.999999985947,4.31529008321e-05,-0.000161276878824,1.52651591489e-05,1793242893895720448
+56,0.933333333,BASELINE,765,745,715,679.506742845,658.493257155,635,879.493257155,787.493257155,805.493257155,652.506742845,631,652,0.401017482173,-0.00549496688044,0.0698513556233,0.999999986134,4.30721467656e-05,-0.000160118515459,1.54669175283e-05,1793242893912387328
+57,0.950000000,BASELINE,765,745,715,679,659,635,879.930430134,787.930430134,805.930430134,652,631,652,0.401018339093,-0.00549551254065,0.0698521455144,0.999999986334,4.30099601578e-05,-0.000158870595279,1.55510826596e-05,1793242893929054208
+58,0.966666667,BASELINE,765,745,715,679,659,635,879.340614559,787.340614559,805.340614559,652,631,652,0.401016429744,-0.00549417603895,0.0698509299343,0.999999986134,4.35512349646e-05,-0.000160006958591,1.52644428136e-05,1793242893945721088
+59,0.983333333,BASELINE,765,745,714.754637847,679.245362153,659,635,879,787,805,652,631,652,0.401016680949,-0.00549355038479,0.0698511816338,0.99999998626,4.34598238248e-05,-0.00015925458167,1.5123967132e-05,1793242893962387456
+60,1.000000000,BASELINE,765,745,714.173908111,679.826091889,659,635,879,787,805,652,631,652,0.401019885259,-0.00549389633598,0.0698534388501,0.999999986826,4.2503640611e-05,-0.000155920624012,1.51832725164e-05,1793242893979053824
+61,1.016666667,BASELINE,765,745,714,679.597977566,658.597977566,635,879,787,805,652,631,652,0.401020153003,-0.00549345214112,0.0698533128828,0.999999986766,4.39946804878e-05,-0.000155878990288,1.52945934625e-05,1793242893995720448
+62,1.033333333,BASELINE,765,745,714,679.024098613,658.024098613,635,879,787,805,652,631,652,0.401019165425,-0.00549267017469,0.0698521681521,0.999999986435,4.65318591538e-05,-0.000157244759136,1.54281500129e-05,1793242894012387072
+63,1.050000000,BASELINE,765,745,714.549206284,679,658,635,879,787,805,652,631,652,0.401017930663,-0.0054926187575,0.0698520582866,0.999999986205,4.58302978293e-05,-0.000158924374313,1.52749906412e-05,1793242894029053696
+64,1.066666667,BASELINE,765,745,715,679,658.126910474,635,879,787,804.873089526,652,631,652,0.401016909586,-0.00549268432404,0.0698519378765,0.999999986042,4.50526003455e-05,-0.000160179605018,1.51035791996e-05,1793242894045720320
+65,1.083333333,BASELINE,765,745,715,679,658.720898265,635,879,787,804.279101735,652,631,652,0.401016714827,-0.00549306257998,0.0698516117117,0.999999986126,4.45171744565e-05,-0.000159822314003,1.49112470677e-05,1793242894062387712
+66,1.100000000,BASELINE,765,745,714.69383084,679,659,635,879,787.30616916,804.30616916,652,631,652,0.401016677469,-0.00549300753375,0.0698511296697,0.999999986112,4.47689889207e-05,-0.000159845678491,1.48973132815e-05,1793242894079054592
+67,1.116666667,BASELINE,765,745,714.116286265,679,659,635,879,787.883713735,804.883713735,652,631,652,0.401016779626,-0.00549256842676,0.0698505094646,0.999999986009,4.57185800209e-05,-0.000160206439962,1.50415042664e-05,1793242894095721472
+68,1.133333333,BASELINE,764.542663234,745,714.457336766,679,659,635,879,787.542663234,805,652,631,652,0.401016979038,-0.00549242977557,0.0698509283893,0.999999986023,4.55028758467e-05,-0.00016016723867,1.51654281373e-05,1793242894112388096
+69,1.150000000,BASELINE,764.030992855,745,715,678.969007145,659,635,879.030992855,787,805.030992855,652,631,652,0.401017189501,-0.00549242137128,0.0698515490335,0.999999986064,4.495574969e-05,-0.000160054138168,1.52645728455e-05,1793242894129054208
+70,1.166666667,BASELINE,764.623147317,745,715,678.376852683,659,635,879.623147317,787,805.623147317,652,631,652,0.401017156134,-0.00549339975324,0.0698510787444,0.999999986063,4.37270476433e-05,-0.000160428709926,1.50075748343e-05,1793242894145720576
+71,1.183333333,BASELINE,765.210484236,745,714.789515764,678.420968472,659,634.789515764,880,787,805.789515764,652,631,652,0.401017027709,-0.00549372618615,0.069850805786,0.999999986017,4.3486910984e-05,-0.000160783011986,1.49416337226e-05,1793242894162386944
+72,1.200000000,BASELINE,765.78938888,745,714.21061112,679.578777759,659,634.21061112,880,787,805.21061112,652,631,652,0.4010167329,-0.00549291148232,0.0698508782247,0.999999985896,4.49771063758e-05,-0.000161101835106,1.52101083994e-05,1793242894179053568
+73,1.216666667,BASELINE,765.633718392,745,714,680,659,634.366281608,879.633718392,787,805.366281608,652,631,652,0.401016592715,-0.00549253694687,0.0698511749537,0.999999985858,4.61733712792e-05,-0.000160991426357,1.52703047621e-05,1793242894195720448
+74,1.233333333,BASELINE,765.057976225,745,714,680,659,634.942023775,879.057976225,787,805.942023775,652,631,652,0.401016540951,-0.00549241412468,0.0698515999445,0.999999985868,4.72015500004e-05,-0.000160635558505,1.52113957783e-05,1793242894212387072
+75,1.250000000,BASELINE,765,745,714.51594549,680,658.48405451,635,879,787,805.48405451,652,631,652,0.401016522593,-0.00549204587989,0.0698518790312,0.999999985984,4.66090982463e-05,-0.000160101622069,1.50407588832e-05,1793242894229053952
+76,1.266666667,BASELINE,765,745.092688598,714.907311402,679.907311402,658.092688598,635,879,787,805,652,631,652,0.401016618416,-0.00549193838117,0.0698520474309,0.9999999861,4.56009972421e-05,-0.000159687952659,1.48688662705e-05,1793242894245720832
+77,1.283333333,BASELINE,765,745.685763661,714.314236339,679.314236339,658.685763661,635,879,787,805,652,631,652,0.401017310464,-0.00549338689772,0.0698517064772,0.999999986147,4.33286518252e-05,-0.000160031196293,1.47577340036e-05,1793242894262387200
+78,1.300000000,BASELINE,765,745.728540499,714,679,659,635,879,787,805,652,631,652,0.401017478945,-0.00549417435106,0.0698516036103,0.999999986128,4.25572318834e-05,-0.000160356147648,1.47676763187e-05,1793242894279053824
+79,1.316666667,BASELINE,765,745.151160688,714,679,659,635,879,787,805,652,631,652,0.401017057393,-0.00549421682148,0.0698517690547,0.999999986038,4.3477274673e-05,-0.000160660484563,1.4914063207e-05,1793242894295720704
+80,1.333333333,BASELINE,765,745,714,679,659,634.575153294,879,787.424846706,805,652,631,652,0.401017944827,-0.0054935563464,0.0698527323418,0.999999986203,4.48558305888e-05,-0.000159217721878,1.52410005233e-05,1793242894312387072
+81,1.350000000,BASELINE,765.000375911,745,714,679,659,634.000375911,879.000375911,787.999624089,805,652,631,652,0.401019295382,-0.00549264676834,0.069853977412,0.999999986452,4.63960277697e-05,-0.000157157137291,1.56314312411e-05,1793242894329053696
+82,1.366666667,BASELINE,765.589209195,745,714,679,659,634.589209195,879.589209195,787.410790805,805,652,631,652,0.401018895638,-0.00549205048721,0.0698533818444,0.99999998634,4.64134309251e-05,-0.000157907491034,1.51769774572e-05,1793242894345720576
+83,1.383333333,BASELINE,766,745,714,679,659,635,879.824959379,787.175040621,805,652,631,652,0.401018172739,-0.00549210851005,0.0698526412966,0.999999986221,4.57862077414e-05,-0.000158872539796,1.48828314431e-05,1793242894362387712
+84,1.400000000,BASELINE,766,745,714,679,659,635,879.246053911,787.753946089,805,652,631,652,0.401016704234,-0.00549367618448,0.0698515662411,0.999999986081,4.3671661696e-05,-0.000160332946704,1.49585576149e-05,1793242894379054592
+85,1.416666667,BASELINE,765.668966989,745,714,678.668966989,659,635,879,788,805,652,631,652,0.401016840781,-0.00549415468928,0.0698514368245,0.999999986032,4.31896409661e-05,-0.000160765902383,1.50251977055e-05,1793242894395721472
+86,1.433333333,BASELINE,765.093224424,745,714,678.093224424,659,635,879,788,805,652,631,652,0.401018163831,-0.00549382804706,0.0698520064527,0.999999986052,4.39144321516e-05,-0.000160439335138,1.50851210871e-05,1793242894412387840
+87,1.450000000,BASELINE,765,745,714.482917463,678.482917463,659,635,879,787.517082537,805,652,630.517082537,652,0.401017732524,-0.00549241394615,0.0698522339527,0.999999985978,4.69826854e-05,-0.000160026447699,1.51118810063e-05,1793242894429054208
+88,1.466666667,BASELINE,765,745,714.939462576,679.060537424,658.939462576,635,879,787,805,652.060537424,630.060537424,652,0.401016824649,-0.00549109236983,0.0698522160302,0.999999985866,4.97308863142e-05,-0.000159893752698,1.51131136836e-05,1793242894445720576
+89,1.483333333,BASELINE,765,745,714.349593075,679.650406925,658.349593075,635,879,787,805,652.650406925,630.650406925,652,0.401014713446,-0.00549241691871,0.0698506301372,0.999999985663,4.57216536314e-05,-0.000162356852458,1.49471639659e-05,1793242894462386944
+90,1.500000000,BASELINE,765,745,714,679.764675338,658.235324662,635,879,787.235324662,805,653,631,652,0.401014473899,-0.00549247127929,0.0698501765621,0.999999985604,4.48718318966e-05,-0.000162965975407,1.48651585702e-05,1793242894479053824
+91,1.516666667,BASELINE,765,745,714,679.186962281,658.813037719,635,879,787.813037719,805,653,631,652,0.401016957537,-0.00549067756431,0.0698513704663,0.999999985766,4.86188327889e-05,-0.000160877632684,1.49052889721e-05,1793242894495720448
+92,1.533333333,BASELINE,765,745,714,679,659,635,879,788,805,652.609412969,631,652,0.401018813473,-0.00549196540826,0.0698528476099,0.999999986211,4.687886814e-05,-0.000158595542573,1.51071432789e-05,1793242894512387328
+93,1.550000000,BASELINE,765,745,714,679,659,635,879,788,805,652.031941954,631,652,0.401020369072,-0.00549472768405,0.0698544602749,0.999999986775,4.25135581233e-05,-0.000156220750057,1.5386377546e-05,1793242894529054208
+94,1.566666667,BASELINE,765,745,714,679,659,635,879,787.459994523,805,652,631.540005477,652,0.401018810854,-0.00549387880708,0.0698532512686,0.999999986351,4.55823877224e-05,-0.000158058122763,1.54245316649e-05,1793242894545721600
+95,1.583333333,BASELINE,765,745,714,679,659,634.884017435,879,787.115982565,805.115982565,652,631.884017435,651.884017435,0.401016932974,-0.00549294248558,0.0698519706244,0.99999998587,4.82271681505e-05,-0.000160305225216,1.5380768891e-05,1793242894562388736
+96,1.600000000,BASELINE,765,745,714,679,659,634.290102337,879,787.709897663,805.709897663,652,631.290102337,651.290102337,0.401014489151,-0.00549251711995,0.069851075586,0.999999985445,4.73308653255e-05,-0.0001632244107,1.50576162435e-05,1793242894579055104
+97,1.616666667,BASELINE,765,745,714,679.296271092,659,634.296271092,879,787.703728908,805.407457816,652,630.703728908,651.296271092,0.401014370379,-0.00549214384393,0.0698508446067,0.999999985453,4.70083264477e-05,-0.00016328940396,1.48426760803e-05,1793242894595721472
+98,1.633333333,BASELINE,765,745,714,679.875443158,659,634.875443158,879,787.124556842,804.249113684,652,630.124556842,651.875443158,0.401016471733,-0.00549182030685,0.0698512477189,0.999999985875,4.72336587584e-05,-0.000160629008775,1.47310650095e-05,1793242894612387584
+99,1.650000000,BASELINE,765,745,714,680,658.549769251,635,879,787,804.450230749,652,630,652,0.401017823786,-0.00549207781863,0.069852040494,0.999999986005,4.74054670099e-05,-0.000159753446033,1.49116238788e-05,1793242894629053952
+100,1.666666667,BASELINE,765,745,714,679.975571527,658.024428473,634.975571527,879,787,805.024428473,652,630.024428473,652,0.401018925226,-0.00549249576137,0.0698529390821,0.999999986064,4.75519166702e-05,-0.000159315052628,1.51640837256e-05,1793242894645720320
+101,1.683333333,BASELINE,765,745,714,679.387260544,658.612739456,634.387260544,879,787,805.612739456,652,630.612739456,652,0.40101898061,-0.00549294217618,0.0698538157851,0.999999986327,4.74515188502e-05,-0.000157679934529,1.52284490643e-05,1793242894662387712
+102,1.700000000,BASELINE,765,745,714.198090089,679,659,634.198090089,879,787,805.801909911,652,631,652,0.401019220364,-0.00549346673151,0.069854384773,0.999999986544,4.65149665072e-05,-0.000156576047253,1.52619535356e-05,1793242894679054848
+103,1.716666667,BASELINE,765,745,714.77773847,679,659,634.77773847,879,787,805.22226153,652,631,652,0.401019815249,-0.00549414179993,0.0698543610444,0.999999986672,4.39678253073e-05,-0.000156495409372,1.52360142391e-05,1793242894695721472
+104,1.733333333,BASELINE,765.355635077,745,715,679,659,635,879,787,805,652,631,652,0.401019454646,-0.00549343501605,0.0698537347055,0.999999986515,4.45519142017e-05,-0.000157338349695,1.51414426833e-05,1793242894712387840
+105,1.750000000,BASELINE,765.932442298,745,715,679,659,635,879,787,805,652,631,652,0.40101849982,-0.00549186884784,0.0698527335987,0.999999986177,4.70833385337e-05,-0.000158755670281,1.50041882035e-05,1793242894729053952
+106,1.766666667,BASELINE,765.495732927,745,715,679,659,635,879,787,805,652,631,651.495732927,0.401018218784,-0.00549241934194,0.0698527679127,0.999999986209,4.66923441526e-05,-0.000158679054589,1.48979984401e-05,1793242894745720832
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660,635,879,788,805,652,631,652,0.401019886036,-0.00549066364497,0.0698542854214,0.999999986385,4.79428795089e-05,-0.000157223498353,1.45905221469e-05,1793242894788233728
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659.421376067,635,879,787.421376067,805,652,631,652,0.401018053346,-0.00549083681112,0.0698528667199,0.999999986079,4.73624765717e-05,-0.000159315897995,1.47478646435e-05,1793242894804901120
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714.843545381,679.156454619,659,635,879,787.156454619,805,652,631,652,0.401016814357,-0.00549108705731,0.0698519542203,0.999999985874,4.70303638762e-05,-0.000160681863975,1.48536681778e-05,1793242894821568256
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714.26784023,679.73215977,659,635,879,787.73215977,805,652,631,652,0.401017166305,-0.0054915438545,0.0698523981867,0.999999985952,4.73635929693e-05,-0.00016010121036,1.48213630896e-05,1793242894838235136
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714.313717148,679.686282852,659,635,879,787.686282852,805,652,631,652,0.401016982008,-0.00549183159447,0.0698524245458,0.999999985885,4.74299060524e-05,-0.000160498091658,1.48729884015e-05,1793242894854902272
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714.900365886,679.099634114,659,635,879,787.099634114,805,652,631,652,0.401016331184,-0.00549197225588,0.0698520875897,0.99999998569,4.72640041687e-05,-0.000161745421107,1.49976325404e-05,1793242894871568896
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714.518616,679,659,635,878.518616,787,805,652,631,652,0.401016672769,-0.00549231923838,0.0698522028407,0.999999985769,4.61834742665e-05,-0.000161576091021,1.48919407522e-05,1793242894888234496
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714.060706437,679.060706437,659,635,878.060706437,787,805,652,631,652,0.401017228067,-0.00549272572978,0.0698524054916,0.99999998582,4.50969223817e-05,-0.000161581693515,1.47757445394e-05,1793242894904900352
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714.635424824,679.635424824,659,635,878.635424824,787,805,652,631,652,0.401017873843,-0.00549327869869,0.0698525648476,0.999999985152,4.55437236427e-05,-0.000165522454915,1.49695993984e-05,1793242894921566976
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,635,879,787,805,652,631,652,0.401024117197,-0.00549333425454,0.0698556124711,0.999999985009,4.54489170836e-05,-0.000166385606968,1.5219245061e-05,1793242894938233600
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,635,879,787,805,652,631,652,0.401040071728,-0.00549252685398,0.0698636709175,0.999999985785,4.44144811096e-05,-0.000161909448464,1.55656815468e-05,1793242894954900480
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679.627553694,658.627553694,635,879,787,805.372446306,652,631,652,0.401072621682,-0.00549388775639,0.0698775247883,0.999999987911,4.49767236656e-05,-0.00014792743339,1.65311628929e-05,1793242894971567360
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679.037463825,658.037463825,635,879,787,805.962536175,652,631,652,0.401114869375,-0.00549651573312,0.0698947652872,0.999999990519,4.64720047679e-05,-0.000128390554114,1.78583907142e-05,1793242894988233728
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714.466567512,679,658.533432488,635,879,787,805.466567512,652,631,652,0.401173330381,-0.00549851174616,0.0699079105074,0.99999999268,4.50348943288e-05,-0.000110887997869,1.77440404281e-05,1793242895004900352
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.894388931,879.105611069,787,805,652,631,652,0.401235290547,-0.00549991332355,0.0699192953709,0.999999994316,4.38100823433e-05,-9.56464578229e-05,1.73549401206e-05,1793242895021566976
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.31051086,879.68948914,787,805,652,631,652,0.401308119385,-0.00549881697321,0.0699239656024,0.99999999483,4.44469292356e-05,-9.0019537707e-05,1.6164183286e-05,1793242895038233600
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.275651501,745,714,679.275651501,659,634.275651501,880,787.275651501,805,652,631,652,0.401387227682,-0.00549934932371,0.0699265692054,0.999999995171,4.31935937235e-05,-8.7043193122e-05,1.46843294216e-05,1793242895054900224
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.864408494,745,714,679.864408494,659,634.864408494,880,787.864408494,805,652,631,652,0.40147346865,-0.00550173167391,0.069926825378,0.999999995334,3.97932483203e-05,-8.70775698357e-05,1.28760977061e-05,1793242895071567104
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.553903231,745.446096769,714.446096769,680,659,635,879.553903231,788,805.446096769,652.446096769,630.553903231,652,0.401576399526,-0.00550337413917,0.0699244344493,0.999999994757,3.81035846843e-05,-9.44821106156e-05,1.03689605525e-05,1793242895088233728
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745.974513736,715,680,659,635,879,787.974513736,805.974513736,653,630.025486264,652,0.401685857851,-0.00550487508134,0.069921502945,0.999999993926,3.67878096436e-05,-0.000103618194732,7.64784863964e-06,1793242895104900864
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745.399089017,715,680,659,635,879,787.399089017,805.399089017,653,630.600910983,652,0.401828409435,-0.00550809917975,0.0699239974632,0.999999994204,3.24950701479e-05,-0.000102533266455,4.82196515693e-06,1793242895121567744
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714.824062334,679.824062334,659,635,879,787,805,652.824062334,631,652,0.401979320711,-0.00551090573874,0.0699260353559,0.999999994367,2.92724522656e-05,-0.00010200683654,1.79031168034e-06,1793242895138234112
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714.249936573,679.249936573,659,635,879,787,805,652.249936573,631,652,0.402149151905,-0.00551276730791,0.0699270397979,0.999999994315,2.84717704962e-05,-0.000102744419213,-1.70704704097e-06,1793242895154900480
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.665661257,879,787.334338743,805,652,631,652,0.402336598239,-0.00551351062139,0.0699291082465,0.999999994522,2.71523071406e-05,-0.000100922930316,-5.70555456117e-06,1793242895171567104
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.073560985,879,787.926439015,805,652,631,652,0.402537625144,-0.00551339180556,0.0699319970007,0.999999994909,2.54328842652e-05,-9.71285017356e-05,-1.00904277276e-05,1793242895188233728
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.505189669,745,714,679.505189669,659,634.505189669,879,787.494810331,805,652.505189669,631,652,0.402771827102,-0.00551672544715,0.069933002001,0.999999995067,1.89019190483e-05,-9.63479734901e-05,-1.50531271959e-05,1793242895204900352
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.918233764,745,714,679.918233764,659,635,879,787,805,652.918233764,631,652,0.403017616044,-0.00552040814454,0.0699343665998,0.999999995245,1.19597531398e-05,-9.46905217443e-05,-2.00030675468e-05,1793242895221566976
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.343347315,745,714,679.343347315,659,635,879,787,805,652.343347315,631,652,0.403304901626,-0.00552324220294,0.0699395115277,0.999999996054,6.65420110844e-06,-8.51659343612e-05,-2.43817031931e-05,1793242895238233600
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714.232601635,679,659,635,879,787,805,652,631,652,0.403606139842,-0.0055249258275,0.0699459965488,0.999999996809,-1.12557981607e-05,-7.39160262453e-05,-2.81209447233e-05,1793242895254900480
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714.810126123,679,659,635,879,787,805,652,631,652,0.403928068275,-0.00552490348399,0.0699544687817,0.999999996571,-4.78568174644e-05,-6.01076561818e-05,-3.09120342372e-05,1793242895271567104
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659,635,879,787.395816405,805,652,630.604183595,652,0.404264980968,-0.00552614008532,0.0699584340306,0.999999996906,-4.65680427122e-05,-5.52735444012e-05,-3.10391729596e-05,1793242895288233472
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659,635,879,787.98550633,805,652,630.01449367,652,0.404609233042,-0.00552799332624,0.0699601917283,0.999999997694,-2.67205925435e-05,-5.48350847198e-05,-2.98614907043e-05,1793242895304899840
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714.438400134,679,659,635,879,787.438400134,805,652,630.561599866,652,0.405006881078,-0.00552875636893,0.0699656659662,0.9999999983,-2.13467548214e-05,-4.421964028e-05,-3.14473645213e-05,1793242895321566976
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.137745913,787,805,652,631,652,0.405415773523,-0.00552976245464,0.0699702513059,0.999999998631,-2.03910320975e-05,-3.49892262097e-05,-3.31352074679e-05,1793242895338233600
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.715152968,787,805,652,631,652,0.405856261624,-0.00553163197284,0.0699717005254,0.999999998386,-3.23731010192e-05,-3.09980958149e-05,-3.49262535066e-05,1793242895354900224
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.29918212,679.29918212,659.29918212,635,879.70081788,787,805,652,631,652,0.406293931049,-0.00552970938425,0.0699640254847,0.999999997693,-3.60382020052e-05,-4.51477883543e-05,-3.5731352348e-05,1793242895371566848
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.889658855,679.889658855,659.889658855,635,879.110341145,787,805,652,631,652,0.406728856163,-0.00552409466252,0.0699474667321,0.999999995906,-3.16056013225e-05,-7.69600466774e-05,-3.55764972574e-05,1793242895388233472
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714.558770591,679.558770591,659.558770591,635,879.441229409,787.441229409,805,652,631,652,0.407230600075,-0.0055229417478,0.0699363472775,0.999999994945,-2.61537400284e-05,-8.97836726176e-05,-3.69334898252e-05,1793242895404900096
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714.016141196,679.016141196,659.016141196,635,879.983858804,787.983858804,805,652,631,652,0.407747699749,-0.00552281421197,0.0699264778419,0.999999994218,-2.04676402794e-05,-9.82434735666e-05,-3.86379237351e-05,1793242895421566976
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.804786384,787.402393192,805,652,631,652,0.40832253641,-0.00552784018078,0.0699407476155,0.99999999646,-2.97861860276e-05,-6.8460455581e-05,-3.88093894015e-05,1793242895438233856
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.199765715,787,805,652,631,652,0.40891387556,-0.00553258933997,0.0699533070727,0.999999997654,-3.760598254e-05,-4.18390747351e-05,-3.90889639553e-05,1793242895454900480
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.775976922,787,805,652,631,652,0.409532976879,-0.00553651913344,0.0699612489436,0.999999998069,-4.17346131678e-05,-2.33850143334e-05,-3.96608275645e-05,1793242895471566848
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.360955089,659,635,879,787,805,652,631,652,0.410135633887,-0.00553960756222,0.0699563320857,0.999999997711,-4.5081319882e-05,-3.00050790374e-05,-4.05522058883e-05,1793242895488233216
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.951509802,659,635,879,787,805,652,631,652,0.410727830823,-0.00554216080789,0.0699432359292,0.999999996602,-4.79306530897e-05,-5.25745239885e-05,-4.16468240307e-05,1793242895504900096
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714.531812938,679.468187062,659,635,879,787,805,652,631,652,0.411388681835,-0.00554171120736,0.0699471910184,0.999999996866,-4.50379922607e-05,-5.02686289329e-05,-4.13847393652e-05,1793242895521566720
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714.890030138,679,659,635,879,787,805,652,631,652,0.412070226195,-0.00554087162923,0.0699580204679,0.999999997618,-4.260832338e-05,-3.56091047817e-05,-4.09930457009e-05,1793242895538233344
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714.317048579,679,659,635,879,787,805,652,631,652,0.412813039062,-0.00553952108736,0.0699913712802,0.999999997961,-4.42906527595e-05,2.16945941863e-05,-4.05666351664e-05,1793242895554899968
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805.263210568,652,631,652,0.413558999475,-0.00553922398841,0.070016858599,0.999999996137,-4.5964126514e-05,6.299526252e-05,-4.05536650227e-05,1793242895571566592
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805.852485237,652,631,652,0.414308859151,-0.00554023188977,0.0700326046607,0.999999994455,-4.76266303109e-05,8.44714543321e-05,-4.10528630822e-05,1793242895588233216
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679.434304272,659,635,879,787,805.565695728,652,631,652,0.415014727071,-0.00553775998717,0.0699982042351,0.999999997661,-4.81550485728e-05,2.16474400206e-05,-4.34828380253e-05,1793242895604900096
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787,805,652,631,652,0.415707826281,-0.0055342667901,0.0699475607979,0.999999995418,-4.84954893355e-05,-6.81394237621e-05,-4.6564392217e-05,1793242895621566720
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787,805,652,631,652,0.416480644764,-0.00553661158459,0.0699177533376,0.999999991239,-5.67495093482e-05,-0.000108670071871,-4.99299506888e-05,1793242895638233600
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.16854686,635,879,787,805,652,631,652,0.417275148682,-0.00553865053656,0.069907967032,0.999999989516,-6.24821847194e-05,-0.000119939233639,-5.1755298834e-05,1793242895654900224
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.740507129,635,879,787,805,652,631,652,0.418121556191,-0.00553995746068,0.0699461009459,0.999999994951,-6.21800736352e-05,-6.11716333645e-05,-4.98941854151e-05,1793242895671566848
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879,787,805,652,631,652,0.418974364972,-0.00554109857966,0.0699761277591,0.999999996626,-6.3644660272e-05,-1.64575440973e-05,-4.92683236204e-05,1793242895688233728
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879,787,805,652,631,652,0.419832489735,-0.0055421020034,0.0699994219173,0.999999996413,-6.65764253853e-05,1.65856109458e-05,-4.96682936553e-05,1793242895704900608
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714.493074376,680,659.506925624,635,879,787,805,652,631,652,0.420714184217,-0.00554392921887,0.0700216917449,0.999999995157,-6.92110555977e-05,4.98848650233e-05,-4.90725265538e-05,1793242895721566976
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714.928447127,680,659,635,879,787,805.071552873,652,631,652,0.421592616543,-0.00554548875083,0.0700376640192,0.999999993545,-7.18537341902e-05,7.33400193809e-05,-4.86566247218e-05,1793242895738233344
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714.351272464,680,659,635,879,787,805.648727536,652,631,652,0.422419086144,-0.00554414625995,0.0700103916432,0.999999995544,-7.49177499619e-05,2.69186019011e-05,-5.07330937891e-05,1793242895754900224
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.775490447,879,787,805.775490447,651.775490447,631,652,0.423227369412,-0.00554199871058,0.0699632272778,0.999999994433,-7.70887143091e-05,-4.7161729894e-05,-5.44736731151e-05,1793242895771567104
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.201873875,879,787,805.201873875,651.201873875,631,652,0.42400737349,-0.00553859931419,0.0698851313372,0.99999998163,-7.78710048487e-05,-0.000164251023283,-6.08019043115e-05,1793242895788233472
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.383863223,745,714.383863223,680,659,634.383863223,879.383863223,787,805.383863223,651.383863223,631,651.616136777,0.424880618333,-0.00553955257227,0.0698676608247,0.999999977899,-8.06626032127e-05,-0.000183560384675,-6.32487180258e-05,1793242895804900096
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.976182304,745,714.976182304,680,659,634.976182304,879.976182304,787,805.976182304,651.976182304,631,651.023817696,0.425804497267,-0.00554286952748,0.0698831127872,0.999999983189,-8.45453508824e-05,-0.000149770619356,-6.35877386332e-05,1793242895821566976
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.444621992,745,714.444621992,680,659.555378008,635,880,787.555378008,806,652,631,651.555378008,0.426736742535,-0.00554372895277,0.0699390605398,0.999999991675,-8.83817792278e-05,-7.20043611442e-05,-6.04535121064e-05,1793242895838233344
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714.133198074,680,660,635,879.866801926,787.866801926,806,651.866801926,631,652,0.427663528524,-0.00554475177248,0.0699893049027,0.999999994207,-9.0950983007e-05,-1.79232894655e-06,-5.75405348121e-05,1793242895854899712
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714.708278449,680,660,635,879.291721551,787.291721551,806,651.291721551,631,652,0.428571040582,-0.0055466582172,0.0700149999429,0.999999993758,-8.93226304243e-05,3.72464853153e-05,-5.58442884211e-05,1793242895871566592
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714.71018087,680,660,635,879.28981913,787,806,651,630.71018087,652,0.429475109358,-0.00554869113592,0.0700302910245,0.999999992493,-8.90840422493e-05,6.31411275288e-05,-5.55930214386e-05,1793242895888233472
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714.121989256,680,660,635,879.878010744,787,806,651,630.121989256,652,0.430375633176,-0.00555085426111,0.0700348710967,0.99999999146,-9.02762344153e-05,7.55036749693e-05,-5.68293793114e-05,1793242895904900096
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714.458926406,680,660,635,880,787,806,651,630.458926406,651.541073594,0.431169489844,-0.00554903465263,0.0699808532463,0.999999994074,-8.86638597071e-05,-2.26873519966e-05,-5.89654405702e-05,1793242895921566976
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714.962365876,680.037634124,660,635,880,787,806,651.037634124,631,651.037634124,0.431940075929,-0.00554643012076,0.0699148563471,0.999999984154,-8.66091305136e-05,-0.000142961976253,-6.12570236348e-05,1793242895938233600
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714.387995506,680.612004494,660,635,880,787,806,651.612004494,631,651.612004494,0.432776844813,-0.00554749408317,0.0698966945393,0.999999980403,-8.87118532184e-05,-0.000165620471752,-6.24090871788e-05,1793242895954900224
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.187622839,745,714,681,660,634.812377161,880,787,806,652,631,652,0.433637895619,-0.00554840725921,0.0699035980096,0.999999983307,-9.07653190544e-05,-0.000145635683547,-6.27578571214e-05,1793242895971566848
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.765839327,745,714,681,660,634.234160673,880,787,806,652,631,652,0.434549496737,-0.00554900652807,0.0699626824289,0.999999993135,-9.27162415954e-05,-3.68760143302e-05,-6.14343284128e-05,1793242895988233728
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.649409586,745,714,681,660,634.350590414,880,787,806,651.649409586,631,652,0.435426065135,-0.00555199858271,0.070002300254,0.999999993385,-9.45789976744e-05,2.78541918775e-05,-5.923276796e-05,1793242896004900352
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.060211156,745,714,681,660,634.939788844,880,787,806,651.060211156,631,652,0.43627879059,-0.00555661914124,0.0700286693236,0.999999991802,-9.63817489395e-05,6.26184187342e-05,-5.64336290359e-05,1793242896021566976
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680.497707682,660,635,880,787,806,651,631,652,0.437088233454,-0.00555872187758,0.0700211407367,0.999999991404,-0.000100917023526,6.01207207885e-05,-5.82583639099e-05,1793242896038233600
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714.065865872,680.065865872,660,634.934134128,880,787,806,651,631,652,0.437883787139,-0.00556023101132,0.0700064992019,0.999999991496,-0.000104969915331,4.81559986552e-05,-6.05785506017e-05,1793242896054900224
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714.662550948,680.662550948,660,634.337449052,880,787,806,651,631,652,0.438607110343,-0.00555926587944,0.0699656285453,0.999999992754,-0.000102628657829,-5.92347641433e-06,-6.26500863683e-05,1793242896071566848
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714.745046384,680.745046384,660,634.254953616,880,787,806,651,631,652,0.439297299305,-0.00555745162924,0.0699216496318,0.999999989999,-0.000101059737155,-7.51711918707e-05,-6.43350216596e-05,1793242896088233472
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714.158218195,680.158218195,660,634.841781805,880,787,806,651,631,652,0.439944357176,-0.00555453207697,0.0698736246857,0.999999979329,-0.000100496171637,-0.000164163487639,-6.55167165758e-05,1793242896104900096
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714.423255465,680.423255465,660,634.576744535,880,787,806,651,631,652,0.440680422139,-0.00555492630742,0.0698756042121,0.999999980785,-9.86881618318e-05,-0.000156211367869,-6.54858942259e-05,1793242896121566976
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714.99725971,681.00274029,660,634.00274029,880.00274029,787,806,651,631.00274029,652,0.4414492819,-0.00555655590567,0.0698962936434,0.999999986943,-9.64809695829e-05,-0.000112160994693,-6.50000181208e-05,1793242896138233600
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714.420351641,681.579648359,660,634.579648359,880.579648359,787,806,651,631.579648359,652,0.442205240829,-0.0055607227611,0.0699696005119,0.999999992302,-0.000106886338018,-2.75062888784e-06,-6.29506455376e-05,1793242896154900224
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,681.844010333,659.844010333,635,880.844010333,787,806,651,631.844010333,652,0.44292903428,-0.00556439122068,0.0700250620255,0.999999988792,-0.000112988643102,7.70611518724e-05,-6.09253631648e-05,1793242896171566592
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681.269190642,659.269190642,635,880.269190642,787,806,651,631.269190642,652,0.443566464051,-0.00556672149545,0.0700326090327,0.999999989484,-0.000107537289973,7.74011795203e-05,-5.89647639728e-05,1793242896188233216
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.313870161,634.686129839,880,787,806,651.313870161,631,652,0.444168364158,-0.00556892282648,0.0700204168533,0.999999991526,-0.000104212162203,5.22026600093e-05,-5.79970261687e-05,1793242896204900096
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.904189502,634.095810498,880,787,806,651.904189502,631,652,0.444738970564,-0.00557101058688,0.0699908388796,0.999999993034,-0.000102759761996,4.51041120902e-06,-5.79037764657e-05,1793242896221566720
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,787,806.483958683,651.516041317,631,651.516041317,0.445299305038,-0.0055702849402,0.0699665991401,0.999999992601,-0.000101943378313,-2.97033689271e-05,-5.93589139293e-05,1793242896238233600
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.93857904,745.06142096,714,681.06142096,660,634.06142096,880,787,806.93857904,651,631,651.06142096,0.445851713952,-0.00556897799387,0.0699444857335,0.999999991244,-0.00010129253647,-5.94402417207e-05,-6.09737434855e-05,1793242896254900224
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.363315495,745.636684505,714,681.636684505,660,634.636684505,880,787,806.363315495,651,631,651.636684505,0.446354467956,-0.00556736815623,0.0699315083779,0.999999990308,-0.000100995693806,-7.35707496051e-05,-6.14147846225e-05,1793242896271566848
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.212172888,745.787827112,714,682,660,634.787827112,880,787,806.212172888,651,631,652,0.446835914122,-0.00556683324283,0.0699176083296,0.999999988298,-0.000102333425632,-9.5402376601e-05,-6.18932942855e-05,1793242896288233472
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.788046624,745.211953376,714,682,660,634.211953376,880,787,806.788046624,651,631,652,0.447280834935,-0.00556814093474,0.0699021266283,0.999999983876,-0.000106473099437,-0.000130435045726,-6.24360313704e-05,1793242896304900096
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.374250409,745,714,681.625749591,660,634,880,787,806.625749591,651,631,652,0.447700458933,-0.00556983374151,0.0698824667343,0.999999978112,-0.000108543815943,-0.000167607355143,-6.2463367452e-05,1793242896321566720
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+260,4.333333333,HOLD_POSE2,765,746,714.288115023,682,657.288115023,632,880,785.711884977,806,651.288115023,631,652,0.452499572239,-0.00557954458931,0.0697089822002,0.999999898017,-0.000122162042978,-0.000430747734584,-5.9155910814e-05,1793242897352767744
+261,4.350000000,HOLD_POSE2,765,746,714.868045256,682,657.868045256,632,880,785.131954744,806,651.868045256,631,652,0.45250048348,-0.00557981936399,0.069709769831,0.999999898239,-0.00012350180271,-0.000429833892282,-5.92593517867e-05,1793242897369434624
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,658,632,880,786,808,652,630,652,0.452501638071,-0.00557630141749,0.0697101582326,0.999999899827,-0.000115931463429,-0.000428258050473,-5.91708493447e-05,1793242897402013952
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745.42528457,714,682,658,632,880,785.42528457,807.42528457,651.42528457,630.57471543,652,0.452500275121,-0.00557870054997,0.0697085352755,0.999999898323,-0.000120607298636,-0.000430532647913,-5.87313307777e-05,1793242897418680576
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,657.84707396,632,880.15292604,785.15292604,807,651.15292604,630.84707396,652,0.452498827519,-0.00558017701849,0.0697071529354,0.999999897061,-0.000123682530103,-0.000432618701092,-5.84964621028e-05,1793242897435347200
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,657.258915827,632,880.741084173,785.741084173,807,651.741084173,630.258915827,652,0.452497138995,-0.00557902755829,0.0697064553982,0.999999896551,-0.000122202396454,-0.000434168152212,-5.88440330551e-05,1793242897452013824
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745.324332427,714,682,657.324332427,632,880.675667573,785.675667573,806.675667573,651.675667573,630.324332427,652,0.452497305258,-0.00557737720317,0.0697067281249,0.999999897012,-0.000119494662075,-0.000433837908744,-5.90062398201e-05,1793242897468680448
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.903719523,714,682,657.903719523,632,880.096280477,785.096280477,806.096280477,651.096280477,630.903719523,652,0.452498930122,-0.00557533294491,0.069707763866,0.999999898226,-0.000115821543901,-0.000432029475392,-5.90226763678e-05,1793242897485347072
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.518426192,746,714,682,658,632,880,785,806,651,630.518426192,652,0.452500197792,-0.00557749329166,0.0697088301056,0.999999898412,-0.000119811111275,-0.000430498928443,-5.90931088077e-05,1793242897502014464
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.058504096,745.941495904,714,682.058504096,657.941495904,632,880.058504096,785.058504096,806,651.058504096,630.058504096,652,0.452500923306,-0.00558006731682,0.0697095782924,0.999999898286,-0.000124539957335,-0.000429446152119,-5.91066673171e-05,1793242897518681856
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.63001084,745.36998916,714,682.63001084,657.36998916,632,880.63001084,785.63001084,806,651.63001084,630.63001084,652,0.452497519042,-0.00557892100836,0.0697074842846,0.999999897447,-0.000122360394284,-0.000432097165734,-5.85271572708e-05,1793242897535348224
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.209144622,714,682.790855378,657.209144622,632,880.790855378,786,806.209144622,652,631,652,0.452489002938,-0.00557794236188,0.0697031731604,0.99999989478,-0.000120921091,-0.000438635775679,-5.84590696572e-05,1793242897552014592
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.802281689,714,682.197718311,657.802281689,632,880.197718311,786,806.802281689,652,631,652,0.452471101427,-0.00557727154529,0.0696947913796,0.999999888646,-0.000120840915208,-0.000452312066428,-5.93299608282e-05,1793242897568681216
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,746,714,682.385893119,657.614106881,632,880,786,807,651.614106881,631,652,0.452435066308,-0.00557589561397,0.0696788955598,0.999999876366,-0.000120644597253,-0.000478673786348,-5.98737782338e-05,1793242897585347584
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.964741566,657.035258434,632,880,786,807,651.035258434,631,652,0.452389963972,-0.0055741671092,0.069659242549,0.999999860184,-0.00012039020547,-0.00051137850997,-6.02540513524e-05,1793242897602014208
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.458902102,714,682.458902102,657.541097898,632,880,786,806.458902102,651,631,652,0.452325621659,-0.00557343567937,0.069638052389,0.999999843758,-0.000119543422477,-0.000542698055714,-6.05912418236e-05,1793242897618681088
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.116518316,682,657.883481684,632,880.116518316,786,806,651.116518316,631,652,0.452258588886,-0.00557264192071,0.0696196526656,0.999999828914,-0.000118358806277,-0.000569624675028,-6.0745694904e-05,1793242897635347968
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.688909609,682,657.311090391,632,880.688909609,786,806,651.688909609,631,652,0.45218591232,-0.00557135127467,0.0696125604842,0.999999823425,-0.000116002763511,-0.000579715683951,-6.01961290752e-05,1793242897652014592
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.271114564,714.728885436,682,657.271114564,632,880.728885436,785.728885436,806,651.728885436,630.728885436,652,0.452105561493,-0.00556954640625,0.0696079367688,0.999999819726,-0.000114445104323,-0.0005864568167,-5.93138537328e-05,1793242897668681472
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.865003087,714.134996913,682,657.865003087,632,880.134996913,785.134996913,806,651.134996913,630.134996913,652,0.452016074119,-0.00556712933328,0.0696062518723,0.999999818252,-0.00011383795648,-0.000589209772163,-5.80354729402e-05,1793242897685348352
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,658,632,880.444853682,785.444853682,806,651.444853682,630.444853682,652,0.451904019064,-0.00556290146436,0.0696055883269,0.999999816031,-0.000109130010268,-0.000594024608123,-5.62524128466e-05,1793242897702014976
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,658.020575202,632,880.979424798,786,806,652,631,652.020575202,0.451784512844,-0.00555824713085,0.0696053044132,0.999999813625,-0.000103351351644,-0.000599268411849,-5.42837426388e-05,1793242897718681600
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,658.596313371,632,880.403686629,786,806,652,631,652.596313371,0.451643091802,-0.00555645927192,0.0696071566799,0.999999813727,-0.000101233143031,-0.0005997202706,-5.13128643569e-05,1793242897735347968
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,658.824592194,632,880.175407806,786,806,652,631,652.824592194,0.451493248186,-0.00555359526314,0.0696079101205,0.999999812872,-9.87745278822e-05,-0.000601779427131,-4.85946528603e-05,1793242897752014848
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,658.237622995,632,880.762377005,786,806,652,631,652.237622995,0.451323642607,-0.00554820627157,0.0696060853719,0.999999809764,-9.5517213182e-05,-0.000607609805244,-4.64692768253e-05,1793242897768681472
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.070564648,714,682,658.929435352,632.929435352,879.141129296,785.070564648,806,651.070564648,631,652,0.450925279179,-0.00553746188649,0.0696104391344,0.99999981107,-8.35591294983e-05,-0.000607707625741,-3.96093389195e-05,1793242897802015488
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.506283337,714,682.506283337,659,633,879.506283337,785.506283337,806.506283337,651,631,652,0.450687230966,-0.00553302425784,0.0696160168781,0.999999814123,-7.63459764167e-05,-0.000603933383183,-3.4494722995e-05,1793242897818681856
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.917818805,714,683,659.082181195,633,880.082181195,786,806.917818805,651,631,652,0.450440665129,-0.0055282527232,0.069621986052,0.999999817485,-6.83799586334e-05,-0.000599579300003,-2.93000283124e-05,1793242897835348224
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.342818888,714,683,659.657181112,633,880.657181112,786,806.342818888,651,631,652,0.450168935449,-0.00552071010465,0.069628331475,0.99999982187,-5.63482183362e-05,-0.000593694821635,-2.47436101787e-05,1793242897852014592
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.761099588,659.522199176,633,880.761099588,786,806,651,631,652,0.449887712216,-0.00551300074539,0.0696359436313,0.999999828153,-4.50319336339e-05,-0.000584181314933,-1.99789231964e-05,1793242897868680704
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.16945905,658.338918101,633,880.16945905,786,806,651,631,652,0.449592471622,-0.00550504519137,0.0696454261383,0.999999837228,-3.47720308243e-05,-0.00056930949253,-1.49067243352e-05,1793242897885347072
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.410797278,633,880,786,806,651,631,651.589202722,0.449258991585,-0.00549868278743,0.0696583686892,0.999999848285,-2.2626557367e-05,-0.000550316731966,-8.37399051045e-06,1793242897902014208
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.986484094,633,880,786,806,651,631,651.013515906,0.448910162662,-0.00549295985672,0.0696727000637,0.999999859677,-9.72423669119e-06,-0.000529669871957,-1.25501402819e-06,1793242897918681088
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,633,880,786,806,651,631,651.561099414,0.44850588954,-0.00548386396316,0.0696800602587,0.99999986545,6.64323018932e-06,-0.000518691844454,3.76923519251e-06,1793242897935347456
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,633.138885991,880,786,806,651,631,652,0.448090485383,-0.00547476002459,0.0696838874211,0.999999867827,3.26075833684e-05,-0.000513037450038,8.62341389008e-06,1793242897952014080
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,633.727013552,880,786,806,651,631,652,0.447643388544,-0.00546589237237,0.0696768287422,0.999999858713,8.93446109287e-05,-0.000523850995801,1.3090382077e-05,1793242897968680960
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,659.311732054,634,880,786.311732054,806.311732054,651,631,652,0.44716788155,-0.00545600911499,0.0696680224587,0.999999852397,0.000104748744973,-0.000533013039664,1.14428862979e-05,1793242897985347328
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,659.893497573,634,880,786.893497573,806.893497573,651,631,652,0.446667764613,-0.00544524610306,0.0696577023369,0.99999985023,8.43488535616e-05,-0.00054074449558,4.49882347342e-06,1793242898002013952
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,660,634,880,787,806.529891354,651,631,652,0.44617523686,-0.00543391345959,0.0696763743477,0.999999870355,8.28317257621e-05,-0.00050241609609,2.49652559673e-06,1793242898018680832
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745.04545822,714,682,660,634.04545822,880,787,806,651,631,652,0.445681029274,-0.00542319736765,0.0697031823805,0.999999894068,8.69260080863e-05,-0.00045199922158,1.98001282213e-06,1793242898035347456
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.619570493,714,682,660,634.619570493,880,787,806,651,631,652,0.445147507908,-0.0054211359161,0.0697490526229,0.999999921657,0.000107068270836,-0.000381034802966,5.86382128488e-06,1793242898052013824
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.799916574,714,681.799916574,660,635,880.200083426,787,806,651.200083426,631,652,0.444593326351,-0.00542118664324,0.0697882512623,0.999999941775,0.000118575133336,-0.000319840858912,9.59753025485e-06,1793242898068680448
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+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.950702917,745,714,681,660,634.049297083,880.049297083,787,806,651.049297083,631,652,0.442677479678,-0.00542132885902,0.069818522062,0.999999952443,0.00010739406367,-0.000288735542106,1.45440671584e-05,1793242898118680320
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.329405244,660,634.329405244,880,787,806,652,631,652,0.440551090433,-0.0054134064469,0.0698206891918,0.999999955984,0.000128795337553,-0.000266714330057,1.75254918229e-05,1793242898168680704
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714.067952613,681,659,634,880,787,805.067952613,651,631,652,0.431471341621,-0.00540449162799,0.0698309775605,0.999999956464,0.000134355776112,-0.00026168808518,2.32398292875e-05,1793242898352014080
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714.642357684,681,659,634,880,787,805.642357684,651,631,652,0.430486751261,-0.00540280813947,0.0697653823287,0.999999919124,0.000140950135851,-0.00037598076902,2.2890791234e-05,1793242898368680704
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.81489555,745,714.18510445,681,659.81489555,634.81489555,879.18510445,787,806,651.81489555,631,652,0.428639833743,-0.00540221233779,0.0697208199686,0.999999894123,0.000140202271013,-0.000437826896353,2.01404359636e-05,1793242898402013952
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.603972622,745,714,681,660,635,879,787,805.603972622,652,631,652,0.427786308722,-0.00540349323732,0.0697737361374,0.999999927196,0.000138489394733,-0.000354795034447,2.34261470552e-05,1793242898418680576
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.638065654,680,659,634.638065654,879,787,805,652,631,652,0.417286998622,-0.00539234769445,0.069876347256,0.999999962407,0.000167939544708,-0.000214130737931,3.36150973436e-05,1793242898618680576
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.422802781,745,715,679.78859861,658.21140139,635,879,787,805,652,631,652,0.405966683432,-0.00536680227152,0.0698074582368,0.999999926176,0.000201621403713,-0.000326088834286,2.57481435155e-05,1793242898902014208
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.607063614,745,715,679.196468193,658.803531807,635,879,787,805,652,631,652,0.4055172243,-0.00536606921978,0.0698029154339,0.999999922524,0.000207614068246,-0.000333454700552,2.56305870813e-05,1793242898918681088
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714.288228711,680,659,635,879.288228711,787.711771289,805,652,631,652,0.403402714553,-0.0053640394412,0.0698432305969,0.999999944554,0.000212852479991,-0.000254981891798,2.38760582938e-05,1793242899018680832
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,805.234222187,652,631.234222187,652,0.401967426421,-0.0053564690566,0.0698051504772,0.999999925,0.000211246757814,-0.000323926328312,2.1108375521e-05,1793242899118680832
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.076069902,635,879,787,805,652,631,652,0.401664249464,-0.00535158802987,0.0698049213829,0.999999925026,0.000214547843631,-0.000321795036805,1.91313657192e-05,1793242899152014080
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,635,879,787,805,652,631,652,0.401542827025,-0.00535327669983,0.069804219539,0.999999923077,0.000223820617511,-0.000321546683505,1.89028960988e-05,1793242899168680960
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+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714.730447252,679.269552748,659,635,879.269552748,787,805,652,631,652,0.401011536189,-0.00535555917153,0.0698138303992,0.999999931189,0.000216394277171,-0.000300883795767,1.62561893163e-05,1793242899318680832
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,659,635,879,787,805,652,631,652,0.400995780513,-0.00535673654356,0.0698160671362,0.999999932228,0.000214874084444,-0.00029849208497,1.65875108965e-05,1793242899335347456
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,659,635,879,787,805,652,631,652,0.400985884759,-0.00535903548263,0.0698191824915,0.999999933426,0.00021423862059,-0.000294867866498,1.73737043809e-05,1793242899352014080
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714.535968067,679,659,635,879,787,805,652,631,652,0.40098011397,-0.00535958991941,0.0698208129214,0.999999934414,0.000214308860071,-0.000291453455323,1.73077254837e-05,1793242899368680704
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.038939266,659,635,879,787,805,652,631,652,0.400975480691,-0.00535968988301,0.0698221200627,0.999999935336,0.000214516697896,-0.000288132132464,1.70539040022e-05,1793242899385347328
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.631640569,659,635,879,787,805,652,631,652,0.400973165672,-0.00535918762182,0.069823818492,0.999999936156,0.000214310429729,-0.000285429752569,1.69917411748e-05,1793242899402014208
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.780618022,659,635,879,787,805,652,631,652,0.40097123671,-0.00535903246541,0.0698248760382,0.999999936655,0.000214431874248,-0.000283590740717,1.68876518279e-05,1793242899418680832
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.201020574,659,635,879,787,805,652,631,652,0.400969941637,-0.00535944723968,0.0698248812831,0.999999936636,0.00021509140846,-0.000283169341032,1.67147210006e-05,1793242899435347200
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.6237811,787,805,652,631,652,0.400969812346,-0.00535988526553,0.0698260327657,0.999999937213,0.000214512275135,-0.000281560431987,1.68193053334e-05,1793242899452013824
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.047793705,787,805,652,631,652,0.400970302073,-0.00536033563773,0.0698277928891,0.999999938101,0.000213275421645,-0.000279320967295,1.70712474616e-05,1793242899468680448
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.527607805,787,804.472392195,652,631,652,0.400968929894,-0.00535989508799,0.0698269449461,0.999999937579,0.000213571916177,-0.000280973187004,1.68430751878e-05,1793242899485347584
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879.10513226,787,804,652,631,652,0.400967969331,-0.00535921589545,0.0698264797075,0.999999937193,0.000214249952882,-0.000281842599676,1.6612555958e-05,1793242899502014720
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879.692640438,787,804,652,631,652,0.400969670382,-0.00535781162882,0.0698288532172,0.999999938021,0.000216042008809,-0.000277504561429,1.65705979485e-05,1793242899518681088
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.276201759,635,879.723798241,787,804.276201759,652,631,652,0.400970019171,-0.00535813484842,0.0698296171703,0.999999938511,0.000215728984167,-0.000275979838027,1.65657504501e-05,1793242899535347712
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.855432937,635,879.144567063,787,804.855432937,652,631,652,0.400968884352,-0.00536035334595,0.0698286152298,0.99999993864,0.000213106411318,-0.000277541688053,1.66016180263e-05,1793242899552014336
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.432295186,679,659.567704814,635,879.432295186,787,805,652,631,652,0.400968981199,-0.00536153475115,0.0698292977058,0.999999938989,0.000212202477945,-0.000276974926445,1.66693135964e-05,1793242899568681216
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744.99163195,714.99163195,678.99163195,659,635,879.99163195,787,805,652,631,652,0.400969500651,-0.00536235477923,0.0698305276734,0.999999939413,0.000211863059661,-0.000275695612775,1.67487976861e-05,1793242899585347840
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744.415657912,714.415657912,678.415657912,659,635,879.415657912,787,805,652,631,652,0.400970899141,-0.00536205930979,0.06983089372,0.999999940021,0.000211042343273,-0.000274105176488,1.6909860822e-05,1793242899602014208
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744.164314886,714,678.164314886,659,635,879,787,804.835685114,652,631,652,0.40097114083,-0.00536159504624,0.0698305601406,0.999999940081,0.000211058613329,-0.000273877805316,1.6847321012e-05,1793242899618680832
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744.754655387,714,678.754655387,659,635,879,787,804.245344613,652,631,652,0.400968383237,-0.0053606931436,0.0698284126134,0.999999938716,0.000213244970839,-0.000277184506339,1.62050371103e-05,1793242899635347200
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,804.340618386,652,631,652,0.400968440063,-0.00536035567617,0.069829067486,0.99999993867,0.00021415413113,-0.000276642159371,1.63162309938e-05,1793242899652013824
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,804.923468289,652,631,652,0.400970498369,-0.00536041960812,0.0698317152916,0.999999939561,0.000214155009704,-0.00027336255328,1.69632622957e-05,1793242899668680704
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879.495187171,787,805,652,631,652,0.400970581163,-0.00535984985543,0.0698314469484,0.999999939541,0.000214110313945,-0.000273483364986,1.67933630775e-05,1793242899685347584
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.067389223,659.067389223,635,879.932610777,787.067389223,804.932610777,652,631,652,0.400970291412,-0.00535947951831,0.0698308166731,0.999999939465,0.000213729770459,-0.000274073089055,1.65295417976e-05,1793242899702014208
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.656352599,659.656352599,635,879.343647401,787.656352599,804.343647401,652,631,652,0.400969429385,-0.00536139394214,0.0698307967035,0.999999940021,0.000210803174245,-0.000274313965386,1.64945050987e-05,1793242899718681088
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.241329156,680,659.758670844,635,879,787.758670844,804.241329156,652,631.241329156,652,0.40096867977,-0.00536189891079,0.0698306257654,0.999999939934,0.000210745999842,-0.000274675842267,1.64777694386e-05,1793242899735347712
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.820720919,680,659.179279081,635,879,787.179279081,804.820720919,652,631.820720919,652,0.400968087625,-0.00536042946391,0.0698302433453,0.999999938945,0.000214708414824,-0.000275207221127,1.64866705302e-05,1793242899752014080
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..83837a3f3723898a1cb6cdda7ba18ef76af226eb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+1,0.016666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+2,0.033333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+3,0.050000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+4,0.066666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+5,0.083333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+6,0.100000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+7,0.116666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+8,0.133333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+9,0.150000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+10,0.166666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+11,0.183333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+12,0.200000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+13,0.216666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+14,0.233333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+15,0.250000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+16,0.266666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+17,0.283333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+18,0.300000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+19,0.316666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+20,0.333333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+21,0.350000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+22,0.366666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+23,0.383333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+24,0.400000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+25,0.416666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+26,0.433333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+27,0.450000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+28,0.466666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+29,0.483333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+30,0.500000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+31,0.516666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+32,0.533333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+33,0.550000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+34,0.566666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+35,0.583333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+36,0.600000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+37,0.616666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+38,0.633333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+39,0.650000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+40,0.666666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+41,0.683333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+42,0.700000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+43,0.716666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+44,0.733333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+45,0.750000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+46,0.766666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+47,0.783333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+48,0.800000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+49,0.816666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+50,0.833333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+51,0.850000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+52,0.866666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+53,0.883333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+54,0.900000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+55,0.916666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+56,0.933333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+57,0.950000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+58,0.966666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+59,0.983333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+60,1.000000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+61,1.016666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+62,1.033333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+63,1.050000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+64,1.066666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+65,1.083333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..011cc25e2e70429a429ff782cff291461c7c0ef5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
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+size 25788106
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..128e3f0d4a0e64c3740aed704293d29da3dcbc87
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_02/franka_data.csv
@@ -0,0 +1,407 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,744,714,679,659,635,879,787,806,652,631,652,0.40097014986,-0.00536160002315,0.0698321557272,0.999999940181,0.000213067862747,-0.000271979499378,1.63639909667e-05,1793242899901014784
+1,0.016666667,BASELINE,765,744.57312567,714.57312567,679,659,635,879.57312567,787,805.42687433,652,631,652,0.400969324783,-0.00536127560307,0.069831279023,0.999999939696,0.000213560279642,-0.000273379787098,1.62622097302e-05,1793242899917681408
+2,0.033333333,BASELINE,765,745,714.848740308,679.151259692,659,635,879.848740308,787,805.151259692,652,631,652,0.400968780745,-0.00536119873232,0.0698307417224,0.999999939455,0.000213538490932,-0.000274280779809,1.61916195387e-05,1793242899934347776
+3,0.050000000,BASELINE,765,745,714.255987908,679.744012092,659,635,879.255987908,787,805.744012092,652,631,652,0.400969056997,-0.00536184440183,0.0698311950633,0.999999939931,0.0002120158529,-0.00027372444405,1.62120689038e-05,1793242899951014400
+4,0.066666667,BASELINE,765,745,714,679.670587413,658.670587413,635,879,787,805.670587413,652,631,652,0.400969581242,-0.00536239431499,0.069831745299,0.99999994021,0.000211855148054,-0.000272812551965,1.64548626726e-05,1793242899967680768
+5,0.083333333,BASELINE,765,745,714,679.090775426,658.090775426,635,879,787,805.090775426,652,631,652,0.400970293996,-0.00536287143995,0.0698323691881,0.999999940339,0.00021272970202,-0.000271630387631,1.68666691243e-05,1793242899984347648
+6,0.100000000,BASELINE,765,745,714,679,658.484226531,635,879,787,804.515773469,652,631,652,0.400970574688,-0.0053626048732,0.0698327583816,0.999999940306,0.000213695276993,-0.000271005684714,1.66605581373e-05,1793242900001014784
+7,0.116666667,BASELINE,765,745,714,679.059770863,658.940229137,635,879,787,804.059770863,652,631,652,0.400970731314,-0.00536221906974,0.0698330371384,0.999999940282,0.000214348546882,-0.000270599724218,1.63380968717e-05,1793242900017681152
+8,0.133333333,BASELINE,765,745,714,679.648004666,658.351995334,635,879,787,804.648004666,652,631,652,0.400970500093,-0.00536199955736,0.0698327246456,0.999999940602,0.000212091196971,-0.000271212885038,1.60010306821e-05,1793242900034347776
+9,0.150000000,BASELINE,765,745,714,679.768789343,658.231210657,635,879,787.231210657,804.768789343,652,631,652,0.40096994435,-0.00536193382435,0.0698322117248,0.999999940557,0.000211147418177,-0.000272113817656,1.60126327603e-05,1793242900051014400
+10,0.166666667,BASELINE,765,745,714,679.193074846,658.806925154,635,879,787.806925154,804.193074846,652,631,652,0.400968905069,-0.00536209722259,0.0698314001664,0.999999939971,0.000212160860333,-0.000273443530154,1.65437505311e-05,1793242900067681280
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+13,0.216666667,BASELINE,765,745,715,679,659,635,879,787,805,652,631,651.465873692,0.400969064287,-0.00536104203746,0.0698321460039,0.999999940006,0.00021314431329,-0.000272566060392,1.62899415002e-05,1793242900117681408
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+15,0.250000000,BASELINE,765,745,715,679.707931802,659,635,879,787,805,652,631,651.707931802,0.400971270862,-0.0053621355648,0.0698338205162,0.999999941113,0.000212665869929,-0.00026883719097,1.65347313842e-05,1793242900151014400
+16,0.266666667,BASELINE,765,745.294438191,714.705561809,679.705561809,659,635,879,787,805,652,631,652,0.400971947109,-0.00536215196507,0.06983413949,0.999999941131,0.000213285945781,-0.000268278400341,1.65576642253e-05,1793242900167681024
+17,0.283333333,BASELINE,765,745.873404658,714.126595342,679.126595342,659,635,879,787,805,652,631,652,0.40097103776,-0.00536168465528,0.0698330193567,0.999999940349,0.000213822809518,-0.000270772562923,1.62508765183e-05,1793242900184347648
+18,0.300000000,BASELINE,765,745.550246345,714,679,659,635,879.449753655,787.449753655,805,652,631,652,0.400970666369,-0.00536102714323,0.0698326729068,0.999999940532,0.000212741205677,-0.000270974646356,1.57796551991e-05,1793242900201014272
+19,0.316666667,BASELINE,765,745,714,679,659,635,879.97413237,787.97413237,805,652,631,652,0.400970423166,-0.00536038780044,0.0698325469915,0.999999940945,0.000211311168067,-0.000270596611141,1.53031566277e-05,1793242900217680640
+20,0.333333333,BASELINE,765,745,714,679,659,635,879.387228646,787.387228646,805,652,631,652,0.400969695017,-0.00536129696903,0.0698325082762,0.999999940504,0.000212147424973,-0.000271548443568,1.57102402082e-05,1793242900234347520
+21,0.350000000,BASELINE,765,745,714.197108141,679,659,635,879,787,805,652,631,652,0.400969599626,-0.00536184679879,0.0698329119028,0.999999940292,0.000213000428937,-0.000271636972732,1.61097763844e-05,1793242900251014400
+22,0.366666667,BASELINE,765,745,714.776466813,679,659,635,879,787,805,652,631,652,0.40097073134,-0.00536169976498,0.06983417336,0.999999940527,0.000213885910267,-0.0002700513034,1.6494675881e-05,1793242900267681024
+23,0.383333333,BASELINE,765,745,714.645865094,679,658.645865094,635,879,787,805,652.354134906,631,652,0.400970289442,-0.00536179418014,0.0698337036727,0.999999940404,0.000213525645882,-0.000270794652728,1.63897460087e-05,1793242900284347648
+24,0.400000000,BASELINE,765,745,714.069258984,679,658.069258984,635,879,787,805,652.930741016,631,652,0.400968858985,-0.00536204027603,0.0698321464626,0.999999940054,0.000212382791262,-0.000273001115472,1.59771003064e-05,1793242900301014272
+25,0.416666667,BASELINE,765,745,714.505742595,679,658.505742595,635,879,787,805,652.494257405,631,652,0.400968763358,-0.00536167359167,0.0698321081482,0.999999939935,0.000213789890767,-0.000272340116417,1.59833622574e-05,1793242900317680640
+26,0.433333333,BASELINE,765,745,714.917306869,679,659,635,879,787,805,652,631,652,0.400968909479,-0.00536120514748,0.0698323034121,0.999999939881,0.000215253608032,-0.000271379970559,1.60488355321e-05,1793242900334347520
+27,0.450000000,BASELINE,765,745,714.327049083,679,659,635,879,787,805,652,631,652,0.400969420977,-0.00536062555766,0.0698326596792,0.999999940056,0.00021492823211,-0.000270986331971,1.61267405438e-05,1793242900351015424
+28,0.466666667,BASELINE,765,745,714,679.25812876,659,635,879,787,805,652,631,652,0.40096939316,-0.00536000135406,0.0698325311634,0.999999940062,0.0002148349154,-0.000271039227501,1.60949262092e-05,1793242900367682304
+29,0.483333333,BASELINE,765,745,714,679.836994503,659,635,879,787,805,652,631,652,0.400968695219,-0.00535932171581,0.0698318002826,0.999999939858,0.000215029943066,-0.000271646962453,1.5926780482e-05,1793242900384348160
+30,0.500000000,BASELINE,765,745,714,679.587026752,659,635,879.412973248,787,805,652,631,652,0.400968490781,-0.00536060846977,0.069831914333,0.999999939872,0.000214596559405,-0.000271928965359,1.60919538303e-05,1793242900401014784
+31,0.516666667,BASELINE,765,745,714,679.012179642,659,635,879.987820358,787,805,652,631,652,0.400968479781,-0.005362665994,0.0698323595725,0.999999939971,0.00021391685623,-0.000272083290476,1.63877788559e-05,1793242900417681408
+32,0.533333333,BASELINE,765,745,714,679.5755788,659,635,879.4244212,787,805.5755788,652,631,652,0.400970747177,-0.00536148632649,0.0698333899473,0.999999940308,0.000215579726478,-0.000269532948953,1.61593839263e-05,1793242900434348288
+33,0.550000000,BASELINE,765,745,714.161247984,679.838752016,659,635,879.161247984,787,805.838752016,652.161247984,631,652,0.400971670132,-0.00536089180121,0.069833753378,0.999999940442,0.000216440012039,-0.000268348758892,1.60882480001e-05,1793242900451015168
+34,0.566666667,BASELINE,765,745,714.740772572,679.259227428,659,635,879.740772572,787,805.259227428,652.740772572,631,652,0.400968977678,-0.00536199690188,0.0698323539029,0.999999940051,0.000215086859806,-0.000270860228293,1.64544764171e-05,1793242900467681792
+35,0.583333333,BASELINE,765,744.681349477,714.681349477,679,659,635,879.681349477,787,805,652.681349477,631,652,0.400968383447,-0.00536209211352,0.0698322956043,0.999999940109,0.000214350437701,-0.0002712292106,1.64205734065e-05,1793242900484347904
+36,0.600000000,BASELINE,765,744.104804143,714.104804143,679,659,635,879.104804143,787,805,652.104804143,631,652,0.400969487381,-0.00536136998742,0.0698333227656,0.999999940535,0.000214113156323,-0.0002698642048,1.60628303299e-05,1793242900501014272
+37,0.616666667,BASELINE,765,744.470638891,714,679.470638891,659,635,879,787,805,652,631,652,0.400970778344,-0.00536164766221,0.069833889163,0.999999941219,0.000212671237632,-0.000268462284199,1.61528568125e-05,1793242900517681152
+38,0.633333333,BASELINE,765,745,714,679.952982583,659,635,879.047017417,787,805,652,631,652,0.400971884377,-0.00536214856892,0.0698342699954,0.99999994186,0.000211046622837,-0.000267344195724,1.63302750059e-05,1793242900534347776
+39,0.650000000,BASELINE,765,745,714,679.362971636,659,635,879.637028364,787,805,652,631,652,0.400970374837,-0.00536266231417,0.0698336899742,0.99999994139,0.000210402861916,-0.000269598732654,1.63681057631e-05,1793242900551014656
+40,0.666666667,BASELINE,765,745,714.222818895,679.222818895,659,635,879.777181105,787,805,652,631,652,0.400969816709,-0.00536270627936,0.0698335206569,0.999999941153,0.000210692441614,-0.000270255149822,1.62822253611e-05,1793242900567681536
+41,0.683333333,BASELINE,765,745,714.801862141,679.801862141,659,635,879.198137859,787,805,652,631,652,0.400970779619,-0.00536199919916,0.0698340079389,0.999999941292,0.000212474168842,-0.000268356625664,1.59985658269e-05,1793242900584348160
+42,0.700000000,BASELINE,765,745,714.621757654,679.621757654,659,635,879,787,805,652,631,652,0.400970818847,-0.00536198303524,0.0698338629977,0.999999941229,0.000212963042395,-0.000268200371073,1.60616659346e-05,1793242900601014784
+43,0.716666667,BASELINE,765,745,714.046762716,679.046762716,659,635,879,787,805,652,631,652,0.400970377598,-0.00536232626942,0.0698333891893,0.999999941062,0.000212779404434,-0.000268950403361,1.6305142096e-05,1793242900617681152
+44,0.733333333,BASELINE,764.460362768,745,714,679,659,635,879,787,805,652,631,652,0.400969553204,-0.00536204081149,0.069832665272,0.999999940639,0.000213306462586,-0.000270103052793,1.63324776789e-05,1793242900634348032
+45,0.750000000,BASELINE,764,745,714,679,659,635,879,787.125263526,805,652,631,652,0.400969297679,-0.00536221561761,0.0698324987843,0.999999940552,0.000213172193791,-0.000270531275771,1.63511769507e-05,1793242900651014656
+46,0.766666667,BASELINE,764,745,714,679,659,635,879,787.704427757,805,652,631,652,0.400971226396,-0.00536425989479,0.0698344324107,0.999999941761,0.000210413583654,-0.000268205338434,1.6407916152e-05,1793242900667681280
+47,0.783333333,BASELINE,764.282675425,745,714,679.282675425,659,635,879,787.717324575,805,652,631,652,0.400971678116,-0.00536451952364,0.0698349579631,0.999999942233,0.000209316458936,-0.000267314342843,1.62490803415e-05,1793242900684347904
+48,0.800000000,BASELINE,764.859967881,745,714,679.859967881,659,635,879,787.140032119,805,652,631,652,0.400970590443,-0.00536291911205,0.069834015958,0.999999941944,0.00020995100865,-0.00026791890774,1.58655625735e-05,1793242900701014528
+49,0.816666667,BASELINE,765,745,714.435490763,679.564509237,659.435490763,635,879,787,805,652,631,652,0.400970655608,-0.00536117367777,0.0698339482796,0.999999941292,0.000212975466288,-0.000267971053493,1.5761912906e-05,1793242900717681408
+50,0.833333333,BASELINE,765,745,715,679.010700951,659.989299049,635,879,787,804.989299049,652,631,652,0.400971076968,-0.00535941646782,0.0698341543879,0.999999940529,0.000216672835072,-0.000267854460105,1.57480437281e-05,1793242900734348288
+51,0.850000000,BASELINE,765,745,715,679.599638687,659.400361313,635,879,787,804.400361313,652,631,652,0.400970795882,-0.00535953255556,0.0698340246444,0.999999940723,0.000215374364308,-0.000268179473361,1.5742444852e-05,1793242900751014912
+52,0.866666667,BASELINE,765,745,714.814501623,679.814501623,659,635,879,787,804.185498377,652,631,652,0.400970722456,-0.00535987837684,0.069833801903,0.999999940926,0.000214059891719,-0.000268478649716,1.56886110906e-05,1793242900767681536
+53,0.883333333,BASELINE,765,745,714.235176878,679.235176878,659,635,879,787,804.764823122,652,631,652,0.400971089909,-0.00536071193892,0.0698333817206,0.99999994115,0.000212711446186,-0.000268722972455,1.55323712063e-05,1793242900784348160
+54,0.900000000,BASELINE,765,745,714,679.343430305,659,635,879,787.343430305,805,652,631,652,0.400971967373,-0.00536092417964,0.0698335580604,0.999999941339,0.000212540292012,-0.000268156025365,1.55032753205e-05,1793242900801014784
+55,0.916666667,BASELINE,765,745,714,679.921547111,659,635,879,787.921547111,805,652,631,652,0.400973193356,-0.00536071183421,0.0698341420396,0.999999941504,0.000213173651605,-0.000267034688988,1.55610645521e-05,1793242900817681152
+56,0.933333333,BASELINE,765,745,714,679.506062212,659,635,879,787.506062212,805,652,631,651.506062212,0.400972504327,-0.00536174001214,0.0698343435836,0.999999941596,0.00021317643303,-0.000266682734107,1.5597582562e-05,1793242900834347520
+57,0.950000000,BASELINE,765,745,714.067778934,679,659,635,879,787,805,652,631,651.067778934,0.400971383547,-0.00536267972941,0.0698343056138,0.999999941555,0.000213191779516,-0.00026682295247,1.56264322341e-05,1793242900851014400
+58,0.966666667,BASELINE,765,745,714.659792197,679,659,635,879,787,805,652,631,651.659792197,0.400969248995,-0.00536142875817,0.0698328795609,0.999999940559,0.000214070084151,-0.000269835534855,1.56218031023e-05,1793242900867681280
+59,0.983333333,BASELINE,765,745,714.754286971,679,659,635,879,787,805,652,631,652,0.400968212626,-0.00536062692272,0.0698323430543,0.999999940197,0.000214026246504,-0.000271209980931,1.55874101338e-05,1793242900884348160
+60,1.000000000,BASELINE,765,745,714.176597382,679,659,635,879,787,805,652,631,652,0.400968659986,-0.00536043190293,0.0698330083905,0.999999940701,0.000212736526241,-0.000270371183559,1.55128040098e-05,1793242900901014784
+61,1.016666667,BASELINE,765,745,714,679.400978574,659,635,879,787,805,652,631.400978574,652,0.400970293846,-0.0053611194769,0.0698339820135,0.999999941347,0.00021201308666,-0.000268537929739,1.5593096217e-05,1793242900917681408
+62,1.033333333,BASELINE,765,745,714,679.978504462,659,635,879,787,805,652,631.978504462,652,0.400972450112,-0.00536219564911,0.0698350913725,0.999999942053,0.000211538975526,-0.000266266825603,1.57415887924e-05,1793242900934348032
+63,1.050000000,BASELINE,765,745,714.564644826,679.435355174,659,635,879,787,805,652,630.870710349,652,0.400973179824,-0.00536205860459,0.0698361956856,0.999999942267,0.000212286861359,-0.000264855989759,1.58583814914e-05,1793242900951014656
+64,1.066666667,BASELINE,765,745,714.850677142,679,659,635,879,787,805,652,630.149322858,652,0.400973121861,-0.00536189777785,0.0698365358192,0.999999942133,0.000213216315999,-0.000264612998986,1.59120744648e-05,1793242900967681280
+65,1.083333333,BASELINE,765,745,714.271171369,679,659,635,879,787,805,652,630.728828631,652,0.400970953569,-0.00536180355569,0.0698346749963,0.999999941048,0.000214532754123,-0.000267638632982,1.57875144686e-05,1793242900984347904
+66,1.100000000,BASELINE,765,745,714,679,659,635,879,787,805,652,631,652,0.400970541452,-0.00536178387242,0.0698338944188,0.999999940822,0.000214579965873,-0.000268447661898,1.57564154595e-05,1793242901001014528
+67,1.116666667,BASELINE,765,745,714,679,659,635,879,787,805,652,631,652,0.400971673841,-0.00536182974399,0.0698340638865,0.999999941355,0.000213510929061,-0.000267307249528,1.5807512737e-05,1793242901017681152
+68,1.133333333,BASELINE,765,745.461050807,714,679,659,635,879,787,805,652,631,652,0.400971631831,-0.00536111455268,0.06983419049,0.999999941398,0.000212938975353,-0.000267609713046,1.56610634565e-05,1793242901034347776
+69,1.150000000,BASELINE,765,745.961855969,714,679.038144031,659,635,879,787,804.961855969,652,631.038144031,652,0.400971366496,-0.00536032417587,0.0698343397857,0.999999941355,0.000212475766705,-0.000268150602801,1.54753271691e-05,1793242901051014400
+70,1.166666667,BASELINE,765,745.373618185,714,679.626381815,659,635,879,787,804.373618185,652,631.626381815,652,0.400972114855,-0.00536119359229,0.0698349708867,0.999999941829,0.000211788547316,-0.000266927537106,1.54352854701e-05,1793242901067680768
+71,1.183333333,BASELINE,765,745,714.211302071,679.788697929,659,635,879.211302071,787,804.211302071,652,631.788697929,652,0.400972123239,-0.00536180196351,0.0698349584027,0.999999941865,0.000211769950884,-0.000266802434028,1.54748334048e-05,1793242901084347392
+72,1.200000000,BASELINE,765,745,714.790447144,679.209552856,659,635,879.790447144,787,804.790447144,652,631.209552856,652,0.400970843444,-0.00536195589707,0.0698338255409,0.999999941141,0.00021291531962,-0.000268588707484,1.56529341145e-05,1793242901101014016
+73,1.216666667,BASELINE,765,745,715,679,659,635,879.633458652,787.366541348,805,652,631,652,0.400970402258,-0.00536287380659,0.0698335705629,0.999999941388,0.000211622865198,-0.000268677793664,1.58913581992e-05,1793242901117680896
+74,1.233333333,BASELINE,765,745,715,679,659,635,879.059094274,787.940905726,805,652,631,652,0.400970436549,-0.00536422487813,0.0698338133309,0.99999994218,0.000208948204317,-0.00026780460194,1.61639846534e-05,1793242901134347520
+75,1.250000000,BASELINE,765,745,714.47231503,679,658.47231503,635,879,787.47231503,805,652,631,652,0.400971222135,-0.00536268186578,0.0698354682941,0.999999942231,0.000210517955405,-0.000266386476028,1.60987587594e-05,1793242901151014144
+76,1.266666667,BASELINE,765,745,714.114083756,679,658.114083756,635,879.114083756,787,805,651.885916244,631,652,0.400971796738,-0.00536145169118,0.0698367372676,0.9999999422,0.00021172282312,-0.000265550828961,1.59780335221e-05,1793242901167680768
+77,1.283333333,BASELINE,765,745,714.693129013,679,658.693129013,635,879.693129013,787,805,651.306870987,631,652,0.40097116029,-0.00536284926426,0.0698357730122,0.999999942203,0.000209456660145,-0.000267343852633,1.57890319326e-05,1793242901184347648
+78,1.300000000,BASELINE,765,745,714.728404074,679,659,635,880,787,805,651.271595926,631,652,0.400971357791,-0.00536298277144,0.069835425368,0.999999942177,0.000209319394215,-0.000267561110776,1.55747767792e-05,1793242901201014272
+79,1.316666667,BASELINE,765,745,714.150589271,679,659,635,880,787,805,651.849410729,631,652,0.400972495552,-0.00536169106996,0.0698357729403,0.99999994212,0.000211582416518,-0.000266001725246,1.53320487594e-05,1793242901217680896
+80,1.333333333,BASELINE,765,745,714,679,659,635,879.57594951,787,805,652,631,652,0.400971815911,-0.00536184986859,0.0698348236314,0.999999941979,0.000210954146295,-0.000267017214868,1.55339987024e-05,1793242901234347520
+81,1.350000000,BASELINE,765,745,714,679,659,635,879.002428848,787,805,652,631,652,0.400970495668,-0.00536251994231,0.0698334171952,0.999999941805,0.000209306747636,-0.00026894030155,1.58926896108e-05,1793242901251014144
+82,1.366666667,BASELINE,765,745,714,679,659,635,879,787,805,652,631.58786713,652,0.400971607181,-0.00536182569709,0.0698345066845,0.999999941593,0.000212103391269,-0.000267560271154,1.5434689537e-05,1793242901267680768
+83,1.383333333,BASELINE,765,745,714.17492445,679,658.82507555,635,879,787,805,652,631.82507555,652,0.400971935043,-0.00536113336698,0.0698350222669,0.999999941425,0.000213660527599,-0.000266964410465,1.51605220821e-05,1793242901284347648
+84,1.400000000,BASELINE,765,745,714.754328137,679,658.245671863,635,879,787,805,652,631.245671863,652,0.400970426948,-0.00536045888206,0.0698341862544,0.999999941376,0.000212307837887,-0.000268214275144,1.53194637302e-05,1793242901301014272
+85,1.416666667,BASELINE,765,745,715,679,658.331238794,635,879,787,805,652,631,652,0.400971345682,-0.00536077343663,0.0698351159867,0.999999941927,0.000211187252742,-0.000267028359878,1.55626370524e-05,1793242901317680640
+86,1.433333333,BASELINE,765,745,715,679,658.906314208,635,879,787,805,652,631,652,0.400974050891,-0.00536181605827,0.0698373455465,0.999999942913,0.000210237528082,-0.000264049380555,1.58678162868e-05,1793242901334347264
+87,1.450000000,BASELINE,765,745,715,679.48134272,659,635,879.48134272,787,804.51865728,652,631,652,0.400973178831,-0.00536217263323,0.0698360707523,0.999999942382,0.000210816444798,-0.000265594832816,1.58947212655e-05,1793242901351014144
+88,1.466666667,BASELINE,765,745,715,679.941667705,659,635,879.941667705,787,804,652,631,652,0.400971658202,-0.00536236564497,0.069834240639,0.999999941607,0.000211589628398,-0.000267891978284,1.58287533883e-05,1793242901367680768
+89,1.483333333,BASELINE,765,745,715,679.346547956,659,635,879.346547956,787,804,652,631,652,0.400970575803,-0.00536228214766,0.0698335762835,0.999999941352,0.00021141286411,-0.000269003595705,1.54065079001e-05,1793242901384347648
+90,1.500000000,BASELINE,765,745,714.759158448,679,659,635,879,787,804.240841552,652,631,652,0.400969086898,-0.00536182710813,0.0698326485047,0.999999940826,0.000211887921657,-0.000270592421314,1.52271614389e-05,1793242901401014272
+91,1.516666667,BASELINE,765,745,714.182546154,679,659,635,879,787,804.817453846,652,631,652,0.400967031259,-0.00536085408073,0.069831353473,0.999999939917,0.000213271720672,-0.000272846549585,1.53864541975e-05,1793242901417680896
+92,1.533333333,BASELINE,765,745,714.391652934,679,659.391652934,635,879,787,805,652,631,652,0.400968504564,-0.00536174571697,0.0698327719012,0.999999940823,0.000211608277651,-0.000270796964284,1.56331123427e-05,1793242901434347520
+93,1.550000000,BASELINE,765,745,714.964734185,679,659.964734185,635,879,787,805,652,631,652,0.400971612608,-0.00536350113522,0.0698354473056,0.999999942551,0.000208533238039,-0.000266753737764,1.59202414228e-05,1793242901451014400
+94,1.566666667,BASELINE,765,745,714.444843144,679,659.444843144,635,879,787,805,652,631,652,0.400970107427,-0.00536219420246,0.0698344047819,0.999999941971,0.000210003645864,-0.000267785651723,1.57492062536e-05,1793242901467681024
+95,1.583333333,BASELINE,765,745,714.143340931,679,659,635,879,787.143340931,805,652,631,652,0.400968805811,-0.00536119960934,0.0698333837911,0.999999941377,0.000211597183915,-0.000268756258863,1.55945924555e-05,1793242901484347648
+96,1.600000000,BASELINE,765,745,714.721290021,679,659,635,879,787.721290021,805,652,631,652,0.400969038579,-0.00536176086644,0.0698331672664,0.999999941212,0.00021266035052,-0.000268531972597,1.55808577805e-05,1793242901501014272
+97,1.616666667,BASELINE,765,745,714.701339048,679,659,635,879,787.701339048,805,652,631,652,0.400969765828,-0.00536193521428,0.0698336104977,0.999999941243,0.000213108100213,-0.000268061405141,1.55666300368e-05,1793242901517680896
+98,1.633333333,BASELINE,765,745,714.124506648,679,659,635,879,787.124506648,805,652,631,652,0.400970953634,-0.00536174919659,0.0698346682226,0.999999941457,0.000212982653337,-0.000267361452521,1.5551943052e-05,1793242901534347520
+99,1.650000000,BASELINE,765,745,714.448987697,679,659,635,879,787,805,652,631,652,0.40097035232,-0.00536245791968,0.0698345801544,0.99999994163,0.000211370482726,-0.000267996645175,1.54789271793e-05,1793242901551014144
+100,1.666666667,BASELINE,765,745,714.977636804,679,659,635,879,787.022363196,805,652,631,652,0.400969368151,-0.00536330786036,0.0698342139955,0.999999941776,0.000209525640204,-0.000268905485233,1.54020179026e-05,1793242901567681024
+101,1.683333333,BASELINE,765,745,714.383818869,679,659,635,879,787.616181131,805,652,631,652,0.400971185057,-0.00536147296902,0.0698348009526,0.999999941609,0.000212192546134,-0.000267415808515,1.56358920093e-05,1793242901584347648
+102,1.700000000,BASELINE,765,745,714,679,659,635,879,788,805,652,631,651.796058331,0.400972162969,-0.00536101734576,0.0698351886687,0.999999941663,0.000212912675475,-0.000266623883748,1.59063394923e-05,1793242901601014528
+103,1.716666667,BASELINE,765,745,714,679,659,635,879,788,805,652,631,651.219369064,0.40097160744,-0.00536308263405,0.0698352122289,0.999999942129,0.000210074648391,-0.000267107252058,1.62436327209e-05,1793242901617681152
+104,1.733333333,BASELINE,765,745,714.356312098,679.356312098,659,635,879,787.643687902,805,652,631.356312098,651.356312098,0.400971281164,-0.00536396719187,0.0698353363718,0.999999942346,0.000209008404362,-0.000267137628816,1.61395972411e-05,1793242901634347776
+105,1.750000000,BASELINE,765,745,714.931374411,679.931374411,659,635,879,787.068625589,805,652,631.931374411,651.931374411,0.400971095633,-0.00536412686559,0.0698355222653,0.999999942414,0.000209029908482,-0.000266889901118,1.57646174448e-05,1793242901651014400
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,652,631,652,0.400967474088,-0.00536479929394,0.069832671736,0.999999941282,0.000208860948864,-0.00027121102131,1.6040946559e-05,1793242901682431744
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679.600270215,659,635,879,787,805,652,631,652,0.400969016257,-0.00536213888597,0.069834108867,0.99999994133,0.000210701128414,-0.000269633257202,1.55839137516e-05,1793242901699099648
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.192023793,745,714.192023793,679.807976207,659,634.807976207,879.192023793,787.192023793,805,652,631,652,0.400970040304,-0.00536114906766,0.0698350589991,0.999999941471,0.000211632627088,-0.000268392673914,1.53256459747e-05,1793242901715766784
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.766801576,745,714.766801576,679.233198424,659,634.233198424,879.766801576,787.766801576,805,652,631,652,0.400970031597,-0.005363489174,0.0698350384144,0.999999941807,0.000210752885795,-0.000267824180524,1.54635691682e-05,1793242901732433408
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.343706898,715,679,659,634.343706898,879.656293102,787.656293102,805.343706898,652,631.343706898,652,0.400970419313,-0.00536362328407,0.0698348925517,0.999999941823,0.00021090850301,-0.00026763812651,1.55203346288e-05,1793242901749099776
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.922064668,715,679,659,634.922064668,879.077935332,787.077935332,805.922064668,652,631.922064668,652,0.40097107767,-0.0053622513464,0.0698346611608,0.999999941621,0.000211770966077,-0.000267713166313,1.55216931835e-05,1793242901765765632
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.982403959,745.491201979,714.491201979,679.508798021,659,635,879,787,805.491201979,652,631.491201979,652,0.40097071021,-0.00536359306183,0.0698342545919,0.999999941692,0.000210700767542,-0.000268278716624,1.57231092803e-05,1793242901782432000
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.191869536,745,714,679.904065232,659,635,879,787,805,652,631,652,0.400970247674,-0.00536482318612,0.0698338600012,0.999999941784,0.000209512843566,-0.000268861017906,1.5819487314e-05,1793242901799098368
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.357002212,745,714,679.321498894,659,635,879,787,805,652,631,652,0.400970113247,-0.00536334350129,0.0698336645595,0.999999941772,0.000209254538595,-0.00026914079027,1.52250135211e-05,1793242901815764992
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.742251586,745,714.257748414,679,659,635,879,787,805,652,631,652,0.40097183803,-0.00536281710123,0.0698348153477,0.999999942294,0.000208709855475,-0.000267626418732,1.51303998827e-05,1793242901832431360
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.167091635,745,714.832908365,679,659,635,879,787,805,652,631,652,0.400975852388,-0.00536346465063,0.0698376239888,0.999999943462,0.00020781250394,-0.000263902598175,1.56513531414e-05,1793242901849098240
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714.59265282,679,659,635,879.40734718,787,805,652,631,652,0.40099183067,-0.00536445934607,0.0698451021042,0.999999946459,0.000208385760645,-0.000251782905304,1.62383146746e-05,1793242901865764864
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714.01850924,679,659,635,879.98149076,787,805,652,631,652,0.401012707819,-0.00536559618742,0.0698544922288,0.999999949999,0.000209561187009,-0.000236225355249,1.68523046486e-05,1793242901882431488
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.426404365,744.426404365,714,679.573595635,659,635,879.426404365,787,805,652,631,652,0.401059988143,-0.00536591354445,0.0698722890246,0.999999956929,0.000210128715095,-0.000204190953222,1.71495441643e-05,1793242901899098112
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.323373887,744.161686944,714,679.838313056,659,635,879,787,805,652,631,652,0.40111168972,-0.00536624486181,0.0698890879406,0.999999962163,0.000210736114898,-0.000175963817324,1.73527894758e-05,1793242901915764736
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.475906186,744.737953093,714,679.262046907,659,635,879,787,805,652,631,652,0.401172472561,-0.00536668197062,0.0699026101586,0.999999964858,0.000211497673151,-0.000158906195767,1.73420807861e-05,1793242901932431360
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,879,787.312303266,805,652,631,652,0.401236982272,-0.00536843095974,0.0699104220642,0.999999966798,0.000209553441447,-0.000149038021418,1.67132082502e-05,1793242901949098496
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,879,787.885055553,805,652,631,652,0.401304600048,-0.005371274007,0.0699134717862,0.999999968257,0.00020535268403,-0.000145165573077,1.55688106298e-05,1793242901965765888
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.526373222,745,714,679.473626778,659,635,879,788,805,652,630.526373222,652,0.401389111562,-0.00537282771315,0.0699136551058,0.999999968775,0.000203818314875,-0.000143921185632,1.39347544534e-05,1793242901982432512
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679.935384534,659,635,879,787.935384534,805,652,630.064615466,652,0.401479878782,-0.00537402173728,0.0699128797176,0.999999968935,0.000203130478184,-0.000143955724227,1.20711584208e-05,1793242901999099136
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679.356760013,659,635,879,787.356760013,805,652,630.643239987,652,0.401586667945,-0.00537492970562,0.0699102029207,0.999999968091,0.000203851190548,-0.000148915006621,9.35958298267e-06,1793242902015765248
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714.220827524,679,659,635,879,787.220827524,805,652,631,652,0.401706934058,-0.00537744021047,0.0699099197863,0.999999968501,0.000201459086535,-0.000149559683684,6.59603322219e-06,1793242902032431872
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714.796747526,679,659,635,879,787.796747526,805,652,631,652,0.401848871208,-0.00538252760713,0.0699134856811,0.9999999709,0.000194061548084,-0.000143266439366,3.74890858488e-06,1793242902049098752
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714.62003047,679,659,634.62003047,879.37996953,787.62003047,805,652,631,652,0.402009657497,-0.00538615529728,0.0699162744416,0.999999972361,0.000188617787706,-0.00014035889939,3.69257908645e-07,1793242902065765632
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714.032825909,679,659,634.032825909,879.967174091,787.032825909,805,652,631,652,0.402180724104,-0.00538898686532,0.0699186393542,0.99999997332,0.000184239615409,-0.000139297918864,-3.30083224304e-06,1793242902082432512
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714.547023752,679,659,634.547023752,879.452976248,787.547023752,805,652,631,652,0.40238578291,-0.00539239735524,0.0699239466647,0.999999975735,0.000178844965392,-0.000128408687882,-7.44235880129e-06,1793242902099098624
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714.874281168,679,659,635,879,788,805,652,631,652,0.402600071053,-0.00539616177621,0.0699286043024,0.999999978005,0.000172787229526,-0.000118307103527,-1.17842093549e-05,1793242902115765248
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714.298162106,679,659,635,879,788,805,652,631,652,0.402840213398,-0.0054010713828,0.0699303102442,0.999999979921,0.000164569549809,-0.000113112236154,-1.6743734422e-05,1793242902132431616
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.277556401,787.722443599,805,652,631,652,0.403097007186,-0.00540707938528,0.0699330069447,0.999999981975,0.000155884514731,-0.000106254883397,-2.14321958558e-05,1793242902149098240
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.852845203,787.147154797,805,652,631,652,0.403371662821,-0.00541426562744,0.0699367664239,0.999999984142,0.000146698152002,-9.76141969523e-05,-2.58298893264e-05,1793242902165764864
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.439266711,745,714,679,659,635,879.560733289,787,805,652,631,652,0.403688323403,-0.00542617651642,0.069946187893,0.999999987871,0.000130461425169,-7.97542590592e-05,-2.96105588058e-05,1793242902182431744
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.971031257,745,714,679,659,635,879,787,805,652,631,652,0.404020294245,-0.00543976379056,0.0699570592151,0.999999991585,0.000110384072214,-5.98756404367e-05,-3.25628101418e-05,1793242902199098624
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.391700672,745,714,679,659,635,879,787,805,652,631,652,0.404368844342,-0.00545434786858,0.0699585027197,0.999999995796,6.33795855092e-05,-6.18469041798e-05,-2.38055529389e-05,1793242902215765504
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.186243179,787,805,652,630.813756821,652,0.40473369422,-0.00546616410147,0.0699618126156,0.999999997489,3.54046616963e-05,-5.85046827205e-05,-1.8619930249e-05,1793242902232432128
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.76129198,787,805,652,630.23870802,652,0.405132571859,-0.00547220211425,0.0699690188338,0.999999997699,4.71563051016e-05,-4.40699051172e-05,-2.08905365888e-05,1793242902249098496
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714.336283324,679,659,635,879.663716676,787,805,652,630.336283324,652,0.405544382824,-0.00547830411828,0.0699718818598,0.99999999795,4.56568786334e-05,-3.79309092406e-05,-2.40182334755e-05,1793242902265765120
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.91123395,679,659,635,879.08876605,787,805,652,630.91123395,652,0.405965372882,-0.00548445153884,0.0699716624322,0.999999998301,3.47528922509e-05,-3.76796014887e-05,-2.77542256633e-05,1793242902282431744
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.499097036,679.500902964,659,635,879,787,805,652,631,652,0.406411223305,-0.00549062429199,0.0699583904524,0.999999997499,1.49674827884e-05,-6.26080237004e-05,-2.92855975493e-05,1793242902299098368
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714.090845258,679.909154742,659,635,879,787,805,652,631,652,0.406869955819,-0.00549604368925,0.0699434665442,0.999999995546,-1.6614577922e-06,-8.92678838968e-05,-3.06081339722e-05,1793242902315764992
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714.667868953,679.332131047,659,635,879,787,805,652,631,652,0.407373338777,-0.00549740658625,0.0699324556236,0.999999994371,7.28017411012e-06,-0.000100590806179,-3.29671771211e-05,1793242902332431616
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.243841408,745,714.756158592,679,659,635,879,787,805,652,631,652,0.407907583652,-0.00550163504071,0.0699312164382,0.99999999477,6.29076821735e-06,-9.59634163003e-05,-3.48053975498e-05,1793242902349097984
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.818388103,745,714.181611897,679,659,635,879,787,805,652,631,652,0.408483684387,-0.00550974985308,0.0699432299841,0.999999996892,-8.16741999542e-06,-6.9703717151e-05,-3.593726188e-05,1793242902365764608
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.605749266,745,714,679.394250734,659,634.605749266,879,787,805,652,631,652,0.409078638733,-0.00551757586529,0.0699533136141,0.999999998076,-2.02504497057e-05,-4.55858227154e-05,-3.68887925414e-05,1793242902382431744
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.029278434,745,714,679.970721566,659,634.029278434,879,787,805,652,631,652,0.409682307078,-0.00552526839573,0.0699625052493,0.999999998547,-3.12356963644e-05,-2.24578570551e-05,-3.77569741252e-05,1793242902399098624
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.563022975,879,787,805,652,631,652,0.410296209527,-0.00552907008549,0.0699528799235,0.999999997934,-3.16612142603e-05,-4.02820383632e-05,-3.88248601477e-05,1793242902415764992
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879.151840397,787,805,652,631,652,0.410923460033,-0.00553309452804,0.0699458333815,0.99999999714,-3.34834865459e-05,-5.493597355e-05,-3.97487873848e-05,1793242902432431360
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879.728539243,787,805,652,631,652,0.411586526889,-0.00553832476192,0.0699488196092,0.999999996868,-4.07949082431e-05,-5.45882260265e-05,-4.02400105245e-05,1793242902449098240
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879.696473409,787,805,652,631,652,0.412289784168,-0.00553852919714,0.0699685769243,0.999999997975,-4.4046754717e-05,-2.40171783595e-05,-3.91613103425e-05,1793242902465764864
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879.1230081,787,805,652,631,652,0.413028784525,-0.00553426398291,0.0700032494594,0.999999997814,-4.36882542162e-05,3.34326968918e-05,-3.66864125516e-05,1793242902482431488
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714.461725632,680,659,635,879.461725632,787,805,652,631,652,0.413759524149,-0.00551300351708,0.0700211984023,0.999999997309,-1.56498231938e-05,6.09208471517e-05,-3.77682242194e-05,1793242902499098112
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.048978047,635,880,787,805,652,631,652,0.414486746194,-0.00548981559403,0.070029242784,0.999999996557,1.55464199486e-05,7.10724467381e-05,-3.99091416678e-05,1793242902515764736
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.630162856,635,880,787,805,652,631,652,0.415200257876,-0.00549611319316,0.069979285572,0.999999998908,-1.07800723706e-06,-1.82539580162e-05,-4.30047820726e-05,1793242902532431360
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.209121373,745,714.790878627,680,659.790878627,634.790878627,879.790878627,787,805,652,631,652,0.415935579441,-0.00550405860534,0.069937785903,0.99999999485,-1.74670234342e-05,-8.8742862653e-05,-4.60401161387e-05,1793242902549098240
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.784184068,745,714.215815932,680,659.215815932,634.215815932,879.215815932,787,805,652,631,652,0.416709066063,-0.00551488752386,0.0699110860848,0.99999999027,-3.34440931527e-05,-0.000126268035978,-4.89699204669e-05,1793242902565764864
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.640762151,745,714,680,659.718475698,634.359237849,879,787,805,652,631,652,0.417526384235,-0.00552113833909,0.0699223923719,0.999999992136,-4.07604782519e-05,-0.000107999740816,-4.90248759852e-05,1793242902582431232
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.065713747,745,714,680,660.868572506,634.934286253,879,787,805,652,631,652,0.41837003399,-0.00552463887854,0.0699565306603,0.99999999638,-4.28739945767e-05,-5.62137637115e-05,-4.73527785653e-05,1793242902599097856
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.525673147,714,680,660.474326853,635,879,787,805,652,631,652,0.419213238744,-0.00552381410977,0.0699808628831,0.99999999779,-4.19732255959e-05,-2.09844112082e-05,-4.70902500472e-05,1793242902615764480
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.884371706,714,680,659.884371706,635,879.115628294,787,805,652,631,652,0.420068214059,-0.00552230828146,0.0700032498342,0.999999997975,-4.11106992504e-05,1.16193912633e-05,-4.71660485771e-05,1793242902632431104
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.308505929,714,680,659.308505929,635,879.691494071,787,805,652,631,652,0.42097026826,-0.00552031282068,0.0700229297443,0.999999997081,-4.19483351663e-05,4.22750807022e-05,-4.78646324404e-05,1793242902649097984
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714.267610115,680,659.267610115,635,880,787,805.267610115,652,631,652,0.421842001963,-0.0055172601461,0.0700245277495,0.999999996993,-4.26829589421e-05,4.23066255597e-05,-4.90147788697e-05,1793242902665764864
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714.844015015,680,659.844015015,635,880,787,805.844015015,652,631,652,0.422678749018,-0.00551298755433,0.0700052610824,0.999999997754,-4.32987173166e-05,7.00103407672e-06,-5.06859825431e-05,1793242902682431488
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,635,879.572220014,787.427779986,805.572220014,652,631,652,0.423456024592,-0.00551495272221,0.0699420143379,0.999999993109,-5.03526364329e-05,-9.04340581394e-05,-5.53891138223e-05,1793242902699098112
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.985813903,745.014186097,714.985813903,680,659.985813903,635,879.014186097,787.985813903,805,651.985813903,631,652,0.42421532837,-0.0055192170936,0.0698645539684,0.99999997483,-5.97434653764e-05,-0.000207449608103,-6.1122405338e-05,1793242902715764736
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.402998119,745.597001881,714.402998119,680,659.402998119,635,879.597001881,787.402998119,805,651.402998119,631,652,0.425138713169,-0.0055228745393,0.0698714270971,0.999999978588,-6.70584679045e-05,-0.000185337526919,-6.3057769165e-05,1793242902732431360
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.176834164,745.823165836,714.176834164,680.176834164,659.176834164,635,880,787,805.176834164,651,631,652.176834164,0.426071488989,-0.00552529734147,0.0698952286698,0.999999985221,-7.09596723924e-05,-0.000143423643845,-6.28735264895e-05,1793242902749097984
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.749979943,745.250020057,714.749979943,680.749979943,659.749979943,635,880,787,805.749979943,651,631,652.749979943,0.427025311426,-0.005524953124,0.0699569693982,0.999999994431,-6.72100479499e-05,-5.71309836828e-05,-5.79389306054e-05,1793242902765764864
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680.675695108,660,635,879.675695108,787,806,651.324304892,631,652.675695108,0.427961446773,-0.00552609590807,0.0700016408443,0.999999996361,-6.50316347258e-05,6.59881672319e-06,-5.4825768181e-05,1793242902782431488
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680.100457797,660,635,879.100457797,787,806,651.899542203,631,652.100457797,0.428883896606,-0.00552838926651,0.0700331048509,0.999999995139,-6.40689538341e-05,5.28704952545e-05,-5.31219487444e-05,1793242902799098368
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,635,879.487275204,787,806,651.512724796,631,652,0.429765822968,-0.00553119170397,0.070039484963,0.999999993963,-6.68911845903e-05,6.83712514032e-05,-5.40787897545e-05,1793242902815764992
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714.924209111,680,660,635,879.924209111,787,805.924209111,651.075790889,631,652,0.430626557829,-0.00553335356583,0.0700315152035,0.999999994225,-6.96102457767e-05,6.00110161181e-05,-5.57006547726e-05,1793242902832431872
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714.347983287,680,660,635,879.347983287,787,805.347983287,651.652016713,631,652,0.4314039829,-0.00553057458385,0.06996383986,0.999999994138,-6.6360255817e-05,-6.29099360833e-05,-5.79963998586e-05,1793242902849098496
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680.228439921,660.228439921,635,879.228439921,787,805,652,631,652,0.432215247714,-0.00552925955082,0.0699119099432,0.999999984654,-6.58944564188e-05,-0.00015071710052,-6.02890120809e-05,1793242902865765120
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680.80516415,660.80516415,635,879.80516415,787,805,652,631,652,0.433078105432,-0.00553017648472,0.0698839858249,0.999999978504,-6.96734931977e-05,-0.000184989065373,-6.25768492497e-05,1793242902882431744
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680.611578938,660.611578938,635,879.611578938,787,805.388421062,651.611578938,631,652,0.433969373784,-0.00553452886126,0.0699200008565,0.999999988222,-7.54919657342e-05,-0.00011877779211,-6.12217034245e-05,1793242902899098624
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680.024989148,660.024989148,635,879.024989148,787,805.975010852,651.024989148,631,652,0.434875136919,-0.00554063396786,0.0699886370352,0.999999994926,-8.23509379125e-05,-1.30092408033e-06,-5.80079415431e-05,1793242902915764992
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680.557025112,660,635,879.557025112,787,806,651,631,651.442974888,0.435730149299,-0.00554289270624,0.070014710107,0.999999994401,-8.16074685379e-05,3.70310306962e-05,-5.62837257119e-05,1793242902932431616
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714.137334586,681,660,635,880.137334586,787,806,651,631,651.137334586,0.436573836911,-0.00554465810272,0.0700311038554,0.999999993065,-8.24880594326e-05,6.3027855354e-05,-5.56240972542e-05,1793242902949098240
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714.712854264,681,660,635,880.712854264,787,806,651,631,651.712854264,0.437388596394,-0.00554539549831,0.0700226571288,0.999999992438,-8.96297716204e-05,6.0904061937e-05,-5.81497097917e-05,1793242902965764864
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714.711914464,681,660,635,880.711914464,787,806,651,631,652,0.438172484716,-0.00554566680989,0.0699976500405,0.999999993605,-9.03989846177e-05,3.13883256962e-05,-6.02760303454e-05,1793242902982431488
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714.136970404,681,660,635,880.136970404,787,806,651,631,652,0.438925633312,-0.00554547402256,0.0699561531246,0.999999994158,-8.48228394639e-05,-2.54026858535e-05,-6.20047592812e-05,1793242902999098112
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.438620333,635,880,787,806,651,631,652,0.439613424418,-0.00554450326056,0.0699055898739,0.99999998831,-8.41388870116e-05,-0.000110877779895,-6.3301969214e-05,1793242903015764992
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714.014849636,681.014849636,660.985150364,635,880,787,806.014849636,651,631,652,0.440283001404,-0.00554336868995,0.0698542526635,0.999999973997,-8.49156787481e-05,-0.000201602904528,-6.44274453191e-05,1793242903032431616
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714.60807151,681.60807151,660.39192849,635,880,787,806.60807151,651,631,652,0.441039258811,-0.00554533024525,0.0698832048168,0.999999983634,-8.29963280692e-05,-0.000147418312419,-6.41203275245e-05,1793242903049097984
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714.805194588,681.805194588,660.194805412,635,880,787,806.805194588,651.194805412,631,652,0.44179846709,-0.00554752396576,0.0699268078542,0.999999991593,-8.47966132875e-05,-7.51127934733e-05,-6.31034968685e-05,1793242903065764608
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714.231092995,681.231092995,660.768907005,635,880,787,806.231092995,651.768907005,631,652,0.442563421006,-0.00555016972424,0.0699989369234,0.999999993227,-9.38392208157e-05,3.24751142164e-05,-6.07048184263e-05,1793242903082431488
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.655249233,634.655249233,880,787.344750767,805.655249233,651.655249233,631.344750767,652,0.443270431613,-0.00555521050501,0.0700308104378,0.999999990832,-9.75105197008e-05,7.38753713108e-05,-5.80591283308e-05,1793242903099098112
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.078231766,634.078231766,880,787.921768234,805.078231766,651.078231766,631.921768234,652,0.443938404406,-0.00556186486846,0.0700355628337,0.999999991217,-9.75630416072e-05,7.06834453579e-05,-5.52470211477e-05,1793242903115764992
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681.512163749,660,634,880,787.487836251,805.512163749,651,631.487836251,652,0.444529867637,-0.00556144134324,0.0700087221339,0.999999993573,-9.49474065799e-05,2.44628974688e-05,-5.6928004428e-05,1793242903132431360
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,787,806,651,631,652,0.445105062833,-0.00556033753828,0.069978597482,0.999999993697,-9.25480297013e-05,-2.36792774572e-05,-5.90005472457e-05,1793242903149098496
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681.743401048,660,634,880,787,806,651,631,651.743401048,0.446198467124,-0.00556303733636,0.069938765396,0.999999991098,-9.62048651769e-05,-7.04852120158e-05,-5.98423645068e-05,1793242903182433024
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681.169115741,660,634,880,787,806,651,631,651.169115741,0.446715277708,-0.00556595174041,0.0699272562939,0.999999989269,-0.000102444793991,-8.61069085213e-05,-5.95961026168e-05,1793242903199099136
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.404801144,714,681,660,634,880.404801144,787,806,651,631,651.404801144,0.447192275726,-0.0055688908127,0.0699106585263,0.999999985067,-0.000106326048911,-0.000122469276646,-5.96880251535e-05,1793242903215765504
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.978564301,714,681,660,634,880.978564301,787,806,651,631,651.978564301,0.447652656219,-0.00557184018164,0.0698919367738,0.999999978214,-0.000109222805272,-0.000167488700486,-5.99211040907e-05,1793242903232432128
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659.734385758,633.265614242,880,786.265614242,806.734385758,651,631,652,0.448918360879,-0.00556871693688,0.0698642232796,0.999999971023,-0.00010724423629,-0.000207356060823,-5.87928592661e-05,1793242903282432000
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.787856853,714,682.212143147,659,633,880,786,806.212143147,651.212143147,631,652,0.450865949818,-0.00557141144072,0.0698151102569,0.999999951339,-0.000108479484796,-0.000285865231064,-6.19367703975e-05,1793242903382431744
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+248,4.133333333,HOLD_POSE2,765,745.159826786,714,682,657.840173214,631.159826786,880,785,806,651.840173214,631,651.840173214,0.452978423474,-0.00558204689855,0.069701477059,0.999999891573,-0.000123414585601,-0.000445336247755,-5.74315276976e-05,1793242904069879296
+249,4.150000000,HOLD_POSE2,765,745.738957952,714,682,657.261042048,631.738957952,880,785,806,651.261042048,631,651.261042048,0.452980184954,-0.00558021172935,0.0697027449676,0.99999989273,-0.000122989926667,-0.000442781163259,-5.79428916643e-05,1793242904086546176
+250,4.166666667,HOLD_POSE2,765,746,714,682,657.316423425,632,880.316423425,785,806,651,631,651.63284685,0.452980375513,-0.00557891985774,0.0697026630281,0.999999892819,-0.0001215170033,-0.000442981184679,-5.79869800145e-05,1793242904103213056
+251,4.183333333,HOLD_POSE2,765,746,714,682,657.8925219,632,880.8925219,785,806,651,631,652.785043801,0.452979276884,-0.00557807384715,0.0697014733263,0.999999892027,-0.000119183814573,-0.000445442202779,-5.76475954e-05,1793242904119879680
+252,4.200000000,HOLD_POSE2,765,746,714,682,657.522503274,632,880.522503274,785,806,651,630.522503274,652.522503274,0.452979987074,-0.00557994000604,0.0697019493756,0.99999989189,-0.000121216739515,-0.000445281413554,-5.70182741358e-05,1793242904136546560
+253,4.216666667,HOLD_POSE2,765,745.93628062,714,682,657,632,880,785.06371938,806,651,630.06371938,652,0.452980784575,-0.00558225388789,0.0697025173972,0.999999891771,-0.000124043790649,-0.000444845662354,-5.64183005161e-05,1793242904153213184
+254,4.233333333,HOLD_POSE2,765,745.356440352,714,682,657,632,880,785.643559648,806,651,630.643559648,652,0.452978929008,-0.00558315584954,0.0697007358984,0.999999890634,-0.000125192200507,-0.000447053311914,-5.65946591648e-05,1793242904169879808
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+256,4.266666667,HOLD_POSE2,765,745,714,682,657.798510621,632,880,785.201489379,806.798510621,651.798510621,630.201489379,652,0.452978786689,-0.00558160320531,0.069700571328,0.999999890594,-0.000123622130758,-0.000447606557252,-5.63688713291e-05,1793242904203213056
+257,4.283333333,HOLD_POSE2,765,745.374190479,714,682,657.625809521,632,880,785,807,651.625809521,630,652,0.452978456881,-0.00558071372672,0.0697000921171,0.999999890537,-0.000122577239255,-0.000448012451621,-5.64387427687e-05,1793242904219879936
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,632,881,785,806,651,631,652,0.452978373097,-0.00557995174747,0.069699067037,0.999999889686,-0.000119847872336,-0.000450652649611,-5.63536232292e-05,1793242904323969280
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745.426398865,714,682,657,632,880.426398865,785,806,651,630.426398865,651.426398865,0.452979115164,-0.00558024439067,0.0696995736272,0.999999890106,-0.000119865042342,-0.000449747623713,-5.61066702902e-05,1793242904340635904
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745.678701037,714,682,657,632,880,785,806,651.678701037,630.678701037,652,0.452975119877,-0.00557888327573,0.0696959392623,0.999999887923,-0.000117484097293,-0.000455174578117,-5.62835537536e-05,1793242904390636032
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+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.057054865,745,714,682,657,631.057054865,880.942945135,785,806,651,631,651.057054865,0.452977007275,-0.00557680718222,0.069697749565,0.999999889659,-0.000113516828473,-0.000452452551865,-5.55196000373e-05,1793242904440635904
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,632,880,785,806,651,630.77027067,652,0.452972040126,-0.00557774298112,0.0696945886374,0.999999887212,-0.000116557780261,-0.000456966893663,-5.63207587519e-05,1793242904473969152
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.101959395,745,714,681.101959395,660,634,879.101959395,787,806,651,630.101959395,652,0.442412510647,-0.0054017585681,0.0698170636977,0.999999950834,0.000129602048183,-0.000285237032791,1.32502629278e-05,1793242905073969408
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.140269617,660,634,880.859730383,787,806,651,631.859730383,652,0.440223390964,-0.00540615366818,0.0698235905358,0.99999995776,0.000132354217488,-0.00025811686642,1.83714404174e-05,1793242905123968768
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.006988877,634,880.993011123,787,805.006988877,651.006988877,631,652,0.438594103779,-0.00541085608177,0.0697743882782,0.999999931035,0.000130204061958,-0.0003473064095,1.88666097882e-05,1793242905157302528
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,659.115744045,634,879.942127977,787,806,651,631,652,0.432768481283,-0.00541083874529,0.0698412925675,0.999999959718,0.000126243207831,-0.00025299269098,2.4926050751e-05,1793242905273969408
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,681,660.306820519,634,879.34658974,787,806,651,631,652,0.43188626387,-0.00541220535261,0.0698399091726,0.99999995931,0.00012965623568,-0.000252801396716,2.57159221273e-05,1793242905290636032
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.177642637,745,714,680.177642637,659.355285273,634,879.822357363,787,806,651.822357363,631,652,0.429945615099,-0.00540032630563,0.0697344996874,0.999999898391,0.000148769591741,-0.000424904299027,2.32858780683e-05,1793242905323969280
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.398974243,659.398974243,634.398974243,879.601025757,787,806,652,631,652,0.429019452765,-0.00539957029664,0.0697251668814,0.999999893821,0.000149643396712,-0.000435257753132,2.26924764216e-05,1793242905340635648
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.127760561,680.872239439,660,634.872239439,880.872239439,787.872239439,805.872239439,652,631,652,0.426430059828,-0.00540778226224,0.0698694982696,0.99999996782,0.000136582081109,-0.000211630251973,3.02928589311e-05,1793242905390635776
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.303107904,745,714.696892096,680.303107904,659.696892096,634.303107904,879.696892096,787,805,652,631,652,0.424621425673,-0.00540456269447,0.0698493604123,0.999999957694,0.000145185621302,-0.000250099241621,3.13549733938e-05,1793242905423969280
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,744.092002784,714,679.907997216,659,634,879.092002784,787,805.907997216,651,631.092002784,652,0.415898172933,-0.00539799791459,0.0698076549222,0.999999940126,0.00016076270014,-0.000305072707376,2.88704584859e-05,1793242905590636032
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,744.685464202,714,679.314535798,659,634,879.685464202,787,805.314535798,651,631.685464202,652,0.415073293638,-0.0053893153271,0.069781100616,0.999999923982,0.000173053292337,-0.000348307502321,2.77412692888e-05,1793242905607302656
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.422956461,679.422956461,659,635,879,787,805,651.422956461,631,652,0.412782703824,-0.00537641794635,0.0697718799284,0.999999912488,0.000189422449181,-0.000371951778695,2.81864164987e-05,1793242905657302528
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+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714.835051155,679,659,634.835051155,880.670102309,787,805,652,631,652,0.410843616867,-0.00536449169895,0.0698872800952,0.999999962447,0.00021074265622,-0.000172315291055,3.1624463546e-05,1793242905707302400
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714.249555363,679,659,634.249555363,879.499110726,787,805,652,631,652,0.410141476143,-0.0053597699397,0.0698593389884,0.999999951984,0.000211772270127,-0.000224084514362,3.11524110041e-05,1793242905723969280
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.670421275,634.329578725,879,787,805,652,631,652.329578725,0.40946625834,-0.0053559818703,0.0698216788173,0.999999933806,0.000216902256629,-0.000290683992191,2.9072419857e-05,1793242905740635904
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744.188774563,714,679,659,635,879,787,805,652,631,652,0.406142026622,-0.00538954005866,0.0698039459665,0.999999931327,0.000172037145217,-0.000327275842347,2.530393298e-05,1793242905840636416
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744.38689058,714,679,658.61310942,635,879.38689058,787,805,652,631,652,0.405686705741,-0.00538492544841,0.0698023013523,0.999999927937,0.000182166367823,-0.000332136207199,2.50555309564e-05,1793242905857303040
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744.802933224,714.802933224,679.802933224,659,634.197066776,879,787,805,652,631,652,0.402418650195,-0.00535848553828,0.0698057585497,0.999999925759,0.000206472505506,-0.000324649832564,2.12774415352e-05,1793242906023969024
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744.223802662,714.223802662,679.223802662,659,634.776197338,879,787,805,652,631,652,0.402212054006,-0.00535918925828,0.0698015840085,0.999999924914,0.000203212477946,-0.000329236873835,2.1925102483e-05,1793242906040635648
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744.353016162,714,679,659,634.646983838,878.646983838,787,805,652,631.353016162,652,0.402029433668,-0.00535839588492,0.0698014903072,0.999999924844,0.000204216568099,-0.000328779299102,2.26176693881e-05,1793242906057302272
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744.928378997,714,679,659,634.071621003,878.071621003,787,805,652,631.928378997,652,0.401861914461,-0.00535665956975,0.0698039669162,0.999999925256,0.000207906405753,-0.000325144381375,2.33385203028e-05,1793242906073968896
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.505176167,878.505176167,787,805,652,631.494823833,652,0.401719344444,-0.00535464949406,0.0698032676352,0.999999924674,0.000210004000838,-0.00032563612734,2.2614777586e-05,1793242906090635520
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714.083963051,679.083963051,659,635,879,787,805,652,631,652,0.401584179121,-0.00535311409482,0.0698021887228,0.999999923776,0.000213344120025,-0.000326339469001,2.08388767207e-05,1793242906107301888
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714.673503127,679.673503127,659,635,879,787,805,652,631,652,0.401472241192,-0.00535467129241,0.0698015428125,0.999999921728,0.000225529143773,-0.000324784024448,1.39642229772e-05,1793242906123968512
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714.742383233,679.742383233,659,635,879,787,805,652,631,652,0.401370991572,-0.005355822591,0.0698005278631,0.999999920625,0.000229984718823,-0.000325183075641,1.06504673294e-05,1793242906140635392
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,659.159454489,635,879,787,804.159454489,652,631,652,0.401068589547,-0.00535536975476,0.0698054554458,0.999999926102,0.000219025894431,-0.000315603898742,1.47464350604e-05,1793242906223969024
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,659.739138413,635,879,787,804.739138413,652,631,652,0.401042335586,-0.00535462734206,0.0698098034059,0.999999928227,0.000220705070118,-0.000307565707326,1.54369899195e-05,1793242906240635648
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,659.684769604,635,879,787,805,652,631,652,0.401019875049,-0.00535427510021,0.0698125386363,0.999999929475,0.000221354298326,-0.000302986009834,1.58427882304e-05,1793242906257302272
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,659.111616498,635,879,787,805,652,631,652,0.401000518303,-0.00535424209755,0.0698139543258,0.999999930044,0.000221160819781,-0.000301236064365,1.60155977259e-05,1793242906273969152
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714.536179293,679,659,635,879,787,805,652,631,652,0.40098854301,-0.00535356827367,0.0698156637193,0.999999930435,0.000222843075706,-0.000298694442617,1.58797475148e-05,1793242906290635520
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.959063555,745,714.040936445,679,659,635,879,787,805,652,631,652,0.400978812107,-0.00535289952474,0.069817503054,0.999999930876,0.000224654634185,-0.000295858742744,1.56928881385e-05,1793242906307302144
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.366779865,745,714.633220135,679,659,635,879,787,805,652,631,652,0.400975267013,-0.00535438637527,0.0698201358501,0.999999932684,0.000222098146892,-0.000291640892917,1.5824368159e-05,1793242906323968768
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.220343376,745,715,679.220343376,659,635,879,787,805,652,631.220343376,652,0.400972655902,-0.0053556118072,0.0698225010944,0.999999934013,0.000220920931933,-0.000287937325351,1.61019300296e-05,1793242906340635392
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.79907316,745,715,679.79907316,659,635,879,787,805,652,631.79907316,652,0.400971563905,-0.00535641204416,0.069824431168,0.99999993459,0.000221987090485,-0.000285070233255,1.66170926339e-05,1793242906357302016
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.624181979,680,659,635,879,787,805,652,631.624181979,652,0.400969226058,-0.00535681522451,0.0698244689201,0.999999934844,0.000220688835434,-0.000285198995337,1.64511318993e-05,1793242906373968640
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.048492776,680,659,635,879,787,805,652,631.048492776,652,0.400966225632,-0.00535700723833,0.0698235002795,0.99999993492,0.000218133114995,-0.000286921041705,1.59229295345e-05,1793242906390635264
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.462333575,659,635,879,787,805.537666425,652,631,652,0.400967289009,-0.00535646114863,0.0698255573597,0.999999935023,0.000221464217165,-0.000283973366546,1.63458033902e-05,1793242906407302144
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,678.876863871,659,635,879,787,805.876863871,652,631,652,0.400968240278,-0.00535590726886,0.0698271378689,0.999999935005,0.000224482892758,-0.0002816368731,1.66514473141e-05,1793242906423968768
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,678.297516899,659,635,879,787,805.297516899,652,631,652,0.400967391295,-0.00535557606456,0.0698259215843,0.999999934616,0.000224337888227,-0.000283156152996,1.61986466659e-05,1793242906440635648
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.280209116,678.280209116,659,635,879,787,804.719790884,652,631,652,0.400967150828,-0.00535586937307,0.0698258475423,0.999999934727,0.000223954677104,-0.000283071960545,1.61299582688e-05,1793242906457302272
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.856224021,678.856224021,659,635,879,787,804.143775979,652,631,652,0.400967552748,-0.00535682195526,0.0698269793209,0.999999935365,0.000223320000593,-0.000281295045322,1.64667620775e-05,1793242906473969152
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.567351324,679,659,635,879,787,804,652,631,652,0.400967638397,-0.00535668200817,0.0698280263311,0.99999993589,0.000222967576776,-0.000279708974269,1.63948828035e-05,1793242906490635776
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,786.990590801,804.018818398,652,631,652,0.400967623578,-0.00535617851451,0.0698290217868,0.999999936363,0.000222723489059,-0.000278218553951,1.61875335079e-05,1793242906507302144
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,786.401533587,805.196932826,652,631,652,0.400967900266,-0.00535566653641,0.0698285782895,0.999999936085,0.000223369593774,-0.000278709946558,1.60091718655e-05,1793242906523968768
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.184327329,679,659,635,879,786.184327329,805.815672671,652,631,652,0.400967725145,-0.00535576878257,0.0698281171142,0.999999935903,0.000223441570563,-0.000279308504267,1.5978656826e-05,1793242906540635648
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.763344161,679,659,635,879,786.763344161,805.236655839,652,631,652,0.400966582592,-0.00535718623182,0.0698276180858,0.999999935924,0.000222284200227,-0.000280136528415,1.62647172198e-05,1793242906557302272
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.659995439,745,714.659995439,679,659,635,879,787,805,652,631,652,0.40096664206,-0.00535739913877,0.0698282839793,0.999999936336,0.000221773268795,-0.000279060518686,1.64009004227e-05,1793242906573968640
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.084963939,745,714.084963939,679,659,635,879,787,805,652,631,652,0.400967532421,-0.00535677941009,0.069829755121,0.999999937015,0.000221709185996,-0.000276668352304,1.64334815404e-05,1793242906590635264
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.489722875,745,714,679,658.510277125,635,878.510277125,787,804.510277125,651.510277125,631,652,0.400967849895,-0.00535662339671,0.0698294742841,0.999999937145,0.000220627155456,-0.000277082019397,1.60740785465e-05,1793242906607302144
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714.066283454,679,658.066283454,635,878.066283454,787,804.066283454,651.066283454,631,652,0.400968003474,-0.00535664925481,0.0698289314518,0.999999937174,0.000219546888837,-0.000277858347051,1.5694208814e-05,1793242906623969280
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.658176015,679,658.658176015,635,878.658176015,787,804.658176015,651.658176015,631,652,0.400967645,-0.0053574797913,0.0698287196723,0.999999937158,0.0002198800749,-0.000277653037852,1.56909397703e-05,1793242906640635648
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.75648133,679,659,635,879,787,804.75648133,652,631,652,0.400967824352,-0.00535756656258,0.0698289830278,0.99999993729,0.000219922114895,-0.000277140252095,1.57120051008e-05,1793242906657302272
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.180091799,679,659,635,879,787,804.180091799,652,631,652,0.400968738869,-0.00535663666544,0.0698298958555,0.999999937626,0.000219566181169,-0.000276207170046,1.57663336057e-05,1793242906673969152
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.603774892,745,714,679,659,635,879,787,804.396225108,652,631,651.603774892,0.400968910241,-0.00535630524454,0.0698301884994,0.99999993769,0.000220157319993,-0.000275498956442,1.58165285899e-05,1793242906690636032
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764.027491024,745,714,679,659,635,879,787,804.972508976,652,631,651.027491024,0.4009687439,-0.00535624579257,0.0698301993096,0.999999937631,0.000221178842241,-0.000274892931102,1.58648451524e-05,1793242906707302656
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c117941e89b9752ad9a9218d3659485fd8344d88
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_02/simulation_data.csv
@@ -0,0 +1,407 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+1,0.016666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+2,0.033333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+3,0.050000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+4,0.066666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+5,0.083333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+6,0.100000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+7,0.116666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+8,0.133333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+9,0.150000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+10,0.166666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+11,0.183333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+12,0.200000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+13,0.216666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+14,0.233333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+15,0.250000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+16,0.266666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+17,0.283333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+18,0.300000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+19,0.316666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+20,0.333333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+21,0.350000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+22,0.366666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+23,0.383333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+24,0.400000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+25,0.416666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+26,0.433333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+27,0.450000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+28,0.466666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+29,0.483333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+30,0.500000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+31,0.516666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+32,0.533333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+33,0.550000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+34,0.566666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+35,0.583333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
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+384,6.400000000,pose2_to_pose3_retreat,0.580746818657,1.96756211484e-06,1.06004096027,0.551318535992,0.00867678787857,1.05967875055
+385,6.416666667,pose2_to_pose3_retreat,0.580745842748,1.90433376556e-06,1.06004097602,0.551317561106,0.00867672809285,1.05967876575
+386,6.433333333,pose2_to_pose3_retreat,0.580745332723,1.85846519634e-06,1.06004097179,0.551317051797,0.00867668466622,1.05967876183
+387,6.450000000,pose2_to_pose3_retreat,0.580744850766,1.81512100522e-06,1.0600409678,0.551316570517,0.00867664362957,1.05967875813
+388,6.466666667,pose2_to_pose3_retreat,0.580744611291,1.79942117693e-06,1.06004095919,0.551316331216,0.00867662853034,1.05967874984
+389,6.483333333,pose2_to_pose3_retreat,0.580744458744,1.8049925183e-06,1.06004093603,0.551316178345,0.00867663302768,1.05967872735
+390,6.500000000,pose2_to_pose3_retreat,0.580744418584,1.80645927766e-06,1.06004092994,0.551316138098,0.00867663421169,1.05967872142
+391,6.516666667,pose2_to_pose3_retreat,0.580744347696,1.80904823463e-06,1.06004091918,0.55131606706,0.00867663630157,1.05967871097
+392,6.533333333,pose2_to_pose3_retreat,0.580744289192,1.81118493646e-06,1.06004091029,0.551316008432,0.00867663802637,1.05967870234
+393,6.550000000,pose2_to_pose3_retreat,0.580744223177,1.81359596614e-06,1.06004090027,0.551315942276,0.00867663997263,1.05967869261
+394,6.566666667,pose2_to_pose3_retreat,0.580744111661,1.81766876027e-06,1.06004088335,0.551315830523,0.0086766432603,1.05967867616
+395,6.583333333,pose2_to_pose3_retreat,0.580743997136,1.82185146438e-06,1.06004086596,0.551315715754,0.00867664663669,1.05967865927
+396,6.600000000,pose2_to_pose3_retreat,0.580743986658,1.82223414891e-06,1.06004086437,0.551315705254,0.00867664694561,1.05967865773
+397,6.616666667,pose2_to_pose3_retreat,0.580743980868,1.82244561048e-06,1.06004086349,0.551315699451,0.0086766471163,1.05967865687
+398,6.633333333,pose2_to_pose3_retreat,0.580743948875,1.82361405836e-06,1.06004085864,0.551315667391,0.00867664805951,1.05967865216
+399,6.650000000,pose2_to_pose3_retreat,0.580743826756,1.82807413392e-06,1.0600408401,0.551315545011,0.00867665165981,1.05967863415
+400,6.666666667,pose2_to_pose3_retreat,0.580743698299,1.83266940008e-06,1.06004082178,0.55131541634,0.00867665554669,1.05967861632
+401,6.683333333,pose2_to_pose3_retreat,0.58074362814,1.83434579877e-06,1.060040822,0.551315346571,0.00867665853343,1.05967861626
+402,6.700000000,pose2_to_pose3_retreat,0.580743566478,1.83581918397e-06,1.06004082219,0.55131528525,0.00867666115847,1.05967861621
+403,6.716666667,pose2_to_pose3_retreat,0.58074352342,1.83684802995e-06,1.06004082232,0.551315242431,0.0086766629915,1.05967861617
+404,6.733333333,pose2_to_pose3_retreat,0.58074354103,1.82676076104e-06,1.06004091435,0.55131526008,0.00867665276818,1.05967870186
+405,6.750000000,pose2_to_pose3_retreat,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120695,1.05967878877
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..28797766ecc06e1224e8181f6b184143ade03b70
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4af901084df8650d95de224d222c31cd6ad7e84bd07d6e4a99f854a04cf13272
+size 25905709
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..efc4b6e738bebcc6091921601761ddcb05efebc0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_03/franka_data.csv
@@ -0,0 +1,409 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,745,714,679,659,635,878,787,805,652,631,652,0.400968303936,-0.005355817648,0.0698308789336,0.999999938031,0.000219682929895,-0.000274675446145,1.52016071772e-05,1793242906851345152
+1,0.016666667,BASELINE,765,744.418885223,714,679,659,635,878.581114777,787,805,651.418885223,631,652,0.400968337515,-0.00535691367655,0.0698313525651,0.999999937834,0.000220607167301,-0.000274632366563,1.55231732956e-05,1793242906868011520
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+21,0.350000000,BASELINE,764.819191178,745,714,679,659,634,878.180808822,787,804.819191178,652,631,651.819191178,0.400968847839,-0.00535711075202,0.0698315579684,0.999999938458,0.000219032955204,-0.000273640965223,1.51147346481e-05,1793242907201345280
+22,0.366666667,BASELINE,764.247366749,745,714,679,659,634,878.752633251,787,804.247366749,652,631,651.247366749,0.400968477386,-0.00535628080985,0.0698319539126,0.999999938167,0.000221162276938,-0.000272983292115,1.53023051342e-05,1793242907218012160
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+27,0.450000000,BASELINE,764.639647354,745,714,679,659,635,879,787,804.639647354,651.639647354,631,651.639647354,0.400967597207,-0.00535857166854,0.0698302607842,0.999999937946,0.000219908040283,-0.000274792960064,1.53841946637e-05,1793242907301345280
+28,0.466666667,BASELINE,765,744.790818448,714,679,659,635,878.790818448,787,805,652,631,651.790818448,0.400968905405,-0.00535888969081,0.0698311254347,0.99999993832,0.000219946600432,-0.000273402325074,1.53509503566e-05,1793242907318011904
+29,0.483333333,BASELINE,765,744.190667606,714,679,659,635,878.190667606,787,805,652,631,651.190667606,0.400968886916,-0.00535835420858,0.0698320203172,0.999999938398,0.000220224291814,-0.00027288907939,1.54076348247e-05,1793242907334678528
+30,0.500000000,BASELINE,765,744.402547663,714,679.402547663,659,635,878.402547663,787,804.597452337,652,631,651.402547663,0.40096851489,-0.00535827889924,0.069832013672,0.999999938449,0.000219927121425,-0.000272941822211,1.53889500566e-05,1793242907351345152
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+44,0.733333333,BASELINE,764.535272435,745,714,679,659,635,878.535272435,787,804.535272435,652,631,652,0.400970824556,-0.00535862862001,0.0698337315646,0.999999939387,0.000219275379005,-0.000270011700774,1.54158881536e-05,1793242907584678656
+45,0.750000000,BASELINE,765,745,714.113064847,679,658.886935153,635,878.886935153,787,804.886935153,652,631,652,0.40097135859,-0.0053585391073,0.0698341327376,0.999999939333,0.000219641136359,-0.00026991635085,1.54032271266e-05,1793242907601345024
+46,0.766666667,BASELINE,765,745,714.689989491,679,658.310010509,635,878.310010509,787,804.310010509,652,631,652,0.40097110809,-0.00535813657667,0.0698341103362,0.999999939492,0.000220307478274,-0.000268769249789,1.55954442906e-05,1793242907618011904
+47,0.783333333,BASELINE,765,745,714.731842401,679,658.268157599,635,878.536315198,787,804.268157599,652,631,652,0.400971061228,-0.00535815885077,0.0698342887818,0.99999993954,0.00022046251907,-0.000268460459392,1.56778929118e-05,1793242907634678528
+48,0.800000000,BASELINE,765,745,714.152229982,679,658.847770018,635,879.695540036,787,804.847770018,652,631,652,0.400971250883,-0.00535867451929,0.0698347005036,0.999999939458,0.000220023703213,-0.000269125334695,1.56328495836e-05,1793242907651345920
+49,0.816666667,BASELINE,765,745,714.431684578,679,659,635,880,787,805,652,631,652,0.400971717854,-0.00535866779737,0.069834692731,0.99999993941,0.000220239325244,-0.000269125685875,1.5661103153e-05,1793242907668012800
+50,0.833333333,BASELINE,765,745,715,679,659,635,879.96631541,787,805,652,631,652,0.400972201142,-0.00535848947689,0.0698345046269,0.999999939361,0.000220679592686,-0.000268945744165,1.57129451215e-05,1793242907684679168
+51,0.850000000,BASELINE,765,745,715,679,659,635,878.815187184,787,805,652,631,652,0.400969948945,-0.00535879126116,0.0698332910823,0.99999993887,0.000220839218224,-0.000270636964449,1.568121157e-05,1793242907701345536
+52,0.866666667,BASELINE,765,745,714.83165566,679,659,635,878.16834434,787,804.83165566,651.83165566,631,652,0.40096848454,-0.00535878081032,0.0698324939482,0.999999938482,0.000221066244532,-0.00027188295775,1.56422142393e-05,1793242907718011904
+53,0.883333333,BASELINE,765,745,714.254810663,679,659,635,878.745189337,787,804.254810663,651.254810663,631,652,0.400968931773,-0.00535801269664,0.0698327072667,0.999999938352,0.00022145682405,-0.000272048572983,1.55855907841e-05,1793242907734678528
+54,0.900000000,BASELINE,765,745,714,679,659,635,878.670942406,787,804.329057594,651,631,652,0.400969420194,-0.00535756717763,0.0698334451859,0.999999938483,0.000221851965428,-0.000271243670656,1.55852980506e-05,1793242907751344896
+55,0.916666667,BASELINE,765,745,714,679,659,635,878.081517001,787,804.918482999,651,631,652,0.400969941207,-0.00535737691266,0.0698345981968,0.999999938819,0.000222250716376,-0.000269670843388,1.56295771726e-05,1793242907768011520
+56,0.933333333,BASELINE,765,744.50092171,714,679,658.50092171,635,878.49907829,786.50092171,805,651.49907829,631,652,0.400970379263,-0.00535856060681,0.0698343806876,0.999999939333,0.000220796906236,-0.000268950122198,1.57693015595e-05,1793242907784678400
+57,0.950000000,BASELINE,765,744.077856497,714,679,658,635,879,786.077856497,805,652,631,652,0.400970522739,-0.00535960120229,0.0698338989964,0.999999939695,0.000219411363658,-0.000268732159895,1.58790265097e-05,1793242907801345280
+58,0.966666667,BASELINE,765,744.654074731,714,679,658,635,879,786.654074731,805,652,631,652,0.400968865817,-0.00535831430026,0.0698331342527,0.999999938914,0.000220366007758,-0.00027085697283,1.56986697271e-05,1793242907818012160
+59,0.983333333,BASELINE,765.229947329,745,714,679,658.459894657,635,879,787,805,652,631.229947329,652,0.40096804634,-0.00535734911871,0.0698326492332,0.99999993832,0.000221613433659,-0.000272041925012,1.54866078514e-05,1793242907834678784
+60,1.000000000,BASELINE,765.805300828,745,714,679,659.610601657,635,879,787,805,652,631.805300828,652,0.400968484799,-0.0053568671965,0.0698325843901,0.999999938011,0.000223300650163,-0.000271815103323,1.52269214125e-05,1793242907851345408
+61,1.016666667,BASELINE,765.609929412,745,714,679,659.609929412,635,878.609929412,787,805,652,631.219858823,652,0.400968771781,-0.00535722546312,0.069832726467,0.999999938388,0.000222034546285,-0.000271467447535,1.5149518315e-05,1793242907868012032
+62,1.033333333,BASELINE,765.020343407,745,714,679,659.020343407,635,878.020343407,787,805,652,630.040686813,652,0.400968981283,-0.00535801347409,0.0698329743805,0.999999939112,0.000219257862003,-0.000271057986883,1.51653505036e-05,1793242907884678656
+63,1.050000000,BASELINE,765,744.440976052,714,679,659,635,878,787,805,652,630.559023948,651.440976052,0.400969029135,-0.0053580192125,0.0698331123062,0.999999938778,0.000221278691487,-0.000270636830734,1.53380954248e-05,1793242907901345280
+64,1.066666667,BASELINE,765,744.136936467,714.136936467,679,659,635,878.136936467,787,805,651.863063533,631,651.136936467,0.400968987194,-0.00535797486193,0.0698330504808,0.999999938559,0.0002224283455,-0.000270500359914,1.53840140662e-05,1793242907918011904
+65,1.083333333,BASELINE,765,744.711367676,714.711367676,679,659,635,878.711367676,787,805,651.288632324,631,651.711367676,0.40096867683,-0.0053578598012,0.0698323630337,0.999999938838,0.000220246936176,-0.000271274758194,1.50068228474e-05,1793242907934678784
+66,1.100000000,BASELINE,764.707472956,745,715,679,659,635,878.707472956,787,805,651.292527044,631.292527044,652,0.400968483488,-0.00535731667181,0.0698319781482,0.999999938759,0.000219960671592,-0.000271804346923,1.4913529958e-05,1793242907951345920
+67,1.116666667,BASELINE,764.119518762,745,715,679,659,635,878.119518762,787,805,651.880481238,631.880481238,652,0.400968408325,-0.0053563412299,0.0698318988239,0.99999993832,0.000221588340311,-0.000272086699018,1.51069499835e-05,1793242907968013312
+68,1.133333333,BASELINE,764.461331862,745,714.538668138,679,659,635,878,787,805,652,631.538668138,652,0.400969116412,-0.00535586331479,0.0698329283277,0.999999938453,0.000222129491029,-0.000271167294598,1.4836940908e-05,1793242907984679424
+69,1.150000000,BASELINE,765,744.959733749,714,679,658.959733749,635,878.040266251,787,804.959733749,652,631,652,0.400969989931,-0.00535558352377,0.0698341232551,0.99999993871,0.000222427224514,-0.000269992577117,1.45089941245e-05,1793242908001345536
+70,1.166666667,BASELINE,765,744.382184951,714,679,658.382184951,635,878.617815049,787,804.382184951,652,631,652,0.40097040431,-0.00535625354335,0.0698337505126,0.999999938668,0.000223175985458,-0.000269502484225,1.49856951246e-05,1793242908018011904
+71,1.183333333,BASELINE,765,744.194552315,714,679,658.194552315,635,878.805447685,787,804,652,631,652,0.400970032933,-0.00535648768935,0.0698332029782,0.999999938384,0.000223967193062,-0.000269886355054,1.52549232814e-05,1793242908034678272
+72,1.200000000,BASELINE,765,744.769702104,714,679,658.769702104,635,878.230297896,787,804,652,631,652,0.400968124403,-0.00535586914767,0.0698323135028,0.999999937622,0.00022484143806,-0.000271979937579,1.51182779648e-05,1793242908051345152
+73,1.216666667,BASELINE,765,745,714.353065446,679,659,635,878,787,804.353065446,652,631,651.646934554,0.400968199417,-0.00535700445026,0.0698329683672,0.999999938109,0.000223246985549,-0.000271494462484,1.52799243011e-05,1793242908068012032
+74,1.233333333,BASELINE,765,745,714.941913901,679,659,635,878,787,804.941913901,652,631,651.058086099,0.400969599076,-0.00535931099943,0.0698346545675,0.999999939419,0.000220003895494,-0.000269286649446,1.56407748003e-05,1793242908084678656
+75,1.250000000,BASELINE,765,745,714.477564236,678.477564236,659,635,878.522435764,787,805,651.477564236,631,651.522435764,0.400970534379,-0.00535882671768,0.0698347711467,0.99999993944,0.000221101617247,-0.000268312376475,1.56057397957e-05,1793242908101345280
+76,1.266666667,BASELINE,765,745,714,678.101404323,659,635,879,787,805,651.101404323,631,652,0.400971036168,-0.00535796974064,0.0698345500149,0.999999939231,0.000222360081218,-0.000268053246508,1.55180362368e-05,1793242908118011648
+77,1.283333333,BASELINE,765,745,714,678.677368156,659,635,879,787,805,651.677368156,631,652,0.400969746986,-0.00535679795055,0.0698335523366,0.999999938619,0.000222147605057,-0.000270509125276,1.53866074762e-05,1793242908134678272
+78,1.300000000,BASELINE,765,745,714,678.742117574,659,635,879,787,804.742117574,652,631,652,0.400968560061,-0.00535669072497,0.0698328579822,0.999999938305,0.000221884875464,-0.000271888349962,1.5275403126e-05,1793242908151345152
+79,1.316666667,BASELINE,765,745,714,678.155808122,659,635,879,787,804.155808122,652,631,652,0.400967503367,-0.00535793927919,0.0698325499273,0.999999938377,0.000221558145462,-0.00027189639806,1.51899556513e-05,1793242908168011776
+80,1.333333333,BASELINE,765,745,714,678.425546589,659,635,879,787,804.425546589,652,631,652,0.400968404947,-0.00535743416714,0.0698332605313,0.999999938675,0.000221680152038,-0.000270699460639,1.51550818404e-05,1793242908184678400
+81,1.350000000,BASELINE,764.994898735,745,714,679,659,635,878.994898735,787,805,652,631,652,0.400969996049,-0.00535631270122,0.0698343276487,0.999999939046,0.000221970708207,-0.000269088035539,1.5141546589e-05,1793242908201345024
+82,1.366666667,BASELINE,764.416114533,745,714,679,659,635,878.416114533,787,805,652,631,652,0.400969425331,-0.00535725345316,0.0698340270005,0.999999938601,0.000222951953687,-0.000269908405024,1.54693033228e-05,1793242908218011904
+83,1.383333333,BASELINE,764.161308467,745,714,679,659,635,878.161308467,787,805,652,631,652,0.400969429215,-0.00535814695312,0.0698340494434,0.999999938671,0.000222459564879,-0.00027004875238,1.55926307317e-05,1793242908234678528
+84,1.400000000,BASELINE,764.735249587,745,714,679,659,635,878.735249587,787,805,652,631,652,0.400970902952,-0.00535891958107,0.0698348983647,0.999999940047,0.000218197568665,-0.00026844957972,1.51930209087e-05,1793242908251345152
+85,1.416666667,BASELINE,765,745,714,679,659,635,879,787,804.682664781,652,631,652,0.400971660439,-0.00535915540228,0.0698351373994,0.999999940522,0.00021686875443,-0.000267758440406,1.51293992632e-05,1793242908268011776
+86,1.433333333,BASELINE,765,745,714,679,659,635,879,787,804.093605291,652,631,652,0.400971804625,-0.00535893157255,0.0698348542072,0.999999940238,0.000218051532878,-0.00026784482188,1.535347386e-05,1793242908284678400
+87,1.450000000,BASELINE,765,745,714,679,659,634.512940534,879,787,804,652,631,652,0.400970210466,-0.00535922141371,0.0698341945782,0.999999940121,0.000217186276304,-0.000268992447262,1.51800384981e-05,1793242908301344768
+88,1.466666667,BASELINE,765,745,714,679,659,634.065686232,878.934313768,787,804.065686232,652,631,652,0.400968656475,-0.00535945093731,0.0698335646525,0.999999939977,0.000216521242061,-0.000270072852051,1.49762561743e-05,1793242908318011648
+89,1.483333333,BASELINE,765,745,714,679,659,634.640807566,878.359192434,787,804.640807566,652,631,652,0.400969961116,-0.00535846000727,0.0698337166657,0.999999939394,0.000220409929973,-0.000269076935446,1.51195664542e-05,1793242908334678272
+90,1.500000000,BASELINE,765,745,714,679,659,635,878.215102058,787,805,652,631,652,0.400970216105,-0.00535743734528,0.0698333755797,0.999999938844,0.000222714027005,-0.000269227236933,1.50519933855e-05,1793242908351345152
+91,1.516666667,BASELINE,765,745,714,679,659,635,878.788021061,787,805,652,631,652,0.400968725022,-0.00535636189807,0.0698322142353,0.999999938368,0.000222382195963,-0.000271284243939,1.46336210747e-05,1793242908368011776
+92,1.533333333,BASELINE,764.625637141,744.625637141,714,679,659,635,878.625637141,787,804.625637141,652,631,652,0.400968820223,-0.00535564691093,0.0698326071329,0.999999938524,0.000222159196313,-0.000270898883221,1.45119536517e-05,1793242908384678656
+93,1.550000000,BASELINE,764.031412124,744.031412124,714,679,659,635,878.031412124,787,804.031412124,652,631,652,0.400969847044,-0.00535514362077,0.0698339128319,0.99999993905,0.000222000112976,-0.000269079127627,1.45645400595e-05,1793242908401345280
+94,1.566666667,BASELINE,764,744,714,679,659,635,878,787,804.548918822,652,631,652,0.400969786175,-0.00535611342223,0.0698339369457,0.999999939044,0.000222219474199,-0.000268914674179,1.46952511066e-05,1793242908418011904
+95,1.583333333,BASELINE,764.127617154,744.127617154,714,679,659,635,878,787,804.872382846,652,630.872382846,652,0.40096952459,-0.00535703622792,0.069833806331,0.999999938983,0.000222317933388,-0.000269051969014,1.48173007881e-05,1793242908434678272
+96,1.600000000,BASELINE,764.703306138,744.703306138,714,679,659,635,878,787,804.296693862,652,630.296693862,652,0.400968771423,-0.00535750535886,0.0698333835969,0.999999938836,0.000221917737269,-0.000269924344661,1.48936304484e-05,1793242908451344896
+97,1.616666667,BASELINE,765,744.715847074,714,679,658.715847074,635,878.284152926,787,804.284152926,652,630.284152926,651.715847074,0.400968487981,-0.00535729212109,0.0698333613464,0.999999938725,0.000222046523044,-0.000270216458338,1.50840792207e-05,1793242908468011520
+98,1.633333333,BASELINE,765,744.129515319,714,679,658.129515319,635,878.870484681,787,804.870484681,652,630.870484681,651.129515319,0.40096870406,-0.00535635322694,0.0698337649853,0.999999938655,0.000222737847939,-0.000269891499723,1.5395886512e-05,1793242908484678144
+99,1.650000000,BASELINE,764.548349731,744.451650269,714,679,658.451650269,635,879,786.548349731,805,652,631,651.451650269,0.400969464391,-0.00535732123072,0.0698343125773,0.999999939319,0.00022106016211,-0.000268807376919,1.53987615882e-05,1793242908501345024
+100,1.666666667,BASELINE,764.031162674,744.968837326,714,679,659,635,878.968837326,786.031162674,804.968837326,652,631,651.968837326,0.400970317603,-0.00535872695068,0.0698348249514,0.999999940116,0.000218861870726,-0.000267643631237,1.53152815518e-05,1793242908518012160
+101,1.683333333,BASELINE,764.607378483,744.392621517,714,679,659,635,878.392621517,786.607378483,804.392621517,652,631,651.392621517,0.400970096464,-0.00535833250241,0.069834007502,0.999999939696,0.000219305525905,-0.000268851838862,1.5253358379e-05,1793242908534678784
+102,1.700000000,BASELINE,765,744,714.183690012,679,659.183690012,635,878.183690012,787,804,652,631,651.183690012,0.400969809106,-0.00535731068633,0.0698334907674,0.999999939169,0.000220789594816,-0.000269604140545,1.5083799209e-05,1793242908551345152
+103,1.716666667,BASELINE,765,744,714.760206169,679,659.760206169,635,878.760206169,787,804,652,631,651.760206169,0.400969380135,-0.00535494722696,0.0698336171196,0.999999938409,0.000224498617063,-0.000269381474677,1.46840575064e-05,1793242908568011776
+104,1.733333333,BASELINE,765,744.344180162,714.655819838,679,659.655819838,635,879,787,804.344180162,652,631,651.655819838,0.400969663559,-0.0053552049675,0.0698338965782,0.999999938404,0.000224942642919,-0.000269031079315,1.46548469811e-05,1793242908584678400
+105,1.750000000,BASELINE,765,744.933465248,714.066534752,679,659.066534752,635,879,787,804.933465248,652,631,651.066534752,0.40097045431,-0.00535732937263,0.0698342850701,0.999999938941,0.000223061530233,-0.00026858972248,1.4889506986e-05,1793242908601345024
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,804,652,631,652,0.400967723671,-0.00535840610058,0.0698324024525,0.999999938836,0.000219689651713,-0.00027173037568,1.50731415659e-05,1793242908632176128
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744.42230098,714,679,659,635,878.42230098,787,804.57769902,652,631,652,0.400968686978,-0.00535979666236,0.0698331937734,0.999999939799,0.000216997137025,-0.000270340817674,1.5183520718e-05,1793242908648843008
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.845648101,744.154351899,714,679,659,635,878.154351899,787,805,652,631,652,0.400969235722,-0.00535983432639,0.0698336970689,0.999999940112,0.000216637759178,-0.000269471125277,1.5162888037e-05,1793242908665509888
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.271838029,744.728161971,714,679,659,635,878.728161971,787,805,652,631,652,0.40096865787,-0.00535619543078,0.0698334176426,0.999999938657,0.000222618784179,-0.000270014190551,1.47862248797e-05,1793242908682176512
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.312482619,745,714,679,658.687517381,635,879,787,804.687517381,652,631,652,0.400968571452,-0.00535566694962,0.0698338491123,0.99999993842,0.000223929407016,-0.000269809663142,1.47549176161e-05,1793242908698843136
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.906264948,745,714,679,658.093735052,635,879,787,804.093735052,652,631,652,0.400968927429,-0.00535793849221,0.0698349205372,0.999999939296,0.000221035690763,-0.000268932145937,1.5034502909e-05,1793242908715509760
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634.514352678,879,787,804,652,631,652,0.400970273052,-0.00535830034845,0.0698356497215,0.999999939941,0.000219769977718,-0.000267555515906,1.52546225654e-05,1793242908732176384
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.06221024,634.06221024,879,786.93778976,804,652,631,652,0.400971686264,-0.00535830125554,0.0698362122467,0.999999940413,0.00021909565917,-0.000266334548071,1.54238854256e-05,1793242908748842752
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.637781693,634.637781693,879,786.362218307,804,652,631,652,0.400972126365,-0.00535827762198,0.0698359288951,0.999999939821,0.000220783250384,-0.000267170170067,1.52654613742e-05,1793242908765509376
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714.218682956,679,659,635,878.781317044,786.218682956,804.218682956,652,631,652,0.40097365416,-0.00535809804911,0.0698361352565,0.99999993984,0.000221179444184,-0.000266783326797,1.50266796214e-05,1793242908782176256
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714.808632795,679,659,635,878.191367205,786.808632795,804.808632795,652,631,652,0.400977028573,-0.00535765373179,0.0698371730236,0.999999940895,0.000219383180289,-0.000264321054804,1.46514713707e-05,1793242908798843136
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714.610586588,679,659,634.610586588,878,787,805,652,631,652,0.400997021646,-0.00535753497453,0.0698465406621,0.999999944497,0.000221054481802,-0.000248807073611,1.53310799677e-05,1793242908815509760
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714.034208239,679,659,634.034208239,878,787,805,652,631,652,0.401024993661,-0.00535757252493,0.0698599076337,0.999999948917,0.00022439062851,-0.00022702671322,1.65171265642e-05,1793242908832176384
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.542525575,878,787,804.457474425,652,631,652,0.401075647652,-0.00536030540797,0.0698786681747,0.999999956786,0.000220357067273,-0.000193874986393,1.68131735522e-05,1793242908848843008
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787,804,652,631,651.880914999,0.401129350114,-0.00536258132902,0.0698959115732,0.999999962687,0.000217195323523,-0.000164820620541,1.69096460169e-05,1793242908865509632
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787,804,652,631,651.305110241,0.401189255521,-0.00536245246207,0.0699060312081,0.999999963955,0.000219160566486,-0.000154232311595,1.6456068362e-05,1793242908882176256
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714.277248385,679,658.722751615,635,878.277248385,787,804.277248385,652,631,651.277248385,0.401253595888,-0.00536311787113,0.0699128326386,0.999999965323,0.000218546173996,-0.000146113990254,1.55895965812e-05,1793242908898842880
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714.866994091,679,658.133005909,635,878.866994091,787,804.866994091,652,631,651.866994091,0.401322935065,-0.00536467853925,0.0699158939924,0.999999966871,0.00021502417503,-0.000140779687624,1.42577359727e-05,1793242908915509504
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.551128296,679,658.448871704,635,879,787,805,652,631,652,0.401407860902,-0.00536629097661,0.0699142330726,0.999999966451,0.000215470158599,-0.000143219783887,1.26032715098e-05,1793242908932176384
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,652,631,652,0.401498371929,-0.00536786625646,0.0699112645484,0.999999965484,0.000216919867326,-0.00014785552309,1.07984566679e-05,1793242908948843264
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,652,631,652,0.401609144883,-0.00536842997357,0.0699096043246,0.999999965338,0.000215430157526,-0.000151168197519,7.901267481e-06,1793242908965509888
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.820385714,744.820385714,714,679,659,635,879,786.820385714,804.820385714,652,631,652,0.401729860116,-0.00537005486608,0.069909781387,0.999999966039,0.000212545169381,-0.000150737943514,4.94730014868e-06,1793242908982176512
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.23152992,744.23152992,714,679,659,635,879,786.23152992,804.23152992,652,631,652,0.401873228283,-0.00537409758966,0.0699141446073,0.99999996863,0.000206481114639,-0.000141779627575,1.86396725657e-06,1793242908998843392
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.353078058,744.353078058,714,679,659,635,878.646921942,786.353078058,804.353078058,652,631,652,0.402037789587,-0.00537777253254,0.0699184002027,0.999999970563,0.000201025995042,-0.000135867352432,-1.43436007875e-06,1793242909015510016
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.934933713,744.934933713,714,679,659,635,878.065066287,786.934933713,804.934933713,652,631,652,0.402216083037,-0.00538120917164,0.0699225860629,0.999999972084,0.000195965435529,-0.000131928764324,-4.87199377659e-06,1793242909032176384
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.511098992,745,714,679,659,635,878.511098992,787,805,652,631,652,0.402424763457,-0.00538445984257,0.0699247981496,0.999999973869,0.000190683317572,-0.000125742916452,-9.48708114721e-06,1793242909048843008
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.913503045,744.913503045,714,679,658.913503045,635,879,787,804.913503045,652,631,651.913503045,0.402642060569,-0.00538788796397,0.0699268573661,0.9999999757,0.000184864259095,-0.000119249748381,-1.43095998767e-05,1793242909065509632
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.338392215,744.338392215,714,679,658.338392215,635,879,787,804.338392215,652,631,651.338392215,0.402886420738,-0.00539245075434,0.0699294568317,0.999999977951,0.000176169645698,-0.000112618861194,-1.94664471679e-05,1793242909082176000
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.757763741,744.242236259,714,679,658.242236259,635,878.757763741,787,804,652,631,651.242236259,0.403145931771,-0.00539806789797,0.0699347318659,0.999999980542,0.000167526108827,-0.000101291501017,-2.43033235217e-05,1793242909098843136
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.169247762,744.830752238,714,679,658.830752238,635,878.169247762,787,804,652,631,651.830752238,0.403427101138,-0.00540519225232,0.0699438316583,0.99999998349,0.000158955586982,-8.32504751439e-05,-2.86827971602e-05,1793242909115509760
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.412902313,745,714,679,659,634.587097687,878.412902313,787,804.412902313,652,631,652,0.403739818449,-0.00540996091083,0.0699510737752,0.999999985378,0.000151944084589,-7.09363648457e-05,-3.35307654432e-05,1793242909132176384
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.992482623,745,714,679,659,634.007517377,878.992482623,787,804.992482623,652,631,652,0.404065270843,-0.00541377863562,0.0699575659964,0.999999986806,0.00014556191828,-6.09340628603e-05,-3.85678528045e-05,1793242909148843008
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.568627812,879,787,805,652,630.431372188,652,0.404427330434,-0.0054203314988,0.0699581327608,0.999999995337,6.06430615738e-05,-6.24578902897e-05,-4.18116714758e-05,1793242909165509632
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.852674594,714,679,659,635,879,787,805,652,630.147325406,652,0.404797691582,-0.0054259920645,0.0699605410673,0.999999997269,1.12400800199e-05,-5.99634707953e-05,-4.1715123971e-05,1793242909182176000
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.266234925,714,679,659,635,879,787,805,652,630.733765075,652,0.405191362268,-0.00542888594273,0.0699686703097,0.999999995978,7.07708679935e-05,-4.50409239425e-05,-3.17326055444e-05,1793242909198842880
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.316118857,714,679,659,635,879,787,805,652,631,651.683881143,0.405601383572,-0.00543420024228,0.069971241305,0.999999994339,9.43013964803e-05,-3.93220521365e-05,-2.97301639466e-05,1793242909215509504
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.895075484,714,679,659,635,879,787,805,652,631,651.104924516,0.40602499968,-0.00544152700715,0.0699691908837,0.999999994695,8.78994310459e-05,-4.12555961102e-05,-3.43627750193e-05,1793242909232176384
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.526579017,745,714,679,659,634.526579017,879,786.526579017,805,652,631,651,0.406469440526,-0.00545915135262,0.0699537461085,0.999999995418,5.56136771919e-05,-7.0230630003e-05,-3.37446347084e-05,1793242909248843008
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.051379747,745,714,679,659,634.051379747,879,786.051379747,805,652,631,651,0.406925894031,-0.00547896931592,0.0699364324941,0.999999994088,1.96551223158e-05,-0.000101993612175,-3.21863281364e-05,1793242909265509632
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.626774245,745,714,679,659,634.626774245,879,786.626774245,805,652,631,651,0.407457852157,-0.00549791327574,0.0699302961077,0.999999994333,4.669877625e-06,-0.000101145328435,-3.28927791261e-05,1793242909282176512
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714.20675494,679,659,635,879,787,805,651.79324506,631,651.20675494,0.408002971634,-0.00550972295636,0.0699311282413,0.999999995245,-5.23070846998e-06,-9.13243044511e-05,-3.38045253072e-05,1793242909298842880
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714.795202224,679,659,635,879,787,805,651.204797776,631,651.795202224,0.408572388382,-0.00550836197224,0.069944825029,0.999999997259,-5.74445499023e-06,-6.49386157353e-05,-3.50952689304e-05,1793242909315509504
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714.622179127,679,659,634.622179127,879,787,805,651.377820873,630.622179127,652,0.40916257936,-0.00551520922632,0.0699527651456,0.999999998168,-1.60808588591e-05,-4.56441861978e-05,-3.63532182926e-05,1793242909332176128
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714.042671909,679,659,634.042671909,879,787,805,651.957328091,630.042671909,652,0.409763859911,-0.00552643815886,0.0699576322661,0.999999998338,-3.16607418299e-05,-3.01351760628e-05,-3.75936615486e-05,1793242909348842752
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.532393575,879,787,805,652,630.532393575,652,0.410374115116,-0.0055344704852,0.0699476133448,0.999999997225,-4.17798367619e-05,-4.75424353774e-05,-3.92952727295e-05,1793242909365509632
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.106456198,659,634.893543802,879,787,805.106456198,652,631,652,0.411000011387,-0.00554150181759,0.0699405476933,0.999999996037,-5.02605105672e-05,-6.12379256244e-05,-4.0619840738e-05,1793242909382176512
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679.677681757,659,634.322318243,879,787,805.677681757,652,631,652,0.411691079195,-0.0055452723008,0.0699515414192,0.999999996645,-5.34831777577e-05,-4.73055214538e-05,-4.01382636976e-05,1793242909398843136
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679.740219755,659,634.259780245,879,787,805.740219755,652,631,652,0.412404142135,-0.00555320347816,0.0699738987131,0.999999997046,-6.45799149281e-05,-1.34071230667e-05,-3.9459586686e-05,1793242909415509760
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679.144041475,659,634.855958525,879,787,805.144041475,652,631,652,0.413145687395,-0.00556652247655,0.0700109710686,0.999999994497,-8.58730461581e-05,4.63459039109e-05,-3.8525678227e-05,1793242909432176128
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679.436885772,659,635,879,787,805,652,631,651.563114228,0.413880339323,-0.00556998104601,0.0700254308623,0.99999999301,-8.95070313363e-05,6.75794523876e-05,-3.74286879465e-05,1793242909448843008
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679.987076021,659,635,879.012923979,787,805,651.987076021,631,651.012923979,0.41461189802,-0.00556928388312,0.0700312594296,0.999999992843,-8.65465280338e-05,7.4127255556e-05,-3.64543094246e-05,1793242909465509632
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679.412356628,659,635,879.587643372,787,805,651.412356628,631,651.587643372,0.415304459979,-0.00552449141483,0.0699750430897,0.999999997918,-4.14796237157e-05,-2.42697573767e-05,-4.30681876319e-05,1793242909482176512
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714.166904208,679,659,635,879.833095792,787,805,651,630.833095792,652,0.416026541677,-0.00549124419198,0.0699298368025,0.999999993754,-5.93520122849e-06,-0.000100734327657,-4.80635765481e-05,1793242909498842880
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714.757699017,679,659,635,879.242300983,787,805,651,630.242300983,652,0.416823595318,-0.00548731870741,0.0699125930127,0.999999991407,5.42474301613e-06,-0.000121496544323,-4.89484502559e-05,1793242909515509504
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714.659069042,679,659,634.659069042,879,786.659069042,805,651,630,651.659069042,0.417650560055,-0.00549660080892,0.0699253002154,0.999999993845,-6.36094686603e-06,-9.96711810551e-05,-4.83252351547e-05,1793242909532176384
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714.08109544,679,659,634.08109544,879,786.08109544,805,651,630,651.08109544,0.418498321358,-0.00551506588756,0.0699588317596,0.999999997162,-3.42393450913e-05,-4.82355031462e-05,-4.66534751689e-05,1793242909548843264
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.493009178,634.493009178,879,786,805,651.493009178,630.493009178,651.493009178,0.419347643275,-0.00551982102634,0.0699817282524,0.9999999978,-4.35055728959e-05,-1.73593681045e-05,-4.69652502973e-05,1793242909565509888
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.935505445,745,714,679,660,634.935505445,879,786.064494555,805.064494555,651.935505445,631,652,0.420201746499,-0.00552253489093,0.0700029822569,0.999999997578,-4.975925951e-05,1.07193764646e-05,-4.74737649727e-05,1793242909582176512
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.379179107,745,714,679,660,634.379179107,879,786.620820893,805.620820893,651.379179107,631,652,0.421090368853,-0.00552674590866,0.0700249474258,0.999999996389,-5.62047311995e-05,4.30543787513e-05,-4.70138377758e-05,1793242909598843136
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.196180199,745,714,679,660,634.196180199,879,787,805.803819801,651.196180199,631,652,0.421965226095,-0.00552793598223,0.0700309510035,0.999999995877,-5.88562953887e-05,5.02791763355e-05,-4.7465550047e-05,1793242909615509760
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.812279198,745,714,679,660,634.812279198,879,787,805.187720802,651.812279198,631,652,0.42281061963,-0.00552265980128,0.0700027891993,0.999999997324,-5.33870968524e-05,3.75621587816e-06,-4.98686036996e-05,1793242909632176384
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.402630161,745,714,679.402630161,660,635,879,787,805,652,631,652,0.423617937404,-0.00551448819106,0.06993726899,0.999999992598,-4.77883193632e-05,-9.72154647841e-05,-5.54053488796e-05,1793242909648843008
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.98169797,745,714,679.98169797,660,635,879,787,805,652,631,652,0.424408569844,-0.0055050477673,0.0698553778549,0.999999972518,-4.21327584552e-05,-0.000222047261971,-6.23153166314e-05,1793242909665509632
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.444075912,745,714,680,660,635,879,787,805,651.444075912,631,652,0.425323254606,-0.00551580470137,0.069875954475,0.999999980707,-5.5588937734e-05,-0.000177999586036,-6.17376739272e-05,1793242909682176512
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714.133201102,680.133201102,660,635,879,787,805.133201102,651,631,651.866798898,0.426248748946,-0.00552584791664,0.0699079634525,0.999999988472,-6.81442179483e-05,-0.000121581016219,-6.02500373423e-05,1793242909698842880
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714.721440303,680.721440303,660,635,879,787,805.721440303,651,631,651.278559697,0.427197339347,-0.00553120102763,0.0699676026445,0.999999994684,-7.54909951272e-05,-4.17306438917e-05,-5.64885393783e-05,1793242909715509760
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.305214286,745,714.694785714,680.694785714,660,635,879,787,806,651,631,651.305214286,0.428135464123,-0.00553411273312,0.0700096968459,0.999999995352,-7.79628935297e-05,1.70162289799e-05,-5.41085716147e-05,1793242909732176640
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.884971731,745,714.115028269,680.115028269,660,635,879,787,806,651,631,651.884971731,0.429064174918,-0.0055348283708,0.0700360091576,0.999999994093,-7.60497918648e-05,5.67802986025e-05,-5.2971303804e-05,1793242909748843264
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.537752887,745,714,680,660.462247113,635,879,787,806,651,631,652,0.429961277868,-0.00553240509642,0.0700376836456,0.999999994066,-7.07802114707e-05,6.28960336106e-05,-5.38667357715e-05,1793242909765509632
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+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680.614277985,660.385722015,635,879,787,806,651,631,652,0.431597647331,-0.00552859862062,0.0699481702056,0.999999992156,-6.55456249456e-05,-8.9144574106e-05,-5.86998623158e-05,1793242909798842624
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.805698999,879.194301001,787,806,651,631,651.805698999,0.43239782603,-0.0055295162655,0.0698937103973,0.999999979548,-6.78136062602e-05,-0.000180487339042,-6.10649771997e-05,1793242909815509248
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.216381762,879.783618238,787,806,651,631,651.216381762,0.433287663583,-0.00553386536475,0.0698911558269,0.999999980608,-7.38274349618e-05,-0.000171897900303,-6.15175130987e-05,1793242909832176128
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680.633560045,660,634,879.633560045,787,806,651.366439955,631,651.366439955,0.434201054218,-0.00553643295502,0.0699340796498,0.999999990489,-7.73497993127e-05,-9.74670786134e-05,-5.94959480822e-05,1793242909848843008
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680.054507144,660,634,879.054507144,787,806,651.945492856,631,651.945492856,0.435128110585,-0.00553796689171,0.0700033905933,0.999999995161,-7.94265843934e-05,1.51657199753e-05,-5.60388787862e-05,1793242909865509632
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680.522810595,660,634.522810595,879.522810595,787,806,652,631,652,0.435990451983,-0.00554051054508,0.0700250202816,0.999999994056,-7.91462896485e-05,5.09485770672e-05,-5.50256037999e-05,1793242909882176512
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714.098832987,681,660.098832987,635,880,787,806,651.901167013,631,652,0.436834884223,-0.00554318271445,0.0700358786294,0.99999999275,-7.97218542062e-05,7.16954376614e-05,-5.48183042199e-05,1793242909898843136
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714.669531746,681,660.669531746,635,880,787,806,651.330468254,631,652,0.437625917777,-0.00554596752689,0.070018966171,0.999999992974,-8.55530063202e-05,5.87815881003e-05,-5.72466188577e-05,1793242909915509760
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714.749804098,681,660.749804098,635,880,787,806,651.250195902,631,652,0.438396897072,-0.00554606394059,0.0699884489899,0.999999994261,-8.67950592796e-05,1.95648034856e-05,-5.96882500717e-05,1793242909932176384
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714.155431291,681,660.155431291,635,880,787,806,651.844568709,631,652,0.439140289068,-0.00554246211303,0.0699392167501,0.999999993171,-8.17242105069e-05,-5.58350778314e-05,-6.21481995356e-05,1793242909948843008
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.4267342,635,880,787,805.5732658,651.5732658,631,652,0.439848054536,-0.00554078062833,0.0698952719247,0.999999986502,-7.97848605036e-05,-0.000128977788461,-6.32088647272e-05,1793242909965509632
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.995439913,634.995439913,880,787,805.004560087,651,631,652,0.440544006788,-0.00553984403159,0.069853921077,0.999999974829,-7.90252124266e-05,-0.000200079078098,-6.37634365049e-05,1793242909982176256
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.419741146,634.419741146,880,787,805.580258854,651,631,652,0.441340439001,-0.00554703416326,0.0699029590346,0.999999987538,-8.71360246536e-05,-0.000115604218561,-6.29903868024e-05,1793242909998843136
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+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.747754013,634,880,787,806,651,631,652,0.442850343365,-0.00555257857095,0.0700106344654,0.999999992607,-9.58237906069e-05,4.59670425085e-05,-5.90842822392e-05,1793242910032176896
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.669104171,634,879.669104171,787,806,651,631,652,0.443544905302,-0.00555373961126,0.0700308579397,0.999999991747,-9.25030012933e-05,6.88907003232e-05,-5.65890935974e-05,1793242910048843264
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.089882288,634,879.089882288,787,806,651,631,652,0.444212004825,-0.00555559358717,0.0700237886159,0.999999993666,-8.50519195987e-05,4.99792412884e-05,-5.41950791628e-05,1793242910065509888
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.486864263,879.973728525,787,806,651,631,652,0.444819882488,-0.00555754429013,0.0699975367108,0.999999994414,-8.92645995954e-05,7.01510633619e-06,-5.61628077138e-05,1793242910082176256
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+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,681.637403253,660,634.362596747,880.362596747,787,806,651,631,651.362596747,0.445976460388,-0.0055635971323,0.0699484564261,0.99999999208,-9.72600206319e-05,-5.40192278543e-05,-5.8845863432e-05,1793242910115510016
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681.782079293,660,634,880,787,806,651,631,651.217920707,0.446516567505,-0.00556629417187,0.069930617913,0.999999990178,-0.000101720099479,-7.59770371999e-05,-5.93752432018e-05,1793242910132176896
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+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.389086603,787,806,651.389086603,631,652,0.447495943362,-0.00556902382939,0.0698962567255,0.999999980854,-0.000109819541622,-0.000150286109932,-6.03780085499e-05,1793242910165509888
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.964259277,787,806,651.964259277,631,652,0.447964564455,-0.00557172810286,0.0698719898389,0.999999972582,-0.000105183252762,-0.000200516255522,-5.97085986322e-05,1793242910182176512
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,681.541614705,660,634,880.458385295,786.458385295,806,651.458385295,631,652,0.448418697166,-0.00557183150026,0.0698643746044,0.999999970285,-0.000106031833249,-0.000211415319189,-5.90898128116e-05,1793242910198843392
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,681.288968428,659.288968428,633.288968428,880.711031572,786,806,651,631,652,0.449291367443,-0.0055713486096,0.0698754428478,0.999999973513,-0.000114348174627,-0.000191225597995,-5.77135594316e-05,1793242910232176640
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,681.872992072,659,633,880.127007928,786,806,651.872992072,630.127007928,652,0.45009020615,-0.00556955957607,0.0698911000744,0.999999978929,-0.00010682071108,-0.000165727954787,-5.71396702494e-05,1793242910265510400
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744.310050496,714,679,658.689949504,635,879,787,804,651,631,651.310050496,0.409259318879,-0.00534911929033,0.0698100065229,0.999999925964,0.000227282675718,-0.000309265410909,2.77231656428e-05,1793242912719760896
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634.940151643,878.059848357,787,805,652,631,651.059848357,0.407489337952,-0.00535695967326,0.0697818232765,0.999999917199,0.000215300867568,-0.000344547138153,2.31267226817e-05,1793242912769760768
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.205906364,679,659,634.205906364,879,787,804.205906364,652,631,651.205906364,0.400969293694,-0.00535675943077,0.0698230541387,0.999999933261,0.000223486837233,-0.000288565732162,1.61601291348e-05,1793242913336427264
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c04d903bf2f546df9fa346a6587d55595cb3fa76
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..666928883f5f2aef3e449ed014d5e8808c56f092
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e0ecc550ed0a1b51557b22908102cc3286817d0eea8dea6bec7a018e9c79afa
+size 25909894
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf44a38b6ff5b60531c5b0c69260de628cba6b90
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_04/franka_data.csv
@@ -0,0 +1,409 @@
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+18,0.300000000,BASELINE,765,745,714.53019994,679,658.53019994,635,878.46980006,787,805,652,631,652,0.400972332632,-0.00535479931882,0.0698337086679,0.999999938291,0.000225115854525,-0.000269303931587,1.47335473687e-05,1793242914104378368
+19,0.316666667,BASELINE,765,745,714.895620224,679,659,634.895620224,878,787,805,651.895620224,631,652,0.400971477668,-0.0053541426354,0.0698335257203,0.999999937238,0.000227889740208,-0.000270852336953,1.51139097459e-05,1793242914121044736
+20,0.333333333,BASELINE,765,745,714.318561921,679,659,634.318561921,878,787,805,651.318561921,631,652,0.400970356305,-0.00535500344795,0.0698327429053,0.999999937373,0.000226508187344,-0.000271535647196,1.46798054156e-05,1793242914137711616
+21,0.350000000,BASELINE,765,745,714,679,659,634.263295194,878,787,805,651,631,652,0.400969502034,-0.00535586960687,0.0698321230502,0.999999937572,0.000224382515804,-0.000272582604977,1.43903686398e-05,1793242914154378496
+22,0.366666667,BASELINE,765,745,714,679,659,634.851066154,878,787,805,651,631,652,0.400968976919,-0.00535674235442,0.0698317040214,0.999999937843,0.000221339818594,-0.000274077709183,1.42792151182e-05,1793242914171045120
+23,0.383333333,BASELINE,765,745,714,679.432479538,659,635,878,787,805,651.432479538,631,652,0.400970397829,-0.00535633189632,0.0698328009666,0.999999938361,0.000221432524305,-0.000272092895999,1.45354455891e-05,1793242914187711744
+24,0.400000000,BASELINE,765.01166455,745,714,679.98833545,658.98833545,635,878.01166455,787,804.98833545,652,631,652,0.400972418709,-0.00535550838311,0.0698343761391,0.999999938928,0.000222612216166,-0.000269010139797,1.4907337086e-05,1793242914204378368
+25,0.416666667,BASELINE,765.587427277,745,714,679.412572723,658.412572723,635,878.587427277,787,804.412572723,652,631,652,0.400971514857,-0.00535577021981,0.0698341973586,0.999999938165,0.000224898563759,-0.000269945231334,1.48428817774e-05,1793242914221044992
+26,0.433333333,BASELINE,765.673613296,745,714,679,658.163193352,634.836806648,879,787,804.163193352,652,631,652,0.400971069518,-0.00535630556253,0.0698340997133,0.999999937878,0.000225536565984,-0.000270477389984,1.47872650601e-05,1793242914237711872
+27,0.450000000,BASELINE,764.522063972,745,714,679,658.738968014,634.261031986,879,787,804.738968014,652,631,652,0.400971783376,-0.00535753237632,0.069834207192,0.9999999388,0.000222007263584,-0.000269990864093,1.47539938321e-05,1793242914254378496
+28,0.466666667,BASELINE,764.322571739,745,714,679,658.677428261,634.322571739,879,787,805,652,631,652,0.400971628561,-0.00535764396276,0.069834126843,0.999999938959,0.000221365250802,-0.00026993137681,1.47262542866e-05,1793242914271045376
+29,0.483333333,BASELINE,764.912668466,745,714,679,658.087331534,634.912668466,879,787,805,652,631,652,0.400970753313,-0.00535683063491,0.0698338907192,0.99999993849,0.000223117812923,-0.000270226054181,1.47031024464e-05,1793242914287712000
+30,0.500000000,BASELINE,765,745,714,678.50684569,658,634.50684569,879,787,805,652,631,651.50684569,0.400971157222,-0.00535767172073,0.0698344292843,0.999999938669,0.000222882487493,-0.000269747526142,1.48709629125e-05,1793242914304378624
+31,0.516666667,BASELINE,765,745,714.071351888,678.071351888,658.071351888,634.071351888,879,787,805,651.928648112,631,651.071351888,0.400971722545,-0.00535867936065,0.0698349900691,0.999999938944,0.000222215010957,-0.000269268842103,1.50535818037e-05,1793242914321045248
+32,0.533333333,BASELINE,765,745,714.645191421,678.645191421,658.645191421,634.645191421,879,787,805,651.354808579,631,651.645191421,0.400971859845,-0.0053588361282,0.0698347596712,0.999999939101,0.000220935901537,-0.000269734906002,1.51064737498e-05,1793242914337711872
+33,0.550000000,BASELINE,765,745,715,679,659,635,879,787,804.775109088,651.224890912,631,652,0.400971554984,-0.00535828871319,0.0698345444388,0.999999939094,0.000220474310935,-0.000270147253494,1.4965608886e-05,1793242914354378496
+34,0.566666667,BASELINE,765,745,715,679,659,635,879,787,804.1859171,651.8140829,631,652,0.400970533869,-0.00535660059191,0.069834353773,0.999999938822,0.00022133702023,-0.000270472585664,1.45108771141e-05,1793242914371045120
+35,0.583333333,BASELINE,765,745,715,679.397636774,659,635,879,787,804.397636774,652,631,652,0.400970725124,-0.00535694098974,0.0698342588673,0.999999938986,0.000220961863175,-0.000270171295277,1.45215534272e-05,1793242914387712000
+36,0.600000000,BASELINE,765,745,715,679.978591426,659,635,879,787,804.978591426,652,631,652,0.400971475304,-0.0053582165721,0.0698342081088,0.999999939351,0.000220016027002,-0.000269581120376,1.47467914016e-05,1793242914404378368
+37,0.616666667,BASELINE,764.445879714,744.445879714,714.445879714,679.445879714,659,635,878.445879714,787,804.445879714,652,631,652,0.400969919096,-0.00535719249748,0.0698334516844,0.999999938663,0.000221231109423,-0.000271121191544,1.49423600108e-05,1793242914421044992
+38,0.633333333,BASELINE,764.131612096,744.131612096,714,679,658.868387904,635,878.131612096,787,804,652,631,652,0.400969242146,-0.00535645370875,0.0698332924605,0.999999938289,0.000222388811229,-0.000271549751785,1.50559362051e-05,1793242914437711872
+39,0.650000000,BASELINE,764.716580806,744.716580806,714,679,658.283419194,635,878.716580806,787,804,652,631,652,0.40097189789,-0.00535700070885,0.0698352833809,0.999999939133,0.000223064061324,-0.000267868800826,1.48909881455e-05,1793242914454378496
+40,0.666666667,BASELINE,765,745,714,679,658.298902302,635,879,787,804.298902302,652,631,652,0.400972709297,-0.00535721310989,0.069835571037,0.999999939395,0.000222894730042,-0.000267044544048,1.46887472012e-05,1793242914471045120
+41,0.683333333,BASELINE,765,745,714,679,658.878735712,635,879,787,804.878735712,652,631,652,0.400971787254,-0.00535711102925,0.0698342578357,0.999999939114,0.000221931596934,-0.00026890522586,1.44514555788e-05,1793242914487711744
+42,0.700000000,BASELINE,765,744.542627315,714,679,659,635,879,787,805,652,631,651.542627315,0.400971960934,-0.00535703792302,0.0698343575629,0.999999939155,0.000222216342644,-0.000268506006989,1.46169961259e-05,1793242914504378624
+43,0.716666667,BASELINE,765,744,714,679,659,635,878.96464557,787,804.96464557,651.96464557,630.96464557,651.03535443,0.40097240717,-0.0053569767547,0.0698348087115,0.99999993927,0.000222779839774,-0.000267595147751,1.48731612332e-05,1793242914521045248
+44,0.733333333,BASELINE,765,744,714,679,659,635,878.391814975,787,804.391814975,651.391814975,630.391814975,651.608185025,0.400972591954,-0.00535698059087,0.0698349221459,0.999999939212,0.000222564384755,-0.000267991234643,1.48875970799e-05,1793242914537712128
+45,0.750000000,BASELINE,765,744.186579665,714,679,659,634.813420335,878.186579665,786.813420335,804,651.186579665,630.186579665,652,0.400972485566,-0.00535641190958,0.069834997894,0.99999993899,0.000223041534467,-0.00026842446862,1.48544062294e-05,1793242914554378752
+46,0.766666667,BASELINE,765,744.777017805,714,679,659,634.222982195,878.777017805,786.222982195,804,651.777017805,630.777017805,652,0.400971748923,-0.00535460399344,0.0698349920688,0.999999938411,0.000225017852355,-0.000268938108761,1.47181256577e-05,1793242914571045376
+47,0.783333333,BASELINE,764.639476118,745,714,679,659,634,878.639476118,786,804,652,631.360523882,652,0.400970537603,-0.00535472062066,0.0698343387555,0.999999938049,0.0002252829728,-0.000270064592263,1.4672203311e-05,1793242914587711744
+48,0.800000000,BASELINE,764.060176549,745,714,679,659,634,878.060176549,786,804,652,631.939823451,652,0.400969038235,-0.00535600511291,0.0698332925289,0.999999937817,0.000224509692333,-0.000271562965817,1.46811127772e-05,1793242914604378368
+49,0.816666667,BASELINE,764.511522013,745,714,679,659,634.511522013,878,786.511522013,804,652,631.488477987,652,0.400969969273,-0.00535634360669,0.0698340885254,0.999999938293,0.000223678904463,-0.000270487383493,1.47784322844e-05,1793242914621045248
+50,0.833333333,BASELINE,765,745,714.083439009,679,659,635,878,787,804.083439009,652,631,652,0.400970823036,-0.00535659148271,0.0698348013778,0.999999938733,0.000222865827062,-0.000269525678941,1.48825866758e-05,1793242914637711872
+51,0.850000000,BASELINE,765,745,714.661879252,679,659,635,878,787,804.661879252,652,631,652,0.400969546997,-0.00535695232549,0.0698337540967,0.999999938479,0.00022219736392,-0.00027100964231,1.49664901063e-05,1793242914654378752
+52,0.866666667,BASELINE,765,745,714.753893082,679,659,634.753893082,878,786.753893082,805,651.753893082,631,651.753893082,0.400968366707,-0.00535736209468,0.0698328551636,0.999999938256,0.000221452977684,-0.000272443369603,1.48901849263e-05,1793242914671045632
+53,0.883333333,BASELINE,765,745,714.16152276,679,659,634.16152276,878,786.16152276,805,651.16152276,631,651.16152276,0.400967321132,-0.00535784070149,0.0698321649508,0.999999938076,0.00022060177048,-0.000273806416492,1.45884721047e-05,1793242914687712512
+54,0.900000000,BASELINE,765,744.578819923,714,679,659,634.421180077,878,786,805,651.421180077,631,651.421180077,0.400968953903,-0.00535736439573,0.0698331937448,0.999999938224,0.000222267900802,-0.000271910275257,1.45958411072e-05,1793242914704379136
+55,0.916666667,BASELINE,765,744.000256172,714,679,658.999743828,635,878.000256172,786.000256172,804.999743828,652,631,652,0.400971589747,-0.00535653068935,0.0698348664033,0.999999938482,0.000224875549369,-0.00026879353648,1.47190433759e-05,1793242914721045760
+56,0.933333333,BASELINE,765,744.573887537,714,679,658.426112463,635,878.573887537,786.573887537,804.426112463,652,631,652,0.400971926995,-0.00535702128811,0.0698352341467,0.999999939091,0.000222514538097,-0.000268490160618,1.47525414808e-05,1793242914737712384
+57,0.950000000,BASELINE,765,745,714,678.849201926,658.150798074,634.849201926,878.849201926,787,804.150798074,652,631,652,0.400972208049,-0.00535730378413,0.0698355285857,0.99999993949,0.000221073099203,-0.000268194548645,1.47707014553e-05,1793242914754379008
+58,0.966666667,BASELINE,765,745,714,678.262819513,658.737180487,634.262819513,878.262819513,787,804.737180487,652,631,652,0.400972326783,-0.00535698516962,0.0698356112829,0.999999939294,0.000222287870548,-0.000267921362932,1.47445568168e-05,1793242914771045632
+59,0.983333333,BASELINE,765,744.678833202,714,678.321166798,659,634.321166798,878,786.678833202,805,651.678833202,631,651.678833202,0.400971966379,-0.00535673333349,0.0698356281744,0.999999939033,0.000223321746996,-0.000268040621345,1.46611571803e-05,1793242914787712256
+60,1.000000000,BASELINE,765,744.096793103,714,678.903206897,659,634.903206897,878,786.096793103,805,651.096793103,631,651.096793103,0.400971216787,-0.00535653573923,0.0698355916141,0.999999938719,0.000224208688557,-0.000268478649274,1.45312511763e-05,1793242914804378880
+61,1.016666667,BASELINE,765,744.480337058,714,679,659,635,878,786.480337058,805,651,631,651.480337058,0.400972368654,-0.00535547926263,0.0698357356441,0.999999938543,0.000225665991399,-0.000267912462733,1.45495369181e-05,1793242914821045248
+62,1.033333333,BASELINE,765,745,714,679,659,635,878.055804144,786.944195856,805,651.055804144,631,651.944195856,0.400973546552,-0.00535454116322,0.0698358213079,0.999999938436,0.000226779887586,-0.00026736877234,1.45974453063e-05,1793242914837711616
+63,1.050000000,BASELINE,765,745,714,679,659,635,878.624982015,786.375017985,805,651.624982015,631,651.375017985,0.400971474654,-0.00535626817654,0.0698350386351,0.999999938728,0.000223687950134,-0.000268874823584,1.46459293272e-05,1793242914854378240
+64,1.066666667,BASELINE,764.796583204,745,714,679,658.796583204,634.796583204,878.796583204,786.203416796,804.796583204,652,631,651.203416796,0.400970091227,-0.0053567959538,0.0698343095572,0.999999938712,0.00022218132365,-0.000270182498805,1.45867357073e-05,1793242914871044864
+65,1.083333333,BASELINE,764.200268828,745,714,679,658.200268828,634.200268828,878.200268828,786.799731172,804.200268828,652,631,651.799731172,0.400970037574,-0.00535500741808,0.0698336839975,0.999999938119,0.000223736710209,-0.000271107012567,1.43195637595e-05,1793242914887711488
+66,1.100000000,BASELINE,764.384615419,744.615384581,714,679,658.384615419,634.384615419,878,787,804,652,631,652,0.400970067164,-0.00535424655348,0.0698341406879,0.999999937958,0.000224863068438,-0.000270768633343,1.43497390552e-05,1793242914904378112
+67,1.116666667,BASELINE,764.963719762,744.036280238,714,679,658.963719762,634.963719762,878,787,804,652,631,652,0.400970138848,-0.00535400535259,0.0698351446411,0.999999938014,0.000225772479368,-0.000269791645535,1.45302742834e-05,1793242914921044992
+68,1.133333333,BASELINE,765,744.518494819,714,679,659,635,878.518494819,787,804.518494819,652,631,652,0.400970255356,-0.0053545374728,0.069835527941,0.999999938215,0.000225364956786,-0.00026937308116,1.47611874662e-05,1793242914937711872
+69,1.150000000,BASELINE,765,745,714.077552734,679,659,635,879,787,805,651.922447266,631,652,0.400970396614,-0.00535518228954,0.0698356816914,0.999999938423,0.000224711928443,-0.000269140303992,1.49298419811e-05,1793242914954378496
+70,1.166666667,BASELINE,765,745,714.676323266,679,659,635,879,787,805,651.323676734,631,652,0.400970684084,-0.00535623714842,0.0698345714745,0.999999938604,0.000223000458319,-0.00026990532898,1.4657437796e-05,1793242914971045120
+71,1.183333333,BASELINE,764.728325551,744.728325551,714.728325551,678.728325551,659,634.728325551,878.728325551,786.728325551,804.728325551,651.271674449,631,652,0.400970211901,-0.00535692802221,0.0698338248677,0.999999938375,0.000222927928477,-0.00027081005996,1.46925733917e-05,1793242914987711744
+72,1.200000000,BASELINE,764.136997516,744.136997516,714.136997516,678.136997516,659,634.136997516,878.136997516,786.136997516,804.136997516,651.863002484,631,652,0.400968845905,-0.00535719062938,0.0698335060864,0.999999937663,0.000224783784172,-0.000271879169845,1.50895618765e-05,1793242915004378112
+73,1.216666667,BASELINE,764.444792302,744.444792302,714,678,659,634.444792302,878.444792302,786.444792302,804,651.555207698,631,651.555207698,0.400968512411,-0.00535564564781,0.0698336268172,0.999999937567,0.000225327129013,-0.000271803216109,1.47255263215e-05,1793242915021045760
+74,1.233333333,BASELINE,765.023598901,744.976401099,714,678,659,635,878.976401099,786.976401099,804.023598901,651.023598901,631,651.023598901,0.400968591169,-0.00535370805985,0.0698339171103,0.999999937702,0.000225364954945,-0.000271305491167,1.41581378419e-05,1793242915037713408
+75,1.250000000,BASELINE,765.599898168,744.400101832,714,678,659,635,878.400101832,786.400101832,804.599898168,651.599898168,631,651.599898168,0.400971033391,-0.00535534090868,0.0698350747402,0.999999938887,0.000222832413484,-0.000269016276828,1.42025898882e-05,1793242915054379264
+76,1.266666667,BASELINE,765.641410292,744,714,678.358589708,659,635,878.179294854,786.179294854,804.820705146,652,631,652,0.400972258696,-0.00535666099859,0.0698355814874,0.999999939633,0.00022085553415,-0.000267870208014,1.42038477163e-05,1793242915071045376
+77,1.283333333,BASELINE,764.468550008,744,714,679.531449992,659,635,878.765724996,786.765724996,804.234275004,652,631,652,0.400970720681,-0.00535727088845,0.0698346102376,0.999999939403,0.000220140429395,-0.000269319946596,1.41070219095e-05,1793242915087712000
+78,1.300000000,BASELINE,764.349833344,744.349833344,714,679.650166656,659.349833344,635,879,787.349833344,804.349833344,652,631,652,0.400969360536,-0.00535686934873,0.0698338519924,0.999999938639,0.00022185185073,-0.000270742732356,1.4217001719e-05,1793242915104378624
+79,1.316666667,BASELINE,764.93239707,744.93239707,714,679.06760293,659.93239707,635,879,787.93239707,804.93239707,652,631,652,0.400968118721,-0.0053557949446,0.0698332354509,0.999999937511,0.000225177544589,-0.000272147587401,1.44645611855e-05,1793242915121045248
+80,1.333333333,BASELINE,765,745,714,679.489317069,659.510682931,635,879,787.510682931,804.510682931,652,631,652,0.400968895719,-0.00535528985243,0.0698340521053,0.999999937802,0.000225356713781,-0.000270934026945,1.43432359717e-05,1793242915137712384
+81,1.350000000,BASELINE,765,745,714.046017677,679.953982323,659,635,878.953982323,786.953982323,804.046017677,652,631,651.953982323,0.400969962863,-0.00535503756802,0.0698350362097,0.999999938298,0.000224975650188,-0.000269422420698,1.42059100307e-05,1793242915154379008
+82,1.366666667,BASELINE,765,745,714.640206193,679.359793807,659,635,878.359793807,786.359793807,804.640206193,652,631,651.359793807,0.400971329251,-0.00535690648261,0.0698357737698,0.999999939032,0.000222841544113,-0.000268455131884,1.44548443886e-05,1793242915171045632
+83,1.383333333,BASELINE,764.764981532,745,714.764981532,679,659,635,878,786.235018468,805,652,631,651.235018468,0.400972229942,-0.00535773892194,0.0698359941319,0.999999939244,0.000222748461102,-0.000267731716484,1.46412367566e-05,1793242915187712256
+84,1.400000000,BASELINE,764.1692117,745,714.1692117,679,659,635,878,786.8307883,805,652,631,651.8307883,0.400972415793,-0.00535698038079,0.0698354205995,0.999999938655,0.000225788330929,-0.000267382644565,1.47316277362e-05,1793242915204378880
+85,1.416666667,BASELINE,764,745,714.41303102,679,659,635,878.41303102,787,805,651.58696898,631,652,0.400971748894,-0.00535628160446,0.0698353221237,0.999999938439,0.000225879645896,-0.000268098118941,1.49393320297e-05,1793242915221045504
+86,1.433333333,BASELINE,764,745,714.989907624,679,659,635,878.989907624,787,805,651.010092376,631,652,0.400970743717,-0.00535560653632,0.0698354120985,0.999999938373,0.000224801296248,-0.000269235889004,1.51935734242e-05,1793242915237712128
+87,1.450000000,BASELINE,764,744.436829293,714.436829293,679,659,635,879,787,805,651.563170707,630.436829293,652,0.400970098615,-0.00535569149813,0.0698342744594,0.999999938046,0.00022480420238,-0.000270475404384,1.46082556759e-05,1793242915254379008
+88,1.466666667,BASELINE,764.14074792,744.14074792,714,679,659.14074792,634.85925208,878.85925208,787,805,652,630.14074792,651.85925208,0.400969582525,-0.00535565358763,0.0698335135581,0.999999937792,0.000225203162616,-0.000271107555975,1.41818040568e-05,1793242915271045632
+89,1.483333333,BASELINE,764.732350572,744.732350572,714,679,659.732350572,634.267649428,878.267649428,787,805,652,630.732350572,651.267649428,0.40096945916,-0.00535517873171,0.0698340294744,0.999999937784,0.000226809120763,-0.000269788348936,1.43121323018e-05,1793242915287712512
+90,1.500000000,BASELINE,765,745,714,678.682965046,659.682965046,634.317034954,878,787,805,652,631,651.317034954,0.400968702376,-0.00535513456164,0.0698336180059,0.999999937698,0.00022634119642,-0.000270496070438,1.4358621549e-05,1793242915304379136
+91,1.516666667,BASELINE,765,745,714,678.103996553,659.103996553,634.896003447,878,787,805,652,631,651.896003447,0.400967422262,-0.00535544622324,0.0698324403343,0.999999937542,0.000224159835122,-0.000272878435638,1.43358432052e-05,1793242915321045760
+92,1.533333333,BASELINE,765,745,714,678.470649642,659,635,878.470649642,787,804.529350358,652,631,652,0.400968651706,-0.0053557098656,0.0698334144371,0.999999937829,0.000224434221457,-0.000271594153272,1.44377766004e-05,1793242915337712384
+93,1.550000000,BASELINE,765,745,714,679,659,635,878.955452503,787,804.044547497,651.955452503,631,652,0.400970427713,-0.00535600530693,0.0698348579855,0.999999938266,0.000225003153552,-0.000269499767859,1.45710096849e-05,1793242915354379008
+94,1.566666667,BASELINE,765,745,714,679,659,635,878.379191375,787,804.620808625,651.379191375,631,652,0.400972168963,-0.00535680578996,0.0698362813376,0.999999939371,0.000222669903269,-0.000267318498347,1.47519106741e-05,1793242915371045376
+95,1.583333333,BASELINE,765,745,714,679,659,635,878.405000314,787,805,651.202500157,631,652,0.400973265849,-0.00535675419196,0.0698372389622,0.999999939904,0.000221968251678,-0.000265897150806,1.48425757937e-05,1793242915387711744
+96,1.600000000,BASELINE,765,745,714,679,659,635,879.589281385,787,805,651.794640692,631,652,0.400973122883,-0.00535506306365,0.0698373004581,0.999999939351,0.000224406037897,-0.000265938005625,1.47596137297e-05,1793242915404378368
+97,1.616666667,BASELINE,765,744.62310394,714,679,659,635,879.62310394,787,804.62310394,652,631,652,0.400971607227,-0.00535560151311,0.0698359699932,0.999999939085,0.000223327849917,-0.00026785085177,1.45258319205e-05,1793242915421045248
+98,1.633333333,BASELINE,765,744.04609708,714,679,659,635,879.04609708,787,804.04609708,652,631,652,0.400969362748,-0.00535732374418,0.0698339004747,0.99999993896,0.000220382875476,-0.000270757620954,1.42119732384e-05,1793242915437712128
+99,1.650000000,BASELINE,765,744.529915247,714,679,659,635,879,787,805.059830495,652,631,652,0.400968990981,-0.00535616646644,0.0698342354484,0.999999938163,0.000223873883457,-0.000270827999372,1.43724030023e-05,1793242915454378752
+100,1.666666667,BASELINE,765,745,714.105390166,679,659,635,879,787,805.789219668,652,631,652,0.400968763805,-0.0053551918931,0.0698345330864,0.999999937611,0.000226469639321,-0.000270700657279,1.44920883709e-05,1793242915471045376
+101,1.683333333,BASELINE,765,745,714.678861735,679,659,635,879,787,804.64227653,652,631,652,0.400968456643,-0.00535613921883,0.0698337376497,0.999999938458,0.000222607283357,-0.000270788961849,1.42479097986e-05,1793242915487712000
+102,1.700000000,BASELINE,765,745,714.738407387,678.738407387,659,635,879,787,804,652,631,652,0.400968749967,-0.00535669997251,0.0698335131944,0.999999938808,0.000221301779019,-0.000270565870966,1.42976329158e-05,1793242915504378624
+103,1.716666667,BASELINE,765,745,714.143892465,678.143892465,659,635,879,787,804,652,631,652,0.400969807515,-0.00535676874561,0.0698340154128,0.999999938536,0.000223250315448,-0.000269946474951,1.47213973073e-05,1793242915521045248
+104,1.733333333,BASELINE,765,745,714,678.435609195,659,635,879,787,804.435609195,652,631,652,0.400970906399,-0.00535601662278,0.0698348787137,0.999999938675,0.000223797988271,-0.000268981198114,1.46253824769e-05,1793242915537711872
+105,1.750000000,BASELINE,765,745,714,679,659,635,879,787,805,652,631,652,0.400971958548,-0.00535501142529,0.0698358179127,0.999999938924,0.000223920100458,-0.000267966884361,1.43685455593e-05,1793242915554378752
+106,1.766666667,BASELINE,765,745,714,679,659,635,879,787,805,652,631,652,0.400969731971,-0.00535450149773,0.0698346015711,0.999999937997,0.000225232726548,-0.000270312019241,1.4393633409e-05,1793242915571045120
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,635,878,787,805,652,631,652,0.400972933768,-0.00535413409809,0.0698371879878,0.999999939151,0.000225129479215,-0.000266093250231,1.44391533899e-05,1793242915611393280
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714.418707555,679,658.581292445,635,878.581292445,786.418707555,805,652,631,652,0.40097155694,-0.00535361539026,0.0698360824526,0.999999938483,0.000226676897469,-0.000267303016842,1.41670330161e-05,1793242915628059904
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.839707199,879,786,805,652,631,652,0.400970396375,-0.00535363111593,0.0698352635701,0.999999938082,0.000227096584736,-0.000268452673696,1.40200461465e-05,1793242915644726272
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.266609572,879,786,805,652,631,652,0.400969792758,-0.00535502317731,0.0698351829089,0.999999938373,0.000224612007202,-0.000269447529112,1.41953176981e-05,1793242915661392896
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.307603718,659,634.307603718,879,786.307603718,804.692396282,652,631,652,0.400969837535,-0.00535622839158,0.0698352267966,0.999999938616,0.000223210713854,-0.000269701119503,1.43403914967e-05,1793242915678059776
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.882787474,659,634.882787474,879,786.882787474,804.117212526,652,631,652,0.40097044634,-0.00535727107015,0.0698353790276,0.999999938822,0.000222751753947,-0.000269309894082,1.4459196695e-05,1793242915694726400
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.526327854,659.473672146,635,879,787,804.473672146,651.526327854,631,652,0.400969967783,-0.00535662667403,0.0698347004096,0.999999938578,0.000223173000579,-0.00026987013159,1.44173431767e-05,1793242915711393024
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.066150815,745,714,679,659.933849185,635,878.933849185,787,804.933849185,651.066150815,631,652,0.40096922405,-0.00535571968076,0.0698338912572,0.999999938293,0.00022351447599,-0.000270649227615,1.43029280845e-05,1793242915728059904
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.640021231,745,714,679,659.359978769,635,878.359978769,787,804.359978769,651.640021231,631,652,0.400968581021,-0.00535611125484,0.0698337123281,0.999999938583,0.000221514636347,-0.000271239072141,1.39471837233e-05,1793242915744726528
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.785254314,745,714,679.214745686,659,635,878.214745686,787,804.214745686,651.785254314,631,652,0.400970777349,-0.0053561242965,0.0698347712549,0.999999939089,0.000221107009393,-0.00026970780984,1.38233720289e-05,1793242915761393152
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.209092572,745,714,679.790907428,659,635,878.790907428,787,804.790907428,651.209092572,631,652,0.400977752299,-0.00535550026969,0.0698379134879,0.999999939943,0.00022337906966,-0.000264606733923,1.40899020388e-05,1793242915778059776
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.623312963,659,635,879,786.623312963,804.623312963,651.376687037,631,652,0.400996846657,-0.00535532500269,0.0698466279067,0.999999943393,0.000224872311055,-0.000249868062651,1.45458659015e-05,1793242915794726656
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.0320547,659,635,879,786.0320547,804.0320547,651.9679453,631,652,0.401022844561,-0.00535540536146,0.0698585163951,0.999999947998,0.000225921916087,-0.000229639553237,1.51097364821e-05,1793242915811393280
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.451983138,714,679,659,635,879,786.548016862,804.548016862,652,631,652,0.401074474272,-0.00535809578096,0.0698769384898,0.999999955799,0.0002227839451,-0.000196280987787,1.56003134167e-05,1793242915828059392
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.126417473,714,679,659,635,878.873582527,787,805,652,631,652,0.401129077538,-0.00536074864404,0.069894412633,0.999999961777,0.000220226152578,-0.000166399694489,1.60349857718e-05,1793242915844726016
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.701166456,714,679,659,635,878.298833544,787,805,652,631,652,0.401189015681,-0.00536273771979,0.0699071967209,0.999999964061,0.000220577214098,-0.000151519512894,1.62862960788e-05,1793242915861392896
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714.275623954,679,659,635,878,787,805,652,631,652,0.401253072322,-0.005364461811,0.0699145342939,0.999999965648,0.000219635784033,-0.000142191530764,1.57007632808e-05,1793242915878059776
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.849765719,679,659,635,878,787,805,652,631,652,0.401321589547,-0.00536589890742,0.0699159729532,0.999999966647,0.000217294505552,-0.000138876925429,1.42088775607e-05,1793242915894726656
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714.562112945,679,659,635,878.437887055,787,804.562112945,652,631,651.562112945,0.401406436062,-0.00536691937933,0.0699157457515,0.9999999667,0.00021678262726,-0.000139468440241,1.23870962822e-05,1793242915911393280
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.969787413,878.969787413,787,804,651.969787413,631,651.030212587,0.401498211894,-0.00536780085381,0.0699148591324,0.99999996643,0.000216814617698,-0.000141502692397,1.04035435036e-05,1793242915928059392
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.391081402,878.391081402,787,804,651.391081402,631,651.608918598,0.401610723064,-0.00536883946903,0.0699127193003,0.999999966415,0.000214949883264,-0.000144597072261,7.60566471303e-06,1793242915944726016
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.18530588,878,787,804.18530588,651.18530588,631,652,0.401732612468,-0.00537095626082,0.0699125755828,0.999999967035,0.000211742859826,-0.000145161490999,4.71714989531e-06,1793242915961392896
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.756859969,878,787,804.756859969,651.756859969,631,652,0.401874049675,-0.00537532038412,0.0699165925307,0.999999968971,0.000205737993797,-0.000140452504329,1.63971533857e-06,1793242915978059776
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.332099314,787,804.667900686,652,631,652,0.402035108179,-0.00537822850213,0.0699193838918,0.999999970606,0.000200843877236,-0.000135815844997,-1.70271576423e-06,1793242915994726656
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.910067084,787,804.089932916,652,631,652,0.402210693248,-0.00538005867266,0.0699212678946,0.999999972016,0.00019677209916,-0.000131232732444,-5.2413363661e-06,1793242916011393280
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+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.913033307,786.086966693,805,652,631.086966693,651.913033307,0.402629148294,-0.00538828775727,0.0699265943127,0.99999997616,0.000183136056283,-0.000118005792782,-1.46753426322e-05,1793242916044726528
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+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.400608072,787,805,652,631,652,0.403731576614,-0.00540532382422,0.0699506549767,0.99999998478,0.000155739204245,-7.03494471054e-05,-3.51685718287e-05,1793242916111393280
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.992813516,787,805,652,631,652,0.404059614027,-0.00541201368588,0.0699584696986,0.99999998668,0.000147498327181,-5.72758495828e-05,-4.00511903426e-05,1793242916128060160
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.429899878,787,805,651.429899878,631,651.429899878,0.404411441336,-0.00541886203132,0.0699575486735,0.999999995938,4.89063170386e-05,-6.04956850543e-05,-4.55219833311e-05,1793242916144726528
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714.146042676,679,659,635,878.292085351,787,805,651.146042676,631,651.146042676,0.404774751971,-0.00542474460388,0.069958716797,0.999999997138,-5.96815226078e-06,-6.00857761954e-05,-4.55818431913e-05,1793242916161393152
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714.71859511,679,659,635,879.437190221,787,805,651.71859511,631,651.71859511,0.405170745505,-0.00542780100196,0.0699662995642,0.999999995925,7.00734933535e-05,-4.84908633952e-05,-2.98182636638e-05,1793242916178059776
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.705050842,678.705050842,659,635,879.705050842,787,805,652,631,652,0.405584619371,-0.00543020975958,0.0699705963081,0.999999993307,0.0001054680145,-3.97913398747e-05,-2.60547251017e-05,1793242916194726400
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.125022325,678.125022325,659,635,879.125022325,787,805,652,631,652,0.406015775291,-0.00543199254892,0.0699717169891,0.999999993693,0.00010157558371,-3.38903168765e-05,-3.38896717976e-05,1793242916211393024
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.464015325,745,714.464015325,678.464015325,659,635,879,787,805,652,631,652,0.406461018647,-0.00544185101329,0.0699552641475,0.999999994591,7.40152686775e-05,-6.27911043075e-05,-3.73796554193e-05,1793242916228059904
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.945876996,745,715,679.054123004,659,635,878.945876996,787,805,652,631,652,0.406915897058,-0.00545531655164,0.0699352514336,0.999999993547,4.15262244548e-05,-9.82373060593e-05,-3.91401588255e-05,1793242916244726528
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.369334654,745,715,679.630665346,659,635,878.369334654,787,805,652,631,652,0.407426414786,-0.00548218081049,0.0699274858742,0.999999993601,2.42350282619e-05,-0.00010456113964,-3.57306979801e-05,1793242916261393152
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,635,878.207271336,787,805,652,631,651.792728664,0.407964084413,-0.00550387670115,0.069928010992,0.999999994678,4.01038787356e-06,-9.73287356745e-05,-3.39956097268e-05,1793242916278059776
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,635,878.783990742,787,805,652,631,651.216009258,0.408550150554,-0.00551636030026,0.0699433137191,0.999999996975,-2.14429305332e-05,-6.59331938115e-05,-3.52449850796e-05,1793242916294726656
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714.642432785,679.642432785,659,635,879,787,805,651.642432785,631.357567215,651.357567215,0.409139203068,-0.00552004735629,0.0699515657598,0.99999999791,-2.71859892408e-05,-4.58493296471e-05,-3.65807947979e-05,1793242916311393536
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714.070738459,679.070738459,659,635,879,787,805,651.070738459,631.929261541,651.929261541,0.409730043934,-0.00551846665164,0.0699555955362,0.999999998527,-2.11256691609e-05,-3.25394010503e-05,-3.79683652215e-05,1793242916328060160
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,651.523026788,631.476973212,652,0.410350437086,-0.00552993724019,0.0699459864186,0.999999997415,-3.38807526261e-05,-5.00803636256e-05,-3.89196586591e-05,1793242916344726784
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.884468452,879,787,805,652,631,652,0.410984701288,-0.00554149399239,0.0699384854153,0.99999999594,-4.72972976455e-05,-6.56147315805e-05,-3.97229965341e-05,1793242916361393408
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.309374926,879,787,805,652,631,652,0.411657542314,-0.00554606265281,0.0699470309646,0.999999996241,-5.27765083387e-05,-5.58384974618e-05,-4.01828499427e-05,1793242916378059776
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.256185491,879,787,804.743814509,651.743814509,631,652,0.412365907907,-0.00555293923378,0.0699691229917,0.99999999692,-6.41126983007e-05,-2.1323076977e-05,-3.99291512212e-05,1793242916394726400
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.810646625,879,787,804.189353375,651.189353375,631,652,0.413115634685,-0.00556250291713,0.0700069871249,0.99999999498,-8.22681440818e-05,4.19960711353e-05,-3.884466682e-05,1793242916411393024
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,786.594671448,804.405328552,651,631.405328552,652,0.413851355417,-0.00556891491155,0.070024925468,0.999999992815,-8.95459340826e-05,6.97588716224e-05,-3.85371153044e-05,1793242916428059648
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.980393409,879,786,805,651,631.980393409,652,0.41457917097,-0.00557202940374,0.0700303801511,0.999999992389,-8.96230184841e-05,7.53954753969e-05,-3.87959455704e-05,1793242916444726528
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.40211182,879,786,805,651,631.40211182,652,0.415288713927,-0.00552775902738,0.0699745812863,0.999999997732,-4.52690153413e-05,-2.39933622739e-05,-4.3712053678e-05,1793242916461393408
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.825364309,714,679.174635691,659.349271381,634,879,786.174635691,805,651,631,652,0.416020832454,-0.00549473332389,0.069930357944,0.999999993762,-1.00234729729e-05,-0.000100630517106,-4.74143112982e-05,1793242916478060032
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.252118407,714,679.747881593,660.495763185,634,879,786.747881593,805,651,631,652,0.416804480225,-0.00548737386234,0.0699125560168,0.999999990967,4.43178251124e-06,-0.000125336397175,-4.83459263489e-05,1793242916494726656
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.330670446,714,679.669329554,660.338659108,634.330670446,879,787,805,651.330670446,631,652,0.417613264666,-0.00549468910355,0.0699239789011,0.999999993175,-6.33908685637e-06,-0.000106235593429,-4.82143702821e-05,1793242916511393280
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.920951478,714,679.079048522,659.158097044,634.920951478,879,787,805,651.920951478,631,652,0.418441783962,-0.00551352550837,0.0699583462936,0.999999996812,-3.69150805608e-05,-5.27419992014e-05,-4.72481144849e-05,1793242916528059648
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.501760907,787,805,652,631,652,0.419307251518,-0.00551834253256,0.0699822615961,0.999999997821,-4.25472878014e-05,-1.78611228543e-05,-4.72059580974e-05,1793242916544726528
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679.080380977,659,635,879.919619023,786.919619023,805,652,631,652,0.42018334902,-0.00552171237067,0.0700047594686,0.999999997752,-4.53667733063e-05,1.44895253281e-05,-4.72005986711e-05,1793242916561393152
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,679.654548134,659,635,879.345451866,786.345451866,805,652,631,652,0.42108965089,-0.00552950852832,0.0700284780097,0.999999996227,-5.46006823028e-05,4.8976315188e-05,-4.65435179639e-05,1793242916578060032
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714.229834008,680,659.229834008,635,879,786.229834008,805.229834008,652,631,652,0.421965751457,-0.00553159405473,0.0700309852194,0.999999995898,-5.92758828277e-05,4.96728569277e-05,-4.71503107963e-05,1793242916594726656
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714.806809681,680,659.806809681,635,879,786.806809681,805.806809681,652,631,652,0.422796236062,-0.00552505423547,0.0700014548025,0.999999997138,-5.70656039338e-05,-6.67442626764e-07,-4.96660601963e-05,1793242916611393024
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714.607258447,680,660,635,879.392741553,787,805.607258447,652,631,652,0.423585417248,-0.00551596688038,0.0699362141582,0.999999992085,-5.04452553671e-05,-0.000101399971746,-5.47961917058e-05,1793242916628059648
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714.01681823,680,660,635,879.98318177,787,805.01681823,652,631,652,0.424353807024,-0.00550559714437,0.069852997663,0.999999971381,-4.16049606959e-05,-0.000227498991203,-6.12423528536e-05,1793242916644726272
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879.438028178,787,805,652,631,652,0.425288346596,-0.00551366626597,0.0698737200157,0.999999979828,-5.09919074157e-05,-0.000184412412092,-6.11231166289e-05,1793242916661393152
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.860221615,745,714,680,660,635,879,787,805,652,631.139778385,652,0.426233475193,-0.0055221822337,0.0699064962036,0.999999988089,-6.11821487411e-05,-0.000128445386836,-5.98443449868e-05,1793242916678060032
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.284417468,745,714,680,660,635,879,787,805,652,631.715582532,652,0.427196439326,-0.00553040569604,0.0699673670691,0.999999994709,-7.2211146991e-05,-4.77725542983e-05,-5.55489747438e-05,1793242916694726656
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.29085303,745,714,680,660,635,879,787,805.29085303,652,631.70914697,652,0.428142603469,-0.00553424035074,0.0700108304815,0.999999995568,-7.65415847223e-05,1.38638806962e-05,-5.30463244868e-05,1793242916711393024
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.865602608,745,714,680,660,635,879,787,805.865602608,652,631.134397392,652,0.429072369379,-0.00553379116671,0.0700373027804,0.99999999425,-7.43336744585e-05,5.69192165827e-05,-5.22935172522e-05,1793242916728059648
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.546913986,635,879.453086014,787,806.453086014,652,631,652,0.42996022113,-0.00553102748601,0.0700405254816,0.999999994034,-6.87172717479e-05,6.62930759394e-05,-5.30522211736e-05,1793242916744726528
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680.043372126,659.043372126,634.956627874,879.956627874,787,806.956627874,651.956627874,631,652,0.430827778919,-0.00552780913111,0.0700310023344,0.999999995049,-6.26548310201e-05,5.49120010275e-05,-5.4422718522e-05,1793242916761393152
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680.620325389,659.620325389,634.379674611,879.379674611,787,806.379674611,651.379674611,631,652,0.431603048451,-0.00552768754138,0.0699519710071,0.999999992655,-6.39030786186e-05,-8.53391728037e-05,-5.76444009936e-05,1793242916778059776
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680.803020744,660,634,879,787,806,651,631,652,0.432422923689,-0.00552911983229,0.0698986032866,0.999999980614,-6.67068105811e-05,-0.000175238297514,-6.01193775105e-05,1793242916794726400
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680.226942984,660,634,879,787,806,651,631,652,0.433328645444,-0.00553354266055,0.0698946267171,0.99999998135,-7.25041686158e-05,-0.000168231882356,-6.11572755825e-05,1793242916811393024
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680.356832471,660,634,879,787.356832471,805.643167529,651.356832471,631,652,0.434236948806,-0.00553567430734,0.0699330890324,0.999999990344,-7.41282239518e-05,-0.000101202276869,-5.9796869878e-05,1793242916828059648
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680.945611511,660,634,879,787.945611511,805.054388489,651.945611511,631,652,0.435146930197,-0.00553631665085,0.0699991372725,0.999999995703,-7.30395676429e-05,4.84332159574e-06,-5.68775294082e-05,1793242916844726528
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680.474797228,660,634.525202772,879.525202772,787.474797228,805.525202772,651.474797228,631,651.474797228,0.436013316194,-0.0055387952458,0.0700218619183,0.999999994602,-7.62771550408e-05,4.37185897261e-05,-5.53684111178e-05,1793242916861393152
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680.103325084,660,635,880,787,806,651,631,651.103325084,0.436868574602,-0.00554142213182,0.0700348596783,0.999999992876,-8.01324552606e-05,6.95137006602e-05,-5.47162041079e-05,1793242916878059776
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680.679006855,660,635,880,787,806,651,631,651.679006855,0.437693246532,-0.00554387257167,0.0700235479238,0.999999992533,-8.47987598257e-05,6.67649817903e-05,-5.7325272065e-05,1793242916894726400
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,635,880,787,806,651,631,652,0.43848101963,-0.00554405203425,0.0699920543838,0.999999994308,-8.46823156355e-05,2.52167122777e-05,-5.98117131917e-05,1793242916911393280
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,635,880,787,806,651,631,652,0.439222287761,-0.00554136930352,0.0699351250253,0.999999992857,-7.85380028253e-05,-6.52320060675e-05,-6.21436028325e-05,1793242916928059904
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714.416741913,681,660,634.583258087,880,787,806,651,631,651.583258087,0.439931974841,-0.00554210192369,0.0698898510111,0.999999985027,-7.96301164855e-05,-0.000140063906885,-6.31404468537e-05,1793242916944726528
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714.992346516,681,660,634,879.992346516,786.992346516,805.992346516,651,631,651,0.440629956257,-0.00554426238791,0.0698507310992,0.999999973218,-8.37330477123e-05,-0.000206186704135,-6.35630046564e-05,1793242916961393408
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714.416655921,681,660,634,879.416655921,786.416655921,805.416655921,651,631,651,0.441439900286,-0.00554633231542,0.0699064067303,0.999999988129,-8.6568689528e-05,-0.000110907306738,-6.2822437557e-05,1793242916978060032
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.159518499,786.159518499,805.159518499,651,631,651.159518499,0.442235135926,-0.00554865447047,0.069961791143,0.999999993898,-8.9212188091e-05,-2.17100838347e-05,-6.14310745962e-05,1793242916994726656
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.736960624,786.736960624,805.736960624,651,631,651.736960624,0.442991837131,-0.00555163743863,0.0700164126031,0.999999992797,-9.13522912999e-05,5.15524264557e-05,-5.83346879444e-05,1793242917011393024
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.311082926,787,806,651.311082926,631,652,0.443700065346,-0.00555382841777,0.0700351980908,0.999999991821,-8.93108658985e-05,7.24126593939e-05,-5.60117869869e-05,1793242917028059648
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.882427726,787,806,651.882427726,631,652,0.44436773947,-0.0055553567935,0.0700240020604,0.999999993793,-8.37710407642e-05,4.94314757787e-05,-5.43360091186e-05,1793242917044726784
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.473705905,880.526294095,787,806,651.526294095,631,652,0.44498355684,-0.00555778148424,0.0699964744519,0.999999994438,-8.8902042362e-05,6.77636574097e-06,-5.63476597481e-05,1793242917061393408
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,681.06778348,660,634.93221652,880,787,806,651.06778348,631,652,0.4455820606,-0.00556040993675,0.0699663521457,0.999999992973,-9.58419683106e-05,-3.73702489731e-05,-5.89208435662e-05,1793242917078060032
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681.644115076,660,634.355884924,880,787,806,651.644115076,631,652,0.446151472958,-0.00556282476902,0.0699485100469,0.999999992233,-9.56103516652e-05,-5.44627034227e-05,-5.85389436372e-05,1793242917094726656
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681.779889976,660,634,880,787,806,651.779889976,631,652,0.446700665294,-0.00556536070695,0.0699310355327,0.999999990167,-9.9373022626e-05,-7.96681259452e-05,-5.86853474697e-05,1793242917111393024
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681.20443856,660,634,880,787,806,651.20443856,631,652,0.447217214757,-0.00556809215528,0.0699141544416,0.999999985256,-0.000109583994674,-0.000117970966468,-5.96846347354e-05,1793242917128059648
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.380902395,634,880,787,805.619097605,651,631,652,0.447709368319,-0.00556896549261,0.069891338559,0.99999997898,-0.00011001791014,-0.000162134749641,-6.03965143519e-05,1793242917144726272
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.156700219,634.156700219,878.313400437,787,804.156700219,652,631,651.156700219,0.401344226768,-0.00535595539097,0.0697990605647,0.999999920465,0.000221682679728,-0.000331429414556,8.98306785226e-06,1793242920116443136
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.428465617,634.428465617,878.428465617,787,804.428465617,652,631,651.428465617,0.401268323085,-0.00535783781093,0.0698007158758,0.999999922604,0.000217405946792,-0.000327824167367,7.58312215099e-06,1793242920133110528
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,805,651.982690104,631,651.982690104,0.401200092411,-0.0053595897882,0.0698033806869,0.99999992391,0.00021820319558,-0.00032320420865,1.03235142348e-05,1793242920149777664
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,805,651.403293743,631,651.403293743,0.401144529422,-0.00535717184064,0.0698044356554,0.99999992389,0.000220139837542,-0.000321924664518,1.10929298916e-05,1793242920166444800
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.824841728,635,878.824841728,786.824841728,805,651.175158272,631,651,0.401095730355,-0.00535624475544,0.0698060359491,0.999999924585,0.000220902584793,-0.00031919969866,1.19693252523e-05,1793242920183111424
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.248552445,635,878.248552445,786.248552445,805,651.751447555,631,651,0.401062421394,-0.00535873190344,0.0698088850954,0.999999926903,0.000218976988432,-0.000313164563991,1.309071537e-05,1793242920199777280
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634.673673241,878.326326759,786,804.673673241,651.673673241,631,651,0.401035921944,-0.00535914964496,0.069811824356,0.999999928837,0.000217972560475,-0.000307610322579,1.37611528609e-05,1793242920216443648
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634.099863367,878.900136633,786,804.099863367,651.099863367,631,651,0.401014586759,-0.00535799796852,0.0698148319588,0.999999930482,0.000217666737682,-0.000302420785409,1.40895922807e-05,1793242920233110272
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,744.511113341,714,679,658.488886659,634.488886659,879,786,804,651,631,651.488886659,0.400999905816,-0.00535816482,0.0698168834872,0.999999931405,0.000217777282381,-0.000299246141143,1.46299114642e-05,1793242920249776896
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744.078928235,714,679,659,635,878.921071765,786.078928235,804.078928235,651,631,652,0.400987608179,-0.00535841801552,0.0698188534221,0.999999932182,0.00021815254182,-0.000296339260213,1.51348253621e-05,1793242920266443520
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,744.657224693,714,679,659,635,878.342775307,786.657224693,804.657224693,651,631,652,0.400981518568,-0.00535745975793,0.0698215816776,0.999999933002,0.000219647552642,-0.000292440410167,1.51332764436e-05,1793242920283110656
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.76590606,878.23409394,786.76590606,805,651.23409394,631,651.76590606,0.400976697679,-0.00535714283263,0.0698238730149,0.999999933858,0.000220407551994,-0.000288918952227,1.51540920359e-05,1793242920299777792
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.191113999,878.808886001,786.191113999,805,651.808886001,631,651.191113999,0.400973723276,-0.00535775929636,0.0698255284656,0.99999993478,0.000220097822464,-0.000285946747452,1.52074567272e-05,1793242920316444672
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.382595123,879,786.382595123,805,652,631,651.382595123,0.400971586663,-0.00535798928723,0.0698262892884,0.999999935229,0.00021950022556,-0.000284836505133,1.51652125035e-05,1793242920333110784
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.955764805,879,786.955764805,805,652,631,651.955764805,0.400969867362,-0.00535802677198,0.0698266044878,0.999999935445,0.00021875923897,-0.000284653725522,1.50753444959e-05,1793242920349776896
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.450624727,787,804.450624727,652,631,652,0.400969032091,-0.005356365712,0.0698269149326,0.999999934941,0.000221151204943,-0.000284596540416,1.46917575846e-05,1793242920366443520
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.139925888,787,804,652,631,652,0.400968357337,-0.00535553595346,0.0698272666385,0.999999934639,0.000222881130185,-0.000284315066539,1.45548989466e-05,1793242920383110144
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.715623243,787,804,652,631,652,0.400967952231,-0.00535773750741,0.0698277480827,0.999999935171,0.000221733278106,-0.000283302378448,1.52629262534e-05,1793242920399776768
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714.290744928,679,658.709255072,635,878.709255072,787,804.290744928,652,631,652,0.400967708971,-0.00535838641395,0.0698281211455,0.999999935395,0.000221582753629,-0.000282621695696,1.5381685113e-05,1793242920416443904
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714.86530473,679,658.13469527,635,878.13469527,787,804.86530473,652,631,652,0.4009676237,-0.00535751968147,0.0698283884103,0.99999993532,0.000222405784807,-0.000282265104645,1.49252211217e-05,1793242920433111040
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634.558724446,878.441275554,786.558724446,805,652,631,652,0.400967111331,-0.0053582681171,0.0698281024615,0.999999935823,0.000219876299546,-0.000282464808797,1.48840641312e-05,1793242920449777664
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.981841321,679,658.018158679,634,878.981841321,786.018158679,805,652,631,651.981841321,0.400966490534,-0.005359398753,0.0698276775546,0.999999936455,0.000216555438682,-0.000282789882391,1.4961597796e-05,1793242920466444288
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.389779835,679,658.610220165,634,878.389779835,786.610220165,805,652,631,651.389779835,0.400966576345,-0.00535697711904,0.0698282149187,0.999999935868,0.000220669037149,-0.000281693394315,1.47709765944e-05,1793242920483110912
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744.803022609,714,679,658.803022609,634.196977391,878,787,805,652,631,651.196977391,0.40096773502,-0.00535587503637,0.0698293254306,0.999999936011,0.000222605361017,-0.000279658129138,1.47227079139e-05,1793242920499777536
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744.226486285,714,679,658.226486285,634.773513715,878,787,805,652,631,651.773513715,0.400970961015,-0.00535731561863,0.0698315403505,0.999999937575,0.000220346258846,-0.000275813919184,1.49487406303e-05,1793242920516443648
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.651083255,744.348916745,714,678.651083255,658.348916745,635,878.348916745,787,804.651083255,652,631,652,0.400970941859,-0.00535918548525,0.069831648904,0.999999938139,0.000218140001355,-0.000275500046932,1.53851832902e-05,1793242920533110016
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.076413502,744.923586498,714,678.076413502,658.923586498,635,878.923586498,787,804.076413502,652,631,652,0.400968823055,-0.00536133310356,0.0698303946151,0.999999938057,0.000215967935047,-0.000277470342522,1.59577635114e-05,1793242920549776640
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,745,714,678.511722675,658.488277325,635,879,787,804.511722675,652,631,652,0.400968179215,-0.00535902021387,0.0698303858855,0.999999937705,0.000217458019387,-0.000277622585325,1.51086795777e-05,1793242920566443776
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.10002806,745,714,679,658,635,878.89997194,787,805,652,631,652,0.400968143512,-0.00535689017956,0.0698306730592,0.999999937413,0.000219190692683,-0.000277353792861,1.43215379225e-05,1793242920583110912
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.679250139,745,714,679,658,635,878.320749861,787,805,652,631,652,0.400969937506,-0.00535891324399,0.0698314626806,0.999999937623,0.000219394948389,-0.000276403704296,1.48756261353e-05,1793242920599778048
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.255508849,635,878,787,805,652,631,652,0.400970789916,-0.00535982096934,0.0698320857015,0.99999993784,0.000219542423367,-0.000275485088209,1.51352890886e-05,1793242920616444928
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.828090257,635,878,787,805,652,631,652,0.400970473873,-0.00535934461993,0.0698325019803,0.999999938067,0.000219619436584,-0.000274605527626,1.50295864106e-05,1793242920633111296
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.413563922,787,805,651.586436078,631,651.586436078,0.400970381266,-0.00535895927815,0.0698326170964,0.999999938018,0.000220485121569,-0.000274085587647,1.50833011605e-05,1793242920649777408
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8f93382a53c742af907973a6765a706d71631def
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_04/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+1,0.016666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+2,0.033333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+3,0.050000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+4,0.066666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+5,0.083333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+6,0.100000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+7,0.116666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+8,0.133333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+9,0.150000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+10,0.166666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+11,0.183333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+12,0.200000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+13,0.216666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+14,0.233333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+15,0.250000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+16,0.266666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+17,0.283333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+18,0.300000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+19,0.316666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+20,0.333333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+21,0.350000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+22,0.366666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+23,0.383333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+24,0.400000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+25,0.416666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+26,0.433333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+27,0.450000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+28,0.466666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+29,0.483333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+30,0.500000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+31,0.516666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+32,0.533333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+33,0.550000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+34,0.566666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+35,0.583333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+36,0.600000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+37,0.616666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+38,0.633333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+39,0.650000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+40,0.666666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+41,0.683333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+42,0.700000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+43,0.716666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+44,0.733333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+45,0.750000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+46,0.766666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+47,0.783333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+48,0.800000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
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+396,6.600000000,pose2_to_pose3_retreat,0.580745409749,1.83134671148e-06,1.06004085198,0.551317129258,0.00867665910458,1.05967864422
+397,6.616666667,pose2_to_pose3_retreat,0.580745024399,1.83714701269e-06,1.06004086616,0.551316743688,0.00867666412255,1.05967865756
+398,6.633333333,pose2_to_pose3_retreat,0.580744615515,1.85042702493e-06,1.06004092202,0.551316334309,0.00867667562122,1.05967871086
+399,6.650000000,pose2_to_pose3_retreat,0.580744366533,1.85851361441e-06,1.06004095604,0.551316085026,0.0086766826231,1.05967874332
+400,6.666666667,pose2_to_pose3_retreat,0.580744195437,1.86407058546e-06,1.06004097941,0.551315913723,0.00867668743468,1.05967876562
+401,6.683333333,pose2_to_pose3_retreat,0.580744151833,1.86548678155e-06,1.06004098537,0.551315870066,0.00867668866091,1.0596787713
+402,6.700000000,pose2_to_pose3_retreat,0.580744037002,1.87210536247e-06,1.06004100651,0.551315755233,0.00867669525922,1.05967879214
+403,6.716666667,pose2_to_pose3_retreat,0.580744019673,1.87324332196e-06,1.06004100996,0.55131573791,0.00867669641724,1.05967879557
+404,6.733333333,pose2_to_pose3_retreat,0.580743831394,1.88560693201e-06,1.06004104749,0.5513155497,0.00867670899877,1.05967883281
+405,6.750000000,pose2_to_pose3_retreat,0.580743580247,1.90209893772e-06,1.06004109754,0.551315298643,0.00867672578146,1.05967888248
+406,6.766666667,pose2_to_pose3_retreat,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305932,0.008676641207,1.05967878877
+407,6.783333333,pose2_to_pose3_retreat,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120694,1.05967878876
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f8d355a1561949e8057f23c0a71bd90ff1a56c54
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:892ad01530f31ce3dea5fd0040b00117bb098d07cb7e79e340112d07ca0024c6
+size 26039928
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..14401830dfe13daf95f43e6cf0508eb2f4ce4463
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
+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,765,745,714,679,659,635,879,787,805,652,631,652,0.400969318971,-0.00535764234277,0.0698329297231,0.999999938214,0.0002211752638,-0.000272831983372,1.46994938374e-05,1793242920810094848
+1,0.016666667,BASELINE,765,745,714,679,659,635,878.422485103,787,805,652,631,652,0.400968899759,-0.00535898744666,0.0698325274804,0.999999938565,0.00021839952556,-0.000273795607537,1.44337997009e-05,1793242920826761472
+2,0.033333333,BASELINE,765,745,714.157822126,679,658.842177874,635,878.157822126,787,804.842177874,652,631,651.842177874,0.400968713021,-0.00535958937353,0.0698323052331,0.999999938685,0.000217265338291,-0.000274264310365,1.43242865674e-05,1793242920843428096
+3,0.050000000,BASELINE,765,745,714.745739113,679,658.254260887,635,878.745739113,787,804.254260887,652,631,651.254260887,0.400969159818,-0.00535816600413,0.0698325735071,0.99999993819,0.000220604684341,-0.000273384260051,1.46403958681e-05,1793242920860094720
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+9,0.150000000,BASELINE,764.7845033,744.7845033,714,679,658.7845033,635,879,786.2154967,804,651.2154967,631,652,0.40096740727,-0.00536023700329,0.0698317115593,0.999999937732,0.000219605084862,-0.000275832856192,1.50046554988e-05,1793242920960094976
+10,0.166666667,BASELINE,764.19246478,744.19246478,714,679,658.19246478,635,879,786.80753522,804,651.80753522,631,652,0.400969556528,-0.00535811559181,0.069833359712,0.999999937854,0.000222110323734,-0.000273391787721,1.47072714761e-05,1793242920976761600
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+21,0.350000000,BASELINE,765,745,714,679,659,635,879,787,804.179755751,652,631,651.820244249,0.400970900467,-0.00535987264212,0.069835836035,0.999999939734,0.000217135279377,-0.000270473547073,1.50867927138e-05,1793242921160094976
+22,0.366666667,BASELINE,765,745,714,679,659,635,879,787,804.766864768,652,631,651.233135232,0.400971388034,-0.00535809001,0.0698351817485,0.999999939324,0.000218772644473,-0.000270705152094,1.4495264382e-05,1793242921176761856
+23,0.383333333,BASELINE,765,745,714,679,659,635,878.648590425,787,805,651.648590425,631,651.351409575,0.400971705476,-0.00535719680808,0.0698348911483,0.999999939028,0.000220443666728,-0.000270454250701,1.42802970522e-05,1793242921193428480
+24,0.400000000,BASELINE,765,745,714,679,659,635,878.065734407,787,805,651.065734407,631,651.934265593,0.400971910869,-0.00535688940522,0.0698348400804,0.999999938806,0.000222136856526,-0.000269885559491,1.43133414159e-05,1793242921210095104
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+27,0.450000000,BASELINE,765,745,714,679.342254702,659,635,879,787,804.342254702,651.657745298,631,651.657745298,0.400969489095,-0.00535953693775,0.0698343806939,0.999999939156,0.00021743896873,-0.000272373114574,1.48422700293e-05,1793242921260094976
+28,0.466666667,BASELINE,765,745,714,679,659,635,879,786.759963482,804.240036518,652,631,652,0.400969494834,-0.00535960970469,0.0698345319147,0.999999939165,0.000217504944496,-0.000272294073575,1.47770637999e-05,1793242921276761600
+29,0.483333333,BASELINE,765,745,714,679,659,635,879,786.166353217,804.833646783,652,631,652,0.400970196943,-0.00535879656861,0.0698351385858,0.999999939402,0.000217822021018,-0.00027116703401,1.47496760268e-05,1793242921293428224
+30,0.500000000,BASELINE,765,745,714,679,659,635,878.585906636,786.414093364,804.585906636,652,631,652,0.400971936268,-0.00535899469798,0.0698358535579,0.999999939692,0.000218488110099,-0.00026955473514,1.47897262012e-05,1793242921310094592
+31,0.516666667,BASELINE,765,745,714,679,659,635,878.01058537,786.98941463,804.01058537,652,631,652,0.400974079436,-0.00535958656517,0.069836610697,0.99999994,0.000219290087762,-0.000267753499822,1.48560334469e-05,1793242921326761472
+32,0.533333333,BASELINE,765,744.434793253,714,679,659,635,878,787,804,651.434793253,631,652,0.400972063094,-0.00535951350872,0.069835382365,0.99999993969,0.000218298092348,-0.00026971155809,1.485649889e-05,1793242921343428096
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+38,0.633333333,BASELINE,764.047374301,745,714,679,659,634.952625699,878.047374301,787,804.047374301,652,631,652,0.400971589342,-0.00535882129896,0.0698360493493,0.999999939106,0.000221856125718,-0.000268991135056,1.45145490209e-05,1793242921443428352
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+40,0.666666667,BASELINE,765,745,714,679,658.797049182,634.202950818,879,787,805,651.797049182,631,651.797049182,0.400968879577,-0.00535881766235,0.0698336301919,0.999999938747,0.00021997866864,-0.000271845868448,1.46763678382e-05,1793242921476761344
+41,0.683333333,BASELINE,765,745,714,679,658.203580157,634.796419843,879,787,805,651.203580157,631,651.203580157,0.400968207816,-0.00535875006961,0.0698333411505,0.999999938611,0.000218693837654,-0.000273401394459,1.42578234676e-05,1793242921493428224
+42,0.700000000,BASELINE,765.379284838,745,714,679,658.379284838,635,879,787,805,651.379284838,631,651,0.400969421405,-0.00535918076797,0.0698345341556,0.999999939176,0.00021782709805,-0.000272009781969,1.44746379055e-05,1793242921510094848
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+48,0.800000000,BASELINE,765,745,714.140500799,679.140500799,658.859499201,635,878.859499201,787,804.859499201,652,631,652,0.400970900012,-0.00535888149861,0.0698350630433,0.999999939824,0.000218235678319,-0.000269297017906,1.42802870483e-05,1793242921610094848
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+51,0.850000000,BASELINE,764.588051486,745,714,679,658.411948514,635,878,787,805,652,631,651.411948514,0.400970095462,-0.00535941458287,0.0698345505586,0.999999939883,0.000217112533671,-0.00026999646677,1.41031328048e-05,1793242921660094976
+52,0.866666667,BASELINE,765,745,714,679,658.166872535,635,878.166872535,787,804.833127465,652,631,651.166872535,0.400969992716,-0.00535992252037,0.0698341617411,0.999999939727,0.000217282486964,-0.000270432241735,1.41917581422e-05,1793242921676761856
+53,0.883333333,BASELINE,765,745,714,679,658.75622981,635,878.75622981,787,804.24377019,652,631,651.75622981,0.400969198401,-0.00535980209878,0.0698339777297,0.999999939359,0.000217607125843,-0.000271523768597,1.4306174369e-05,1793242921693428480
+54,0.900000000,BASELINE,765,745,714,679,658.66032214,635,878.66032214,787,804.33967786,652,631,652,0.400969613304,-0.00535921282848,0.0698346070598,0.999999939235,0.000219027045498,-0.000270824622269,1.45591492919e-05,1793242921710095104
+55,0.916666667,BASELINE,765,745,714,679,658.081042363,635,878.081042363,787,804.918957637,652,631,652,0.400970881164,-0.00535829284173,0.0698358101046,0.999999939276,0.000221219554121,-0.000268862371114,1.49098607215e-05,1793242921726761728
+56,0.933333333,BASELINE,765,745,714,679,658.495732935,635,878.495732935,787,805,652,631,652,0.400971042366,-0.0053592397266,0.0698359759203,0.999999939691,0.000219557731207,-0.000268697537801,1.46323673636e-05,1793242921743428352
+57,0.950000000,BASELINE,765,744.928285676,714.071714324,679,659,635,879,787,804.928285676,652,631,652,0.400970751845,-0.00536030993356,0.0698358226249,0.999999940032,0.000217563250428,-0.000269067063353,1.42955774104e-05,1793242921760095232
+58,0.966666667,BASELINE,765,744.355007955,714.644992045,679,659,635,879,787,804.355007955,652,631,652,0.400968560973,-0.00536011886034,0.0698346174637,0.999999939462,0.000217626941366,-0.000271129074421,1.42587285051e-05,1793242921776762624
+59,0.983333333,BASELINE,765,744.225500198,714.774499802,679,659,635,878.774499802,787,804,651.774499802,631,652,0.400968357191,-0.00536010909397,0.0698344816237,0.999999939452,0.000217467508065,-0.000271291102093,1.43200528416e-05,1793242921793429504
+60,1.000000000,BASELINE,765,744.817768482,714.182231518,679,659,635,878.182231518,787,804,651.182231518,631,652,0.400971385341,-0.00536039421674,0.0698360849967,0.999999940352,0.0002169451711,-0.000268362874388,1.4541052473e-05,1793242921810096128
+61,1.016666667,BASELINE,764.599218868,745,714,679,659,635,878,787,804,651.400781132,631,652,0.400970526509,-0.00536040177192,0.069835389955,0.999999940103,0.000216831964334,-0.000269383651677,1.45339535669e-05,1793242921826762752
+62,1.033333333,BASELINE,764.020319709,745,714,679,659,635,878,787,804,651.979680291,631,652,0.400967940197,-0.00536028596851,0.0698336734352,0.999999939338,0.000216900586181,-0.00027215947429,1.4425481458e-05,1793242921843429632
+63,1.050000000,BASELINE,764.549725082,745,714,678.450274918,658.450274918,635,878.549725082,787.549725082,804,652,631,651.450274918,0.400967831096,-0.00536059850041,0.0698332885256,0.999999938815,0.000218951933599,-0.000272416108935,1.48251920101e-05,1793242921860095744
+64,1.066666667,BASELINE,764.875457257,745,714,678,658.124542743,635,878.875457257,787.750914515,804.124542743,652,630.875457257,651.124542743,0.400968205995,-0.00536079329973,0.0698333592047,0.999999938726,0.000219747048833,-0.000272089725434,1.5044168998e-05,1793242921876761856
+65,1.083333333,BASELINE,764.281433434,745,714,678,658.718566566,635,878.281433434,786.562866868,804.718566566,652,630.281433434,651.718566566,0.400970065695,-0.00536048555227,0.0698349646846,0.999999940241,0.000215534732144,-0.000269911030468,1.45121587746e-05,1793242921893428224
+66,1.100000000,BASELINE,764.304714897,745,714,678.304714897,658.695285103,635,878,786.304714897,805,651.695285103,630.304714897,652,0.40097077104,-0.00535991476018,0.0698351289268,0.999999940363,0.000215368075307,-0.000269605210778,1.43026786557e-05,1793242921910095360
+67,1.116666667,BASELINE,764.883772682,745,714,678.883772682,658.116227318,635,878,786.883772682,805,651.116227318,630.883772682,652,0.400970437088,-0.00535910714205,0.0698339955844,0.999999939234,0.000218843833365,-0.000270985590397,1.43835809568e-05,1793242921926762496
+68,1.133333333,BASELINE,765,745,714,679,658.458475042,635,878.458475042,787,804.541524958,651,631,651.541524958,0.400969686687,-0.00535973973011,0.0698345267322,0.999999939683,0.00021696547043,-0.000270827830031,1.45639781982e-05,1793242921943429376
+69,1.150000000,BASELINE,764.967733358,745,714,679,659,634.967733358,878.967733358,786.967733358,804,651.032266642,631,651,0.400968924813,-0.00536062521834,0.0698354435745,0.999999940448,0.000214121417317,-0.000270257626794,1.47568599062e-05,1793242921960096000
+70,1.166666667,BASELINE,764.390853944,745,714,679,659,634.390853944,878.390853944,786.390853944,804,651.609146056,631,651,0.400969734453,-0.00535967485461,0.0698358152908,0.999999939954,0.000217671826279,-0.000269245532541,1.47387433121e-05,1793242921976761856
+71,1.183333333,BASELINE,764.190836415,745,714,679,659,634.190836415,878.190836415,786,804,652,631,651.190836415,0.400970166092,-0.00535860459977,0.0698358118341,0.999999939406,0.000220659923873,-0.000268857115922,1.45686767369e-05,1793242921993427968
+72,1.200000000,BASELINE,764.782635052,745,714,679,659,634.782635052,878.782635052,786,804,652,631,651.782635052,0.400969803521,-0.0053572824442,0.0698350201101,0.999999938765,0.000222466562001,-0.000269779094568,1.40793513734e-05,1793242922010094592
+73,1.216666667,BASELINE,765,744.633856918,714.366143082,679,659,635,879,786.366143082,804.366143082,652,631,652,0.400969859755,-0.00535751297608,0.0698350352999,0.999999938843,0.00022203882604,-0.000269838265235,1.4179468591e-05,1793242922026761472
+74,1.233333333,BASELINE,765,744.055161757,714.944838243,679,659,635,879,786.944838243,804.944838243,652,631,652,0.400970159114,-0.00535864486864,0.0698355189166,0.999999939337,0.000220313999077,-0.000269396561628,1.4621766948e-05,1793242922043428096
+75,1.250000000,BASELINE,765,744.5209214,714.4790786,679,659,635,878.4790786,786.4790786,805,652,631,652,0.400970403964,-0.00535980355207,0.0698356883044,0.99999993972,0.000218334907411,-0.000269582569858,1.46487754281e-05,1793242922060094720
+76,1.266666667,BASELINE,765,745,714,679,659,634.901290441,878,786.098709559,805,652,631,652,0.400970637741,-0.00536076610365,0.0698357544986,0.999999940046,0.000216720942918,-0.000269676049215,1.46279772082e-05,1793242922076761344
+77,1.283333333,BASELINE,765,745,714,679,659,634.313694744,878,786.686305256,805,652,631,652,0.40097084512,-0.00536074327782,0.0698354735774,0.999999940163,0.000217048057849,-0.000268983685171,1.45871204927e-05,1793242922093427968
+78,1.300000000,BASELINE,765,745,714,679,659,634.270077553,878.270077553,787,804.729922447,652,631,652,0.40097077478,-0.00536073609818,0.0698355181731,0.999999940442,0.000216574145091,-0.000268326361955,1.45532746057e-05,1793242922110094848
+79,1.316666667,BASELINE,765,745,714,679,659,634.849470928,878.849470928,787,804.150529072,652,631,652,0.400970386373,-0.00536074683789,0.0698359355785,0.999999940909,0.000215182827163,-0.000267709170529,1.45274581196e-05,1793242922126761472
+80,1.333333333,BASELINE,765,745,714,679,659,635,879,786.571568919,804,652,631,652,0.400971598568,-0.00536017895355,0.0698369303781,0.99999994087,0.000216769244809,-0.000266570378882,1.45367589952e-05,1793242922143428096
+81,1.350000000,BASELINE,765,745,714,679,659,635,879,786,804,652,631,652,0.400973336791,-0.00535942679695,0.0698380989253,0.999999940647,0.000219359617592,-0.000265283133414,1.45575815924e-05,1793242922160094720
+82,1.366666667,BASELINE,765,745,714,679,659,635,879,786,804,652,631,652,0.400972250405,-0.00536016070163,0.0698369845285,0.999999940408,0.000218695936974,-0.000266729699535,1.45149022221e-05,1793242922176761344
+83,1.383333333,BASELINE,765,745,714,679,659,635,878.845236498,786.154763502,804.154763502,651.845236498,631,652,0.40097159582,-0.00536036829965,0.0698361815579,0.999999940193,0.00021849531791,-0.000267702373377,1.44585397817e-05,1793242922193427968
+84,1.400000000,BASELINE,765,745,714,679,659,635,878.253037156,786.746962844,804.746962844,651.253037156,631,652,0.400972161708,-0.00535908830294,0.0698362588271,0.99999994005,0.000219603532613,-0.000267335600804,1.43635024165e-05,1793242922210094592
+85,1.416666667,BASELINE,765,745,714.331505284,679.331505284,659,635,878,787,805,651,631,652,0.400972488331,-0.00535916422545,0.0698365953123,0.999999940285,0.000219090926493,-0.000266878647586,1.4295740044e-05,1793242922226761216
+86,1.433333333,BASELINE,765,745,714.910335142,679.910335142,659,635,878,787,805,651,631,652,0.400972636447,-0.00536025175225,0.0698371251895,0.999999940801,0.000217369082212,-0.000266354413744,1.42483266016e-05,1793242922243428096
+87,1.450000000,BASELINE,765,745,714.512693178,679.512693178,659.487306822,635,878.487306822,787,805,651.487306822,631,652,0.400972586654,-0.00536032308027,0.0698369430392,0.999999940714,0.000217421279147,-0.000266632206739,1.43812412532e-05,1793242922260094720
+88,1.466666667,BASELINE,765,745,714,679,659.93500153,635,878.93500153,787,805,651.93500153,631,652,0.400972491875,-0.00536017770617,0.0698365902729,0.999999940502,0.00021780084104,-0.000267108035106,1.45366066464e-05,1793242922276761344
+89,1.483333333,BASELINE,765,745,714,679,659.348805532,635,878.348805532,787,805,651.348805532,631,652,0.400972327258,-0.00535978831778,0.0698359159604,0.999999940178,0.000218197882632,-0.000267992991961,1.46069448054e-05,1793242922293428224
+90,1.500000000,BASELINE,764.765204562,745,714,678.765204562,658.765204562,635,878,787,804.765204562,651.234795438,631,652,0.400972172043,-0.0053602362559,0.0698357263763,0.999999940171,0.000217893130747,-0.000268261921214,1.46837362231e-05,1793242922310094848
+91,1.516666667,BASELINE,764.185416603,745,714,678.185416603,658.185416603,635,878,787,804.185416603,651.814583397,631,652,0.40097203064,-0.00536191450494,0.0698362490193,0.999999940631,0.000216557211006,-0.000267625701134,1.4770009616e-05,1793242922326761472
+92,1.533333333,BASELINE,764,745,714,678.391452883,658,634.608547117,878,787,804,652,631,652,0.400971450071,-0.00536157473689,0.0698361398913,0.999999940776,0.00021612095193,-0.000267446027608,1.4602223306e-05,1793242922343428352
+93,1.550000000,BASELINE,764,745,714,678.966950279,658,634.033049721,878,787,804,652,631,652,0.400970663024,-0.0053602861831,0.0698357337316,0.999999940773,0.000216107674955,-0.000267481002817,1.43149889265e-05,1793242922360094720
+94,1.566666667,BASELINE,764.541737011,745,714,679,658.541737011,634.541737011,878,787,804.541737011,652,631,652,0.40097154147,-0.00535956623762,0.0698360632518,0.999999940517,0.000217353836611,-0.000267431931849,1.42699924586e-05,1793242922376761600
+95,1.583333333,BASELINE,764.883014326,745,714,679,659,635,878.116985674,787,805,652,631,652,0.400972342394,-0.00535932229002,0.0698363970635,0.999999940382,0.000218080054927,-0.000267345247849,1.43004113986e-05,1793242922393428224
+96,1.600000000,BASELINE,764.305777794,745,714,679,659,635,878.694222206,787,805,652,631,652,0.400972439107,-0.00536081474012,0.0698365714147,0.999999940787,0.000216458796578,-0.000267130730814,1.45694684382e-05,1793242922410094848
+97,1.616666667,BASELINE,764.279359956,745,714,679,659,635,878.720640044,786.720640044,804.720640044,652,631,652,0.400972340071,-0.0053611968524,0.0698367175668,0.999999940976,0.000215816123544,-0.000266938923131,1.46367640671e-05,1793242922426761728
+98,1.633333333,BASELINE,764.873397795,745,714,679,659,635,878.126602205,786.126602205,804.126602205,652,631,652,0.400972020538,-0.00536032825292,0.0698368319546,0.999999940924,0.000216275753026,-0.000266772695832,1.4476790695e-05,1793242922443428352
+99,1.650000000,BASELINE,765,745,714,679,658.547996278,635,878,786.452003722,804.452003722,652,631,652,0.400970599507,-0.00535938181007,0.069836207643,0.999999940452,0.000217409318866,-0.000267634425518,1.41874969045e-05,1793242922460094976
+100,1.666666667,BASELINE,764.973541315,744.973541315,714,679,658.026458685,634.973541315,878.026458685,787,804.973541315,652,631,652,0.40096906165,-0.00535850154058,0.0698354575104,0.999999939908,0.000218665115251,-0.000268656854133,1.38972655958e-05,1793242922476761600
+101,1.683333333,BASELINE,764.398491557,744.398491557,714,679,658.601508443,634.398491557,878.601508443,787,804.398491557,652,631,652,0.400971287179,-0.00535943044181,0.0698362468981,0.999999940281,0.000218670634996,-0.000267238549208,1.43138138673e-05,1793242922493428224
+102,1.700000000,BASELINE,764.180788914,744.180788914,714,679.180788914,659,634.180788914,879,787,804.180788914,652,631,652,0.400972367184,-0.0053596024296,0.0698366287761,0.999999940264,0.000219379221001,-0.000266707578111,1.45246386293e-05,1793242922510095104
+103,1.716666667,BASELINE,764.769618016,744.769618016,714,679.769618016,659,634.769618016,879,787,804.769618016,652,631,652,0.400970861741,-0.00535806606522,0.0698360909057,0.999999939368,0.000221674626034,-0.000268179317733,1.42711458182e-05,1793242922526761728
+104,1.733333333,BASELINE,765,745,714.353931649,679.646068351,659,635,879,786.646068351,805,652,631,652,0.400970374241,-0.00535826916276,0.0698361103227,0.999999939248,0.000221747700091,-0.000268567155436,1.42855102031e-05,1793242922543428352
+105,1.750000000,BASELINE,765,745,714.935343147,679.064656853,659,635,879,786.064656853,805,652,631,652,0.400970540995,-0.00535959025153,0.0698364879209,0.999999939628,0.000220392432163,-0.00026825834509,1.44720324205e-05,1793242922560094976
+106,1.766666667,BASELINE,765,745,715,679,659,635,879,786.511322396,805,652,631,652,0.400969800816,-0.00536025041047,0.0698358114325,0.999999939912,0.000218032513575,-0.000269124839503,1.4473111911e-05,1793242922576761600
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878,786,804,651,631,652,0.400971149317,-0.00536069044288,0.0698370611271,0.999999940432,0.000218587048569,-0.000266737149283,1.43985049268e-05,1793242922620094464
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.404915552,635,878.595084448,786.595084448,804.595084448,651.595084448,631,652,0.400971525344,-0.00536054999244,0.0698368985027,0.999999940339,0.00021864695477,-0.000267018616406,1.47340190508e-05,1793242922636761344
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.816136046,744.816136046,713.816136046,679,659,635,878.816136046,786.816136046,804.816136046,652,631,651.816136046,0.400971860587,-0.0053610968439,0.0698368427959,0.999999940524,0.000217791295728,-0.00026701368226,1.49540860836e-05,1793242922653427968
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.240781175,744.240781175,713.240781175,679,659,635,878.240781175,786.240781175,804.240781175,652,631,651.240781175,0.400972108995,-0.0053631071276,0.0698370147428,0.999999941295,0.000214986176424,-0.000266398930459,1.4928338345e-05,1793242922670094848
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.333358362,744.333358362,713.333358362,679,659,635,878,786.333358362,804.333358362,651.666641638,631.333358362,651.333358362,0.400972385851,-0.00536284739883,0.0698373838348,0.999999941119,0.00021630716132,-0.000265977765064,1.51343285191e-05,1793242922686761728
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.906623232,744.906623232,713.906623232,679,659,635,878,786.906623232,804.906623232,651.093376768,631.906623232,651.906623232,0.400972683181,-0.00536095402029,0.0698378948053,0.999999940251,0.000220597561168,-0.000265695917156,1.55070924721e-05,1793242922703428352
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.504633671,745,714,679,658.504633671,635,878,787,805,651.495366329,631.504633671,652,0.400972915303,-0.00536035597691,0.0698377737328,0.999999940456,0.00021975090586,-0.000265650558413,1.51048375388e-05,1793242922720094976
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714.085234609,679,658.085234609,635,878.085234609,787,804.914765391,652,631,652,0.400973270437,-0.00536013767491,0.0698377312601,0.999999940802,0.000218334472767,-0.000265538337338,1.46553738604e-05,1793242922736761600
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714.664175253,679,658.664175253,635,878.664175253,787,804.335824747,652,631,652,0.400974411583,-0.00536065902123,0.0698388564199,0.999999940768,0.000219407531494,-0.000264772288213,1.48059634674e-05,1793242922753428224
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.241129103,745,714.758870897,679,658.758870897,635,879,786.758870897,804,652,631,652,0.400981251536,-0.00536083384847,0.0698420347087,0.999999941896,0.0002199256482,-0.000260031613314,1.49497601323e-05,1793242922770094592
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.815338473,745,714.184661527,679,658.184661527,635,879,786.184661527,804,652,631,652,0.400995963457,-0.00536053001643,0.0698480490579,0.999999944557,0.000219677203506,-0.000249800645491,1.50841734494e-05,1793242922786761472
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.610228456,714,679,658,635,879,786.389771544,804.389771544,652,631,652,0.401029075936,-0.00536056050631,0.0698611297625,0.999999950265,0.000219504742331,-0.000225948436568,1.53039863605e-05,1793242922803428096
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.035689292,714,679,658,635,879,786.964310708,804.964310708,652,631,652,0.401070911031,-0.0053607494784,0.0698775602085,0.99999995668,0.000219368300261,-0.000195639202341,1.55642821654e-05,1793242922820094720
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658.55832824,635,879.55832824,787,805,652,631,652,0.401128818077,-0.00536357551143,0.0698957463418,0.999999962197,0.000218183536034,-0.000166527043829,1.64455158017e-05,1793242922836761600
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.148141845,714,679.148141845,659,635,879.851858155,787,805,652,631,652,0.401189639615,-0.00536590971363,0.0699108734598,0.999999966041,0.000216860915903,-0.000143546573,1.6822026079e-05,1793242922853428224
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.722161382,714,679.722161382,659,635,879.277838618,787,805,652,631,652,0.401255779569,-0.00536632789449,0.0699168722437,0.999999967175,0.000215341593499,-0.000137965522731,1.5629330167e-05,1793242922870095360
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.405540943,659,635,878.702770472,787,805,652,631,652,0.401327829983,-0.00536696849348,0.0699186108868,0.999999967637,0.000214557135492,-0.000135994692588,1.39946454427e-05,1793242922886761984
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,678.253437379,659,635,878.126718689,787,805,652,631,652,0.40140542482,-0.00536781773631,0.0699163532173,0.999999967491,0.000214462032198,-0.0001374105038,1.19453441218e-05,1793242922903428096
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,678.460441362,659,635,878.460441362,786.539558638,805,652,631,652,0.401494939603,-0.00537078844434,0.0699126129804,0.999999967218,0.000211171935173,-0.000144478691612,9.77332479162e-06,1793242922920094976
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.950193753,745,714,678.950193753,659,634.950193753,879,786.049806247,805,652,631,651.950193753,0.401590937387,-0.00537415395638,0.0699089340064,0.999999966856,0.000207406798564,-0.000152359952067,7.53663711057e-06,1793242922936761856
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.370696665,745,714,678.370696665,659,634.370696665,879,786.629303335,805,652,631,651.370696665,0.401720131344,-0.00537535544187,0.0699103531354,0.999999966778,0.000208172148524,-0.000151935442089,4.98025994068e-06,1793242922953428480
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.206375969,744.793624031,714,678.206375969,659,634.206375969,878.793624031,787,805,652,631,651.206375969,0.40186258336,-0.0053774234215,0.0699127839798,0.999999967822,0.000205643380012,-0.000148532341016,2.02572864232e-06,1793242922970095104
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.779144254,744.220855746,714,678.779144254,659,634.779144254,878.220855746,787,805,652,631,651.779144254,0.402028573234,-0.00538102974287,0.0699170109863,0.999999970764,0.000197266354463,-0.000139841158758,-1.63567059848e-06,1793242922986761728
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.353461745,714,679,659,635,878,787,804.646538255,652,631,652,0.402210541983,-0.00538462127584,0.0699207441734,0.999999973007,0.000191177537371,-0.000131936129636,-5.51171387175e-06,1793242923003428352
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.928751555,714,679,659,635,878,787,804.071248445,652,631,652,0.402402538886,-0.00538820352817,0.0699241674462,0.999999974806,0.000186524769781,-0.000124524479303,-9.52246534807e-06,1793242923020094976
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.479164229,714,679,659,635,878,787,804,652,631,651.479164229,0.4026200435,-0.00539094266151,0.0699261360378,0.999999976672,0.000179588367944,-0.000119127874494,-1.46078521548e-05,1793242923036761600
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.112229101,714,679,659,635,878.112229101,786.887770899,804.112229101,652,631,651.112229101,0.402849330107,-0.00539360271325,0.0699283332847,0.99999997843,0.000172705493692,-0.000113653680652,-1.98716085178e-05,1793242923053428224
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.690885037,714,679,659,635,878.690885037,786.309114963,804.690885037,652,631,651.690885037,0.403112597956,-0.00539642940967,0.0699323354137,0.999999979983,0.000167386650598,-0.000106673240331,-2.52453563689e-05,1793242923070094848
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.266545362,635,879,786.266545362,805,652,630.733454638,652,0.40340049415,-0.00540078357092,0.0699395075193,0.999999982227,0.0001609918258,-9.32754368013e-05,-3.04681502384e-05,1793242923086761472
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.838770225,635,879,786.838770225,805,652,630.161229775,652,0.403716634602,-0.00540688945891,0.0699503150165,0.99999998498,0.00015336304414,-7.25180744048e-05,-3.55178267601e-05,1793242923103428096
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.42493874,745,714,679,659.57506126,635,878.57506126,787,804.57506126,652,630.42493874,652,0.404043181257,-0.00541271415313,0.0699557821964,0.999999990021,0.000118944568974,-6.42710252097e-05,-4.09859013422e-05,1793242923120094720
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.98377509,745,714,678.98377509,659,635,878,787,804.01622491,651.98377509,631,652,0.404374969099,-0.00541841957615,0.0699590923862,0.999999994343,7.3628177846e-05,-6.09912875026e-05,-4.66043281846e-05,1793242923136761344
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.404710299,745,714,678.404710299,659,635,878,787,804.595289701,651.404710299,631,652,0.404746960079,-0.00542381413614,0.0699602507533,0.999999996764,1.48328832312e-05,-5.97799388552e-05,-5.17446784682e-05,1793242923153428224
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,678.17266287,659,635,878.17266287,787,805,651,631,652,0.405132397695,-0.00542778843708,0.0699625335546,0.999999997213,4.42291301148e-07,-5.53946224578e-05,-5.00579257068e-05,1793242923170095104
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,678.746109375,659,635,878.746109375,787,805,651,631,652,0.405549047479,-0.00542846604366,0.0699674263829,0.999999994547,8.91235390391e-05,-4.36419184379e-05,-3.25241567558e-05,1793242923186761472
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.321207425,659,635,879,786.678792575,805,651,631,651.678792575,0.405983162009,-0.00543357439747,0.0699649774,0.999999992025,0.000113848544112,-4.65305475406e-05,-2.86863508127e-05,1793242923203428352
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.897617708,659,635,879,786.102382292,805,651,631,651.102382292,0.406431152519,-0.00544220302912,0.0699566952672,0.999999993647,8.77596158425e-05,-6.10518769116e-05,-3.57301374364e-05,1793242923220094976
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.53358633,659,635,878.53358633,786.46641367,805,651.46641367,631,651.46641367,0.40689455868,-0.00545134937379,0.069940642434,0.999999993613,6.31498839598e-05,-8.53379690863e-05,-3.87660439548e-05,1793242923236761856
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.035614669,786.964385331,805,652,631,651.964385331,0.407366315265,-0.00546170542849,0.0699242409006,0.999999992439,3.9206585947e-05,-0.000109250297965,-4.05999512179e-05,1793242923253428480
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.637399029,786.362600971,805,652,631,651.362600971,0.407917889964,-0.005489514791,0.0699289768235,0.999999994707,2.07787867614e-05,-9.3693475192e-05,-3.70866721092e-05,1793242923270095104
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.770484509,714,679.229515491,659,635,878.770484509,786.229515491,805,651.770484509,631,651.229515491,0.408492105456,-0.00551035567971,0.0699377939396,0.999999996778,-3.97242018417e-06,-7.19080690517e-05,-3.54556772362e-05,1793242923286761728
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.193024572,714,679.806975428,659,635,878.193024572,786.806975428,805,651.193024572,631,651.806975428,0.409100644255,-0.00552063239207,0.0699527981257,0.999999997766,-3.83098835213e-05,-4.06801596375e-05,-3.66782169167e-05,1793242923303428096
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.382785069,714.382785069,679.617214931,659,635,878.382785069,786.617214931,805,651.382785069,631,652,0.409707591042,-0.00552329983016,0.0699522972339,0.999999997888,-3.56490730234e-05,-3.86504391216e-05,-3.82133896459e-05,1793242923320095488
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.957766082,714.957766082,679.042233918,659,635,878.957766082,786.042233918,805,651.957766082,631,652,0.410313738464,-0.00552214666005,0.0699440112599,0.999999997785,-1.44114706674e-05,-5.12810966926e-05,-3.99055350407e-05,1793242923336763136
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714.450164672,679,659,635,879,786.549835328,805,651.450164672,631,652,0.41094776077,-0.00553496533604,0.0699436476475,0.999999996773,-4.22854102334e-05,-5.51743761928e-05,-4.02748421091e-05,1793242923353429248
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.861663254,879,787,805,651,631,652,0.411601542509,-0.00554727788226,0.0699491505199,0.999999995829,-6.63113659024e-05,-4.80951007998e-05,-4.03998784469e-05,1793242923370095104
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.288630002,879,787,805,651,631,652,0.412310470447,-0.00555451950226,0.0699711141581,0.99999999698,-6.60116568469e-05,-8.71324695015e-06,-4.0086871727e-05,1793242923386761472
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.286918761,879,786.713081239,805,651.286918761,631,652,0.41304290313,-0.00556158897473,0.0699953495187,0.999999995889,-7.52716600038e-05,3.08625378616e-05,-4.00513701146e-05,1793242923403428608
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.865020487,879,786.134979513,805,651.865020487,631,652,0.413799189974,-0.00556848374208,0.0700218903667,0.999999992253,-9.42334523817e-05,7.06351405806e-05,-4.02974978603e-05,1793242923420096256
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.547241293,745,714,679,659,635,879,786,805,651.547241293,631,651.547241293,0.414522297403,-0.00556081751553,0.0700103886757,0.999999994779,-8.33650885023e-05,4.35859670619e-05,-3.98949807418e-05,1793242923436762880
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.042425158,745,714,679.042425158,659,634.957574842,879,786.042425158,805,651.042425158,630.957574842,651,0.415236675444,-0.00554674027628,0.0699852243824,0.999999997275,-6.18342470986e-05,-6.3416279417e-06,-3.98196219423e-05,1793242923453429760
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.619402229,745,714,679.619402229,659,634.380597771,879,786.619402229,805,651.619402229,630.380597771,651,0.415968409103,-0.00550777087302,0.0699339221252,0.999999994838,-2.04471143835e-05,-8.80692413894e-05,-4.63559512661e-05,1793242923470095872
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714.195883066,679.804116934,659,634,879,786.804116934,805,651.804116934,630,651.195883066,0.416734714142,-0.00548522496201,0.0699073880949,0.999999990153,3.24539869382e-06,-0.000131052087647,-5.00941206466e-05,1793242923486761984
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714.771402127,679.228597873,659,634,879,786.228597873,805,651.228597873,630,651.771402127,0.417568021052,-0.00549450900666,0.0699288567392,0.999999993906,-7.35558401279e-06,-9.89446805974e-05,-4.84092474896e-05,1793242923503428352
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,879,786,805,651,630.355205218,652,0.41841899446,-0.00550695209956,0.0699551134289,0.999999996859,-2.44993647462e-05,-5.85818467423e-05,-4.74279905457e-05,1793242923520094976
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,879,786,805,651,630.944466907,652,0.419281608875,-0.00552147679352,0.0699845251192,0.999999997762,-4.59544111133e-05,-1.27792402156e-05,-4.69103695989e-05,1793242923536761856
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714.475330162,679.524669838,659,634.524669838,879.524669838,786,805,651,630.475330162,652,0.420160706684,-0.00552653431857,0.0700066419328,0.999999997478,-5.02645029185e-05,1.93988397388e-05,-4.62746726709e-05,1793242923553428480
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879.896781852,786.103218148,805,651,630.103218148,652,0.421039507972,-0.00553022693822,0.0700245184832,0.999999996489,-5.39268878243e-05,4.47516843974e-05,-4.59518192999e-05,1793242923570095360
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879.321490454,786.678509546,805,651,630.678509546,652,0.421909108956,-0.00553218219923,0.07002647336,0.99999999589,-6.27856546975e-05,4.53724217722e-05,-4.71159599359e-05,1793242923586762240
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679.745622969,659,635,879,787,805.254377031,651,631,652,0.422741960176,-0.00552844919684,0.0699981714362,0.999999996791,-6.25612137012e-05,-2.61518421175e-06,-4.99719272632e-05,1793242923603428864
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679.169025676,659,635,879,787,805.830974324,651,631,652,0.423528260464,-0.00551751085184,0.0699315431188,0.999999990906,-5.08310425843e-05,-0.000112175146633,-5.49709370355e-05,1793242923620094976
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.414581091,659,634.585418909,879,787,805.585418909,651,631,651.585418909,0.42437674959,-0.00551214562916,0.0698846660534,0.999999981785,-5.05064596079e-05,-0.000174067611135,-5.98363976962e-05,1793242923636761600
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.00108748,634,879,786.99891252,805.00108748,651,631,651.00108748,0.425251186112,-0.00550912119573,0.06984616574,0.999999973086,-5.49166107688e-05,-0.000215951283938,-6.46280167672e-05,1793242923653428480
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.583705478,634,879,786.416294522,805.583705478,651,631,651.583705478,0.426209505894,-0.00552189165987,0.0699069301214,0.999999987959,-6.18276195026e-05,-0.000129276460317,-5.9549902522e-05,1793242923670095104
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.163851349,879,786.163851349,805.836148651,651,631,652,0.42716285833,-0.00553212564427,0.0699627067594,0.999999994851,-6.79559426783e-05,-5.15095291475e-05,-5.50221810145e-05,1793242923686761728
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+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.688320394,634.688320394,879.311679606,787,805,651,631,651.688320394,0.429034094965,-0.00553612136197,0.0700353783619,0.999999994639,-7.449252137e-05,5.02002611735e-05,-5.15049888e-05,1793242923720095488
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+176,2.933333333,POSE1_TO_POSE2_PRESS,764.063058066,745,714,680.063058066,660,635,879.063058066,787,805,651,631,651.936941934,0.431631678221,-0.00552638059005,0.0699585061905,0.999999993443,-6.04618502468e-05,-7.98990023348e-05,-5.54526917891e-05,1793242923770094848
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+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,635,879.2036767,787,805,651.7963233,631,651.7963233,0.434269116623,-0.00553688485345,0.0699462415213,0.999999992794,-7.42889433083e-05,-7.35725887458e-05,-5.89981801425e-05,1793242923820094720
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+182,3.033333333,POSE1_TO_POSE2_PRESS,765.465275882,745,714,680.465275882,660,634.534724118,879.534724118,787,806,651,631,652,0.436924103923,-0.00554949046432,0.0700350593945,0.999999991622,-9.30540079271e-05,7.12167960163e-05,-5.49944010733e-05,1793242923870095872
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.561762769,635,879.438237231,787,806,651,631,652,0.440734351673,-0.00554436034266,0.0698694087276,0.999999979731,-8.16223975531e-05,-0.000172756339618,-6.34974818934e-05,1793242923953428224
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.664218586,879.335781414,787,806,651.664218586,631,652,0.444502881489,-0.00555947117462,0.0700225611126,0.999999993016,-9.35413878997e-05,4.64503842408e-05,-5.53204208703e-05,1793242924036761856
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634.336192554,880,787.663807446,806,651,631,651.336192554,0.446882196957,-0.00556236083608,0.069926501842,0.999999988373,-0.000104495271036,-9.32346394152e-05,-6.03568763988e-05,1793242924103428352
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.400780547,745,714,679.400780547,658.400780547,634.599219453,879,786.400780547,805,651.599219453,631,651.599219453,0.411987154004,-0.00537127459588,0.0698337020072,0.999999944849,0.000201468020335,-0.00026213378949,3.16085616254e-05,1793242926657617920
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.506486704,658.506486704,634,879,787,804.493513296,651,630.493513296,651,0.408671337905,-0.00535202594926,0.0697791880847,0.999999908769,0.000226470085173,-0.000361161995175,2.71015010475e-05,1793242926740952064
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.188176513,744.188176513,714,679,658,634,878.188176513,786.811823487,804,652,631,651.188176513,0.406517107659,-0.00540007581473,0.0698100098759,0.999999936588,0.000160856513848,-0.000316554389267,2.72490585837e-05,1793242926807619072
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744.707048411,714,679,658,634.292951589,878,786.707048411,805,651.707048411,631,652,0.40409684746,-0.00537609845793,0.0698503917965,0.999999950216,0.000196819344745,-0.000245159181221,2.69680889957e-05,1793242926907617792
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744.455912526,714,678.544087474,658.455912526,635,878,786,804.544087474,651.455912526,631,651.544087474,0.403439393826,-0.00537245693947,0.069841105697,0.999999943693,0.000209273702609,-0.000261134561904,2.50515982959e-05,1793242926940951040
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.952535237,745,714,678.047464763,659,635,878.047464763,786.047464763,804.047464763,652,631,651.047464763,0.403140615034,-0.00537172904582,0.0698308033146,0.999999940068,0.000203055522181,-0.000279374205067,2.41557322766e-05,1793242926957617920
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.201508211,745,714,679,658.798491789,634.798491789,878.798491789,786.798491789,804.798491789,651.798491789,631,652,0.402614977706,-0.00536056757603,0.0698156377254,0.999999930814,0.000207823095281,-0.000307678209137,2.26976360124e-05,1793242926990951168
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.891113757,744.108886243,714,679.891113757,658,634.108886243,878.891113757,787,804.108886243,652,631,652,0.401692317369,-0.00535706133243,0.069804110482,0.999999922077,0.000220628953473,-0.000326023043769,2.9620966186e-05,1793242927074284544
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.402302947,745,714,679,658,635,878,786.402302947,804,651.402302947,631,652,0.401280354596,-0.00535904681723,0.0698026931097,0.999999918524,0.00024053247539,-0.000323866854491,1.43357891515e-05,1793242927140951040
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.833357965,744,714,679,658,635,877.166642035,786,804.166642035,651,630.166642035,652,0.401102298038,-0.00535790465005,0.0698055890678,0.999999925975,0.000213798836722,-0.000319744576665,1.01557887275e-05,1793242927190950912
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,744,714,679,658,635,878,786,804.681674272,651.318325728,631,651.681674272,0.401040066715,-0.00535911723555,0.0698111970603,0.999999929395,0.000214120374777,-0.000308566970103,1.22346829891e-05,1793242927224284160
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744.028056624,714,679,658.971943376,634.028056624,878.971943376,786,804,651,631,652,0.400971007107,-0.00535955380445,0.0698259083793,0.999999936098,0.000215540727799,-0.0002848510117,1.4347192117e-05,1793242927357617408
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.294251531,635,878,786.294251531,804,651,631,652,0.400970208832,-0.00535848446564,0.0698264850034,0.999999937056,0.000213988984509,-0.000282671853058,1.39366576345e-05,1793242927407618048
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..52cffc34fb173d36c9f44dd6915dd59f345222d9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_03/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c3ff487b57278ec1f5db63a804c5ff9e5e7fca3d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f44e0ff5e9455b1355fc3e3eed9b610f6438c02b83d2b6003f36d5ed64ea3640
+size 25610207
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8b95012071f65347d4447ea07dc8ecae0b9270de
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+14,0.233333333,BASELINE,764,745,714.122858569,679.877141431,658.122858569,635,878,787,804.122858569,651.122858569,630.122858569,652,0.401018656844,-0.00550222617673,0.0798575151574,0.999999979849,0.000112595137731,-0.000159730671793,4.59340191938e-05,1793242929200476928
+15,0.250000000,BASELINE,764,745,714.694288575,679.305711425,658.694288575,635,878,787,804.694288575,651.694288575,630.694288575,652,0.401019358798,-0.00549993170967,0.0798582737745,0.999999979683,0.000116004496511,-0.000158364949167,4.5787655101e-05,1793242929217143808
+16,0.266666667,BASELINE,764,745,714.723808071,679,658.723808071,635,878,787,805,651.723808071,631,652,0.401019456431,-0.00549979717311,0.0798583654014,0.999999979723,0.000115962093187,-0.000158157608734,4.57405295894e-05,1793242929233810688
+17,0.283333333,BASELINE,764,745,714.12985508,679,658.12985508,635,878,787,805,651.12985508,631,652,0.401018858789,-0.00550214765429,0.0798576896508,0.999999979999,0.000111948409275,-0.000159282996517,4.58075788812e-05,1793242929250477056
+18,0.300000000,BASELINE,764.450632566,745,714.450632566,678.549367434,658.450632566,635,878,787,805,651,631,652,0.401017830752,-0.00550122052993,0.0798570408863,0.999999979711,0.000113196719339,-0.000160255846426,4.56427189872e-05,1793242929267143680
+19,0.316666667,BASELINE,764.972746369,745,714.972746369,678.027253631,658.972746369,634.972746369,878,787,804.972746369,651.027253631,631,652,0.401016821408,-0.00549954103157,0.0798565076663,0.999999979301,0.000115752040271,-0.000161038094125,4.54520001094e-05,1793242929283810560
+20,0.333333333,BASELINE,764.39811277,745,714.39811277,678.60188723,658.39811277,634.39811277,878,787,804.39811277,651.60188723,631,652,0.401018606218,-0.00550116954614,0.0798581434609,0.999999979712,0.000114987356429,-0.000158849379691,4.60451744442e-05,1793242929300476928
+21,0.350000000,BASELINE,764,745,714,678.818602665,658.181397335,634,878,787,803.818602665,651.818602665,631,652,0.401019462908,-0.00550221211276,0.0798590957639,0.99999997994,0.000114495355684,-0.000157667679229,4.63894576003e-05,1793242929317143552
+22,0.366666667,BASELINE,764,745,714,678.228094507,658.771905493,634,878,787,803.228094507,651.228094507,631,652,0.401018226381,-0.00550193317325,0.0798585065675,0.999999979763,0.000114618345367,-0.000158757127723,4.61724089747e-05,1793242929333810432
+23,0.383333333,BASELINE,764,745,714.355457169,678.355457169,659,634,878,786.644542831,803.355457169,651.355457169,631.355457169,652,0.401017889174,-0.00550109491624,0.0798581722053,0.999999979551,0.000115757835755,-0.000159320351307,4.59923531815e-05,1793242929350477056
+24,0.400000000,BASELINE,764,745,714.934630659,678.934630659,659,634,878,786.065369341,803.934630659,651.934630659,631.934630659,652,0.401018117977,-0.00549990463802,0.0798579982297,0.999999979314,0.000117537087612,-0.000159552381505,4.5835579779e-05,1793242929367143680
+25,0.416666667,BASELINE,764,745,715,679,658.494184141,634,878,786.505815859,804,652,631.494184141,652,0.40101818567,-0.00550077092241,0.079857821265,0.999999979491,0.00011510732069,-0.000160232469875,4.57594629207e-05,1793242929383810560
+26,0.433333333,BASELINE,764,745,714.922921707,679,658.077078293,634.077078293,878,787,804.077078293,651.922921707,631,652,0.401018468812,-0.00550180198467,0.0798579381098,0.999999979744,0.000112695735877,-0.000160383965313,4.57068381227e-05,1793242929400477184
+27,0.450000000,BASELINE,764,745,714.344546842,679,658.655453158,634.655453158,878,787,804.655453158,651.344546842,631,652,0.401020286489,-0.00550220302614,0.0798599682865,0.999999980187,0.000113885132946,-0.000156726890757,4.57402605084e-05,1793242929417143808
+28,0.466666667,BASELINE,764,744.760038294,714,679,658.760038294,635,878,787,805,651,631,652,0.401021770737,-0.00550169325018,0.0798613622058,0.999999980454,0.000114905491461,-0.000154273300902,4.5697553334e-05,1793242929433810688
+29,0.483333333,BASELINE,764,744.166491766,714,679,658.166491766,635,878,787,805,651,631,652,0.401022763676,-0.00549984137998,0.0798618185963,0.999999980477,0.000115676770721,-0.000153593052232,4.55426688562e-05,1793242929450477312
+30,0.500000000,BASELINE,764,744.412322955,714.412322955,679,658,635,878.412322955,786.587677045,804.587677045,651.412322955,631,652,0.401021839177,-0.0055002528915,0.0798609246442,0.999999980223,0.000116190801102,-0.000154776551012,4.57966911313e-05,1793242929467143936
+31,0.516666667,BASELINE,764,744.985394314,714.985394314,679,658,635,878.985394314,786.014605686,804.014605686,651.985394314,631,652,0.401020167145,-0.00550154680605,0.079859504247,0.999999979859,0.000116604540307,-0.000156686651188,4.62101299722e-05,1793242929483810560
+32,0.533333333,BASELINE,764,744.437047533,714.437047533,679,658.562952467,635,878.437047533,786.562952467,804,651.437047533,631,651.437047533,0.401019408515,-0.00550212929437,0.0798591134358,0.999999980086,0.000113679540259,-0.000157451261432,4.5978968327e-05,1793242929500477184
+33,0.550000000,BASELINE,764,744.143985925,714.143985925,679,659,635,878,787,804.143985925,651,631,651.143985925,0.401019507718,-0.00550208852729,0.0798592430418,0.999999980242,0.000112481909634,-0.000157365108377,4.58300979969e-05,1793242929517144064
+34,0.566666667,BASELINE,764,744.735455232,714.735455232,679,659,635,878,787,804.735455232,651,631,651.735455232,0.401022198679,-0.0055001686145,0.0798609063301,0.999999980136,0.000116924017251,-0.000154728034942,4.59893678723e-05,1793242929533810688
+35,0.583333333,BASELINE,764,745,715,679,659,635,878,787,805,651.320238695,631,652,0.401022652264,-0.00550073110459,0.0798612913465,0.999999980293,0.000116041624654,-0.00015436280124,4.60468709186e-05,1793242929550477312
+36,0.600000000,BASELINE,764,745,715,679,659,635,878,787,805,651.89961209,631,652,0.401021295382,-0.00550330233587,0.0798606419953,0.999999980655,0.000110850687752,-0.000155835922556,4.60220250433e-05,1793242929567143680
+37,0.616666667,BASELINE,764,745,714.523609131,679,659,635,878,786.523609131,805,651.523609131,631,652,0.401020521039,-0.00550250941536,0.0798599854999,0.999999980366,0.000112432988405,-0.000156619639161,4.57848059309e-05,1793242929583810304
+38,0.633333333,BASELINE,764,745,714,679,658.947534741,635,878,786,805,651,631,652,0.401019803537,-0.00550118386068,0.0798593015395,0.999999979965,0.000115098969687,-0.000157321321243,4.55243178098e-05,1793242929600477184
+39,0.650000000,BASELINE,764,745,714,679,658.373057879,635,878,786,805,651,631,652,0.401018436828,-0.00550157402222,0.0798583592106,0.999999979836,0.000114423014122,-0.000158644399821,4.5475171473e-05,1793242929617143808
+40,0.666666667,BASELINE,764,745,714.207172282,679,658.207172282,635,878,786.207172282,805,651,631,652,0.401018259806,-0.00550174410284,0.0798583236479,0.999999979876,0.00011377601039,-0.00015885705721,4.5464738826e-05,1793242929633810176
+41,0.683333333,BASELINE,764,745,714.798058372,679,658.798058372,635,878,786.798058372,805,651,631,652,0.40102028626,-0.00550150656092,0.0798599675511,0.999999980232,0.00011318262979,-0.000157013049706,4.552600968e-05,1793242929650476800
+42,0.700000000,BASELINE,764.380093138,745,715,679,658.619906862,635,878.380093138,787,805,651.380093138,631,652,0.401020596461,-0.00550074219142,0.0798598349726,0.99999998012,0.000114384700623,-0.000156842352251,4.55802649674e-05,1793242929667143680
+43,0.716666667,BASELINE,764.957532242,745,715,679,658.042467758,635,878.957532242,787,805,651.957532242,631,652,0.401020015575,-0.00549970429082,0.0798587800372,0.999999979761,0.000116518977452,-0.000157540444508,4.56308777407e-05,1793242929683810304
+44,0.733333333,BASELINE,764.467708728,745,714.467708728,679,658.532291272,635,878.467708728,787,805,651.467708728,631,651.467708728,0.401019981814,-0.00550076031597,0.0798597912454,0.999999980223,0.00011367167304,-0.000156652411048,4.57447033103e-05,1793242929700477184
+45,0.750000000,BASELINE,764.1097001,745,714,679,659,635,878,787,805,651,631,651.1097001,0.401019989423,-0.00550167133046,0.079860669233,0.99999998059,0.000111297600458,-0.000155986789583,4.58268080063e-05,1793242929717143552
+46,0.766666667,BASELINE,764.699640312,745,714,679,659,635,878,787,805,651,631,651.699640312,0.401019988002,-0.00550121984171,0.0798602459865,0.9999999803,0.000112726422375,-0.000156846044468,4.57480787388e-05,1793242929733810176
+47,0.783333333,BASELINE,764.716152681,745,714,679,659,635,878,787,805,651,631,652,0.401019215288,-0.00550060159369,0.0798593757192,0.999999979992,0.000113742941812,-0.000158134119794,4.55183132554e-05,1793242929750476800
+48,0.800000000,BASELINE,764.137892218,745,714,679,659,635,878,787,805,651,631,652,0.401017642572,-0.00549981037896,0.0798580417915,0.999999979667,0.00011433181155,-0.000159866977913,4.51318894318e-05,1793242929767143424
+49,0.816666667,BASELINE,764,745,714,679,659,634.574146507,878.425853493,787,805,651.425853493,631,652,0.401018040281,-0.00549985404922,0.0798585495359,0.99999997978,0.00011424192379,-0.000159211509795,4.51824192401e-05,1793242929783810048
+50,0.833333333,BASELINE,764,745,714,679,659,634.014945824,878.985054176,787,805,651.985054176,631,652,0.401019054987,-0.00550015914645,0.0798596339618,0.999999980028,0.000113939497159,-0.000157808186739,4.53697720402e-05,1793242929800476928
+51,0.850000000,BASELINE,764.574740869,745,714,679,658.425259131,634.574740869,879,787,804.425259131,651.425259131,631,652,0.401019564371,-0.00550166662316,0.0798595523932,0.999999980089,0.000113821427795,-0.000157390613306,4.57607438655e-05,1793242929817143808
+52,0.866666667,BASELINE,765,745,714,678.833875755,658,635,878.833875755,787,804.166124245,651.166124245,631,652,0.40101982158,-0.00550262198075,0.0798594088549,0.999999980093,0.000113921550735,-0.000157253568599,4.58988263681e-05,1793242929833810432
+53,0.883333333,BASELINE,765,745,714,678.240280733,658,635,878.240280733,787,804.759719267,651.759719267,631,652,0.401019465601,-0.00550207166221,0.0798591882489,0.999999979962,0.000114570098743,-0.000157768724358,4.53717859498e-05,1793242929850477056
+54,0.900000000,BASELINE,764.655584924,745,714,678.344415076,658.344415076,635,878,786.655584924,805,652,631.344415076,652,0.401019044745,-0.00550107539956,0.0798594048604,0.999999979871,0.000115351165025,-0.000157762686467,4.54292080555e-05,1793242929867143680
+55,0.916666667,BASELINE,764.076941283,745,714,678.923058717,658.923058717,635,878,786.076941283,805,652,631.923058717,652,0.401018579767,-0.00549977586088,0.0798599188134,0.999999979806,0.00011622235383,-0.000157402197055,4.58841093504e-05,1793242929883810560
+56,0.933333333,BASELINE,764.499446637,744.500553363,714,679,659,634.500553363,877.500553363,786.499446637,804.500553363,652,631.500553363,651.500553363,0.401018339956,-0.00550008129032,0.0798591745952,0.999999979678,0.000115869191623,-0.000158497241421,4.5800565693e-05,1793242929900477184
+57,0.950000000,BASELINE,764.923118351,744.076881649,714,679,659,634.076881649,877.153763298,786.923118351,804,652,631,651.076881649,0.401018142423,-0.00550056417838,0.0798584690528,0.999999979587,0.000115344126173,-0.000159489926156,4.56531253511e-05,1793242929917143808
+58,0.966666667,BASELINE,764.336446636,744.663553364,714,679,659,634.663553364,878.327106728,786.336446636,804,652,631,651.663553364,0.401017996252,-0.0055005916602,0.0798592994091,0.999999979822,0.00011492425092,-0.000158323734794,4.56295456218e-05,1793242929933810432
+59,0.983333333,BASELINE,764,745,714,679,658.753070902,635,878.753070902,786.246929098,804,651.753070902,631,651.753070902,0.401017960537,-0.00550021243038,0.079859551671,0.999999979898,0.000114978978903,-0.00015782685824,4.55528099624e-05,1793242929950477056
+60,1.000000000,BASELINE,764,745,714,679,658.174126784,635,878.174126784,786.825873216,804,651.174126784,631,651.174126784,0.401018073341,-0.00549928634571,0.0798590266409,0.999999979761,0.000115671847104,-0.000158229926366,4.54046020946e-05,1793242929967143936
+61,1.016666667,BASELINE,764,745,714,679,658,635,878,787,804.402299403,651.402299403,631,651.402299403,0.401018770131,-0.00549961755316,0.0798596204131,0.999999979866,0.000115633426502,-0.000157580134297,4.54502237229e-05,1793242929983810560
+62,1.033333333,BASELINE,764,745,714,679,658,635,878,787,804.9776425,651.9776425,631,651.9776425,0.401019718115,-0.00550048956802,0.0798606954231,0.999999980074,0.000115280451783,-0.000156477468507,4.55792185194e-05,1793242930000477440
+63,1.050000000,BASELINE,764,745,714,679,658.55484879,635,878,786.44515121,805,651.44515121,631,652,0.401021130431,-0.00550085347769,0.0798614108051,0.999999980416,0.000114330050422,-0.00015493123521,4.57583295095e-05,1793242930017143808
+64,1.066666667,BASELINE,764.134851293,745,714.134851293,679,658.865148707,634.865148707,878.134851293,786.134851293,804.865148707,651,631,652,0.401021846701,-0.00550103077792,0.0798616855106,0.999999980557,0.000114085187547,-0.000154166974414,4.58564615414e-05,1793242930033810432
+65,1.083333333,BASELINE,764.7240205,745,714.7240205,679,658.2759795,634.2759795,878.7240205,786.7240205,804.2759795,651,631,652,0.401020154718,-0.00550064859534,0.0798605245501,0.999999980011,0.000116298680798,-0.00015609762078,4.56749466973e-05,1793242930050476800
+66,1.100000000,BASELINE,765,745,714.691903681,679,658,634.308096319,878.691903681,787,804.308096319,651.308096319,631,652,0.401018833196,-0.00550081833147,0.0798597208664,0.99999997982,0.000116045675987,-0.000157517729491,4.56333653471e-05,1793242930067143424
+67,1.116666667,BASELINE,765,745,714.112316135,679,658,634.887683865,878.112316135,787,804.887683865,651.887683865,631,652,0.401017838118,-0.00550147441256,0.0798592320114,0.999999979941,0.00011361921897,-0.000158487957701,4.57150919259e-05,1793242930083810048
+68,1.133333333,BASELINE,765,745,714.462596424,679,658,635,878,787,805,651.537403576,631,652,0.401018290878,-0.00550091049016,0.0798590381412,0.999999979772,0.000114655292097,-0.000158858249151,4.55416665573e-05,1793242930100476928
+69,1.150000000,BASELINE,764.963467694,745,714.963467694,679,658,635,878,786.963467694,805,651.036532306,630.963467694,652,0.401019047673,-0.00550013262142,0.0798589815266,0.999999979556,0.000116384266876,-0.000159020011061,4.5345016795e-05,1793242930117143552
+70,1.166666667,BASELINE,764.38736084,745,714.38736084,679,658,635,878,786.38736084,805,651.61263916,630.38736084,652,0.401019154942,-0.00550052601223,0.0798599049064,0.999999979702,0.00011605473407,-0.000158231703356,4.57111767879e-05,1793242930133810176
+71,1.183333333,BASELINE,764.193757793,745,714,678.806242207,658.193757793,635,878,786.193757793,804.806242207,652,630.193757793,652,0.401019293219,-0.00550062278349,0.0798604526422,0.999999979796,0.000115835125841,-0.000157759840709,4.58566420612e-05,1793242930150476800
+72,1.200000000,BASELINE,764.785162143,745,714,678.214837857,658.785162143,635,878,786.785162143,804.214837857,652,630.785162143,652,0.401019495135,-0.00550011080644,0.0798602294485,0.999999979781,0.000115841114307,-0.000157937413924,4.55491785485e-05,1793242930167143424
+73,1.216666667,BASELINE,764.631151299,745,714,678.368848701,659,634.631151299,878,787,804,651.631151299,631,652,0.401019566034,-0.00550028743982,0.0798599826266,0.999999979869,0.000115148313261,-0.000157886464374,4.55525024234e-05,1793242930183810304
+74,1.233333333,BASELINE,764.051867913,745,714,678.948132087,659,634.051867913,878,787,804,651.051867913,631,652,0.401019562186,-0.00550085693762,0.0798597223243,0.999999980014,0.000114056840481,-0.000157705138549,4.57331359995e-05,1793242930200477184
+75,1.250000000,BASELINE,764,745,714,679,658.477041237,634.522958763,878.522958763,786.477041237,804,651,631,651.477041237,0.401019072702,-0.00550050439729,0.0798602239071,0.999999979745,0.000116300893251,-0.000157767851788,4.57587099968e-05,1793242930217143552
+76,1.266666667,BASELINE,764.099682953,745,714,679,658,635,878.900317047,786.099682953,804,651.099682953,631,651.099682953,0.401018739274,-0.00550022699761,0.0798607063094,0.999999979546,0.000118105239359,-0.000157690810777,4.57470818054e-05,1793242930233810176
+77,1.283333333,BASELINE,764.687853524,745,714,679,658,635,878.312146476,786.687853524,804,651.687853524,631,651.687853524,0.401019404625,-0.00550076217049,0.0798607275488,0.999999979919,0.000116147371351,-0.000156811307947,4.56278744675e-05,1793242930250477056
+78,1.300000000,BASELINE,764.728027708,745,714,679,658,635,878.271972292,787,804,651.728027708,631,652,0.401019600044,-0.00550096319467,0.0798605150406,0.999999980017,0.000115456467169,-0.000156690448998,4.56463448895e-05,1793242930267143936
+79,1.316666667,BASELINE,764.148491029,745,714,679,658,635,878.851508971,787,804,651.148491029,631,652,0.401019264031,-0.0055007863412,0.0798600381951,0.999999979808,0.000116198330218,-0.000157427515148,4.58205105022e-05,1793242930283810816
+80,1.333333333,BASELINE,764,745,714.428003827,679,658,635,878.571996173,786.571996173,804,651,630.571996173,652,0.401018918689,-0.00550116556666,0.079859794956,0.999999979818,0.000115359554745,-0.000157980104749,4.5810847235e-05,1793242930300477184
+81,1.350000000,BASELINE,764,745,714.996548711,679,658.003451289,634.996548711,878.003451289,786.003451289,804,651,630.003451289,651.996548711,0.401018580563,-0.00550172568073,0.0798596391028,0.999999979902,0.000114001209508,-0.000158455091823,4.57376490918e-05,1793242930317143296
+82,1.366666667,BASELINE,764,745,714.42102882,679,658.57897118,634.42102882,878.57897118,786.57897118,804,651,630.57897118,651.42102882,0.401019971251,-0.00550051632615,0.0798606287325,0.999999979879,0.000116777612237,-0.000156600857039,4.56300383947e-05,1793242930333810176
+83,1.383333333,BASELINE,764,745,714,679,658.841461528,634,878.841461528,787,804.158538472,651.158538472,631,651.158538472,0.401020943014,-0.00549933872929,0.0798613970089,0.999999979853,0.000118981549641,-0.00015511204817,4.55736748275e-05,1793242930350476800
+84,1.400000000,BASELINE,764,745,714,679,658.250863873,634,878.250863873,787,804.749136127,651.749136127,631,651.749136127,0.401020773097,-0.00549824768034,0.0798615620391,0.999999979849,0.000119625368554,-0.000154619120963,4.56569731931e-05,1793242930367143680
+85,1.416666667,BASELINE,764,744.668802464,714,679,658,634,878,787,805,651.668802464,631,652,0.401019674193,-0.005497986995,0.0798608149829,0.999999979676,0.000119034165581,-0.000156234600108,4.55028097677e-05,1793242930383810304
+86,1.433333333,BASELINE,764,744.093044366,714,679,658,634,878,787,805,651.093044366,631,652,0.401017889312,-0.00549833946099,0.0798593944301,0.999999979368,0.000117531006364,-0.000159406953919,4.51733014658e-05,1793242930400477184
+87,1.450000000,BASELINE,764.482401701,744.482401701,714,679,658,634.482401701,878,786.517598299,804.517598299,651,631,651.517598299,0.401018273864,-0.00550043046022,0.0798597733327,0.999999979767,0.000114633556739,-0.000158996321823,4.5234574132e-05,1793242930417144064
+88,1.466666667,BASELINE,765,745,714,678.942052618,658,635,878,786.057947382,804,651.057947382,631,651.057947382,0.40101906389,-0.00550241743148,0.079860425811,0.999999980204,0.000112184043034,-0.000157946766019,4.53890112246e-05,1793242930433810944
+89,1.483333333,BASELINE,765,745,714,678.365075981,658,635,878,786.634924019,804,651.634924019,631,651.634924019,0.401019740246,-0.0055004711127,0.0798604219804,0.999999979829,0.000116153846491,-0.00015736033986,4.57032426366e-05,1793242930450477568
+90,1.500000000,BASELINE,764.562470334,744.781235167,714,678,658,635,878,787,804.218764833,651.781235167,631,651.781235167,0.401019245579,-0.00549926488056,0.0798599658498,0.999999979516,0.000118028906402,-0.000157956953001,4.56705359609e-05,1793242930467143936
+91,1.516666667,BASELINE,763.371136742,744.185568371,714,678,658,635,878,787,804.814431629,651.185568371,631,651.185568371,0.401016733398,-0.00549933371693,0.079858730468,0.999999979329,0.000116295008551,-0.000160591781521,4.50401022598e-05,1793242930483810560
+92,1.533333333,BASELINE,763.396354695,744.396354695,714,678,658.396354695,635,878,786.603645305,805,651.396354695,631,651.396354695,0.401016571354,-0.0054992616191,0.0798591184253,0.999999979292,0.000117054989635,-0.000160183288751,4.53360379774e-05,1793242930500477440
+93,1.550000000,BASELINE,763.972058811,744.972058811,714,678,658.972058811,635,878,786.027941189,805,651.972058811,631,651.972058811,0.40101747274,-0.00549912574894,0.0798602409391,0.999999979321,0.000118943444009,-0.000158397701593,4.60511532849e-05,1793242930517144064
+94,1.566666667,BASELINE,764,745,714.545970602,678.545970602,659,634.454029398,878,786,805,652,631,652,0.4010183389,-0.00549961876958,0.0798600783302,0.999999979366,0.000118361802146,-0.000158619041173,4.58106130227e-05,1793242930533810432
+95,1.583333333,BASELINE,764,744.877029396,715,679,659,634.122970604,878,786.122970604,804.877029396,651.877029396,630.877029396,651.877029396,0.401018853957,-0.00549991545188,0.0798597542162,0.999999979395,0.000117650470074,-0.000159054095568,4.55043492844e-05,1793242930550477056
+96,1.600000000,BASELINE,764,744.287977824,715,679,659,634.712022176,878,786.712022176,804.287977824,651.287977824,630.287977824,651.287977824,0.401018045076,-0.00549934638918,0.079859066428,0.99999997936,0.000116925146356,-0.000159911157295,4.51337439707e-05,1793242930567143936
+97,1.616666667,BASELINE,764.296185557,744.296185557,714.703814443,679,659,634.703814443,878,787,804,651,630.296185557,651,0.401017950003,-0.00549994402764,0.0798590274721,0.999999979413,0.000116227613266,-0.000160062546379,4.521289628e-05,1793242930583811072
+98,1.633333333,BASELINE,764.875673337,744.875673337,714.124326663,679,659,634.124326663,878,787,804,651,630.875673337,651,0.401018537688,-0.0055016576187,0.0798596091257,0.999999979552,0.000115556662025,-0.000159538957773,4.57222428966e-05,1793242930600477440
+99,1.650000000,BASELINE,764.548267728,745,714.451732272,679,659,634.451732272,878,787,804,651.451732272,631,651.451732272,0.401018595445,-0.00550116211074,0.0798599693885,0.999999979579,0.000116032807981,-0.000159059483711,4.55955448354e-05,1793242930617144064
+100,1.666666667,BASELINE,764.027242653,745,714.972757347,679,659,635,878.054485307,786.972757347,804,651.972757347,631,652,0.401018473107,-0.00550009280349,0.0798602467282,0.999999979569,0.000116799178366,-0.000158641716048,4.53006912642e-05,1793242930633810176
+101,1.683333333,BASELINE,764.610675299,745,714.389324701,679,659,635,879.221350597,786.389324701,804,651.389324701,631,652,0.40101762917,-0.00549962808357,0.0798600657145,0.999999979448,0.000117093861103,-0.000159237744022,4.51197446069e-05,1793242930650476800
+102,1.700000000,BASELINE,764.805935988,745,714,679,658.805935988,635,879.805935988,786,804.194064012,651.194064012,630.805935988,652,0.401017001086,-0.00549927776255,0.0798595257289,0.999999979284,0.000117535536293,-0.000159973057699,4.50038695997e-05,1793242930667143424
+103,1.716666667,BASELINE,764.22263546,745,714,679,658.22263546,635,879.22263546,786,804.77736454,651.77736454,630.22263546,652,0.401016805943,-0.00549915689284,0.0798582657492,0.999999979034,0.000118272035974,-0.000160987738306,4.50185096031e-05,1793242930683810304
+104,1.733333333,BASELINE,764,745,714.356207934,679.356207934,658,635,878.643792066,786.356207934,805,651.643792066,630.356207934,652,0.401017320913,-0.00549945398937,0.0798586195895,0.999999979225,0.000117367561737,-0.000160493185567,4.48983719296e-05,1793242930700476928
+105,1.750000000,BASELINE,764,745,714.932300032,679.932300032,658,635,878.067699968,786.932300032,805,651.067699968,630.932300032,652,0.40101827423,-0.00550000909294,0.0798599696273,0.999999979686,0.000115450128164,-0.000159066995865,4.469503713e-05,1793242930717143808
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,715,680,659,635,878,787,805,652,631,652,0.401020663567,-0.00550084123864,0.0798612552075,0.999999980213,0.000114019506137,-0.000156614279891,4.52198955861e-05,1793242930748076544
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714.409646081,679.409646081,658.409646081,634.409646081,878,786.409646081,805,652,631,652,0.401019115194,-0.00550064662414,0.0798605049501,0.999999979684,0.00011602808574,-0.000158428054638,4.54917268435e-05,1793242930764743168
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714.17735345,678.82264655,658.17735345,634,878,786.17735345,805,651.82264655,631,652,0.401017770111,-0.0055003817918,0.0798597917948,0.999999979285,0.000117378725418,-0.00015990099277,4.56460878614e-05,1793242930781409792
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714.75674904,678.24325096,658.75674904,634,878,786.75674904,805,651.24325096,631,652,0.401016885866,-0.00549995778279,0.0798591627461,0.999999979195,0.000117237882949,-0.000160601289497,4.55341559096e-05,1793242930798076416
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+111,1.850000000,POSE1_TO_POSE2_PRESS,764.911622368,745,715,678,658.088377632,634.911622368,878,787,805,651,631,652,0.4010180319,-0.00549984889812,0.0798590017208,0.999999979564,0.00011521868789,-0.000159944930771,4.48783316061e-05,1793242930831409664
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.513694507,745,714.513694507,678.486305493,658.486305493,635,878,787,805,651.486305493,631,652,0.401017970774,-0.00549955011559,0.0798589900753,0.999999979336,0.000116920042188,-0.000160079756633,4.50872808981e-05,1793242930848076288
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,678.937955467,658.937955467,635,878,787,805,651.937955467,631,652,0.401017912423,-0.00549927085795,0.0798591712435,0.999999979099,0.00011874735341,-0.00016013220841,4.53836289628e-05,1793242930864742912
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,678.349838152,658.349838152,635,878,787,805,651.349838152,631,652,0.401019444168,-0.00549968254538,0.0798611051844,0.999999979566,0.000117130379609,-0.000158356890568,4.5509537678e-05,1793242930881410048
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,678,658,634.7643327,878,786.7643327,804.7643327,651.2356673,631,652,0.401020608456,-0.00549974109555,0.0798623205536,0.999999979578,0.000116540951497,-0.000158683370614,4.5633576978e-05,1793242930898076928
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,678,658,634.182662,878,786.182662,804.182662,651.817338,631,652,0.401021233251,-0.00549928117455,0.0798624809259,0.999999978917,0.000117460151593,-0.000162095680791,4.57548716178e-05,1793242930914743808
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714.394116238,678,658.394116238,634.394116238,878,786.394116238,804.394116238,651.605883762,631,652,0.401034900937,-0.00549990843168,0.0798679928481,0.999999979343,0.000118050858378,-0.000158940033789,4.60032323552e-05,1793242930931410176
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+119,1.983333333,POSE1_TO_POSE2_PRESS,764.539643783,745,715,678.539643783,659,635,878,787,804.460356217,651.539643783,631,652,0.401101255454,-0.00550289723589,0.0798932968483,0.999999983565,0.000116658745703,-0.000130771979534,4.64597828914e-05,1793242930964743680
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.884541663,744.884541663,715,679.115458337,658.884541663,634.884541663,878.115458337,787,804.115458337,652,631,652,0.401152113946,-0.00550429840346,0.0799100236471,0.999999986335,0.000115256167429,-0.000109061823531,4.63867216458e-05,1793242930981410560
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+131,2.183333333,POSE1_TO_POSE2_PRESS,764.517789776,745,714.517789776,679,659,634.482210224,878,787,805,652,630.517789776,652,0.402482889542,-0.00551634804687,0.0799694940774,0.999999995652,8.73810311597e-05,-3.16050022916e-05,7.83497416697e-06,1793242931164743936
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714.895734883,679,659,634.104265117,878,787,805,652,631,652,0.402688904945,-0.00551725114823,0.0799686827668,0.999999996177,8.01748042595e-05,-3.48783570367e-05,7.87774421277e-07,1793242931181411584
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714.312576282,679,659,634.687423718,878,787,805,652,631,652,0.402910859021,-0.00551773155073,0.0799604100996,0.99999999611,7.03026190483e-05,-5.27826978515e-05,-7.24079861229e-06,1793242931198078208
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787.26615762,805,652,631,652,0.4031537571,-0.00551942167204,0.0799542795028,0.999999996863,4.23836751721e-05,-6.51365560744e-05,-1.53283950333e-05,1793242931214744576
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787.839780081,805,652,631,652,0.403420849643,-0.00552250925848,0.0799506234226,0.999999997178,-6.38285381093e-06,-7.10785048631e-05,-2.34841746717e-05,1793242931231410688
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.585033023,745,714,679,659,635,878,787.585033023,805,652,631,652,0.40372707006,-0.00552347620226,0.07995381282,0.999999997497,-6.73751119886e-06,-6.57465060515e-05,-2.52446965362e-05,1793242931248077056
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.009239822,745,714,679,659,635,878,787.009239822,805,652,631,652,0.404048455022,-0.00552362126142,0.0799596552775,0.999999998061,1.1670526718e-05,-5.60451319236e-05,-2.45266471181e-05,1793242931264743680
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714.56587837,679,659,635,878,787,805,652,631,652,0.404402921562,-0.0055225708556,0.0799587570416,0.99999999793,1.30412028966e-05,-5.6487250441e-05,-2.7914498152e-05,1793242931281410048
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,714.854206561,679,659,635,878,787,805,651.854206561,631,652,0.404771999768,-0.00552220079429,0.0799585520794,0.999999997967,9.65825274744e-06,-5.49280691116e-05,-3.09075538187e-05,1793242931298076672
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,714.259487198,679,659,635,878,787,805,651.259487198,631,652,0.405184408735,-0.00552398567812,0.0799608203442,0.999999998354,-7.50644121799e-06,-4.66971160739e-05,-3.24787681251e-05,1793242931314744064
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.324345225,745,714,679,658.675654775,635,878.648690449,786.675654775,805,651,631,652,0.405603086977,-0.00552516539163,0.0799561848529,0.999999997901,-1.4308711108e-05,-5.24908543333e-05,-3.51716888664e-05,1793242931331410944
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.899750648,745,714,679,658.100249352,635,879.799501296,786.100249352,805,651,631,652,0.406026618012,-0.0055258766718,0.0799462054929,0.999999996774,-1.30899236204e-05,-6.91404376424e-05,-3.87328693293e-05,1793242931348077568
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.473132332,658.473132332,635,879.526867668,786.946264664,805,651.473132332,631,652,0.406483320676,-0.00552558699062,0.0799378415654,0.999999995804,4.45843348529e-06,-8.4389144909e-05,-3.53518699377e-05,1793242931364744192
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.95244359,658.95244359,635,878.95244359,787.90488718,805,652,631,652,0.406949094945,-0.00552526154784,0.0799303615926,0.999999994416,2.23828828864e-05,-9.84202393257e-05,-3.13006506827e-05,1793242931381410560
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.361221255,658.361221255,635,878.361221255,786.72244251,805,652,631,652,0.407438568039,-0.00552694154618,0.0799290906592,0.999999994134,5.22073428916e-06,-0.000101910411876,-3.63316520847e-05,1793242931398076928
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.226307713,635,878.226307713,786.226307713,805,652,631,652,0.407957798194,-0.00552894727561,0.0799254967673,0.999999993139,-7.5161022919e-06,-0.000110030109326,-3.94926628303e-05,1793242931414743552
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.808036139,635,878.808036139,786.808036139,805,652,631,652,0.408523762368,-0.00553146457202,0.0799182546232,0.999999991258,-1.33028982953e-05,-0.000125420566483,-3.97168161826e-05,1793242931431410688
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.617442729,745,714.382557271,679,659,635,878.617442729,787.382557271,805,652,631,652,0.409122496255,-0.00554270554014,0.0799264986116,0.999999992613,-2.33196550717e-05,-0.000112945271069,-3.83918513263e-05,1793242931448077824
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.046471296,745,714.953528704,679,659,635,878.046471296,787.953528704,805,652,631,652,0.409737369613,-0.00555824302385,0.079942369711,0.999999994951,-3.5419719392e-05,-8.67457491091e-05,-3.63039266609e-05,1793242931464744704
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714.469968708,679,659,635,878.530031292,787.469968708,805,651.469968708,631,651.469968708,0.410389367075,-0.00556690074017,0.0799767963162,0.999999997716,-4.97315994307e-05,-2.88141963287e-05,-3.55619869827e-05,1793242931481411584
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634.889960085,879,787,805,651.110039915,631,651.110039915,0.411048688354,-0.00557137998862,0.0800031706969,0.999999997515,-5.91758131278e-05,1.44597820055e-05,-3.54801287118e-05,1793242931498077952
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634.296707763,879,787,805,651.703292237,631,651.703292237,0.411725726287,-0.00556018725823,0.0799869663847,0.999999998031,-4.63843501912e-05,-1.89772422623e-05,-3.77731698938e-05,1793242931514744576
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.287997792,745,714,679,659,634,879,787,805,651.712002208,631,652,0.412395917687,-0.00555313692459,0.0799601945474,0.999999996343,-4.30154919455e-05,-6.13941787351e-05,-4.11730781211e-05,1793242931531410944
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.864151945,745,714,679,659,634,879,787,805,651.135848055,631,652,0.413059258865,-0.00555023126711,0.0799228493645,0.999999991391,-4.90744248196e-05,-0.000112795975614,-4.56804630559e-05,1793242931548077824
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.561063329,745,714,679,659,634,878.561063329,786.561063329,805,651.438936671,631,652,0.413785420372,-0.00554932527696,0.0799156037578,0.999999991167,-4.91991124773e-05,-0.000113847346169,-4.77933898581e-05,1793242931564744448
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.013716332,745,714,679,659,634.013716332,878,786.013716332,805,651.986283668,631,652,0.414531694297,-0.00554905897209,0.0799182969626,0.999999992796,-4.76155047238e-05,-9.86345542498e-05,-4.91181047516e-05,1793242931581410560
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.60610905,745,714,679,659,634.60610905,878,786.60610905,805,651.39389095,631,652,0.415308784955,-0.00554975145243,0.0799485041023,0.999999996134,-5.12043661076e-05,-5.26450321125e-05,-4.83566894074e-05,1793242931598077184
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.80645938,745,714.19354062,679,659,635,878.19354062,787,805,651,630.80645938,652,0.416084728879,-0.00555025675918,0.0799643328565,0.999999996878,-5.33096360588e-05,-3.30477405172e-05,-4.80642580601e-05,1793242931614744064
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.228872348,745,714.771127652,679,659,635,878.771127652,787,805,651,630.228872348,652,0.416858397267,-0.00555039065372,0.0799516302994,0.999999995271,-5.24709866301e-05,-6.5821067716e-05,-4.87024409511e-05,1793242931631410944
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.347847321,745,714.652152679,679,659,635,879.347847321,787,805,651.347847321,630.347847321,652,0.417676474863,-0.00555063802785,0.079954553562,0.999999995745,-5.60073380826e-05,-5.35922336876e-05,-5.00182881974e-05,1793242931648077312
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.92399769,745,714.07600231,679,659,635,879.92399769,787,805,651.92399769,630.92399769,652,0.418523699577,-0.00555095988218,0.0799677325381,0.999999996642,-6.2415139064e-05,-1.182707614e-05,-5.17789076261e-05,1793242931664743680
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.489576574,745,714,679.510423426,659.510423426,634.489576574,879.489576574,787,805,651.489576574,631,652,0.419358940804,-0.00555030797229,0.0799820014669,0.999999996415,-6.46854848628e-05,1.4585770676e-05,-5.2652579651e-05,1793242931681410304
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.096977673,745,714,680,659.903022327,634,879,787,805.096977673,651,631,652,0.420192067902,-0.0055497390679,0.0799904399766,0.999999996015,-6.5624246214e-05,2.85627368071e-05,-5.33642789369e-05,1793242931698076672
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.676403135,745,714,680,659.323596865,634,879,787,805.676403135,651,631,652,0.421023736475,-0.00555031924259,0.0799690491407,0.999999996527,-6.30664038214e-05,-7.72079770461e-06,-5.39406996202e-05,1793242931714743296
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.745292742,745,714,680,659,634.254707258,879,787,805.745292742,651,631,652,0.421892247338,-0.00555174596368,0.0799669025427,0.999999996621,-6.14600075551e-05,-1.15237578006e-05,-5.33702927366e-05,1793242931731410176
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.168406918,745,714,680,659,634.831593082,879,787,805.168406918,651,631,652,0.422807360032,-0.00555424347925,0.0799890979295,0.999999996486,-6.10570927539e-05,2.57578734078e-05,-5.13492666656e-05,1793242931748077568
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745.403034043,714,680,659,634.596965957,879.403034043,786.596965957,805,651,631,652,0.423681907374,-0.00555235537381,0.0800016025006,0.999999996183,-5.97515888944e-05,3.8767743398e-05,-5.05962047763e-05,1793242931764744192
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745.972230172,714,680,659,634.027769828,879.972230172,786.027769828,805,651,631,652,0.424539730459,-0.00554865917298,0.0800101117598,0.999999996173,-5.80739674326e-05,4.17708970065e-05,-5.0365896815e-05,1793242931781410816
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.566378384,745.433621616,714,679.433621616,659.566378384,634,879.433621616,786,805,651,631,651.433621616,0.425342192337,-0.00554767759898,0.0799603145454,0.99999999548,-5.96474777513e-05,-5.24317576176e-05,-5.22779641215e-05,1793242931798077696
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.842584819,745,714,679.157415181,659.842584819,634,879.157415181,786,805,651,631,651.157415181,0.426172761689,-0.00554736840414,0.0799197033564,0.999999989271,-6.30967552829e-05,-0.000120342810835,-5.4725554717e-05,1793242931814744320
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.263315969,745,714,679.736684031,659.263315969,634,879.736684031,786,805,651,631,651.736684031,0.427086265109,-0.00554848797514,0.0799117239131,0.999999990317,-7.11259910678e-05,-0.000104434473222,-5.83138116723e-05,1793242931831410688
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745.314319675,714,680,659,634.314319675,879.685680325,786.314319675,805,651,631,652,0.42798625679,-0.00554903354633,0.0799120406393,0.999999990326,-7.3766731169e-05,-0.000102112924962,-5.89793204952e-05,1793242931848076800
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745.890594173,714,680,659,634.890594173,879.109405827,786.890594173,805,651,631,652,0.428874987708,-0.00554910074457,0.079919271415,0.999999989604,-7.19166847671e-05,-0.000111114642574,-5.72090033631e-05,1793242931864743680
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.474394028,745.525605972,714,680,659.474394028,635,879,787,805.474394028,651,631,652,0.429766807528,-0.00554921004158,0.0799463399836,0.999999993485,-6.96417760238e-05,-7.06687068521e-05,-5.64454044597e-05,1793242931881410560
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714.059324533,680.059324533,660,635,879.059324533,787,806,651,631,652,0.430660984393,-0.00554964266644,0.0799790346417,0.999999995987,-6.79198331428e-05,-1.7673123536e-05,-5.56902953029e-05,1793242931898076928
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714.638706991,680.638706991,660,635,879.638706991,787,806,651,631,652,0.431569477777,-0.00555282320374,0.0800202966801,0.999999995055,-7.19181627483e-05,4.37565319993e-05,-5.29415137028e-05,1793242931914743808
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.782128668,745,714.782128668,681,660,634.782128668,879.782128668,787,805.782128668,651,631,652,0.432432226472,-0.00555361448646,0.0800265052245,0.999999994761,-7.361901183e-05,4.8289407902e-05,-5.22128465761e-05,1793242931931410432
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.203325571,745,714.203325571,681,660,634.203325571,879.203325571,787,805.203325571,651,631,652,0.433219193374,-0.00555044766351,0.0799746431736,0.999999995081,-7.15137907882e-05,-4.14345086174e-05,-5.48307573294e-05,1793242931948077312
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.372840354,745,714,681,659.627159646,634.372840354,879,787,805,651,631,652,0.434038481845,-0.0055488337552,0.0799299215536,0.999999990434,-7.28771876384e-05,-0.000102081940534,-5.83160022249e-05,1793242931964743936
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.947578183,745,714,681,659.052421817,634.947578183,879,787,805,651,631,652,0.43487527278,-0.00554806076878,0.0798890665649,0.999999984362,-7.61188824553e-05,-0.000146984105629,-6.22709187616e-05,1793242931981410560
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.534064528,635,879.534064528,787,805,651,631,652,0.435703091404,-0.00555086442312,0.0799167204363,0.999999989277,-8.29547101578e-05,-0.000104053739106,-6.11361288864e-05,1793242931998076928
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.120023901,714,681,660,635,880,787,805.120023901,651,631,652,0.436529742326,-0.00555408059041,0.0799515684099,0.999999992775,-8.93931103627e-05,-5.41125831483e-05,-5.94117489273e-05,1793242932014743552
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.92865249,744.92865249,714.92865249,679,659,634.92865249,878,786.92865249,805,651,631,652,0.401732748497,-0.00538867659916,0.0798443932901,0.999999933084,0.000240812059548,-0.000270779503041,5.01953682782e-05,1793242935139955200
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.494442854,745,714.494442854,679,659,635,878,787,805,651,631,652,0.401608657422,-0.00539204968396,0.0798426176923,0.999999933448,0.000236320794961,-0.000273443246211,4.98521159016e-05,1793242935156621824
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.083302612,745,714,679,659,634.916697388,878,787,805,651,631,652,0.401490154616,-0.00539502372298,0.0798395132028,0.999999932866,0.000233225428401,-0.000278317212577,4.91348508886e-05,1793242935173288448
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.668638734,745,714,679,659,634.331361266,878,787,805,651,631,652,0.401390342275,-0.00539107065546,0.0798330607483,0.99999992753,0.000243343392268,-0.000289012915708,4.68471708082e-05,1793242935189955328
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,878,787,804.748514511,651,631,652,0.401298887282,-0.00538969669924,0.0798270302554,0.999999923171,0.000249172190267,-0.000299160840955,4.55340303018e-05,1793242935206622208
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.858516073,745,714,679.858516073,658,635,878.858516073,786.858516073,805,651.858516073,631,652,0.401043549056,-0.0053919780022,0.0798231274112,0.999999922349,0.000246929968589,-0.000303645364197,4.61171078987e-05,1793242935289954816
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878,786.63241065,805,651,631,651.36758935,0.400969894002,-0.00539103750011,0.0798275230163,0.999999924002,0.000246934825182,-0.00029821806975,4.56564205541e-05,1793242935389955072
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.784019546,878,786.784019546,805,651,631,651.215980454,0.40096770375,-0.00538993316008,0.0798287258987,0.999999924005,0.000249345035742,-0.000296203009905,4.56209076092e-05,1793242935406621696
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.20462238,878,786.20462238,805,651,631,651.79537762,0.400965077387,-0.005389819514,0.0798276537723,0.999999923606,0.000250478043127,-0.000296586484978,4.5654296365e-05,1793242935423288576
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,878.954034783,786.954034783,804.045965217,651,631,652,0.400966595804,-0.0053935104016,0.0798294762043,0.999999925962,0.000245689254593,-0.000292622676487,4.5656533343e-05,1793242935456621568
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,659,635,878,786.897882903,805,651,631,652,0.400965501222,-0.00539117260194,0.0798299634326,0.999999925279,0.00024830203853,-0.000292873061356,4.48691347078e-05,1793242935489955328
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,659,635,878,786.325756005,805,651,631,652,0.400965311246,-0.0053926118868,0.0798314642179,0.999999926411,0.000246080369414,-0.000290828083321,4.51858702735e-05,1793242935506622208
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.256770999,745,714,679,658.743229001,634.743229001,878,786.256770999,804.743229001,651.256770999,631,651.743229001,0.400965236967,-0.00539303203231,0.0798321742531,0.999999927034,0.000244805940068,-0.000289748591067,4.52445067067e-05,1793242935523288576
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.853049293,745,714,679,658.146950707,634.146950707,878,786.853049293,804.146950707,651.853049293,631,651.146950707,0.400965315665,-0.00539210465339,0.0798318387444,0.999999926995,0.0002447839681,-0.000289945681421,4.49618798086e-05,1793242935539954944
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.56626217,745,714,678.56626217,658.43373783,634,878,786.56626217,804.43373783,651.56626217,631,651.43373783,0.400966384105,-0.00539335409487,0.07983226857,0.999999927528,0.000243940406114,-0.000288798890693,4.50749657711e-05,1793242935556621824
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.009320597,745,714,678.009320597,659,634.009320597,878,786.009320597,805,651,631,652,0.400967709268,-0.00539524034865,0.0798329173557,0.999999928221,0.000242853851383,-0.000287277935229,4.53030434951e-05,1793242935573288448
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.584468004,745,714,678.584468004,659,634.584468004,878,786.584468004,805,651,631,652,0.400964968923,-0.00539256703644,0.0798316636251,0.999999927429,0.000243327759525,-0.000289723939892,4.46554535142e-05,1793242935589955072
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878,786.836973342,805,651,631,652,0.400963022873,-0.00539069305408,0.079830979697,0.999999926641,0.000244837463426,-0.000291217351625,4.43402438394e-05,1793242935606621952
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878,786.249534114,805,651,631,652,0.400963144636,-0.00539089999311,0.0798317791543,0.999999925864,0.000249043687889,-0.000290230847236,4.48903306017e-05,1793242935623288576
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.66571588,745,714,678.66571588,659,634.66571588,878.33428412,786.33428412,804.66571588,651.33428412,631,652,0.400963176047,-0.00539181595799,0.0798317611767,0.999999926205,0.000247639777016,-0.000290252648358,4.49179391173e-05,1793242935639955200
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.084571682,745,714,678.084571682,659,634.084571682,878.915428318,786.915428318,804.084571682,651.915428318,631,652,0.400963140737,-0.0053932555199,0.0798311395448,0.999999927357,0.000242092927766,-0.000291019056761,4.45597110904e-05,1793242935656621824
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.490637691,745,714,678.490637691,659,634,879,786.509362309,804.490637691,651.509362309,631,652,0.400963907282,-0.00539314977477,0.0798317599953,0.999999927302,0.000243409547937,-0.000290114203103,4.45083196605e-05,1793242935673288448
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.93499405,744.93499405,714,679,659,634.06500595,879,786,804.93499405,651,631,652,0.400964785664,-0.00539287509394,0.0798326455662,0.999999927106,0.000245660061332,-0.000288881355123,4.45656191416e-05,1793242935689955072
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.359293314,744.359293314,714,679,659,634.640706686,879,786,804.359293314,651,631,652,0.40096546979,-0.0053933408281,0.0798339520703,0.999999927438,0.000246064148508,-0.000287307864094,4.50662657145e-05,1793242935706621696
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,744.223038005,714,679,659,634.776961995,878.776961995,786.223038005,804.223038005,651.223038005,631,652,0.400965657817,-0.00539362603651,0.0798345248541,0.999999927669,0.000245945729379,-0.000286599364904,4.5091012101e-05,1793242935723288320
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,744.816377933,714,679,659,634.183622067,878.183622067,786.816377933,804.816377933,651.816377933,631,652,0.400965022189,-0.00539361152462,0.0798338794691,0.999999927737,0.000244959812021,-0.000287326980089,4.4325638723e-05,1793242935739955200
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d5ebbb05c129227effd0492fb97ebbe184b8fa91
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
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+10,0.166666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+11,0.183333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+12,0.200000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
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+14,0.233333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+15,0.250000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+16,0.266666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+17,0.283333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+18,0.300000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
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+386,6.433333333,pose2_to_pose3_retreat,0.580746302352,1.94637238175e-06,1.07004068177,0.551318018566,0.0086767632172,1.06967848025
+387,6.450000000,pose2_to_pose3_retreat,0.580746273378,1.94688071381e-06,1.0700406814,0.551317989561,0.00867676362363,1.06967847996
+388,6.466666667,pose2_to_pose3_retreat,0.580746257716,1.94715548296e-06,1.0700406812,0.551317973883,0.00867676384332,1.0696784798
+389,6.483333333,pose2_to_pose3_retreat,0.580746099114,1.94993808139e-06,1.07004067916,0.55131781511,0.00867676606812,1.0696784782
+390,6.500000000,pose2_to_pose3_retreat,0.580746062781,1.95057550764e-06,1.07004067869,0.551317778739,0.00867676657776,1.06967847783
+391,6.516666667,pose2_to_pose3_retreat,0.580745789216,1.95537506874e-06,1.07004067518,0.55131750488,0.0086767704152,1.06967847507
+392,6.533333333,pose2_to_pose3_retreat,0.580745746803,1.95611916562e-06,1.07004067463,0.551317462423,0.00867677101013,1.06967847464
+393,6.550000000,pose2_to_pose3_retreat,0.580745472488,1.96093187307e-06,1.07004067111,0.551317187813,0.00867677485808,1.06967847188
+394,6.566666667,pose2_to_pose3_retreat,0.580745203509,1.96565097146e-06,1.07004066765,0.551316918545,0.00867677863118,1.06967846916
+395,6.583333333,pose2_to_pose3_retreat,0.580744845693,1.94845959139e-06,1.07004069476,0.551316561306,0.00867676337003,1.06967849563
+396,6.600000000,pose2_to_pose3_retreat,0.580744371376,1.90249734684e-06,1.07004076199,0.551316088702,0.00867672311497,1.06967856042
+397,6.616666667,pose2_to_pose3_retreat,0.580744261154,1.89181658244e-06,1.07004077762,0.551315978878,0.00867671376045,1.06967857547
+398,6.633333333,pose2_to_pose3_retreat,0.580744078137,1.87408181582e-06,1.07004080356,0.551315796521,0.00867669822784,1.06967860047
+399,6.650000000,pose2_to_pose3_retreat,0.580743857656,1.84624491033e-06,1.07004081842,0.551315576749,0.00867667274926,1.06967861427
+400,6.666666667,pose2_to_pose3_retreat,0.580743639446,1.81289584149e-06,1.07004081842,0.551315359162,0.00867664147027,1.06967861332
+401,6.683333333,pose2_to_pose3_retreat,0.580743555466,1.85972920075e-06,1.07004074362,0.551315274441,0.00867668591581,1.0696785415
+402,6.700000000,pose2_to_pose3_retreat,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.00867674001499,1.06967847325
+403,6.716666667,pose2_to_pose3_retreat,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.00867674001504,1.06967847325
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..978f7c906ae76d67849e12c59a6360590c764bfc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79c1d7e69aec200fa269fc7ab485c46c3e73505ebfdffd8ac1bc951b6416cc51
+size 25678365
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2cd7b2fc02318037a71acda11e1e8a2becd97fff
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_02/franka_data.csv
@@ -0,0 +1,406 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,744,714,679,659,634,878,787,804,652,631,652,0.400965502882,-0.00539277027581,0.0798335522567,0.999999927697,0.000245843505725,-0.000286666454025,4.46071309878e-05,1793242935889024000
+1,0.016666667,BASELINE,765,744.573938136,714.573938136,679,659,634.573938136,878.573938136,787,804,652,631,652,0.400964733626,-0.0053931327548,0.0798331318931,0.999999928024,0.000244235903885,-0.000286948528903,4.42805323594e-05,1793242935905690624
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+20,0.333333333,BASELINE,764.402963785,745,714.597036215,679,659,635,878.597036215,787,804,651,631,652,0.400965018222,-0.0053911525362,0.0798343926923,0.999999928027,0.00024617439736,-0.000285373181637,4.36661811392e-05,1793242936222356992
+21,0.350000000,BASELINE,764,745,714.821634274,679.178365726,658.821634274,635,879,787,804.178365726,651,631,652,0.400963822906,-0.00539020608222,0.0798341428462,0.999999927724,0.000246381456142,-0.000286293885483,4.34101088896e-05,1793242936239023360
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+26,0.433333333,BASELINE,765,745,714.078881636,678.921118364,659,635,878.078881636,786.078881636,804,652,631,652,0.400963155954,-0.00539298646681,0.0798332706273,0.999999927816,0.000244516715545,-0.000287518877348,4.37296071508e-05,1793242936322356736
+27,0.450000000,BASELINE,765,745,714.671312951,678.328687049,659,635,878.671312951,786.671312951,804,652,631,652,0.400963812205,-0.0053924565772,0.0798339944733,0.99999992828,0.000244665177265,-0.000285775935827,4.37070771693e-05,1793242936339023360
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+29,0.483333333,BASELINE,765,745,715,678.832864558,659,635,879,787,804.832864558,651.167135442,631,652,0.400965336837,-0.00539411313379,0.0798347360676,0.999999928745,0.000245230001135,-0.000283576535851,4.42260505013e-05,1793242936372357120
+30,0.500000000,BASELINE,764.591003367,745,715,679,659,635,879,787,805,651,631,652,0.400966297901,-0.00539427992827,0.0798352648267,0.999999928982,0.000244896892455,-0.000283004531041,4.43748128167e-05,1793242936389023744
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+47,0.783333333,BASELINE,764,745,714,678.719180267,659,635,878,787,804.280819733,651,631,651.280819733,0.400965586955,-0.0053924778299,0.0798352205731,0.999999928965,0.000245342962819,-0.000282813753592,4.35193138495e-05,1793242936672357120
+48,0.800000000,BASELINE,764,745,714,678.140219035,659,635,878,787,804.859780965,651,631,651.859780965,0.400965749955,-0.00539161873011,0.0798352837917,0.999999928589,0.000246960803515,-0.000282695768371,4.37662780015e-05,1793242936689023744
+49,0.816666667,BASELINE,764.436175059,745,714,678.436175059,659,635,878.436175059,786.563824941,805,651.436175059,631,652,0.400966055783,-0.00539282843924,0.0798356887651,0.999999928905,0.000245652146713,-0.00028271739373,4.37793712846e-05,1793242936705690624
+50,0.833333333,BASELINE,764.988255991,745,714,679,658.988255991,634.988255991,878.988255991,786.011744009,805,651.988255991,631,651.988255991,0.400966378685,-0.00539463410343,0.0798361752599,0.999999929416,0.000243479436505,-0.000282799359631,4.37160897533e-05,1793242936722357248
+51,0.850000000,BASELINE,764.412911071,745,714,679,658.412911071,634.412911071,878.412911071,786.587088929,805,651.412911071,631,651.412911071,0.400965330369,-0.0053933097242,0.079835332363,0.999999928881,0.000244725341182,-0.000283635829788,4.35745226543e-05,1793242936739023872
+52,0.866666667,BASELINE,764,745,714,679,658,634,878,787,805,651,631,651.166906103,0.400964333146,-0.0053924786333,0.0798346889365,0.999999928424,0.000245649767868,-0.000284450294157,4.35479641923e-05,1793242936755690496
+53,0.883333333,BASELINE,764,745,714,679,658,634,878,787,805,651,631,651.758091828,0.400963465803,-0.00539290149413,0.0798345525691,0.99999992817,0.000245756989121,-0.000285208819197,4.38137606644e-05,1793242936772357120
+54,0.900000000,BASELINE,764.342073212,745,714.342073212,679,658.342073212,634.342073212,878,787,805,651.342073212,631,652,0.400963370565,-0.00539303367622,0.0798348057574,0.999999928449,0.000244896169776,-0.000284965554664,4.38572482979e-05,1793242936789023744
+55,0.916666667,BASELINE,764.921064875,745,714.921064875,679,658.921064875,634.921064875,878,787,805,651.921064875,631,652,0.400963810085,-0.00539296453546,0.0798353287504,0.999999929094,0.000243364889629,-0.000284028454901,4.3746765765e-05,1793242936805690624
+56,0.933333333,BASELINE,764.505188954,745,714.505188954,678.505188954,659,635,878.494811046,787,805,652,631,652,0.400963917117,-0.00539289313623,0.079834729172,0.999999928677,0.00024384817374,-0.000285077093348,4.37650701933e-05,1793242936822357248
+57,0.950000000,BASELINE,764.069728519,744.930271481,714,678.069728519,659,635,878.930271481,786.930271481,805,652,631,652,0.400963889522,-0.00539287928925,0.0798340694918,0.999999928205,0.000244391987768,-0.000286265632062,4.37565840654e-05,1793242936839023616
+58,0.966666667,BASELINE,764.659558496,744.340441504,714,678.659558496,659,635,878.340441504,786.340441504,805,652,631,652,0.400963249228,-0.00539329738062,0.0798342832457,0.999999928586,0.000243015316835,-0.000286159645066,4.33966330877e-05,1793242936855690496
+59,0.983333333,BASELINE,765,744.24497842,714,679,659,635,878,786.24497842,805,651.75502158,631,652,0.400963610843,-0.0053934048594,0.0798350178221,0.999999928954,0.000242986404811,-0.00028487891553,4.35115815783e-05,1793242936872357120
+60,1.000000000,BASELINE,765,744.82437824,714,679,659,635,878,786.82437824,805,651.17562176,631,652,0.400965340166,-0.00539308831928,0.0798364633762,0.999999929297,0.000244797325749,-0.000281994538421,4.42748179153e-05,1793242936889024000
+61,1.016666667,BASELINE,764.599291673,745,714.400708327,679,659,635,878.400708327,787,805,651.400708327,631,651.599291673,0.400965445339,-0.00539284664399,0.0798363565653,0.999999929026,0.000245691629643,-0.000282211039873,4.40509546395e-05,1793242936905690880
+62,1.033333333,BASELINE,764.024296789,745,714.975703211,679,659,635,878.975703211,787,805,651.975703211,631,651.024296789,0.400964844092,-0.00539263753089,0.0798355745592,0.99999992849,0.000246187254343,-0.000283776256784,4.3397756111e-05,1793242936922357504
+63,1.050000000,BASELINE,764,745,715,678.510012924,659,635,878.510012924,786.510012924,805,651.510012924,631,651.489987076,0.400965141354,-0.00539342645085,0.0798355947428,0.999999928853,0.000245076518746,-0.0002834175322,4.36597311133e-05,1793242936939024128
+64,1.066666667,BASELINE,764,745,714.998130626,678.001869374,659,635,878.001869374,786.001869374,804.998130626,651,631,652,0.400965479359,-0.00539425318621,0.0798356530971,0.999999929252,0.000243907237486,-0.000282971188879,4.39605224111e-05,1793242936955691008
+65,1.083333333,BASELINE,764,745,714.397528665,678.602471335,659,635,878.602471335,786.602471335,804.397528665,651,631,652,0.400966170098,-0.00539308845569,0.0798366012239,0.999999928952,0.000246686085838,-0.000281649033532,4.3761303062e-05,1793242936972357376
+66,1.100000000,BASELINE,764,745,714.219803448,679,659,635,878.780196552,786.780196552,804,651.219803448,631,652,0.400966505449,-0.00539273537498,0.0798370055789,0.999999928995,0.000247426529777,-0.00028087136996,4.36004898481e-05,1793242936989024000
+67,1.116666667,BASELINE,764,745,714.869885799,679,659,635,878.130114201,786.130114201,804,651.869885799,631,652,0.400966145105,-0.00539397114936,0.0798363454667,0.999999929717,0.000244176670128,-0.000281159583021,4.35148590533e-05,1793242937005690368
+68,1.133333333,BASELINE,764.458792256,745,714.541207744,679,659,635,878,786,804.458792256,652,631,652,0.400965225545,-0.00539481598766,0.0798360201273,0.9999999297,0.000243190271811,-0.000282092232329,4.33837856589e-05,1793242937022357504
+69,1.150000000,BASELINE,764.966668854,745,714.033331146,679,659,635,878.033331146,786.033331146,805,652,630.966668854,652,0.400964337202,-0.00539543789151,0.0798358616991,0.999999929524,0.00024288726828,-0.00028299402028,4.32668556498e-05,1793242937039024640
+70,1.166666667,BASELINE,764.376411319,745,714.623588681,679,659,635,878.623588681,786.623588681,805,652,630.376411319,652,0.400966308645,-0.00539396936909,0.0798370924375,0.999999929759,0.000244539166204,-0.000280685664787,4.35762482839e-05,1793242937055691008
+71,1.183333333,BASELINE,764.208603108,745,715,679,659,635,879,787,805,651.791396892,630.208603108,652,0.400966754761,-0.00539326399125,0.079837225997,0.999999929637,0.00024552451427,-0.00028024018905,4.36964167793e-05,1793242937072357632
+72,1.200000000,BASELINE,764.784388729,745,715,679,659,635,879,787,805,651.215611271,630.784388729,652,0.400964515998,-0.00539390189779,0.0798354283059,0.999999928894,0.000245336603713,-0.000283073747843,4.34835136106e-05,1793242937089024256
+73,1.216666667,BASELINE,764.637106653,745,714.637106653,679,659,635,878.637106653,787,805,651.362893347,631,651.637106653,0.400964785956,-0.00539293632309,0.0798356063648,0.999999928785,0.000246176753007,-0.000282755610717,4.33081563969e-05,1793242937105690880
+74,1.233333333,BASELINE,764.056974397,745,714.056974397,679,659,635,878.056974397,787,805,651.943025603,631,651.056974397,0.400966557708,-0.00539101085608,0.0798369671675,0.999999929054,0.000247632329964,-0.000280550773129,4.31552753376e-05,1793242937122357504
+75,1.250000000,BASELINE,764.516940536,745,714,679,659,634.483059464,878.516940536,787,805,652,631,651,0.400966884889,-0.00539244016691,0.0798368641011,0.999999929275,0.000246452782177,-0.000280773107366,4.33324462422e-05,1793242937139024128
+76,1.266666667,BASELINE,764.911764646,745,714.088235354,679,659,634.088235354,879,787,805,651.911764646,631,651.088235354,0.400966992568,-0.0053938619842,0.0798366604128,0.999999929522,0.00024500237824,-0.000281133751761,4.35083936931e-05,1793242937155690752
+77,1.283333333,BASELINE,764.350878035,745,714.649121965,679,659,634.649121965,879,787,805,651.350878035,631,651.649121965,0.400966767157,-0.0053932865792,0.0798367717013,0.999999929945,0.000243638332865,-0.000280819340912,4.34852445606e-05,1793242937172357376
+78,1.300000000,BASELINE,764.229355972,745,714.770644028,679,659,635,879,787,805,651.229355972,631,652,0.400966111771,-0.00539333421276,0.0798365704907,0.999999930144,0.00024250033002,-0.000281099255124,4.34668381873e-05,1793242937189024256
+79,1.316666667,BASELINE,764.841915153,745,714.158084847,679,659,635,879,787,805,651.841915153,631,652,0.400964737992,-0.00539442280632,0.0798358471633,0.99999992997,0.000241739994495,-0.000282372155371,4.34563559202e-05,1793242937205690880
+80,1.333333333,BASELINE,765,745,714.426611723,679,659,635,879,787,805,651.573388277,631,652,0.400965192175,-0.00539306802191,0.0798359698357,0.999999929606,0.000243603248681,-0.000282071415696,4.33771700717e-05,1793242937222358016
+81,1.350000000,BASELINE,765,745,715,679.001549786,659.001549786,635,878.998450214,787,804.998450214,651.001549786,631,652,0.400966279931,-0.00539087017662,0.0798363863827,0.999999929172,0.000246366296265,-0.000281224211958,4.32742845853e-05,1793242937239025152
+82,1.366666667,BASELINE,765,745,715,679.552796331,659.552796331,635,878.447203669,787,804.447203669,651.552796331,631,652,0.400966563899,-0.00539110075118,0.0798366614819,0.999999929757,0.000244589592772,-0.000280700712773,4.32417343216e-05,1793242937255691264
+83,1.383333333,BASELINE,765,745,715,679.883048553,659.883048553,635,878.116951447,787,804.116951447,651.883048553,631.116951447,652,0.400966293512,-0.00539166220743,0.0798365175591,0.999999930143,0.000242852195821,-0.000280841463657,4.31860456143e-05,1793242937272357888
+84,1.400000000,BASELINE,765,745,715,679.263408812,659.263408812,635,878.736591188,787,804.736591188,651.263408812,631.736591188,652,0.400963640357,-0.00539364588092,0.0798345725692,0.999999929683,0.000241283748241,-0.0002838373371,4.30309017385e-05,1793242937289024512
+85,1.416666667,BASELINE,764.671385071,745,714.671385071,679,659,634.671385071,878.671385071,787,804.671385071,651,631.671385071,652,0.400962892392,-0.00539409742209,0.0798342777786,0.999999929204,0.000242051239851,-0.00028486546585,4.30577596096e-05,1793242937305690880
+86,1.433333333,BASELINE,764.09978154,745,714.09978154,679,659,634.09978154,878.09978154,787,804.09978154,651,631.09978154,652,0.400963553186,-0.00539341605452,0.0798352031991,0.999999928712,0.000244546001224,-0.000284438579781,4.3219195521e-05,1793242937322357504
+87,1.450000000,BASELINE,764.478402124,745,714,679,659,634.478402124,878,786.521597876,804.478402124,651,631,652,0.400965147534,-0.00539452574819,0.0798362036252,0.999999929028,0.00024550476892,-0.000282410475831,4.37681580449e-05,1793242937339023872
+88,1.466666667,BASELINE,764.940907164,745,714,679,659,634.940907164,878,786.059092836,805,651,630.940907164,652,0.400966620659,-0.00539569181206,0.079837013714,0.999999929395,0.00024619810539,-0.000280417941368,4.43006961386e-05,1793242937355690496
+89,1.483333333,BASELINE,764.350180975,745,714,679,659,634.350180975,878,786.649819025,805,651,630.350180975,652,0.400965227,-0.00539395732681,0.0798359687118,0.999999928721,0.000247425863455,-0.000281791901077,4.39481592003e-05,1793242937372357120
+90,1.500000000,BASELINE,764.235941819,745,714,679,659,634.235941819,878.235941819,786.764058181,804.764058181,651.235941819,630.235941819,652,0.400964261995,-0.0053927743719,0.0798352386708,0.99999992841,0.000247445154759,-0.000282927221298,4.36330005521e-05,1793242937389023744
+91,1.516666667,BASELINE,764.815363031,745,714,679,659,634.815363031,878.815363031,786.184636969,804.184636969,651.815363031,630.815363031,652,0.400963921016,-0.005392394324,0.079834967144,0.999999928627,0.000245705184159,-0.000283715134793,4.33722565038e-05,1793242937405690368
+92,1.533333333,BASELINE,764.610352565,745,714,679.389647435,659.389647435,634.610352565,879,786.389647435,804,651.610352565,631,651.610352565,0.400964509607,-0.0053930847278,0.0798356463064,0.999999929049,0.000245001618813,-0.000282828146035,4.34104183157e-05,1793242937422357248
+93,1.550000000,BASELINE,764.038470548,745,714,679.961529452,659.961529452,634.038470548,879,786.961529452,804,651.038470548,631,651.038470548,0.400965532949,-0.00539427577215,0.0798367700974,0.999999929566,0.000244782770677,-0.000281157820707,4.35883756723e-05,1793242937439023872
+94,1.566666667,BASELINE,764,745,714,679.44896932,659.44896932,634.55103068,879,786.44896932,804,651,631,651.55103068,0.400966125212,-0.00539368308138,0.0798368953483,0.999999929307,0.000246114683921,-0.000280915174683,4.35857846813e-05,1793242937455690496
+95,1.583333333,BASELINE,764,745,714.139062734,679,658.860937266,635,878.860937266,786,804.139062734,651.139062734,631,652,0.400966380053,-0.00539319235372,0.0798367598101,0.999999929065,0.000247023201704,-0.000280983688379,4.35513401584e-05,1793242937472357120
+96,1.600000000,BASELINE,764,745,714.718419976,679,658.281580024,635,878.281580024,786,804.718419976,651.718419976,631,652,0.400965665003,-0.00539343177074,0.0798360265875,0.999999929059,0.000246237068823,-0.000281711374002,4.34572703141e-05,1793242937489023744
+97,1.616666667,BASELINE,764,745,714.704192841,679,658.591614319,635,878,786,805,651.704192841,631,652,0.400965273895,-0.00539372679564,0.079836031974,0.999999929264,0.000245309401916,-0.000281799046607,4.34199848349e-05,1793242937505690368
+98,1.633333333,BASELINE,764,745,714.128668592,679,659.742662817,635,878,786,805,651.128668592,631,652,0.40096518911,-0.00539407440368,0.0798367357939,0.999999929668,0.000244247899603,-0.000281281518877,4.34363950097e-05,1793242937522356992
+99,1.650000000,BASELINE,764,745,714,679,659.55667335,635,878.44332665,786.44332665,805,651.44332665,630.55667335,652,0.400965234079,-0.00539456005305,0.0798361828986,0.999999929494,0.000244691659618,-0.000281486886669,4.36359456041e-05,1793242937539023872
+100,1.666666667,BASELINE,764,745,714.014508419,678.985491581,659,635,878.985491581,787,805,651.985491581,630.014508419,652,0.400965310685,-0.00539504909097,0.0798352929127,0.999999929154,0.000245559274487,-0.000281897711208,4.38784739662e-05,1793242937555690752
+101,1.683333333,BASELINE,764,745,714.593577235,678.406422765,659,635,878.406422765,787,805,651.406422765,630.593577235,652,0.400965164519,-0.00539412329152,0.0798353668178,0.999999928953,0.000246054353803,-0.000282203652309,4.37413678482e-05,1793242937572357376
+102,1.700000000,BASELINE,764.177642692,745,714.822357308,678.177642692,659,635,878.177642692,787,805,651.177642692,631,652,0.400965224222,-0.00539369407791,0.0798355519418,0.99999992904,0.00024562107752,-0.000282308379222,4.34902566347e-05,1793242937589023744
+103,1.716666667,BASELINE,764.773470562,745,714.226529438,678.773470562,659,635,878.773470562,787,805,651.773470562,631,652,0.400965768559,-0.00539443386745,0.0798359988844,0.999999929807,0.000243002377449,-0.000281939431716,4.2970768279e-05,1793242937605690624
+104,1.733333333,BASELINE,765,745,714,679.356736286,659,635,879,786.643263714,804.643263714,651.643263714,631,652,0.400965872352,-0.00539393437626,0.0798363242893,0.999999929624,0.000244036075518,-0.000281689542614,4.30026189743e-05,1793242937622357248
+105,1.750000000,BASELINE,765,745,714,679.932296384,659,635,879,786.067703616,804.067703616,651.067703616,631,652,0.400965705913,-0.00539267470417,0.0798365751425,0.999999928854,0.000247310172522,-0.000281512684493,4.33726637359e-05,1793242937639023872
+106,1.766666667,BASELINE,765,745,714,679.492695701,659,635,878.492695701,786.507304299,804.507304299,651,631,652,0.400967314684,-0.00539351478537,0.0798379300238,0.999999929996,0.000245068238388,-0.000279389176048,4.34920674578e-05,1793242937655690752
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,651,631,652,0.400967476345,-0.00539227660322,0.079837400785,0.99999992999,0.000246555205076,-0.000278091153665,4.35320431416e-05,1793242937698972416
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,877.815112056,787,805,651.592443972,631,652,0.400966115107,-0.00539132083901,0.0798370959579,0.999999929297,0.000247348002896,-0.000279917720255,4.32464044767e-05,1793242937715639296
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+110,1.833333333,POSE1_TO_POSE2_PRESS,764.242573623,745,714,679,659.757426377,635,877.757426377,786.242573623,805,652,631,652,0.40096514555,-0.00539188201125,0.079835665092,0.999999928889,0.000246063433601,-0.000282584615492,4.26595930987e-05,1793242937748972800
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659.666477112,635,878.333522888,786.333522888,804.666477112,651.666477112,630.666477112,652,0.400965204565,-0.005392068693,0.079835638415,0.999999928887,0.000245984490099,-0.000282648947697,4.27407833941e-05,1793242937765638912
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+113,1.883333333,POSE1_TO_POSE2_PRESS,764.49633562,745,714,679.49633562,659,635,879,786.50366438,804.49633562,651.49633562,630.49633562,652,0.400965710646,-0.00539306970766,0.0798359977505,0.999999929047,0.00024600219365,-0.000281966897232,4.33937811004e-05,1793242937798972160
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.915461985,659,635,878.915461985,786.084538015,805,651.915461985,631,652,0.400966325437,-0.00539452941894,0.0798358401429,0.999999929291,0.000245061795762,-0.000281885702807,4.36347572088e-05,1793242937815638528
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.337129381,659,635,878.337129381,786.662870619,805,651.337129381,631,652,0.400967983867,-0.00539474175895,0.0798373226881,0.99999992951,0.000245540478468,-0.000280691654754,4.36104953731e-05,1793242937832305408
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.761181179,745,714,679,659,635,878.238818821,786.761181179,804.761181179,651.238818821,631,652,0.400975906362,-0.00539431633048,0.0798412276424,0.999999930944,0.000246310575122,-0.000274845179395,4.36297427081e-05,1793242937848972288
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.188565698,745,714,679,659,635,878.811434302,786.188565698,804.188565698,651.811434302,631,652,0.400992584132,-0.00539299949409,0.0798485183937,0.999999933967,0.000247487980488,-0.00026249601439,4.37098027343e-05,1793242937865639424
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,679.396390763,659,635,879,786,804.396390763,652,631,652,0.401027833076,-0.00539421499565,0.0798631220476,0.999999940766,0.000246167474427,-0.000236497772313,4.4021216359e-05,1793242937882306048
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,714,679.987406611,659,635,879,786,804.987406611,652,631,652,0.401072200338,-0.00539667385728,0.0798813162861,0.99999994857,0.000243620511272,-0.000203797927823,4.44462229476e-05,1793242937898972416
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.566806379,745,714,679.433193621,659,635,879,786.566806379,805,652,631,652,0.401139878987,-0.00539739282773,0.0798994663866,0.999999956017,0.000241660170258,-0.000166277975877,4.38042523117e-05,1793242937915638784
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.855554915,787,805,651.855554915,631,652,0.401208108851,-0.0053982101206,0.0799150038258,0.999999960942,0.000240055465734,-0.000136524856962,4.30094570049e-05,1793242937932305408
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.282392329,787,805,651.282392329,631,652,0.401276468375,-0.00539943166913,0.0799227896614,0.999999961985,0.000239468394334,-0.00013013540613,4.18300212272e-05,1793242937948972032
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.707304572,745,714,679,659,634.707304572,878,787,805,651.292695428,631,652,0.401355547891,-0.00540046604129,0.0799279198526,0.999999963227,0.000238473850017,-0.000122822381351,3.98825156618e-05,1793242937965638656
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.130347149,745,714,679,659,634.130347149,878,787,805,651.869652851,631,652,0.401445038518,-0.00540131863009,0.0799304709159,0.999999964636,0.00023708357333,-0.000114612393943,3.71890707727e-05,1793242937982305280
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.458233984,745,714,679,659,634.458233984,878,787,804.541766016,651.541766016,631,652,0.401550379096,-0.00540185896225,0.0799331559957,0.999999965813,0.000235009102852,-0.000109591054542,3.36800163696e-05,1793242937998971904
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.950849802,635,878,787,804,651,630.950849802,652,0.401663303194,-0.0054025009474,0.079936169385,0.999999966965,0.000232765449665,-0.000104859735008,2.99230874501e-05,1793242938015638784
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.371343425,635,878,787,804,651,630.371343425,652,0.401808141053,-0.00540522321372,0.0799423033472,0.99999996867,0.000230850964116,-9.32158440858e-05,2.60600690832e-05,1793242938032305408
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.206222233,635,878,787,804.206222233,651,630.206222233,652,0.401962190024,-0.00540704097316,0.0799489277323,0.999999970341,0.000228505344895,-8.14570663815e-05,2.16220268984e-05,1793242938048972288
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.780325764,635,878,787,804.780325764,651,630.780325764,652,0.402132670748,-0.00540724517608,0.0799564269859,0.999999972054,0.0002253906235,-6.94933425906e-05,1.61581960765e-05,1793242938065638912
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787,805,651,631,652,0.402314231421,-0.00540796703481,0.0799603750264,0.999999973571,0.000221016703438,-6.24872891554e-05,1.02405144394e-05,1793242938082305536
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787,805,651,631,652,0.402502659432,-0.00540900973519,0.0799621220356,0.999999974979,0.000215862335246,-5.85539848606e-05,4.04153679821e-06,1793242938098972160
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.468892626,745,714,679,659,635,878,787,805,651,631,651.468892626,0.402716695836,-0.005412289894,0.079958177522,0.999999976838,0.000204525891795,-6.69195255093e-05,-3.79125981646e-06,1793242938115639040
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,635,878,786.889644657,804.889644657,651.110355343,631,651,0.402942048728,-0.00541565258989,0.0799541428915,0.9999999785,0.000192958488392,-7.50162176522e-05,-1.1842833152e-05,1793242938132305920
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,635,878,786.310283991,804.310283991,651.689716009,631,651,0.40320563671,-0.00541850461675,0.0799519165729,0.999999980107,0.000182789687059,-7.72351116593e-05,-2.01951599381e-05,1793242938148972544
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659,635,878,786,804.262592069,652,631,651.262592069,0.403487058785,-0.00542098157165,0.079952110365,0.999999985148,0.000152681028827,-7.58095192868e-05,-2.54045246974e-05,1793242938165639168
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,635,878,786,804.827990415,652,631,651.827990415,0.403789046107,-0.0054230260147,0.0799550948915,0.999999992215,9.9578859122e-05,-7.01813116956e-05,-2.69896034026e-05,1793242938182305792
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658.583956493,635,878.416043507,786,804.583956493,651.583956493,631,652,0.404116833975,-0.00542355594712,0.0799576263407,0.999999991659,0.000107536625246,-6.66250631541e-05,-2.60565396985e-05,1793242938198972160
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.013564893,745,714,679,658,635,878.986435107,786.013564893,804.013564893,651.013564893,631,651.986435107,0.404457195885,-0.00542349518489,0.0799599317658,0.999999987712,0.000141126887571,-6.38467228709e-05,-2.41568213971e-05,1793242938215638528
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.592840789,745,714,679,658,635,878.407159211,786.592840789,804.592840789,651.592840789,631,651.407159211,0.404851470291,-0.00542641736578,0.0799610729925,0.999999989575,0.000130260041851,-5.57278561862e-05,-2.78623514517e-05,1793242938232305152
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.828464115,745,714.171535885,679,658.171535885,635,878,787,804.828464115,652,631,651,0.405255877458,-0.00542955566985,0.0799599895534,0.999999990994,0.000119422126738,-5.27014568462e-05,-3.1183236112e-05,1793242938248971776
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.251143044,745,714.748856956,679,658.748856956,635,878,787,804.251143044,652,631,651,0.405684254619,-0.00543320523437,0.0799536434462,0.999999991628,0.000108652651435,-6.17217963764e-05,-3.35942033387e-05,1793242938265638400
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714.675852074,679,658.675852074,635,878,787,804.324147926,651.675852074,630.675852074,651.324147926,0.406128421285,-0.00543643905566,0.0799462381389,0.999999990578,0.000110268129563,-7.4289637396e-05,-3.415092964e-05,1793242938282305024
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+148,2.466666667,POSE1_TO_POSE2_PRESS,764,744.195731778,714.195731778,679,659,635,878,786.804268222,804.804268222,651,630.195731778,652,0.409238455001,-0.00545958204566,0.0799281222448,0.999999988959,8.56876068713e-05,-0.000114455854275,-4.0491166944e-05,1793242938382305280
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+150,2.500000000,POSE1_TO_POSE2_PRESS,764,744,714,679,659,634.022132956,878,786.022132956,805,651,630.977867044,652,0.410534656473,-0.00548874669987,0.079988356954,0.999999998179,4.67525096359e-05,-1.38099477791e-05,-3.55700711239e-05,1793242938415638272
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+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714.10158197,679.10158197,659.10158197,634.10158197,879,786.10158197,805.10158197,651,631,652,0.421211942111,-0.0055525001825,0.0799672712573,0.999999996652,-6.31238303873e-05,-1.0204007567e-05,-5.10547386738e-05,1793242938648971776
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714.677733136,679.677733136,659.677733136,634.677733136,879,786.677733136,805.677733136,651,631,652,0.422078478018,-0.005536142491,0.0799731008896,0.99999999769,-4.46835354286e-05,-1.15489953624e-06,-5.11983567568e-05,1793242938665638400
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.746000585,745,714.746000585,679.746000585,659.746000585,635,879,786.746000585,805.746000585,651,631,652,0.422962582033,-0.00552082877078,0.0799898963461,0.999999998199,-2.41181669827e-05,2.25087509043e-05,-5.01298092612e-05,1793242938682304768
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.169588109,745,714.169588109,679.169588109,659.169588109,635,879,786.169588109,805.169588109,651,631,652,0.423868986171,-0.0055068402088,0.0800206112251,0.999999996776,-8.55343132863e-07,6.47233088864e-05,-4.7522604576e-05,1793242938698971392
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679.41586606,659,635,879,786.41586606,805.41586606,651,631,652,0.424707582358,-0.00551081838415,0.0799956637456,0.99999999877,-8.54769477068e-06,6.48920424344e-06,-4.84248986848e-05,1793242938715638272
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.004973701,745,714,680,659.004973701,635,879.004973701,786.995026299,805.995026299,651,631,652,0.425518647112,-0.00552222989908,0.0799477345114,0.999999993984,-2.90305979271e-05,-9.27829987609e-05,-5.07990182559e-05,1793242938732304640
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.580813533,745,714,680,659.580813533,635,879.580813533,786.419186467,805.419186467,651,631,652,0.426414064142,-0.00552718600059,0.0799252350209,0.999999993234,-3.65013947275e-05,-9.62447878837e-05,-5.41903300446e-05,1793242938748971776
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879.843698905,786.156301095,805,651,631,652,0.427301683729,-0.00553107064427,0.0799091320343,0.999999992367,-4.26677926173e-05,-0.00010130880287,-5.6412163541e-05,1793242938765638656
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879.269154012,786.730845988,805,651,631,652,0.4281684382,-0.00553208818946,0.0799101453594,0.999999991309,-4.5343768228e-05,-0.000110660190255,-5.55046071017e-05,1793242938782305280
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879.314097351,786.685902649,805,651.314097351,631,652,0.429062375526,-0.00553442412931,0.0799242577739,0.999999992403,-4.9081638922e-05,-9.89249896525e-05,-5.4759407424e-05,1793242938798971904
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879.905022067,786.094977933,805,651.905022067,631,652,0.429980270212,-0.00553792202644,0.0799499149734,0.999999994735,-5.37554027742e-05,-6.86052810383e-05,-5.41572996821e-05,1793242938815638528
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680.486072765,660,634.513927235,879.513927235,786,805.486072765,651.513927235,631,652,0.430911990451,-0.00554053024351,0.079993014782,0.999999996997,-5.6902731272e-05,-8.81057437952e-07,-5.26005690106e-05,1793242938832305152
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.06467289,879.06467289,786,805.93532711,651,631,652,0.431833078181,-0.00554235378302,0.0800315455515,0.999999995137,-5.88603439314e-05,6.04009855877e-05,-5.11235774228e-05,1793242938848971776
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.638863803,879.638863803,786,805.361136197,651,631,652,0.432649538694,-0.00553933765642,0.0800077626388,0.999999997113,-5.37479656499e-05,1.44939431721e-05,-5.17151167194e-05,1793242938865638400
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.794212658,880,786.205787342,805.205787342,651,631,651.794212658,0.433460156836,-0.00553620842991,0.0799706381807,0.999999996302,-5.10295092694e-05,-4.35165755263e-05,-5.38282218895e-05,1793242938882304768
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.239607518,880,786.760392482,805.760392482,651,631,651.239607518,0.434260872056,-0.00553288749404,0.079910899264,0.999999989469,-5.23688456283e-05,-0.000122042979255,-5.85204422618e-05,1793242938898971648
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681.350050512,660,634,880.350050512,787,805.649949488,651,631,651,0.435102349902,-0.00553054335512,0.0799011883329,0.999999988576,-5.18005740873e-05,-0.000128780187586,-5.98293020919e-05,1793242938915638528
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681.966371995,660,634,880.966371995,787,805.033628005,651,631,651,0.43597483438,-0.00552894223111,0.079929531914,0.999999993773,-4.97812530859e-05,-8.09099045038e-05,-5.85645597378e-05,1793242938932305152
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681.452008284,660,634.547991716,879.904016569,787,805.547991716,651,631,651.547991716,0.436784158958,-0.00552972385063,0.0799649430335,0.999999996144,-5.32805641097e-05,-4.09236431533e-05,-5.65547675584e-05,1793242938948971520
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,635,879.126544779,787,806,651,631,652,0.437598684512,-0.00553257448676,0.0799973644803,0.999999996778,-5.85838356861e-05,-1.76745339718e-06,-5.48516645096e-05,1793242938965638144
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,635,879.701329069,787,806,651,631,652,0.43844454387,-0.0055422667881,0.0800177513243,0.99999999548,-6.91488630211e-05,3.60601678763e-05,-5.43872023625e-05,1793242938982304768
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681.275503496,660,635,880,787,806,651,631,652,0.439238476245,-0.00554787345193,0.0800225074196,0.999999994603,-7.52666259415e-05,4.62527707997e-05,-5.46757233986e-05,1793242938998971648
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681.849018197,660,635,880,787,806,651,631,652,0.439976239319,-0.00554906069476,0.0800103557852,0.99999999516,-7.6573797266e-05,2.65526647857e-05,-5.57787438978e-05,1793242939015638528
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.562955966,745,714,681.562955966,660,634.562955966,879.562955966,787,806.437044034,651,631,652,0.440649459107,-0.00554948409886,0.0799507963676,0.999999993293,-7.62063809766e-05,-6.47032185883e-05,-5.84779404226e-05,1793242939032305152
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.029409917,745,714,681,660,634,879,787,806.970590083,651,631,652,0.441300717616,-0.00554969919294,0.0798766583266,0.999999979502,-7.54302603972e-05,-0.000177471602448,-6.17280934215e-05,1793242939048971520
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.606049183,745,714,681,660,634,879,787,806.393950817,651,631,652,0.44197247419,-0.00555111683804,0.0798464586914,0.999999971794,-7.81833158985e-05,-0.000214766106273,-6.46173157257e-05,1793242939065638400
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,681.18286558,660,634,879.18286558,787,806,651,631,652,0.442667015732,-0.00555427441434,0.0798488802818,0.999999973257,-8.60161978277e-05,-0.000204433305895,-6.55268362084e-05,1793242939082305024
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681.76006405,660,634,879.76006405,787,806,651,631,652,0.4434106911,-0.00556118399332,0.0799216465548,0.999999988399,-0.000104803260674,-9.13965874833e-05,-6.21673109953e-05,1793242939098971648
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660.343697453,634,879.656302547,787,806,651,631,652,0.444089582176,-0.00556490208843,0.0799730084209,0.999999992959,-0.000101323920101,-1.61974096803e-05,-5.96139857565e-05,1793242939115638528
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660.931908773,634,879.068091227,787,806,651,631,652,0.444722384249,-0.00556634969187,0.0800091427205,0.999999994462,-8.20037736448e-05,3.20833089811e-05,-5.76342092489e-05,1793242939132305152
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+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.090698127,714,682,660,634,880.909301873,787,806,651,631,652,0.445859764218,-0.005567159567,0.0799703886091,0.999999988985,-0.000132474437611,-3.43095855872e-05,-5.74679983224e-05,1793242939165638656
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.663958048,714,682,660,634,880.336041952,787,806,651,631,652,0.446359543841,-0.00556659713802,0.0799401086044,0.999999988366,-0.000114309508215,-8.20413705493e-05,-5.89125730508e-05,1793242939182305280
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,746,714,682.239060381,660,634,880,787,806.239060381,651,631,652,0.446858633801,-0.00556274865075,0.0799165121416,0.999999987138,-9.67593571224e-05,-0.000112848464048,-6.02162261165e-05,1793242939198971904
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,746,714,682.816772617,660,634,880,787,806.816772617,651,631,652,0.447356746744,-0.0055542451482,0.0799023835567,0.999999987752,-8.00801000452e-05,-0.000119680112199,-6.13202502281e-05,1793242939215638784
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,746,714,682.596192229,660,634,880,786.596192229,806.596192229,651,630.596192229,652.403807771,0.447807459162,-0.00555048192131,0.0798849620885,0.999999984378,-8.53376316211e-05,-0.000141530143228,-6.27020335717e-05,1793242939232305152
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,746,714,682.004826784,660,634,880,786.004826784,806.004826784,651,630.004826784,652.995173216,0.448236155374,-0.00554892042217,0.0798660111649,0.999999978349,-0.000100784200457,-0.000170355803135,-6.42128285341e-05,1793242939248971776
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764.851288247,745,714,682.148711753,659,633,880,786,805.148711753,651,630.148711753,652,0.449009516586,-0.0055584019246,0.0798180450418,0.999999961315,-9.32826458669e-05,-0.000253874471513,-6.49250365936e-05,1793242939282305280
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+204,3.400000000,POSE1_TO_POSE2_PRESS,764.306220723,745.306220723,714,683,659,633,880.306220723,786,806,651.306220723,631,652,0.449735268944,-0.00556346806601,0.0798076256918,0.999999957874,-0.000104637986423,-0.00026279371745,-6.51347089162e-05,1793242939315638272
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+229,3.816666667,POSE1_TO_POSE2_PRESS,764.806492622,745,714,682.193507378,657,631,880,784.806492622,805.193507378,651,630,652,0.45294058692,-0.00558344268461,0.0797138247461,0.999999898659,-0.000136427643422,-0.000424182144323,-6.43359572912e-05,1793242939732304640
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+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.378794077,713.621205923,682,656.621205923,631,880,784.621205923,806.621205923,651,630,652,0.452947789587,-0.00558430317363,0.0797021483418,0.999999890265,-0.000140721697878,-0.000442339563418,-6.32772737557e-05,1793242939898971904
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.365390284,714,683,657.365390284,631.365390284,880,785,806,651.634609716,630.634609716,652,0.451792193698,-0.00555848156386,0.0795928381949,0.999999798284,-0.000112559980185,-0.000623770933243,-4.09011477482e-05,1793242940695735296
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,746,714,683,658,632,880.519648456,785,806,651,630.519648456,652,0.451395945567,-0.00555331027026,0.0795990844649,0.999999801982,-9.99904431843e-05,-0.000620617025165,-2.95223181361e-05,1793242940729068544
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.903280336,714,683,658,632,880.903280336,785,806,651.096719664,630.903280336,652,0.451177301286,-0.00554899993959,0.0796047255485,0.999999807448,-9.21360849577e-05,-0.000613246469569,-2.33317289004e-05,1793242940745735168
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.315927545,714,683,658,632,880.315927545,785,806,651.684072455,630.315927545,652,0.450945223735,-0.00554386242737,0.079613158932,0.999999819719,-8.001634886e-05,-0.000594869463556,-1.704887286e-05,1793242940762401536
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,658,632,880,785,806.267610324,651.732389676,630.267610324,652,0.450689737085,-0.0055402862368,0.0796224654808,0.999999830306,-6.9817528591e-05,-0.000578287059089,-9.85568520581e-06,1793242940779068160
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,658,632,880,785,806.846707751,651.153292249,630.846707751,652,0.450407003249,-0.00553852735892,0.0796327883567,0.999999839154,-6.18545738684e-05,-0.000563793496177,-1.60291042672e-06,1793242940795734784
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.998325662,745,714,683.998325662,658,632.001674338,880,785.001674338,806,651,631,652,0.449753527939,-0.00552651228772,0.0796426291457,0.99999985246,-3.25493641673e-05,-0.000542105061153,1.19168321549e-05,1793242940829068032
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.423046828,745,714,683.423046828,658,632.576953172,880,785.576953172,806,651,631,652,0.449361804356,-0.00551735450401,0.0796354916012,0.999999847135,2.46208875984e-05,-0.000552175009576,1.50544916237e-05,1793242940845734912
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,764.744942141,745,714,683,658.744942141,633,880,786,806,651,631,652,0.448539833664,-0.00550393723152,0.0796226655173,0.999999833377,1.42514323509e-05,-0.000577060982329,6.53588259399e-06,1793242940879068416
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,658.67152899,633,880,786,806,651,631,652,0.448097450468,-0.00549989101701,0.0796178501241,0.999999828648,3.97205444508e-08,-0.000585372788148,6.54749856446e-06,1793242940895735040
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.515048644,745.484951356,714,683,658.484951356,633,880,786,806,651,630.515048644,652,0.447165226906,-0.00548970871247,0.0796287795978,0.999999840024,2.54262880903e-05,-0.000564845845472,1.59309750596e-05,1793242940929068544
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764.061404465,745.938595535,714,682.938595535,659,633.061404465,880,786,805.938595535,651,630.061404465,651.938595535,0.446682268534,-0.00548238449627,0.0796487955902,0.999999856772,4.44003261174e-05,-0.000533066347002,1.80195465004e-05,1793242940945734912
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.19334023,745,714,682.80665977,659,634,880,786,805,651.80665977,631,651.80665977,0.445058002123,-0.00546857757954,0.0797435530826,0.99999992093,4.55995363855e-05,-0.000394199904094,2.58343966588e-05,1793242940995734784
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.966498326,745,714,683,659,634,880.966498326,786.966498326,805.966498326,651.033501674,631,652,0.443855887315,-0.00543921474338,0.0797900650208,0.999999937706,0.000111046722033,-0.000334260804541,2.29493741169e-05,1793242941029068288
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.41264063,681.58735937,659.41264063,634,879,787,805.41264063,651,631,652,0.429249298538,-0.00542461317262,0.0798075018761,0.999999935323,0.000159591329909,-0.000319064220469,4.56336983918e-05,1793242941329068800
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+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.435039138,681,659.435039138,634,879,787,806,651,631.564960862,652,0.427482246394,-0.00542166527355,0.0798495611245,0.999999952702,0.000169967297383,-0.000251469119833,4.97093895935e-05,1793242941362402048
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.889872885,634.889872885,879,787,805,651,631,652,0.423661832441,-0.00540844320737,0.07971677128,0.999999874957,0.0001958324132,-0.000457678821875,4.76075420619e-05,1793242941429068800
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,744,714,679.01615848,659,634.98384152,879,787,805,651.98384152,630.98384152,651.98384152,0.412234329363,-0.00541089308375,0.079819726648,0.99999993832,0.000201416854173,-0.000283668109416,4.82100796435e-05,1793242941662402048
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.588899543,659,634.411100457,879,787,805,651.411100457,630.411100457,651.411100457,0.411511105884,-0.0054091983909,0.0798025634022,0.999999927057,0.000203398376091,-0.000319608774588,4.86381792976e-05,1793242941679068672
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744.1669381,714,680,659,634.1669381,879,787,805,651.1669381,630.1669381,651.1669381,0.410810366374,-0.00540700701785,0.0797902638293,0.999999917797,0.000206964566316,-0.000345254742588,4.86938697661e-05,1793242941695735296
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.657511641,659,635,879,787,805,651.657511641,631,652,0.409551857388,-0.00540182479177,0.0798088663068,0.999999925414,0.000222124819206,-0.000312148096521,4.89552614525e-05,1793242941729068544
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.820366812,634.820366812,878.179633188,786.820366812,805,651.820366812,631,652,0.40621163625,-0.00539635243166,0.079770911383,0.999999902201,0.000229082936502,-0.000375366873762,4.70945820602e-05,1793242941829068288
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.596926951,659.596926951,634.596926951,878.403073049,786.596926951,805,651.596926951,631,652,0.405767596401,-0.00539489513499,0.0797841842832,0.999999912087,0.000232194105071,-0.000345992878767,4.69044630402e-05,1793242941845735168
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.869940936,745,714,679.869940936,659,634.869940936,878.130059064,787,804,651.130059064,631.130059064,652,0.404561007238,-0.00539349322713,0.0798286261754,0.999999933398,0.000230885534465,-0.000278325773327,4.9306256971e-05,1793242941895735296
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.301541133,745,714.301541133,679,659,634,879,787,804.301541133,651.698458867,631.698458867,652,0.403852590096,-0.0053922630414,0.079828847151,0.999999927911,0.000237720711054,-0.000291938880883,4.93849225435e-05,1793242941929068800
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.885043758,745,714.885043758,679,659,634,879,787,804.885043758,651.114956242,631.114956242,652,0.403518033565,-0.00539249295962,0.0798303327949,0.999999931079,0.000220362399005,-0.000295124744849,4.67374216162e-05,1793242941945735168
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.36806741,659,635,878,787,804.36806741,651,631,652,0.402103903374,-0.00539472131819,0.0798353391708,0.999999931257,0.000229839175673,-0.000286949110391,4.81720107239e-05,1793242942045736192
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.468393692,786.234196846,805,651.234196846,631,652,0.400971096491,-0.00539670209927,0.079826504179,0.999999924543,0.000242567779132,-0.000300077942598,4.50293341409e-05,1793242942329068288
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..abfddd695620376e26aefa2e9832e59b2bf68bf1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_02/simulation_data.csv
@@ -0,0 +1,406 @@
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+379,6.316666667,pose2_to_pose3_retreat,0.580769344259,1.83495455003e-06,1.07004089083,0.551341064028,0.00867666365294,1.06967868428
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+385,6.416666667,pose2_to_pose3_retreat,0.580747021501,1.91866750696e-06,1.07004081891,0.551318739063,0.00867673993866,1.06967861395
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+389,6.483333333,pose2_to_pose3_retreat,0.580745398646,1.90547156432e-06,1.07004078555,0.551317116088,0.00867672671362,1.06967858948
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+391,6.516666667,pose2_to_pose3_retreat,0.580745192904,1.90674575791e-06,1.07004078789,0.55131691036,0.00867672800782,1.06967859116
+392,6.533333333,pose2_to_pose3_retreat,0.580745103236,1.90817162502e-06,1.07004079085,0.551316820707,0.00867672944941,1.06967859331
+393,6.550000000,pose2_to_pose3_retreat,0.580745062751,1.90881541384e-06,1.07004079218,0.551316780228,0.0086767301003,1.06967859427
+394,6.566666667,pose2_to_pose3_retreat,0.580745058083,1.90888964652e-06,1.07004079234,0.551316775561,0.00867673017535,1.06967859439
+395,6.583333333,pose2_to_pose3_retreat,0.580745022016,1.90946316444e-06,1.07004079353,0.5513167395,0.00867673075519,1.06967859525
+396,6.600000000,pose2_to_pose3_retreat,0.580744857442,1.91208017336e-06,1.07004079896,0.551316574953,0.00867673340106,1.06967859918
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6862d83f2ce3c21ee7eb3154c528d8723b65e7a5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70f63acdd901c92e53b4081b53dde53126c7f9f73845496d9babd4fdd6ac5b98
+size 25805797
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a34b2458600890c391964b1d82e74ad6c1f806e8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+17,0.283333333,BASELINE,765,744.132356341,714.867643659,679,659,635,878.867643659,786.867643659,805.735287319,651.867643659,631,652,0.40096864407,-0.00539842371126,0.0798382922231,0.999999931129,0.000239762958098,-0.00027990046189,4.37226331153e-05,1793242943123279360
+18,0.300000000,BASELINE,765.456224237,744.456224237,714.543775763,679.456224237,659,634.543775763,878.543775763,786.543775763,805.543775763,651.543775763,631,652,0.400968669185,-0.00539662431873,0.0798379841554,0.999999930307,0.000242601791092,-0.000280438899657,4.34023912578e-05,1793242943139945984
+19,0.316666667,BASELINE,765.952523029,745,714,680,659,634.047476971,878,786,805,651,631,651.952523029,0.400968493033,-0.00539443512497,0.0798376427609,0.999999929262,0.000246150967463,-0.000281126498602,4.30491029239e-05,1793242943156612864
+20,0.333333333,BASELINE,765.377162612,745,714,680,659,634.622837388,878,786,805,651,631,651.377162612,0.400967589598,-0.00539650093487,0.0798371850097,0.999999929677,0.000243685903329,-0.000281789343171,4.31074379622e-05,1793242943173279744
+21,0.350000000,BASELINE,765,745,714,680,659.199242393,635,878,786.199242393,805,651,631,651.199242393,0.40096673761,-0.00539783778521,0.0798368791824,0.999999930054,0.000241173773568,-0.000282597189051,4.31917918103e-05,1793242943189946368
+22,0.366666667,BASELINE,765,745,714,680,659.777635142,635,878,786.777635142,805,651,631,651.777635142,0.400965983522,-0.00539778745425,0.0798368624603,0.999999930366,0.000238572080075,-0.000283680966582,4.33256584125e-05,1793242943206612992
+23,0.383333333,BASELINE,765,745,714,679.647113873,659.647113873,634.647113873,878,786.647113873,804.647113873,651,631,651.647113873,0.400966305041,-0.005398361472,0.0798371155374,0.999999930858,0.000237149965378,-0.000283122029089,4.34363666134e-05,1793242943223279616
+24,0.400000000,BASELINE,765,745,714,679.07382509,659.07382509,634.07382509,878,786.07382509,804.07382509,651,631,651.07382509,0.400967298353,-0.00539932544023,0.0798375371233,0.999999931463,0.000236464581858,-0.000281537098529,4.35326107475e-05,1793242943239946496
+25,0.416666667,BASELINE,765,745,714.517658006,679.517658006,659,634.517658006,878,786.517658006,804.517658006,651,631,651.517658006,0.400967768549,-0.00539912281416,0.0798380400458,0.9999999317,0.000236559836467,-0.000280638503499,4.33653546906e-05,1793242943256612864
+26,0.433333333,BASELINE,765,744.891060438,714.891060438,680,659,634.891060438,878,787,805,651,631,652,0.400968179477,-0.0053986289217,0.0798384421779,0.99999993182,0.000236919446869,-0.000279939857676,4.31610420819e-05,1793242943273279232
+27,0.450000000,BASELINE,765,744.31224725,714.31224725,680,659,634.31224725,878,787,805,651,631,652,0.400968668273,-0.00539762248103,0.0798383577312,0.999999931667,0.000237921591484,-0.000279666069941,4.29648859103e-05,1793242943289945856
+28,0.466666667,BASELINE,764.73579899,744.26420101,714,680,659,634.26420101,878,786.73579899,805,651,631,652,0.400968698409,-0.00539753548638,0.0798384831852,0.999999931461,0.000238706286729,-0.000279715689004,4.30749847766e-05,1793242943306612480
+29,0.483333333,BASELINE,764.162120968,744.837879032,714,680,659,634.837879032,878,786.162120968,805,651,631,652,0.400968191285,-0.00539852550284,0.0798388545105,0.999999931195,0.000239236268351,-0.000280144136952,4.3543821474e-05,1793242943323279616
+30,0.500000000,BASELINE,764.422720926,745,714,680,659,635,878,786.422720926,805,651,631,652,0.400967439912,-0.00539869541659,0.0798382006478,0.999999930859,0.000239712872896,-0.000280934013162,4.35494790885e-05,1793242943339946240
+31,0.516666667,BASELINE,765,745,714,680,659,635,878,787,805,651.011758365,631,652,0.400966638293,-0.00539851776528,0.0798371727584,0.999999930517,0.000240137478457,-0.000281815174808,4.33669429331e-05,1793242943356613120
+32,0.533333333,BASELINE,765,745,714,680,659,635,878,787,805,651.591040101,631,652,0.400968055485,-0.00539715715663,0.0798375839773,0.999999931238,0.000239067175005,-0.000280230513505,4.29074687871e-05,1793242943373279744
+33,0.550000000,BASELINE,765,745,714.169333722,679.830666278,659,635,878,787,804.830666278,651.830666278,631,652,0.400968956355,-0.00539659013492,0.0798379204575,0.999999931661,0.000238359392645,-0.000279364773777,4.26480238077e-05,1793242943389946368
+34,0.566666667,BASELINE,765,745,714.745254699,679.254745301,659,635,878,787,804.254745301,651.254745301,631,652,0.400968617485,-0.00539792859524,0.0798380774822,0.999999931372,0.000238522059951,-0.000280225237106,4.28688689917e-05,1793242943406612992
+35,0.583333333,BASELINE,765,745,714.68211583,679.31788417,659,635,878,787,804.31788417,651,631,652,0.400968722414,-0.00539830376533,0.0798384510315,0.999999931443,0.000238474355536,-0.000279964477624,4.31648466794e-05,1793242943423279616
+36,0.600000000,BASELINE,765,745,714.112097004,679.887902996,659,635,878,787,804.887902996,651,631,652,0.400969179349,-0.00539791488731,0.0798389963204,0.9999999318,0.000238259791613,-0.000278814403344,4.35204168763e-05,1793242943439946240
+37,0.616666667,BASELINE,764.521432548,745,714,679.521432548,659.478567452,634.521432548,878,786.521432548,804.521432548,651,631,652,0.400968401161,-0.00539790610847,0.0798383857647,0.999999931314,0.000239043856732,-0.000279894497563,4.34640549531e-05,1793242943456612864
+38,0.633333333,BASELINE,764.072126677,745,714,679,659.927873323,634.072126677,878,786.072126677,804.072126677,651.072126677,631,652,0.400967446712,-0.00539786161248,0.0798376815146,0.999999930698,0.000240035070199,-0.000281265152354,4.33260728819e-05,1793242943473279488
+39,0.650000000,BASELINE,764.650530305,745,714,679,659.349469695,634.650530305,878,786.650530305,804.650530305,651.650530305,631,652,0.400967377329,-0.00539691328981,0.0798383056669,0.999999930641,0.000240764387186,-0.00028084326992,4.33229928001e-05,1793242943489946112
+40,0.666666667,BASELINE,765,745,714,679,659,635,878,787,804.772307344,651.772307344,631,652,0.400967748562,-0.00539678345919,0.0798385268706,0.999999930721,0.000241205734806,-0.00028019160595,4.32388805245e-05,1793242943506612736
+41,0.683333333,BASELINE,765,745,714,679,659,635,878,787,804.197039848,651.197039848,631,652,0.400968792402,-0.00539790306392,0.0798381329696,0.99999993101,0.000241207494612,-0.00027918917847,4.30310718933e-05,1793242943523279360
+42,0.700000000,BASELINE,765,744.622963251,714,679,659,634.622963251,878,786.622963251,804,651,631,652,0.400968600807,-0.0053971355188,0.0798378921752,0.999999930801,0.000241367926967,-0.000279810441061,4.29564221013e-05,1793242943539945984
+43,0.716666667,BASELINE,765,744.049507078,714,679,659,634.049507078,878,786.049507078,804,651,631,652,0.400967765605,-0.00539538485227,0.0798377311425,0.999999930331,0.000241611020683,-0.0002812775742,4.29511421654e-05,1793242943556612864
+44,0.733333333,BASELINE,765,744.542701965,714,679,659,634,878,786,804,651,631,652,0.400967447926,-0.00539568389273,0.0798381562864,0.999999930286,0.000242029152114,-0.000281067974792,4.3030885451e-05,1793242943573279488
+45,0.750000000,BASELINE,764.867876052,745,714,679,659,634.132123948,878,786,804.132123948,651.132123948,631,652,0.40096724883,-0.00539607638183,0.0798383654798,0.999999930247,0.000242372972936,-0.000280900611312,4.30915353878e-05,1793242943589946112
+46,0.766666667,BASELINE,764.293707135,745,714,679,659,634.706292865,878,786,804.706292865,651.706292865,631,652,0.400967282869,-0.00539613355048,0.0798376668638,0.999999930097,0.000242412839513,-0.000281404618267,4.3061426764e-05,1793242943606612736
+47,0.783333333,BASELINE,764.281479137,745,714,679.281479137,659,634.718520863,878,786,804.718520863,651.718520863,631,652,0.400967220408,-0.00539678433494,0.0798376263098,0.999999930246,0.000242162708611,-0.000281073769591,4.31649655398e-05,1793242943623279360
+48,0.800000000,BASELINE,764.857730881,745,714,679.857730881,659,634.142269119,878,786,804.142269119,651.142269119,631,652,0.400967056889,-0.00539805677,0.0798382748961,0.999999930707,0.000241608884468,-0.000279868637454,4.34084635035e-05,1793242943639946240
+49,0.816666667,BASELINE,765,745,714,680,659,634,878,786,804,651,630.554913364,652,0.400968255275,-0.00539845760642,0.079838646663,0.999999931201,0.000240241402937,-0.000279293422537,4.3317248356e-05,1793242943656613120
+50,0.833333333,BASELINE,765,745,714,679.964621937,659,634.035378063,878.035378063,786,804.035378063,651.035378063,630.070756126,652,0.400969767114,-0.00539855063899,0.0798389312114,0.999999931678,0.000238726207762,-0.000278917673508,4.31207866599e-05,1793242943673280000
+51,0.850000000,BASELINE,765,745,714,679.385163981,659,634.614836019,878.614836019,786,804.614836019,651.614836019,631.229672039,652,0.400969233421,-0.00539830418742,0.0798392700315,0.999999931743,0.000239041441392,-0.000278433733745,4.29932200751e-05,1793242943689946368
+52,0.866666667,BASELINE,765,745,714,679.193048392,659,635,878.806951608,786,804.806951608,651.806951608,631.806951608,652,0.400968769144,-0.00539825497965,0.0798393210417,0.999999931715,0.000239226903639,-0.000278375280325,4.29843518384e-05,1793242943706612992
+53,0.883333333,BASELINE,765,745,714,679.768791514,659,635,878.231208486,786,804.231208486,651.231208486,631.231208486,652,0.400968442475,-0.00539859678351,0.0798388015038,0.999999931504,0.000239155110039,-0.000279160301354,4.3210788508e-05,1793242943723279616
+54,0.900000000,BASELINE,764.657259467,745,714,679.657259467,659.342740533,635,878.342740533,786.342740533,804.342740533,651,631,652,0.400969004549,-0.00539851275123,0.0798389570193,0.999999931473,0.000239543872129,-0.00027891891294,4.3320764634e-05,1793242943739945984
+55,0.916666667,BASELINE,764.084514448,745,714,679.084514448,659.915485552,635,878.915485552,786.915485552,804.915485552,651,631,652,0.400970163036,-0.00539814295108,0.0798395655459,0.999999931563,0.000240241701475,-0.000277988727122,4.33525870311e-05,1793242943756612352
+56,0.933333333,BASELINE,764,745,714,679,659.494770208,635,878.494770208,786.494770208,805,651,631,652,0.400969341398,-0.0053980265695,0.0798388198903,0.999999931582,0.000238646412214,-0.000279356961132,4.2940885296e-05,1793242943773279232
+57,0.950000000,BASELINE,764.095574996,745,714,679,659.095574996,635,878,786,805,651.095574996,630.904425004,652,0.40096824668,-0.00539794120053,0.0798379640577,0.999999931427,0.000237587619752,-0.000280857953154,4.26314594897e-05,1793242943789946112
+58,0.966666667,BASELINE,764.674087642,745,714,679,659.674087642,635,878,786,805,651.674087642,630.325912358,652,0.400967504096,-0.0053977908755,0.0798377359907,0.99999993048,0.000241245492038,-0.000281019368526,4.32267759969e-05,1793242943806612736
+59,0.983333333,BASELINE,765,745,714,679.250196106,659.749803894,634.749803894,878,786.250196106,805,651.749803894,630.250196106,652,0.400967429055,-0.00539776412394,0.0798380739912,0.999999930429,0.000242235656586,-0.000280334384987,4.33083171837e-05,1793242943823279616
+60,1.000000000,BASELINE,765,745,714,679.823202703,659.176797297,634.176797297,878,786.823202703,805,651.176797297,630.823202703,652,0.400968215299,-0.00539789681054,0.0798391423489,0.999999931542,0.000239783865403,-0.000278557352309,4.27269701827e-05,1793242943839946496
+61,1.016666667,BASELINE,765,745,714,680,659.393812241,634.393812241,878,786.606187759,805,651,631,652,0.400968579578,-0.00539826185504,0.079839526498,0.999999931728,0.00023930506011,-0.000278272612956,4.29021979834e-05,1793242943856613120
+62,1.033333333,BASELINE,765,745,714,680,659.963352123,634.963352123,878,786.036647877,805,651,631,652,0.400968755569,-0.0053987305827,0.0798396053382,0.999999931504,0.000239706644458,-0.000278653767655,4.34150260567e-05,1793242943873279744
+63,1.050000000,BASELINE,765,745,714,679.437920835,659.437920835,635,878,786.562079165,805,651,631,651.437920835,0.400968252302,-0.00539723215098,0.0798390379909,0.999999930976,0.000241988431608,-0.000278631522706,4.30540678949e-05,1793242943889946368
+64,1.066666667,BASELINE,765,744.843537792,714,679,659,634.843537792,878,787,804.843537792,651,631,651.156462208,0.400967699678,-0.00539623269317,0.0798386004302,0.999999930658,0.000243138663738,-0.000278817957766,4.27656094129e-05,1793242943906613248
+65,1.083333333,BASELINE,765,744.266237793,714,679,659,634.266237793,878,787,804.266237793,651,631,651.733762207,0.400967139942,-0.00539693920688,0.0798386314872,0.999999930967,0.000240897550145,-0.000279640300481,4.28337832859e-05,1793242943923279872
+66,1.100000000,BASELINE,764.692341627,744.307658373,714,679,659,634,878,786.692341627,804,651,631,652,0.400967217089,-0.00539729139022,0.0798383303495,0.999999931231,0.000239370600034,-0.000280030733454,4.26864527484e-05,1793242943939946240
+67,1.116666667,BASELINE,764.121358828,744.878641172,714,679,659,634,878,786.121358828,804,651,631,652,0.400967839343,-0.0053973403026,0.0798377448867,0.999999931458,0.000238454901691,-0.000280051495366,4.23546722452e-05,1793242943956612864
+68,1.133333333,BASELINE,764.467761076,745,714,679,659,634.467761076,878,786,804.467761076,651.467761076,631,652,0.400968216669,-0.00539722950295,0.0798382520373,0.999999931113,0.000240300054051,-0.000279655070262,4.26931329202e-05,1793242943973279744
+69,1.150000000,BASELINE,764.939788025,745,714,679.060211975,659,635,878.060211975,786.060211975,805,651.939788025,631,652,0.400968477261,-0.00539716080374,0.0798389632811,0.999999930684,0.000242484852414,-0.000279234278315,4.31530161332e-05,1793242943989946624
+70,1.166666667,BASELINE,764.360815912,745,714,679.639184088,659,635,878.639184088,786.639184088,805,651.360815912,631,652,0.400968301684,-0.00539782622478,0.0798388920918,0.999999930908,0.000241175690955,-0.000279573697107,4.31004152278e-05,1793242944006613248
+71,1.183333333,BASELINE,764.217134295,744.782865705,714,679.782865705,659,634.782865705,878.782865705,786.782865705,804.782865705,651,631,652,0.400967768654,-0.00539796807299,0.079838434331,0.999999930778,0.000240727912791,-0.000280427872027,4.30511340577e-05,1793242944023279872
+72,1.200000000,BASELINE,764.793394427,744.206605573,714,679.206605573,659,634.206605573,878.206605573,786.206605573,804.206605573,651,631,652,0.400966644419,-0.00539724396628,0.079837337206,0.999999930065,0.000241704805715,-0.000282133419769,4.30073435031e-05,1793242944039946496
+73,1.216666667,BASELINE,764.623963774,744.376036226,714,679,659,634,878,786.376036226,804.376036226,651,631,652,0.40096694134,-0.00539669223973,0.0798376421077,0.999999930177,0.000241674460365,-0.000281774425168,4.2928210502e-05,1793242944056613120
+74,1.233333333,BASELINE,764.037755199,744.962244801,714,679,659,634,878,786.962244801,804.962244801,651,631,652,0.400968032565,-0.00539623685911,0.0798387306236,0.999999930749,0.000241081154212,-0.000280261526446,4.28293240743e-05,1793242944073279744
+75,1.250000000,BASELINE,764,745,714.542228179,679.542228179,659,634.542228179,878,787,805,651,631,652,0.400967170438,-0.00539762801432,0.0798383396113,0.999999930879,0.000240092092494,-0.000280620258853,4.30055401654e-05,1793242944089946368
+76,1.266666667,BASELINE,764.121338095,745,714.878661905,679.878661905,659,635,878,787,804.878661905,651,631,652,0.400966469803,-0.00539883133776,0.0798379260283,0.999999930981,0.00023930759764,-0.000280908195219,4.31381314996e-05,1793242944106612992
+77,1.283333333,BASELINE,764.698775563,745,714.301224437,679.301224437,659,635,878,787,804.301224437,651,631,652,0.400966881655,-0.00539885080576,0.0798378104488,0.999999931094,0.000239394458159,-0.000280445709663,4.30355552582e-05,1793242944123279616
+78,1.300000000,BASELINE,765,745,714,679,659,635,878,786.725500031,804.274499969,651,631,652,0.40096733555,-0.00539901442397,0.0798382199657,0.999999931397,0.000238819689699,-0.000279846919783,4.3102483934e-05,1793242944139946240
+79,1.316666667,BASELINE,765,745,714,679,659,635,878,786.151643847,804.848356153,651,631,652,0.400967835297,-0.00539933524531,0.079839202127,0.999999931903,0.000237523381086,-0.000279099483116,4.33542663736e-05,1793242944156612864
+80,1.333333333,BASELINE,765,745,714,679.43446868,659,635,878.43446868,786.43446868,804.56553132,651,631,652,0.400968070316,-0.00539811509936,0.0798394377585,0.999999931293,0.000240103507606,-0.000279113209352,4.31365475548e-05,1793242944173279232
+81,1.350000000,BASELINE,765,745,714,679.975544586,659,634.975544586,878.975544586,787,804.024455414,651,631,651.975544586,0.400968209727,-0.00539648311121,0.0798393833707,0.999999930346,0.000243766219129,-0.000279386467365,4.27674487261e-05,1793242944189945856
+82,1.366666667,BASELINE,765,745,714,679.39750736,659,634.39750736,878.39750736,787,804.60249264,651,631,651.39750736,0.400968337199,-0.0053980568701,0.079838833423,0.999999931167,0.000240418566467,-0.000279346183792,4.27887908168e-05,1793242944206612992
+83,1.383333333,BASELINE,765,745,714,679.180581726,659,634,878.180581726,786.819418274,804.819418274,651,631,651.180581726,0.40096795805,-0.00539905047632,0.0798383166837,0.999999931495,0.000238455244542,-0.000279833227553,4.29338057867e-05,1793242944223279872
+84,1.400000000,BASELINE,765,745,714,679.758785115,659,634,878.758785115,786.241214885,804.241214885,651,631,651.758785115,0.400966463378,-0.00539876664864,0.0798378730657,0.999999930755,0.00023954007032,-0.000281481389739,4.33511352246e-05,1793242944239946496
+85,1.416666667,BASELINE,765,745,714,679.666475005,659,634.333524995,878.666475005,786.333524995,804.333524995,651,631,652,0.40096596925,-0.00539815382908,0.0798379608196,0.999999930523,0.000240213252045,-0.000281754935158,4.31991859859e-05,1793242944256612864
+86,1.433333333,BASELINE,765,745,714,679.094214324,659,634.905785676,878.094214324,786.905785676,804.905785676,651,631,652,0.400966191306,-0.00539730551862,0.0798384289271,0.999999930656,0.000240591780748,-0.000281044536003,4.26397496147e-05,1793242944273279232
+87,1.450000000,BASELINE,765,745,714.495160353,679,659,635,878,787,805,651,631,652,0.400965844774,-0.00539750712049,0.0798380085776,0.999999930746,0.000239551275378,-0.000281575075317,4.28872651029e-05,1793242944289946112
+88,1.466666667,BASELINE,765,745,714.914290297,679.085709703,659,634.914290297,878.085709703,787,804.914290297,651,631,652,0.400965821654,-0.00539799659326,0.0798377314344,0.999999930896,0.000238506463798,-0.000281878277694,4.32067845231e-05,1793242944306612992
+89,1.483333333,BASELINE,765,745,714.336364749,679.663635251,659,634.336364749,878.663635251,787,804.336364749,651,631,652,0.400968299377,-0.00539895095985,0.0798392822617,0.999999931451,0.000239042995651,-0.00027947142044,4.30264958662e-05,1793242944323279872
+90,1.500000000,BASELINE,765,745,714.24052601,679.75947399,659,634.24052601,878.75947399,786.75947399,804.24052601,651.24052601,631,651.75947399,0.400969245825,-0.00539943032176,0.0798399265145,0.999999931724,0.000239265189191,-0.000278319419492,4.29233807184e-05,1793242944339946496
+91,1.516666667,BASELINE,765,745,714.815975817,679.184024183,659,634.815975817,878.184024183,786.184024183,804.815975817,651.815975817,631,651.184024183,0.400968060028,-0.00539924825671,0.0798393083947,0.99999993161,0.000239049677922,-0.000278914760901,4.29277269142e-05,1793242944356613120
+92,1.533333333,BASELINE,765,745,714.600318601,679.399681399,659,635,878,786,804.600318601,652,631,651.399681399,0.400967550586,-0.00539776242126,0.0798388231317,0.999999931242,0.000239931020969,-0.000279485055241,4.28539147566e-05,1793242944373279488
+93,1.550000000,BASELINE,765,745,714.012731611,679.987268389,659,635,878,786,804.012731611,652,631,651.987268389,0.400967359126,-0.00539566363321,0.0798384003297,0.999999930755,0.000241328037381,-0.000280043574042,4.27433573526e-05,1793242944389946368
+94,1.566666667,BASELINE,765,745,714,680,659,634.432712207,879.134575587,786.567287793,804.567287793,651.432712207,631,652,0.400968437137,-0.00539746867044,0.0798389461412,0.999999931929,0.000238411863338,-0.000278357501857,4.26525249476e-05,1793242944406612736
+95,1.583333333,BASELINE,765,745,714.140672908,679.859327092,659,634.140672908,879.718654183,787,805,651.140672908,631,652,0.400969336947,-0.00539860685789,0.079839484797,0.999999932619,0.00023686967837,-0.000277185818478,4.26844755681e-05,1793242944423279360
+96,1.600000000,BASELINE,765,745,714.695040742,679.304959258,659,634.695040742,878.609918516,787,805,651.695040742,631,652,0.400969630015,-0.00539752969086,0.0798399393212,0.999999931805,0.000239649085966,-0.000277673058787,4.30762252842e-05,1793242944439945984
+97,1.616666667,BASELINE,765,745,714.73112809,679.26887191,659.26887191,635,878,786.73112809,804.73112809,651.73112809,631,652,0.400969488766,-0.00539715699437,0.0798398941442,0.999999931496,0.000240792805816,-0.000277784139711,4.3162607228e-05,1793242944456612608
+98,1.633333333,BASELINE,765,745,714.133498561,679.866501439,659.866501439,635,878,786.133498561,804.133498561,651.133498561,631,652,0.400968816464,-0.00539764567489,0.0798392379678,0.999999931811,0.000239936521827,-0.000277435279428,4.28756069626e-05,1793242944473279488
+99,1.650000000,BASELINE,764.540967023,745,714,680,659.540967023,635,878.459032977,786.459032977,804,651.459032977,631,652,0.400968587202,-0.00539752252739,0.0798390338105,0.999999931372,0.000240959891885,-0.000278149360355,4.27518628605e-05,1793242944489946112
+100,1.666666667,BASELINE,764.049027911,745,714,680,659.049027911,635,878.950972089,787,804.049027911,652,631,652,0.400968362158,-0.00539720213328,0.079838877143,0.999999930733,0.000242364694005,-0.000279229388799,4.27049907941e-05,1793242944506612736
+101,1.683333333,BASELINE,764.627466073,745,714,680,659.627466073,635,878.372533927,787,804.627466073,652,631,652,0.400966806643,-0.00539665210845,0.0798378293582,0.999999930313,0.000242050268918,-0.000280959599619,4.29811392931e-05,1793242944523279360
+102,1.700000000,BASELINE,765,744.795087833,714.204912167,679.795087833,659.795087833,635,878,787,805,651.795087833,631,652,0.400966339669,-0.0053967892283,0.0798374228391,0.999999930422,0.000240985528114,-0.000281480518441,4.30104530158e-05,1793242944539945984
+103,1.716666667,BASELINE,765,744.219436708,714.780563292,679.219436708,659.219436708,635,878,787,805,651.219436708,631,652,0.400967842148,-0.00539816957016,0.0798381765351,0.999999931489,0.000238563272696,-0.000279813515968,4.25931789375e-05,1793242944556612864
+104,1.733333333,BASELINE,765,744.35629873,714.64370127,679,659,635,878,787,804.64370127,651.35629873,631,651.64370127,0.400967489879,-0.00539814023115,0.0798383875187,0.999999931494,0.000238316689684,-0.000280035592691,4.23882345432e-05,1793242944573279488
+105,1.750000000,BASELINE,765,744.932086162,714.067913838,679,659,635,878,787,804.067913838,651.932086162,631,651.067913838,0.400965995038,-0.0053972424945,0.0798382641782,0.999999930847,0.000239410373668,-0.000281421388085,4.23140903693e-05,1793242944589946112
+106,1.766666667,BASELINE,765,744.479168814,714,679.520831186,659,634.479168814,878.520831186,786.479168814,804.520831186,651.479168814,631.520831186,651.520831186,0.400968641486,-0.0053973535778,0.0798396429539,0.999999931443,0.000240111052541,-0.000278662747925,4.25192022256e-05,1793242944606612736
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,660,634,878,786,804,651,631,652,0.400967090304,-0.00539893109543,0.079838757455,0.999999932327,0.000236501637634,-0.000278560579781,4.26229603142e-05,1793242944648965120
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.574226602,745,714.574226602,679,659.425773398,634,878.574226602,786.574226602,804,651,630.425773398,652,0.40096736586,-0.00539924462319,0.0798384481631,0.999999931863,0.000237580679587,-0.000279246278267,4.30248634864e-05,1793242944665632000
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714.847699882,679,659,634,878.847699882,786.847699882,804,651,630.152300118,652,0.400967457956,-0.00539974897195,0.0798383701205,0.999999931564,0.000238109749729,-0.00027982774,4.3275162171e-05,1793242944682298880
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714.25859303,679,659,634,878.25859303,786.25859303,804,651,630.74140697,652,0.400967023878,-0.00540080060792,0.0798389553164,0.999999931742,0.000237061464884,-0.000280110244048,4.309064933e-05,1793242944698965248
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.675006157,745,714.324993843,679,659,634,878,786.324993843,804.324993843,651.324993843,631,651.675006157,0.400967271984,-0.00540043684229,0.0798392765698,0.999999931816,0.000236933435313,-0.000279987218226,4.28617516877e-05,1793242944715631872
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.095738133,745,714.904261867,679,659,634,878,786.904261867,804.904261867,651.904261867,631,651.095738133,0.40096805383,-0.00539896567074,0.0798393913154,0.99999993181,0.000237525410697,-0.000279546907067,4.25981275246e-05,1793242944732298496
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.480932498,744.519067502,714.519067502,679.480932498,659.480932498,634.480932498,878,787,805,652,631,651.480932498,0.40096789413,-0.00539818189009,0.0798389376349,0.999999931487,0.000238616866821,-0.000279771222477,4.26152728302e-05,1793242944748965376
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.943108946,744.056891054,714,680,659.943108946,635,878,786.943108946,804.943108946,651.943108946,631,652,0.400967983275,-0.00539767663631,0.0798386894115,0.999999931248,0.000239600293794,-0.000279776087146,4.26738099114e-05,1793242944765632000
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.368948766,744.631051234,714,680,659.368948766,635,878,786.368948766,804.368948766,651.368948766,631,652,0.400972030007,-0.00539846634608,0.0798413325718,0.999999932352,0.000238702296977,-0.000276589147496,4.26032355719e-05,1793242944782298624
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.211153996,745,714,679.788846004,659.211153996,635,878,786,804,651.211153996,631,652,0.400981374931,-0.00539915267047,0.0798460021125,0.999999934397,0.000238537248297,-0.000269211461854,4.27985729503e-05,1793242944798965248
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.801940841,745,714,679.198059159,659.801940841,635,878,786,804,651.801940841,631,652,0.401000245448,-0.00539965311866,0.0798543148732,0.999999937995,0.000239689963939,-0.00025429925259,4.34719918472e-05,1793242944815631616
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.614401683,634.614401683,878,786,804,651.614401683,631,652,0.401036780667,-0.00539993197796,0.0798682291048,0.999999944294,0.000239590861992,-0.000228248613869,4.37218783995e-05,1793242944832298240
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.034339616,634.034339616,878,786,804,651.034339616,631,652,0.401082224496,-0.0054000990863,0.0798849682536,0.999999951193,0.00023886044719,-0.000196580675324,4.37581704569e-05,1793242944848965120
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.459132405,745,714,679,659,634,878.540867595,786.540867595,804,651,631,651.459132405,0.401149628421,-0.00540169884151,0.0799028050315,0.999999957697,0.000238450127727,-0.000160854713058,4.32851934448e-05,1793242944865632000
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.118089162,745,714,679.118089162,659,634.118089162,878.881910838,787,804.118089162,651,631,651.118089162,0.401218866576,-0.0054031773781,0.0799185945138,0.999999962316,0.000237656602764,-0.000130673952174,4.25572439261e-05,1793242944882298624
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.704511251,745,714,679.704511251,659,634.704511251,878.295488749,787,804.704511251,651,631,651.704511251,0.401289898899,-0.00540381764524,0.0799259906578,0.999999963861,0.000235263432142,-0.000123497746521,4.09451834717e-05,1793242944898965248
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.711402204,745,714,679.711402204,659,634.711402204,878.288597796,786.711402204,805,651,631,652,0.401370187261,-0.00540428349507,0.0799298941084,0.999999964819,0.000234467156023,-0.000117898534946,3.85728503634e-05,1793242944915632128
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.129687808,745,714,679.129687808,659,634.129687808,878.870312192,786.129687808,805,651,631,652,0.401459876588,-0.00540457219656,0.0799302501772,0.999999965204,0.0002352927784,-0.000113901010131,3.54283405084e-05,1793242944932298752
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,879,786,804.554298659,651.445701341,631,652,0.401566486447,-0.00540661051604,0.079933562554,0.999999966521,0.000232029262916,-0.000109916438855,3.22419413431e-05,1793242944948965632
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.019402912,745,714,679,659,634,878.980597088,786.019402912,804,651.980597088,631,652,0.401679150739,-0.00540907318319,0.0799378126806,0.999999968075,0.000227724544431,-0.000105593244988,2.90196647944e-05,1793242944965632768
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.596761207,745,714,679,659,634,878.403238793,786.596761207,804,651.403238793,631,652,0.401826319188,-0.00540930370101,0.0799446386805,0.999999969692,0.000227215167045,-9.14256563364e-05,2.51112849019e-05,1793242944982299392
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.822551505,745,714,679,659,634.177448495,878.177448495,786.822551505,804.177448495,651,631,651.822551505,0.401981655616,-0.00541003456637,0.0799517955307,0.99999997137,0.000225316791901,-7.78818940215e-05,2.06533652689e-05,1793242944998965760
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.23415477,745,714,679,659,634.76584523,878.76584523,786.23415477,804.76584523,651,631,651.23415477,0.402155908028,-0.0054119241732,0.0799597185874,0.999999973481,0.000220201674019,-6.57828364831e-05,1.49227817538e-05,1793242945015632128
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.349510726,745,714,679.349510726,659,635,878.650489274,786.349510726,804.650489274,651,631,651.349510726,0.40234376156,-0.00541435777022,0.0799636455359,0.999999975728,0.000212195900802,-5.86863778897e-05,8.51053491917e-06,1793242945032298496
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+134,2.233333333,POSE1_TO_POSE2_PRESS,764.34394159,745,714,679,659,634.34394159,878.65605841,786.65605841,804.65605841,651,631,651.34394159,0.403231652658,-0.00542239361687,0.0799511618095,0.999999980437,0.000179553812723,-8.02000829859e-05,-2.1311222115e-05,1793242945098965248
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.237884696,745,714,679.237884696,659,634.237884696,878.762115304,786.762115304,805,651,631,651.237884696,0.403513950455,-0.00542501869856,0.0799514504306,0.999999986175,0.000144243542865,-7.81609112689e-05,-2.71125242748e-05,1793242945115632128
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.827879463,745,714,679.827879463,659,634.827879463,878.172120537,786.172120537,805,651,631,651.827879463,0.40382932091,-0.00542895533576,0.0799554158841,0.999999994674,7.06825611239e-05,-6.92040702172e-05,-2.94446282528e-05,1793242945132299008
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679.589908062,659,634.589908062,878.410091938,786,805,651.410091938,631,652,0.40416987657,-0.00542916637729,0.0799598103848,0.999999994469,8.03657767966e-05,-6.20984975915e-05,-2.73410100651e-05,1793242945148965376
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679.010901091,659,634.010901091,878.989098909,786,805,651.989098909,631,652,0.404520805895,-0.00542784286255,0.0799643816081,0.999999990442,0.000124336906096,-5.57554543465e-05,-2.34103377349e-05,1793242945165632000
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.564869487,659,634.564869487,878.435130513,786.564869487,804.435130513,651.435130513,631,652,0.40490310294,-0.00543156664917,0.0799599652953,0.999999990293,0.00012304617707,-5.92596570908e-05,-2.7598846068e-05,1793242945182298624
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.856547575,745,714,680,659,635,878.143452425,787,804.143452425,651,631,652,0.405297825394,-0.00543497205236,0.0799558597527,0.999999990664,0.000117527670735,-6.22194533743e-05,-3.14323761267e-05,1793242945198965248
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.269067437,745,714,680,659,635,878.730932563,787,804.730932563,651,631,652,0.405729145036,-0.00543709218421,0.0799532499421,0.999999992291,0.000101611227394,-6.29092820813e-05,-3.36849115782e-05,1793242945215631872
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.313943704,745,714,679.686056296,659,635,878.686056296,787,805,651,631,652,0.40617695529,-0.00543968196678,0.0799483345677,0.99999999152,0.000104058643669,-7.05974158566e-05,-3.38750094939e-05,1793242945232298240
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.893178485,745,714,679.106821515,659,635,878.106821515,787,805,651,631,652,0.406638700615,-0.00544266861738,0.079941470928,0.999999988488,0.000122024025312,-8.41993102218e-05,-3.23222911294e-05,1793242945248965120
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.530608571,714,679,659.469391429,635,878.469391429,786.530608571,805,651,631,652,0.407127097945,-0.00544671331203,0.0799370817762,0.999999989394,0.000106918683802,-9.27271093876e-05,-3.43808524621e-05,1793242945265632000
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.045032751,714,679,660,635,878.954967249,786.045032751,805,651.045032751,631,652,0.407623317949,-0.00545091658498,0.0799326994822,0.999999990459,8.6305352831e-05,-0.000101265448326,-3.71192105137e-05,1793242945282298624
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.621993604,714,679,660,635,878.378006396,786.621993604,805,651.621993604,631,652,0.408140754571,-0.00545416704,0.0799217890275,0.999999987688,8.89607819546e-05,-0.000123480798628,-3.8241904508e-05,1793242945298965248
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.203256218,744.796743782,714,679,659.796743782,634.796743782,878,787,805,651.796743782,631,652,0.408690481306,-0.00545842848882,0.0799178500616,0.999999986675,8.6949843814e-05,-0.000132471534221,-3.92497756484e-05,1793242945315631872
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.792691989,744.207308011,714,679,659.207308011,634.207308011,878,787,805,651.207308011,631,652,0.409301558072,-0.00546461078955,0.0799271566761,0.999999989538,7.60729744502e-05,-0.000116335973,-4.00394874211e-05,1793242945332298496
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.624283076,744.375716924,714,679.375716924,659.375716924,634,878.375716924,786.624283076,805,651,631,652,0.409950156796,-0.00547979079709,0.0799512779646,0.999999994792,5.68089896357e-05,-7.58167025911e-05,-3.79625377557e-05,1793242945348965120
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.0447361,744.9552639,714,679.9552639,659.9552639,634,878.9552639,786.0447361,805,651,631,652,0.410619111524,-0.00549985214707,0.0799834363562,0.999999998623,3.29949140623e-05,-2.20690352838e-05,-3.43303965057e-05,1793242945365631744
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.47055885,659.47055885,634,879,786,805,651,631,652,0.411273079666,-0.00551675778776,0.0799878123261,0.999999999193,8.69174530319e-06,-1.85458875567e-05,-3.45641499123e-05,1793242945382298368
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679.105839697,659,634.105839697,879,786,805,651,631,652,0.411923654292,-0.0055289690315,0.0799830185346,0.999999998904,-1.01660731963e-05,-2.85810977376e-05,-3.567207341e-05,1793242945398965248
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679.694418164,659,634.694418164,879,786,805,651,631,652,0.412564468513,-0.00552097292987,0.0799470007734,0.999999995916,-4.00083983463e-06,-8.12946370781e-05,-3.92921885784e-05,1793242945415631872
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.721503632,786,805,651,631,652,0.413260502926,-0.00552028348179,0.0799233495603,0.999999993099,-8.09481538669e-06,-0.000109111774253,-4.27958645664e-05,1793242945432298496
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.142284774,786,805,651,631,652,0.414016164599,-0.0055274838126,0.0799130518351,0.999999992608,-2.32667617375e-05,-0.000110045594394,-4.61738091817e-05,1793242945448965120
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714.436032406,680,659.436032406,635,878.436032406,786.436032406,805,651,631,652,0.414791552752,-0.0055339307466,0.0799315444725,0.999999995505,-2.95238414804e-05,-7.75968231945e-05,-4.58044229882e-05,1793242945465631744
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714.986006995,680,660,635,879,786.986006995,805,651.013993005,631,652,0.415572843528,-0.00553999144929,0.0799586979219,0.999999997843,-3.27533363522e-05,-3.5804554595e-05,-4.42580839659e-05,1793242945482298368
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714.410570917,680,660,635,879,786.410570917,805,651.589429083,631,652,0.416333224923,-0.00554039912072,0.0799571800842,0.999999997003,-3.09868741969e-05,-5.52933811818e-05,-4.44507339025e-05,1793242945498964992
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879,786.168454988,805,651.831545012,631,652,0.417107586321,-0.00554362331491,0.0799561977649,0.999999996322,-3.63950572676e-05,-6.30877847046e-05,-4.52851371741e-05,1793242945515631616
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879,786.756420763,805,651.243579237,631,652,0.41791676268,-0.00555386161824,0.0799565490708,0.999999996209,-5.96705716312e-05,-4.17590564704e-05,-4.77177266951e-05,1793242945532298240
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714.339206333,680,659.660793667,634.660793667,879,786.660793667,805,651,631,652,0.418773449592,-0.0055600693201,0.0799693488063,0.999999996217,-7.10404063282e-05,-1.11789054546e-05,-4.89220105071e-05,1793242945548965120
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714.918328002,680,659.081671998,634.081671998,879,786.081671998,805,651,631,652,0.419663739942,-0.00556342624015,0.0799909531214,0.999999995713,-7.39895389605e-05,2.59446313044e-05,-4.92575327681e-05,1793242945565632000
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714.505877371,680,659.494122629,634.494122629,879,786.494122629,805,651,631,652,0.420495405027,-0.00556630648909,0.0799766863696,0.999999995723,-7.7481503128e-05,3.49291837253e-06,-5.03868905352e-05,1793242945582298880
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.929215999,879,787,805.070784001,651,631,652,0.421321858898,-0.00556801307105,0.0799604557462,0.999999995271,-7.95481720154e-05,-2.25341187829e-05,-5.12144938511e-05,1793242945598965248
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.342250975,879,787,805.657749025,651,631,652,0.422180500488,-0.00556173157503,0.0799728511524,0.999999996309,-7.05711870616e-05,-3.30614813665e-06,-4.88911677045e-05,1793242945615631616
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879,787,805.758647245,651,631,652,0.42305897514,-0.00554496894292,0.0799906870921,0.99999999741,-4.93537799872e-05,2.1688197311e-05,-4.76850735098e-05,1793242945632298496
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879,787,805.179744451,651,631,652,0.42396518795,-0.00551354765029,0.0800161320303,0.999999997287,-1.10172176973e-05,5.47472557239e-05,-4.80415120964e-05,1793242945648965376
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.601445108,634.398554892,879,786.601445108,805.398554892,651,631,652,0.424822990757,-0.00550813890869,0.0799890825799,0.999999998797,-5.34372349047e-06,-4.3655367526e-06,-4.85730518186e-05,1793242945665632000
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.023417539,634.976582461,879,786.023417539,805.976582461,651,631,652,0.425658994072,-0.00551444384323,0.0799383944557,0.999999993176,-1.43786905148e-05,-0.000104984104108,-4.91834406766e-05,1793242945682298880
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.447174492,879,786.552825508,805.447174492,651,631,652,0.426562458178,-0.00552262850195,0.0799212349574,0.999999992873,-3.12246206552e-05,-0.000102131053898,-5.33705544607e-05,1793242945698965760
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.868312076,745,714,680.131687924,659.131687924,634,879,786.868312076,805,651,631,652,0.427457098426,-0.00552908146376,0.0799098041068,0.99999999256,-4.37098389709e-05,-9.89678386908e-05,-5.63373265385e-05,1793242945715632384
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.280108042,745,714,680.719891958,659.719891958,634,879,786.280108042,805,651,631,652,0.42831127489,-0.00552925609327,0.0799133247642,0.999999991679,-3.99346679892e-05,-0.000109874935905,-5.45500600514e-05,1793242945732298752
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.303316466,745,714,681,660,634,879,786.303316466,805,651,631,652,0.429202003009,-0.00553214957951,0.0799291597856,0.999999993172,-4.23242736705e-05,-9.48153745155e-05,-5.36116055602e-05,1793242945748965376
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.882395598,745,714,681,660,634,879,786.882395598,805,651,631,652,0.43012596232,-0.00553751493676,0.0799561905124,0.99999999573,-5.03186370346e-05,-5.61480106944e-05,-5.34448555308e-05,1793242945765632000
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.458872459,634,879,787,805.458872459,651,631,651.541127541,0.431072837948,-0.00554079058541,0.0799982309852,0.999999997216,-5.31747349103e-05,8.37264682658e-06,-5.16676523691e-05,1793242945782298624
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.034752493,714,681,660.965247507,634.034752493,879.034752493,786.965247507,805.965247507,651,631,651.034752493,0.4320166768,-0.00554307161264,0.0800389146756,0.999999994792,-5.41602626192e-05,7.08125032642e-05,-4.96777898191e-05,1793242945798965504
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.611666912,714,681,660.388333088,634.611666912,879.611666912,786.388333088,805.388333088,651,631,651.611666912,0.432822029331,-0.00553814403524,0.0799987566599,0.999999997633,-4.63920994047e-05,-1.99574610349e-06,-5.07730593437e-05,1793242945815632128
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.80758943,714,681,660,635,879.80758943,786.19241057,805,651,631,652,0.4336248759,-0.00553373893051,0.0799547890518,0.999999995104,-4.2598003409e-05,-7.19398013603e-05,-5.29415381264e-05,1793242945832298496
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.218960366,714,681,660,635,879.218960366,786.781039634,805,651,631,652,0.434422562255,-0.00553040971869,0.0799029765919,0.999999988007,-4.69874428208e-05,-0.000135985822437,-5.7320007023e-05,1793242945848965376
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681.363640811,660,635,879,787,805,651,631,652,0.4352718273,-0.00553036978948,0.0799058247371,0.999999989239,-5.10374042196e-05,-0.000124388702312,-5.86916858168e-05,1793242945865632000
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681.942671543,660,635,879,787,805,651,631,652,0.436151643131,-0.00553227815206,0.0799410491841,0.999999994484,-5.48862873712e-05,-6.79870079565e-05,-5.82823972896e-05,1793242945882298880
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681.481789969,660,635,879,787,805.518210031,651,631,652,0.437016591646,-0.00553516678013,0.0799765402021,0.999999996372,-5.85264701967e-05,-2.70451570116e-05,-5.56648963307e-05,1793242945898965504
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714.095498593,681,660,635,879.095498593,787,805.904501407,651,631,652,0.437870470412,-0.00553842558558,0.0800092391727,0.999999996503,-6.31988928607e-05,1.21147617551e-05,-5.34134947888e-05,1793242945915631872
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714.68379832,681,660,635,879.68379832,787,805.31620168,651,631,652,0.438675656485,-0.00554303875555,0.0800273791884,0.999999994545,-7.3316323997e-05,5.08459017269e-05,-5.43034448938e-05,1793242945932298752
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681.267911827,660.267911827,635,879.732088173,787,805,651,631,652,0.439450693555,-0.00554602177946,0.0800268639004,0.999999993913,-7.78144210354e-05,5.54936263367e-05,-5.51380282574e-05,1793242945948965376
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681.847160539,660.847160539,635,879.152839461,787,805,651,631,652,0.440190694798,-0.0055471104313,0.0800046695229,0.999999995355,-7.57823615799e-05,2.05334499855e-05,-5.590827061e-05,1793242945965632000
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,682,661,634.576960526,879.423039474,787,805.423039474,651,631,652.423039474,0.440855086897,-0.0055437910438,0.0799386157372,0.999999992258,-7.19407362537e-05,-8.27496278546e-05,-5.88221925507e-05,1793242945982298880
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,682,661,634.002289386,879.997710614,787,805.997710614,651,631,652.997710614,0.44149237818,-0.00553889166589,0.0798568412531,0.999999973612,-6.74505001011e-05,-0.000210521947904,-6.25044810595e-05,1793242945998966016
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714.429251002,682,661,634,880,787,806,651,631,652.429251002,0.4422155497,-0.00554259485759,0.0798514536943,0.999999974315,-6.76966051244e-05,-0.000206605198788,-6.40456747738e-05,1793242946015632384
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.850912685,745,714,682,661,634,880,787,805.850912685,651,631,652,0.442942315124,-0.00554794408873,0.079866796139,0.999999980026,-7.27236687686e-05,-0.000174804720763,-6.40456082998e-05,1793242946032298496
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.256732028,745,714,682,661,634,880,787,805.256732028,651,631,652,0.44367878465,-0.005558104772,0.0799431149147,0.999999992122,-9.19675075525e-05,-6.1331156269e-05,-5.94697470391e-05,1793242946048965120
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.328471022,745.328471022,714,682,660.671528978,634,880,786.671528978,805.328471022,651,631,652,0.444357607215,-0.00556488692399,0.0799877619861,0.999999993762,-9.59379830223e-05,2.65333413163e-06,-5.71377175644e-05,1793242946065632000
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.906843845,745.906843845,714,682,660.093156155,634,880,786.093156155,805.906843845,651,631,652,0.444992571742,-0.005569098678,0.0800083131193,0.999999994086,-8.82884344743e-05,2.89863721315e-05,-5.65128031289e-05,1793242946082298624
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.520123945,714,682.479876055,660,634,880,786.479876055,806,651,631,652,0.445560209329,-0.00556903778697,0.0799883430061,0.99999999298,-0.000103745211849,-6.51241244772e-06,-5.68715898828e-05,1793242946098965248
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+257,4.283333333,HOLD_POSE2,765,746,714,684,657,631,880.964369955,784.964369955,806,651,630.035630045,652,0.453441446934,-0.00557878102506,0.0796912630931,0.999999884078,-0.000130672412226,-0.000459348986404,-6.13785539674e-05,1793242947175300096
+258,4.300000000,HOLD_POSE2,765,745.455524106,714,684,656.455524106,631,881,784.455524106,806,651,630,652.544475894,0.453441019425,-0.00557931038242,0.0796898303799,0.999999883706,-0.000130390452353,-0.000460285199142,-6.10315457832e-05,1793242947191966976
+259,4.316666667,HOLD_POSE2,765,745,714,683.87620936,656.12379064,631,881,784,806,651,630,652.87620936,0.453440931241,-0.0055794542606,0.0796889212944,0.999999883555,-0.000129881544441,-0.000460792196037,-6.07535830855e-05,1793242947208633600
+260,4.333333333,HOLD_POSE2,765,745,714,683.297896829,656.702103171,631,881,784,806,651,630,652.297896829,0.453442238485,-0.00557786319734,0.0796903701397,0.999999884342,-0.000128621494746,-0.000459416775178,-6.08997475879e-05,1793242947225300224
+261,4.350000000,HOLD_POSE2,765,745.278357241,714,683,657,631,881,784,806,651,630.278357241,652,0.453443143406,-0.00557856467587,0.0796908256457,0.999999884543,-0.000129837957422,-0.000458630765743,-6.09370068239e-05,1793242947241966592
+262,4.366666667,HOLD_POSE2,765,745.852424492,714,683,657,631,881,784,806,651,630.852424492,652,0.453443620923,-0.00558170161316,0.0796902258875,0.999999884114,-0.000133685318121,-0.000458470911671,-6.08585716386e-05,1793242947258633216
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,746,714,684,657,631,881,784,806,651,630,652,0.453440306928,-0.00557740010217,0.0796891402885,0.999999883371,-0.000126944678964,-0.000461923466053,-6.13914382233e-05,1793242947291213056
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745.728863158,714,683,657,631.271136842,880.728863158,784.271136842,806,651,630.728863158,652,0.453440167592,-0.00557731763398,0.0796885166686,0.999999882217,-0.000128736498045,-0.000463978484405,-6.09734896565e-05,1793242947341213440
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,746,714,683,657,631,881,784.901178874,806,651,630.098821126,652,0.453440357408,-0.00557936070309,0.0796878765063,0.999999881927,-0.000129945229022,-0.000464268238362,-6.09452171715e-05,1793242947374546944
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.517839771,714,683.482160229,657,631,880.517839771,785,806,651,630,652,0.453441982143,-0.00557942622508,0.0796890318659,0.999999883011,-0.000129789071938,-0.00046199282336,-6.07836250573e-05,1793242947391213568
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,631,880.21477538,784.78522462,806,651,630,652,0.453433078464,-0.00557913047158,0.0796838896438,0.999999880164,-0.000128582979209,-0.000468440737768,-6.08334880628e-05,1793242947441213440
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.506815293,713.493184707,683.493184707,657.493184707,631.506815293,880,785,806.506815293,651,630.493184707,652,0.451698548272,-0.00554488159736,0.0795887277172,0.999999794066,-8.63534430356e-05,-0.000635466619032,-2.43412105058e-05,1793242947707880192
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,713.085470988,683,657.085470988,632,880,785,806.914529012,651,630,652,0.45146209477,-0.00554317529667,0.0795914714161,0.999999796103,-7.95259974784e-05,-0.000633369531771,-1.76704517738e-05,1793242947724546560
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,713.661742896,683,657.661742896,632,880,785,806.338257104,651,630,652,0.451202978464,-0.00553807341121,0.0796008945418,0.999999805567,-6.7854805854e-05,-0.000619803904469,-1.02781159346e-05,1793242947741213184
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.762871217,714,683,658,632,880,785,806,651,630.237128783,652,0.450929403821,-0.00553296313751,0.079610116067,0.999999815837,-5.60712137423e-05,-0.000604294953791,-3.07721295128e-06,1793242947757880064
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+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.618122681,745,714,683,658,632,880.381877319,785.381877319,806,651,631,652,0.450312428657,-0.00552177209087,0.0796303336967,0.999999839998,-2.07115980143e-05,-0.000565234039036,9.19932864747e-06,1793242947791213824
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.049217353,745,714,683,658,632,880.950782647,785.950782647,806,651,631,652,0.449975504612,-0.00551523960424,0.0796427660644,0.999999852332,8.32367448908e-06,-0.000543209913508,1.37726410257e-05,1793242947807880192
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.855080368,745.855080368,714,683,658,632,880,785.144919632,806,651,630.144919632,652,0.449149187828,-0.00550276696387,0.0796368837136,0.999999848173,2.70667289187e-05,-0.000550279031905,1.06902233076e-05,1793242947841213184
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.277655908,745.277655908,714,683,658,632,880,785.722344092,806,651,630.722344092,652,0.448693524755,-0.00549933336369,0.0796270216621,0.999999836326,1.59246479032e-05,-0.00057182166093,1.06567250762e-05,1793242947857879808
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714.49544646,682,659,634,879,786.49544646,805.50455354,651,631,652,0.433582701735,-0.00541995313257,0.079813024213,0.999999942259,0.000152854935533,-0.000300963424201,3.92314779097e-05,1793242948224546560
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714.925574933,682,659.074425067,634.074425067,879.074425067,787,805.074425067,651,631,652,0.432642555682,-0.00541471054966,0.0797750313642,0.999999921796,0.000157223067287,-0.000360804146509,3.88447131943e-05,1793242948241213440
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.710562039,634,880,787,805,651.289437961,631,652,0.424356842618,-0.00541431121107,0.079735290064,0.999999890876,0.000182656928471,-0.000427551503972,4.56625366807e-05,1793242948391213312
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,879.540410612,786.540410612,805,651.540410612,631,652,0.422565344108,-0.00539838314615,0.0797414194963,0.99999989221,0.000207969954223,-0.000412477809096,4.68043603481e-05,1793242948424546560
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,879.077725549,786,805.038862774,651,631,652,0.421738580546,-0.00539481524302,0.0797806270518,0.999999921406,0.000207904537615,-0.000334375382228,4.64474213678e-05,1793242948441213184
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714.192611425,681,659,634.192611425,880.61477715,786.192611425,805.807388575,651,631,652,0.420074792569,-0.00539497147197,0.0798727837787,0.999999958356,0.000216106951197,-0.0001841159835,5.18420869452e-05,1793242948474546432
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.762855354,681,659,634.762855354,879.474289293,786.762855354,805.237144646,651,631,652,0.419160584888,-0.00539235263133,0.0798441709697,0.999999945906,0.000220774314126,-0.00023847871327,5.0745778557e-05,1793242948491213312
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878.903581973,787,804.096418027,651,631,652,0.408798511837,-0.0054063353983,0.0798432608365,0.99999994191,0.000220755609207,-0.000254569928601,5.13868493338e-05,1793242948724546560
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.359644556,659,634.359644556,879,787,805,651.359644556,631,652,0.407066801302,-0.00539891068989,0.0797902965965,0.999999910959,0.000227663280995,-0.000352048391467,4.80916030221e-05,1793242948774547200
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714.783209641,679.216790359,659,634.216790359,879,786.783209641,805,651.216790359,631,652,0.406543757197,-0.00539859511756,0.079770656318,0.999999900264,0.000226728108853,-0.000381985415425,4.64036236437e-05,1793242948791213824
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.006477313,659,634,878,787,805,652,631,652,0.401169107001,-0.00539724776269,0.0798248619295,0.999999922446,0.000244499112432,-0.000305907637158,4.18250769127e-05,1793242949157880320
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.697717764,745,714,679.302282236,659,635,878,787,805,651,631,652,0.401022425999,-0.00539895912627,0.0798233606218,0.999999923758,0.000238221278841,-0.000306303472765,4.37435626314e-05,1793242949224546816
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+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.778076916,659,635,878,787,805,651.221923084,631,652,0.400969404188,-0.00539810266766,0.0798290702052,0.999999927024,0.000236845747158,-0.000296601668189,4.34101286154e-05,1793242949324546560
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.638372834,745,714,679.638372834,659,635,878.361627166,786.638372834,804.638372834,651,631,652,0.400966771433,-0.00539765895343,0.0798290950056,0.99999992676,0.000237718312787,-0.000296837683143,4.31011394616e-05,1793242949341213440
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.048831757,745,714,679.048831757,659,635,878.951168243,786.048831757,804.048831757,651,631,652,0.400963537862,-0.00539856705435,0.0798284581829,0.999999926227,0.000237559861417,-0.000298754717613,4.30972250872e-05,1793242949357880064
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.530961596,745,714,679,659,635,878.469038404,786.530961596,804.530961596,651.530961596,631,652.530961596,0.400963157201,-0.00539931739533,0.0798285863646,0.999999926932,0.000235547960273,-0.000297980007681,4.31300386306e-05,1793242949374546688
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.890648094,745,714,679.109351906,659,635,878,787,805,651.890648094,631,652.890648094,0.400963119168,-0.00540002951146,0.0798289640762,0.999999927718,0.000233545373801,-0.000296912228367,4.31645099019e-05,1793242949391213312
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.314489359,745,714,679.685510641,659,635,878,787,805,651.314489359,631,652.314489359,0.400963443908,-0.00540063927123,0.0798301120668,0.999999928387,0.000232297096822,-0.000295631107358,4.31918983288e-05,1793242949407880192
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.260095052,745.260095052,714,679.739904948,659,635,878,787,804.739904948,651.260095052,631,651.739904948,0.400963230341,-0.00540065656283,0.0798303802499,0.999999928367,0.000232640477374,-0.000295447495855,4.30660834367e-05,1793242949424547072
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.832787426,745.832787426,714,679.167212574,659,635,878,787,804.167212574,651.832787426,631,651.167212574,0.400962369805,-0.0053999617919,0.0798295910295,0.999999927517,0.000234896804121,-0.000296582934779,4.2756139911e-05,1793242949441213696
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745.579878627,714,679.420121373,659,634.579878627,878,786.579878627,804.420121373,652,631,651.420121373,0.400963006054,-0.00539877475136,0.0798306510887,0.999999927463,0.000237733901932,-0.000294488866639,4.28087077762e-05,1793242949457880320
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744.986879033,714,680,659,634.013120967,878,786.013120967,805,651.986879033,631,652,0.400964228112,-0.0053974739369,0.0798324416583,0.999999927736,0.000240656558792,-0.000291139394103,4.30093768501e-05,1793242949474547200
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744.409876554,714,680,659,634.590123446,878,786.590123446,805,651.409876554,631,652,0.400964099081,-0.00540000779803,0.0798328527503,0.999999928632,0.000236963538009,-0.000291072656595,4.31502258771e-05,1793242949491213824
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744.167279678,714.167279678,679.832720322,659,635,878,787,804.832720322,651,631,652,0.400964076499,-0.00540171060781,0.0798332129443,0.999999929357,0.000234147744958,-0.00029084555347,4.32328916018e-05,1793242949507880192
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744.744812951,714.744812951,679.255187049,659,635,878,787,804.255187049,651,631,652,0.400964314982,-0.00540137526307,0.079833448311,0.999999929695,0.000233483354116,-0.000290225153503,4.31728627056e-05,1793242949524547072
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.672469119,744.672469119,715,679.327530881,659,635,878.327530881,786.672469119,804,651,631,652,0.40096448953,-0.00540133961432,0.0798334586659,0.99999992984,0.000233164624608,-0.00029000926012,4.29949203616e-05,1793242949541213696
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.085646757,744.085646757,715,679.914353243,659,635,878.914353243,786.085646757,804,651,631,652,0.400964613463,-0.00540154122143,0.0798332908892,0.999999929832,0.000233119539675,-0.000290113596453,4.27236312424e-05,1793242949557880320
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.496381624,744.496381624,715,679.503618376,659,635,878.503618376,786.496381624,804.496381624,651,631,652,0.400964165411,-0.00540130209505,0.0798335570693,0.999999929555,0.000234240098467,-0.000290162288106,4.27585538757e-05,1793242949574547200
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.923108414,679,659,635,878,787,805,651.076891586,631,652,0.400963489712,-0.00540104063409,0.0798336375177,0.99999992922,0.00023528001246,-0.000290469223862,4.27846173882e-05,1793242949591213824
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.347136804,679,659,635,878,787,805,651.652863196,631,652,0.40096197088,-0.00540112307061,0.0798320310903,0.999999928822,0.000234503545379,-0.000292514065382,4.24135269517e-05,1793242949607880448
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.228373788,787,805,651.771626212,631,652,0.400961476652,-0.00540118665767,0.079831516389,0.999999928765,0.000233908625302,-0.000293191400101,4.23781129081e-05,1793242949624546816
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.803185112,787,805,651.196814888,631,652,0.400962536724,-0.00540122165054,0.07983265781,0.999999929228,0.000233589107544,-0.000291794260243,4.28519118134e-05,1793242949641213440
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.610559086,878.610559086,786.610559086,805,651,631,652,0.400962936377,-0.00540092404322,0.0798333514966,0.999999929474,0.000233503462922,-0.000291015575784,4.28747380497e-05,1793242949657880320
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.018344419,878.018344419,786.018344419,805,651,631,652,0.400962992164,-0.00540045325792,0.0798338120573,0.999999929607,0.000233539591179,-0.000290558908226,4.26627522036e-05,1793242949674546944
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..883ef0e3fec8eaa279d17edfcbb85109a952867c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+2,0.033333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+3,0.050000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+4,0.066666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+5,0.083333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+6,0.100000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+7,0.116666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+8,0.133333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
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+11,0.183333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+12,0.200000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+13,0.216666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+14,0.233333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+15,0.250000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+16,0.266666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+17,0.283333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+18,0.300000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+19,0.316666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
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+21,0.350000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
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+23,0.383333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
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+396,6.600000000,pose2_to_pose3_retreat,0.580744605774,1.84335422555e-06,1.07004091128,0.551316324569,0.00867666860293,1.0696787013
+397,6.616666667,pose2_to_pose3_retreat,0.580744558685,1.84110284025e-06,1.07004091934,0.551316277472,0.00867666631362,1.06967870909
+398,6.633333333,pose2_to_pose3_retreat,0.58074455058,1.84071531203e-06,1.07004092073,0.551316269365,0.00867666591957,1.06967871043
+399,6.650000000,pose2_to_pose3_retreat,0.580744478876,1.83728705151e-06,1.07004093301,0.55131619765,0.00867666243356,1.06967872229
+400,6.666666667,pose2_to_pose3_retreat,0.580744217867,1.83407648547e-06,1.07004095385,0.551315936637,0.0086766591869,1.06967874257
+401,6.683333333,pose2_to_pose3_retreat,0.580743967295,1.86495058831e-06,1.07004088654,0.551315686208,0.00867669066418,1.06967867815
+402,6.700000000,pose2_to_pose3_retreat,0.580743794579,1.88623171999e-06,1.07004084014,0.55131551359,0.00867671236108,1.06967863375
+403,6.716666667,pose2_to_pose3_retreat,0.580743700642,1.88246652034e-06,1.07004082176,0.551315419753,0.00867670897545,1.06967861633
+404,6.733333333,pose2_to_pose3_retreat,0.580743667361,1.87155923158e-06,1.07004081952,0.551315386537,0.00867669829839,1.06967861435
+405,6.750000000,pose2_to_pose3_retreat,0.580743599048,1.84917055854e-06,1.07004081492,0.551315318356,0.00867667638231,1.0696786103
+406,6.766666667,pose2_to_pose3_retreat,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.00867674001496,1.06967847325
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4b62cb4558e5bd418103fdc943fcd764e0b6283e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74ce1dd7a47bff71e3e70b06c2a31678c2497e9c0eb1f459fd58a79359987c30
+size 26000785
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9abc9b77b59cedbcabaff597505a86874b2ecb92
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_04/franka_data.csv
@@ -0,0 +1,411 @@
+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,765,745,714,680,659,635,878,786,804,652,631,652,0.400964807916,-0.0054017536767,0.0798346627378,0.999999930908,0.000232558050119,-0.000286850959752,4.26244307429e-05,1793242949792421888
+1,0.016666667,BASELINE,765,745,714.630170387,679.369829613,659,635,878,786.630170387,804,651.369829613,631,652,0.400964418891,-0.0054027259787,0.0798347959104,0.999999931229,0.0002310345231,-0.000286947450458,4.27265865035e-05,1793242949809088512
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+3,0.050000000,BASELINE,764.189938799,745,715,679.810061201,659,635,878.810061201,787,804.810061201,651,631,651.189938799,0.400963659831,-0.00540214918951,0.079834323474,0.999999930854,0.000231816944901,-0.000287704574327,4.21887376441e-05,1793242949842422016
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+9,0.150000000,BASELINE,765,744.292485901,714,680,659,635,878.292485901,787,805,652,631,652,0.400964859176,-0.00540245986671,0.079835903335,0.999999930806,0.000234452975875,-0.000285679468661,4.25055598238e-05,1793242949942421760
+10,0.166666667,BASELINE,765,744.867336957,714,680,659,635,878.867336957,787,805,652,631,652,0.400965594367,-0.00540174311419,0.0798358478279,0.999999931589,0.000232876603957,-0.000284248817297,4.23514528646e-05,1793242949959088640
+11,0.183333333,BASELINE,765.455874244,745,714,679.544125756,659,635,878.544125756,786.544125756,805,651.544125756,631,651.544125756,0.400964388062,-0.00540160417964,0.0798352154147,0.999999931312,0.000232266949079,-0.000285723104957,4.23195835925e-05,1793242949975755520
+12,0.200000000,BASELINE,765.952639843,744.952639843,714,679.047360157,659,634.952639843,878,786,805,651,631,651.047360157,0.400962839068,-0.00540158731436,0.0798344993342,0.999999930766,0.00023205125172,-0.000287804236468,4.22920257942e-05,1793242949992422144
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+19,0.316666667,BASELINE,764.891446265,745,714,679,659,634,878,787,805,651,631,652,0.400962830422,-0.00540169928882,0.0798345375505,0.999999929846,0.000235662943978,-0.000288032589756,4.2511371e-05,1793242950109088256
+20,0.333333333,BASELINE,764.317097386,745,714,679,659,634,878,787,805,651,631,652,0.400964228844,-0.00540148517853,0.0798352419766,0.999999930324,0.000235384150763,-0.000286602917033,4.24976509615e-05,1793242950125754880
+21,0.350000000,BASELINE,764.25775844,745,714,679,659,634,878,787,805,651,631,652,0.400964318257,-0.00540090314186,0.0798353648582,0.999999930226,0.000236025695254,-0.000286427296976,4.24272207315e-05,1793242950142421760
+22,0.366666667,BASELINE,764.833239104,745,714,679,659,634,878,787,805,651,631,652,0.400962794142,-0.00539986758608,0.0798347709072,0.999999929417,0.000237801680763,-0.000287797466958,4.22868875031e-05,1793242950159088640
+23,0.383333333,BASELINE,765,745,714,679,659,634,878.420375964,787,804.579624036,651,631,652,0.400963026098,-0.00540020685041,0.0798354776906,0.999999929919,0.000236589534705,-0.000287076567931,4.21157398246e-05,1793242950175755008
+24,0.400000000,BASELINE,765,745,714.011943888,679.011943888,659.011943888,634.011943888,878.988056112,787,804.011943888,651,631,652,0.400963954474,-0.0054010791168,0.0798366767832,0.999999930917,0.000234238499386,-0.000285550139126,4.19444601753e-05,1793242950192421376
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+27,0.450000000,BASELINE,765,745,714.26085761,679.26085761,659.26085761,635,878,786.26085761,805,651,631,652,0.400964175608,-0.00540059907909,0.0798353161617,0.999999930878,0.000233791180785,-0.000286037644007,4.20389132635e-05,1793242950242421760
+28,0.466666667,BASELINE,765,745,714,679,659,635,878,786.322430441,805,651,631,652.322430441,0.400964170969,-0.00540097007211,0.0798355973236,0.999999931037,0.000233564702025,-0.000285671667415,4.2003719608e-05,1793242950259088384
+29,0.483333333,BASELINE,765,745,714,679,659,635,878,786.912533206,805,651,631,652.912533206,0.400963997602,-0.0054014634634,0.0798363094611,0.999999930731,0.00023503653612,-0.000285489315895,4.23395523084e-05,1793242950275755008
+30,0.500000000,BASELINE,765,745,714,679,659.492339157,635,878.492339157,787,804.507660843,651,631,652.507660843,0.400963611659,-0.00540142368729,0.0798359022492,0.999999930318,0.000235953769991,-0.000286196721636,4.22126003285e-05,1793242950292421632
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+38,0.633333333,BASELINE,765,745,714,680,659,634.871776161,878.128223839,786.871776161,804.128223839,651,631,651.871776161,0.400964138042,-0.00540081778153,0.0798363276808,0.999999930462,0.000236784845925,-0.000285007928175,4.21851185547e-05,1793242950425755136
+39,0.650000000,BASELINE,765,745,714,680,659,634.293329092,878.706670908,786.293329092,804.706670908,651,631,651.293329092,0.400963732776,-0.00540273556491,0.079835937228,0.99999993117,0.000232960395134,-0.000285703207274,4.19784484327e-05,1793242950442421760
+40,0.666666667,BASELINE,765,745,714,679.711082608,659,634.288917392,879,786,804.711082608,651,630.711082608,651.288917392,0.400964534361,-0.00540198264857,0.0798366198487,0.999999931298,0.000233490247078,-0.000284840417834,4.18704258706e-05,1793242950459088384
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+48,0.800000000,BASELINE,765,745,714,679.063176126,659,635,878,787,805,652,631,652,0.400963030895,-0.00540010300187,0.0798350563921,0.999999930931,0.000233780383612,-0.000285937289462,4.15343895502e-05,1793242950592421376
+49,0.816666667,BASELINE,765,745,714,679,659,634.482982412,878.517017588,787,805,651.482982412,631,652,0.400964857963,-0.0054016320755,0.0798358943762,0.999999931622,0.000232432170953,-0.000284589382859,4.17201334424e-05,1793242950609088000
+50,0.833333333,BASELINE,765,745,714,679,659.095694382,634.095694382,878.904305618,786.904305618,804.904305618,651.095694382,630.904305618,652,0.400966538271,-0.00540305471669,0.0798367825807,0.999999932237,0.000231454480846,-0.000283181852427,4.19746981806e-05,1793242950625754624
+51,0.850000000,BASELINE,765,745,714,679,659.672013397,634.672013397,878.327986603,786.327986603,804.327986603,651.672013397,630.327986603,652,0.400965290565,-0.00540219911088,0.07983644623,0.999999931582,0.000233694425417,-0.000283618392315,4.2222844565e-05,1793242950642421504
+52,0.866666667,BASELINE,764.751999148,745,714,679,659.751999148,635,878,786.248000852,804,652,630.248000852,652,0.400964861229,-0.00540109217707,0.0798367961943,0.999999931046,0.00023592370975,-0.000283660479501,4.22408634046e-05,1793242950659088128
+53,0.883333333,BASELINE,764.176449639,745,714,679,659.176449639,635,878,786.823550361,804,652,630.823550361,652,0.400965512758,-0.00539965330028,0.0798380526135,0.999999930669,0.000238138914371,-0.000283181590818,4.19549398524e-05,1793242950675754752
+54,0.900000000,BASELINE,764.408719997,745,714,679,659,635,878,786.591280003,804.408719997,651.591280003,631,652,0.400964491357,-0.00540017261614,0.0798374405704,0.99999993054,0.000237033483273,-0.000284566829825,4.19029910125e-05,1793242950692421376
+55,0.916666667,BASELINE,764.998142858,745,714,679,659,635,878,786.001857142,804.998142858,651.001857142,631,652,0.400962730322,-0.00540155768614,0.0798360024446,0.999999930514,0.000234459936071,-0.000286776235056,4.19544868388e-05,1793242950709088256
+56,0.933333333,BASELINE,765,745,714.576969542,679,659,634.423030458,878,786.576969542,804.423030458,651,630.423030458,652,0.400963617423,-0.00540094027059,0.0798366898065,0.999999931051,0.00023455094771,-0.000284804467082,4.20655591266e-05,1793242950725754624
+57,0.950000000,BASELINE,765,745,714.845290273,679,659.154709727,634.154709727,878.154709727,786.845290273,804.154709727,651.154709727,630.154709727,652,0.400964578034,-0.00540051063822,0.079837330291,0.999999931453,0.000234891602453,-0.000283105799858,4.20912008752e-05,1793242950742421504
+58,0.966666667,BASELINE,765,745,714.270410011,679,659.729589989,634.729589989,878.729589989,786.270410011,804.729589989,651.729589989,630.729589989,652,0.400965715558,-0.00540060818906,0.0798378252168,0.999999931487,0.000235887380898,-0.000282184729149,4.18843134905e-05,1793242950759089152
+59,0.983333333,BASELINE,765,745,714,679,659.688543561,634.688543561,878.688543561,786.311456439,805,652,631,652,0.400965183687,-0.00540039259747,0.0798372897177,0.999999931217,0.000236092647741,-0.000282990746518,4.17469987236e-05,1793242950775755776
+60,1.000000000,BASELINE,765,745,714,679,659.100472382,634.100472382,878.100472382,786.899527618,805,652,631,652,0.400963169172,-0.00539989889377,0.0798358390643,0.999999930672,0.000235595835257,-0.00028533064769,4.16714736703e-05,1793242950792421888
+61,1.016666667,BASELINE,765,745,714,679.479951742,659,634,878,787,805,651.520048258,631,652,0.400964253403,-0.00540024829278,0.0798364389257,0.999999930982,0.000235554859617,-0.000284247881385,4.18766948946e-05,1793242950809088256
+62,1.033333333,BASELINE,764.941427665,745,714,679.941427665,659,634.058572335,878,787,805,651,631,652,0.400965792763,-0.0054008116322,0.0798373324072,0.999999931453,0.000235436997606,-0.00028265090405,4.20893933521e-05,1793242950825754880
+63,1.050000000,BASELINE,764.364821594,745,714,679.364821594,659,634.635178406,878,787,805,651,631,652,0.400965710198,-0.00540173064282,0.0798370858565,0.999999931819,0.000233808398019,-0.000282743621216,4.18565842371e-05,1793242950842421760
+64,1.066666667,BASELINE,764.211097194,745,714,679.211097194,659,635,878,787,805,651.211097194,631,652,0.400965582674,-0.00540225407734,0.0798367541965,0.999999932076,0.000232507629763,-0.00028293322728,4.16838569448e-05,1793242950859088384
+65,1.083333333,BASELINE,764.785832032,745,714,679.785832032,659,635,878,787,805,651.785832032,631,652,0.400965377704,-0.0054020960894,0.0798362759267,0.999999932149,0.000231771586367,-0.000283289734894,4.16146270738e-05,1793242950875755264
+66,1.100000000,BASELINE,765,745,714,679.629028847,659.370971153,634.629028847,878.370971153,786.629028847,804.629028847,651.629028847,631,652,0.400964965059,-0.00540237623312,0.0798361047297,0.999999931876,0.000232394137707,-0.000283729588519,4.17023569802e-05,1793242950892421888
+67,1.116666667,BASELINE,765,745,714,679.037709854,659.962290146,634.037709854,878.962290146,786.037709854,804.037709854,651.037709854,631,652,0.400964429061,-0.0054029166164,0.0798361159265,0.999999931396,0.000233823661292,-0.000284218947633,4.1883317178e-05,1793242950909088512
+68,1.133333333,BASELINE,765,745,714,679,660,634.541881572,879,786.541881572,804.541881572,651,631,652,0.400965913405,-0.00540214562371,0.0798371763044,0.999999931944,0.000233643299642,-0.000282460471208,4.16895160898e-05,1793242950925754880
+69,1.150000000,BASELINE,765,745,714,679.120041481,660,635,879,787,805,651,631,652,0.4009667392,-0.00540128200984,0.0798378534478,0.999999932262,0.00023359425691,-0.000281397733359,4.15242707862e-05,1793242950942421760
+70,1.166666667,BASELINE,765,745,714,679.695799395,660,635,879,787,805,651,631,652,0.400964542487,-0.00540040588736,0.0798368043981,0.999999931448,0.000234460046802,-0.000283557517593,4.15643428049e-05,1793242950959088640
+71,1.183333333,BASELINE,765,745,714,680,659.723143095,635,878.723143095,787,805,651,631,652,0.400964036779,-0.00540032539073,0.0798364506034,0.999999931129,0.000235120043766,-0.00028412558758,4.16200230612e-05,1793242950975755264
+72,1.200000000,BASELINE,765,745,714,680,659.136148861,635,878.136148861,787,805,651,631,652,0.40096542535,-0.00540113616046,0.0798368756388,0.99999993137,0.000235549509947,-0.000282910606759,4.16931877959e-05,1793242950992422144
+73,1.216666667,BASELINE,764.556769378,745,714,680,659,635,878,787,805,651,631,652,0.400965410426,-0.00540201291605,0.0798371777374,0.999999931979,0.000233391855782,-0.00028256447579,4.15609284412e-05,1793242951009089024
+74,1.233333333,BASELINE,764,745,714,680,659.020380042,635,878.020380042,787,805,651.020380042,631,652,0.40096500031,-0.00540284399781,0.0798374314051,0.999999932656,0.000230610151876,-0.000282480301402,4.13649543337e-05,1793242951025755648
+75,1.250000000,BASELINE,764,745,714,680,659.599435171,635,878.599435171,787,805,651.599435171,631,652,0.400965375349,-0.00540187678092,0.079837375149,0.99999993234,0.000232138391331,-0.000282384513179,4.11229369168e-05,1793242951042422272
+76,1.266666667,BASELINE,764.177597197,745,714.177597197,680,659.822402803,635,878.822402803,787,804.822402803,652,631,652,0.400965235094,-0.00540153852057,0.079837182722,0.999999932066,0.000232897894842,-0.000282725461377,4.11394370981e-05,1793242951059088640
+77,1.283333333,BASELINE,764.753754901,745,714.753754901,680,659.246245099,635,878.246245099,787,804.246245099,652,631,652,0.400963938424,-0.00540261175349,0.0798366847031,0.999999931892,0.000231932214574,-0.000284046525778,4.1736097943e-05,1793242951075755264
+78,1.300000000,BASELINE,765,745,714.663000677,680,659,635,878,787,804.336999323,651.663000677,631,652,0.400964175885,-0.00540320974921,0.0798370128211,0.999999932234,0.000231002142962,-0.00028357500026,4.19009635404e-05,1793242951092421888
+79,1.316666667,BASELINE,765,745,714.074466791,680,659,635,878,787,804.925533209,651.074466791,631,652,0.400965558413,-0.00540345303028,0.0798379575633,0.99999993296,0.000230098649509,-0.000281765494773,4.17435393558e-05,1793242951109088512
+80,1.333333333,BASELINE,765,745,714.506136669,680,659,635,878.506136669,787,805,651,631,652,0.400965059441,-0.00540189469654,0.0798378091474,0.999999932303,0.000232235442226,-0.000282350332672,4.17074598384e-05,1793242951125754880
+81,1.350000000,BASELINE,765,745,714.915254233,680,659,635,879,787,805,651,631,652,0.400964534878,-0.00540030839057,0.0798376065928,0.999999931552,0.000234704121894,-0.000282965946174,4.17117813549e-05,1793242951142421760
+82,1.366666667,BASELINE,765,745,714.341524337,680,659,635,879,787,805,651,631,652,0.400965435278,-0.00540006653454,0.0798380053554,0.999999931453,0.000236546620472,-0.000281757863417,4.18477934539e-05,1793242951159088384
+83,1.383333333,BASELINE,765,745,714.233199212,679.766800788,659,634.766800788,878.766800788,787,805,651,631,652,0.400965080769,-0.00540072019843,0.0798375789607,0.999999931426,0.000236041640491,-0.00028226103734,4.19529497657e-05,1793242951175755008
+84,1.400000000,BASELINE,765,745,714.809384299,679.190615701,659,634.190615701,878.190615701,787,805,651,631,652,0.400962880559,-0.00540269097943,0.0798359389372,0.999999931493,0.00023208402483,-0.000285281101514,4.20127238717e-05,1793242951192421632
+85,1.416666667,BASELINE,765,745,714.603928449,679.396071551,659,634.396071551,878.396071551,787,805,651,631,652,0.400963552017,-0.00540270832204,0.0798364971145,0.999999931396,0.000233460002607,-0.000284484628982,4.21006348168e-05,1793242951209088256
+86,1.433333333,BASELINE,765,745,714.012049229,679.987950771,659,634.987950771,878.987950771,787,805,651,631,652,0.400965643155,-0.00540175993442,0.0798381420263,0.999999931207,0.000237472773136,-0.00028180135789,4.22024558932e-05,1793242951225754880
+87,1.450000000,BASELINE,765,745,714,680,659,634.433762478,878.433762478,787,804.433762478,651.566237522,631,652,0.400965155942,-0.00540027462018,0.0798378940575,0.99999993098,0.000238138098587,-0.000282087491595,4.19034564784e-05,1793242951242421760
+88,1.466666667,BASELINE,765,745,714,680,659,634.143260456,878,787,804.143260456,652,631,652,0.400964618791,-0.00539987044637,0.0798375369294,0.999999930973,0.000237707016392,-0.000282502058531,4.1734297994e-05,1793242951259088384
+89,1.483333333,BASELINE,765,745,714,680,659,634.717332235,878,787,804.717332235,652,631,652,0.400964092591,-0.00540275101984,0.0798369698268,0.999999931619,0.000234188014829,-0.000283117286612,4.19806435756e-05,1793242951275755008
+90,1.500000000,BASELINE,765,745,714.299244838,679.700755162,659,635,878.299244838,786.700755162,804.700755162,652,631,652,0.400964844743,-0.00540295032263,0.0798373482348,0.999999932112,0.000233081780324,-0.000282286784948,4.1999674461e-05,1793242951292421888
+91,1.516666667,BASELINE,765,745,714.888763164,679.111236836,659,635,878.888763164,786.111236836,804.111236836,652,631,652,0.400966836921,-0.00540054873896,0.0798386438068,0.999999932459,0.000234315978416,-0.000280053896426,4.1798205522e-05,1793242951309088768
+92,1.533333333,BASELINE,765,745,714.530872707,679.469127293,659.469127293,634.530872707,878.530872707,786.469127293,804.469127293,651.530872707,631,652,0.400965975631,-0.00540023986034,0.079837803882,0.999999931813,0.000235549521311,-0.000281330401667,4.17682884628e-05,1793242951325755136
+93,1.550000000,BASELINE,764.952820287,745,714,679.952820287,659.952820287,634.047179713,878,787,804.952820287,651,631,652,0.400964657925,-0.00540056441986,0.0798366668674,0.999999931074,0.000236509755267,-0.00028313999689,4.17919308035e-05,1793242951342421760
+94,1.566666667,BASELINE,764.376815753,745,714,679.376815753,659.376815753,634.623184247,878,787,804.376815753,651,631,652,0.40096566301,-0.00540253358066,0.0798377668445,0.999999931947,0.000234408249171,-0.000281776273833,4.19686904424e-05,1793242951359088128
+95,1.583333333,BASELINE,764.20264259,745,714,679.20264259,659,635,878.20264259,787,804.20264259,651.20264259,631,652,0.400965890463,-0.00540363403821,0.0798381616182,0.999999932457,0.000232695839387,-0.000281382014165,4.19840007231e-05,1793242951375755008
+96,1.600000000,BASELINE,764.788634787,745,714,679.788634787,659,635,878.788634787,787,804.788634787,651.788634787,631,652,0.400964646826,-0.00540309112462,0.0798372223219,0.99999993229,0.000231719503119,-0.000282821738956,4.16938888245e-05,1793242951392421376
+97,1.616666667,BASELINE,765,745,714.37148597,679.62851403,659,635,879,787,805,651.62851403,631,652,0.400964304451,-0.00540268604267,0.0798369122502,0.999999931992,0.000232909571785,-0.000282884825542,4.17780626941e-05,1793242951409088256
+98,1.633333333,BASELINE,765,745,714.952564952,679.047435048,659,635,879,787,805,651.047435048,631,652,0.400964470569,-0.00540235872561,0.0798369571881,0.999999931616,0.000235321929837,-0.000282171210438,4.20734092443e-05,1793242951425755136
+99,1.650000000,BASELINE,765,745,714.470169804,679.529830196,659,635,878.470169804,787,805,651.529830196,631,652,0.400964948397,-0.00540201859029,0.0798372129702,0.999999931766,0.000234800150812,-0.000282088344111,4.19903972505e-05,1793242951442422016
+100,1.666666667,BASELINE,765.106571819,745,714.106571819,680,659,635,878.106571819,787,805,651.893428181,631,652,0.400965285736,-0.00540172529196,0.0798374024252,0.999999931911,0.000234078873739,-0.000282188919753,4.18947431965e-05,1793242951459088640
+101,1.683333333,BASELINE,765.682500324,745,714.682500324,680,659,635,878.682500324,787,805,651.317499676,631,652,0.400964882314,-0.00540164328816,0.0798372172254,0.999999931829,0.000233627633204,-0.000282850473743,4.18915312061e-05,1793242951475755264
+102,1.700000000,BASELINE,765.744811933,745,714.744811933,679.744811933,659,635,879,786.744811933,805,651,631,652,0.400964923693,-0.00540122807748,0.0798373839516,0.999999931589,0.000234652159996,-0.000282843745253,4.19387227433e-05,1793242951492421888
+103,1.716666667,BASELINE,765.176105756,745,714.176105756,679.176105756,659,635,879,786.176105756,805,651,631,652,0.400965511541,-0.00540040349661,0.0798379830459,0.999999931149,0.000237489780146,-0.000282015980439,4.20478388787e-05,1793242951509088768
+104,1.733333333,BASELINE,764.587914691,745,714,679,659,635,879,786,804.587914691,651,631,652,0.400966256449,-0.00540065678921,0.0798381944175,0.999999931511,0.000237359954613,-0.000280853035193,4.19517078145e-05,1793242951525755392
+105,1.750000000,BASELINE,764.008744824,745,714,679,659,635,878.991255176,786.008744824,804.008744824,651,631,652,0.400967063194,-0.00540139784938,0.079838233606,0.999999932228,0.00023588698811,-0.000279564737808,4.17627568161e-05,1793242951542421504
+106,1.766666667,BASELINE,764.587682869,745,714,679,659,635,878.412317131,786.587682869,804.587682869,651,631,652,0.400967308335,-0.00540241759353,0.0798383858988,0.999999932673,0.000233627894118,-0.000279906351452,4.15246581835e-05,1793242951559088384
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,804,651,631,652,0.400965888698,-0.00540070079321,0.0798382627629,0.999999931842,0.000235452869338,-0.000281299405694,4.18251088393e-05,1793242951600256000
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714.594825447,679.594825447,659,635,878.405174553,787,804.594825447,651,631,652,0.400965107075,-0.0054005400749,0.0798372574427,0.999999931778,0.000234380865742,-0.000282465709373,4.15103216755e-05,1793242951616922880
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714.814178886,679.814178886,659,635,878.185821114,787,804.814178886,651,631,652,0.400964844911,-0.00540068583077,0.0798368970809,0.999999931839,0.000233711026775,-0.00028282837461,4.13523723793e-05,1793242951633589504
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714.23136514,679.23136514,659,635,878.76863486,787,804.23136514,651,631,652,0.400965692532,-0.00540148634529,0.0798379146236,0.999999932169,0.000233900381652,-0.000281474127853,4.15294951619e-05,1793242951650256128
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.654412932,744.654412932,714,679,659,634.654412932,878.654412932,787,804.345587068,651,631,652,0.40096528063,-0.00540204227292,0.0798377717242,0.999999932251,0.000232852069095,-0.000282050678356,4.154854143e-05,1793242951666922752
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.081319517,744.081319517,714,679,659,634.081319517,878.081319517,787,804.918680483,651,631,652,0.400964039559,-0.00540243718442,0.0798368648844,0.999999932163,0.000230988977208,-0.000283898308416,4.1463523e-05,1793242951683589376
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.494360601,744.494360601,714,679,659,634.494360601,878.494360601,787,805,651,631,652,0.400964869325,-0.00540203887132,0.0798372724325,0.999999931825,0.000233986303244,-0.00028258485516,4.17931009927e-05,1793242951700255744
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.072080697,659,635,878.927919303,787,805,651.072080697,631,652,0.400966000432,-0.00540169509759,0.0798378543548,0.999999931579,0.000236859932894,-0.000281012496616,4.20832688329e-05,1793242951716922624
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.661369269,659,635,878.338630731,787,805,651.661369269,631,652,0.400966836692,-0.00540268384348,0.0798381279337,0.999999932398,0.000233079002986,-0.000281333081037,4.15987256381e-05,1793242951733589504
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.246751288,787,804.753248712,652,631,652,0.400970558363,-0.00540274633531,0.0798401524418,0.999999933475,0.000231854010015,-0.000278529877491,4.14109832552e-05,1793242951750256384
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.826855633,787,804.173144367,652,631,652,0.400978178132,-0.00540155748761,0.0798445423989,0.999999934879,0.000234082005969,-0.000271506536805,4.1624209265e-05,1793242951766923008
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.598238802,659,635,879,787,804.401761198,651.598238802,631,652,0.401000692031,-0.00540180734617,0.0798545844921,0.99999993921,0.000234897129719,-0.000254224174782,4.21223667871e-05,1793242951783589632
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.02554505,659,635,879,787,804.97445495,651.02554505,631,652,0.40102954276,-0.00540266931385,0.0798670313328,0.999999944402,0.000235111135656,-0.000232577028401,4.27417507293e-05,1793242951800256000
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,651,631,652,0.401083582877,-0.00540397210801,0.0798855186548,0.999999952568,0.000233530455379,-0.00019630112912,4.23548075491e-05,1793242951816922624
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.85049808,787,805,651,631,652,0.401142399069,-0.00540503053484,0.0799029997248,0.999999958905,0.000232507301641,-0.000162415493394,4.18478167798e-05,1793242951833589248
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.268603786,787,805,651,631,652,0.401211627392,-0.00540532267283,0.0799167548466,0.999999962489,0.000233338975162,-0.000137418347882,4.11295071449e-05,1793242951850255872
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.309396448,787,805,651,631.309396448,652,0.401285090917,-0.00540651931774,0.0799260441548,0.999999964772,0.000231871375237,-0.000122855567562,3.99780310471e-05,1793242951866922496
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.884058023,787,805,651,631.884058023,652,0.401362185545,-0.00540849145356,0.0799315046379,0.999999966297,0.000228432462924,-0.000117238829454,3.84551740251e-05,1793242951883589376
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714.458935408,679,659,635,879,787,804.541064592,651,631.541064592,652,0.40145482575,-0.00540974081216,0.0799335379496,0.999999967414,0.000226310099829,-0.000112750439508,3.52666282241e-05,1793242951900256512
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659,635,879,787,804.034702622,651,631,652,0.401552876566,-0.00541084352527,0.0799349021076,0.999999968423,0.000224515851508,-0.000108363142759,3.16770401387e-05,1793242951916923136
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659,635,879,787,804.623814436,651,631,652,0.401674594996,-0.0054125219722,0.0799394146291,0.999999969707,0.000222647398222,-0.00010103469076,2.84063760097e-05,1793242951933589504
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714.790409095,679,659,634.790409095,879,786.790409095,805,651,631,651.790409095,0.401810255269,-0.00541392517291,0.0799451766847,0.999999971143,0.000221012503317,-9.09212617788e-05,2.44943363927e-05,1793242951950256128
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714.210525376,679,659,634.210525376,879,786.210525376,805,651,631,651.210525376,0.40197054715,-0.00541484208472,0.0799531463425,0.999999972778,0.000219790245727,-7.58875009878e-05,1.94491528505e-05,1793242951966923008
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.367582385,879,786.367582385,804.632417615,651,631,651.367582385,0.402144104549,-0.005416295802,0.0799600737286,0.999999974729,0.000215149725775,-6.36141990837e-05,1.4313490265e-05,1793242951983589632
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.944677947,879,786.944677947,804.055322053,651,631,651.944677947,0.402325222993,-0.00541805548567,0.0799664070455,0.99999997681,0.000208560877811,-5.29142913798e-05,9.12625631028e-06,1793242952000256256
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714.528637406,679.528637406,659,635,878.471362594,787,804.528637406,651,631,652,0.402517852954,-0.00541924670543,0.0799655450928,0.999999978252,0.000200887415429,-5.59874688885e-05,2.27286549255e-06,1793242952016922880
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714.887704756,680,659,635,878.112295244,787,804.887704756,651,631,652,0.402718012929,-0.00542073555433,0.0799627275346,0.99999997947,0.000192739979265,-6.23474086235e-05,-4.93563130943e-06,1793242952033589760
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714.30832834,680,659,635,878.69167166,787,804.30832834,651,631,652,0.402944416652,-0.00542371306065,0.0799549490021,0.999999980243,0.000183099417291,-7.63042664512e-05,-1.28863693214e-05,1793242952050256384
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.271195606,635,878.728804394,787,804.271195606,651,631,652,0.403197618467,-0.00542593428854,0.0799501473859,0.999999980921,0.000175193165172,-8.38651146801e-05,-2.08045495307e-05,1793242952066923008
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.850887339,635,878.149112661,787,804.850887339,651,631,652,0.403481304196,-0.00542729521851,0.0799487321344,0.999999981724,0.000169259762277,-8.41502387866e-05,-2.86856934298e-05,1793242952083589376
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.572807863,714,680,660,635,878.427192137,787,805,651.427192137,631,652,0.40379818466,-0.00542940806929,0.0799538689699,0.999999986685,0.00014366110181,-7.3975229676e-05,-2.27676711617e-05,1793242952100256256
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.002372253,714,679.997627747,659.997627747,634.997627747,879,787,805.002372253,652,631,652,0.404126636706,-0.00543176900498,0.0799612419875,0.999999991905,0.000111415280077,-6.02379712079e-05,-1.21477269129e-05,1793242952116922624
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.58944434,714,679.41055566,659.41055566,634.41055566,879,787,805.58944434,652,631,652,0.404473823745,-0.00543109567154,0.0799605175568,0.999999990786,0.000119359548672,-6.13312277685e-05,-2.04642559486e-05,1793242952133589504
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.174218224,659,634,878.825781776,787,805.825781776,652,631,652,0.404839104197,-0.00543302779151,0.0799588101347,0.999999990252,0.000122032236444,-6.22465218204e-05,-2.69963711566e-05,1793242952150256384
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.753646688,659,634,878.246353312,787,805.246353312,652,631,652,0.405246467661,-0.00544101987693,0.0799548163949,0.999999991278,0.000112443872177,-6.27478967466e-05,-2.93781573275e-05,1793242952166923008
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.332006357,878,787,805,651.667993643,631,652,0.405674935282,-0.00544368781465,0.0799507035194,0.99999999164,0.000105000183972,-6.84254957413e-05,-3.18392462081e-05,1793242952183589888
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.909575569,878,787,805,651.090424431,631,652,0.406119012277,-0.00544241783788,0.0799465025267,0.999999991458,9.91427679426e-05,-7.79316009036e-05,-3.43589902363e-05,1793242952200256512
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.48333845,787,805,651,631,652,0.406586769083,-0.00544758476659,0.0799416632779,0.999999990582,0.000101699498602,-8.56027530142e-05,-3.41474909609e-05,1793242952216922880
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.058262514,745,714,679.941737486,659,635,878.941737486,787,805,651,631,652,0.407060714585,-0.00545362727494,0.0799365244484,0.999999989637,0.00010398717975,-9.36683996731e-05,-3.37370862787e-05,1793242952233589504
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.650298068,745,714,679.349701932,659,635,878.349701932,787,805,651,631,652,0.407551089001,-0.00545674500122,0.0799297264022,0.999999989459,8.95010954222e-05,-0.000108468690175,-3.61490829605e-05,1793242952250255872
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.763091955,745,714,679.236908045,659,635,878,787,805.236908045,651,631,652,0.408064049666,-0.00546160667095,0.0799222316523,0.999999988673,7.76536086838e-05,-0.00012335717809,-3.74998413927e-05,1793242952266922752
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.184311445,745,714,679.815688555,659,635,878,787,805.815688555,651,631,652,0.408609603607,-0.00546898495507,0.0799137315176,0.999999987307,6.96137768217e-05,-0.000138372939283,-3.73191694871e-05,1793242952283589376
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714.390954683,680,659,635,878.390954683,787,805.609045317,651,631,652,0.409221449095,-0.00548652385327,0.0799265154439,0.999999991111,5.00360514135e-05,-0.000118235001308,-3.59937476617e-05,1793242952300256256
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714.964578738,680,659,635,878.964578738,787,805.035421262,651,631,652,0.409864268579,-0.00550881018895,0.0799492441191,0.999999995768,2.50673694479e-05,-8.16718747625e-05,-3.41334536934e-05,1793242952316923392
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714.447034165,680,659,634.447034165,878.447034165,787,805,651.552965835,631,652,0.410528385429,-0.00551817542276,0.0799797822299,0.999999998955,7.94713825071e-06,-2.97766580511e-05,-3.37538235878e-05,1793242952333590016
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.860015754,745,714,680,659,634,878,786.860015754,804.860015754,651.860015754,631,652,0.411188215802,-0.00552391537733,0.0799990504053,0.999999999418,-2.70404672815e-06,1.87191366215e-06,-3.39439155702e-05,1793242952350256640
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.280348221,745,714,680,659,634,878,786.280348221,804.280348221,651.280348221,631,652,0.411830179889,-0.00552093954322,0.0799813059362,0.999999998799,5.34129355908e-06,-3.32426150532e-05,-3.56173952257e-05,1793242952366923008
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.296511413,745,714,680,659,634,878,786,804.296511413,651.296511413,631,652,0.412487621608,-0.00552247316038,0.0799532523444,0.999999996321,-1.93238040001e-08,-7.65071529542e-05,-3.88013792359e-05,1793242952383589632
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.870741181,745,714,680,659,634,878,786,804.870741181,651.870741181,631,652,0.413159560054,-0.00552823041693,0.0799155430258,0.999999990781,-1.79362208268e-05,-0.000127405151895,-4.34001311371e-05,1793242952400256256
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.446484721,878.446484721,786.446484721,805,651.553515279,631,652,0.413912735766,-0.00553177005675,0.0799135598108,0.999999991341,-2.6636154177e-05,-0.000120668862177,-4.52421577795e-05,1793242952416922624
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.976729663,714,680,659.023270337,634.976729663,878.976729663,786.976729663,805,651,631,652,0.414689582367,-0.00553479924415,0.079922798445,0.999999993765,-3.26873914559e-05,-9.62656678528e-05,-4.61935722154e-05,1793242952433589248
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.385234914,714,680,659.614765086,634.385234914,878.385234914,786.385234914,805,651,631,652,0.415468198538,-0.00554109413156,0.0799526422422,0.999999996998,-3.94400153198e-05,-4.92797495524e-05,-4.49518254413e-05,1793242952450256128
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.201418833,714,680,660,634.201418833,878.201418833,786,805.201418833,651,631,652,0.416237240887,-0.00554677273525,0.0799660467293,0.999999997506,-4.37738686494e-05,-3.33866595228e-05,-4.42328166528e-05,1793242952466923008
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.779030927,714,680,660,634.779030927,878.779030927,786,805.779030927,651,631,652,0.416988402004,-0.00555130029538,0.0799487472454,0.999999995205,-4.35901442086e-05,-7.55661584549e-05,-4.44901343628e-05,1793242952483589632
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714.35485376,680,660,635,879,786.35485376,805.64514624,651,631,652,0.417811420729,-0.0055548099985,0.0799546484221,0.999999996017,-4.94331116924e-05,-5.8555908791e-05,-4.5754556507e-05,1793242952500256512
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714.929567981,680,660,635,879,786.929567981,805.070432019,651,631,652,0.418678960998,-0.00555768905713,0.0799749242759,0.999999997112,-5.90100997446e-05,-4.87284492727e-06,-4.76429608097e-05,1793242952516923136
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,635,879,786.48268124,805,651,630.48268124,652,0.419533144473,-0.00556451754184,0.0799825097708,0.999999995967,-7.42474333249e-05,1.15352124192e-05,-4.92007549304e-05,1793242952533589504
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714.894953543,680.105046457,659.894953543,635,879,786,805,651,630.105046457,652,0.420383987154,-0.0055713358026,0.0799842066386,0.999999994727,-8.79824342635e-05,1.53890052043e-05,-5.06866010927e-05,1793242952550256128
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714.315552333,680.684447667,659.315552333,635,879,786,805,651,630.684447667,652,0.421228167703,-0.00557561701583,0.0799673161558,0.999999994374,-9.13634541905e-05,-1.39389718009e-05,-5.20560674975e-05,1793242952566922752
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714.261720527,680.738279473,659.261720527,634.738279473,879,786.261720527,805,651,631,652,0.422095419476,-0.00557376540272,0.0799708358689,0.999999994891,-8.66299260268e-05,-1.15488138678e-05,-5.07972843469e-05,1793242952583589376
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714.836448046,680.163551954,659.836448046,634.163551954,879,786.836448046,805,651,631,652,0.422990263595,-0.00556457918198,0.079998765335,0.999999995904,-7.21917323239e-05,2.87749257061e-05,-4.63952229245e-05,1793242952600256000
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714.591445171,680.408554829,660,634,879.408554829,787,805.408554829,651,631,652,0.423863375001,-0.00553663645408,0.0800052002794,0.999999997701,-3.66688622521e-05,3.27866431764e-05,-4.66714257366e-05,1793242952616922880
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714.020380863,680.979619137,660,634,879.979619137,787,805.979619137,651,631,652,0.424727841805,-0.00550123301406,0.0800030854186,0.999999998533,7.24078768709e-06,2.23546474722e-05,-4.88084861585e-05,1793242952633589760
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.425033766,787,805.425033766,651,631,651.425033766,0.425573813668,-0.00550554542985,0.0799503730734,0.999999996287,-2.09502370269e-06,-6.95696853952e-05,-5.08103041342e-05,1793242952650256128
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.16524361,879,786.83475639,805,651,631,651.16524361,0.426439277834,-0.00551271292828,0.0799108260973,0.999999989896,-1.55013861292e-05,-0.000131035024627,-5.28832902339e-05,1793242952666923008
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.740704329,879,786.259295671,805,651,631,651.740704329,0.427354830852,-0.00552331916883,0.0799086109161,0.999999991913,-3.41208218626e-05,-0.000109398615598,-5.51453777141e-05,1793242952683589376
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.314982297,714,680.685017703,660,634.685017703,879,786.314982297,805.314982297,651,631,652,0.428245065508,-0.00552740816488,0.0799113908133,0.999999992039,-3.90174395019e-05,-0.000106572295093,-5.51487128494e-05,1793242952700256000
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.888290229,714,680.111709771,660,634.111709771,879,786.888290229,805.888290229,651,631,652,0.429114535836,-0.00552615218915,0.0799182673116,0.999999990945,-3.26595961323e-05,-0.000119172646029,-5.32995830426e-05,1793242952716922624
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.535866394,714,680.464133606,660,634,879,787,806,651,631,652,0.430045282772,-0.00553344837662,0.079952723632,0.999999995205,-4.50319481957e-05,-6.91092599594e-05,-5.27918406677e-05,1793242952733589504
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.95809709,745,714,681,660,634.04190291,879.04190291,787,805.95809709,651,631,652,0.430989479793,-0.00554223924505,0.0799931103076,0.999999996768,-6.06714664344e-05,-5.15553655716e-06,-5.25041651074e-05,1793242952750256128
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.363003293,745,714,681,660,634.636996707,879.636996707,787,805.363003293,651,631,652,0.431915467318,-0.00554343913063,0.0800236729809,0.999999996051,-5.96020232085e-05,4.19699218755e-05,-5.08361498089e-05,1793242952766922752
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.225123749,745,714,681,660,635,879.774876251,787,805,651,631,652,0.43278778612,-0.00554002045036,0.0800155641297,0.99999999682,-5.44287300658e-05,2.80643601532e-05,-5.10785986882e-05,1793242952783589632
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.802354464,745,714,681,660,635,879.197645536,787,805,651,631,652,0.433576163979,-0.00552937805796,0.0799469707132,0.999999994303,-4.28367705005e-05,-8.12973488177e-05,-5.43091269048e-05,1793242952800256256
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681.377411398,660,635,879.377411398,786.622588602,805.377411398,651,631,652,0.434405330592,-0.00552494751304,0.0799130961159,0.999999989521,-3.87665182563e-05,-0.000127287196241,-5.70347267194e-05,1793242952816922880
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681.951336435,660,635,879.951336435,786.048663565,805.951336435,651,631,652,0.43525573538,-0.00552375140408,0.0798972992002,0.999999987645,-3.86127306724e-05,-0.000140280060776,-5.94974163356e-05,1793242952833589504
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681.461595415,660,634.461595415,879.461595415,786.538404585,805.461595415,651,631,652,0.436126891363,-0.0055293588387,0.0799329466927,0.999999992759,-5.0618402833e-05,-9.26666146468e-05,-5.77319869104e-05,1793242952850256128
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.125341964,634,879,787,805,651,631,652,0.436998374722,-0.00553597604252,0.0799720778966,0.99999999581,-6.12404778847e-05,-3.90808882442e-05,-5.56989003546e-05,1793242952866923008
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.707366316,634,879,787,805,651,631,652,0.437864046141,-0.00554397575306,0.0800065365915,0.999999996444,-6.27169268647e-05,1.58067496427e-05,-5.41178357919e-05,1793242952883589632
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681.285999144,660.714000856,634.285999144,879.285999144,787,805.285999144,651,631,652,0.43869865173,-0.00554962612078,0.0800275651476,0.999999994693,-7.18918126861e-05,5.06974253377e-05,-5.36259680936e-05,1793242952900256256
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681.861202408,660.138797592,634.861202408,879.861202408,787,805.861202408,651,631,652,0.439501843306,-0.00555290081789,0.0800350130615,0.999999992446,-8.88514059075e-05,6.53670448023e-05,-5.423550326e-05,1793242952916923136
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660.433787531,634.566212469,880,787,806,651,631,652,0.440216312045,-0.00555075272593,0.0799956673219,0.999999994949,-8.31595189894e-05,4.51440340316e-06,-5.62694026582e-05,1793242952933589760
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660.994258948,634.005741052,879.994258948,787,806,651,631,652,0.440902431278,-0.00554685272353,0.0799412634413,0.999999992549,-7.03875636572e-05,-8.0577138271e-05,-5.87730505909e-05,1793242952950256128
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660.401757794,634.598242206,879.401757794,787,806,651,631,652,0.441575109224,-0.00554017200938,0.0798689178769,0.999999977858,-7.03065622762e-05,-0.000188077148352,-6.29869514303e-05,1793242952966922752
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,682.186746503,660.186746503,635,879.186746503,786.813253497,806,651,631,652,0.442275429293,-0.00553726211218,0.0798344500838,0.99999996743,-7.14746161838e-05,-0.000236187785107,-6.51720000188e-05,1793242952983589632
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,682.766832434,660.766832434,635,879.766832434,786.233167566,806,651,631,652,0.443033971392,-0.00554229458994,0.0798797632673,0.999999982504,-7.52735247454e-05,-0.000159208112477,-6.30837303329e-05,1793242953000256000
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714.343543834,683,660.656456166,634.656456166,880,786.343543834,806,651.343543834,631,652,0.443764481181,-0.00554870810852,0.0799332854542,0.999999992161,-7.64605405385e-05,-7.87199015283e-05,-6.02976804608e-05,1793242953016922624
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714.91798714,683,660.08201286,634.08201286,880,786.91798714,806,651.91798714,631,652,0.444476150112,-0.00555604983905,0.0799923249972,0.999999995485,-7.58920749306e-05,4.12643091941e-06,-5.70426450551e-05,1793242953033589248
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714.496449994,682.496449994,660,634,880,787,806,651.496449994,631,652,0.445091339847,-0.00556042462982,0.0799958392948,0.999999994331,-9.02343122292e-05,6.26824811672e-06,-5.61838751147e-05,1793242953050256128
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,682.090090218,660.090090218,634,880,786.909909782,806,651,631,652,0.445686729807,-0.00556415294241,0.0799865352827,0.999999992869,-0.000104917060741,-1.03441337427e-05,-5.60995415213e-05,1793242953066923008
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,682.671857286,660.671857286,634,880,786.328142714,806,651,631,652,0.446261755012,-0.00556704982708,0.0799577435732,0.999999990927,-0.000107905126507,-5.59532990508e-05,-5.8063694239e-05,1793242953083589632
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,683,660.750342115,634,880,786.249657885,806,651,631,652,0.446812960615,-0.00557034536061,0.0799307761403,0.9999999882,-0.00010666516426,-9.31066516682e-05,-5.96144398052e-05,1793242953100256256
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,683,660.177673433,634,880,786.822326567,806,651,631,652,0.447333348047,-0.00557415667129,0.0799061689839,0.999999986048,-9.99549212914e-05,-0.000119319754342,-6.06303134659e-05,1793242953116922880
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,682.601213592,659.601213592,633.601213592,880,786.601213592,806,651,631,652,0.447825792307,-0.00557358084189,0.0798828204777,0.999999980875,-0.000108818858961,-0.000150057146936,-6.23762320938e-05,1793242953133589760
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,682.023048393,659.023048393,633.023048393,880,786.023048393,806,651,631,652,0.448305667447,-0.0055710316259,0.0798600381248,0.999999973436,-0.000124688244547,-0.000182829620189,-6.44505335179e-05,1793242953150256128
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,682.565363385,659,633,880,786,805.434636615,651,631,652,0.448722621255,-0.00556399375445,0.0798345023569,0.999999966152,-0.000107931377687,-0.000227625216398,-6.50712949909e-05,1793242953166922752
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,683,659,633,880,786.151621696,805.151621696,651.151621696,631,652,0.449142500058,-0.00555691873547,0.0798134905061,0.999999958941,-9.42217676684e-05,-0.000262511121494,-6.57895305666e-05,1793242953183589632
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,683,659,633,880,786.730611127,805.730611127,651.730611127,631,652,0.449577987151,-0.00555026431584,0.0798055521975,0.999999957514,-9.29195348812e-05,-0.000268058072702,-6.69526190933e-05,1793242953200256256
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.306671918,714,683,659,632.693328082,880,786.693328082,805.693328082,652,630.693328082,652,0.449994860889,-0.00555179792842,0.0798102230091,0.999999959251,-9.99764644183e-05,-0.000259038152157,-6.63474825039e-05,1793242953216923136
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.880184414,714,683,659,632.119815586,880,786.119815586,805.119815586,652,630.119815586,652,0.450395538796,-0.00556045609086,0.0798258652364,0.99999996324,-0.00011430684676,-0.000237343342242,-6.42037823309e-05,1793242953233590016
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.53358575,714,683.46641425,659,632,880.46641425,785.53358575,805.46641425,651.53358575,630.46641425,652,0.450753354736,-0.00556430288328,0.0798359063398,0.999999966108,-0.000112112109411,-0.000226255487255,-6.34306849856e-05,1793242953250256384
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.055029203,714,683.944970797,658.944970797,632,880.944970797,785,806,651,631,652,0.451095463972,-0.00556661264555,0.0798429384796,0.99999996815,-0.000106149011416,-0.000220098231055,-6.31645943822e-05,1793242953266922752
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.634370058,714,683.365629942,658.365629942,632,880.365629942,785,806,651,631,652,0.451395770596,-0.00556638409986,0.0798353950773,0.999999964899,-0.000105861798362,-0.000234229993061,-6.42805033106e-05,1793242953283589376
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.786859719,714,683,658,632,880,785.213140281,806,651,631,652,0.451673680588,-0.00556738218066,0.079820817034,0.999999958581,-0.000107657987869,-0.000258958915397,-6.47088512885e-05,1793242953300255744
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.209065829,714,683,658,632,880,785.790934171,806,651,631,652,0.451913273001,-0.00557047885016,0.0797942036914,0.999999946021,-0.000113018591598,-0.000301818115078,-6.39608771759e-05,1793242953316922368
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.367087093,714,683,658,632,880,785.632912907,806,651,631,652,0.45213676517,-0.00557122098687,0.0797734494406,0.999999935864,-0.000113249148642,-0.000333815481238,-6.33495944828e-05,1793242953333589248
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.942309654,714,683,658,632,880,785.057690346,806,651,631,652,0.452351128651,-0.00557062812248,0.0797560172456,0.999999927239,-0.000110571010481,-0.000359654278124,-6.28158146797e-05,1793242953350256128
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,746,714,683,658,632,880.529072596,785,805.470927404,651,630.470927404,652,0.452545889773,-0.00556992676262,0.0797512067059,0.999999923479,-0.000119315529334,-0.000367073503319,-6.37475910972e-05,1793242953366922752
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,746,714,683,658,631.884423121,881,785,805.115576879,651,630.115576879,652,0.452735065236,-0.00557023287383,0.0797488022741,0.99999992086,-0.000128582433029,-0.000370910195758,-6.45941980105e-05,1793242953383589376
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,746,714,683,658,631.304131199,881,785,805.695868801,651,630.695868801,652,0.452910567746,-0.00557463848395,0.079750415241,0.999999920902,-0.000134830011767,-0.000368597968802,-6.44414761965e-05,1793242953400255744
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,714,683.274575563,657.725424437,631.274575563,880.725424437,785,806,651,631,652,0.453068520395,-0.00557784747136,0.0797478859961,0.999999919188,-0.000137557446104,-0.000372208199498,-6.45193177028e-05,1793242953416922368
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.574245534,714,683.574245534,657.425754466,631.574245534,880.425754466,785,806,651,630.574245534,652,0.453322740096,-0.00557880884248,0.0797335151687,0.999999911392,-0.00013324926116,-0.000393894947675,-6.56378722243e-05,1793242953450255872
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765,746,714,683,657.176844625,631,880.823155375,785,806.176844625,651.823155375,630,652,0.453597957725,-0.00558158795887,0.0797215795305,0.999999903488,-0.000135205885353,-0.000412774586901,-6.60337069102e-05,1793242953500256000
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,746,714,683,657.755025709,631,880.244974291,785,806.755025709,651.244974291,630,652,0.453663047503,-0.00558204474475,0.0797157155195,0.999999900204,-0.000132983276859,-0.000421462321398,-6.53921012327e-05,1793242953516922880
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765.961416009,745.038583991,714,684,657,631,880.961416009,784.038583991,806,651,630.961416009,652,0.453907653985,-0.00557811919243,0.0796911444912,0.999999882782,-0.000129684291624,-0.000462294599162,-6.24631339589e-05,1793242953666923264
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.447820952,745,714,683.447820952,657,631,880.447820952,784,806,651,630.447820952,652,0.453911795164,-0.00557991707515,0.079689146667,0.999999881979,-0.000128053977667,-0.000464609716751,-6.14977781856e-05,1793242953683589632
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,683.14045411,657,631,880,784.14045411,806,651,630.14045411,652,0.453914910378,-0.00558113814819,0.0796873476091,0.999999881203,-0.000127119164674,-0.000466621072529,-6.08285119973e-05,1793242953700256000
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,683.716910526,657,631,880,784.716910526,806,651,630.716910526,652,0.453915287571,-0.00558018377278,0.0796859028909,0.999999880034,-0.00012915919031,-0.000468490343247,-6.13741263214e-05,1793242953716922368
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,684,657.292770163,631,880,785,805.707229837,651,630.707229837,652,0.453916006366,-0.00557956293168,0.0796847071907,0.999999879284,-0.000129455370088,-0.00047000022706,-6.14185645435e-05,1793242953733589248
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,684,657.868053996,631,880,785,805.131946004,651,630.131946004,652,0.453917054795,-0.00557926394022,0.0796837517847,0.999999878943,-0.000128068795665,-0.000471163314442,-6.09793842191e-05,1793242953750256128
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,713.55736019,684,657.55736019,631,880,784.55736019,805.44263981,651,630,652,0.453917276873,-0.00557828327851,0.0796831857669,0.999999878583,-0.000126251550539,-0.00047243337921,-6.08406074366e-05,1793242953766922752
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,713.017617997,683.982382003,657,631,880.035235993,784.017617997,806,651,630.017617997,652,0.453917272382,-0.00557713289081,0.0796827272961,0.999999878215,-0.000124363239514,-0.000473716284006,-6.07919208253e-05,1793242953783589376
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,713.612252083,683.387747917,657,631,881.224504166,784.612252083,806,651,630.612252083,652,0.453917902244,-0.00557706829198,0.0796819955905,0.999999877906,-0.000124345367561,-0.000474376960766,-6.07656428611e-05,1793242953800256256
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,683,657,631,881.599557937,784.799778968,806,651,630.799778968,652,0.453918264018,-0.00557662624889,0.0796812530842,0.999999877493,-0.000124764136749,-0.000475125991743,-6.08604580121e-05,1793242953816922880
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,683,657,631,880.448603832,784.224301916,806,651,630.224301916,652,0.453918123338,-0.00557547679646,0.0796804903352,0.999999876883,-0.00012600126261,-0.000476040616932,-6.11822269477e-05,1793242953833589504
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,683.350092912,657,631,880,784.350092912,806,651,630,652,0.453918702021,-0.00557579200486,0.0796806168994,0.999999877017,-0.000125907081833,-0.000475788708525,-6.11380532291e-05,1793242953850256128
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714,683.486162443,657,631,880,785,806,651,630,652,0.453919513289,-0.00557681963099,0.0796814956327,0.999999877678,-0.000124489105877,-0.000474899519073,-6.01454038053e-05,1793242953883589376
+245,4.083333333,POSE1_TO_POSE2_PRESS,764.896620781,745,714,683,656.896620781,631,880,785,806,651,630,652,0.45391880126,-0.00557629740754,0.0796811169061,0.999999877213,-0.000124262990076,-0.000475999441315,-5.96477970222e-05,1793242953900256512
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+247,4.116666667,POSE1_TO_POSE2_PRESS,764,745.257343746,714,683,656.257343746,631,880.257343746,785,806,651,630,652,0.453915924244,-0.00557582203111,0.0796768813954,0.999999873264,-0.000126479287948,-0.000483513184284,-6.07449899184e-05,1793242953933590016
+248,4.133333333,POSE1_TO_POSE2_PRESS,764,745.838402261,714,683,656.838402261,631,880.838402261,785,806,651,630,652,0.45391661318,-0.00557776388606,0.0796764371964,0.999999872962,-0.000129463499254,-0.000483389750181,-6.04079943695e-05,1793242953950256640
+249,4.150000000,HOLD_POSE2,765,746,714,684,657,631,881,784,806,651,630,652,0.453915903844,-0.00557581195714,0.0796763797092,0.999999872834,-0.000126695216105,-0.00048435282069,-6.06897116756e-05,1793242953984093440
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+251,4.183333333,HOLD_POSE2,765,745,714,683,657,631,880,784.182324749,806,651,630.817675251,652,0.453917149838,-0.00557709923728,0.0796755988841,0.999999873067,-0.000125561581815,-0.000484271131624,-5.98510843057e-05,1793242954017427456
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+262,4.366666667,HOLD_POSE2,765,745,714,683.440393077,656.440393077,630.559606923,880,784,806,651,630,652,0.453915385665,-0.00557357262199,0.0796723573579,0.999999870599,-0.000123898092234,-0.000489721310413,-6.01999605417e-05,1793242954200759808
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,684,657,631,881,785,806,651,630,652,0.453915578201,-0.00557698472749,0.0796716647083,0.999999869941,-0.000126427563384,-0.000490479672123,-5.97047127584e-05,1793242954271046144
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,683.410366966,656.410366966,631,880.410366966,784.410366966,806,651.589633034,630,652,0.453914939413,-0.00557472077213,0.0796707139523,0.999999869628,-0.00012449088043,-0.000491579345495,-5.99707087918e-05,1793242954287712512
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.176083015,713.823916985,683,656,631,880.176083015,784,806,651.823916985,630,652,0.453914683273,-0.00557355672738,0.079670364951,0.999999869547,-0.000123372734283,-0.000492036202583,-5.98795592091e-05,1793242954304379136
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.755246623,713.244753377,683,656,631,880.755246623,784,806,651.244753377,630,652,0.453915303071,-0.00557491054352,0.0796713934568,0.999999870006,-0.000124128342018,-0.000491021556424,-5.89708494733e-05,1793242954321045504
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.666312036,713.333687964,683,656.333687964,631,881,784,806,651,630,652,0.453915396294,-0.00557514689645,0.0796716276277,0.999999870214,-0.000123995914489,-0.000490616407644,-5.90933536884e-05,1793242954337712384
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.485445321,745.485445321,714,683,657,631,880.514554679,784,806,651,630,652,0.45391500413,-0.00557390181908,0.0796715072195,0.99999987029,-0.000123058130479,-0.000490591619256,-5.99664970501e-05,1793242954371045888
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+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.348924604,745.348924604,714,683.651075396,657,630.348924604,880,784,806,651,630,651.348924604,0.453912079804,-0.00557574951452,0.0796692914426,0.999999868213,-0.000125038309679,-0.000494358218712,-5.95741392143e-05,1793242954404379136
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,683.76270554,657,630.23729446,880,784,806.23729446,651,630,651.23729446,0.453907199065,-0.00557625371754,0.0796662512117,0.999999866041,-0.000125170541925,-0.000498694099374,-5.96276778185e-05,1793242954421045760
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713.913049026,683,657,631,880,784,806,651,630.913049026,652,0.452031477679,-0.00554073817502,0.0795801932638,0.999999786323,-7.74053677937e-05,-0.000648851894571,-1.88046053499e-05,1793242954704379392
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.32233036,683,657,631,880,784,806,651,630.32233036,652,0.45177894329,-0.00553532531866,0.0795846274863,0.999999790048,-6.50451215773e-05,-0.00064461598358,-1.19820053946e-05,1793242954721046016
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.26263207,713.26263207,683,657.26263207,631.26263207,880.26263207,784.26263207,806,651,630,652,0.451505253598,-0.00552985990518,0.0795890818821,0.99999979377,-5.25049913728e-05,-0.00064006159767,-4.83264660326e-06,1793242954737712640
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.584322901,714,683.415677099,658,632,881,785,806,651,630.415677099,652,0.450887205442,-0.00551919056274,0.0796051178997,0.999999812643,-2.01044266215e-05,-0.000611737899024,9.33257287625e-06,1793242954771045888
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.010488905,714,683.989511095,658,632,881,785,806,651,630.989511095,652,0.450560699963,-0.00551419727538,0.0796193686255,0.999999830903,2.16080539835e-06,-0.000581331224784,1.56065827263e-05,1793242954787712512
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.165102299,745,713.834897701,683.834897701,657.330204599,632,880.834897701,785,806,651,630,652,0.449816491232,-0.00549900441935,0.0796416618761,0.999999853572,1.68426600191e-05,-0.000540876081115,5.06458126226e-06,1793242954821045504
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.375597443,745.624402557,714,683,658.624402557,633,880,786.248805114,805.624402557,651,631,652,0.446892496201,-0.00542095408914,0.0796295178943,0.99999983848,9.91438255426e-05,-0.000559615438447,6.3485016267e-06,1793242954921045504
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.213817746,745.786182254,714,683,659.213817746,633.213817746,880,787,806,651,631,652,0.446361286661,-0.00540508355023,0.0796590208725,0.999999859223,0.000123290603119,-0.000516042945468,7.32955310123e-06,1793242954937712128
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.758530995,658.241469005,634,878.241469005,786.241469005,804.241469005,651.758530995,631,652,0.410499444475,-0.00541085077303,0.0797867695311,0.999999915087,0.000209671346586,-0.000351614577334,4.72432901764e-05,1793242955671045632
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.664545589,745,714,680,658.335454411,634,878,786,804.335454411,651.664545589,631,652,0.409864556098,-0.00540845972373,0.0797983707469,0.999999921356,0.00021499340856,-0.000329848319658,4.76025611825e-05,1793242955687712256
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.089462853,745,714,680,658.910537147,634,878,786,804.910537147,651.089462853,631,652,0.409275381774,-0.00540866406704,0.0798244298055,0.999999934668,0.000218168222919,-0.000284034683564,4.88960156966e-05,1793242955704379648
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.481782047,745,714,680,659,634.481782047,878.481782047,786,805,651,631,652,0.408698760705,-0.00541043195842,0.0798388842215,0.999999941261,0.000211225031331,-0.000265267891641,4.99550177228e-05,1793242955721046272
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.945282212,659,634.945282212,879,786.054717788,805,651,631,652,0.408123030197,-0.00541148156505,0.0798468825234,0.999999944294,0.000204901649007,-0.000258549816972,5.07801397959e-05,1793242955737712640
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.348596111,659,634.348596111,879,786.651403889,805,651,631,652,0.407533214551,-0.00540256370353,0.0798121093574,0.999999922076,0.000223179680382,-0.000321819383411,4.9716535137e-05,1793242955754379264
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.240721623,659,634,878.759278377,787,805,651,631,652,0.406972235593,-0.00539914322942,0.079785166538,0.999999905721,0.000229514611827,-0.00036541467437,4.85088791993e-05,1793242955771045632
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.819685873,659,634,878.180314127,787,805,651,631,652,0.406451775675,-0.00540344724183,0.0797692262934,0.999999902176,0.000219068061208,-0.000381365255086,4.70988143296e-05,1793242955787712512
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.395277007,878,787,805,651,631,652.395277007,0.405997426957,-0.00540263796914,0.0797774305848,0.999999910307,0.00022051629833,-0.00035865014383,4.61267298802e-05,1793242955804379392
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.969342493,878,787,805,651,631,652.969342493,0.405572981075,-0.00539951589732,0.0797965557346,0.999999922425,0.000227344687823,-0.000318446082455,4.53527489865e-05,1793242955821046016
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744.443222882,714,679.443222882,659,634.443222882,878,787,805,651,631,652.443222882,0.405176180986,-0.00539929805135,0.0798120451267,0.999999929444,0.000221032312725,-0.000300114223219,4.67739443599e-05,1793242955837712896
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744.722377234,714,678.277622766,659,634,878.722377234,786.277622766,805,651,631,652,0.404402727102,-0.00539893133206,0.0798297396091,0.999999931884,0.000230221153437,-0.000284410452515,4.83831841758e-05,1793242955871046144
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,678.601043095,659,634.300521547,879,786.300521547,805.300521547,651,630.699478453,651.699478453,0.404036425789,-0.00539841838243,0.0798325757014,0.999999931329,0.000231362621938,-0.00028540839737,4.85339640021e-05,1793242955887712512
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.754760643,659,634.877380321,879,786.877380321,805.877380321,651,630.122619679,651.122619679,0.403684173847,-0.00539767427753,0.0798334626814,0.999999932115,0.000222853896163,-0.000289404207701,4.8495115066e-05,1793242955904379136
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.547527139,745,714,680,659,634.547527139,878.547527139,787,805.547527139,651,630.452472861,651.452472861,0.403381107285,-0.0053995421485,0.0798343381346,0.999999931883,0.000223154406648,-0.000290016478276,4.82263552844e-05,1793242955921046016
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.027819664,744.972180336,714,680,659,634.027819664,878,786.972180336,804.972180336,651.027819664,631,652,0.403093354966,-0.00540182683562,0.0798352129036,0.99999993135,0.000225942013218,-0.000289745873145,4.7924192244e-05,1793242955937712640
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.617942947,744.382057053,714,680,659,634.617942947,878,786.382057053,804.382057053,651.617942947,631,652,0.402846772965,-0.00539828479326,0.079836136737,0.999999930096,0.000230934490575,-0.000290091641071,4.82013195606e-05,1793242955954379264
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.796202921,744,714,680,659,635,878.203797079,786,804.203797079,651.796202921,631,652,0.40260925864,-0.00539675509064,0.0798350091168,0.999999929085,0.000231180812445,-0.000293376746039,4.81212545426e-05,1793242955971045888
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.218187986,744,714,680,659,635,878.781812014,786,804.781812014,651.218187986,631,652,0.402388394659,-0.00539892050252,0.0798301145605,0.999999928457,0.00022271211129,-0.000302059143222,4.73853030107e-05,1793242955987712512
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.358476704,744,714,680,659,635,878.641523296,786.358476704,805,651,631,652,0.402195069856,-0.0054000792578,0.0798307063668,0.999999930163,0.000218141715701,-0.000299669537535,4.78157500879e-05,1793242956004379392
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.934322704,744,714,680,659,635,878.065677296,786.934322704,805,651,631,652,0.402018443945,-0.00540062760754,0.079834624935,0.999999933273,0.000215935132409,-0.000290566209205,4.8953465491e-05,1793242956021046272
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,659,635,878,787,805,651,631,652,0.401876562254,-0.00539956202881,0.0798424211851,0.999999936044,0.000218293577905,-0.00027867889911,5.09690124897e-05,1793242956037712640
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.107275205,714.107275205,679.892724795,659,635,878.107275205,787,805,651.107275205,631,652,0.401741665154,-0.00539882925274,0.0798489578941,0.999999938253,0.000220097841494,-0.000268832256181,5.27212582838e-05,1793242956054379520
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.685345171,714.685345171,679.314654829,659,635,878.685345171,787,805,651.685345171,631,652,0.401617791204,-0.00540046887376,0.0798477760881,0.999999938765,0.000216890834502,-0.000269514307073,5.28220064049e-05,1793242956071046144
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714.15706852,679,659,634.15706852,879,787,804.15706852,651.15706852,631,652,0.401394038398,-0.00539989327674,0.0798396368807,0.999999928373,0.000245364858019,-0.000285261819715,4.09346296692e-05,1793242956104379136
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.418367986,659,634.418367986,879,786.581632014,804,651,631,652,0.401305475275,-0.00540084405282,0.0798347456272,0.999999926265,0.000244741413715,-0.00029331315681,3.92182542999e-05,1793242956121045760
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.992454471,659,634.992454471,879,786.007545529,804,651,631,652,0.401223919673,-0.00540252408597,0.0798299504691,0.999999926189,0.000236159019809,-0.000300429664952,3.99165554253e-05,1793242956137712640
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.169010524,659,635,878,786,805,651.830989476,631,652,0.401119163675,-0.00540002039928,0.0798266688325,0.999999925365,0.000235656677704,-0.000303397112828,4.10536400429e-05,1793242956171046144
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.746881904,659,635,878,786,805,651.253118096,631,652,0.401080099891,-0.005401954655,0.0798263093149,0.999999926242,0.000233040075019,-0.000302387718722,4.20601405523e-05,1793242956187712512
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.675537784,745,714,680,659.324462216,634.675537784,878.324462216,786.324462216,805,651,631,652,0.401048254488,-0.00540269225006,0.0798270565218,0.99999992649,0.000233100035469,-0.000301404465068,4.28829603018e-05,1793242956204379392
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.098184274,745,714,680,659.901815726,634.098184274,878.901815726,786.901815726,805,651,631,652,0.401022035207,-0.00540249714794,0.0798286663284,0.999999926248,0.000235246153846,-0.000300441585615,4.35626162934e-05,1793242956221046016
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.48363091,745,714,679.51636909,659.51636909,634.48363091,878.51636909,787,805,651,631.48363091,652,0.401004170223,-0.00540160650193,0.0798282119372,0.999999926078,0.000235095938142,-0.000301156088152,4.33368973114e-05,1793242956237712384
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.066284747,659.066284747,634.933715253,878,786.933715253,804.933715253,651,631.933715253,652,0.400989222396,-0.00540099694321,0.079827818499,0.999999926172,0.000234271297712,-0.000301530451063,4.30424452111e-05,1793242956254379264
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.648350885,659.648350885,634.351649115,878,786.351649115,804.351649115,651,631.351649115,652,0.400983653493,-0.0054036836031,0.0798311905706,0.999999928187,0.000231860097669,-0.000296583620879,4.36567157275e-05,1793242956271045888
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.771657892,659.771657892,634.228342108,878.228342108,786.228342108,804.228342108,651,631,652,0.400978047271,-0.00540461933959,0.0798327973897,0.999999929293,0.000230352849263,-0.000294008211441,4.3707463437e-05,1793242956287712512
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.194833317,659.194833317,634.805166683,878.805166683,786.805166683,804.805166683,651,631,652,0.400972384096,-0.00540288291832,0.0798317101824,0.99999992905,0.000230225159505,-0.000295051926949,4.28981953255e-05,1793242956304379392
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.617637089,879,786.617637089,805,651,631,652,0.400969693129,-0.00540222271279,0.0798318663891,0.999999929223,0.000230441400079,-0.000294323803688,4.27015651376e-05,1793242956321046016
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.040251317,879,786.040251317,805,651,631,652,0.400968518126,-0.00540211142737,0.0798326567947,0.999999929607,0.000230833061116,-0.000292691960249,4.28174087971e-05,1793242956337712384
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.5326954,659,634.5326954,878.4673046,786,805,651.5326954,631,652,0.400968899998,-0.00540341825813,0.0798334305376,0.99999993005,0.000230839757333,-0.000291159191801,4.28974633933e-05,1793242956354379008
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878,786.109381917,804.890618083,652,631,652,0.400969090337,-0.00540437036882,0.0798340388414,0.999999930333,0.000231086168476,-0.000289977524353,4.29721335502e-05,1793242956371045888
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878,786.704139524,804.295860476,652,631,652,0.400967913058,-0.00540327686528,0.0798339185595,0.999999929897,0.000232524312196,-0.000290320901637,4.30348114621e-05,1793242956387712768
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714.289372688,680,659,634.710627312,878.289372688,786.710627312,804.289372688,651.710627312,631,652,0.400966764631,-0.0054021043973,0.0798336878566,0.999999929601,0.000233272227419,-0.000290777516969,4.27917960516e-05,1793242956404379648
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714.865178242,680,659,634.134821758,878.865178242,786.134821758,804.865178242,651.134821758,631,652,0.400965644763,-0.00540085376696,0.0798333478544,0.999999929443,0.000233336926547,-0.00029134621997,4.22461929536e-05,1793242956421046016
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.559673265,680,659,634,878.559673265,786,805,651.440326735,631,652,0.400965242476,-0.00540163265268,0.079833631365,0.99999992946,0.000233467494206,-0.000291172500682,4.2323913904e-05,1793242956437712384
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878,786.015717044,805,651.984282956,631,652,0.400965127956,-0.00540301141791,0.079834130383,0.999999929558,0.000233566316352,-0.000290717595563,4.25851440841e-05,1793242956454379264
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878,786.607329791,805,651.392670209,631,652,0.400967519016,-0.00540363524657,0.0798355410882,0.999999930684,0.000231764052063,-0.000288276522553,4.25877108125e-05,1793242956471045888
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.805444657,659,634.194555343,878,787,804.805444657,651,631,652,0.400968656895,-0.0054037166102,0.0798364869307,0.999999931288,0.000231139263523,-0.000286687115327,4.25246659372e-05,1793242956487712512
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.226878526,659,634.773121474,878,787,804.226878526,651,631,652,0.400967321262,-0.00540272726341,0.0798365152334,0.999999930876,0.000232838561301,-0.000286778715017,4.23321177385e-05,1793242956504379136
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.650407307,878,786.650407307,804.349592693,651,630.650407307,652,0.400967809092,-0.00540242044132,0.07983724167,0.999999931237,0.000232960623083,-0.000285422751412,4.23078174948e-05,1793242956521045504
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.075287566,878,786.075287566,804.924712434,651,630.075287566,652,0.400969473263,-0.00540255392532,0.0798384184826,0.999999932092,0.000232065188193,-0.000283132944836,4.23920563252e-05,1793242956537712128
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,878,786.511055442,804.488944558,651,630.511055442,652,0.400968492016,-0.00540240181206,0.0798377672688,0.999999931864,0.00023173600783,-0.000284245162189,4.21307443176e-05,1793242956554379008
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,678.902299299,659,634.097700701,878,787,804.097700701,651,631,652,0.400967509246,-0.0054021927889,0.0798370725451,0.999999931528,0.000231737931989,-0.000285454600817,4.19226465805e-05,1793242956571045888
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,678.322504483,659,634.677495517,878,787,804.677495517,651,631,652,0.400968485163,-0.00540191521905,0.0798375218015,0.999999931472,0.000232952790613,-0.000284615223041,4.22339589712e-05,1793242956587712512
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,678.510787197,659,634.744606402,878,787,804.744606402,651,631,652,0.400968095818,-0.00540246718349,0.0798372489692,0.999999931405,0.000232705704883,-0.000285042590353,4.22896533172e-05,1793242956604379136
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1d256583a67b2d7b0d0502648eb039aa6fe127c8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_04/simulation_data.csv
@@ -0,0 +1,411 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4c357a5baa6241ea70d7863ea736156c48bc1479
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5202f1842f6c81eb7f521b5e2022b069db5f01fa2c7e124828001f3d43076d6f
+size 25998523
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cf49e3bf2bab52e745b5079dcb498d6fc491f963
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+20,0.333333333,BASELINE,765.396320073,745,714,679,659.603679927,634.603679927,878.396320073,786.603679927,804,651.603679927,631,652,0.400968606327,-0.00540358552801,0.0798397652889,0.999999933142,0.000230632174502,-0.000280687014493,4.16995333967e-05,1793242957131504896
+21,0.350000000,BASELINE,764.81861479,745,714,679,659.81861479,635,877.81861479,787,804.18138521,651.81861479,631,651.81861479,0.400968677561,-0.00540451497763,0.0798397388497,0.999999933452,0.000229450248374,-0.000280570801738,4.15746872751e-05,1793242957148171520
+22,0.366666667,BASELINE,764.243756775,745,714,679,659.243756775,635,877.243756775,787,804.756243225,651.243756775,631,651.243756775,0.400969539785,-0.00540456283347,0.0798403793339,0.999999934271,0.000227904306126,-0.000278920647033,4.14826143744e-05,1793242957164838400
+23,0.383333333,BASELINE,764.338699981,744.661300019,714,679,659,634.661300019,877.338699981,786.661300019,804.661300019,651,631,651.338699981,0.400969541676,-0.00540383595421,0.079840486801,0.999999934076,0.000228728238945,-0.000278924439798,4.1620975106e-05,1793242957181505024
+24,0.400000000,BASELINE,764.926750992,744.073249008,714,679,659,634.073249008,877.926750992,786.073249008,804.073249008,651,631,651.926750992,0.40096891019,-0.00540253871472,0.0798402018608,0.999999933131,0.000231296874352,-0.000280145869027,4.19289811385e-05,1793242957198171648
+25,0.416666667,BASELINE,765,744.50910125,714,679.50910125,659,634.50910125,878,786,804.50910125,651,631,652,0.40096866983,-0.00540335794244,0.0798400637019,0.999999932924,0.000232107528992,-0.000280185689676,4.21294813276e-05,1793242957214838528
+26,0.433333333,BASELINE,765,744.910556377,714,679.910556377,659,635,878,786,804.910556377,651,631,652,0.400968502929,-0.00540425653353,0.0798399215551,0.999999932919,0.000232134356392,-0.00028017022704,4.22039547069e-05,1793242957231505152
+27,0.450000000,BASELINE,765,744.336695253,714,679.336695253,659,635,878,786,804.336695253,651,631,652,0.400968432467,-0.00540395398815,0.0798396447001,0.999999933434,0.000229270765166,-0.000280765909526,4.16787244295e-05,1793242957248172544
+28,0.466666667,BASELINE,765,744.237451822,714,679.237451822,659,634.762548178,878.237451822,786,804.237451822,651,631,652,0.400968633067,-0.00540395012856,0.0798398457868,0.999999933689,0.000228302774488,-0.000280665291645,4.1555449549e-05,1793242957264839680
+29,0.483333333,BASELINE,765,744.812004816,714,679.812004816,659,634.187995184,878.812004816,786,804.812004816,651,631,652,0.400969218482,-0.00540437030168,0.079840725389,0.999999933581,0.00023002589479,-0.000279576163018,4.20028152362e-05,1793242957281505792
+30,0.500000000,BASELINE,765,745,713.602297203,679.602297203,659,634.397702797,879,786,804.602297203,651,631,652,0.400969328111,-0.00540402234451,0.0798412085598,0.999999933499,0.000230898345332,-0.00027916135912,4.19147720401e-05,1793242957298172416
+31,0.516666667,BASELINE,765,745,713.011179084,679.011179084,659,634.988820916,879,786,804.011179084,651,631,652,0.400969206349,-0.00540330082152,0.0798414989334,0.999999933432,0.000231357088482,-0.000279074500479,4.15663427269e-05,1793242957314838784
+32,0.533333333,BASELINE,765,744.432017455,713.567982545,679,659,634.432017455,878.432017455,786,804.567982545,651,631,652,0.400968935186,-0.0054044103107,0.0798410157664,0.999999933201,0.000232271106499,-0.000279097659765,4.18625604458e-05,1793242957331505920
+33,0.550000000,BASELINE,765,744.145891537,714,679,659,634,878.145891537,786,804.854108463,651,631,652,0.400968588126,-0.00540502644587,0.0798406441018,0.999999933041,0.000232742698638,-0.000279247923033,4.20577798205e-05,1793242957348172544
+34,0.566666667,BASELINE,765,744.720794644,714,679,659,634,878.720794644,786,804.279205356,651,631,652,0.400968026352,-0.00540408802459,0.0798406441708,0.999999933101,0.000231887477301,-0.000279765714513,4.19194600266e-05,1793242957364838912
+35,0.583333333,BASELINE,765,744.697379915,714,679,659,634,878.697379915,786.302620085,804,651,631,652,0.400968916116,-0.00540382910044,0.0798410807384,0.999999933456,0.000231151444815,-0.000279110319292,4.18890979508e-05,1793242957381505280
+36,0.600000000,BASELINE,765,744.109018159,714,679,659,634,878.109018159,786.890981841,804,651,631,652,0.400971176462,-0.00540421177484,0.079841929459,0.999999934087,0.000230527953409,-0.000277347171064,4.19606723137e-05,1793242957398172160
+37,0.616666667,BASELINE,765,744.474100535,714,679.474100535,659,634.474100535,878,786.525899465,804.474100535,651,631,651.525899465,0.400969568707,-0.005404107434,0.0798410793146,0.999999933877,0.000229703226399,-0.000278844869746,4.15614239226e-05,1793242957414838528
+38,0.633333333,BASELINE,764.944186339,744.944186339,714,680,659,635,878,786,805,651.055813661,631,651.055813661,0.400967357872,-0.00540392127267,0.0798399602981,0.99999993352,0.000228886972892,-0.000280853968197,4.11393732103e-05,1793242957431505152
+39,0.650000000,BASELINE,764.36447338,744.36447338,714,680,659,635,878,786,805,651.63552662,631,651.63552662,0.400967743837,-0.00540400678178,0.0798399442462,0.999999933617,0.000228579855822,-0.000280702073534,4.15084035166e-05,1793242957448172032
+40,0.666666667,BASELINE,764,744,714,680,659,634.789092309,878.210907691,786,805,651.789092309,631,652,0.400968153064,-0.00540407426436,0.0798400117758,0.999999933604,0.00022876977028,-0.000280566588143,4.1695003285e-05,1793242957464838912
+41,0.683333333,BASELINE,764,744,714,680,659,634.221046625,878.778953375,786,805,651.221046625,631,652,0.400968601683,-0.00540411122195,0.0798402208371,0.999999933403,0.000229801327097,-0.000280458889201,4.15726864816e-05,1793242957481505792
+42,0.700000000,BASELINE,764.361344476,744.361344476,714,680,659,634.361344476,878.638655524,786,805,651,631,652,0.40096830443,-0.00540412050617,0.0798400142334,0.999999932972,0.000231119499264,-0.00028090219408,4.16376330408e-05,1793242957498172416
+43,0.716666667,BASELINE,764.952873926,744.952873926,714,680,659,634.952873926,878.047126074,786,805,651,631,652,0.400967532037,-0.0054041121618,0.0798395428413,0.999999932393,0.000232620252146,-0.000281696501422,4.18218707934e-05,1793242957514838784
+44,0.733333333,BASELINE,765,744.466851484,714,679.466851484,659,634.466851484,878,786,805,651,631,652,0.400966505325,-0.0054042406427,0.0798390197297,0.999999932754,0.000230334656209,-0.000282366298624,4.1330017244e-05,1793242957531505408
+45,0.750000000,BASELINE,765,744.111652687,714,679,659,634,878,786.111652687,804.888347313,651.111652687,631,652,0.400965833669,-0.00540412245044,0.079838739727,0.999999933131,0.000228573454573,-0.000282516114177,4.09413845706e-05,1793242957548171776
+46,0.766666667,BASELINE,765,744.686851366,714,679,659,634,878,786.686851366,804.313148634,651.686851366,631,652,0.400966727496,-0.00540293097719,0.0798394876216,0.999999933265,0.00023035013983,-0.00028055188076,4.1224271268e-05,1793242957564838400
+47,0.783333333,BASELINE,765,745,714,679,659.267568399,634,878.267568399,786.732431601,804,651.732431601,631,652,0.40096670058,-0.00540324902911,0.0798396505781,0.999999933362,0.000230238601655,-0.000280255162011,4.15058825208e-05,1793242957581505280
+48,0.800000000,BASELINE,765,745,714,679,659.854879919,634,878.854879919,786.145120081,804,651.145120081,631,652,0.40096557338,-0.00540537095716,0.0798391145362,0.999999933416,0.000227870644585,-0.000281951116081,4.178596966e-05,1793242957598171904
+49,0.816666667,BASELINE,765,745,714,679,659.56356988,634.43643012,879,786.43643012,804,651,631,652,0.400967106073,-0.00540530333658,0.0798398714109,0.999999933421,0.000229158348359,-0.00028087861751,4.18568534022e-05,1793242957614838784
+50,0.833333333,BASELINE,765,745,714,679,659,635,879,786.984030293,804.015969707,651.015969707,631,652,0.400969456665,-0.00540452760044,0.079841041793,0.999999933422,0.000231552275383,-0.000278904774861,4.18534489762e-05,1793242957631505408
+51,0.850000000,BASELINE,765,745,714,679,659,635,879,786.408687161,804.591312839,651.591312839,631,652,0.400969879555,-0.00540411820843,0.0798418336454,0.999999934113,0.000230670974857,-0.000277183730138,4.16528067894e-05,1793242957648171776
+52,0.866666667,BASELINE,765,745,714,679.167475222,659,635,879,786,804.832524778,651.832524778,631,652,0.400970167031,-0.00540388317631,0.079842349938,0.999999934509,0.000230385685603,-0.000276003633967,4.15545998526e-05,1793242957664838400
+53,0.883333333,BASELINE,765,745,714,679.745646603,659,635,879,786,804.254353397,651.254353397,631,652,0.400970122436,-0.00540407572349,0.0798421904809,0.99999993419,0.000231561983001,-0.000276150095287,4.17075928566e-05,1793242957681505024
+54,0.900000000,BASELINE,765,745,714,680,659,634.670714797,879,786.329285203,804.329285203,651,631,652,0.400970364718,-0.00540481603168,0.0798423310553,0.999999934344,0.000230962160391,-0.000276092012178,4.17307617838e-05,1793242957698171648
+55,0.916666667,BASELINE,765,745,714,680,659,634.08278182,879,786.91721818,804.91721818,651,631,652,0.400970832338,-0.00540598659658,0.0798427072993,0.999999934867,0.000228967226489,-0.000275873262986,4.16519561598e-05,1793242957714838528
+56,0.933333333,BASELINE,765,745,714,680,659,634,878.503295891,786.503295891,804.503295891,651,631,651.503295891,0.400969696597,-0.00540528898742,0.0798417536911,0.999999934227,0.000229566107926,-0.000277721849705,4.14272533587e-05,1793242957731505664
+57,0.950000000,BASELINE,764.925470512,745,714,680,659,634,878,786,804.074529488,651,631,651.074529488,0.400968442378,-0.00540441328179,0.0798406832423,0.999999933494,0.000230518190547,-0.000279595029378,4.12247824627e-05,1793242957748172544
+58,0.966666667,BASELINE,764.349504276,745,714,680,659,634,878,786,804.650495724,651,631,651.650495724,0.400968158822,-0.00540439910916,0.0798402929267,0.999999933449,0.000230986788282,-0.000279354311457,4.1332748816e-05,1793242957764839168
+59,0.983333333,BASELINE,764,745,714,679.768825163,659,634,878,786,805,651,631,652,0.400968789675,-0.00540411528623,0.0798407926143,0.999999933729,0.000231140564318,-0.000278208215398,4.1427693586e-05,1793242957781505792
+60,1.000000000,BASELINE,764,745,714,679.180872462,659,634,878,786,805,651,631,652,0.400970831759,-0.00540341530533,0.0798426658661,0.999999934507,0.00023080846828,-0.000275664826745,4.15025418401e-05,1793242957798172160
+61,1.016666667,BASELINE,764.400127062,745,714,679.400127062,659,634,878,786,805,651,631,652,0.400970597329,-0.00540309135936,0.0798425738132,0.999999934223,0.000231428109573,-0.000276159484773,4.15969633698e-05,1793242957814838784
+62,1.033333333,BASELINE,764.978037139,745,714,679.978037139,659,634,878,786,805,651,631,652,0.400969351408,-0.00540293449194,0.0798416085432,0.999999933466,0.00023247062339,-0.000278003996921,4.17000816223e-05,1793242957831505408
+63,1.050000000,BASELINE,765,744.443452617,714,680,659,634,878,786,805,651,630.443452617,652,0.400969031304,-0.0054038388129,0.0798414009338,0.999999933671,0.000230965721892,-0.000278572407684,4.13432850988e-05,1793242957848171776
+64,1.066666667,BASELINE,764.866209334,744.133790666,714,679.866209334,659,634,878,786.133790666,804.866209334,651,630.133790666,652,0.400968536521,-0.00540444372768,0.0798411294944,0.999999933751,0.000229890476564,-0.000279209997931,4.11084254745e-05,1793242957864838400
+65,1.083333333,BASELINE,764.293203166,744.706796834,714,679.293203166,659,634,878,786.706796834,804.293203166,651,630.706796834,652,0.400967348225,-0.00540392810923,0.0798405502493,0.9999999333,0.000230556105525,-0.000280240192299,4.13335136082e-05,1793242957881505280
+66,1.100000000,BASELINE,764,745,714,679,659,634.288648342,878.288648342,786.711351658,804,651,631,652,0.400967306918,-0.00540447272801,0.0798404608878,0.999999933351,0.000230251747476,-0.000280281046415,4.15352052356e-05,1793242957898171904
+67,1.116666667,BASELINE,764,745,714,679,659,634.879768768,878.879768768,786.120231232,804,651,631,652,0.400968467534,-0.00540612836018,0.0798408848711,0.999999933925,0.00022893094845,-0.000279285179432,4.17123798537e-05,1793242957914838528
+68,1.133333333,BASELINE,764.461454423,744.538545577,714,679.461454423,659,634.538545577,879,786.461454423,804,651,631,652,0.400969401185,-0.00540435723213,0.079841302504,0.99999993379,0.000230784258668,-0.000278278218026,4.14771579081e-05,1793242957931505408
+69,1.150000000,BASELINE,764.959470716,744.040529284,714,679.959470716,659,634.040529284,878.959470716,787,804.040529284,651,631,652,0.400970173391,-0.00540202496523,0.079841651691,0.999999933492,0.000233141151724,-0.000277428686296,4.11756070962e-05,1793242957948172032
+70,1.166666667,BASELINE,764.383065038,744.616934962,714,679.383065038,659,634.616934962,878.383065038,787,804.616934962,651,631,652,0.40096957721,-0.00540384187281,0.0798411173261,0.999999933525,0.000231440800866,-0.000278698137859,4.13892839074e-05,1793242957964838656
+71,1.183333333,BASELINE,764.192585889,745,714,679,659,635,878,786.807414111,804.807414111,651,630.807414111,651.807414111,0.400969088622,-0.00540504306497,0.0798407927135,0.999999933599,0.000230362387842,-0.000279302967899,4.15319536788e-05,1793242957981505024
+72,1.200000000,BASELINE,764.766741534,745,714,679,659,635,878,786.233258466,804.233258466,651,630.233258466,651.233258466,0.400968813208,-0.00540502434261,0.0798408836823,0.999999933762,0.000230516217794,-0.000278590985847,4.15339374865e-05,1793242957998171648
+73,1.216666667,BASELINE,765,744.648955619,714,679,659,634.648955619,878,786,804.351044381,651,630.351044381,651,0.400969084936,-0.00540452152397,0.0798407744939,0.99999993361,0.000231680081932,-0.000278173338897,4.15098599231e-05,1793242958014838272
+74,1.233333333,BASELINE,765,744.057709599,714,679,659,634.057709599,878,786,804.942290401,651,630.942290401,651,0.400969731046,-0.0054036874631,0.0798405283483,0.999999933241,0.000233535060581,-0.000277957090383,4.14679499019e-05,1793242958031504896
+75,1.250000000,BASELINE,764.47782335,744.52217665,714,679,659,634,878,786.52217665,804.47782335,651,631,651.52217665,0.400968367338,-0.00540351478381,0.0798401444389,0.999999933025,0.000233362078778,-0.00027891665128,4.12055646272e-05,1793242958048171776
+76,1.266666667,BASELINE,764,745,714,679,659,634.100309907,878,787,804,651,631,652,0.400967410921,-0.00540369816321,0.0798400763745,0.99999993306,0.000232546679022,-0.000279492434844,4.10650657783e-05,1793242958064838400
+77,1.283333333,BASELINE,764,745,714,679,659,634.675958791,878,787,804,651,631,652,0.400969414687,-0.00540522980263,0.0798415756174,0.999999934203,0.000229726499353,-0.000277646939827,4.16151571529e-05,1793242958081506048
+78,1.300000000,BASELINE,764.256655781,744.743344219,714,679,659,634.743344219,878.256655781,786.743344219,804.256655781,651,631,652,0.400969295602,-0.00540600385985,0.0798416660262,0.999999934314,0.000228732630737,-0.000278022016238,4.19086361287e-05,1793242958098172928
+79,1.316666667,BASELINE,764.843854095,744.156145905,714,679,659,634.156145905,878.843854095,786.156145905,804.843854095,651,631,652,0.400966442536,-0.00540580223999,0.0798399420219,0.9999999331,0.000230090836691,-0.000281256928249,4.1871628401e-05,1793242958114839040
+80,1.333333333,BASELINE,764.574704512,744.425295488,714,679,659,634,878.574704512,786,804.574704512,651,631,652,0.400967968952,-0.00540530740329,0.0798412465892,0.999999933642,0.000230824507841,-0.00027871962482,4.18601802754e-05,1793242958131505408
+81,1.350000000,BASELINE,764.004624131,744.995375869,714,679.004624131,659,634,878,786.004624131,804,651,631,652,0.400971042435,-0.00540470615604,0.0798436194116,0.999999934791,0.000231322780897,-0.000274146747608,4.18542777573e-05,1793242958148172032
+82,1.366666667,BASELINE,764.580568613,744.419431387,714,679.580568613,659,634,878,786.580568613,804,651,631,652,0.400969251605,-0.00540408086221,0.0798424308212,0.999999934332,0.00023068876219,-0.000276415403803,4.13896035049e-05,1793242958164838912
+83,1.383333333,BASELINE,765,744,714,679.843581928,659,634.156418072,878,787,804.156418072,651,631,652,0.400968302711,-0.00540366135946,0.0798417416595,0.999999934047,0.000230397720817,-0.000277736128321,4.1045132963e-05,1793242958181505536
+84,1.400000000,BASELINE,765,744,714,679.267986985,659,634.732013015,878,787,804.732013015,651,631,652,0.40096961008,-0.00540379334565,0.0798423908913,0.999999934241,0.000231025806899,-0.000276516539245,4.10227901557e-05,1793242958198171904
+85,1.416666667,BASELINE,765,744.315434843,714,679,659,635,878,787,804.684565157,651,631,651.684565157,0.400969368237,-0.00540433862976,0.0798421373615,0.999999933933,0.000231669610836,-0.000277067495398,4.1196285011e-05,1793242958214838528
+86,1.433333333,BASELINE,765,744.90567539,714,679,659,635,878,787,804.09432461,651,631,651.09432461,0.400967776726,-0.00540524397753,0.079841097349,0.999999933184,0.000232327108073,-0.000279160944276,4.15403929372e-05,1793242958231505152
+87,1.450000000,BASELINE,765,744.51311301,714,679,659,634.51311301,878,786.51311301,804,651,631,651,0.400967219677,-0.00540456927654,0.079840723383,0.999999932885,0.000232641935434,-0.00027996018528,4.15915832451e-05,1793242958248171520
+88,1.466666667,BASELINE,765,744,714,679,659,634,878,786,804.065917364,651,631,651,0.400967195296,-0.0054036609581,0.0798406666623,0.999999932804,0.000232858250362,-0.000280073927287,4.15670366224e-05,1793242958264838400
+89,1.483333333,BASELINE,765,744,714,679,659,634,878,786,804.64136195,651,631,651,0.400969767427,-0.00540326985741,0.0798420829401,0.999999933735,0.000232816887759,-0.000276791687568,4.13877151241e-05,1793242958281505024
+90,1.500000000,BASELINE,765,744,714,679,659,634,878,786,804.778914588,651,631,651,0.400970516013,-0.00540312739207,0.079842666171,0.999999934232,0.00023216524693,-0.000275555547606,4.12736568508e-05,1793242958298171648
+91,1.516666667,BASELINE,765,744,714,679,659,634,878,786,804.192113135,651,631,651,0.40096824812,-0.00540339621549,0.0798418713886,0.999999934023,0.000230504093381,-0.000277704034286,4.12675560048e-05,1793242958314838272
+92,1.533333333,BASELINE,765,744.389938302,714,679,659,634.389938302,878.389938302,786.389938302,804,651,631,651.389938302,0.400967081619,-0.00540351671773,0.0798407249595,0.999999933486,0.000230644588173,-0.00027952177409,4.12087638734e-05,1793242958331505152
+93,1.550000000,BASELINE,765,744.969677738,714,679,659,634.969677738,878.969677738,786.969677738,804,651,631,651.969677738,0.400966451218,-0.00540356502516,0.0798394073674,0.99999993279,0.000231662028979,-0.000281178524177,4.11243244387e-05,1793242958348171776
+94,1.566666667,BASELINE,765,745,714,679,659,634.453564802,878.453564802,786.453564802,804,651,631,651.453564802,0.40096771428,-0.00540386879433,0.0798409310865,0.9999999334,0.000232160814411,-0.000278540392297,4.14249119549e-05,1793242958364838400
+95,1.583333333,BASELINE,765,744.877276644,713.877276644,679,659,634,878,786.122723356,804.122723356,651,631,651,0.40096886122,-0.00540446817297,0.0798422537431,0.999999934088,0.000231850614958,-0.000276282895671,4.16788470769e-05,1793242958381505024
+96,1.600000000,BASELINE,765,744.30211175,713.30211175,679,659,634,878,786.69788825,804.69788825,651,631,651,0.400969194802,-0.00540610539063,0.0798422570338,0.999999934816,0.000228663478014,-0.00027630254599,4.1682449529e-05,1793242958398171904
+97,1.616666667,BASELINE,764.719896488,744.280103512,713.280103512,679,659,634.280103512,878,787,804.719896488,651,630.719896488,651,0.400969385679,-0.00540603339217,0.0798422730171,0.99999993484,0.000228530918692,-0.000276331304499,4.16482680696e-05,1793242958414838272
+98,1.633333333,BASELINE,764.129880584,744.870119416,713.870119416,679,659,634.870119416,878,787,804.129880584,651,630.129880584,651,0.400969418666,-0.00540407028111,0.0798423030437,0.999999934085,0.000231778008203,-0.000276370140497,4.15722816993e-05,1793242958431504896
+99,1.650000000,BASELINE,764,744.549318922,714,679,659,634.549318922,878.450681078,786.549318922,804.450681078,651,630.450681078,651.450681078,0.400969662215,-0.00540374916464,0.0798422010349,0.999999933616,0.000233737044178,-0.000276389940409,4.17516933294e-05,1793242958448171776
+100,1.666666667,BASELINE,764.02848426,744.02848426,714,679.02848426,659.02848426,634,879,786,805,651,631,652,0.400969967574,-0.00540394873241,0.0798420620521,0.999999933282,0.000235106626172,-0.000276402802695,4.19830125975e-05,1793242958464838656
+101,1.683333333,BASELINE,764.604559955,744.604559955,714,679.604559955,659.604559955,634,879,786,805,651,631,652,0.400970318602,-0.00540524802757,0.0798419287456,0.999999933988,0.000232133808406,-0.000276385590685,4.18263355043e-05,1793242958481505280
+102,1.700000000,BASELINE,765,745,714,679.820122339,659.640244679,634,878.820122339,786.179877661,804.820122339,651,631,651.820122339,0.400970350488,-0.00540577373123,0.0798419152355,0.9999999344,0.000230388749667,-0.000276383576395,4.16382820115e-05,1793242958498171904
+103,1.716666667,BASELINE,765,745,714,679.246464068,658.492928136,634,878.246464068,786.753535932,804.246464068,651,631,651.246464068,0.400969683723,-0.00540460592075,0.0798421639785,0.999999934184,0.000231331449751,-0.000276414832321,4.13815406454e-05,1793242958514838528
+104,1.733333333,BASELINE,765,745,714,679,658.337669545,634,878.337669545,787,804,651,631,651,0.400968594129,-0.00540383840844,0.0798418699915,0.999999933726,0.000232435434661,-0.000277153220475,4.13265647472e-05,1793242958531505152
+105,1.750000000,BASELINE,765,745,714,679,658.929693932,634,878.929693932,787,804,651,631,651,0.400967186032,-0.00540337242684,0.0798411671848,0.999999933083,0.000233660909976,-0.000278424266994,4.14235718023e-05,1793242958548172032
+106,1.766666667,BASELINE,765,745,714,679,659,634.509787051,878.490212949,787,804,651,631,651.509787051,0.400967996288,-0.00540233337967,0.0798410416463,0.999999932618,0.000235948928231,-0.000278154268503,4.1500162268e-05,1793242958564838656
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,879,786,804,651,631,652,0.400966036138,-0.00540517863956,0.0798395803721,0.999999933758,0.000228260823509,-0.000280474775525,4.14204731315e-05,1793242958607991040
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.590228856,744.409771144,714,679,659,634,878.409771144,786,804,651,631,651.409771144,0.400967652378,-0.00540553920606,0.0798403737593,0.999999933923,0.000229674926296,-0.000278702182824,4.15660526492e-05,1793242958624658176
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+111,1.850000000,POSE1_TO_POSE2_PRESS,764.666326272,745,714,679.333673728,659,634,878,787,804.333673728,651.333673728,631,652,0.40096998006,-0.00540474704588,0.0798422376528,0.999999935148,0.000228125825352,-0.000275658230283,4.09166359274e-05,1793242958674657792
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+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634.484500068,878,787,804.515499932,652,631,651.515499932,0.400969358253,-0.00540562464004,0.07984206647,0.99999993491,0.000228219035723,-0.000276363968238,4.14630968726e-05,1793242958707990784
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.059900465,745,714,679.940099535,659.059900465,634.940099535,878.059900465,787,804,651.940099535,631,651.059900465,0.400970332305,-0.00540451681952,0.0798428367447,0.9999999346,0.00023100650281,-0.000275129575562,4.17101028394e-05,1793242958724657664
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+116,1.933333333,POSE1_TO_POSE2_PRESS,764.762031396,745,714,679,659.762031396,634,878.762031396,787,804,651,631,652,0.400976019113,-0.00540492135326,0.0798452085651,0.999999935491,0.000230468352387,-0.000272347732165,4.15724931418e-05,1793242958757991168
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+118,1.966666667,POSE1_TO_POSE2_PRESS,764.391790099,745,714,679,659,634.391790099,878,786.608209901,804.391790099,651.391790099,631,652,0.401012363098,-0.00540518787177,0.079859967955,0.99999994238,0.000230703223927,-0.000245502811532,4.17745759276e-05,1793242958791324672
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.966889558,745,714,679,659,634.966889558,878,786.033110442,804.966889558,651.966889558,631,652,0.401045979839,-0.00540590974103,0.0798724402335,0.999999948548,0.000229595423894,-0.000220083627335,4.18794403545e-05,1793242958807991296
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.555073571,659,635,878,786,805.555073571,652,631,652,0.401104538684,-0.00540822575823,0.0798907857982,0.999999956226,0.000227537116388,-0.000184418739419,4.20015081566e-05,1793242958824657920
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.858295148,659.141704852,635,878,786,805.716590297,651.858295148,631,652,0.401167325337,-0.0054099954609,0.0799080266829,0.999999962024,0.00022594630831,-0.000152169305059,4.17763598363e-05,1793242958841324288
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.278928219,659.721071781,635,878,786,804.557856438,651.278928219,631,652,0.401238463681,-0.00540977706032,0.0799207475373,0.999999964883,0.000225978737253,-0.000132401822773,4.0475572452e-05,1793242958857990912
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.700153311,714,679,659.700153311,635,878,786,804.299846689,651,630.700153311,652,0.401313331634,-0.00540982691734,0.079928222852,0.999999966616,0.000225180503866,-0.000120709466982,3.86246094592e-05,1793242958874657792
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+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.451598756,714,679,659,635,878,786,804.548401244,651,630.451598756,652,0.401486051327,-0.00541206036209,0.0799317885794,0.999999968216,0.000221953493222,-0.000114866483137,3.33329602437e-05,1793242958907991040
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+127,2.116666667,POSE1_TO_POSE2_PRESS,764.386891911,744.386891911,714,679,659,635,878.613108089,786,804,651,631,652,0.401720217275,-0.00541556042598,0.079939873466,0.999999971136,0.000216843462109,-0.000100142359258,2.60615873602e-05,1793242958941324800
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.198968781,744.198968781,714,679,659,635,878.801031219,786.198968781,804.198968781,651,631,652,0.401864270888,-0.00541702335439,0.0799471864592,0.99999997326,0.000213297876271,-8.66962478137e-05,2.16228686689e-05,1793242958957991168
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+138,2.300000000,POSE1_TO_POSE2_PRESS,764.011175892,744.011175892,714,679.988824108,659,634.988824108,878.011175892,786,804.988824108,651,630.988824108,652,0.404231265975,-0.00543633240983,0.0799604395217,0.999999991555,0.000112024365658,-6.46614919837e-05,-1.26524828656e-05,1793242959124657664
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.577614087,744.577614087,714,679.422385913,659,635,878,786,804.422385913,651.577614087,631,652,0.404606327713,-0.00543634681877,0.0799607758555,0.999999991462,0.000114152831012,-5.99876064056e-05,-2.11098927619e-05,1793242959141324288
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.163889856,786,804,651.836110144,631,652,0.404991151458,-0.00543772978036,0.0799597134804,0.999999991342,0.000114945425763,-5.76185505469e-05,-2.79898144746e-05,1793242959157990912
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.743039939,786,804,651.256960061,631,652,0.405398309421,-0.00544262971184,0.0799553225951,0.99999999152,0.000111098362689,-6.10367480557e-05,-2.98613790802e-05,1793242959174657536
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.320108987,659.320108987,635,879,786.320108987,804,651,631,652,0.405824493783,-0.0054470020663,0.0799502353726,0.999999991779,0.000103690521978,-6.85765371657e-05,-3.14143084409e-05,1793242959191324416
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.895518384,659.895518384,635,879,786.895518384,804,651,631,652,0.406265852544,-0.00545095365637,0.0799445927914,0.999999991947,9.34428105885e-05,-7.94034696558e-05,-3.27131129606e-05,1793242959207991296
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714.462703086,679.537296914,660,635,878.537296914,787,804.462703086,651,631,652,0.406728606507,-0.00545678225657,0.0799394415038,0.999999991895,8.54906714294e-05,-8.82546401002e-05,-3.33577917615e-05,1793242959224658176
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714.970100771,679.029899229,659.970100771,634.970100771,878.029899229,787,805,651,631,652,0.407199072944,-0.00546334502927,0.0799343755125,0.999999991708,7.78694898951e-05,-9.68377354407e-05,-3.38143659019e-05,1793242959241325312
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714.367747908,679.632252092,659.367747908,634.367747908,878.632252092,787,805,651,631,652,0.407726320846,-0.00547599115246,0.0799288556782,0.999999991301,6.68336743751e-05,-0.000108680925783,-3.34480770237e-05,1793242959257991680
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.774432478,659,634.225567522,879,787,805,651,631,652,0.408266033458,-0.00549048725872,0.0799234900954,0.999999991143,4.89202437764e-05,-0.0001192796619,-3.30588264454e-05,1793242959274658048
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.195283435,659,634.804716565,879,787,805,651,631,652,0.408825284717,-0.00550788324897,0.0799183663053,0.99999999108,2.02260171638e-05,-0.00012792769084,-3.26335829634e-05,1793242959291324416
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.382111238,659,635,878.617888762,786.617888762,805,651,631,652,0.409441523758,-0.0055131994215,0.0799345486651,0.999999994122,1.44575975032e-05,-0.000102175073264,-3.32764901271e-05,1793242959307991040
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.958613395,659,635,878.041386605,786.041386605,805,651,631,652,0.410086754096,-0.00551237024457,0.0799615700733,0.999999997463,2.03521926814e-05,-5.89218620949e-05,-3.44627960579e-05,1793242959324657920
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.456228388,878,786.543771612,804.456228388,651,631,652,0.410740604303,-0.00551655351366,0.0799846796616,0.999999999117,1.21003388611e-05,-2.16785373527e-05,-3.38961270396e-05,1793242959341324800
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714.128239185,680,659,634.128239185,878,786.871760815,804.128239185,651,631,652,0.411397424505,-0.00552127392372,0.0799968504057,0.999999999415,3.44789382116e-06,-2.60956589731e-06,-3.39233246358e-05,1793242959357991680
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714.707918613,680,659,634.707918613,878,786.292081387,804.707918613,651,631,652,0.41206235294,-0.00552652051604,0.0799715781968,0.999999998277,-2.76316748113e-06,-4.58834748312e-05,-3.65183840504e-05,1793242959374658304
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.713541628,714.713541628,679.713541628,659.286458372,635,878.572916743,786,804.713541628,651.286458372,631,652,0.412739761934,-0.00552889232964,0.0799435686422,0.999999995461,-9.52010416117e-06,-8.5824848482e-05,-4.02655892333e-05,1793242959391324928
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.136159237,714.136159237,679.136159237,659.863840763,635,879.727681527,786,804.136159237,651.863840763,631,652,0.41342984613,-0.00552834454975,0.0799127790659,0.999999991349,-1.68314267125e-05,-0.00012238174062,-4.51829015088e-05,1793242959407991296
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.439602897,714,679.439602897,659.560397103,635,879.120794207,786.439602897,804.439602897,651.560397103,630.560397103,652,0.414179381707,-0.00553395685989,0.0799188937473,0.999999992909,-2.56312870358e-05,-0.000106806029628,-4.60150268881e-05,1793242959424657664
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.01519861,635,878.01519861,787,805,651,630.01519861,652,0.414947295459,-0.0055413623156,0.0799364851435,0.999999995535,-3.47519225166e-05,-7.51421308797e-05,-4.55610602306e-05,1793242959441324544
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.60337148,635,878.60337148,787,805,651,630.60337148,652,0.415716409067,-0.00554470280176,0.0799574034261,0.999999997334,-3.86482328669e-05,-4.34657281594e-05,-4.41486313133e-05,1793242959457991424
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714.188466626,680,660,635,879,786.811533374,805,651,631,652,0.416493253555,-0.00554760445051,0.079965799336,0.99999999759,-4.26213513579e-05,-3.29097577384e-05,-4.38315267558e-05,1793242959474658048
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714.767188733,680,660,635,879,786.232811267,805,651,631,652,0.417286106235,-0.00554959740393,0.0799482653243,0.999999995675,-4.67535153081e-05,-6.60876038896e-05,-4.57824967611e-05,1793242959491324672
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714.655748542,680,659.655748542,634.655748542,879.344251458,786,805,651,631,652,0.41813223566,-0.00555626740873,0.0799596676055,0.999999996497,-5.68243266686e-05,-3.97968826383e-05,-4.6824704507e-05,1793242959507991552
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714.079802667,680,659.079802667,634.079802667,879.920197333,786,805,651,631,652,0.419014222343,-0.00556608524815,0.0799905451209,0.999999996019,-7.08920748379e-05,2.65184635438e-05,-4.72552802216e-05,1793242959524658176
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.50073106,634,878.998537881,786,804.49926894,651,631,652,0.41982861209,-0.00556980522851,0.0799907019994,0.999999995276,-7.9637122463e-05,2.77017377466e-05,-4.83663698289e-05,1793242959541324800
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.082449256,878.082449256,786,804.082449256,651,631,652,0.420641084472,-0.00557243685086,0.0799847364334,0.999999994851,-8.69534523597e-05,1.64553821701e-05,-4.9652634749e-05,1793242959557991168
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.666885889,878.666885889,786,804.666885889,651,631,652,0.421508080533,-0.00557441371167,0.0799715794963,0.999999994539,-9.07836446164e-05,-6.68409443037e-06,-5.13390152298e-05,1793242959574657792
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.750676309,634.750676309,879,786,805,651,630.750676309,652,0.422404589519,-0.00556309755578,0.0799763643588,0.999999995638,-7.80182704895e-05,-1.24321345141e-06,-5.13441685474e-05,1793242959591324416
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.170887765,634.170887765,879,786,805,651,630.170887765,652,0.423340216388,-0.00553416223695,0.0800049300889,0.999999996973,-4.32563854096e-05,4.20793578567e-05,-4.91209477907e-05,1793242959607991296
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.405347551,634,879,786,805,651,630.405347551,652,0.424210146374,-0.00551577267243,0.0800003260009,0.999999998482,-1.54835939341e-05,2.21674713249e-05,-4.80016225104e-05,1793242959624657920
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.980097867,634,879,786,805,651,630.980097867,652,0.425052620276,-0.00550179038914,0.0799818595875,0.999999998543,9.3683148983e-06,-2.41713495243e-05,-4.73436370629e-05,1793242959641324544
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879.568197683,786,805,651,630.431802317,652,0.425896401923,-0.00551269566594,0.0799397549211,0.999999995424,-1.23393092603e-05,-7.99276698172e-05,-5.11090046768e-05,1793242959657991424
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680.154150005,660,634,880,786.154150005,805,651,630.154150005,652,0.426758862302,-0.00552199979197,0.0799075432648,0.99999999091,-3.03410231497e-05,-0.000119686136878,-5.41800051729e-05,1793242959674658048
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680.732868696,660,634,880,786.732868696,805,651,630.732868696,652,0.427672639462,-0.00552443519949,0.0799049148144,0.999999991381,-3.35359125858e-05,-0.000114452016072,-5.4901540563e-05,1793242959691324672
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.311244936,714,681,660,634,879.688755064,786.688755064,805,651,631,652,0.428594475818,-0.0055283033903,0.0799143743722,0.999999992224,-3.85419216149e-05,-0.000105367023174,-5.44427239867e-05,1793242959707991040
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.889327553,714,681,660,634,879.110672447,786.110672447,805,651,631,652,0.429523221466,-0.00553339994017,0.0799341972669,0.999999993257,-4.51006463543e-05,-9.29805863459e-05,-5.29719635673e-05,1793242959724657664
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.537581606,714,681,660,634,879,786.462418394,805,651,631,652,0.430465867946,-0.00554064382954,0.079977833094,0.999999996881,-5.29874275251e-05,-2.76411862368e-05,-5.16288269973e-05,1793242959741324544
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879,787,805,651,631,652,0.431406734477,-0.00554763558958,0.0800244481521,0.999999995853,-6.04900773312e-05,4.58091871714e-05,-5.03592686473e-05,1793242959757990912
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879,787,805,651,631,652,0.432268180135,-0.00554271643731,0.0800294196996,0.999999995888,-5.70525504101e-05,4.99287087708e-05,-4.97687486605e-05,1793242959774657792
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879,786.786530495,805.213469505,651,631,652,0.433107136539,-0.00553450229324,0.0800049259981,0.999999997411,-4.93412450664e-05,1.12084667427e-05,-5.11583316476e-05,1793242959791324672
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879,786.21025781,805.78974219,651,631,652,0.433907871355,-0.00552068812831,0.0799303544841,0.999999992814,-3.43664168823e-05,-0.000100320312775,-5.59132081711e-05,1793242959807991040
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714.365594538,681,660,634.365594538,879,786.365594538,806,651,631,651.634405462,0.434771882439,-0.00551941790111,0.079907824421,0.999999989597,-3.48714225547e-05,-0.000127255843266,-5.8274724352e-05,1793242959824657664
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714.94120539,681,660,634.94120539,879,786.94120539,806,651,631,651.05879461,0.435672242618,-0.00552535355795,0.0799151896493,0.999999991689,-4.42688422716e-05,-0.000105596653074,-5.92613711867e-05,1793242959841324544
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.511686868,714.488313132,681,660.511686868,635,879.511686868,787,805.488313132,651,631,651.511686868,0.436529629996,-0.00553248181423,0.0799502383602,0.999999994922,-5.42555538226e-05,-6.32840986289e-05,-5.66304662327e-05,1793242959857991168
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.914106126,714,681,660.914106126,635,879.914106126,787,805.085893874,651,631,652,0.437382360246,-0.00553944464164,0.079986859212,0.99999999639,-6.29748806372e-05,-1.81646134292e-05,-5.40774480907e-05,1793242959874657792
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.314107926,714,681,660.314107926,635,879.314107926,787,805.685892074,651,631,652,0.43823647663,-0.00554460526606,0.0800140398753,0.999999996047,-6.37072195956e-05,2.96922091356e-05,-5.44538411201e-05,1793242959891324416
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.725320066,879.274679934,787,805.725320066,651,631,652,0.439062782278,-0.00554909830414,0.0800258993225,0.999999994645,-7.08070801594e-05,5.14802777167e-05,-5.51907953375e-05,1793242959907991040
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.148849055,879.851150945,787,805.148849055,651,631,652,0.439858532189,-0.00555285786419,0.0800209253347,0.999999993814,-8.49029421833e-05,4.46265810524e-05,-5.63238985082e-05,1793242959924657664
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681.426501747,660.426501747,634,879.573498253,787,805.426501747,651,631,652,0.440574628723,-0.00554831268008,0.0799625539973,0.999999994083,-7.87313878813e-05,-4.682443297e-05,-5.86724409196e-05,1793242959941324544
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,713.99849629,681.99849629,660.99849629,634.00150371,879.00150371,787,806,651,631,651.99849629,0.441263016717,-0.00554088152087,0.0798856965282,0.999999981932,-6.55262546177e-05,-0.000167534530126,-6.14442714167e-05,1793242959957991680
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,713.407401504,681.407401504,660.407401504,634.592598496,879.592598496,787,806,651,631,651.407401504,0.441958304996,-0.00553532751419,0.0798483321578,0.999999973085,-6.06410381241e-05,-0.000214517421673,-6.42991030223e-05,1793242959974658304
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,713.179669213,681.179669213,660,634.820330787,879.820330787,786.820330787,805.820330787,651,631,651.179669213,0.442680402309,-0.0055338943964,0.0798448219299,0.999999973369,-6.29292394116e-05,-0.000212267209302,-6.51543246498e-05,1793242959991324928
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,713.757815318,681.757815318,660,634.242184682,879.242184682,786.242184682,805.242184682,651,631,651.757815318,0.443461957803,-0.0055416007343,0.0799163946394,0.999999989731,-8.11269055189e-05,-0.000100826042308,-6.15747390515e-05,1793242960007991296
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879,786.335267089,805.335267089,651,631,651.664732911,0.444194260918,-0.00554890030622,0.0799699201285,0.999999994382,-8.5024435795e-05,-2.28660695847e-05,-5.90276428198e-05,1793242960024657920
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879,786.912218301,805.912218301,651,631,651.087781699,0.444891059404,-0.00555590665213,0.0800104359064,0.999999994793,-7.86134206536e-05,3.0958294054e-05,-5.72248380863e-05,1793242960041324288
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.501765221,745,714,682,660,634,879,786.501765221,806,651,631,651.498234779,0.445506938143,-0.00555819377401,0.0799968456115,0.999999993886,-9.45686375655e-05,6.92186150464e-06,-5.68944555657e-05,1793242960057991168
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.084533146,745,714,682,660,634,879.084533146,786.084533146,806,651,631,651.915466854,0.446101885192,-0.00556036340992,0.0799723039297,0.999999991751,-0.000110441513929,-3.21163396539e-05,-5.71826330813e-05,1793242960074657792
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.662973717,745,714,682,660,634,879.662973717,786.662973717,806,651,631,651.337026283,0.446659376588,-0.00556679464863,0.0799405053764,0.999999990009,-0.000102382586846,-7.71703235135e-05,-5.95410969123e-05,1793242960091324672
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.758767859,745,714,682.241232141,660,633.758767859,880.241232141,786.758767859,805.758767859,651,631,651.241232141,0.447202552728,-0.00557161670728,0.0799119048628,0.999999986305,-0.000101984694297,-0.000114923005208,-6.14896605635e-05,1793242960107991296
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+199,3.316666667,POSE1_TO_POSE2_PRESS,764.394192812,745,714,683,660,633,881,786,805.394192812,651,630.605807188,652,0.448213184896,-0.00557284579773,0.079861898022,0.999999974994,-0.000113609841614,-0.000181622163798,-6.41749483086e-05,1793242960141324544
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+257,4.283333333,HOLD_POSE2,765,745,714,683,657,630.64813318,880,784.35186682,806,651,630.35186682,652.35186682,0.454402515982,-0.00557275989306,0.0796650443441,0.999999863217,-0.000131075541208,-0.000502438611062,-6.27814271048e-05,1793242961125210368
+258,4.300000000,HOLD_POSE2,765,745.233310466,714,683,657,631,880,784,806,651.233310466,630,652,0.454401725782,-0.00557295123983,0.0796641321689,0.999999862561,-0.000130756274004,-0.000503818482809,-6.28277199802e-05,1793242961141876992
+259,4.316666667,HOLD_POSE2,765,745.812746001,714,683,657,631,880,784,806,651.812746001,630,652,0.454403168043,-0.00557353535786,0.0796646668372,0.999999862915,-0.000133835178096,-0.000502201798271,-6.36517163154e-05,1793242961158543616
+260,4.333333333,HOLD_POSE2,765,746,714,683.388779232,656.611220768,630.611220768,880,784,806,651.611220768,630.388779232,652,0.454403026305,-0.00557317119622,0.0796640941976,0.999999862449,-0.00013396040079,-0.000503126844289,-6.33983168362e-05,1793242961175209984
+261,4.350000000,HOLD_POSE2,765,746,714,683.963188025,656.036811975,630.036811975,880,784,806,651.036811975,630.963188025,652,0.454402128258,-0.00557235426164,0.0796629928542,0.999999861591,-0.000132675336028,-0.000505265484633,-6.26304956323e-05,1793242961191876608
+262,4.366666667,HOLD_POSE2,765,745.450209923,714,683.450209923,656,630,880,784,806,651,630.450209923,652,0.454401605643,-0.00557280495333,0.0796626747257,0.999999861653,-0.000130144150546,-0.000505824887221,-6.24354537592e-05,1793242961208543232
+263,4.383333333,HOLD_POSE2,765,745,714,683.135339858,656,630,880,784,806,651,630,652,0.454401259248,-0.00557250175456,0.0796623623582,0.999999861685,-0.000128025462834,-0.000506290786921,-6.25231117019e-05,1793242961225210112
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,656,631,881,784,806,651,630,652,0.454401704277,-0.00557297589737,0.0796617067418,0.999999861267,-0.00013089128417,-0.000506355924448,-6.27494327044e-05,1793242961278963456
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.426046823,745,713.573953177,683.573953177,656,631,880.426046823,784,806.573953177,651,630,652,0.454401007589,-0.00557249897327,0.079661670918,0.99999986068,-0.000131979548147,-0.000507225815457,-6.27978225916e-05,1793242961295630080
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.152364765,745.152364765,714,683.847635235,656,631,880,784,806.847635235,651,630,652,0.454400735371,-0.00557184302507,0.0796616981482,0.999999860355,-0.00013248951259,-0.000507721829646,-6.28844677423e-05,1793242961312296704
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.743619022,745.743619022,714,683.256380978,656,631,880,784,806.256380978,651,630,652,0.454401685849,-0.0055706713946,0.0796619070069,0.99999986079,-0.000131333674898,-0.00050714088501,-6.30813078905e-05,1793242961328963328
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.671998362,714,683,656,631,880,784,806,651,630.328001638,652,0.454401986757,-0.00557044228688,0.0796615795851,0.999999860704,-0.000130364390746,-0.000507561231379,-6.30845386181e-05,1793242961345630208
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.515903652,683,656,631,880,784,806,651,630.515903652,652,0.454402287036,-0.0055716877939,0.0796619937102,0.999999860933,-0.000130921375562,-0.000507025811292,-6.26016293993e-05,1793242961378963456
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713.231265362,683,656,630.231265362,880,784,806,651,630,652,0.4543960133,-0.00556936585711,0.0796582767588,0.999999858496,-0.000127572931024,-0.000512630107639,-6.28052444337e-05,1793242961428963328
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,713.352641672,683,656,631,880,784,806,651,630,652,0.453169549368,-0.0055455815062,0.0795655737591,0.999999776625,-0.000101670023152,-0.000659432380426,-3.95145152107e-05,1793242961662297088
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,713.932363725,683,656,631,880,784,806,651,630,652,0.452975546185,-0.00554055650609,0.0795664024362,0.999999777457,-9.57856100424e-05,-0.000659326317662,-3.46444192628e-05,1793242961678963712
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.492221998,745,713.492221998,683,656,631,880.507778002,784,806,651,630,651.492221998,0.452749051945,-0.00553754623451,0.0795651644396,0.99999977291,-8.9304905317e-05,-0.000667362503768,-2.88560090862e-05,1793242961695630592
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,659.656372606,634,880,786.343627394,806,651,631,652,0.436635755563,-0.00543077026561,0.0798235294651,0.999999953715,0.000122096470311,-0.000276164895331,3.73576888943e-05,1793242962178963456
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,659.067464912,634,879.134929824,787,805,651,631,652,0.434011094382,-0.00541368478678,0.0798380513218,0.999999953353,0.000160389434895,-0.00025670527198,4.08746695688e-05,1793242962228963328
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,659.643931716,634,880.287863431,787,805,651,631,652,0.433053489745,-0.00541361741392,0.0797952291195,0.999999931841,0.000163361424248,-0.000328500704987,4.14474118107e-05,1793242962245629952
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.304239551,659,634.304239551,879,786.304239551,805.304239551,651,631,652,0.425696879644,-0.00542144955976,0.0797762259945,0.999999920124,0.000168019742773,-0.000359645499031,4.66607015909e-05,1793242962378963200
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,879,786,805,651,630.379249343,652,0.422017119284,-0.00539872703182,0.0797722267715,0.999999913979,0.000209797814286,-0.000354592656147,4.78679042768e-05,1793242962445629696
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634.205560726,879,786,805,651.205560726,630.205560726,652,0.421210276036,-0.0053963739365,0.0798241197643,0.999999941567,0.000213477407668,-0.000262346473576,4.96789598368e-05,1793242962462296576
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.249759745,879,787,805,652,631,652,0.410823881557,-0.00541390386554,0.0797865499901,0.999999915887,0.000203173262486,-0.000353265376814,4.63640109759e-05,1793242962678963200
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714.48231909,679.51768091,659,635,879,787,804.51768091,651,631,652,0.408978215871,-0.00541162642872,0.0798298040623,0.999999937884,0.000209683998906,-0.000278982885584,4.9329228255e-05,1793242962728963584
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714.940869177,679.059130823,659.059130823,635,879,787,804,651.059130823,631,652,0.408407430752,-0.00541252861469,0.0798524258499,0.999999947638,0.00020840346016,-0.00024220210738,5.1283533723e-05,1793242962745630208
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.390939586,659,634.390939586,878,787,805,651.609060414,631,652,0.406220376966,-0.00540141037823,0.0797722688878,0.999999904315,0.000221552142075,-0.000374476797764,4.52925205892e-05,1793242962812296448
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.966026543,659,634.966026543,878,787,805,651.033973457,631,652,0.405784230226,-0.00540448715205,0.0797876527992,0.99999991634,0.0002245531258,-0.000338883152483,4.53273798194e-05,1793242962828963328
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.709977438,659,634.290022562,879,787,804.290022562,651,631,652,0.404579146759,-0.00540228273521,0.079828648753,0.99999993368,0.000226821915292,-0.000280873577369,4.79876125007e-05,1793242962878963200
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.412401439,878,786.412401439,804.587598561,651.587598561,631,652,0.401351641103,-0.00540213973824,0.0798401563627,0.999999930307,0.000237820742778,-0.000284508300806,4.33920859223e-05,1793242963128963328
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,879.380390504,787,805,651.619609496,631,652,0.40097259958,-0.00540639171055,0.0798315751718,0.999999930123,0.000226216471619,-0.000294593679868,4.23668193337e-05,1793242963328963328
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,879.954798109,787,805,651.045201891,631,652,0.400970515977,-0.00540502270506,0.0798321059056,0.999999929975,0.000227506246134,-0.000294127175642,4.2190238755e-05,1793242963345629952
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.531065288,659,634.531065288,879.468934712,787,805,651,631,652,0.400970796482,-0.00540709121942,0.0798334491174,0.999999931099,0.000225680081171,-0.000291684508795,4.23176449273e-05,1793242963362296576
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.890437179,659,635,879,787,805,651,631,652,0.400970937756,-0.00540880818319,0.0798344672642,0.999999931993,0.000224103252686,-0.000289815160563,4.24084456426e-05,1793242963378963200
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.30290274,659,635,879,787,805,651,631,652,0.400969590707,-0.00540771059172,0.079833764555,0.999999931453,0.000224775238136,-0.000291183301389,4.22262809338e-05,1793242963395629824
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.718817898,786.718817898,805,651,631,652,0.400968964374,-0.00540722746916,0.0798338438497,0.999999931361,0.000225517094956,-0.000290935066684,4.21538033641e-05,1793242963412296960
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.138404017,786.138404017,805,651,631,652,0.40096910502,-0.00540739825943,0.079834755347,0.999999931745,0.000226333308423,-0.000288966698043,4.2198053961e-05,1793242963428963840
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.561522493,878,786.438477507,805,651.438477507,631,652,0.40096769588,-0.00540724727106,0.0798339605325,0.999999931246,0.000227160592648,-0.000290079588897,4.19540074933e-05,1793242963445630208
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.014232216,679.014232216,659,634,878.014232216,787,805,652,631,652,0.400965867277,-0.00540699256397,0.0798326994563,0.999999930508,0.000227934549354,-0.000292058273019,4.16263463487e-05,1793242963462296832
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.589170901,679.589170901,659,634,878.589170901,787,805,652,631,652,0.400966631436,-0.00540662116247,0.0798341183905,0.999999931402,0.000226470993729,-0.00029013571985,4.15609947504e-05,1793242963478963456
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.830755139,680,659,634.169244861,878.830755139,786.830755139,805,652,631,652,0.400967351233,-0.00540630830811,0.0798354937764,0.999999932047,0.000225791590912,-0.000288456235673,4.14337216763e-05,1793242963495629824
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714.23782566,680,659,634.76217434,878.23782566,786.23782566,805,652,631,652,0.400967959978,-0.00540614201966,0.079836760144,0.999999932077,0.000227075222586,-0.000287385246274,4.11514354687e-05,1793242963512296448
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.654304854,745,714,679.654304854,659,634.654304854,878,786.345695146,804.654304854,651.654304854,631,652,0.40096780213,-0.00540646729362,0.0798366543524,0.999999932198,0.000226219948046,-0.000287630594897,4.11959962816e-05,1793242963528963328
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.077085395,745,714,679.077085395,659,634.077085395,878,786.922914605,804.077085395,651.077085395,631,652,0.400967130868,-0.00540712178441,0.079835629577,0.999999932377,0.000223932172017,-0.000288757541875,4.14594581605e-05,1793242963545629952
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764.992275949,744.503862026,714,679.496137974,659,634,878.992275949,787,804.496137974,651,631,652,0.400968646022,-0.00540794291937,0.0798367502655,0.999999933224,0.000223607642419,-0.000286029359871,4.17027192971e-05,1793242963562297344
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.929184925,744.070815075,714,679.929184925,659,634,879.85836985,787,804.929184925,651,631,652,0.400970127193,-0.00540853202462,0.0798379528311,0.999999933947,0.000223892540182,-0.000283241045682,4.1862065308e-05,1793242963578964736
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.339338874,744.660661126,714,679.339338874,659,634,878.678677749,787,804.339338874,651,631,652,0.400968889345,-0.00540723224065,0.0798373318307,0.999999933075,0.000226426337069,-0.000284367041104,4.14291851637e-05,1793242963595630848
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714.246810017,679,659,634.246810017,878.246810017,787,804,651,631,652,0.400968334917,-0.00540659652443,0.0798370779516,0.999999932699,0.000227421534476,-0.000284908659789,4.13289926131e-05,1793242963612296960
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714.82795079,679,659,634.82795079,878.82795079,787,804,651,631,652,0.400968706253,-0.00540686035931,0.0798373213775,0.999999933003,0.000226332533492,-0.000284658677387,4.16794611883e-05,1793242963628963584
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,714.594808748,679.405191252,659,635,879,787,804.405191252,651,631,652.405191252,0.40096813426,-0.00540664426515,0.0798375675325,0.999999933063,0.000225900253068,-0.000284793383254,4.16629721732e-05,1793242963645630208
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,745,714.019208651,679.980791349,659,635,879,787,804.980791349,651,631,652.980791349,0.400967165537,-0.0054062263301,0.0798378148352,0.999999933021,0.00022574416572,-0.000285089875164,4.14921539933e-05,1793242963662297088
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,744.444708276,714,680,659,635,878.444708276,786.444708276,805,651.555291724,631,652.444708276,0.400969443411,-0.00540691441299,0.0798389574795,0.999999933451,0.000226781294596,-0.000282692070787,4.18671281683e-05,1793242963678963456
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..01ee8a094293c63be25f4b6fde7ee1deaa5efc4e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_04/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+2,0.033333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+3,0.050000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+4,0.066666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+5,0.083333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
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+7,0.116666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+8,0.133333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
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+10,0.166666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+11,0.183333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+12,0.200000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
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+15,0.250000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+16,0.266666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+17,0.283333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+18,0.300000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+19,0.316666667,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+20,0.333333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+21,0.350000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
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+23,0.383333333,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
+24,0.400000000,pose1_baseline,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.008676740015,1.06967847325
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+394,6.566666667,pose2_to_pose3_retreat,0.580745642337,1.84360871547e-06,1.07004086526,0.551317362229,0.00867667296141,1.06967866442
+395,6.583333333,pose2_to_pose3_retreat,0.580745229617,1.83369536298e-06,1.07004087415,0.551316949687,0.00867666376751,1.06967867606
+396,6.600000000,pose2_to_pose3_retreat,0.580745004638,1.82829145258e-06,1.07004087899,0.551316724804,0.00867665875578,1.0696786824
+397,6.616666667,pose2_to_pose3_retreat,0.580744844943,1.82445564134e-06,1.07004088243,0.551316565178,0.00867665519835,1.0696786869
+398,6.633333333,pose2_to_pose3_retreat,0.580744830124,1.82409971121e-06,1.07004088275,0.551316550366,0.00867665486825,1.06967868732
+399,6.650000000,pose2_to_pose3_retreat,0.580744653895,1.81986676905e-06,1.07004088655,0.551316374213,0.00867665094251,1.06967869229
+400,6.666666667,pose2_to_pose3_retreat,0.580744454437,1.79674455016e-06,1.07004084992,0.551316174788,0.00867662779684,1.06967865243
+401,6.683333333,pose2_to_pose3_retreat,0.580744192149,1.76236233844e-06,1.07004079287,0.551315912532,0.00867659330327,1.06967859014
+402,6.700000000,pose2_to_pose3_retreat,0.580744104338,1.75085147626e-06,1.07004077377,0.551315824731,0.00867658175513,1.06967856929
+403,6.716666667,pose2_to_pose3_retreat,0.580744053997,1.74425253556e-06,1.07004076282,0.551315774397,0.00867657513481,1.06967855733
+404,6.733333333,pose2_to_pose3_retreat,0.580743905146,1.72474028732e-06,1.07004073044,0.551315625564,0.00867655555937,1.06967852199
+405,6.750000000,pose2_to_pose3_retreat,0.580743856792,1.71840175599e-06,1.07004071992,0.551315577216,0.00867654920031,1.0696785105
+406,6.766666667,pose2_to_pose3_retreat,0.580743615875,1.8048841846e-06,1.07004079292,0.551315335479,0.00867663307181,1.06967858757
+407,6.783333333,pose2_to_pose3_retreat,0.580743570924,1.82144260132e-06,1.07004080698,0.551315290372,0.0086766491341,1.06967860243
+408,6.800000000,pose2_to_pose3_retreat,0.580743556026,1.88918627309e-06,1.07004071538,0.551315274482,0.00867671367575,1.06967851481
+409,6.816666667,pose2_to_pose3_retreat,0.58074355647,1.91687981323e-06,1.07004067217,0.551315274506,0.00867674001505,1.06967847325
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b651f3098b6c40b6d762693ed53aa1778d88b504
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:468f3fd82f9292d204d0b477e8ee513354843d988504409aec831f2fa7a66fe0
+size 25659209
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b10d039640a5edc55bf538a3997ec36bbe8d8d5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_01/franka_data.csv
@@ -0,0 +1,406 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+21,0.350000000,BASELINE,766,744.739938478,715,679.739938478,659.260061522,635,878,787,804.739938478,652.739938478,631.739938478,652,0.400928509677,-0.0154392477072,0.0599320144623,0.999999972838,-0.000103032214464,-0.000204721839425,-4.23977916349e-05,1793242965623250688
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+27,0.450000000,BASELINE,765.743601281,745,714,679.256398719,659,635,878.256398719,787,805,652,631,652,0.400928624251,-0.0154409613386,0.0599324962841,0.999999972744,-0.000104739242499,-0.00020435898662,-4.21755703694e-05,1793242965723250688
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+48,0.800000000,BASELINE,766,744.943668543,714.943668543,680,659,635,879,787,804.943668543,652,631,652,0.400927412955,-0.0154424081454,0.0599305480219,0.999999972163,-0.000106048211211,-0.000206459305258,-4.2463087182e-05,1793242966073250816
+49,0.816666667,BASELINE,765.476560545,744.476560545,714.476560545,680,659,635,879,786.476560545,805,651.476560545,631,652,0.400928479362,-0.0154406944032,0.0599314088886,0.999999972815,-0.000102437787482,-0.000205174516635,-4.2181322286e-05,1793242966089917440
+50,0.833333333,BASELINE,765,744,714,679.89792113,659,635,878.89792113,786,804.89792113,651.10207887,631,652,0.400929605288,-0.0154390475662,0.0599321197201,0.999999973393,-9.92395193158e-05,-0.000203976396211,-4.1948437512e-05,1793242966106584064
+51,0.850000000,BASELINE,765,744,714,679.319476851,659,635,878.319476851,786,804.319476851,651.680523149,631,652,0.400929611961,-0.0154381773767,0.0599313691983,0.999999973251,-9.92964144828e-05,-0.00020456805405,-4.23200944931e-05,1793242966123250688
+52,0.866666667,BASELINE,765,744,714,679,659,635,878.255301602,786,804.255301602,652,631,651.744698398,0.400929826702,-0.0154387800337,0.0599312605272,0.999999973154,-0.000100827380284,-0.000204272405173,-4.24158967815e-05,1793242966139917312
+53,0.883333333,BASELINE,765,744,714,679,659,635,878.825557652,786,804.825557652,652,631,651.174442348,0.400930298127,-0.0154411996771,0.0599319436795,0.999999973104,-0.000104176842707,-0.000202882124677,-4.21713891485e-05,1793242966156583936
+54,0.900000000,BASELINE,765,744,714,679,659,635,878.587821177,786.412178823,804.587821177,651.587821177,631,651.412178823,0.400930143249,-0.0154410336658,0.0599324388195,0.999999973169,-0.000103395467344,-0.000203009039655,-4.19269650197e-05,1793242966173250560
+55,0.916666667,BASELINE,765,744.005849632,714,679,659,635,878,787,804.005849632,651.005849632,631,652,0.400929710954,-0.0154397599058,0.0599328399803,0.999999973279,-0.000100844919192,-0.000203802324397,-4.16861203838e-05,1793242966189917184
+56,0.933333333,BASELINE,765,744.583608156,714,679,659,635,878,787,804.583608156,651.583608156,631,652,0.400929142499,-0.0154415948422,0.0599321540673,0.999999972906,-0.000103316048212,-0.000204372106071,-4.17916382053e-05,1793242966206584064
+57,0.950000000,BASELINE,765.160579324,744.839420676,714,679.160579324,659,635,878,787,805,652,631,652,0.400928827825,-0.01544252197,0.0599316537767,0.999999972712,-0.000104767081115,-0.000204571647824,-4.18408390249e-05,1793242966223250688
+58,0.966666667,BASELINE,765.735518703,744.264481297,714,679.735518703,659,635,878,787,805,652,631,652,0.400929168012,-0.0154411065811,0.0599316324673,0.999999972993,-0.00010358585019,-0.000203815819706,-4.17447190274e-05,1793242966239917312
+59,0.983333333,BASELINE,765.690017001,744,714,679.690017001,659,635,878.309982999,787.309982999,804.690017001,652,631,652,0.400928706958,-0.0154405900731,0.0599312863595,0.999999972849,-0.00010374433546,-0.000204417411858,-4.1860059273e-05,1793242966256584192
+60,1.000000000,BASELINE,765.115957368,744,714,679.115957368,659,635,878.884042632,787.884042632,804.115957368,652,631,652,0.40092756332,-0.0154408393276,0.0599306635537,0.99999997234,-0.000105044133972,-0.000206175399523,-4.21555439328e-05,1793242966273250560
+61,1.016666667,BASELINE,765,744,714,679,659,635,879,787.52536946,804.47463054,652,631,652,0.400928935704,-0.0154418623765,0.0599314686248,0.99999997264,-0.000104591976907,-0.000205006045602,-4.18637499089e-05,1793242966289917184
+62,1.033333333,BASELINE,765,744,714,679,659,635,878.932737012,787,805,652,631,652,0.400930620297,-0.0154427936184,0.0599323511009,0.999999973064,-0.000103825330583,-0.000203393008235,-4.15122988163e-05,1793242966306584064
+63,1.050000000,BASELINE,765,744,714,679,659,635,878.356297762,787,805,652,631,652,0.400929847244,-0.0154415471884,0.0599310835118,0.999999972899,-0.00010403501873,-0.000204030521184,-4.18345574319e-05,1793242966323250432
+64,1.066666667,BASELINE,765.219250869,744.219250869,714,679,659,635,878.219250869,787,805,652,631,652,0.400928947868,-0.0154406571167,0.0599303387612,0.999999972774,-0.000103667050531,-0.000204781677105,-4.20600037013e-05,1793242966339917056
+65,1.083333333,BASELINE,765.793358005,744.793358005,714,679,659,635,878.793358005,787,805,652,631,652,0.400927844037,-0.0154403438089,0.0599304402217,0.999999972714,-0.000102364148858,-0.000205716763483,-4.2128759728e-05,1793242966356583680
+66,1.100000000,BASELINE,765.619180694,745,714,679.380819306,659,635,879,786.619180694,804.619180694,652,631,652,0.400928137847,-0.015440540535,0.0599307998676,0.99999997263,-0.000103170096881,-0.00020571005908,-4.21843760944e-05,1793242966373250560
+67,1.116666667,BASELINE,765.024209771,745,714,679.975790229,659,635,879,786.024209771,804.024209771,652,631,652,0.400929217612,-0.0154410240758,0.0599313047026,0.999999972531,-0.000105161944831,-0.000205173743844,-4.22326034439e-05,1793242966389917440
+68,1.133333333,BASELINE,765,744.448185518,714,679.448185518,659,635,878.448185518,786.551814482,804.551814482,652,631,652,0.400928640238,-0.0154421286097,0.059931067185,0.99999997256,-0.000104389122518,-0.000205535771962,-4.16978883868e-05,1793242966406583808
+69,1.150000000,BASELINE,765,744,714,679,659,635,878,787,804.872810322,652,631,652,0.400928431255,-0.0154430287053,0.0599310484085,0.999999972675,-0.000103703875591,-0.000205405612718,-4.1275952531e-05,1793242966423250432
+70,1.166666667,BASELINE,765,744,714,679,659,635,878,787,804.296889822,652,631,652,0.40092976996,-0.0154431146032,0.0599319124515,0.999999973078,-0.000103741325495,-0.000203404559468,-4.13391428598e-05,1793242966439917056
+71,1.183333333,BASELINE,765.277419903,744.277419903,714,679.277419903,659,635,878,787,804,652,631,652,0.400930306155,-0.0154426506461,0.0599319920476,0.999999973236,-0.000103635741092,-0.000202648696233,-4.14822177469e-05,1793242966456583936
+72,1.200000000,BASELINE,765.850015829,744.850015829,714,679.850015829,659,635,878,787,804,652,631,652,0.400929988476,-0.0154416016408,0.0599312369889,0.999999973138,-0.000103377967549,-0.000203217720518,-4.17102901704e-05,1793242966473250816
+73,1.216666667,BASELINE,766,745,714,680,659,635,878.440251834,787,804.440251834,652,631,652,0.400929414084,-0.0154408733878,0.0599310575792,0.999999973159,-0.000101800301245,-0.000203897768306,-4.17648012653e-05,1793242966489917440
+74,1.233333333,BASELINE,765.964504861,744.964504861,714,679.964504861,659,635,878.964504861,787,804.964504861,652,631,652,0.400928830472,-0.0154403304666,0.0599310995946,0.999999973212,-9.99858125884e-05,-0.000204535250389,-4.17653090066e-05,1793242966506584320
+75,1.250000000,BASELINE,765.388348656,744.388348656,714,679.388348656,659,635,878.388348656,787,804.388348656,652,631,652,0.400929494133,-0.0154408765896,0.0599314025074,0.999999973159,-0.000101699127619,-0.000203924202467,-4.18814770468e-05,1793242966523250688
+76,1.266666667,BASELINE,765,744.187708624,714.187708624,679.187708624,659,635,878,787,804.187708624,652,631.187708624,652,0.400930275948,-0.0154414980029,0.0599318486049,0.999999973235,-0.000102774965923,-0.000203024713147,-4.18132126255e-05,1793242966539917312
+77,1.283333333,BASELINE,765,744.763561314,714.763561314,679.763561314,659,635,878,787,804.763561314,652,631.763561314,652,0.400931302081,-0.0154422751014,0.0599325907802,0.999999973581,-0.000102532629162,-0.000201528784476,-4.13635785847e-05,1793242966556583936
+78,1.300000000,BASELINE,765,745,714.663487708,679.663487708,659,635,878.336512292,787,805,652,631.663487708,652,0.400930145807,-0.0154419640992,0.059932015049,0.999999973374,-0.000102683250301,-0.000202435231106,-4.15686794001e-05,1793242966573250560
+79,1.316666667,BASELINE,765,745,714.092558111,679.092558111,659,635,878.907441889,787,805,652,631.092558111,652,0.40092746925,-0.0154408951166,0.0599305212529,0.999999972777,-0.000103107609239,-0.000205015192719,-4.22298740645e-05,1793242966589917184
+80,1.333333333,BASELINE,765,745,714.499968727,679,659,635,878.500031273,787,805,652,631,652,0.400928786229,-0.0154420726291,0.0599311070854,0.999999972531,-0.000106095474075,-0.000204689463435,-4.22473761809e-05,1793242966606583808
+81,1.350000000,BASELINE,765.093177755,745,714.906822245,679.093177755,659,635,878.093177755,787,805,652,631,651.906822245,0.400930584546,-0.0154433354257,0.0599318986921,0.999999972461,-0.000108555231978,-0.000203773025256,-4.20826619402e-05,1793242966623250688
+82,1.366666667,BASELINE,765.668301167,745,714.331698833,679.668301167,659,635,878.668301167,787,805,652,631,651.331698833,0.400930875883,-0.0154427911099,0.0599316733955,0.999999973,-0.000105717963549,-0.000202709182171,-4.16196547743e-05,1793242966639917312
+83,1.383333333,BASELINE,765.756548698,744.756548698,714,680,659,635,878.756548698,787,805,652,631,651.243451302,0.400929537987,-0.015441976249,0.0599308094194,0.99999997299,-0.000103472681007,-0.000203934399939,-4.15298513637e-05,1793242966656584192
+84,1.400000000,BASELINE,765.181362069,744.181362069,714,680,659,635,878.181362069,787,805,652,631,651.818637931,0.400925980039,-0.0154407927337,0.0599290751561,0.999999972225,-0.000102034058907,-0.000208278772575,-4.19485884817e-05,1793242966673250816
+85,1.416666667,BASELINE,765,744,714.40545382,679.59454618,659,635,878,787,805,652,631,652,0.400926538016,-0.0154410014615,0.0599296014258,0.999999972446,-0.000101825767947,-0.000207332636941,-4.18735530775e-05,1793242966689917440
+86,1.433333333,BASELINE,765,744,714.997625121,679.002374879,659,635,878,787,805,652,631,652,0.400928991438,-0.015441851338,0.0599311687045,0.999999973117,-0.00010218406276,-0.000203950143735,-4.15711280984e-05,1793242966706584064
+87,1.450000000,BASELINE,765,744.575826575,714.424173425,679,659,635,878,787,805,651.424173425,631,652,0.400928281106,-0.0154422504681,0.0599304765676,0.999999972785,-0.000104139845911,-0.000204548369827,-4.17715359009e-05,1793242966723250432
+88,1.466666667,BASELINE,765,744.846928914,714,679,659,635,878,787,805,651.153071086,631,652,0.400928222168,-0.015442188638,0.0599301879146,0.999999972648,-0.000105142779099,-0.000204663872711,-4.19745440804e-05,1793242966739917312
+89,1.483333333,BASELINE,765,744.272165734,714,679,659,635,878,787,805,651.727834266,631,652,0.400929992834,-0.015440861919,0.0599310358735,0.999999973067,-0.000103503006582,-0.000203405374858,-4.21791381382e-05,1793242966756584192
+90,1.500000000,BASELINE,765,744.302227271,714,679.302227271,659,635,878,787,805,652,631,652,0.400930269934,-0.0154402297448,0.0599313513423,0.999999973162,-0.000102909909772,-0.000203233155791,-4.22024030334e-05,1793242966773251072
+91,1.516666667,BASELINE,765,744.876287299,714,679.876287299,659,635,878,787,805,652,631,652,0.400929203674,-0.0154402222662,0.0599311878728,0.999999972968,-0.000103258226252,-0.000204037970253,-4.20625747398e-05,1793242966789917952
+92,1.533333333,BASELINE,765,744.533278752,714,679.533278752,659,635,878.466721248,787,804.533278752,652,631,652,0.400928443121,-0.0154414039583,0.0599303894304,0.999999972685,-0.000104102254862,-0.000205045816666,-4.18244402571e-05,1793242966806584320
+93,1.550000000,BASELINE,765.059970375,744.059970375,714.059970375,679.059970375,659,635,878.940029625,787,804.059970375,652,631,652,0.400927944201,-0.0154426026686,0.0599296623034,0.999999972455,-0.00010483773131,-0.000205830042076,-4.1631918393e-05,1793242966823250688
+94,1.566666667,BASELINE,765.6386633,744.6386633,714.6386633,679.6386633,659,635,878.3613367,787,804.6386633,652,631,652,0.400928981917,-0.0154411229872,0.0599310607887,0.999999972915,-0.000103456406733,-0.000204197599527,-4.20675152621e-05,1793242966839917056
+95,1.583333333,BASELINE,766,744.785698678,715,679.785698678,659,635,878.214301322,787,804.785698678,652,631,652,0.400929828998,-0.0154407594928,0.0599319225141,0.999999973176,-0.00010345901193,-0.000202875810869,-4.22563313885e-05,1793242966856583936
+96,1.600000000,BASELINE,766,744.215139086,715,679.215139086,659,635,878.784860914,787,804.215139086,652,631,652,0.400930359165,-0.015442251567,0.0599318919206,0.999999973107,-0.000105762285981,-0.000202070458418,-4.2034894959e-05,1793242966873250560
+97,1.616666667,BASELINE,765.630873916,744.369126084,714.630873916,679.369126084,659,635,879,787,804.369126084,652,631,652,0.400930340013,-0.0154424293884,0.0599317069125,0.999999973103,-0.000105445858431,-0.000202303054346,-4.18155075466e-05,1793242966889917184
+98,1.633333333,BASELINE,765.038312677,744.961687323,714.038312677,679.961687323,659,635,879,787,804.961687323,652,631,652,0.400929988354,-0.0154418116812,0.0599314284359,0.999999973136,-0.0001035437031,-0.000203163929298,-4.15973604348e-05,1793242966906584064
+99,1.650000000,BASELINE,765,745,714,679.458620444,659,635,879,787,805,652,631,651.458620444,0.400930005032,-0.015441993051,0.0599312387016,0.999999973033,-0.00010314964641,-0.000203905491881,-4.14211091103e-05,1793242966923250944
+100,1.666666667,BASELINE,765,744.880390158,714,679,659,635,878.880390158,787,805,652,631,651.119609842,0.400930102482,-0.0154424160574,0.0599311144364,0.999999972917,-0.000103539287144,-0.000204313242553,-4.12463410585e-05,1793242966939917568
+101,1.683333333,BASELINE,765,744.30434409,714,679,659,635,878.30434409,787,805,652,631,651.69565591,0.400930410993,-0.0154435503743,0.059931216595,0.999999972782,-0.000106521735756,-0.000203478625668,-4.10661817389e-05,1793242966956584192
+102,1.700000000,BASELINE,765,744.271309848,714.271309848,679.271309848,659,635,878,787,804.728690152,652,631,652,0.400930369842,-0.015443609367,0.0599316190117,0.999999972902,-0.000106858007711,-0.000202679842309,-4.12069748398e-05,1793242966973250560
+103,1.716666667,BASELINE,765,744.846524507,714.846524507,679.846524507,659,635,878,787,804.153475493,652,631,652,0.400929937018,-0.0154424638469,0.0599323577594,0.999999973312,-0.000104230193113,-0.000201921197542,-4.17072793589e-05,1793242966989917440
+104,1.733333333,BASELINE,765,745,714.564639523,679.564639523,659,635,878,787,804.435360477,652,631,651.564639523,0.400929091286,-0.0154423665743,0.059931406942,0.999999973165,-0.000102955256802,-0.00020332805163,-4.15600915437e-05,1793242967006584064
+105,1.750000000,BASELINE,765,745,714,679,659,635,878.028324193,786.971675807,804.971675807,652,631,651,0.400928177144,-0.0154426331684,0.0599299420244,0.999999972825,-0.000102275009264,-0.000205406906207,-4.12155401287e-05,1793242967023250688
+106,1.766666667,BASELINE,765,745,714,679,659,635,878.60522717,786.39477283,804.39477283,652,631,651,0.400928848289,-0.0154425588472,0.0599304284381,0.999999972709,-0.000103577286785,-0.00020523815251,-4.16121183885e-05,1793242967039917312
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,680,660,635,879,787,805,652,631,652,0.400929892984,-0.0154425727833,0.0599310529968,0.999999972974,-0.000103809232017,-0.000203834665973,-4.15467717695e-05,1793242967080902400
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.601243239,714.601243239,679.398756761,659.398756761,635,879,786.398756761,804.398756761,652,631,652,0.400931637066,-0.0154430919765,0.059932136515,0.999999973544,-0.000104198930055,-0.000200887517794,-4.12082926256e-05,1793242967097569024
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.804246909,714.804246909,679.195753091,659,635,879,786,804.195753091,652,631,652,0.400932376796,-0.0154431405447,0.0599325621534,0.999999973846,-0.000103920382949,-0.000199551153638,-4.10809951288e-05,1793242967114235904
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.222997017,714.222997017,679.777002983,659,635,879,786,804.777002983,652,631,652,0.400931138652,-0.0154422623102,0.0599316922287,0.999999973631,-0.00010232585993,-0.000201386907912,-4.13695778486e-05,1793242967130902272
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.354666977,714,679.645333023,659,635,878.645333023,786.354666977,805,652,631,652,0.400931624333,-0.0154422333596,0.0599317810837,0.999999973599,-0.000102973841156,-0.00020118758974,-4.14998967876e-05,1793242967147568896
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.930098867,714,679.069901133,659,635,878.069901133,786.930098867,805,652,631,652,0.400933183023,-0.0154427330518,0.0599324667377,0.999999973679,-0.000105017684762,-0.000199721526529,-4.15317033232e-05,1793242967164235264
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787,805,652,631,652,0.400935028523,-0.0154438678627,0.0599333071461,0.999999973916,-0.000105700893845,-0.000198203265251,-4.13574682493e-05,1793242967180902144
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.079283341,659,635,878,787,805,652,631,651.920716659,0.400937742387,-0.015444539571,0.0599343604691,0.999999974282,-0.000105879019754,-0.000196279890156,-4.12337153478e-05,1793242967197569024
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.669694401,659,635,878,787,805,652,631,651.330305599,0.400945798792,-0.0154416595665,0.0599366484694,0.999999975333,-0.000104013852444,-0.000191791338075,-4.16190837382e-05,1793242967214235648
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.255600027,745,714,680,659,635,878,787,805,652,631,651.255600027,0.400961967387,-0.0154418318893,0.0599409931487,0.999999977264,-0.000104148657547,-0.000181419187927,-4.13897243431e-05,1793242967230902528
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.835784199,745,714,680,659,635,878,787,805,652,631,651.835784199,0.400988437577,-0.0154458803348,0.0599479495855,0.999999980101,-0.000106823209506,-0.000163575510537,-4.03797276996e-05,1793242967247569152
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,714,679.586406809,659.413593191,635,878,787,805,652,631,652,0.401021969327,-0.0154477532587,0.0599531642553,0.999999982934,-0.000107048528793,-0.000145155445082,-4.00268707191e-05,1793242967264235776
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,714,679.009535441,659.990464559,635,878,787,805,652,631,652,0.40105828884,-0.0154487673313,0.0599576913114,0.99999998555,-0.000106306941056,-0.000126507831824,-3.99334390132e-05,1793242967280902144
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.423614405,745,714,679,659.423614405,635,878,787,805,652,630.423614405,652,0.40110401257,-0.015450715592,0.0599605786968,0.999999987487,-0.000106642660991,-0.000109692792847,-4.0255905305e-05,1793242967297568768
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.155154469,744.844845531,714,679,659.155154469,635,878.155154469,787,804.844845531,652,630,652,0.401153149346,-0.0154528157608,0.0599630583191,0.999999988741,-0.000107109311319,-9.69445768248e-05,-4.05901652255e-05,1793242967314235392
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.714877453,744.285122547,714,679,659.714877453,635,878.714877453,787,804.285122547,652,630,652,0.401210773576,-0.0154552710921,0.059964546551,0.999999988858,-0.000107870151821,-9.47203691731e-05,-4.09369503777e-05,1793242967330902016
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,744.293267928,714,679,660,635,879,787,804,652,630.293267928,652,0.401279526857,-0.0154586324536,0.0599661262792,0.999999989013,-0.000109725063386,-9.064650781e-05,-4.14423443056e-05,1793242967347568896
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,744.891041156,714,679,660,635,879,787,804,652,630.891041156,652,0.401359835626,-0.0154629345622,0.0599678010095,0.999999989178,-0.000112715968324,-8.46521182669e-05,-4.21124245211e-05,1793242967364235520
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,714,679.46971896,659.53028104,635,878.53028104,787,804.93943792,652,631,652,0.40145603595,-0.0154672469213,0.0599708435394,0.999999989663,-0.000114233724258,-7.61992305313e-05,-4.26404312184e-05,1793242967380902400
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.954656786,745,714,680,659,635,878.045343214,787,806,652,631,652,0.401557102155,-0.0154716350501,0.0599738351022,0.9999999901,-0.000115479451824,-6.78535524741e-05,-4.31436264041e-05,1793242967397569024
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.364581368,745,714,680,659,635,878.635418632,787,806,652,631,652,0.401674069299,-0.0154769059907,0.0599725515851,0.999999989882,-0.000117402057239,-6.73793756434e-05,-4.37292019727e-05,1793242967414235648
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.778416929,787,805.778416929,652,631,652,0.401805014816,-0.0154836084183,0.0599722993931,0.999999989708,-0.000120520964027,-6.39547996627e-05,-4.43587406863e-05,1793242967430902528
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.198575859,787,805.198575859,652,631,652,0.401958560712,-0.0154926252897,0.0599737146592,0.999999989546,-0.000125574064122,-5.57599852385e-05,-4.50593594476e-05,1793242967447568896
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.379174981,745,714,679.620825019,659,635,878.379174981,787,805,652,631,652,0.402137132249,-0.0155009603242,0.0599761025815,0.999999989591,-0.000128774266476,-4.61844919504e-05,-4.58477231545e-05,1793242967464235264
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.955837212,745,714,679.044162788,659,635,878.955837212,787,805,652,631,652,0.402328738006,-0.0155089402356,0.0599789970965,0.999999989685,-0.000131009417006,-3.5889893316e-05,-4.66817874799e-05,1793242967480901888
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.469943877,745,714,679.530056123,659,635,879,787,805.530056123,652,631,652,0.402540158741,-0.015519021254,0.0599767743553,0.999999988558,-0.000139859724278,-3.27934315304e-05,-4.74165923521e-05,1793242967497568768
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.892807048,745,714,679.892807048,658.892807048,635,878.892807048,787,805.785614095,652,631,652,0.402759294626,-0.0155293519098,0.0599750792935,0.999999986747,-0.000152794138154,-2.92329994216e-05,-4.80162115486e-05,1793242967514235392
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.301579008,745,714,679.301579008,658.301579008,635,878.301579008,787,804.603158016,652,631,652,0.403005848088,-0.015540022962,0.0599776833891,0.999999982122,-0.000181693186807,-2.08818073618e-05,-4.80425656923e-05,1793242967530902016
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.567328876,745,714,679,658.283664438,635,878,787,804.283664438,652,631,651.716335562,0.403269578007,-0.015549466203,0.0599768326491,0.999999979277,-0.000196871072429,-1.87274684466e-05,-4.83329919181e-05,1793242967547568896
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.725353529,745,714,679,658.862676764,635,878,787,804.862676764,652,631,651.137323236,0.403551191827,-0.0155576310616,0.0599723847771,0.999999978984,-0.000197762651993,-2.30252165406e-05,-4.88983667461e-05,1793242967564235520
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.561559063,744.561559063,714,679.438440937,659,635,878.438440937,787,805,652,631,651.438440937,0.40385536528,-0.0155594162514,0.0599620316327,0.999999979962,-0.000189603598094,-4.03693365053e-05,-4.99579464281e-05,1793242967580902144
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659,635,879,787,805,652,631,652,0.40416707079,-0.015559025181,0.0599498235437,0.999999980843,-0.000178556602918,-6.17430967543e-05,-5.11846956733e-05,1793242967597568768
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744,714,680,659,635,879,787,805,652,631,652,0.404500828223,-0.0155504293672,0.0599368082355,0.999999981728,-0.000164357933762,-8.19874477178e-05,-5.29867816275e-05,1793242967614235392
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744,714,679.812919709,659,635,879,787,805,652,631,652,0.404857953168,-0.0155455993391,0.0599292150049,0.99999998166,-0.000157582632967,-9.4527935716e-05,-5.39620815504e-05,1793242967630902016
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744,714,679.231425427,659,635,879,787,805,652,631,652,0.405264342875,-0.0155487085696,0.0599330529277,0.999999980606,-0.000166457728618,-9.08266710534e-05,-5.31943009469e-05,1793242967647568640
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.346393902,714.346393902,679,659,635,879,787,805,652,631,652,0.405711633982,-0.0155533172317,0.0599491193604,0.999999982233,-0.000169237411451,-6.47314752433e-05,-5.19953025974e-05,1793242967664235520
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+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714.502210299,679.497789701,659.497789701,635,879,787,805,652,631,652,0.406708213401,-0.0155621941305,0.0599970329767,0.999999985502,-0.000162100324177,1.82960847126e-05,-4.88387576682e-05,1793242967697569024
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+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,786.97893433,805,652,631,652,0.409974754259,-0.0155637835608,0.0599902892079,0.999999985627,-0.00015976359474,-2.39373329e-05,-5.14561977076e-05,1793242967797569024
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+159,2.650000000,POSE1_TO_POSE2_PRESS,765.217383116,744.217383116,714,679.782616884,659.217383116,635,879,787,805.217383116,651.782616884,631,652,0.416434935074,-0.0155748004579,0.060031110122,0.999999986495,-0.000147899433644,5.29179346996e-05,-4.83345903621e-05,1793242967947568896
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765.021056953,745,714,681,660.021056953,634,880,785,806.978943047,651,630,652,0.452636149733,-0.0156250377491,0.0598302058041,0.999999943278,-0.000206897105806,-0.00025817001495,-6.31303793192e-05,1793242969147569152
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681.573122892,660,633.426877108,880,785,807,651,630.573122892,652,0.45263909427,-0.0156262050527,0.0598300697203,0.999999943053,-0.000208503371775,-0.000257812496341,-6.28706378656e-05,1793242969164235776
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.163717432,745,714,681.836282568,660,633,880,785,807,651,631,652,0.452641010784,-0.0156267726732,0.0598294639663,0.999999942744,-0.000209256103476,-0.000258440476698,-6.27081932749e-05,1793242969180901888
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.742821916,745,714,681.257178084,660,633,880,785,807,651,631,652,0.452640002188,-0.0156256202401,0.0598272850884,0.99999994212,-0.000207468233252,-0.000262235238916,-6.28447596982e-05,1793242969197568512
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660,633.321044065,880,785,806.678955935,651.321044065,631,652,0.45264020292,-0.0156245446943,0.0598264715459,0.999999942325,-0.000205409187196,-0.000263135002564,-6.25907551194e-05,1793242969214235392
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660,633.898561403,880,785,806.101438597,651.898561403,631,652,0.45264136975,-0.0156235305716,0.059826748732,0.999999943196,-0.000203133506037,-0.000261722031892,-6.20247341247e-05,1793242969230902016
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660,633.516474958,880,785,806.483525042,651.516474958,630.516474958,652,0.452641225105,-0.0156246517783,0.0598262126471,0.999999942436,-0.000205238876748,-0.000263068573418,-6.1641875847e-05,1793242969247568896
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745.069103292,714,681,660,633,880,785,807,651,630,652,0.452640782637,-0.0156257572536,0.0598254492973,0.999999941474,-0.000207628812044,-0.000264894991482,-6.14277574794e-05,1793242969264235520
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745.647518061,714,681,660,633,880,785,807,651,630,652,0.452640204655,-0.0156233934713,0.0598242880952,0.999999941649,-0.00020523608696,-0.000265924714201,-6.21696634513e-05,1793242969280902400
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745.773956056,714,681.226043944,660,633,880,785,806.773956056,651.226043944,630.226043944,652,0.452639857062,-0.0156222469961,0.0598238328484,0.999999941673,-0.000204240978324,-0.00026655740566,-6.23361789083e-05,1793242969297569024
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745.195256856,714,681.804743144,660,633,880,785,806.195256856,651.804743144,630.804743144,652,0.4526398689,-0.0156229996639,0.0598244789755,0.999999941472,-0.000205426316595,-0.000266570681397,-6.16050171472e-05,1793242969314235392
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,714,681.619188598,660,633,880,785,806.380811402,651.619188598,630.619188598,652,0.452640739115,-0.0156230335004,0.0598245513796,0.999999941287,-0.000206458317901,-0.000266489652798,-6.15135866267e-05,1793242969330902272
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,714,681.044460089,660,633,880,785,806.955539911,651.044460089,630.044460089,652,0.452642046432,-0.0156227012929,0.0598243316321,0.99999994111,-0.00020741223679,-0.000266360602466,-6.17479206187e-05,1793242969347568896
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,714,680.456807835,660,633.543192165,880.543192165,785,807,651,630,652,0.452639868193,-0.0156225564269,0.0598225578634,0.999999940185,-0.000207983723709,-0.000269330576653,-6.19105726356e-05,1793242969364235520
+245,4.083333333,HOLD_POSE2,765,745,714,681,660,634,880,785,806,651,630,652,0.452638843498,-0.0156206539783,0.0598220783627,0.999999940571,-0.000204122127231,-0.000270859875263,-6.18649988537e-05,1793242969405892864
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+248,4.133333333,HOLD_POSE2,765,745,714,681,660,634,880,784.726791042,807,651,630.726791042,652,0.452641140543,-0.0156209667923,0.059821789943,0.999999941516,-0.000201048628362,-0.000269846320194,-6.10758627779e-05,1793242969455892736
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+251,4.183333333,HOLD_POSE2,765.481876404,745.518123596,714,681,660,633,879.518123596,785,807,651,630.518123596,652,0.452637948383,-0.0156197754755,0.0598194714116,0.999999940412,-0.000201981371931,-0.00027307191434,-6.17386017305e-05,1793242969505892352
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+253,4.216666667,HOLD_POSE2,765.364450945,744.364450945,714,681,659.364450945,633.635549055,879.635549055,784.364450945,805.728901891,651,630,652,0.452640484373,-0.0156208666693,0.0598207226276,0.999999940508,-0.000203650068381,-0.000271536923159,-6.14637232557e-05,1793242969539225600
+254,4.233333333,HOLD_POSE2,765,744.209587233,714,681,659.209587233,633.790412767,879.790412767,784.209587233,805.419174466,651,630.209587233,652,0.452641339828,-0.0156207113166,0.0598212800046,0.999999940689,-0.000203301052271,-0.000271179638775,-6.12504661439e-05,1793242969555892480
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+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634,880,785,807,651,630,652,0.452640238956,-0.0156207431177,0.0598192116134,0.999999939743,-0.000203362297753,-0.0002747859089,-6.04164875402e-05,1793242969721851392
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,744.092157032,714,681,660,633,879.092157032,784.907842968,806.907842968,651,630,652,0.452637235625,-0.0156206424514,0.0598171910384,0.999999938728,-0.000204424123853,-0.000277497184807,-6.12380915898e-05,1793242969805184256
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,744.485545524,714,681,660,633.485545524,879,785,806.514454476,651,630.485545524,652,0.452638682854,-0.0156195959844,0.0598178241651,0.999999939597,-0.000202476273079,-0.000275803524116,-6.11768287451e-05,1793242969821850880
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.634996541,745,714,681,660,633.365003459,879.634996541,784.365003459,806.634996541,651,631,652,0.452632875477,-0.0156179291909,0.0598151432619,0.999999938975,-0.000199527044415,-0.000280107845591,-6.1476907306e-05,1793242969855184384
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.786458924,660,633,880,784.213541076,806.786458924,651,630.786458924,652,0.452619549188,-0.0156176377119,0.059808918643,0.999999935962,-0.00019993538261,-0.000290283955062,-6.19445281585e-05,1793242969871851520
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+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,659,635,879,787.494329658,805,652,631.505670342,652,0.407206152323,-0.0153736554681,0.0598340548363,0.999999936551,0.00020712879105,-0.00028863418357,2.61840033754e-05,1793242971171850752
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.068070098,659,635,879,787.931929902,805,652,631,652,0.40666175171,-0.0153731189117,0.0598183242211,0.999999929946,0.000203793868233,-0.000313023069452,2.4351142716e-05,1793242971188517376
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.646083795,659,635,879,787.353916205,805,652,631,652,0.406195297944,-0.0153755173949,0.0598221757247,0.999999934852,0.000201751464942,-0.000298297640888,2.4730535007e-05,1793242971205184000
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.776702637,744.776702637,714,679.776702637,659,635,879,787,805,651.776702637,631,652,0.405741614531,-0.0153759925065,0.0598260261981,0.999999938564,0.000199840218891,-0.000286900574531,2.49883827524e-05,1793242971221850880
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.200752762,744.200752762,714,679.200752762,659,635,879,787,805,651.200752762,631,652,0.405308099326,-0.0153734300459,0.059829875044,0.999999940644,0.000198136109123,-0.000280759976968,2.5054275719e-05,1793242971238517504
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.387003811,744,714,679.387003811,659,635,879,787.387003811,805,651.387003811,631,652,0.404894474657,-0.0153717261753,0.0598244968324,0.999999938154,0.000203343910675,-0.000285938549054,2.41500780016e-05,1793242971255184128
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.981077724,744,714,679.981077724,659,635,879,787.981077724,805,651.981077724,631,652,0.404491492571,-0.0153704817013,0.0598141815956,0.999999933061,0.000212249996502,-0.000297173550844,2.27268239591e-05,1793242971271851008
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,744,714,680,659,635,878.444420591,787.444420591,805,652,631,652,0.404095625591,-0.0153684114623,0.0597886971292,0.999999916209,0.000220192862462,-0.000344527355844,1.99444461233e-05,1793242971288517632
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.870497875,744,714,679.870497875,659,635,878,787,804.870497875,652,631,652,0.403721939604,-0.0153672537995,0.0597691145565,0.999999902491,0.000223798398773,-0.000380288253875,1.77226023602e-05,1793242971305184256
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.296352001,744,714,679.296352001,659,635,878,787,804.296352001,652,631,652,0.403423607922,-0.0153693227325,0.0597715095694,0.999999907988,0.000212620583254,-0.000372165086689,1.75788711509e-05,1793242971321850880
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.876411591,744,714,679,659,635,878.876411591,787,804.876411591,652,631,652,0.402922305319,-0.0153729062968,0.0598018969514,0.999999929621,0.000203960566247,-0.000314278459347,1.96775587746e-05,1793242971355184128
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,744.458399342,714,679,659,635,879,787,805,652,631,652,0.40270465131,-0.0153757964457,0.0598214337636,0.99999993846,0.000207516894581,-0.000282022692102,2.19056066403e-05,1793242971371851008
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,744.388211591,714,679,659,635,878.388211591,787,804.388211591,652,631,652,0.402285239032,-0.0153736079391,0.0598419677723,0.999999943121,0.000220632879451,-0.00025397396104,2.39920693491e-05,1793242971405184256
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.809535393,744.190464607,714,679.190464607,659,635,878,787.190464607,804,652,631,652,0.402089577516,-0.0153695772008,0.0598409578663,0.99999994047,0.000226615281474,-0.000259125143475,2.36626725617e-05,1793242971421850880
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.221218518,744.778781482,714,679.778781482,659,635,878,787.778781482,804,652,631,652,0.401916651301,-0.0153672878598,0.0598333144453,0.999999936391,0.000228565853193,-0.000272849778688,2.30057807287e-05,1793242971438517760
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744.637872101,714,679.637872101,659,635,878,787.637872101,804.362127899,652,631,652,0.40176323208,-0.0153690699398,0.0598296031915,0.999999934864,0.000224069914594,-0.000282026305049,2.29243030438e-05,1793242971455184128
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744.057520894,714,679.057520894,659,635,878,787.057520894,804.942479106,652,631,652,0.401621568028,-0.0153733055145,0.0598282615158,0.999999934865,0.000215689219406,-0.000288462079078,2.31895778638e-05,1793242971471850752
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744.519540527,714,679.519540527,659,635,878.519540527,787,805,652,631,652,0.401512652974,-0.0153769848147,0.0598314597821,0.9999999372,0.00020834181573,-0.000285754388163,2.31958959889e-05,1793242971488517632
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.904843998,714,679.904843998,659,635,879,787,805,652,631,651.904843998,0.4014112325,-0.0153796914956,0.0598347827,0.999999939421,0.000202609402463,-0.000282084234859,2.31530472386e-05,1793242971505184256
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.334640024,714,679.334640024,659,635,879,787,805,652,631,651.334640024,0.401329240009,-0.0153778480943,0.0598362343768,0.999999940034,0.00020437198427,-0.000278631175378,2.30069730317e-05,1793242971521850880
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.841177345,744,714,679,659,635,879,787,805,651.158822655,631,651.841177345,0.401195271286,-0.0153760603917,0.0598382154029,0.999999940347,0.000207515915996,-0.000275205485462,2.24852013262e-05,1793242971555184128
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744.001186416,714,679.998813584,659,635,879,787,804.001186416,652,631,652,0.40109928705,-0.015375268985,0.0598381273907,0.999999939914,0.000209729266979,-0.000275138700552,2.19886395577e-05,1793242971588517632
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.578754074,714,679.421245926,659,635,879,787,804.578754074,652,631,652,0.401065348422,-0.0153724161808,0.0598371793374,0.999999938346,0.000214840569758,-0.000276931673963,2.14705757253e-05,1793242971605184256
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.158812008,745,714,679.158812008,659,635,879,787,805,652,631,652,0.401035294788,-0.0153706053349,0.0598362998007,0.999999937163,0.000218532153432,-0.000278340173288,2.10953880997e-05,1793242971621851392
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.671954757,659,635,879,787.328045243,805,652,631,652,0.401000959286,-0.0153725107727,0.059836044132,0.999999937328,0.000218118369695,-0.000278071613282,2.10725832872e-05,1793242971655185664
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.515336612,744.515336612,714,679,659.484663388,635,879,787.515336612,804.515336612,652,631,652,0.40098287541,-0.0153733538264,0.0598376037345,0.99999993817,0.000216913918504,-0.00027602008039,2.05147363531e-05,1793242971688517888
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.061782029,744.061782029,714,679,659.938217971,635,878.938217971,787.061782029,804.061782029,652,631,652,0.400976901524,-0.0153734151777,0.0598376179856,0.999999938476,0.000215979143308,-0.000275679635053,2.00595952434e-05,1793242971705184256
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.638894976,744.638894976,714,679,659.361105024,635,878.361105024,787.638894976,804.638894976,652,631,652,0.400973371527,-0.0153753031723,0.0598373268946,0.999999938499,0.00021470557514,-0.000276549294288,2.05982137906e-05,1793242971721850880
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.220163453,659.440326906,635,878.220163453,788,805,652,631,652,0.400971842519,-0.0153759829323,0.059837948131,0.999999938881,0.000214162511917,-0.000275571566624,2.07800015993e-05,1793242971738518016
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.808378779,660.616757559,635,878.808378779,788,805,652,631,652,0.400973658605,-0.0153746428611,0.0598400945242,0.999999939857,0.000214840649248,-0.000271505523381,2.03652679263e-05,1793242971755185152
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,660.22052277,635,879,787.610261385,805,652,631,652,0.400974924855,-0.0153756036233,0.0598415021203,0.999999940661,0.000214380393219,-0.00026888791582,2.04396534518e-05,1793242971771852288
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,659.064427829,635,879,787.032213914,805,652,631,652,0.40097592544,-0.0153776760725,0.059842552754,0.999999941385,0.000213370103011,-0.00026697014477,2.07503652687e-05,1793242971788518912
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.455978638,744.455978638,714,680,659,635,879,787,804.455978638,652,631,652,0.400974794524,-0.0153773178294,0.0598421881769,0.999999941066,0.000213835971887,-0.000267789385629,2.07663922427e-05,1793242971805185024
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744.119774267,714,679.880225733,659,635,878.880225733,787,804.119774267,652,631,652,0.400974178768,-0.0153771451972,0.0598421783715,0.999999940952,0.000214129150966,-0.000267981568948,2.07605885483e-05,1793242971821851136
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744.694102281,714,679.305897719,659,635,878.305897719,787,804.694102281,652,631,652,0.400975995496,-0.0153782213961,0.0598438319314,0.999999941847,0.000213436330257,-0.000265180984284,2.0737938437e-05,1793242971838517760
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.277110396,744.722889604,714,679,659,635,878.277110396,787,805,652,631,652,0.400976536291,-0.0153784614685,0.0598445950046,0.999999942282,0.000213114828562,-0.000263806173722,2.06200877834e-05,1793242971855184384
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.870010254,744.129989746,714,679,659,635,878.870010254,787,805,652,631,652,0.400975623058,-0.0153777487082,0.0598443432974,0.999999942199,0.0002132164745,-0.00026405614644,2.03937484941e-05,1793242971871851008
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,744,714,679,659,635,879,787,805,652,631,651.548352545,0.400974867427,-0.0153778333989,0.0598440384104,0.999999941919,0.000214377906148,-0.000264189885164,2.0198104906e-05,1793242971888517888
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.970090645,744,714,679,659,635,879,787,805,652,631,651.029909355,0.400974168505,-0.0153781355616,0.059843711199,0.999999941584,0.000215750663206,-0.000264352407436,2.00191752817e-05,1793242971905184512
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.395698976,744,714,679,659,635,879,787,805,652,631,651.604301024,0.400973696294,-0.0153783201222,0.059843249438,0.999999941288,0.000215552873943,-0.000265633103334,1.99875975603e-05,1793242971921851136
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.183398199,744.183398199,714,679,659,635,879,787,805,652,631,652,0.400973450277,-0.0153779948713,0.0598431920795,0.999999940985,0.000216039669371,-0.000266378919917,1.99757388559e-05,1793242971938518016
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.77291526,744.77291526,714,679,659,635,879,787,805,652,631,652,0.400973705145,-0.0153765406883,0.0598440302343,0.999999940666,0.000218042416208,-0.000265940294159,2.00075461478e-05,1793242971955184384
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.64364776,745,714,679.35635224,659,635,879,787,805,652,631,652,0.400973763239,-0.0153763123477,0.059844515809,0.999999940847,0.000218231816681,-0.000265105748588,1.99789997153e-05,1793242971971851008
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.064020324,745,714,679.935979676,659,635,879,787,805,652,631,652,0.400973698043,-0.0153768520682,0.059844780472,0.999999941341,0.00021728505117,-0.000264023136475,1.99126381982e-05,1793242971988517632
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.48840394,714,679.48840394,659,635,878.48840394,787,805,652,631,652,0.40097340045,-0.0153771700897,0.0598443485887,0.999999941105,0.000218172572316,-0.000264191297085,1.98632006233e-05,1793242972005184256
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.088418947,744,714,679,659,635,878.088418947,787,805,652,631,652,0.40097306861,-0.0153776229328,0.0598439338778,0.999999940989,0.000218328578215,-0.000264499435437,1.98476521959e-05,1793242972021850880
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.674842109,744,714,679,659,635,878.674842109,787,805,652,631,652,0.400972706404,-0.0153789901761,0.0598441030081,0.999999942059,0.000213081667399,-0.000264721261825,2.00111429235e-05,1793242972038518016
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.741408293,744.258591707,714,679.258591707,659,635,879,787,805,652,631,652,0.40097193618,-0.0153796375849,0.05984385882,0.999999942272,0.000211325798517,-0.000265319980379,2.0086302354e-05,1793242972055185152
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.160986004,744.839013996,714,679.839013996,659,635,879,787,805,652,631,652,0.400970658156,-0.015379389123,0.059843100236,0.999999941438,0.000213914708875,-0.000266387760514,2.00515289975e-05,1793242972071852288
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9d864338c457d3522cf954229e767115857b0278
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_01/simulation_data.csv
@@ -0,0 +1,406 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+1,0.016666667,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+2,0.033333333,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+3,0.050000000,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+4,0.066666667,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+5,0.083333333,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
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+365,6.083333333,pose2_to_pose3_retreat,0.581656150056,-0.00999807344869,1.05004081316,0.552227868612,-0.0013232485295,1.04967861401
+366,6.100000000,pose2_to_pose3_retreat,0.581514776237,-0.00999810547311,1.05004069513,0.552086495726,-0.00132327721258,1.04967850027
+367,6.116666667,pose2_to_pose3_retreat,0.581389431875,-0.00999820616883,1.05004061588,0.551961152897,-0.00132337291794,1.04967841608
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+369,6.150000000,pose2_to_pose3_retreat,0.581184505079,-0.00999821364149,1.05004056636,0.551756225148,-0.0013233835151,1.04967837019
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+371,6.183333333,pose2_to_pose3_retreat,0.581034083851,-0.00999809436214,1.05004090317,0.551605802277,-0.00132327037189,1.04967869317
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+374,6.233333333,pose2_to_pose3_retreat,0.580883265952,-0.00999811923087,1.0500408594,0.551454985188,-0.00132329255515,1.04967864763
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+376,6.266666667,pose2_to_pose3_retreat,0.580820050496,-0.00999803476975,1.05004090231,0.551391768846,-0.00132321045622,1.04967870591
+377,6.283333333,pose2_to_pose3_retreat,0.580797700035,-0.00999816452365,1.05004103179,0.551369419386,-0.00132333713127,1.04967882787
+378,6.300000000,pose2_to_pose3_retreat,0.580780878398,-0.00999818135979,1.05004096494,0.55135259832,-0.00132335221592,1.04967875653
+379,6.316666667,pose2_to_pose3_retreat,0.58076834727,-0.00999812635366,1.05004079474,0.551340067147,-0.00132329717196,1.04967859092
+380,6.333333333,pose2_to_pose3_retreat,0.580759690461,-0.00999813107625,1.05004067096,0.551331410489,-0.00132330090274,1.04967847862
+381,6.350000000,pose2_to_pose3_retreat,0.580753569673,-0.00999819210076,1.05004076839,0.551325288688,-0.00132336548875,1.04967857305
+382,6.366666667,pose2_to_pose3_retreat,0.580749556913,-0.00999820565344,1.05004081309,0.551321275882,-0.0013233794067,1.04967861281
+383,6.383333333,pose2_to_pose3_retreat,0.580747385369,-0.00999820339145,1.05004083032,0.551319104537,-0.00132337662792,1.04967862629
+384,6.400000000,pose2_to_pose3_retreat,0.58074638658,-0.00999821734778,1.05004086598,0.551318106214,-0.00132338889337,1.04967866451
+385,6.416666667,pose2_to_pose3_retreat,0.580746264306,-0.00999821914324,1.05004087051,0.551317983999,-0.00132339047341,1.04967866937
+386,6.433333333,pose2_to_pose3_retreat,0.580746086047,-0.00999822176078,1.05004087711,0.551317805827,-0.0013233927769,1.04967867646
+387,6.450000000,pose2_to_pose3_retreat,0.580745793386,-0.00999822605821,1.05004088794,0.551317513308,-0.00132339655871,1.0496786881
+388,6.466666667,pose2_to_pose3_retreat,0.580745500644,-0.00999823035682,1.05004089878,0.551317220708,-0.00132340034157,1.04967869975
+389,6.483333333,pose2_to_pose3_retreat,0.58074529878,-0.00999823332099,1.05004090625,0.551317018941,-0.00132340295009,1.04967870778
+390,6.500000000,pose2_to_pose3_retreat,0.5807452609,-0.00999823387721,1.05004090765,0.55131698108,-0.00132340343957,1.04967870928
+391,6.516666667,pose2_to_pose3_retreat,0.580745251768,-0.00999823401131,1.05004090799,0.551316971952,-0.00132340355758,1.04967870965
+392,6.533333333,pose2_to_pose3_retreat,0.580745250482,-0.00999823403019,1.05004090804,0.551316970667,-0.0013234035742,1.0496787097
+393,6.550000000,pose2_to_pose3_retreat,0.580744962461,-0.00999823825947,1.0500409187,0.551316682786,-0.00132340729604,1.04967872115
+394,6.566666667,pose2_to_pose3_retreat,0.580744651203,-0.00999823288612,1.05004092913,0.551316371698,-0.00132340140574,1.04967873017
+395,6.583333333,pose2_to_pose3_retreat,0.580744480894,-0.00999822615321,1.05004093443,0.551316201489,-0.00132339440194,1.04967873381
+396,6.600000000,pose2_to_pose3_retreat,0.580744382842,-0.00999822227691,1.05004093747,0.551316103496,-0.00132339036969,1.04967873591
+397,6.616666667,pose2_to_pose3_retreat,0.580744341066,-0.00999822062533,1.05004093877,0.551316061744,-0.00132338865167,1.0496787368
+398,6.633333333,pose2_to_pose3_retreat,0.580744314795,-0.00999821958676,1.05004093959,0.551316035488,-0.00132338757131,1.04967873737
+399,6.650000000,pose2_to_pose3_retreat,0.580744280903,-0.0099982182469,1.05004094064,0.551316001616,-0.00132338617755,1.04967873809
+400,6.666666667,pose2_to_pose3_retreat,0.580744192215,-0.00999821474078,1.0500409434,0.551315912981,-0.00132338253037,1.04967873999
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+403,6.716666667,pose2_to_pose3_retreat,0.580743489185,-0.00999822610299,1.05004099621,0.551315210204,-0.00132339347286,1.04967878237
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd4e4f1cfa5308e88805849b196cd235d45547db
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5b8e0bc9a5c8bf76c7efecbc766d0cde2ae49305e989b1d215a28366d7e14e0
+size 25667148
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5017c134ba1622cf2cfc955021ef80f041114642
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_02/franka_data.csv
@@ -0,0 +1,406 @@
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+36,0.600000000,BASELINE,766,744.890209638,714,679,659,635,878.109790362,787,805,652,631,652,0.400971207109,-0.0153815290474,0.0598452382202,0.999999942657,0.000213052365537,-0.000262542457458,1.91182046481e-05,1793242972791324672
+37,0.616666667,BASELINE,765.527007153,745,714,679.472992847,659,635,878.472992847,787.472992847,805,652,631,652,0.400972370346,-0.0153810162143,0.0598458456451,0.999999943117,0.000212531650195,-0.000261193663522,1.93361296766e-05,1793242972807991296
+38,0.633333333,BASELINE,765.052788701,745,714,679.947211299,659,635,879,787.947211299,805,652,631,652,0.400974181804,-0.0153806442899,0.0598469156662,0.999999943719,0.000212166945293,-0.000259152913377,1.96670725483e-05,1793242972824658176
+39,0.650000000,BASELINE,765.628892746,745,714,679.371107254,659,635,879,787.371107254,805,652,631,652,0.400973299003,-0.0153810137412,0.0598462239077,0.999999943383,0.000211995036771,-0.000260617519985,1.92646629796e-05,1793242972841324544
+40,0.666666667,BASELINE,766,745,714.208419282,679,659,635,879,787,805,652,631,652,0.400973034208,-0.0153814169456,0.0598462313502,0.999999943178,0.000212560602687,-0.000260947308606,1.91783498225e-05,1793242972857991168
+41,0.683333333,BASELINE,766,745,714.794141542,679,659,635,879,787,805,652,631,652,0.400973888192,-0.0153818812536,0.0598475045615,0.999999943212,0.000214461224076,-0.000259222727686,1.96642683761e-05,1793242972874658048
+42,0.700000000,BASELINE,765.623642352,745,714.623642352,679,659,635,878.623642352,787,805,652,631,652,0.400974380909,-0.0153823382099,0.0598477500549,0.999999943625,0.000213123647039,-0.000258713493654,1.98927257242e-05,1793242972891324672
+43,0.716666667,BASELINE,765.043326346,745,714.043326346,679,659,635,878.043326346,787,805,652,631,652,0.400974677845,-0.0153827911821,0.0598474386,0.999999944239,0.000210031202886,-0.000258862888931,1.99816578861e-05,1793242972907991296
+44,0.733333333,BASELINE,765.534884523,745,714,679.534884523,659,635,878,787,805,652,631,652,0.400972727454,-0.0153828686241,0.0598462612164,0.999999943737,0.000210147230048,-0.000260726920157,1.96266272466e-05,1793242972924658176
+45,0.750000000,BASELINE,766,744.887808199,714.112191801,679.887808199,659.112191801,635,878.112191801,787.112191801,804.887808199,652,631,652,0.400971146212,-0.0153827666859,0.0598453532414,0.999999943158,0.000211045530912,-0.000262242638475,1.93213160463e-05,1793242972941324800
+46,0.766666667,BASELINE,766,744.313523189,714.686476811,679.313523189,659.686476811,635,878.686476811,787.686476811,804.313523189,652,631,652,0.400971832244,-0.0153820507164,0.0598458426657,0.999999942636,0.000214099609423,-0.000261753927079,1.93683254049e-05,1793242972957991424
+47,0.783333333,BASELINE,766,744,714.732366429,679,659.732366429,635,878.732366429,787.732366429,804.267633571,652,631,652,0.400972657531,-0.0153820493911,0.0598464676495,0.999999942806,0.000214362878601,-0.000260877125902,1.94845452576e-05,1793242972974658304
+48,0.800000000,BASELINE,766,744,714.142947445,679,659.142947445,635,878.142947445,787.142947445,804.857052555,652,631,652,0.400973650251,-0.015382907308,0.0598472556215,0.99999994381,0.000211270658317,-0.00025953371044,1.96839793687e-05,1793242972991324928
+49,0.816666667,BASELINE,766,744.43805622,714.43805622,679,659,635,878.43805622,787,805,652,631,652,0.400973220903,-0.0153829262862,0.0598469743676,0.999999943821,0.000210712868184,-0.000259956444994,1.95214627668e-05,1793242973007991552
+50,0.833333333,BASELINE,766,745,715,679,659,635,878.983734426,787,805,652,631,652,0.400972357399,-0.0153826559527,0.0598463640346,0.999999943506,0.000211030923868,-0.000260926983673,1.92528850356e-05,1793242973024658176
+51,0.850000000,BASELINE,766,745,715,679,659,635,878.408956405,787,805,652,631,652,0.4009722201,-0.0153816745866,0.0598462088915,0.999999942873,0.000213560069199,-0.000261290901073,1.93216740824e-05,1793242973041324800
+52,0.866666667,BASELINE,766,744.830053242,714.830053242,679.169946758,659,635,878.169946758,787,805,652,631,652,0.400972571985,-0.0153811907091,0.0598463485354,0.999999942725,0.000214549417037,-0.000261044349037,1.93268481329e-05,1793242973057991424
+53,0.883333333,BASELINE,766,744.240976513,714.240976513,679.759023487,659,635,878.759023487,787,805,652,631,652,0.400974130317,-0.0153819337591,0.0598472151958,0.999999943783,0.00021174125022,-0.00025929223112,1.91751321519e-05,1793242973074658304
+54,0.900000000,BASELINE,766,744.34272703,714,680,658.65727297,635,878.65727297,787,805,652,631.34272703,652,0.400975301979,-0.0153819757861,0.0598479581941,0.999999944115,0.000211729354039,-0.000258013322357,1.9238205217e-05,1793242973091324928
+55,0.916666667,BASELINE,766,744.922710899,714,680,658.077289101,635,878.077289101,787,805,652,631.922710899,652,0.400976205962,-0.0153815325216,0.0598486155859,0.999999943947,0.000213653209381,-0.0002570619983,1.94499685449e-05,1793242973107991552
+56,0.933333333,BASELINE,766,745,714,679.501761433,658.498238567,635,878.498238567,787,804.501761433,652,631.003522865,652,0.400976570396,-0.0153825639797,0.0598491229945,0.999999944369,0.000212427929919,-0.000256418104712,1.96308878872e-05,1793242973124658176
+57,0.950000000,BASELINE,766,744.926665222,714,679,659,635,879,787,804.073334778,652,630.073334778,652,0.400976566276,-0.0153835947049,0.0598494325527,0.999999944797,0.000210740703433,-0.000256134054771,1.97441486562e-05,1793242973141325056
+58,0.966666667,BASELINE,766,744.349827556,714,679,659,635,879,787,804.650172444,652,630.650172444,652,0.400974601281,-0.0153830636564,0.0598485420309,0.999999944647,0.000209206112192,-0.000257996095905,1.94254376165e-05,1793242973157991680
+59,0.983333333,BASELINE,765.76767478,744,714,679,659,635,879,787,805,652,631,651.76767478,0.400972972579,-0.0153822226685,0.0598476337701,0.999999944075,0.000210001344196,-0.000259571885925,1.92924006182e-05,1793242973174658048
+60,1.000000000,BASELINE,765.177331211,744,714,679,659,635,879,787,805,652,631,651.177331211,0.400971862111,-0.0153809040566,0.0598466981728,0.999999942846,0.000214386885576,-0.000260706556871,1.94454914123e-05,1793242973191324672
+61,1.016666667,BASELINE,765.405348593,744,714,679,659,635,878.594651407,787,805,652,631,651.405348593,0.400972667817,-0.0153811674158,0.0598471465521,0.999999943033,0.000214325305907,-0.00026003109695,1.95742784466e-05,1793242973207991296
+62,1.033333333,BASELINE,765.984737844,744,714,679,659,635,878.015262156,787,805,652,631,651.984737844,0.400974296253,-0.0153821100109,0.0598481891562,0.999999943828,0.000212354308038,-0.000258578438341,1.96926303983e-05,1793242973224657920
+63,1.050000000,BASELINE,766,744.560116423,714,679,659,635,878,787,805,652,631,652,0.400975100247,-0.0153818176342,0.0598485510068,0.999999943933,0.000213053238801,-0.000257604973371,1.95457322763e-05,1793242973241324544
+64,1.066666667,BASELINE,765.861711844,744.861711844,714,679.138288156,659,635,878.138288156,787,804.861711844,652,631,652,0.400975627968,-0.0153818533205,0.059848747087,0.999999944092,0.000213065092309,-0.000256990063859,1.93649352112e-05,1793242973257991168
+65,1.083333333,BASELINE,765.274112377,744.274112377,714,679.725887623,659,635,878.725887623,787,804.274112377,652,631,652,0.400975330522,-0.0153830634721,0.0598484644038,0.999999944487,0.000210609873271,-0.000257498012707,1.90973134267e-05,1793242973274657792
+66,1.100000000,BASELINE,765,744,714,679.690672246,659,635,879,787,804.309327754,652,631,652,0.400975118407,-0.015383236074,0.0598484754246,0.999999944407,0.00021087821961,-0.000257580754091,1.92010008541e-05,1793242973291324416
+67,1.116666667,BASELINE,765,744,714,679.110869059,659,635,879,787,804.889130941,652,631,652,0.400974980905,-0.0153825014448,0.0598487432595,0.999999943911,0.000213528044997,-0.000257291695079,1.96293601643e-05,1793242973307991296
+68,1.133333333,BASELINE,765.465229672,744,714,679.465229672,659,635,878.534770328,787,805,652,631,652,0.400974345901,-0.015383734828,0.0598484786978,0.999999944093,0.000212247560092,-0.0002576276518,1.98164178895e-05,1793242973324657920
+69,1.150000000,BASELINE,765.959464681,744,714,680,659,635,878.040535319,787,804.959464681,652,631,652,0.400973626202,-0.0153851866997,0.0598480645954,0.99999994439,0.000210171083657,-0.000258169323647,1.98986652677e-05,1793242973341324544
+70,1.166666667,BASELINE,765.383065641,744,714,680,659,635,878.616934359,787,804.383065641,652,631,652,0.400973341807,-0.0153833758983,0.0598473376181,0.999999944129,0.000209856038972,-0.000259476996368,1.93495415741e-05,1793242973357991168
+71,1.183333333,BASELINE,765.196985198,744,714,679.803014802,659,635,879,787,804,652,631,652,0.400972978732,-0.015382541653,0.0598468914653,0.999999943908,0.000209983309392,-0.000260243581542,1.90889079668e-05,1793242973374658048
+72,1.200000000,BASELINE,765.784271718,744,714,679.215728282,659,635,879,787,804,652,631,652,0.400972459759,-0.0153836423306,0.0598470017304,0.99999994377,0.000210986971344,-0.000259938070222,1.93998809792e-05,1793242973391324672
+73,1.216666667,BASELINE,766,744,714,679,659,635,879,787,804.368050264,652,631,652,0.400973180455,-0.015383589749,0.0598476153197,0.999999943927,0.000211372636715,-0.000259016699965,1.94551143644e-05,1793242973407991296
+74,1.233333333,BASELINE,766,744,714,679,659,635,879,787,804.94979203,652,631,652,0.400974620906,-0.0153828675804,0.059848521141,0.999999944253,0.000211399490661,-0.000257737759487,1.93618642479e-05,1793242973424657920
+75,1.250000000,BASELINE,766,744,714,679.524899448,659,635,878.475100552,787,805,652,630.475100552,652,0.400974144161,-0.0153837121784,0.0598479001632,0.999999944359,0.000210099481466,-0.000258386994738,1.94101526687e-05,1793242973441324800
+76,1.266666667,BASELINE,766,744.0998361,714,680,659,635,878.0998361,787,805,651.9001639,630.0998361,652,0.400973430678,-0.0153844112927,0.059847272561,0.999999944357,0.00020911161734,-0.000259191303315,1.94535272856e-05,1793242973457991424
+77,1.283333333,BASELINE,766,744.67695225,714,680,659,635,878.67695225,787,805,651.32304775,630.67695225,652,0.400972451192,-0.015383707393,0.0598473027499,0.999999943951,0.000210215180064,-0.000259866249923,1.9409495888e-05,1793242973474658048
+78,1.300000000,BASELINE,765.740983362,745,714,679.740983362,659,635,878.740983362,787,805,651.259016638,631,652,0.4009727706,-0.0153825503144,0.0598475716431,0.999999943786,0.000211782205547,-0.000259235468748,1.93152292116e-05,1793242973491324672
+79,1.316666667,BASELINE,765.152627339,745,714,679.152627339,659,635,878.152627339,787,805,651.847372661,631,652,0.400974741548,-0.0153808170191,0.0598481440483,0.999999943921,0.000213938523359,-0.000256944456012,1.91570884343e-05,1793242973507991552
+80,1.333333333,BASELINE,765.429123864,745,714,679.429123864,659,635,878.858247729,787,805,652,631,652,0.400974974024,-0.0153812279313,0.0598482139479,0.999999943895,0.000214074794168,-0.000256916222507,1.93678899539e-05,1793242973524657920
+81,1.350000000,BASELINE,765.99148507,745,714,679.99148507,659,635,879.99148507,787.00851493,805,652,631,652,0.400974611915,-0.0153823534397,0.0598481159226,0.99999994382,0.000213513481686,-0.000257650375945,1.96999272982e-05,1793242973541324800
+82,1.366666667,BASELINE,765.415204216,745,714,679.415204216,659,635,879.415204216,787.584795784,805,652,631,652,0.400975207877,-0.0153810466145,0.0598485575462,0.999999944131,0.000213618970664,-0.000256369429488,1.94986962866e-05,1793242973557991424
+83,1.383333333,BASELINE,765.160975019,744.839024981,714,679,659,635,878.839024981,787.839024981,805,652,631,651.839024981,0.400974926041,-0.0153807996099,0.0598485012519,0.999999944245,0.000213079632192,-0.00025638241237,1.93831865841e-05,1793242973574658048
+84,1.400000000,BASELINE,765.736892434,744.263107566,714,679,659,635,878.263107566,787.263107566,805,652,631,651.263107566,0.400972381521,-0.0153832844851,0.0598471614836,0.999999943845,0.000210878133688,-0.000259730733239,1.94886391067e-05,1793242973591324672
+85,1.416666667,BASELINE,765.680247665,744,714,679,659,635,878,787,805,652,631,651,0.400972210578,-0.0153848870087,0.0598469978372,0.999999944068,0.000209182405679,-0.000260226731355,1.97280985607e-05,1793242973607991040
+86,1.433333333,BASELINE,765.091548402,744,714,679,659,635,878,787,805,652,631,651,0.400974036076,-0.0153857473774,0.0598478234389,0.999999944819,0.00020791208649,-0.000258323611715,2.00802725958e-05,1793242973624657920
+87,1.450000000,BASELINE,765.489485404,744,714,679,659,635.489485404,878,787,805,651.510514596,631,651,0.400974320842,-0.0153847021707,0.0598476604607,0.999999944675,0.000208996101142,-0.000258024335874,1.98747181917e-05,1793242973641324544
+88,1.466666667,BASELINE,766,744.068650947,714,679,659,635.931349053,878.068650947,787,805,651.068650947,631,651.068650947,0.400974146474,-0.0153833314154,0.0598473838805,0.999999944317,0.000210621061899,-0.000258110879665,1.96042636001e-05,1793242973657991168
+89,1.483333333,BASELINE,766,744.64444276,714,679,659,635.35555724,878.64444276,787,805,651.64444276,631,651.64444276,0.400972676284,-0.0153821479692,0.059847612892,0.999999943609,0.000213039446459,-0.00025886580609,1.96130712711e-05,1793242973674658048
+90,1.500000000,BASELINE,766,744.775544126,714,679,659,635.224455874,878.775544126,787,805,652,631.224455874,652,0.400972192429,-0.0153820797073,0.0598479250056,0.999999943469,0.000213357985763,-0.000259151932093,1.95316040599e-05,1793242973691324416
+91,1.516666667,BASELINE,766,744.188716,714,679,659,635.811284,878.188716,787,805,652,631.811284,652,0.40097330096,-0.0153838118521,0.0598483712834,0.999999944245,0.000210286434647,-0.000258681204298,1.93043927787e-05,1793242973707991040
+92,1.533333333,BASELINE,766,744.393592481,714,679,659,635.606407519,878,787,805.393592481,652,631.606407519,651.606407519,0.400973341916,-0.0153841880721,0.059848246967,0.99999994475,0.00020794786109,-0.000258631724762,1.9158510692e-05,1793242973724657664
+93,1.550000000,BASELINE,766,744.973758577,714,679,659,635.026241423,878,787,805.973758577,652,631.026241423,651.026241423,0.400972876813,-0.0153839215469,0.0598478521734,0.999999945125,0.000205956738698,-0.000258781928395,1.90511808507e-05,1793242973741324544
+94,1.566666667,BASELINE,765.448954029,745,714,679.551045971,659,635,878.551045971,787,804.897908058,652,631,651.551045971,0.400974658951,-0.0153834790241,0.059848771631,0.999999944697,0.000209884669183,-0.000257247660469,1.94544126169e-05,1793242973757991168
+95,1.583333333,BASELINE,765.127329368,745,714,680,659,635,879,787,804.127329368,652,631,652,0.400975757644,-0.0153831633174,0.0598494122685,0.999999944323,0.000212865172361,-0.000256230635262,1.96864414618e-05,1793242973774658048
+96,1.600000000,BASELINE,765.700574457,745,714,680,659,635,879,787,804.700574457,652,631,652,0.400974090041,-0.0153833209273,0.0598488584189,0.999999944336,0.000211545721106,-0.000257304490385,1.92342016773e-05,1793242973791324672
+97,1.616666667,BASELINE,766,745,714,679.717624672,659,635,879,787,805,652,631,652,0.400973881478,-0.0153834146638,0.0598488499638,0.999999944579,0.000210497720817,-0.000257233041637,1.90604781702e-05,1793242973807991296
+98,1.633333333,BASELINE,766,745,714,679.126467968,659,635,879,787,805,652,631,652,0.400975268393,-0.0153834385538,0.0598494379052,0.999999945074,0.000209746556038,-0.000255909186997,1.9191316141e-05,1793242973824658176
+99,1.650000000,BASELINE,766,745,714,679.455194663,659,635,879.455194663,787,805.455194663,652,631,652,0.400975494415,-0.0153830764511,0.0598496208619,0.999999944738,0.000211228966318,-0.000255990330222,1.93953992664e-05,1793242973841324800
+100,1.666666667,BASELINE,766,745,714,679.965904241,659,635,879.965904241,787,805.931808483,652,631,652,0.400975371032,-0.0153826468759,0.0598496189571,0.999999944197,0.000213159099072,-0.00025648801752,1.95801022105e-05,1793242973857991168
+101,1.683333333,BASELINE,766,745,714,679.389827132,659,635,879.389827132,787,804.779654265,652,631,652,0.400974715787,-0.015382814631,0.0598484305487,0.999999944069,0.000212543366651,-0.000257528787772,1.91398704717e-05,1793242973874658048
+102,1.700000000,BASELINE,766,745,714.189828855,679.189828855,659,635,879,787,804.189828855,652,631,652,0.400974416106,-0.0153832562323,0.0598478938549,0.999999944087,0.000211920405278,-0.000257987143569,1.89542839274e-05,1793242973891324928
+103,1.716666667,BASELINE,766,745,714.776975473,679.776975473,659,635,879,787,804.776975473,652,631,652,0.400974860634,-0.0153842710028,0.0598487212202,0.999999944411,0.000211282313556,-0.000257226487465,1.93016778407e-05,1793242973907991552
+104,1.733333333,BASELINE,766,745,714.638818079,679.638818079,659,635,879,787.361181921,805,652,631,652,0.400975588453,-0.0153839925992,0.0598495696549,0.999999944743,0.00021106790564,-0.000256104495154,1.93382014834e-05,1793242973924657920
+105,1.750000000,BASELINE,766,745,714.056412428,679.056412428,659,635,879,787.943587572,805,652,631,652,0.400976489788,-0.0153829221273,0.0598504309946,0.99999994508,0.000211113003764,-0.00025476118454,1.91843172878e-05,1793242973941324288
+106,1.766666667,BASELINE,766,745,714,679,659,635,879,787.482430728,805,652,631,652,0.400975284485,-0.0153812567443,0.0598495440049,0.999999943832,0.000215232965377,-0.00025619742231,1.93374084054e-05,1793242973957991424
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879,787,805,652,632,652,0.400974104884,-0.0153812634907,0.059848416365,0.999999943287,0.000215645711498,-0.000257983446606,1.91509570022e-05,1793242974000968448
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.594292333,744.594292333,714,679.594292333,659,635,878.405707667,787,805,652,631.405707667,652,0.400974559773,-0.0153820938252,0.0598486085047,0.999999944029,0.000213034203515,-0.000257271611488,1.92259866726e-05,1793242974017635072
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,714,679.816488092,659,635,878.367023816,787,805,652,631,652,0.400974520444,-0.0153827099897,0.0598485341378,0.999999944475,0.00021097876819,-0.000257230897061,1.92476781344e-05,1793242974034301440
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,714,679.238181581,659,635,879.523636838,787,805,652,631,652,0.400973417886,-0.0153828654041,0.0598478864277,0.999999944296,0.000210119627955,-0.000258633984321,1.91546215424e-05,1793242974050968064
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,714,679.336433173,659,635,879.663566827,787.336433173,805,652,631,652,0.40097381885,-0.0153824843009,0.0598482145801,0.99999994439,0.00021020509343,-0.000258196245819,1.91709153161e-05,1793242974067635456
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,714,679.90846264,659,635,879.09153736,787.90846264,805,652,631,652,0.400975272696,-0.015381727487,0.0598492261063,0.999999944676,0.000210952044277,-0.000256469419937,1.92637846029e-05,1793242974084303104
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,714,679.50625188,659,635,879,787.50625188,805,652,631,652,0.400974053999,-0.0153833370808,0.0598487657275,0.99999994477,0.000208908550381,-0.000257776408263,1.91822440667e-05,1793242974100969472
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,879,787,805,652,631,652,0.400972609126,-0.0153849435107,0.0598480834037,0.999999944693,0.000207172311577,-0.000259479689812,1.90954343281e-05,1793242974117635328
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,879,787,805,652,631,652,0.400972920654,-0.0153837319871,0.0598477639777,0.999999943816,0.00021064300861,-0.000260055304063,1.9182160072e-05,1793242974134301952
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744.756815777,714,679,659.243184223,635,879,787,805,652,631,652,0.400977299518,-0.0153835155656,0.0598495809693,0.999999944396,0.000211645196605,-0.000256981921361,1.93436183864e-05,1793242974150968576
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744.182289803,714,679,659.817710197,635,879,787,805,652,631,652,0.400987220179,-0.0153846549844,0.0598543088588,0.999999946923,0.000209284007789,-0.000248936731541,1.9606900818e-05,1793242974167634944
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744.393327428,714,679.393327428,659.606672572,635,879,787.393327428,805,652,631,652,0.401014026532,-0.0153852760587,0.0598650945408,0.999999951406,0.000209977764189,-0.000229496070345,2.07055260389e-05,1793242974184301824
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,744.969451866,714,679.969451866,659.030548134,635,879,787.969451866,805,652,631,652,0.401048680429,-0.015385656235,0.059878695553,0.999999956299,0.000212091291213,-0.000204759418411,2.21923727726e-05,1793242974200968704
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.444508919,745,714.555491081,679.444508919,659,635,879,787.444508919,805,652,631,652,0.401108999105,-0.0153908026698,0.0598986900095,0.999999963838,0.000208392457417,-0.00016827725441,2.40699273842e-05,1793242974217635072
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.140916827,745,714.859083173,679,659,635,878.859083173,787,804.859083173,652,631,652,0.401173481559,-0.0153957902263,0.0599172614579,0.999999969281,0.000205504632114,-0.000136176430724,2.57196616705e-05,1793242974234301696
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.722686733,745,714.277313267,679,659,635,878.277313267,787,804.277313267,652,631,652,0.401246494545,-0.0153994458333,0.0599302611426,0.999999971212,0.000206172168947,-0.000119839923024,2.65882286835e-05,1793242974250968576
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.699425237,744.699425237,714.300574763,679,659.300574763,635,878.300574763,787,804.300574763,652,631,652,0.401326141724,-0.0154027510745,0.0599400057405,0.999999972754,0.000206725565347,-0.000105051533296,2.68462333346e-05,1793242974267635200
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.125073032,744.125073032,714.874926968,679,659.874926968,635,878.874926968,787,804.874926968,652,631,652,0.401411831628,-0.0154057371859,0.0599467854534,0.999999973985,0.000207174997314,-9.16732422349e-05,2.65481094054e-05,1793242974284302080
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.450602293,744.450602293,714.549397707,679,659.549397707,635,879,787,805,652,631,652,0.401509148094,-0.0154111786485,0.0599483267679,0.999999974899,0.000204583862739,-8.75627455113e-05,2.60681924877e-05,1793242974300968704
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.972725139,745,714,679,659.027274861,635,878.972725139,787.027274861,804.972725139,652,631,652,0.401610685374,-0.0154173008575,0.0599482815081,0.999999975728,0.000201150388665,-8.62110431062e-05,2.54908258116e-05,1793242974317635072
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.383085381,745,714,679,659.616914619,635,878.383085381,787.616914619,804.383085381,652,631,652,0.401732514154,-0.0154233655671,0.0599455913661,0.99999997623,0.000197801689489,-8.85453000907e-05,2.39476681667e-05,1793242974334301696
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878.202818685,787.797181315,804.202818685,652,631,652,0.401867155354,-0.0154296130088,0.0599441617935,0.999999976734,0.000195717180057,-8.78655294039e-05,2.25196849663e-05,1793242974350968320
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878.781794297,787.218205703,804.781794297,652,631,652,0.402025559045,-0.0154361993531,0.0599450701316,0.999999977241,0.000195977295859,-8.15958031215e-05,2.13053097974e-05,1793242974367635200
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.642833887,635,879,787,804.642833887,652,631,652,0.402203731724,-0.0154452978196,0.0599461845833,0.999999978837,0.000190632247577,-7.48218253274e-05,1.96735308891e-05,1793242974384301824
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.069641713,635,879,787,804.069641713,652,631,652,0.402393861364,-0.0154559157025,0.0599474236996,0.999999981004,0.000181897007813,-6.77428586731e-05,1.77892920619e-05,1793242974400968704
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.500771141,714,679.499228859,659,635,879,787.499228859,804.499228859,652,631,651.500771141,0.402612638551,-0.0154667990692,0.0599492137499,0.99999998314,0.000172906132767,-5.97382004679e-05,1.5936687683e-05,1793242974417635072
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744,714,679.928142512,659,635.071857488,879,787.928142512,805,652,631,651.071857488,0.402840875574,-0.0154779271728,0.0599513489948,0.999999985163,0.000163830784826,-5.13450675874e-05,1.40683011917e-05,1793242974434301440
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,714,679.323199916,659,635.676800084,879,787.323199916,805,652,631,651.676800084,0.403109899243,-0.0154905985086,0.0599554798538,0.999999987168,0.000154391042114,-4.1019742813e-05,1.20503746959e-05,1793242974450968320
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.26627248,744,714,679,659,635.73372752,878.73372752,787.26627248,805,652,631,652,0.403381172586,-0.0155010196103,0.0599530765762,0.999999988568,0.000144406926692,-4.38951614876e-05,9.17586397876e-06,1793242974467635200
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.837998267,744,714,679,659,635.162001733,878.162001733,787.837998267,805,652,631,652,0.403655026616,-0.0155088593651,0.0599431776923,0.999999989118,0.000133798337048,-6.19137557039e-05,5.31872655039e-06,1793242974484301568
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,744.420882279,714.420882279,679,659.420882279,635,878.420882279,787.579117721,805,652,631,652,0.403950084576,-0.015509085281,0.0599313752634,0.999999991637,9.99576657742e-05,-8.20354340931e-05,2.11576864341e-06,1793242974500968192
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.991911337,745,715,679.008088663,659.991911337,635,879,787,805,652,631,652,0.404254353957,-0.015506182908,0.0599188311559,0.99999999303,5.77853682837e-05,-0.000102961004348,-8.74775646433e-07,1793242974517634816
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.411042042,745,715,679.588957958,659.411042042,635,879,787,805,652,631,652,0.404617225064,-0.0154949362618,0.0599070637229,0.999999989646,7.60984312301e-05,-0.000121928546821,-7.13998458126e-06,1793242974534301696
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.831364648,715,679.831364648,659,635,879,787,805,652,631,652,0.404998178109,-0.015489858497,0.0599015559056,0.999999987881,8.30596892895e-05,-0.000131109933952,-1.22382838276e-05,1793242974550968576
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.254572159,715,679.254572159,659,635,879,787,805,652,631,652,0.405422895782,-0.0154997116064,0.0599111985716,0.99999999114,6.25455658286e-05,-0.000116605364634,-1.45122484016e-05,1793242974567635200
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.322332271,744.322332271,715,679.322332271,659,635,879,787,805,652,631,652,0.405883377867,-0.0155090446949,0.0599317869851,0.999999995476,4.36505578444e-05,-8.30105551356e-05,-1.58733331152e-05,1793242974584301824
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.899325202,744.899325202,715,679.899325202,659,635,879,787,805,652,631,652,0.406372115899,-0.0155179669385,0.059961023157,0.999999998935,2.60347400581e-05,-3.43333782807e-05,-1.65131915069e-05,1793242974600968448
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.51415676,745,714.51415676,679.51415676,659,635,878.51415676,787,805,652,631,652,0.406875827154,-0.0155224130017,0.0599834123012,0.99999999975,1.3048665209e-05,6.74537961484e-07,-1.81483324744e-05,1793242974617634816
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.073332225,745,714.073332225,679,659.073332225,635,878.073332225,787,805.073332225,652,631,652,0.407385074032,-0.0155253410667,0.0600009287953,0.999999999456,1.96657879262e-08,2.59909312261e-05,-2.03309357705e-05,1793242974634301440
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+147,2.450000000,POSE1_TO_POSE2_PRESS,765.76822482,745,714.76822482,679,659.76822482,635,879,787,805.76822482,652,631,652,0.408446243935,-0.0155229692691,0.0599861901289,0.999999998908,-3.11658425496e-05,-1.86637695789e-05,-2.93949343864e-05,1793242974667634944
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.19321242,745,714.19321242,679,659.19321242,635,879,787,805.19321242,652,631,652,0.408996430976,-0.0155211482943,0.059974045397,0.99999999806,-2.89393602516e-05,-4.34408427452e-05,-3.4002216659e-05,1793242974684301824
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.380751679,744.619248321,714,679.380751679,659,635,879.380751679,787,805,652,631,652,0.409599052417,-0.0155227699728,0.0599775663665,0.999999997912,-3.73543695814e-05,-3.80698765074e-05,-3.64965423155e-05,1793242974700968960
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.954185261,744.045814739,714,679.954185261,659,635,879.954185261,787,805,652,631,652,0.410228208617,-0.0155261338287,0.0599890150681,0.99999999782,-5.11545761079e-05,-1.74422949942e-05,-3.79215921664e-05,1793242974717635584
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+157,2.616666667,POSE1_TO_POSE2_PRESS,765.039497375,744,714.960502625,679,659,635,879,787,805,652,631,651.039497375,0.415042686078,-0.0155276418131,0.0599387997166,0.99999999408,-3.09269614891e-05,-9.63826997764e-05,-3.99238940898e-05,1793242974834301952
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.619353332,744,714.380646668,679,659,635,879,787,805,652,631,651.619353332,0.415885787695,-0.0155349266789,0.0599893784882,0.9999999987,-3.44472301649e-05,-1.02797261909e-05,-3.61636766445e-05,1793242974850968576
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,744,714,679,659.198341035,635,879,787,805,652,631,652,0.416716204928,-0.0155396792282,0.0600194388363,0.999999998009,-3.67460998047e-05,3.84074990607e-05,-3.40159253326e-05,1793242974867635200
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,744,714,679,659.775669651,635,879,787,805,652,631,652,0.417522384945,-0.0155395930583,0.0600102928332,0.999999998594,-3.67111355456e-05,1.56011726279e-05,-3.49492548856e-05,1793242974884301568
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,744.351319116,714,679,660,635,879,787,805,652,631,652,0.418329116501,-0.0155401909305,0.0599939177378,0.999999998505,-3.86561597905e-05,-9.33724981449e-06,-3.75207989611e-05,1793242974900968192
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,744.92590146,714,679,660,635,879,787,805,652,631,652,0.41913619853,-0.0155412235114,0.059972948556,0.999999997643,-4.18594663177e-05,-3.56306179657e-05,-4.1133427986e-05,1793242974917635072
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,714,679.514092032,660.514092032,635,879,787.514092032,805,652,631,652,0.419937567289,-0.0155422665708,0.0599528052706,0.999999995908,-4.60313871751e-05,-6.44302350346e-05,-4.37589091752e-05,1793242974934301696
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660.795778186,635,879,787.897889093,805,652,631,651.897889093,0.420737147285,-0.0155427454867,0.0599299007031,0.999999992511,-4.9555161572e-05,-0.000101804795563,-4.64498234044e-05,1793242974950968064
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714,680,659.640113562,635,879,787.320056781,805,652,631,651.320056781,0.421532334212,-0.0155405889033,0.0598935620157,0.999999981789,-4.93911899228e-05,-0.000177400171651,-5.01264793333e-05,1793242974967634944
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,744.741852992,714,679.741852992,659.258147008,635,879,787,805.258147008,652,631,651.258147008,0.42240188044,-0.0155418140485,0.0598899869569,0.999999980194,-5.17767683146e-05,-0.000185132709876,-5.15402053544e-05,1793242974984302080
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,744.163187894,714,679.163187894,659.836812106,635,879,787,805.836812106,652,631,651.836812106,0.423363752078,-0.0155472379837,0.0599270915651,0.999999991202,-5.73278953669e-05,-0.000108606032487,-5.0144253932e-05,1793242975000968704
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,744.41047976,714.41047976,679.41047976,660,635,879,787,806,651.58952024,631,652,0.424296427045,-0.0155524480234,0.0599748109469,0.999999996475,-6.22132717521e-05,-3.24677698821e-05,-4.61072654437e-05,1793242975017635328
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,744.982184524,714.982184524,679.982184524,660,635,879,787,806,651.017815476,631,652,0.425217634317,-0.0155575740504,0.0600266995137,0.999999995978,-6.68371592854e-05,4.35179296998e-05,-4.10329511695e-05,1793242975034301696
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714.424453934,680,660,634.424453934,879.575546066,787,805.424453934,651,631,652,0.426097108454,-0.0155573081133,0.0600227843526,0.999999995605,-6.8772599726e-05,4.72690662233e-05,-4.27349485316e-05,1793242975050968576
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.835219198,745,714,679.835219198,660,634.164780802,879.835219198,787,805.164780802,651,631,652,0.426976076863,-0.0155573960558,0.0600130074614,0.99999999551,-7.28395762116e-05,4.06047724131e-05,-4.50060027768e-05,1793242975067634944
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.258055563,745,714,679.258055563,660,634.741944437,879.258055563,787,805.741944437,651,631,652,0.427857138883,-0.0155588036485,0.0599930528357,0.999999995347,-8.24573720011e-05,1.36891856721e-05,-4.81557283163e-05,1793242975084301568
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.636010199,744.6819949,714,679.3180051,660,635,879.3180051,787,806,651,631,651.6819949,0.428716462196,-0.0155585292925,0.0599678798824,0.999999995043,-8.16589714121e-05,-2.60286366875e-05,-5.06737602191e-05,1793242975100968448
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.786347569,744.106826216,714,679.893173784,660,635,879.893173784,787,806,651,631,651.106826216,0.429558205862,-0.0155568947823,0.0599384869858,0.999999993093,-7.24372260623e-05,-7.6099338239e-05,-5.26809554291e-05,1793242975117635072
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.519586944,744.480413056,714,680,660.480413056,635,879.519586944,787,806,651,631,651.480413056,0.430409543374,-0.0155558577644,0.0599233288799,0.999999990393,-7.93975858395e-05,-9.92309895668e-05,-5.53540595473e-05,1793242975134301952
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,680.069168421,661,635,879.069168421,787,806,651.069168421,631,651.930831579,0.431273591148,-0.0155557967961,0.0599189630282,0.999999989104,-8.86385060055e-05,-0.000103107288066,-5.74771482482e-05,1793242975150968576
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,680.648793499,661,635,879.648793499,787,806,651.648793499,631,651.351206501,0.432215289573,-0.0155619332178,0.0599702814055,0.999999994641,-8.74701730408e-05,-1.02277230233e-05,-5.4420237139e-05,1793242975167635200
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714,680.773310049,661,635,880,787,806,651.773310049,631,651.226689951,0.433120366136,-0.015565242587,0.0600022874585,0.999999993698,-8.92796829653e-05,4.3426345781e-05,-5.24228859057e-05,1793242975184301824
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,680.198071367,661,635,880,787,806,651.198071367,631,651.801928633,0.433969134643,-0.0155642052026,0.0600045997191,0.999999993393,-9.56677969242e-05,3.67689909983e-05,-5.20546685224e-05,1793242975200968448
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714,680.384934158,661,635,880,787,806,651,631,652,0.434795154677,-0.0155637639419,0.0599849621155,0.99999999386,-9.65403742067e-05,5.38967119751e-07,-5.43975521448e-05,1793242975217635072
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714,680.972018446,661,635,880,787,806,651,631,652,0.435609228184,-0.0155636357386,0.0599537974291,0.99999999253,-9.45164387589e-05,-5.12212939296e-05,-5.81641841498e-05,1793242975234301952
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714,681,661,635,880,787.551756289,806,651,631,652,0.436406369092,-0.0155632954714,0.0599367665404,0.999999990045,-9.98660200926e-05,-7.96011452674e-05,-6.00034860026e-05,1793242975250969344
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,714,680.869103354,661,635,880.130896646,788,806,651,631,652,0.437190526389,-0.015561656655,0.0599200756083,0.999999986653,-0.000103273320339,-0.000110557568855,-6.16979836745e-05,1793242975267636224
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,714,680.290748634,661,635,880.709251366,788,806,651,631,652,0.437933197235,-0.0155556151489,0.0599021287505,0.999999981215,-9.87796370055e-05,-0.000154321729663,-6.32272129012e-05,1793242975284302592
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+186,3.100000000,POSE1_TO_POSE2_PRESS,765.139428044,745,714,680.860571956,661,635,880.139428044,787.139428044,806,651.860571956,631,652,0.439526307555,-0.0155538965137,0.0599352417507,0.999999987975,-9.65426474605e-05,-0.000104406108223,-6.18774245667e-05,1793242975317635328
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.436534351,745,714,681,661,635,880.436534351,787.436534351,806,651.563465649,631.436534351,652,0.440333833239,-0.0155603139146,0.0599780332508,0.999999991855,-0.000106213065917,-3.93807090197e-05,-5.88054145709e-05,1793242975334301952
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+189,3.150000000,POSE1_TO_POSE2_PRESS,765.394988737,745,714,681,661,635,881,788,806,651,631.394988737,652,0.441810938585,-0.0155705805969,0.0600073983714,0.999999990971,-0.000121660660716,6.6188345363e-06,-5.66785168702e-05,1793242975367634944
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.191450537,745,714,680.808549463,661,635,880.808549463,787.808549463,806.191450537,651,631.191450537,652,0.4424747276,-0.0155713759914,0.059985449292,0.999999990423,-0.000123473715575,-2.18091814532e-05,-5.85922718857e-05,1793242975384301824
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.767164518,745,714,680.232835482,661,635,880.232835482,787.232835482,806.767164518,651,631.767164518,652,0.443116462955,-0.015569332832,0.0599529331708,0.999999988582,-0.000123095146053,-6.23501850144e-05,-6.16078336528e-05,1793242975400968704
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.658790319,745,714,680.341209681,661,635,880,787,806.658790319,651.341209681,631.658790319,652,0.443760010291,-0.0155689695917,0.0599472865211,0.99999998801,-0.000123775047365,-6.955111605e-05,-6.18188496237e-05,1793242975417635584
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.08587842,745,714,680.91412158,661,635,880,787,806.08587842,651.91412158,631.08587842,652,0.444404788035,-0.0155697471191,0.0599598858861,0.999999988894,-0.000125173715136,-5.41120986034e-05,-6.01254075169e-05,1793242975434302464
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.502871722,745,714,680.497128278,661,634.497128278,879.497128278,787,806,651.497128278,631,652,0.445011230652,-0.0155706739309,0.0599666415909,0.999999989097,-0.000124658071587,-5.16904700636e-05,-5.99565354025e-05,1793242975450968832
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+197,3.283333333,POSE1_TO_POSE2_PRESS,765.749488571,745,714.250511429,681,660.749488571,635,880,787.749488571,807,651,631,652,0.446658529184,-0.0155692213961,0.0599360461096,0.999999983328,-0.000129562134569,-0.000110749536239,-6.55111084551e-05,1793242975500968704
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.172980052,745,714.827019948,681,660.172980052,635,880,787.172980052,807,651,631,652,0.447181466049,-0.0155738818796,0.059936328537,0.999999982056,-0.00014463527971,-0.000102472547186,-6.68404106198e-05,1793242975517635072
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.399330729,745,715,681,660.399330729,635,880,787.399330729,806.600669271,651,631,652,0.447692782195,-0.0155769468851,0.0599524959176,0.999999984301,-0.000146443704582,-7.41252572805e-05,-6.67733320127e-05,1793242975534301696
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b5acce00056c576d5ffbbcde226ade488b937e21
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_02/simulation_data.csv
@@ -0,0 +1,406 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..37df8aff6011de33ddaed4127e13687663a4fd24
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6426d1635f18d11d2f3719346670891433b05e5f928cbaa75c1d0074fcea1ce7
+size 25792459
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..403a00576d5111e27b24016f97f19ea72999ff0c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+22,0.366666667,BASELINE,765.816574176,744.816574176,715,680,659,635,878.816574176,787,804.183425824,652,631,652,0.400971838242,-0.0153811105428,0.0598435667045,0.999999942449,0.000212827011769,-0.00026357136945,1.83333389944e-05,1793242979508642048
+23,0.383333333,BASELINE,766,745,714.606691007,679.606691007,659,635.393308993,879,787,804.393308993,652,631,652,0.400971606798,-0.015381525187,0.05984371259,0.999999942674,0.000211791286908,-0.000263547422433,1.84183426858e-05,1793242979525308928
+24,0.400000000,BASELINE,766,745,714.030777453,679.030777453,659,635.969222547,879,787,804.969222547,652,631,652,0.400970550173,-0.0153825037709,0.0598435475847,0.999999942854,0.000210034648987,-0.000264256850881,1.85934889183e-05,1793242979541975552
+25,0.416666667,BASELINE,765.457826772,745,714,679,659,635.457826772,878.457826772,787,805,652,631,651.457826772,0.400970103344,-0.0153825292656,0.0598433653656,0.999999942738,0.000210399734419,-0.00026440655292,1.85587560327e-05,1793242979558642176
+26,0.433333333,BASELINE,765.118492184,745,714,679,659,635,878,787,805,652,631,651.118492184,0.400969913843,-0.0153824277773,0.0598433337171,0.999999942696,0.000210666678538,-0.000264359318327,1.84678284115e-05,1793242979575308544
+27,0.450000000,BASELINE,765.708892027,745,714,679,659,635,878,787,805,652,631,651.708892027,0.400970612066,-0.0153820348684,0.0598439056027,0.999999943014,0.000210065692757,-0.000263653617905,1.82002908506e-05,1793242979591975680
+28,0.466666667,BASELINE,766,745,714,679,659,635,878.294797774,787,805,652,631,652,0.400971592912,-0.0153813638813,0.0598443375825,0.999999943221,0.000210098697313,-0.000262856066827,1.79781073166e-05,1793242979608642304
+29,0.483333333,BASELINE,766,745,714,679,659,635,878.876332275,787,805,652,631,652,0.400972848654,-0.0153804224199,0.0598446334821,0.99999994332,0.000210748356207,-0.00026196917673,1.78000376504e-05,1793242979625308928
+30,0.500000000,BASELINE,766,745,714.451977626,679,659,635,879,787,805,652.451977626,631,652,0.400972983104,-0.0153804640322,0.0598448546074,0.999999943253,0.000211414463278,-0.000261672317067,1.80285533433e-05,1793242979641975552
+31,0.516666667,BASELINE,766,744.974020567,714.974020567,679,659,635,878.974020567,787.025979433,804.974020567,652.974020567,631,652,0.400972760708,-0.0153808035211,0.0598450079782,0.999999943139,0.000212000217847,-0.000261613857036,1.83391493499e-05,1793242979658642176
+32,0.533333333,BASELINE,766,744.401132476,714.401132476,679,659,635,878.401132476,787.598867524,804.401132476,652.401132476,631,652,0.400971401765,-0.0153818240883,0.0598441601735,0.999999942976,0.000210800900465,-0.000263219212504,1.80658469987e-05,1793242979675308800
+33,0.550000000,BASELINE,765.821714858,744.178285142,714.178285142,679,659.178285142,635,878,787.821714858,804.178285142,652,631,652,0.400970753065,-0.0153824660354,0.0598437803368,0.999999942987,0.000209822290224,-0.000263970300289,1.78985080775e-05,1793242979691975424
+34,0.566666667,BASELINE,765.227047716,744.772952284,714.772952284,679,659.772952284,635,878,787.227047716,804.772952284,652,631,652,0.400971763128,-0.0153822237215,0.059844493432,0.99999994341,0.000209359138029,-0.000262726259809,1.79786450319e-05,1793242979708642048
+35,0.583333333,BASELINE,765.357246887,744.642753113,714.642753113,679.357246887,659.642753113,635,878.357246887,787,805,652,631,652,0.400972256961,-0.0153824382286,0.059844840366,0.999999943805,0.000208336211333,-0.000262039928709,1.79362637656e-05,1793242979725308672
+36,0.600000000,BASELINE,765.935135298,744.064864702,714.064864702,679.935135298,659.064864702,635,878.935135298,787,805,652,631,652,0.400972431962,-0.0153829348757,0.0598449611529,0.999999944181,0.000206967558697,-0.000261698047929,1.78182132487e-05,1793242979741975296
+37,0.616666667,BASELINE,766,744,714,679.488913645,659,635,878.488913645,787,805,652,631.511086355,652,0.400971585045,-0.0153815743472,0.0598442823958,0.999999943411,0.000209436231552,-0.000262669812472,1.786708022e-05,1793242979758641664
+38,0.633333333,BASELINE,766,744,714,679,659,635,878,787,805.088677733,652,631.911322267,652,0.400970801931,-0.0153804407203,0.0598437142999,0.999999942674,0.000211830105329,-0.000263544380319,1.79938762905e-05,1793242979775308544
+39,0.650000000,BASELINE,766,744,714,679,659,635,878,787,805.676889337,652,631.323110663,652,0.400971106067,-0.0153819079997,0.0598443390342,0.999999942987,0.000211069561603,-0.000262935806308,1.84407737897e-05,1793242979791975424
+40,0.666666667,BASELINE,766,744,714,679,659,635,878.261288739,787,805.738711261,652,631,652,0.400971679812,-0.0153823899466,0.0598449705629,0.999999943278,0.000210783828305,-0.000262047787406,1.85680404272e-05,1793242979808642048
+41,0.683333333,BASELINE,766,744,714,679,659,635,878.841041712,787,805.158958288,652,631,652,0.400972582163,-0.0153816709494,0.059845610373,0.999999943542,0.000211076804032,-0.000260819175202,1.83057341912e-05,1793242979825308672
+42,0.700000000,BASELINE,765.582332786,744,714,679,659,635,879,787.417667214,804.582332786,652,631.417667214,652,0.40097244128,-0.0153817059318,0.059845156797,0.999999943402,0.00021098183436,-0.000261454957059,1.79988978995e-05,1793242979841975040
+43,0.716666667,BASELINE,765.006888721,744,714,679,659,635,879,787.993111279,804.006888721,652,631.993111279,652,0.400971906307,-0.0153820257356,0.0598442901865,0.999999943107,0.000210740315465,-0.000262795027457,1.76752400589e-05,1793242979858641664
+44,0.733333333,BASELINE,765.565611266,744,714,679.565611266,658.434388734,635,879,787.434388734,804.565611266,652,631.434388734,652,0.400973959864,-0.0153819225666,0.0598460547776,0.999999943958,0.000209868752058,-0.00026021837754,1.80655307598e-05,1793242979875309056
+45,0.750000000,BASELINE,765.856643417,744,714,679.856643417,658.143356583,635,878.856643417,787,805,652,631,652,0.400974802379,-0.0153817006338,0.059846626862,0.999999944293,0.000209418844807,-0.000259282892667,1.81891751641e-05,1793242979891976192
+46,0.766666667,BASELINE,765.26228407,744,714,679.26228407,658.73771593,635,878.26228407,787,805,652,631,652,0.40097173626,-0.0153811211904,0.0598433470001,0.999999942972,0.000210319492569,-0.000263659843974,1.74467306255e-05,1793242979908642560
+47,0.783333333,BASELINE,765.323533483,744,714,679.323533483,659,635.323533483,878.323533483,787,805,652,631,652,0.400969396786,-0.015380906977,0.0598416414304,0.999999942041,0.000211291678635,-0.000266413963911,1.72458578781e-05,1793242979925309184
+48,0.800000000,BASELINE,765.902604506,744,714,679.902604506,659,635.902604506,878.902604506,787,805,652,631,652,0.40096763124,-0.0153809812344,0.0598411792889,0.999999941426,0.00021232036814,-0.000267886317957,1.74727365225e-05,1793242979941975808
+49,0.816666667,BASELINE,765.522783737,744,714,679.522783737,659,635.522783737,879,787,805,652,631,652,0.400969404262,-0.0153819323657,0.0598430168964,0.999999942597,0.000210517276002,-0.000264903054387,1.7724085185e-05,1793242979958642688
+50,0.833333333,BASELINE,765.052286877,744,714,679,659,635,878.947713123,787,805,652,631,652,0.400971725396,-0.015383027125,0.0598451015447,0.999999944009,0.000208240384612,-0.000261332467088,1.79558129332e-05,1793242979975309568
+51,0.850000000,BASELINE,765.641324355,744,714,679,659,635,878.358675645,787,805,652,631,652,0.400972328179,-0.0153837761727,0.0598449486052,0.999999944364,0.000206977631287,-0.000260981224758,1.79353301262e-05,1793242979991975680
+52,0.866666667,BASELINE,766,744.226757001,714,679,659,635,878,787.226757001,804.773242999,652,631,652,0.40097214394,-0.015383794543,0.0598448223454,0.99999994436,0.000206588471383,-0.000261310284753,1.78219226684e-05,1793242980008642048
+53,0.883333333,BASELINE,766,744.806576855,714,679,659,635,878,787.806576855,804.193423145,652,631,652,0.400970734303,-0.0153826752414,0.059844737626,0.9999999438,0.000207559504994,-0.000262698582097,1.75638306282e-05,1793242980025308416
+54,0.900000000,BASELINE,765.615224758,744.615224758,714,679.384775242,659,635,878,787.615224758,804.769550483,652,631,652,0.400971116859,-0.0153829146106,0.059844918931,0.999999943863,0.000207434227516,-0.000262551350304,1.76812400072e-05,1793242980041975040
+55,0.916666667,BASELINE,765.037838066,744.037838066,714,679.962161934,659,635,878,787.037838066,805.924323868,652,631,652,0.400972396554,-0.0153838341054,0.0598452334028,0.999999944237,0.000206760156721,-0.000261635460659,1.79866185384e-05,1793242980058641920
+56,0.933333333,BASELINE,765.535126879,744,714,680,659.535126879,635,878,787,804.929746242,652,631,652,0.400971949064,-0.0153827835368,0.0598449684671,0.999999943761,0.000208624266082,-0.000261965794021,1.81103127061e-05,1793242980075308800
+57,0.950000000,BASELINE,765.88863325,744,714,679.88863325,659.88863325,635,878,787,804,652,631,652,0.400971412095,-0.0153820202043,0.059844640402,0.999999943411,0.000209695923108,-0.000262442413453,1.81545087289e-05,1793242980091975936
+58,0.966666667,BASELINE,765.296931007,744,714,679.296931007,659.296931007,635,878,787,804,652,631,652,0.40097101162,-0.0153830916411,0.0598442153092,0.999999943872,0.000206581924034,-0.000263173029088,1.79107763074e-05,1793242980108642816
+59,0.983333333,BASELINE,765.288558298,744.288558298,714.288558298,679,659,635,878.288558298,787,804.288558298,652,631,652,0.400971483136,-0.0153833909583,0.0598445162955,0.99999994409,0.000206251767,-0.000262608128264,1.77842756486e-05,1793242980125309696
+60,1.000000000,BASELINE,765.867789214,744.867789214,714.867789214,679,659,635,878.867789214,787,804.867789214,652,631,652,0.400972833032,-0.0153829124985,0.0598455486808,0.999999944067,0.000208725849359,-0.000260738218582,1.77758657021e-05,1793242980141976320
+61,1.016666667,BASELINE,766,745,714.557392396,679,659,635,878.557392396,787,805,652,631,652,0.40097194278,-0.0153825330009,0.0598446332943,0.999999943601,0.000209305098561,-0.000262062885697,1.76670527525e-05,1793242980158642432
+62,1.033333333,BASELINE,766,744.983427919,714.016572081,679,659,635,878,787.016572081,805,652,631,652,0.400970417427,-0.0153822179035,0.0598432034456,0.999999943022,0.000209319410754,-0.000264261375432,1.75390403272e-05,1793242980175308544
+63,1.050000000,BASELINE,766,744.393863819,714.606136181,679,659,635,878,787.606136181,805,652,631,652,0.400969840991,-0.0153831174939,0.0598439038526,0.999999943115,0.000209177417213,-0.000264004777177,1.7773925687e-05,1793242980191975168
+64,1.066666667,BASELINE,765.80758269,744,714.80758269,679,659,635,878.19241731,787.80758269,805,652,631,652,0.400970105068,-0.0153837301153,0.0598444257314,0.999999943399,0.000208908198022,-0.00026313037492,1.79256703229e-05,1793242980208641792
+65,1.083333333,BASELINE,765.227908861,744,714.227908861,679,659,635,878.772091139,787.227908861,805,652,631,652,0.40097206075,-0.0153837651869,0.059844588307,0.999999944064,0.000208382926189,-0.000261012588552,1.79100870287e-05,1793242980225308672
+66,1.100000000,BASELINE,765,744.350153242,714,679.350153242,659,635,878.649846758,787,805,652,631,652,0.400972930869,-0.0153838255488,0.059845162209,0.999999944316,0.000208217623768,-0.000260174408161,1.79715869769e-05,1793242980241975552
+67,1.116666667,BASELINE,765,744.927171083,714,679.927171083,659,635,878.072828917,787,805,652,631,652,0.400973097651,-0.0153839022963,0.0598460026098,0.999999944302,0.000208285545872,-0.000260165285714,1.80830292278e-05,1793242980258642176
+68,1.133333333,BASELINE,765.503777449,744.496222551,714,680,659,635,878.503777449,787,804.496222551,652,631,652,0.400971593524,-0.0153836740274,0.0598454222151,0.999999943823,0.000208624197416,-0.000261737925456,1.79976357858e-05,1793242980275308800
+69,1.150000000,BASELINE,765.917985517,744,714,679.917985517,659,635,878.917985517,787,804.082014483,652,631,652,0.40097054187,-0.0153835192248,0.0598449545739,0.999999943528,0.000208719072447,-0.000262789480919,1.79596790224e-05,1793242980291975424
+70,1.166666667,BASELINE,765.329307719,744,714,679.329307719,659,635,878.329307719,787,804.670692281,652,631,652,0.400973776521,-0.0153840904608,0.0598464513527,0.999999944798,0.00020706637413,-0.00025921041851,1.83904213294e-05,1793242980308642304
+71,1.183333333,BASELINE,765.255499153,744.255499153,714.255499153,679,659,635,878.255499153,787.255499153,805,652,631,652,0.400974725112,-0.0153841286461,0.0598467561408,0.999999944993,0.000207319816413,-0.000258245096113,1.84990777261e-05,1793242980325308928
+72,1.200000000,BASELINE,765.835391406,744.835391406,714.835391406,679,659,635,878.835391406,787.835391406,805,652,631,652,0.400972771219,-0.0153834900466,0.0598455475245,0.99999994383,0.000209993379446,-0.000260598293915,1.81987995701e-05,1793242980341975552
+73,1.216666667,BASELINE,766,745,714.588970142,679,659,635,879,788,805,652,631,652,0.400972171904,-0.015383202208,0.0598449598754,0.999999943693,0.000209425300873,-0.000261606454647,1.77801478367e-05,1793242980358642432
+74,1.233333333,BASELINE,766,745,714.01501783,679,659,635,879,788,805,652,631,652,0.400972109511,-0.0153830534029,0.059844618363,0.999999943964,0.000207572312549,-0.000262081474551,1.73145756523e-05,1793242980375309056
+75,1.250000000,BASELINE,766,744.441989441,714,679,659,635,878.441989441,787.441989441,805,652,631,652,0.400971583784,-0.0153834064319,0.0598446419041,0.999999943875,0.000207880101046,-0.000262142617245,1.77813308041e-05,1793242980391975680
+76,1.266666667,BASELINE,766,744,714,679,659,635,878,787,805,652,631,652,0.400971169484,-0.0153837902376,0.0598447431683,0.999999943833,0.000208172492826,-0.000262048477482,1.81178102172e-05,1793242980408642560
+77,1.283333333,BASELINE,766,744,714,679,659,635,878,787,805,652,631,652,0.40097117309,-0.0153842323834,0.0598450735494,0.999999943979,0.000208217080304,-0.000261467992196,1.79302811395e-05,1793242980425309184
+78,1.300000000,BASELINE,766,744,714,679,659,635,878.318391196,787.318391196,805,652,631,651.681608804,0.400971621845,-0.0153842417162,0.0598454466131,0.999999944313,0.000207761691835,-0.000260553283305,1.79132670372e-05,1793242980441975552
+79,1.316666667,BASELINE,766,744,714,679,659,635,878.896827284,787.896827284,805,652,631,651.103172716,0.400972434173,-0.0153838975507,0.0598458545376,0.999999944799,0.000206897949763,-0.000259365598485,1.8035520452e-05,1793242980458642176
+80,1.333333333,BASELINE,766,744.471002863,714,679.471002863,659,635,879,787.528997137,805.471002863,652,631,651.471002863,0.400972035117,-0.0153832244299,0.0598456434522,0.99999994432,0.000207779116413,-0.000260523684743,1.77541306545e-05,1793242980475308800
+81,1.350000000,BASELINE,765.95578294,744.95578294,714,679.95578294,659,635,878.95578294,787,805.95578294,652,631,652,0.400971476493,-0.0153825693938,0.0598453698926,0.999999943714,0.000208903604687,-0.000261968277901,1.74378386605e-05,1793242980491975424
+82,1.366666667,BASELINE,765.383005423,744.383005423,714,679.383005423,659,635,878.383005423,787,805.383005423,652,631,652,0.400972153969,-0.0153829841735,0.0598459558538,0.99999994413,0.000208408685091,-0.000260750459125,1.77517834657e-05,1793242980508642304
+83,1.383333333,BASELINE,765,744.197913167,714,679,659,635,878.197913167,787,805,652,631,652,0.400972218917,-0.0153832383364,0.0598461721595,0.999999944247,0.000208270533728,-0.000260397502891,1.79633681303e-05,1793242980525309184
+84,1.400000000,BASELINE,765,744.795262499,714,679,659,635,878.795262499,787,805,652,631,652,0.400971047637,-0.0153831683359,0.0598456424118,0.999999943762,0.000208852426003,-0.000261790046153,1.79683655766e-05,1793242980541975808
+85,1.416666667,BASELINE,765.377421349,745,714,679.377421349,659,635,878.622578651,787,804.622578651,652,631,652,0.400970603343,-0.0153839215167,0.0598449798373,0.99999994397,0.00020752906551,-0.000262047907494,1.79746093488e-05,1793242980558642432
+86,1.433333333,BASELINE,765.9516587,745,714,679.9516587,659,635,878.0483413,787,804.0483413,652,631,652,0.400970538155,-0.0153851039664,0.0598442479969,0.999999944535,0.000205212162274,-0.000261714059887,1.79815030493e-05,1793242980575308800
+87,1.450000000,BASELINE,766,744.473367621,714,679.473367621,659,635,878,787,804,652,631,652,0.400970519097,-0.0153857717597,0.0598443369224,0.999999944686,0.00020444462394,-0.000261736799865,1.79870834906e-05,1793242980591975168
+88,1.466666667,BASELINE,765.895863383,744,714,679,659,635,878.208273235,787,804.104136617,652,631,652,0.400970534127,-0.0153859962093,0.0598445326259,0.999999944624,0.000204595243529,-0.000261860960595,1.79526268497e-05,1793242980608642048
+89,1.483333333,BASELINE,765.306892633,744,714,679,659,635,879.386214734,787,804.693107367,652,631,652,0.400970688118,-0.0153843768159,0.0598448742019,0.999999943734,0.000208357503782,-0.0002623047041,1.77323295642e-05,1793242980625308672
+90,1.500000000,BASELINE,765.278283555,744,714,679.278283555,659.278283555,635,879.721716445,787,805,652,631,652,0.400970926967,-0.0153829938537,0.0598448277799,0.999999943261,0.000210331023119,-0.000262546480884,1.75765245867e-05,1793242980641975296
+91,1.516666667,BASELINE,765.859331334,744,714,679.859331334,659.859331334,635,879.140668666,787,805,652,631,652,0.400971258137,-0.0153818681216,0.0598443592278,0.999999943251,0.000210358445336,-0.000262568523864,1.74908853353e-05,1793242980658642176
+92,1.533333333,BASELINE,766,744.434457982,714,679.565542018,659.565542018,635,879,787,805,652,631,652,0.400970806076,-0.0153817378886,0.0598442451518,0.999999943127,0.000210606373921,-0.000262838052109,1.7501076517e-05,1793242980675308800
+93,1.550000000,BASELINE,765.992105753,745,714,679.007894247,659,635,878.992105753,787,805,652,631,652,0.400970138231,-0.0153819274321,0.0598442593328,0.99999994298,0.000210915123953,-0.000263149455863,1.75433226205e-05,1793242980691975680
+94,1.566666667,BASELINE,765.403898487,745,714,679.596101513,659,635,878.403898487,787,805,652,631,652,0.400971999335,-0.015382248403,0.0598453782247,0.999999943695,0.000210517132485,-0.000260727885736,1.7691730118e-05,1793242980708642048
+95,1.583333333,BASELINE,765.182766771,744.817233229,714,679.817233229,659,635,878,787,804.817233229,652,631,652,0.400972976416,-0.0153828419811,0.0598459274026,0.999999944165,0.000209879933102,-0.000259425538232,1.78485751345e-05,1793242980725308672
+96,1.600000000,BASELINE,765.766052948,744.233947052,714,679.233947052,659,635,878,787,804.233947052,652,631,652,0.400972016231,-0.0153840329569,0.0598452280958,0.999999944106,0.000208718527785,-0.00026057588109,1.80239103569e-05,1793242980741975040
+97,1.616666667,BASELINE,766,744,714,679,659,635,878,787,804,652,631,652,0.400971810746,-0.0153846730177,0.0598451926583,0.999999944164,0.000208297598983,-0.000260686704236,1.80867224642e-05,1793242980758641920
+98,1.633333333,BASELINE,766,744,714,679,659,635,878,787,804,652,631,652,0.400972110672,-0.0153849441393,0.0598456018036,0.999999944301,0.000208372555937,-0.000260101377018,1.80741795687e-05,1793242980775308800
+99,1.650000000,BASELINE,766,744,714.495745095,679.495745095,659,635,878.99149019,787,804.495745095,652,631,652,0.400971145941,-0.0153845402056,0.0598451951225,0.999999944494,0.000206730346008,-0.000260679192163,1.78906481482e-05,1793242980791975424
+100,1.666666667,BASELINE,766,744,714.925609436,680,659,635,879.925609436,787,805,652,631,652,0.400970032159,-0.0153841897758,0.0598446487404,0.999999944587,0.000205257312086,-0.00026149621141,1.77304655101e-05,1793242980808641792
+101,1.683333333,BASELINE,766,744,714.335194946,680,659,635,879.335194946,787,805,652,631,652,0.400969321409,-0.0153849775094,0.0598440602702,0.999999943941,0.000206908910405,-0.000262650906813,1.79265298134e-05,1793242980825308416
+102,1.700000000,BASELINE,766,744.249657232,714,679.750342768,659,635,879,787,805,652,631,652,0.400969142779,-0.0153842246605,0.0598439040882,0.999999943382,0.000208757919008,-0.000263317850144,1.78909358289e-05,1793242980841975296
+103,1.716666667,BASELINE,766,744.827204049,714,679.172795951,659,635,879,787,805,652,631,652,0.400969663015,-0.0153814484735,0.0598443156555,0.999999942939,0.000210866198067,-0.000263344199787,1.75510913196e-05,1793242980858641920
+104,1.733333333,BASELINE,765.597978454,745,714,679.402021546,659.402021546,635,879,787,805,652,631,652,0.400971162386,-0.0153821399649,0.0598449660456,0.999999943599,0.0002098833602,-0.000261598081388,1.7802988746e-05,1793242980875308544
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+106,1.766666667,BASELINE,765.547853312,744.452146688,714,679.452146688,659.452146688,635,879,787.547853312,805,652,631,651.452146688,0.400972018301,-0.0153841657021,0.0598454265959,0.99999994462,0.000206991917467,-0.000259973244338,1.81060891714e-05,1793242980908642048
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,744,714,680,659,636,879,787,805,652,631,652,0.400972783614,-0.0153847207822,0.0598455471129,0.999999944079,0.000209805294872,-0.000259817160235,1.7853558262e-05,1793242980949679360
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,744,714.576146087,680,659,635.423853913,879,787.576146087,805,651.423853913,631,652,0.400971692795,-0.0153834048066,0.0598451094175,0.999999943873,0.000209733813847,-0.000260681995968,1.76270120463e-05,1793242980966346240
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+112,1.866666667,POSE1_TO_POSE2_PRESS,765.863768135,744.136231865,714.136231865,679,659,635.863768135,878.136231865,787.863768135,805,652,631,652,0.400970040001,-0.015384798358,0.0598446144439,0.999999943428,0.0002093125172,-0.000262688486708,1.80990316166e-05,1793242981033014272
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+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744,714,679,659,634.790956257,879,787,805,652,631,652,0.400984067047,-0.0153861028446,0.0598514454641,0.999999946642,0.000207270368997,-0.000251783954361,1.89788059654e-05,1793242981099679232
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744,714,679,659,634.217929565,879,787,805,652,631,652,0.40100574994,-0.0153862609898,0.0598609012315,0.999999950569,0.00020815350562,-0.000234854734412,1.94380665562e-05,1793242981116346112
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.632800638,744,714,679,659,634.367199362,879,787,804.632800638,652,631,652,0.401042381158,-0.0153882956747,0.0598755862381,0.99999995656,0.000207377740807,-0.000208413733357,2.09200618618e-05,1793242981133012736
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+120,2.000000000,POSE1_TO_POSE2_PRESS,765.539167315,744.539167315,714,679.539167315,659,635,879,787,804.539167315,652,631,652,0.401156796676,-0.0153936331089,0.0599129244261,0.999999967635,0.000207307087412,-0.0001454800906,2.4285239905e-05,1793242981166346240
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.882750583,745,714,679.882750583,659,635,878.882750583,787,805,651.882750583,631,652,0.40122813844,-0.0153963517628,0.0599303904159,0.999999971007,0.000208424017647,-0.000117904081173,2.53653538174e-05,1793242981183012608
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+123,2.050000000,POSE1_TO_POSE2_PRESS,765.275274493,745,714,679.275274493,659,635,878.275274493,787,804.724725507,651,631,651.724725507,0.401384593901,-0.0154065507624,0.0599464887012,0.999999974783,0.000203755023387,-9.07107896579e-05,2.627512247e-05,1793242981216345856
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+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744,714,679,659,635,878.02329277,787,805.02329277,652,631,652,0.401679109913,-0.0154216757061,0.0599448560538,0.999999976645,0.000195435455147,-8.92778386441e-05,2.33273790455e-05,1793242981266345984
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744,714,679,659,635,878.59960368,787,805.59960368,652,631,652,0.401818684648,-0.0154283355233,0.0599450587233,0.999999977317,0.000194081582758,-8.49400786279e-05,2.19948773626e-05,1793242981283012864
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.824407421,744,714,679,659,635.175592579,879,787,805.824407421,652,631,652,0.401967286991,-0.0154353470708,0.0599458605502,0.999999978176,0.000191932407185,-7.98812474317e-05,2.06955592525e-05,1793242981299679488
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.249151526,744,714,679,659,635.750848474,879,787,805.249151526,652,631,652,0.402136436904,-0.0154431591846,0.0599480261093,0.999999979466,0.00018797305559,-7.31811988359e-05,1.94717698968e-05,1793242981316345856
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.33522978,714,679.33522978,659,635.66477022,878.66477022,787.33522978,805,652,631,652,0.40232386399,-0.0154531550755,0.0599500609878,0.999999981326,0.00018099358238,-6.53320097772e-05,1.79297438999e-05,1793242981333012480
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+132,2.200000000,POSE1_TO_POSE2_PRESS,765.507283779,744.492716221,714,680,659,635,878.507283779,788,805,652,631,652,0.402761035332,-0.0154767152389,0.0599552406466,0.999999985484,0.000162997301434,-4.74260163894e-05,1.46521636503e-05,1793242981366345728
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+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.47236385,714,679.52763615,658.52763615,635,878.47236385,787,804.52763615,652,631,652,0.407178583308,-0.0155180147839,0.0599890308036,0.999999999732,-2.85492866424e-06,8.0792358724e-06,-2.15251152147e-05,1793242981566345728
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.950540308,714,679.049459692,658.098919383,635,879,787,804.049459692,652,631,652,0.407691231486,-0.0155153549523,0.0599979655818,0.999999999255,-2.62214354266e-05,1.37175028883e-05,-2.47864656784e-05,1793242981583012352
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.373252572,714,679.626747428,659.253494857,635,879,787,804.626747428,652,631,652,0.408212076286,-0.0155151061393,0.059986326436,0.999999999099,-2.42541684818e-05,-1.82973084518e-05,-2.96353126227e-05,1793242981599678976
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744,714,679.79710421,659.79710421,635,879,787,805,652,631,651.79710421,0.408755822079,-0.0155149774423,0.0599756957092,0.999999997996,-2.69351441637e-05,-4.55926244246e-05,-3.46870007328e-05,1793242981616345600
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,714,679.223040202,659.223040202,635,879,787,805,652,631,651.223040202,0.409341461864,-0.0155150684799,0.0599669097383,0.999999996405,-3.811940105e-05,-6.42543109575e-05,-4.01097568787e-05,1793242981633012224
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.360929765,744,714,679,659.360929765,635,879,787,805,652,630.639070235,651.360929765,0.409964175524,-0.0155195835143,0.0599724811079,0.999999996215,-5.62824310195e-05,-4.98040325738e-05,-4.38385388714e-05,1793242981649678848
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.951193948,744,714,679,659.951193948,635,879,787,805,652,630.048806052,651.951193948,0.410610445865,-0.015526909552,0.0599871751178,0.999999995706,-7.88797660411e-05,-1.43144435061e-05,-4.64909710946e-05,1793242981666345472
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.469057874,744,714,679,659.469057874,635,879,787,805,651.469057874,630.530942126,652,0.411274292069,-0.0155300957356,0.0599902408139,0.999999995137,-8.56808658914e-05,-6.6350080607e-06,-4.8379127378e-05,1793242981683012096
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.109135727,714,679,659,635,879.109135727,787,805,651,631,652,0.411937287908,-0.0155301154056,0.0599868257607,0.999999995978,-7.53266792094e-05,-1.21547495607e-05,-4.71437899666e-05,1793242981699678976
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.684736097,714,679,659,635,879.684736097,787,805,651,631,652,0.412589877578,-0.0155181958019,0.0599601908761,0.99999999745,2.26636823048e-06,-6.33757134356e-05,-3.28525584452e-05,1793242981716345600
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.260499469,744.739500531,714,679.260499469,659,635,879.739500531,787,805,651.260499469,630.739500531,652,0.413267533531,-0.0155104345743,0.0599331240679,0.999999992383,3.65579200248e-05,-0.000114310117815,-2.88289063608e-05,1793242981733012224
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.836460311,744.163539689,714,679.836460311,659,635,879.163539689,787,805,651.836460311,630.163539689,652,0.413975544504,-0.015507709083,0.0599055342024,0.999999985542,1.84119502135e-05,-0.000164897509665,-3.72391539149e-05,1793242981749678848
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.576079435,744.423920565,714.423920565,679.576079435,659,635,879,787,805,652,630.423920565,651.576079435,0.414764707812,-0.0155151837536,0.0599331375774,0.999999992716,-3.17868794122e-07,-0.000114448721165,-3.83224894918e-05,1793242981766345472
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.01556908,745,714.98443092,679.01556908,659.01556908,635,879,787,805,652,631,651,0.415585598195,-0.0155264741256,0.0599819520621,0.999999998837,-1.8765316357e-05,-2.53197552891e-05,-3.65042706896e-05,1793242981783012352
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.593787293,745,714.406212707,679.593787293,659.593787293,635,879,787,805,652,631,651,0.416390129616,-0.0155294877675,0.0600063737169,0.999999999125,-1.86414525554e-05,1.37834250381e-05,-3.4824374882e-05,1793242981799679232
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,805,651.829239567,631,651.170760433,0.417192907268,-0.0155314347607,0.0600190641318,0.999999998647,-1.95006489315e-05,3.39425574342e-05,-3.42657855408e-05,1793242981816345856
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,805,651.255206859,631,651.744793141,0.417991543124,-0.0155308627285,0.0600040497446,0.999999999038,-2.26814658296e-05,9.36293158145e-06,-3.63553028861e-05,1793242981833012480
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,744.6722687,714,679.6722687,659.6722687,635,879,787.3277313,805,651,631,652,0.41880527461,-0.0155312231954,0.0599874115017,0.999999998701,-2.71064344013e-05,-1.81878249187e-05,-3.91557103016e-05,1793242981849679360
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,744.082202126,714,679.082202126,659.082202126,635,879,787.917797874,805,651,631,652,0.419631089481,-0.0155323300892,0.0599694734305,0.999999997409,-3.25272944725e-05,-4.81168467232e-05,-4.25251555329e-05,1793242981866345728
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,744.498421675,714,679.498421675,659.498421675,635,879,787.501578325,805,651.498421675,631,652,0.420440393643,-0.0155308391125,0.0599391372646,0.999999994188,-3.2799826881e-05,-9.19183354553e-05,-4.58260461761e-05,1793242981883012352
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714.077213155,680,660,635,879,787,805,651.922786845,631,652,0.421249442608,-0.0155291525916,0.0599084086569,0.99999998877,-3.23713798079e-05,-0.000137856623441,-4.90650243406e-05,1793242981899678976
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714.654037784,680,660,635,879,787,805,651.345962216,631,652,0.422074131808,-0.0155289215761,0.0598881254318,0.99999998135,-3.27991200807e-05,-0.000183092345247,-5.19751918685e-05,1793242981916345600
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,744.765600944,714.765600944,680,660,635,879,787,805,651,631,652,0.422959199811,-0.0155322322822,0.0599014583088,0.999999984452,-3.58830650724e-05,-0.000164652167808,-5.19490448151e-05,1793242981933012736
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,744.179939695,714.179939695,680,660,635,879,787,805,651,631,652,0.423934749491,-0.0155408504879,0.0599651670927,0.999999996659,-4.29475049922e-05,-5.07895298443e-05,-4.75226399489e-05,1793242981949680384
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.598584005,744,714,680,660.401415995,635,879,787.401415995,805,651,631,652,0.424871261854,-0.0155449700493,0.0600085933284,0.999999997726,-4.66314666983e-05,2.08227313293e-05,-4.40489248015e-05,1793242981966347008
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.019137889,744,714,680,660.980862111,635,879,787.980862111,805,651,631,652,0.425790460903,-0.0155470944375,0.0600430241427,0.999999995252,-4.88161680388e-05,7.36967195785e-05,-4.0997732927e-05,1793242981983012864
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.558746446,744.558746446,714,680,660.441253554,635,879,787.441253554,805.558746446,651.558746446,631,652,0.426682257439,-0.0155473548141,0.0600263163538,0.999999995835,-5.27697224878e-05,6.01753877176e-05,-4.38715186217e-05,1793242981999679488
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,806,651.864541464,631,652,0.427563351883,-0.0155474948222,0.0600067088388,0.99999999653,-5.66251857767e-05,3.91956245374e-05,-4.68832110948e-05,1793242982016346112
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,806,651.291444345,631,652,0.428412893923,-0.0155474516394,0.0599833761038,0.999999996966,-5.99685418287e-05,1.44599906437e-06,-4.96866245574e-05,1793242982033012480
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.289871774,787,806,651,631,652,0.429253264084,-0.0155462042655,0.0599537679161,0.999999995473,-6.07512324107e-05,-5.09612554315e-05,-5.25918524184e-05,1793242982049679360
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.879692588,787,806,651,631,652,0.430084143459,-0.0155437108372,0.0599176661136,0.999999989695,-5.88842367607e-05,-0.000118535702545,-5.56024339157e-05,1793242982066346240
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.538010171,745,714,680,660.461989829,635,879.538010171,787,806,651,631,651.538010171,0.4310002693,-0.0155455224434,0.059931399603,0.999999992632,-6.44512625384e-05,-8.63245667344e-05,-5.59459100743e-05,1793242982083012864
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.042056194,745,714,680,660.957943806,635,879.042056194,787,806,651,631,651.042056194,0.43193591056,-0.0155485620017,0.0599587784274,0.999999995502,-7.14071141583e-05,-2.86736506472e-05,-5.54556745446e-05,1793242982099679488
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.618272953,745,714,680,660.381727047,635,879.618272953,787,806,651,631,651.618272953,0.432841982611,-0.0155531871213,0.059997278504,0.999999995641,-7.18084647188e-05,2.73371342651e-05,-5.30565063194e-05,1793242982116345856
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.807020191,787,806,651,631,651.807020191,0.433720401166,-0.0155560898992,0.0600157187216,0.999999994621,-7.31759626914e-05,5.1984691984e-05,-5.19647862796e-05,1793242982133012224
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.235276737,787,806,651,631,651.235276737,0.434544544056,-0.0155556122188,0.0599947872351,0.999999995537,-7.64397294399e-05,1.50753006717e-05,-5.34392093094e-05,1793242982149678848
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,744.649624193,714.350375807,680,660,635,879.350375807,787,806,651,631.350375807,651.350375807,0.435370732192,-0.0155548658833,0.0599683487019,0.999999994834,-7.85910172447e-05,-3.15723674565e-05,-5.61936898614e-05,1793242982166345472
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,744.054245655,714.945754345,680,660,635,879.945754345,787,806,651,631.945754345,651.945754345,0.436198350431,-0.015553931689,0.059938059329,0.999999991397,-7.99643960499e-05,-8.50295914383e-05,-5.98432594037e-05,1793242982183012096
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,744.524621944,714.475378056,680,660,635,880,787,806,651,631.475378056,651.475378056,0.436979418316,-0.0155501854862,0.0599223994885,0.99999998823,-8.21718513371e-05,-0.000113632071319,-6.22474651834e-05,1793242982199678976
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,880,787,806,651,631,651,0.437755732689,-0.0155464243034,0.0599093914466,0.999999984842,-8.37572247082e-05,-0.000138501426675,-6.41758253967e-05,1793242982216345600
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,880,787,806,651,631,651,0.438531640486,-0.0155439090898,0.0599019164056,0.999999982141,-8.20483164587e-05,-0.000157574947866,-6.44656446191e-05,1793242982233012224
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.740258006,744.740258006,714,680,660.259741994,635,880.259741994,787,806,651,631,651.259741994,0.43932934233,-0.0155444551773,0.0599209978002,0.999999986192,-8.39419981678e-05,-0.000128670677569,-6.33543514939e-05,1793242982249678848
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.15281514,744.15281514,714,680,660.84718486,635,880.84718486,787,806,651,631,651.84718486,0.440154540353,-0.0155488635248,0.0599735838551,0.999999993317,-9.03808509259e-05,-3.92357071836e-05,-6.04753587045e-05,1793242982266345472
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.429014531,744.429014531,714,680,661,635,880.570985469,787,806,651,631,652,0.440938768741,-0.0155543725425,0.0600024250919,0.99999999347,-9.85841457329e-05,1.83832722876e-06,-5.77748785552e-05,1793242982283012096
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.991176894,745,714,680,660.991176894,635,880,787,806.008823106,651,631,652,0.441707118109,-0.0155601782379,0.0600221202819,0.999999992423,-0.000107180230004,2.48694249372e-05,-5.5209331179e-05,1793242982299678976
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.414428635,745,714,680,660.414428635,635,880,787,806.585571365,651,631,652,0.442380579079,-0.0155601703217,0.0599904905058,0.999999993065,-0.000101126859379,-1.8992572442e-05,-5.72890799113e-05,1793242982316345600
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.161436876,745,714,680,660,635,880,787,806.838563124,651,631,652,0.443049017255,-0.0155603456849,0.0599646717766,0.999999991892,-9.89441326867e-05,-5.39058433169e-05,-5.9332803732e-05,1793242982333012480
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.73504871,745,714,680,660,635,880,787,806.26495129,651,631,652,0.443704631551,-0.0155609889903,0.0599536896017,0.99999999026,-0.000106643797231,-6.5971549498e-05,-6.12845506969e-05,1793242982349680128
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.681378794,745,714.318621206,680.318621206,660.318621206,634.681378794,880.318621206,787,806,651,631,651.681378794,0.444349225825,-0.0155618930306,0.059956764578,0.999999989998,-0.000112142633652,-6.00763754551e-05,-6.17953431812e-05,1793242982366346752
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.089256197,745,714.910743803,680.910743803,660.910743803,634.089256197,880.910743803,787,806,651,631,651.089256197,0.444984360577,-0.0155630208831,0.0599719060788,0.999999990685,-0.000115752299807,-3.87637531337e-05,-6.10692340109e-05,1793242982383012608
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.49187881,745,714.50812119,681,661,634.49187881,880.50812119,787,806,651,631,651.49187881,0.445568596957,-0.0155609436403,0.0599586263772,0.999999989,-0.000113422375266,-7.13056828332e-05,-6.36446164876e-05,1793242982399678976
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,744.929442487,714,681,661,635,880,787,806,651,631,652,0.446140689582,-0.0155587164593,0.0599416106816,0.999999985557,-0.000112481633779,-0.000108543714207,-6.67216214941e-05,1793242982416345600
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,744.354382252,714,681,661,635,880,787,806,651,631,652,0.446690548157,-0.0155594848678,0.0599339519468,0.999999983122,-0.00012901198821,-0.000111011560872,-6.91953245398e-05,1793242982433012480
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.7744787,744.2255213,714,681,661,635,879.7744787,787,806,651,631,651.7744787,0.447232509011,-0.0155611976797,0.0599366310015,0.999999982955,-0.000138599477357,-9.94672561095e-05,-7.06213551868e-05,1793242982449679104
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.186797418,744.813202582,714,681,661,635,879.186797418,787,806,651,631,651.186797418,0.447761787025,-0.0155644270893,0.0599559112989,0.999999985995,-0.000137037561415,-6.54211275535e-05,-7.03649501776e-05,1793242982466345472
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,744.604565422,714,680.604565422,660.604565422,635,879,787,806,651,631,651.395434578,0.448260430369,-0.0155665082514,0.0599673091798,0.999999986772,-0.000138522543999,-4.69346510285e-05,-7.11652395435e-05,1793242982483012096
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,744.024872546,714,680.024872546,660.024872546,635,879,787,806,651,631,651.975127454,0.448744799105,-0.0155680543718,0.0599750341398,0.999999986737,-0.000141427271667,-3.56984100545e-05,-7.24579104983e-05,1793242982499678720
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+206,3.433333333,POSE1_TO_POSE2_PRESS,765.457307265,745,714,680.457307265,660,634,879.457307265,786,806,651,631,652,0.450863451802,-0.0155755594921,0.059849556353,0.999999970783,-7.354106215e-05,-0.000224171388516,-5.26568189908e-05,1793242982599678976
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765.388216986,745,714,681,660.611783014,634,880,786,806,651,631,652,0.451464365942,-0.0155804347938,0.0598615949089,0.999999974411,-8.11640247265e-05,-0.000204271113347,-5.35124987902e-05,1793242982633012224
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.809030737,633.809030737,880,785.809030737,806,651,630.809030737,652,0.451727763718,-0.0155839206141,0.0598627656733,0.999999972744,-0.000101781748848,-0.000202786455565,-5.5047465512e-05,1793242982649679104
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+245,4.083333333,HOLD_POSE2,765,744,714,681,660,634,879,784,807,651,630,652,0.453588148299,-0.0155855758527,0.0597960830131,0.999999937494,-0.000152391984898,-0.000312416679301,-6.46808379385e-05,1793242983276165120
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.243066504,660,633.756933496,879,784.243066504,806,651,630,652,0.453587131373,-0.015583136675,0.0597924785105,0.99999993542,-0.000153924917722,-0.000318170776404,-6.5075460981e-05,1793242983642196992
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.086889614,633.086889614,879.913110386,784,806.913110386,651,630,652,0.453588010623,-0.0155829670539,0.0597918438529,0.999999935933,-0.000151273285906,-0.000317791892227,-6.52652199798e-05,1793242983675529984
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.167053705,745,714,681.832946295,660,634,879.167053705,786,806.832946295,651,630.167053705,652,0.448964310986,-0.015458077088,0.0596842273811,0.999999881535,-7.91516197645e-05,-0.00047813953402,-4.52573715565e-05,1793242984142197248
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.5116969,745,714,679,658.5116969,635,879,787,805,652.5116969,630.5116969,652,0.400972680909,-0.0153813965857,0.0598412614904,0.999999943002,0.000205987721315,-0.000267020678239,1.62844148256e-05,1793242985875530496
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b007646898b901c2a6a1ec8e0ace05bdc0e6ad1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f4e2b96befa86ff702d516212bae59c410a3b90b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:183c4fb2984d888d81585b40b424a47e5da73abf01b4a43979a8a17019f6948c
+size 25856562
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..61a1bc17da0a5d91710cdd0bd15db5319669b506
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_04/franka_data.csv
@@ -0,0 +1,409 @@
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+4,0.066666667,BASELINE,765.659036404,744.340963596,714,679.340963596,659,635,878.340963596,787,805,652,631,651.659036404,0.400971805434,-0.0153817534493,0.0598424420025,0.999999944154,0.000203634621849,-0.00026453383415,1.57154141787e-05,1793242986157481728
+5,0.083333333,BASELINE,765.082580222,744.917419778,714,679.917419778,659,635,878.917419778,787,805,652,631,651.082580222,0.400971352897,-0.0153819274131,0.0598429558854,0.999999944439,0.000202082909309,-0.000264643231145,1.57665320056e-05,1793242986174148864
+6,0.100000000,BASELINE,765,744.496323845,714.503676155,679.496323845,659,635,879.503676155,787,805,652,631,651.503676155,0.400972325185,-0.0153808651918,0.0598437300308,0.999999944475,0.000203631001004,-0.00026333414696,1.54759632356e-05,1793242986190815744
+7,0.116666667,BASELINE,765,744,714.909848679,679,659.090151321,635,879.819697357,787.090151321,805,652,631,651.909848679,0.400973494426,-0.0153799174748,0.059844539956,0.999999944497,0.000205479766593,-0.000261825890324,1.5214461064e-05,1793242986207482624
+8,0.133333333,BASELINE,765,744,714.331069415,679,659.668930585,635,878.66213883,787.668930585,805,652,631,651.331069415,0.400974439875,-0.0153807107158,0.0598453079393,0.999999944696,0.000206148907344,-0.00026052364878,1.54201674969e-05,1793242986224148992
+9,0.150000000,BASELINE,765.246534036,744.246534036,714,679,659.753465964,635,878.246534036,787.753465964,805,652,631,651.246534036,0.400974646697,-0.015380754067,0.0598453900034,0.999999944712,0.000206569263609,-0.000260123711656,1.55225443591e-05,1793242986240815616
+10,0.166666667,BASELINE,765.822565944,744.822565944,714,679,659.177434056,635,878.822565944,787.177434056,805,652,631,651.822565944,0.400973866327,-0.0153797951749,0.0598445553221,0.999999944484,0.000206657114177,-0.000260929723277,1.54868190827e-05,1793242986257481984
+11,0.183333333,BASELINE,765.6006301,745,714,679,659,635,878.6006301,787,805,652,631,652,0.400973287288,-0.0153813738582,0.0598440680346,0.999999944681,0.000204617767681,-0.000261760674398,1.58186799533e-05,1793242986274148608
+12,0.200000000,BASELINE,765.023482419,745,714,679,659,635,878.023482419,787,805,652,631,652,0.40097279787,-0.0153840821319,0.0598437353879,0.999999945059,0.000201631508634,-0.000262602727298,1.63141702017e-05,1793242986290815232
+13,0.216666667,BASELINE,765.543068803,744.456931197,714,679,659,635,878.543068803,787,805,652,631,652,0.400972849056,-0.015382606497,0.0598440047279,0.999999944619,0.000203808968578,-0.000262622078486,1.59170077053e-05,1793242986307482112
+14,0.233333333,BASELINE,765.883666778,744,714,679,659,635,879,787,804.883666778,652,631,652,0.400973062823,-0.0153814952101,0.0598443381368,0.99999994434,0.000205457187892,-0.0002624192849,1.55722931321e-05,1793242986324148736
+15,0.250000000,BASELINE,765.280423176,744,714,679,659,635,879,787,804.280423176,652,631,652,0.400973861108,-0.0153826516104,0.0598448328416,0.999999944902,0.000203973632098,-0.000261432752622,1.56055595185e-05,1793242986340815616
+16,0.266666667,BASELINE,765,744.307288532,714,679,659,635,878.692711468,787,804.307288532,652,631,652,0.400973620989,-0.0153836118612,0.0598448508675,0.999999945105,0.000202953354207,-0.000261448491477,1.56456430401e-05,1793242986357482496
+17,0.283333333,BASELINE,765,744.881508176,714,679,659,635,878.118491824,787,804.881508176,652,631,652,0.400972478843,-0.0153844017234,0.0598444548188,0.999999944997,0.000202335510186,-0.00026233486928,1.56916483736e-05,1793242986374149376
+18,0.300000000,BASELINE,765.46781056,744.53218944,714,679,659,635,878.46781056,787.46781056,805,652,631,652,0.400971616819,-0.0153836283834,0.0598435828733,0.999999944957,0.000201604239291,-0.000263054329267,1.56098235355e-05,1793242986390815488
+19,0.316666667,BASELINE,765.943757075,744,714,679,658.943757075,635,878.943757075,787.943757075,805,652,631,652,0.400970993187,-0.0153826461174,0.0598427362968,0.999999944909,0.000201076761319,-0.000263646971306,1.55058322134e-05,1793242986407481856
+20,0.333333333,BASELINE,765.36472765,744,714,679,658.36472765,635,878.36472765,787.36472765,805,652,631,652,0.400971908439,-0.0153834997865,0.0598432756726,0.999999944626,0.000202717698535,-0.000263464227069,1.55047390212e-05,1793242986424148736
+21,0.350000000,BASELINE,765,744,714,679,658.213944129,635,878.213944129,787,805,651.786055871,631,652,0.400972756878,-0.0153841373946,0.0598438002794,0.999999944495,0.000203888323812,-0.000263050916671,1.5606102517e-05,1793242986440815360
+22,0.366666667,BASELINE,765,744,714,679,658.792007157,635,878.792007157,787,805,651.207992843,631,652,0.400973491607,-0.0153844072812,0.0598442997501,0.999999944627,0.000204258508797,-0.000262245197782,1.58818405884e-05,1793242986457481728
+23,0.383333333,BASELINE,765.374554451,744,714,679,659,635,879,787,804.625445549,651.374554451,631,652,0.400973226749,-0.0153842004173,0.0598440667086,0.999999944811,0.000203043120362,-0.00026249233663,1.57596426123e-05,1793242986474148352
+24,0.400000000,BASELINE,765.959622117,744,714,679,659,635,879,787,804.040377883,651.959622117,631,652,0.400972400086,-0.0153837256025,0.0598434219685,0.999999945022,0.000200936582063,-0.000263331219721,1.54137901379e-05,1793242986490814976
+25,0.416666667,BASELINE,765.460602465,744,714,679,659,635,879.539397535,787,804.539397535,652,631,652,0.400973342528,-0.0153829543174,0.0598446264862,0.999999945126,0.000202575012075,-0.000261660038137,1.56833593401e-05,1793242986507481600
+26,0.433333333,BASELINE,765.11884239,744,714,679.11884239,659,635,879.88115761,787,805,652,631,652,0.40097398858,-0.0153824104589,0.0598456006346,0.999999945176,0.000203936341991,-0.000260392213274,1.59263364689e-05,1793242986524147968
+27,0.450000000,BASELINE,765.698526879,744,714,679.698526879,659,635,879.301473121,787,805,652,631,652,0.40097297676,-0.015382833728,0.0598451498823,0.999999945072,0.000203146622404,-0.000261410047157,1.58892878888e-05,1793242986540814848
+28,0.466666667,BASELINE,766,744,714,679.725437883,659,635,879,787,805,652,631,652,0.400972929992,-0.0153829593196,0.0598451330064,0.999999945092,0.000203013664747,-0.000261447462476,1.57228338478e-05,1793242986557481984
+29,0.483333333,BASELINE,766,744,714,679.153357051,659,635,879,787,805,652,631,652,0.400973928966,-0.0153827623443,0.059845586284,0.999999945246,0.000203592382029,-0.000260422484733,1.54161545413e-05,1793242986574149376
+30,0.500000000,BASELINE,765.567892201,744,714,679,659,635,879,787,804.567892201,652,631,652,0.400973349021,-0.0153831001907,0.0598448840905,0.999999944934,0.000204096114451,-0.000261229457413,1.53684673275e-05,1793242986590816000
+31,0.516666667,BASELINE,765,744,714,679,659,635,879,787,804.022067835,652,631,652,0.400972244032,-0.0153835456588,0.0598438164686,0.99999994446,0.000204631784619,-0.000262619349105,1.54199801677e-05,1793242986607481600
+32,0.533333333,BASELINE,765,744,714,679,659,635,879,787,804.601751684,652,631,652,0.40097248412,-0.0153817610468,0.0598442083775,0.999999944257,0.00020666841198,-0.000261784863192,1.55812717927e-05,1793242986624148224
+33,0.550000000,BASELINE,765,744,714,679,659,635,878.819557904,787,805,652,631,651.819557904,0.400972510227,-0.0153810137762,0.0598444234346,0.999999944174,0.000207378816559,-0.000261534518262,1.5669387315e-05,1793242986640815104
+34,0.566666667,BASELINE,765,744,714,679,659,635,878.243048149,787,805,652,631,651.243048149,0.400972066648,-0.0153825434544,0.0598442503048,0.999999944359,0.000205178182011,-0.000262566354023,1.55968823824e-05,1793242986657481984
+35,0.583333333,BASELINE,765,744,714,679,659,635,878.33161931,787,805,652,631,651,0.400972253959,-0.0153830731059,0.059844262807,0.999999944622,0.000203818052777,-0.000262628791092,1.55141052077e-05,1793242986674148608
+36,0.600000000,BASELINE,765,744,714,679,659,635,878.904944045,787,805,652,631,651,0.400972901104,-0.015382873874,0.0598444106098,0.999999944944,0.000203070537501,-0.00026198466832,1.54238409566e-05,1793242986690815232
+37,0.616666667,BASELINE,765.49424541,744.49424541,714,679.49424541,659,635,879,787.49424541,805,652,631,651.49424541,0.400973323519,-0.0153833225443,0.0598444813339,0.999999945008,0.000203550073769,-0.000261365869129,1.54448444505e-05,1793242986707482112
+38,0.633333333,BASELINE,765.91524565,744.91524565,714,680,659,634.91524565,879.08475435,787.91524565,805,652,631,652,0.400973734909,-0.015383717454,0.0598446579925,0.999999945054,0.000204193807163,-0.000260686599101,1.54905046908e-05,1793242986724148224
+39,0.650000000,BASELINE,765.336212368,744.336212368,714,680,659,634.336212368,879.663787632,787.336212368,805,652,631,652,0.400974342486,-0.0153830478608,0.059845541792,0.999999945292,0.00020437285819,-0.000259625316593,1.55509912383e-05,1793242986740814848
+40,0.666666667,BASELINE,765,744.24129112,714,679.75870888,659,634.24129112,879.75870888,787,805,652,631,652,0.400974294997,-0.0153825710206,0.0598455938992,0.999999945197,0.000204586246857,-0.00025982149312,1.55848838377e-05,1793242986757481728
+41,0.683333333,BASELINE,765,744.816676406,714,679.183323594,659,634.816676406,879.183323594,787,805,652,631,652,0.400973340499,-0.0153823610684,0.0598444944367,0.999999944639,0.000204847179769,-0.000261758760412,1.55819541793e-05,1793242986774148352
+42,0.700000000,BASELINE,765,744.607483288,714,679,659,635,879,787,804.607483288,652,631,652,0.40097243166,-0.0153825852389,0.0598439590212,0.999999944422,0.000204418474142,-0.000262918900443,1.55484553573e-05,1793242986790815232
+43,0.716666667,BASELINE,765,744.031430237,714,679,659,635,879,787,804.031430237,652,631,652,0.400971544171,-0.0153830124003,0.0598436873476,0.999999944367,0.000203667301389,-0.000263715664571,1.5500662743e-05,1793242986807482368
+44,0.733333333,BASELINE,765,744,714,679,659,635,878.441180879,787,804.558819121,652,631,652,0.400971788868,-0.0153828403688,0.0598438872097,0.999999944348,0.000204294057942,-0.000263300973353,1.54976248248e-05,1793242986824148736
+45,0.750000000,BASELINE,765,744,714,679,659,635,878.146170449,787,804.853829551,651.853829551,631,652,0.400972085628,-0.0153828514848,0.0598441150843,0.999999944386,0.00020473300347,-0.000262811219457,1.55683306856e-05,1793242986840815360
+46,0.766666667,BASELINE,765,744,714,679,659,635,878.722580134,787,804.277419866,651.277419866,631,652,0.400972343314,-0.0153835034601,0.0598443453143,0.999999944585,0.000204385083361,-0.000262306308665,1.58484923302e-05,1793242986857481984
+47,0.783333333,BASELINE,765,744,714,679,659,635,878.701611943,787,804.298388057,651.298388057,631,651.701611943,0.400971984752,-0.0153837659681,0.0598437890974,0.999999944343,0.000204697048947,-0.000262989312381,1.57961750957e-05,1793242986874148608
+48,0.800000000,BASELINE,765,744,714,679,659,635,878.126362302,787,804.873637698,651.873637698,631,651.126362302,0.400971054398,-0.0153836671061,0.0598425031702,0.999999943688,0.000205621294353,-0.000264774531369,1.54353648867e-05,1793242986890815232
+49,0.816666667,BASELINE,765,744.460344304,714,679,658.539655696,635,878.460344304,787.460344304,805,652,631,651.460344304,0.400973594485,-0.0153831761,0.0598447449068,0.999999944763,0.000205326151458,-0.000260904754219,1.56322338162e-05,1793242986907481856
+50,0.833333333,BASELINE,765,744.950605646,714,679,658.049394354,634.950605646,878.950605646,787.950605646,804.950605646,652,631,652,0.400976689501,-0.015382617294,0.0598475672578,0.99999994609,0.000204818601966,-0.000256154610533,1.59416522162e-05,1793242986924148480
+51,0.850000000,BASELINE,765,744.371019289,714,679,658.628980711,634.371019289,878.371019289,787.371019289,804.371019289,652,631,652,0.400975254794,-0.0153825156309,0.0598459626766,0.999999945165,0.000205715605486,-0.000259041832818,1.57740813003e-05,1793242986940815360
+52,0.866666667,BASELINE,765,744.206309668,714,679,658.793690332,634.206309668,878.206309668,787,804.206309668,652,631,652,0.400974208609,-0.0153823179695,0.0598449492955,0.999999944683,0.000205764396183,-0.000260870913441,1.55649666842e-05,1793242986957482496
+53,0.883333333,BASELINE,765,744.77962291,714,679,658.22037709,634.77962291,878.77962291,787,804.77962291,652,631,652,0.400973853562,-0.0153819495373,0.0598449875985,0.999999945,0.000204304303891,-0.000260817669252,1.52819501296e-05,1793242986974148864
+54,0.900000000,BASELINE,765,744.64486203,714,679,658.710275941,635,879,787,805,652,630.64486203,652,0.400974081877,-0.015382829917,0.059845184318,0.99999994539,0.000202885423508,-0.000260421063077,1.54658390054e-05,1793242986990815232
+55,0.916666667,BASELINE,765,744.067972152,714,679,659.864055695,635,879,787,805,652,630.067972152,652,0.400974674449,-0.015384490068,0.0598454799544,0.999999945823,0.00020149227633,-0.000259810058048,1.59412685836e-05,1793242987007481856
+56,0.933333333,BASELINE,765,744,714.522904903,679.522904903,659.477095097,635,878.477095097,787.522904903,805,652,630.522904903,652,0.400973669779,-0.0153838652071,0.0598447303051,0.999999945162,0.000202731783775,-0.000261410439548,1.54732808948e-05,1793242987024148480
+57,0.950000000,BASELINE,765.112400558,744,714.887599442,679.887599442,659.112400558,635,878,787.887599442,805,652,631,651.887599442,0.40097269096,-0.0153830857926,0.0598441267183,0.999999944608,0.000203933483161,-0.000262621215193,1.50321171651e-05,1793242987040815360
+58,0.966666667,BASELINE,765.688490545,744,714.311509455,679.311509455,659.688490545,635,878,787.311509455,805,652,631,651.311509455,0.400972698853,-0.0153829278084,0.0598447016284,0.99999994511,0.000203528650156,-0.000261006289934,1.52214229255e-05,1793242987057481984
+59,0.983333333,BASELINE,765.735168903,744,714,679,659.735168903,635,878.264831097,787,805,652,631,651.264831097,0.400972023562,-0.0153825160999,0.0598446587057,0.999999944967,0.000204057353562,-0.00026113651935,1.5279586978e-05,1793242987074148608
+60,1.000000000,BASELINE,765.158533267,744,714,679,659.158533267,635,878.841466733,787,805,652,631,651.841466733,0.40097054391,-0.0153818056639,0.0598438883643,0.999999944062,0.000205685175915,-0.000263321443617,1.51833485692e-05,1793242987090815232
+61,1.016666667,BASELINE,765,744,714,679,659,635,879,787,804.573020588,652,631,652,0.400970925861,-0.0153817297286,0.059844110543,0.999999944278,0.000205293885651,-0.000262813475338,1.51100220218e-05,1793242987107482112
+62,1.033333333,BASELINE,765,744.015604175,714,679.015604175,659,635,879,787,804.015604175,652,631,652,0.400972030706,-0.0153819161118,0.0598447155471,0.999999944918,0.000204136395224,-0.000261276013634,1.50565705077e-05,1793242987124148736
+63,1.050000000,BASELINE,765,744.595057336,714,679.595057336,659,635,879,787,804.595057336,652,631,652,0.400973750742,-0.0153828877978,0.0598455550008,0.999999945632,0.000202956986407,-0.00025943428204,1.54073723101e-05,1793242987140815104
+64,1.066666667,BASELINE,765,744.828098798,714,679.828098798,659,635,879,787,805,652,631,652,0.400974832017,-0.0153835593076,0.0598462022523,0.999999946103,0.000202013034698,-0.000258338328173,1.56802196622e-05,1793242987157481728
+65,1.083333333,BASELINE,765,744.257309702,714,679.257309702,659,635,879,787,805,652,631,652,0.400974431082,-0.0153835342741,0.0598464035082,0.999999946018,0.000201615449164,-0.000258972913249,1.5772177704e-05,1793242987174148608
+66,1.100000000,BASELINE,765,744,714,679,659,635,879,787,805,652,631,652,0.400974060384,-0.0153828100266,0.0598462820011,0.999999945692,0.000202882722437,-0.000259248669555,1.56641756969e-05,1793242987190815232
+67,1.116666667,BASELINE,765,744,714,679,659,635,879,787,805,652,631,652,0.400973714507,-0.0153815118512,0.0598458955643,0.999999945163,0.000205516542581,-0.000259229892547,1.53920427846e-05,1793242987207481600
+68,1.133333333,BASELINE,765.487589291,744,714,679.487589291,659,635,879,787,805,652,631,652,0.40097402397,-0.0153820521361,0.0598460145489,0.999999945323,0.000204722654643,-0.000259242665979,1.5389181652e-05,1793242987224148480
+69,1.150000000,BASELINE,766,744.076852234,714,679.923147766,659,635,878.923147766,787,804.923147766,652,631,652,0.400974463455,-0.0153828367741,0.0598462997924,0.999999945655,0.00020330724533,-0.00025907263119,1.54006546898e-05,1793242987240815616
+70,1.166666667,BASELINE,766,744.655093095,714,679.344906905,659,635,878.344906905,787,804.344906905,652,631,652,0.400974844862,-0.0153826729546,0.0598469707098,0.999999946171,0.000202577590367,-0.000257666309511,1.51332358206e-05,1793242987257482240
+71,1.183333333,BASELINE,765.768210563,745,714,679.231789437,658.768210563,635,878.231789437,787,804.231789437,652,631,652,0.400974921191,-0.0153829982855,0.0598471029975,0.999999946422,0.000201805933646,-0.000257295196331,1.51480527252e-05,1793242987274149120
+72,1.200000000,BASELINE,765.193797197,745,714,679.806202803,658.193797197,635,878.806202803,787,804.806202803,652,631,652,0.400974546563,-0.0153840466632,0.0598464390997,0.999999946284,0.000200972191123,-0.000258454295919,1.5580061725e-05,1793242987290815488
+73,1.216666667,BASELINE,765,744.618529375,714,679.618529375,658.381470625,635,879,787,805,652,631,652,0.400973900963,-0.0153836088065,0.0598457574516,0.999999945817,0.000202119881438,-0.000259367042559,1.55549214297e-05,1793242987307481856
+74,1.233333333,BASELINE,765,744.042826525,714,679.042826525,658.957173475,635,879,787,805,652,631,652,0.400973117392,-0.0153824142082,0.0598450667657,0.999999945178,0.000204276451862,-0.000260154354358,1.5297015809e-05,1793242987324148736
+75,1.250000000,BASELINE,765,744,714,679,659,635,879,787.546363112,804.453636888,652,631,652,0.400973250385,-0.015384244056,0.0598453400871,0.999999945578,0.000201990286851,-0.000260396718453,1.54175437326e-05,1793242987340815104
+76,1.266666667,BASELINE,765,744.134416993,714,679,659,635,878.865583007,787.865583007,804.134416993,652,631,652,0.40097328731,-0.0153856034012,0.0598455005247,0.999999945822,0.000200532701932,-0.000260576187427,1.55492910526e-05,1793242987357481728
+77,1.283333333,BASELINE,765,744.715101493,714,679,659,635,878.284898507,787.284898507,804.715101493,652,631,652,0.400972760727,-0.0153845936676,0.0598450289636,0.999999945291,0.000203011457672,-0.000260692249156,1.56173112611e-05,1793242987374148608
+78,1.300000000,BASELINE,765,744.706913653,714,679,659,635,878.293086347,787,805,652,631,652,0.400972263919,-0.0153841480731,0.0598448590471,0.999999945155,0.000203212147007,-0.000261058671218,1.56064648119e-05,1793242987390814976
+79,1.316666667,BASELINE,765,744.131529107,714,679,659,635,878.868470893,787,805,652,631,652,0.400971795789,-0.0153842458526,0.0598449796722,0.9999999454,0.000201218622627,-0.000261666238154,1.55196546859e-05,1793242987407481600
+80,1.333333333,BASELINE,765,744.451790985,714,679,659,635,879,787,805,652,631,652,0.400971141673,-0.01538292777,0.0598442614302,0.999999944745,0.000203651607768,-0.000262293518365,1.54185186669e-05,1793242987424147968
+81,1.350000000,BASELINE,765.037081163,745,714,679,659,635,879,787,805,652,631,651.962918837,0.40097062287,-0.015381384043,0.0598434406278,0.999999943942,0.000207020402735,-0.000262724033436,1.53217639e-05,1793242987440814592
+82,1.366666667,BASELINE,765.616788295,745,714,679,659,635,879,787,805,652,631,651.383211705,0.400972890672,-0.0153826780798,0.0598447566589,0.999999945043,0.000204888298428,-0.0002601897074,1.53512447132e-05,1793242987457481472
+83,1.383333333,BASELINE,765.804778586,745,714,679,659.195221414,635,878.804778586,787,805,652,631,651.195221414,0.400973960836,-0.015384117968,0.0598454369157,0.999999945871,0.000202555822283,-0.000258829471644,1.5405525289e-05,1793242987474148608
+84,1.400000000,BASELINE,765.228829984,745,714,679,659.771170016,635,878.228829984,787,805,652,631,651.771170016,0.400972695326,-0.0153858423002,0.0598448772651,0.999999946176,0.000199832574047,-0.000259758984704,1.55081711784e-05,1793242987490816256
+85,1.416666667,BASELINE,765,745,714.345803566,679,659.654196434,635,878.345803566,787,805,652,631,652.345803566,0.400972338496,-0.0153851964941,0.0598449013127,0.999999946077,0.000200017496281,-0.000259998163165,1.54718665711e-05,1793242987507482880
+86,1.433333333,BASELINE,765,745,714.919570164,679,659.080429836,635,878.919570164,787,805,652,631,652.919570164,0.400972580694,-0.0153829882287,0.0598453101499,0.999999945713,0.000202119563051,-0.000259782254394,1.53439620445e-05,1793242987524148992
+87,1.450000000,BASELINE,765.509187732,745,715,679,659,635,878.490812268,787,805,652,631,652.490812268,0.400973310739,-0.0153832600607,0.0598456853786,0.999999945915,0.000202066920923,-0.000259047413787,1.52501004524e-05,1793242987540815872
+88,1.466666667,BASELINE,766,744.900322149,714.900322149,679,659,635,878,787.099677851,805,652,631,652,0.400973750023,-0.0153839124323,0.059845834944,0.999999946137,0.000201447462936,-0.000258679219922,1.5171134411e-05,1793242987557482496
+89,1.483333333,BASELINE,766,744.318117986,714.318117986,679,659,635,878,787.681882014,805,652,631,652,0.400972396754,-0.0153844496092,0.0598449186303,0.999999946,0.000199784661292,-0.000260495460281,1.51374083753e-05,1793242987574148864
+90,1.500000000,BASELINE,766,744.258318443,714.258318443,679,659.258318443,634.741681557,878.258318443,787.741681557,805,652,631,652,0.400972515077,-0.0153846536646,0.0598450846542,0.999999945913,0.000200432957006,-0.000260318871857,1.5314479564e-05,1793242987590815232
+91,1.516666667,BASELINE,766,744.827807022,714.827807022,679,659.827807022,634.172192978,878.827807022,787.172192978,805,652,631,652,0.400974406078,-0.0153844564422,0.0598465544608,0.99999994588,0.000203865198395,-0.00025774172375,1.57454768801e-05,1793242987607481600
+92,1.533333333,BASELINE,765.587682908,744.587682908,714.587682908,679,659.587682908,634.412317092,879,787.412317092,805,652,631,652,0.400974579209,-0.0153853465121,0.0598467216663,0.999999946417,0.00020165777902,-0.000257393838284,1.57613703089e-05,1793242987624148224
+93,1.550000000,BASELINE,765.003272291,744.003272291,714.003272291,679,659,635,879,788,805.003272291,652,631,652,0.400974007696,-0.0153866933565,0.0598463256303,0.99999994718,0.000197044325509,-0.000258011914001,1.55977773634e-05,1793242987640814848
+94,1.566666667,BASELINE,765.582707482,744.582707482,714.582707482,679,659,635,879,788,805.582707482,652,631,652,0.400973419051,-0.0153854920906,0.0598461624159,0.999999946611,0.000199168690815,-0.000258589542968,1.55090078902e-05,1793242987657481984
+95,1.583333333,BASELINE,766,744.838181227,714.838181227,679,658.838181227,635,879,787.838181227,805.838181227,652,631,652,0.40097283355,-0.015384700452,0.0598459087308,0.99999994611,0.000200705977617,-0.00025933927767,1.54708750708e-05,1793242987674148864
+96,1.600000000,BASELINE,766,744.259903409,714.259903409,679,658.259903409,635,879,787.259903409,805.259903409,652,631,652,0.400972256141,-0.015384963036,0.0598454222086,0.999999945794,0.000200732351474,-0.00026053194621,1.55630614289e-05,1793242987690815488
+97,1.616666667,BASELINE,765.685638538,744.314361462,714,679,658.314361462,635,879,787,805,652,631,652,0.400972187506,-0.0153848154698,0.0598452812085,0.999999945854,0.000200390533227,-0.000260572749509,1.54294912803e-05,1793242987707482368
+98,1.633333333,BASELINE,765.114649651,744.885350349,714,679,658.885350349,635,879,787,805,652,631,652,0.400972534206,-0.0153843330797,0.0598454222738,0.999999946221,0.000199748143174,-0.000259673233242,1.51116259178e-05,1793242987724148992
+99,1.650000000,BASELINE,765,744.525808991,714,679,659,635,879,787.474191009,805,652,631,652,0.400973850795,-0.0153847308892,0.0598462763519,0.999999946473,0.000200297867972,-0.00025826005943,1.53704327473e-05,1793242987740815616
+100,1.666666667,BASELINE,765,744.066020868,714,679,659,635,878.933979132,788,805,652,631,652,0.40097506968,-0.0153851728119,0.0598470807186,0.999999946635,0.000201010868475,-0.000257057681451,1.56753616305e-05,1793242987757481984
+101,1.683333333,BASELINE,765,744.64620139,714,679,659,635,878.35379861,788,805,652,631,652,0.400973629976,-0.0153842360837,0.0598461028615,0.99999994634,0.000200662943341,-0.000258501968181,1.5211165615e-05,1793242987774148608
+102,1.700000000,BASELINE,765.224875841,744.775124159,714.224875841,679,659,635,878.224875841,787.775124159,805,652,631,652,0.400972860329,-0.0153838642741,0.0598456481536,0.999999946207,0.000200434093289,-0.000259201192042,1.50779260334e-05,1793242987790815232
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+104,1.733333333,BASELINE,765.616310783,744.383689217,714.616310783,679,659,635,879,787,805,652,631,652,0.40097302347,-0.015385337587,0.0598460535174,0.999999946409,0.00019970713431,-0.000258929772496,1.59493893114e-05,1793242987824148480
+105,1.750000000,BASELINE,765.030567738,744.969432262,714.030567738,679,659,635,879,787,805,652,631,652,0.400972702667,-0.0153865374263,0.0598459272563,0.999999946464,0.000198685137717,-0.000259470556442,1.64913532465e-05,1793242987840815616
+106,1.766666667,BASELINE,765,744.450499266,714,679.549500734,659,635,879,787,805,652,631,652,0.400974019622,-0.0153845239249,0.0598459569647,0.999999945947,0.000201969378495,-0.000258971575987,1.57815000931e-05,1793242987857482240
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,788,805,652,631,652,0.400973507916,-0.0153832585672,0.0598462695828,0.999999945925,0.000203304654601,-0.000258045870797,1.51578442896e-05,1793242987899288832
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.424743172,714.575256828,679,659,635,878.424743172,787.424743172,805,652,631,652,0.400974223876,-0.0153834194045,0.0598463543346,0.999999945671,0.000204483935249,-0.000258077328044,1.54993745398e-05,1793242987915955456
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+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,714.483870222,679.516129778,659,635,879,787,805,652,631,652,0.400972855408,-0.0153823964471,0.0598457884253,0.999999945484,0.000203908581425,-0.000259275874715,1.51159500224e-05,1793242987999289088
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,714.939092303,679.060907697,659,635,878.939092303,787,805,652,631,652,0.400973776753,-0.0153820879887,0.0598465179414,0.999999945709,0.00020422083811,-0.00025816969803,1.49492257606e-05,1793242988015955456
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+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,714.601067891,679,659,635,879.601067891,787,804.601067891,652,631.398932109,652,0.401723435724,-0.0154249937782,0.059939964281,0.999999977472,0.000188557078941,-9.54203781375e-05,1.99512844217e-05,1793242988232622080
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.178486175,659,635,879.821513825,787,805.178486175,652,631,652,0.40185658644,-0.0154322463215,0.0599392689098,0.999999978382,0.000184943499435,-9.31859681265e-05,1.86642883574e-05,1793242988249288704
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.767289815,659,635,879.232710185,787,805.767289815,652,631,652,0.402017296683,-0.0154389531264,0.0599429414861,0.999999979707,0.000182678890738,-8.3132682251e-05,1.74369435338e-05,1793242988265955584
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679.647560949,659,635,879,787,805.647560949,652,631,652,0.402198932035,-0.0154474620892,0.0599466289306,0.999999981436,0.000177801568792,-7.25146938183e-05,1.59983332709e-05,1793242988282622208
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679.06479984,659,635,879,787,805.06479984,652,631,652,0.402394242147,-0.0154571487789,0.0599503260919,0.999999983346,0.000171216815237,-6.15276662339e-05,1.44216590396e-05,1793242988299288832
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.489679492,745,714.489679492,679,659.510320508,635,879,787.510320508,805,652,631,652,0.402610888097,-0.0154676195006,0.0599511200477,0.999999984736,0.000165121780047,-5.57101048538e-05,1.25974091499e-05,1793242988315955456
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.084606317,745,714,679,659.915393683,635,879,788,805,652,631,652,0.402835374198,-0.0154782816195,0.0599515081789,0.999999986045,0.00015875243857,-5.09291826273e-05,1.07139799074e-05,1793242988332622080
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.65959578,745,714,679,659.34040422,635,879,788,805,652,631,652,0.403089831333,-0.0154894845755,0.059951649297,0.999999987475,0.000150438095257,-4.8408200155e-05,8.66706479131e-06,1793242988349288448
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,744.758031669,714,679,659,635,879,787.758031669,805,652,631,652,0.403355630913,-0.0154984552194,0.0599483975464,0.999999988127,0.000144762351389,-5.24980546894e-05,5.79033211798e-06,1793242988365955072
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,744.164945632,714,679,659,635,879,787.164945632,805,652,631,652,0.403637889381,-0.015504186578,0.0599402224399,0.999999987596,0.000142915451995,-6.61808256169e-05,1.70946001331e-06,1793242988382621952
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,744.417093698,714.417093698,679.417093698,659.417093698,635,879,787,805,652,631,652,0.403941229511,-0.0155029872007,0.0599303371271,0.999999988274,0.000128283240286,-8.36202278672e-05,-1.75941523231e-06,1793242988399288832
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,744.994877152,714.994877152,679.994877152,659.994877152,635,879,787,805,652,631,652,0.404252691567,-0.0154991176839,0.0599197929394,0.999999988823,0.000108725351797,-0.000102506911686,-4.99251212195e-06,1793242988415955712
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,714.430322261,679.430322261,659.430322261,635,879,787,804.430322261,652,631,651.430322261,0.404601964758,-0.0154853297682,0.0599095758718,0.99999999025,7.39784576649e-05,-0.000117918121487,-1.10770529428e-05,1793242988432622080
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,744.851774335,714,679,659,635,878.851774335,787,804.148225665,652,631,651.148225665,0.404965533206,-0.0154774828491,0.059903628786,0.999999990542,4.86391393737e-05,-0.000127623650047,-1.61924863911e-05,1793242988449288960
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,744.261983682,714,679,659,635,878.261983682,787,804.738016318,652,631,651.738016318,0.405370679594,-0.0154875985088,0.0599103932816,0.999999991243,5.17298184997e-05,-0.000120424542532,-1.83449542246e-05,1793242988465955584
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.679069969,744.320930031,714,679,659,635,878.320930031,787.320930031,804.679069969,652,631,652,0.405832844682,-0.0154983816222,0.0599306143809,0.999999994933,4.572803039e-05,-8.75336671226e-05,-1.9501045972e-05,1793242988482622208
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.101652251,744.898347749,714,679,659,635,878.898347749,787.898347749,804.101652251,652,631,652,0.40634057923,-0.0155096981666,0.0599615900156,0.999999998694,3.24595312075e-05,-3.41098973716e-05,-1.98608328803e-05,1793242988499288832
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.474879826,659,635,879,787.525120174,804.474879826,652,631,652,0.406854074736,-0.0155138585732,0.0599832311981,0.999999999621,1.70306221582e-05,-6.06023525644e-07,-2.16264361433e-05,1793242988515955456
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714.051031589,679.948968411,659,635,879,787,805,652,631,652,0.40736768273,-0.0155160473888,0.0600005778945,0.999999999421,7.64419901924e-07,2.42074206991e-05,-2.39082923414e-05,1793242988532621824
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714.625224758,679.374775242,659,635,879,787,805,652,631,652,0.407869825535,-0.015513698717,0.0599943447951,0.999999999403,-1.93533553429e-05,3.56130962745e-06,-2.84033490482e-05,1793242988549288704
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.205158203,745,714.794841797,679.205158203,659,635,879,787,805,652,631,652,0.408391754684,-0.0155120156792,0.0599859638882,0.999999998792,-3.08880117094e-05,-1.88779167449e-05,-3.32359604069e-05,1793242988565955840
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.795879576,745,714.204120424,679.795879576,659,635,879,787,805,652,631,652,0.408950869179,-0.0155115835979,0.0599735465088,0.999999997907,-2.62920199791e-05,-4.46870252648e-05,-3.87029533765e-05,1793242988582622976
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,714.37906089,680,659,635,879,787,805,652,631,652,0.40955410629,-0.0155136577119,0.0599741077799,0.999999996992,-4.58186668266e-05,-4.51071172757e-05,-4.33798130144e-05,1793242988599289344
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,714.958261129,680,659,635,879,787,805,652,631,652,0.410180639565,-0.0155170550653,0.0599815216144,0.999999995301,-7.80817614038e-05,-3.21221293067e-05,-4.76394920546e-05,1793242988615955200
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,680,659.533016128,635,879,787,805,652,631,652,0.41084679709,-0.0155242859376,0.0599921362623,0.999999994629,-9.00960997083e-05,-6.403844394e-06,-5.082592896e-05,1793242988632621824
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,714.890155705,680,660,635,879,787,805,652,631,652,0.411511264305,-0.0155298794059,0.0599981330135,0.999999994357,-9.22544292974e-05,9.75249791189e-06,-5.17663683325e-05,1793242988649288704
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,714.302814919,680,660,635,879,787,805,652,631,652,0.412155006861,-0.0155270608793,0.0599829750704,0.999999997158,-5.84041099652e-05,-1.99558220318e-05,-4.33057003079e-05,1793242988665955328
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,744.717455876,714,680,660,635,879,787,805.282544124,652,631,652,0.412811334618,-0.0155176214442,0.0599547130897,0.999999996505,-9.2515858116e-06,-7.49446882693e-05,-3.58785189924e-05,1793242988682622208
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,744.134205889,714,680,660,635,879,787,805.865794111,652,631,652,0.413481056625,-0.0155011355128,0.0599125047513,0.999999985686,5.61867625261e-05,-0.000156839119957,-2.95512549086e-05,1793242988699288832
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,744.441968749,714.441968749,680,659.558031251,635,879.441968749,787,806,652,631,652,0.414238426652,-0.0155027303571,0.0599195786268,0.999999988435,4.64138000415e-05,-0.000141471446264,-3.10083981259e-05,1793242988715955712
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,714.983964336,679.983964336,659.016035664,635,879.983964336,787,806,652,631,652,0.415023329576,-0.0155099162746,0.0599420461572,0.999999994682,1.45584792574e-05,-9.60483389189e-05,-3.46357614845e-05,1793242988732622592
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,714.409656429,679.409656429,659.590343571,635,879.409656429,787,806,652,631,652,0.415854799104,-0.0155236218542,0.0599876538609,0.999999999323,-3.50833239844e-06,-1.62740691269e-05,-3.2821395491e-05,1793242988749289728
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,714,679.169263956,660,635,879.169263956,787,806,652,631,652,0.416670182181,-0.0155329366766,0.060018326373,0.999999998731,-1.63569080147e-05,3.53018470077e-05,-3.20164584754e-05,1793242988765956352
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,714,679.759660251,660,635,879.759660251,787,806,652,631,652,0.417445541773,-0.0155313272004,0.0600118398064,0.99999999916,-1.6222399837e-05,1.67196517382e-05,-3.37230028948e-05,1793242988782622464
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,880,787,806,652,631.343427777,652,0.418260507493,-0.015529459401,0.0599985785743,0.999999999202,-1.58907510896e-05,-3.91200345707e-06,-3.64444748113e-05,1793242988799288832
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,880,787,806,652,631.922644139,652,0.419102665718,-0.0155274142436,0.0599806660333,0.99999999875,-1.54237507532e-05,-2.59507637992e-05,-3.98627694882e-05,1793242988815955456
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.501433903,745,714,680,660,635,879.501433903,787,806,652,631.501433903,652,0.419920797752,-0.0155286325787,0.0599568412721,0.999999997059,-2.19051724598e-05,-5.93632936142e-05,-4.33308139254e-05,1793242988832622080
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.075541873,745,714,680,660,635,879,787,805.924458127,652,631,652,0.420729382331,-0.0155296638431,0.0599305605253,0.999999993509,-2.83772458914e-05,-9.98904455585e-05,-4.68844361036e-05,1793242988849288704
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.663101893,745,714,680,660,635,879,787,805.336898107,652,631,652,0.421498355568,-0.0155260176552,0.059893809998,0.999999982701,-2.75266662463e-05,-0.000176757429407,-5.0966121943e-05,1793242988865955328
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,805.247184954,651.752815046,631,652,0.422342144311,-0.0155262686491,0.0598871347492,0.999999979904,-2.89655969218e-05,-0.000191239802457,-5.2731455681e-05,1793242988882621952
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,805.826594946,651.173405054,631,652,0.423286487762,-0.0155317575881,0.059920881699,0.999999990693,-3.34817077824e-05,-0.000121875134769,-5.13835336326e-05,1793242988899288832
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,806,651.403907769,631,652,0.424246173011,-0.0155377170223,0.0599717083747,0.999999997266,-3.96051547639e-05,-4.06062264352e-05,-4.74296947014e-05,1793242988915955456
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,806,651.980324855,631,652,0.425212410697,-0.015543877405,0.0600298298125,0.999999996979,-4.6415095756e-05,4.57469881713e-05,-4.23628665217e-05,1793242988932622080
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,744.444452267,714,680,660,634.444452267,879.555547733,787,805.444452267,651.444452267,631,652,0.426113130307,-0.0155448732858,0.0600294780093,0.999999996421,-4.75474524181e-05,5.48896158735e-05,-4.34114149907e-05,1793242988949288704
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.866062244,744.133937756,714,680.133937756,660,634.133937756,879.866062244,787,805,651,631.133937756,652,0.427002950886,-0.0155456128046,0.0600224532816,0.999999996339,-5.003370023e-05,5.28144214035e-05,-4.50364512055e-05,1793242988965955584
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.276761066,744.723238934,714,680.723238934,660,634.723238934,879.276761066,787,805,651,631.723238934,652,0.427863588655,-0.0155461012482,0.0599997673385,0.999999996943,-5.78050801168e-05,2.18774733395e-05,-4.78866836309e-05,1793242988982622720
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.308737152,745,714,680.691262848,660.308737152,635,879.308737152,787,805.308737152,651,631.691262848,652,0.428714065956,-0.0155441780735,0.0599727007086,0.99999999706,-5.38024979102e-05,-2.12466637301e-05,-5.03354442589e-05,1793242988999289600
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.890867737,745,714,680.109132263,660.890867737,635,879.890867737,787,805.890867737,651,631.109132263,652,0.429555545897,-0.0155401193585,0.059941754887,0.999999995026,-3.93738168675e-05,-7.51628188238e-05,-5.2428692681e-05,1793242989015955712
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.532715742,745,714,680,660.532715742,635,880,787.467284258,806,651.467284258,631,652,0.430453751672,-0.0155405577,0.0599327733246,0.999999993547,-5.0006195695e-05,-8.61352019131e-05,-5.4649116579e-05,1793242989032622336
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.042323595,745,714,680,660,635,880,787.957676405,806,651.957676405,631,652,0.431367036606,-0.0155422845871,0.0599326534891,0.999999992994,-6.49638033827e-05,-8.12300478148e-05,-5.65115606569e-05,1793242989049289216
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.61662321,745,714,680,660,635,880,787.38337679,806,651.38337679,631,652,0.432305347639,-0.0155471659133,0.059980221858,0.99999999667,-6.16083742249e-05,-1.294485215e-06,-5.35056498234e-05,1793242989065955584
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660.196486226,635,879.803513774,787,806,651,631,652,0.433209967593,-0.015550236744,0.0600101509213,0.999999995682,-6.14228570874e-05,4.67634069907e-05,-5.172906362e-05,1793242989082621952
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660.787520769,635,879.212479231,787,806,651,631,652,0.434046935345,-0.0155496720642,0.0600046599106,0.999999995866,-6.76025874359e-05,3.0810306817e-05,-5.24209861543e-05,1793242989099288576
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714,680.371018242,661,635,879.371018242,787,806,651,631,652,0.434882903226,-0.0155512254608,0.0599816768606,0.99999999583,-7.24139245878e-05,-8.18910544079e-06,-5.50399250621e-05,1793242989115955200
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714,680.950285199,661,635,879.950285199,787,806,651,631,652,0.43571830984,-0.015553967712,0.0599488757095,0.999999993544,-7.6457196217e-05,-6.01241741885e-05,-5.87404782425e-05,1793242989132621824
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714,680.474871414,661,635,880,787,806,651,631,652,0.436543310308,-0.0155509456116,0.0599345559003,0.999999991366,-7.87221573771e-05,-8.59632501133e-05,-6.06775002136e-05,1793242989149288704
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.898207691,745,714,680,661,635,879.898207691,787,806,651,631,652,0.437353603741,-0.0155469157575,0.0599205890052,0.999999988386,-7.99529336965e-05,-0.000113684734872,-6.2539137575e-05,1793242989165955584
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.310880373,745,714,680,661,635,879.310880373,787,806,651,631,652,0.438098406519,-0.0155406603273,0.0599000295458,0.999999981797,-7.70471182196e-05,-0.000162070788475,-6.48309073661e-05,1793242989182622208
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.273394928,745,714.273394928,680,661,635,879.273394928,787,806,651,631,652,0.438890308676,-0.0155391553491,0.0599064333828,0.999999982875,-7.63363967879e-05,-0.000155690298197,-6.46847128333e-05,1793242989199288832
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.854238021,745,714.854238021,680,661,635,879.854238021,787,806,651,631,652,0.439735176717,-0.0155429925252,0.0599431589833,0.999999991194,-7.80941837134e-05,-8.77217068514e-05,-6.17968883303e-05,1793242989215955456
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,714.568114183,680.431885817,661,635,880,787,806,651,631,652,0.440545168104,-0.0155483277094,0.0599827703576,0.999999994439,-8.30706192667e-05,-2.8867443085e-05,-5.82027226197e-05,1793242989232622080
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.991554295,745,714,681,661,634.991554295,880,787.008445705,806,651.008445705,631,652,0.441342290227,-0.0155541189692,0.0600223803904,0.999999994225,-8.90643194452e-05,2.55778068064e-05,-5.44389109534e-05,1793242989249288704
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.416166332,745,714,681,661,634.416166332,880,787.583833668,806,651.583833668,631,652,0.442059874921,-0.0155568363465,0.0599970009635,0.999999994281,-9.09594910372e-05,-1.09696647559e-05,-5.51723094504e-05,1793242989265955072
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.163355303,745,714,681,661,634.163355303,880.163355303,787.836644697,806.163355303,651.836644697,631,652,0.44276295019,-0.0155580166857,0.0599733066403,0.999999993129,-9.26631701808e-05,-4.38580048929e-05,-5.68448338733e-05,1793242989282621952
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.753681475,745,714,681,661,634.753681475,880.753681475,787.246318525,806.753681475,651.246318525,631,652,0.44342810152,-0.0155551795838,0.0599540167607,0.999999991479,-9.38663354808e-05,-6.71822770267e-05,-6.09720044278e-05,1793242989299289088
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660.662811478,634.662811478,880.662811478,787.337188522,806.662811478,651,631,652,0.444092788876,-0.0155562806477,0.0599535527237,0.999999990654,-0.000101981079731,-6.62610971642e-05,-6.24658173677e-05,1793242989315955712
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660.084187137,634.084187137,880.084187137,787.915812863,806.084187137,651,631,652,0.444757143975,-0.0155602015418,0.0599665684844,0.999999990305,-0.000115044695552,-4.79795368854e-05,-6.20740769902e-05,1793242989332622336
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660.492332311,634.492332311,880,787.507667689,806,651.492332311,631.492332311,652,0.445366148715,-0.0155592009362,0.0599622173816,0.999999989804,-0.000109381001765,-6.63741177158e-05,-6.3415399343e-05,1793242989349288704
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,714,681,661,635,880,787,806,651.93011981,631.93011981,652,0.445962222625,-0.0155574565041,0.0599538859074,0.999999988502,-0.00010322147935,-8.99408317944e-05,-6.52068829966e-05,1793242989365955328
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714,681,661,635,880,787,806,651.342292851,631.342292851,652,0.446532307372,-0.0155564099076,0.0599379695166,0.99999998526,-0.000117021119649,-0.000105557052337,-6.8147772122e-05,1793242989382621952
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,714,681,661,635,879.758971706,787,806,651,631,652,0.447101183237,-0.0155576225107,0.0599357530617,0.999999984303,-0.00012732656807,-0.000101432376924,-6.99556263837e-05,1793242989399288576
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714,681,661,635,879.181932049,787,806,651,631,652,0.447668373783,-0.0155619846063,0.0599526353375,0.999999986289,-0.000132760852033,-6.97874234754e-05,-7.01839455404e-05,1793242989415955200
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.605232918,744.605232918,714,681,660.605232918,634.605232918,879,787,806,651,631.394767082,652,0.448196725753,-0.0155655169131,0.0599669334701,0.999999987102,-0.000136519036943,-4.64520560201e-05,-7.07129967565e-05,1793242989432622080
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.028690536,744.028690536,714,681,660.028690536,634.028690536,879,787,806,651,631.971309464,652,0.448707194079,-0.015568667134,0.0599800417041,0.999999987359,-0.000139505442155,-2.6942935629e-05,-7.1380523722e-05,1793242989449288960
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.129601683,714,681.870398317,660.129601683,634,880.870398317,787,806.129601683,651,631,652,0.449510788729,-0.0155643778948,0.0599062157366,0.999999972945,-0.000157755771294,-0.000151240269161,-7.96848504699e-05,1793242989482621952
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.719655285,714,681.280344715,660.719655285,634,880.280344715,787,806.719655285,651,631,652,0.449885626383,-0.0155641803934,0.0598673669349,0.999999960159,-0.000170348393642,-0.0002089673751,-8.36400956404e-05,1793242989499288576
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.695882401,714,681,661,634,880,786.695882401,806.695882401,651,631,652,0.450261521374,-0.015565216458,0.0598458630691,0.999999954896,-0.000166367075072,-0.00023565759307,-8.36345787877e-05,1793242989515954944
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.116481287,714,681,661,634,880,786.116481287,806.116481287,651,631,652,0.450638373429,-0.0155673691314,0.0598400596286,0.999999958498,-0.000147383228318,-0.000234253598179,-8.00438287274e-05,1793242989532621568
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.459043721,745.459043721,714,681,660.540956279,634,880.459043721,786,806.459043721,651,631,652,0.450984100319,-0.0155706036881,0.0598466427668,0.999999967371,-0.000102706709768,-0.000224453557368,-6.58091497049e-05,1793242989549288448
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.966468984,745.966468984,714,681,660.033531016,634.033531016,881,786,806.966468984,651,631,652,0.451320067435,-0.0155739704565,0.059856027213,0.999999974613,-5.52951458735e-05,-0.000212651545703,-4.99625850972e-05,1793242989565955072
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.392986325,745.392986325,714,681,660.607013675,634.607013675,881,786,806.392986325,651,631,652,0.451624988479,-0.0155750825582,0.059860332109,0.999999975847,-6.79450948979e-05,-0.000202631627198,-5.12878621319e-05,1793242989582621696
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.186994975,745,714,681,660.813005025,634.813005025,880.813005025,785.813005025,806,651,630.813005025,651.813005025,0.451917530792,-0.0155759833806,0.0598649527171,0.999999976208,-8.46467484522e-05,-0.000194032328382,-5.26404741238e-05,1793242989599288832
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.78112539,745,714,681,660.21887461,634.21887461,880.21887461,785.21887461,806,651,630.21887461,651.21887461,0.452183121429,-0.0155764241943,0.0598702607099,0.999999974699,-0.000110169987696,-0.000188526079884,-5.40526010713e-05,1793242989615955456
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634,880,785,806,651,630.364887369,651.364887369,0.452418418574,-0.0155789688541,0.0598669505924,0.999999972328,-0.000124466801965,-0.000191617474467,-5.59897711438e-05,1793242989632622080
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634,880,785,806,651,630.942601828,651.942601828,0.452636046521,-0.0155827406197,0.0598586138083,0.999999969619,-0.000132215605306,-0.000199723597823,-5.82331821629e-05,1793242989649288448
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765.094970618,745,714,681,660,633,880,784.905029382,806,651,630,652,0.452991756645,-0.015585345688,0.0598457962908,0.99999996318,-0.000135755452384,-0.000226915320578,-6.09961294869e-05,1793242989682621696
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+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714.769116816,680.230883184,660,633,880,784,806.769116816,651,630,651.769116816,0.454052629455,-0.0155895043363,0.0598168682488,0.999999948384,-0.000147561443554,-0.00027788890425,-6.50762197741e-05,1793242989915955456
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+249,4.150000000,HOLD_POSE2,765,745,714,681,660,633,879,784,806,651,630,652,0.454090201867,-0.0155870417458,0.0598031726628,0.999999941674,-0.000152123057331,-0.000298936946729,-6.43924204627e-05,1793242990287210752
+250,4.166666667,HOLD_POSE2,765,745,714,681,660,633,879,784,806,651,630,652,0.454088865938,-0.0155856347862,0.0598023850082,0.999999941434,-0.000149277517042,-0.000301192726149,-6.42672280945e-05,1793242990303877632
+251,4.183333333,HOLD_POSE2,765.309608323,745,714,681.309608323,660,633,879.309608323,784,806.309608323,651,630,652,0.454088543176,-0.0155857270447,0.0598023430497,0.999999941299,-0.000149172033804,-0.00030177751067,-6.38717676421e-05,1793242990320544512
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,744.38712649,714,681,660.38712649,633,880,784,807,651.38712649,630,652,0.454087041815,-0.0155826668368,0.0597996397202,0.999999940076,-0.000149090657626,-0.000305745603359,-6.43465650061e-05,1793242990674315008
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.566697448,660,633,880,783.433302552,806.433302552,651,630,652,0.453574052322,-0.0155611415581,0.0596825769534,0.999999869739,-0.000144429379035,-0.000484370090631,-7.10461646893e-05,1793242990840981760
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,660,634,880,787,805.260958496,651.739041504,631,652,0.442091415036,-0.0154100319439,0.0598015353679,0.999999948347,0.000116926587365,-0.000299137080098,1.23237865214e-05,1793242991324315136
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,714.327346309,679.327346309,659,635,879,787,805,652,631,652,0.401636962285,-0.0153657515782,0.0598289676473,0.999999945274,0.000166913998383,-0.000285306251216,1.38612918867e-05,1793242992340982016
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,744.753349601,714,679.246650399,659,635,879,787,805,652,631,652,0.401522590677,-0.0153755845944,0.05983105451,0.999999949399,0.000143604188235,-0.000283802768972,6.00117686102e-06,1793242992357648640
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744.874117636,714.874117636,679,659,635,879,787,804.874117636,652,631.125882364,651.874117636,0.400976326796,-0.0153806263275,0.0598396134239,0.99999994472,0.000196909874385,-0.000267613571863,1.30320002696e-05,1793242992640982016
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+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,744.562173719,714.562173719,680,659,635,879,787,805.562173719,652,631,652,0.400973765278,-0.0153822596372,0.0598395736563,0.999999945158,0.000194739525021,-0.000267569724294,1.29145295206e-05,1793242992707648768
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,744,714,679.968788667,659,635,879,787,805,652,631,652,0.400972874121,-0.0153809822177,0.0598387415088,0.999999944334,0.000197331068648,-0.000268751895589,1.28289324225e-05,1793242992724315392
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,744,714,679.392818829,659,635,879,787,805,652,631,652,0.400974117094,-0.0153819659288,0.0598403428655,0.999999945184,0.00019635965315,-0.000266281275215,1.30186073344e-05,1793242992740981760
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.818630997,744,714,679,659,635,878.818630997,787,805,652,631,652,0.400974934346,-0.0153821902314,0.0598416733588,0.999999945598,0.000196602139366,-0.000264535921574,1.31218125733e-05,1793242992757648384
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.248265212,744,714,679,659,635,878.248265212,787,805,652,631,652,0.400974838522,-0.0153807857693,0.059842422909,0.999999945086,0.000199448178906,-0.000264346106349,1.30395592938e-05,1793242992774315264
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744.334874467,714,679.334874467,659,635,878.334874467,787,805.334874467,652,631,652,0.400974213572,-0.0153805731446,0.0598421718002,0.999999944852,0.000199915305892,-0.000264877896148,1.29834192059e-05,1793242992790981888
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744.927859844,714,679.927859844,659,635,878.927859844,787,805.927859844,652,631,652,0.400973180787,-0.0153812791515,0.059841149414,0.999999944836,0.000198548840323,-0.00026596587685,1.29474063643e-05,1793242992807648512
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.510202237,744.489797763,714,679.489797763,659,635,879,787,805.489797763,652,631,652,0.400973422066,-0.0153821951971,0.0598412141649,0.999999945221,0.000196585473939,-0.000265970839815,1.3088386013e-05,1793242992824315392
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.909836524,744.090163476,714,679,659,635,879,787.090163476,805,652,631,652,0.400973816937,-0.015383126414,0.0598414248837,0.999999945669,0.000194601819137,-0.000265736737878,1.32425182992e-05,1793242992840982016
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.334753753,744.665246247,714,679,659,635,879,787.665246247,805,652,631,652,0.400974088782,-0.0153839827635,0.0598416108249,0.999999946177,0.000192953690329,-0.000265023648688,1.3335543833e-05,1793242992857648640
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.239971741,744.760028259,714,679,659,635,879,787.760028259,805,652,631,652,0.400974272909,-0.0153839746429,0.059841953882,0.999999946334,0.00019325389957,-0.000264208581758,1.33695683886e-05,1793242992874315264
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.814199669,744.185800331,714,679,659,635,879,787.185800331,805,652,631,652,0.400974334854,-0.0153827624035,0.0598425157858,0.999999946,0.000196267944979,-0.000263251470124,1.33214106065e-05,1793242992890981888
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.599800609,744,714,679.400199391,659,635,879,787,804.599800609,652,631,652,0.400974628124,-0.015383028033,0.0598429258079,0.999999946068,0.000196581211194,-0.000262759089035,1.32861383821e-05,1793242992907648512
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.008170005,744,714,679.991829995,659,635,879,787,804.008170005,652,631,652,0.400975032046,-0.0153840005857,0.0598432631789,0.999999946332,0.000195602587619,-0.000262489007023,1.32570298331e-05,1793242992924315136
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,744.569238231,714,679.430761769,659,635,879,787,804.569238231,652,631,652,0.400975805877,-0.0153821452441,0.0598439303071,0.999999946308,0.000197216437376,-0.00026139156503,1.27837202938e-05,1793242992940981760
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e50c4ab922cbf69add157298a31a27e4efa17e5d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_04/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+2,0.033333333,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
+3,0.050000000,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
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+6,0.100000000,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
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+12,0.200000000,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
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+15,0.250000000,pose1_baseline,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.00132340524142,1.04967862338
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+388,6.466666667,pose2_to_pose3_retreat,0.580745956028,-0.0099981454228,1.0500409841,0.551317674884,-0.00132331998223,1.04967877357
+389,6.483333333,pose2_to_pose3_retreat,0.580745593751,-0.00999817823746,1.05004098311,0.551317312846,-0.00132335199974,1.04967877234
+390,6.500000000,pose2_to_pose3_retreat,0.580745408246,-0.00999819504041,1.05004098261,0.551317127462,-0.00132336839451,1.04967877171
+391,6.516666667,pose2_to_pose3_retreat,0.58074507589,-0.00999822514488,1.0500409817,0.551316795325,-0.00132339776766,1.04967877059
+392,6.533333333,pose2_to_pose3_retreat,0.5807446238,-0.00999826609473,1.05004098046,0.551316343533,-0.00132343772274,1.04967876906
+393,6.550000000,pose2_to_pose3_retreat,0.580744593265,-0.0099982688606,1.05004098038,0.551316313017,-0.00132344042142,1.04967876895
+394,6.566666667,pose2_to_pose3_retreat,0.580744357224,-0.00999828958685,1.05004097969,0.551316077129,-0.00132346063879,1.04967876812
+395,6.583333333,pose2_to_pose3_retreat,0.580744306909,-0.00999828044632,1.05004097852,0.551316026779,-0.00132345160759,1.04967876721
+396,6.600000000,pose2_to_pose3_retreat,0.580744270339,-0.00999827380277,1.05004097768,0.551315990183,-0.0013234450435,1.04967876654
+397,6.616666667,pose2_to_pose3_retreat,0.580744245323,-0.00999826925809,1.0500409771,0.551315965149,-0.00132344055318,1.04967876609
+398,6.633333333,pose2_to_pose3_retreat,0.580744188625,-0.00999825895803,1.05004097578,0.551315908412,-0.00132343037631,1.04967876506
+399,6.650000000,pose2_to_pose3_retreat,0.580744097472,-0.00999824239843,1.05004097367,0.551315817194,-0.00132341401478,1.04967876341
+400,6.666666667,pose2_to_pose3_retreat,0.580744036311,-0.00999823128756,1.05004097226,0.551315755991,-0.0013234030368,1.0496787623
+401,6.683333333,pose2_to_pose3_retreat,0.580744031471,-0.0099982304082,1.05004097214,0.551315751147,-0.00132340216796,1.04967876221
+402,6.700000000,pose2_to_pose3_retreat,0.580743937327,-0.00999821330535,1.05004096996,0.551315656937,-0.00132338526967,1.04967876051
+403,6.716666667,pose2_to_pose3_retreat,0.580743838941,-0.00999819543201,1.05004096769,0.551315558482,-0.00132336761011,1.04967875873
+404,6.733333333,pose2_to_pose3_retreat,0.580743739818,-0.00999817742453,1.05004096539,0.551315459289,-0.00132334981801,1.04967875693
+405,6.750000000,pose2_to_pose3_retreat,0.580743629495,-0.00999819067377,1.05004100528,0.551315349869,-0.0013233603519,1.04967878855
+406,6.766666667,pose2_to_pose3_retreat,0.580743532143,-0.00999820398576,1.05004104254,0.551315253361,-0.00132337112395,1.04967881809
+407,6.783333333,pose2_to_pose3_retreat,0.580743435149,-0.00999823426543,1.05004082616,0.551315154968,-0.0013234052414,1.04967862338
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..da74220fdd6f3b153c0df67710314ea657d69292
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e52f140d28faaff5f99ed80dd6bfc1f0659e8b78916d7c2af9b53195bfe58179
+size 25931926
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e37c01fe62d5577a25d101c8f6d23804b27dde70
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_05/franka_data.csv
@@ -0,0 +1,410 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,766,744.424760545,714,679.424760545,659.424760545,635,879,787,805,652,631,652,0.400971568254,-0.0153834862037,0.0598424036491,0.999999946219,0.00019451263268,-0.000263735225495,1.30763799197e-05,1793242993084976896
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+23,0.383333333,BASELINE,765,745,714,679.645715908,659,635,878.645715908,787,805,652,631,652,0.400974841698,-0.0153838548979,0.0598453157341,0.999999946972,0.000196576756448,-0.000259308442258,1.31075493845e-05,1793242993451643648
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+28,0.466666667,BASELINE,765.254534145,744.254534145,714,679.254534145,659,635,878.254534145,787,805.254534145,652,631,651.50906829,0.40097328161,-0.0153855242152,0.0598448502963,0.99999994755,0.000192566625693,-0.000260099980431,1.29262119651e-05,1793242993534977024
+29,0.483333333,BASELINE,765.834911711,744.834911711,714,679.834911711,659,635,878.834911711,787,805.834911711,652,631,652.669823422,0.400972942154,-0.0153853114841,0.0598447719163,0.999999947168,0.000193399249721,-0.000260958267849,1.2710559815e-05,1793242993551643648
+30,0.500000000,BASELINE,766,745,714,679.588330356,659,635,879,787,805.588330356,652,631,652.588330356,0.400973326051,-0.0153849686836,0.0598449164952,0.999999947032,0.000194319509392,-0.000260787423742,1.28607605634e-05,1793242993568310272
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+47,0.783333333,BASELINE,765.285424168,744.285424168,714,679,659,635,878.285424168,787.285424168,805,652,631,651.285424168,0.400976602094,-0.0153861401574,0.0598469587469,0.999999948626,0.000191761045505,-0.000256546577809,1.26233321875e-05,1793242993851643648
+48,0.800000000,BASELINE,765.863019802,744.863019802,714,679,659,635,878.863019802,787.863019802,805,652,631,651.863019802,0.400975790195,-0.0153874619197,0.0598478496419,0.999999948906,0.000191246655706,-0.000255803195372,1.33412742259e-05,1793242993868310016
+49,0.816666667,BASELINE,765.562039578,745,714,679.437960422,659,635,879.437960422,787.562039578,805,652,631,652,0.400975114311,-0.0153873461106,0.0598471495517,0.999999948546,0.000191776077515,-0.000256809216009,1.33734173446e-05,1793242993884976640
+50,0.833333333,BASELINE,765.012446012,744.987553988,714.012446012,679.987553988,659.012446012,635,879.975107976,787,805,652,631,652,0.400974488014,-0.0153867682461,0.0598459728051,0.999999947991,0.000192636184123,-0.000258329831024,1.31945887529e-05,1793242993901643264
+51,0.850000000,BASELINE,765.604171573,744.395828427,714.604171573,679.395828427,659.604171573,635,878.791656854,787,805,652,631,652,0.400974201557,-0.0153854858134,0.0598456317483,0.99999994773,0.000193783963375,-0.000258488279822,1.31196472323e-05,1793242993918310144
+52,0.866666667,BASELINE,766,744.191750331,714.808249669,679,659.808249669,635,878.191750331,787.191750331,805,652,631,652,0.400974214895,-0.0153842434743,0.0598455376544,0.999999947495,0.000194999709516,-0.000258485401741,1.30586494914e-05,1793242993934976768
+53,0.883333333,BASELINE,766,744.770950051,714.229049949,679,659.229049949,635,878.770950051,787.770950051,805,652,631,652,0.400974833999,-0.0153830821484,0.0598459425723,0.999999947316,0.000196352789014,-0.000258156547678,1.30258264595e-05,1793242993951643648
+54,0.900000000,BASELINE,766,744.652861845,714,679,659,635,879,788,805.347138155,652,631,652,0.400975111767,-0.0153831024439,0.0598457879907,0.999999947352,0.000196114390141,-0.000258202306333,1.29207593657e-05,1793242993968310272
+55,0.916666667,BASELINE,766,744.07864381,714,679,659,635,879,788,805.92135619,652,631,652,0.40097516625,-0.0153838956951,0.0598452674134,0.999999947529,0.000194834928129,-0.000258493117325,1.27684339329e-05,1793242993984976896
+56,0.933333333,BASELINE,766,744.497206331,714,679,659,635,879,787.502793669,806,652,631,652,0.400975814232,-0.0153838856895,0.0598458778671,0.999999947646,0.000195635823737,-0.000257435658393,1.27277913819e-05,1793242994001643776
+57,0.950000000,BASELINE,766,745,714,679,659,635,879,787.075288235,805.924711765,652,631,652,0.400976267997,-0.0153838711543,0.0598464552553,0.999999947765,0.000196249926395,-0.000256505232583,1.27003317079e-05,1793242994018310400
+58,0.966666667,BASELINE,766,745,714,679,659,635,879,787.666898945,805.333101055,652,631,652,0.400974743927,-0.0153846997422,0.0598455749768,0.999999947974,0.000193318953994,-0.000257913319284,1.26417346804e-05,1793242994034976768
+59,0.983333333,BASELINE,766,745,714.251974155,679.251974155,659,635,879,787.748025845,805,652,631,652,0.40097405659,-0.0153857907185,0.0598455020749,0.999999948195,0.000191477556132,-0.00025842068738,1.28572268829e-05,1793242994051643392
+60,1.000000000,BASELINE,766,745,714.828628165,679.828628165,659,635,879,787.171371835,805,652,631,652,0.400974447419,-0.0153872197938,0.0598464695133,0.99999994844,0.000191040122912,-0.000257767439861,1.3425895187e-05,1793242994068310016
+61,1.016666667,BASELINE,766,744.594805614,714.594805614,679.594805614,659,635,879,787,805,652,631,652,0.400975008867,-0.0153862986276,0.0598462843146,0.999999948406,0.000191438948805,-0.000257608350681,1.33329693168e-05,1793242994084976640
+62,1.033333333,BASELINE,766,744.018276549,714.018276549,679.018276549,659,635,879,787,805,652,631,652,0.40097564246,-0.015384383672,0.0598456117283,0.999999948253,0.00019219138324,-0.000257658214236,1.29602912023e-05,1793242994101643520
+63,1.050000000,BASELINE,766,744.569823975,714,679,659,635,879,787,805,652,631,652,0.400975361124,-0.0153849661421,0.0598459741847,0.9999999482,0.000192369692227,-0.000257728192455,1.30419491909e-05,1793242994118310144
+64,1.066666667,BASELINE,766,745,714,679,659,635,879,787.155897716,805,652,631.155897716,652,0.400975041685,-0.01538535077,0.0598460633717,0.9999999481,0.000192629808232,-0.00025792093411,1.30383409023e-05,1793242994134977024
+65,1.083333333,BASELINE,766,745,714,679,659,635,879,787.73543436,805,652,631.73543436,652,0.400974700102,-0.0153849755952,0.0598453178891,0.999999947865,0.000193163305041,-0.000258445485573,1.27626086237e-05,1793242994151643648
+66,1.100000000,BASELINE,766,745,714,679.312575578,659,635,879,787.687424422,805,652,631.687424422,652,0.400974128966,-0.0153842806631,0.0598447597896,0.999999947511,0.000194082875429,-0.000259137532122,1.25829716591e-05,1793242994168310272
+67,1.116666667,BASELINE,766,745,714,679.887704687,659,635,879,787.112295313,805,652,631.112295313,652,0.400973365014,-0.015383317145,0.059844359086,0.999999947054,0.000195326735298,-0.000259970269181,1.24840517109e-05,1793242994184976896
+68,1.133333333,BASELINE,765.537397118,745,714,680,659.462602882,635,879,787.462602882,805,652,631,652,0.400974743075,-0.0153841354802,0.0598457974935,0.999999947786,0.000194680346223,-0.000257610827202,1.28017960928e-05,1793242994201643520
+69,1.150000000,BASELINE,765,744.961417269,714,679.961417269,659.961417269,635,879,787.961417269,805,652,631,652,0.400976511901,-0.015385329144,0.0598475601584,0.999999948745,0.00019354128661,-0.000254710916179,1.31873666803e-05,1793242994218310144
+70,1.166666667,BASELINE,765,744.369110509,714,679.369110509,659.369110509,635,879,787.369110509,805,652,631,652,0.400976430197,-0.0153857048451,0.0598475725267,0.999999948943,0.000191913587582,-0.000255169788967,1.30954989676e-05,1793242994234976512
+71,1.183333333,BASELINE,765,744.217669399,714,679,659,635,879,787.217669399,805,652,631,652,0.400976408052,-0.0153857876261,0.0598475877108,0.999999948891,0.000191748011464,-0.000255498709394,1.31013190957e-05,1793242994251643392
+72,1.200000000,BASELINE,765,744.795309374,714,679,659,635,879,787.795309374,805,652,631,652,0.400976484404,-0.0153853859908,0.0598476075514,0.999999948425,0.000194000419559,-0.000255612721293,1.32686903895e-05,1793242994268310272
+73,1.216666667,BASELINE,765.370715334,744.629284666,714,679.370715334,659,635,879,788,805,652,631,652,0.400975546955,-0.0153847225793,0.0598467954284,0.999999948026,0.000194398689054,-0.000256868405138,1.3224078033e-05,1793242994284977152
+74,1.233333333,BASELINE,765.944895135,744.055104865,714,679.944895135,659,635,879,788,805,652,631,652,0.400974053088,-0.0153839154938,0.059845526688,0.999999947664,0.000193779327663,-0.000258750687482,1.30631199514e-05,1793242994301644032
+75,1.250000000,BASELINE,766,744.522537733,714,679.477462267,659,635,879,788,805,652,631,652,0.400975077593,-0.0153839926013,0.059846173121,0.999999947707,0.000195008012257,-0.000257667408109,1.28782466492e-05,1793242994318310400
+76,1.266666667,BASELINE,766,745,714.102817374,679.102817374,659,635,878.897182626,787.897182626,805,652,631,652,0.400976048103,-0.0153842887224,0.0598468251896,0.999999947769,0.000196098574372,-0.000256601426091,1.2750288094e-05,1793242994334977024
+77,1.283333333,BASELINE,766,745,714.693873638,679.693873638,659,635,878.306126362,787.306126362,805,652,631,652,0.400975492675,-0.0153851791215,0.0598465385599,0.999999947733,0.000195601628247,-0.000257112553192,1.29046509972e-05,1793242994351643648
+78,1.300000000,BASELINE,765.722234194,745,714.722234194,679.722234194,659,635,878.277765806,787,805,652,631,652,0.400975495886,-0.0153859898831,0.0598465042939,0.999999948125,0.000193562563285,-0.000257134718952,1.28794304721e-05,1793242994368310272
+79,1.316666667,BASELINE,765.146039108,745,714.146039108,679.146039108,659,635,878.853960892,787,805,652,631,652,0.400976099293,-0.0153867150831,0.0598467411654,0.999999948965,0.000189866658659,-0.000256631548667,1.26612669903e-05,1793242994384976896
+80,1.333333333,BASELINE,765,745,714,679,659,635,879,787,805,652,631,652,0.400976255401,-0.0153866968382,0.0598469128619,0.999999949049,0.000189807616561,-0.000256336556227,1.28792655257e-05,1793242994401643264
+81,1.350000000,BASELINE,765.005088344,745,714,679,659,635,878.994911656,787,805,652,631,652,0.400976258565,-0.0153864229988,0.0598470578081,0.999999948877,0.000190980616811,-0.000256118573092,1.32405604066e-05,1793242994418309888
+82,1.366666667,BASELINE,765.595378011,745,714,679,659,635,878.404621989,787,805,652,631,652,0.40097613698,-0.0153857819477,0.0598466710377,0.999999948583,0.000191845127688,-0.000256628866381,1.30519023709e-05,1793242994434976768
+83,1.383333333,BASELINE,766,745,714,679.182116639,659,635,878.182116639,787.182116639,805,652,631,652,0.400975357858,-0.0153855621477,0.0598462800979,0.999999948223,0.000192736082673,-0.000257365745508,1.303862336e-05,1793242994451643904
+84,1.400000000,BASELINE,766,745,714,679.76111667,659,635,878.76111667,787.76111667,805,652,631,652,0.400973145775,-0.0153862603723,0.0598458800719,0.999999947717,0.000193684666978,-0.000258596419019,1.34075445469e-05,1793242994468310528
+85,1.416666667,BASELINE,766,744.662639807,714,679.662639807,659,635,879,787.662639807,805,652,631,651.662639807,0.400973039371,-0.015386477795,0.0598461226464,0.999999947822,0.000193467276983,-0.000258350999781,1.34288918644e-05,1793242994484976896
+86,1.433333333,BASELINE,766,744.08833237,714,679.08833237,659,635,879,787.08833237,805,652,631,651.08833237,0.400974411905,-0.0153863575229,0.0598468165558,0.999999948356,0.000192430956893,-0.000257068836611,1.32061182709e-05,1793242994501643520
+87,1.450000000,BASELINE,765.513988674,744.486011326,714,679.486011326,659,635,878.513988674,787,805.486011326,652,631,651.486011326,0.400974812135,-0.0153858902197,0.059846710522,0.999999948381,0.000192233385718,-0.000257124512502,1.30569402374e-05,1793242994518310144
+88,1.466666667,BASELINE,765.06237305,744.93762695,714.06237305,679.93762695,659,635,878.06237305,787.06237305,806,652,631,652,0.400974973072,-0.0153853638474,0.0598464668285,0.999999948265,0.000192482818871,-0.000257395122454,1.2948489188e-05,1793242994534976768
+89,1.483333333,BASELINE,765.655862511,744.344137489,714.655862511,679.344137489,659,635,878.655862511,787.655862511,806,652,631,652,0.400974601272,-0.0153848716079,0.0598462890478,0.999999947721,0.000195240397608,-0.000257425300012,1.30729279047e-05,1793242994551643648
+90,1.500000000,BASELINE,766,744,714.756422995,679,659,635,879,787.756422995,805.756422995,652,631,652,0.400974474668,-0.0153853474324,0.0598460556972,0.999999947685,0.00019514454925,-0.000257636495351,1.31147152606e-05,1793242994568310272
+91,1.516666667,BASELINE,766,744,714.17667874,679,659,635,879,787.17667874,805.17667874,652,631,652,0.400974686467,-0.0153871593082,0.0598457456531,0.999999948346,0.000191110608304,-0.000258097518254,1.30424332144e-05,1793242994584976896
+92,1.533333333,BASELINE,765.599790816,744.400209184,714,679,659,635,879,787.400209184,805,652,631,652,0.400975128568,-0.0153869085061,0.0598461125649,0.999999948561,0.000190753116705,-0.000257534780961,1.29478524913e-05,1793242994601643520
+93,1.550000000,BASELINE,765.024154881,744.975845119,714,679,659,635,879,787.975845119,805,652,631,652,0.40097567162,-0.0153857535547,0.059846776212,0.999999948582,0.000192007150912,-0.000256523291075,1.28434974123e-05,1793242994618310400
+94,1.566666667,BASELINE,765,745,714,679,659,635,879,787.447291909,804.447291909,652,631,652,0.400975973777,-0.0153849436766,0.0598471756131,0.999999948476,0.000193328676444,-0.000255941414252,1.28964044174e-05,1793242994634977024
+95,1.583333333,BASELINE,765,745,714.132458236,679.132458236,659,635,879.132458236,787,804.132458236,652,631,652,0.400976022246,-0.0153842114459,0.0598473072589,0.999999948307,0.000194384381959,-0.000255801732375,1.28898413345e-05,1793242994651643392
+96,1.600000000,BASELINE,765,745,714.721985759,679.721985759,659,635,879.721985759,787,804.721985759,652,631,652,0.400975231731,-0.0153836949965,0.0598465549085,0.999999947946,0.000194512630829,-0.00025712298651,1.26542983082e-05,1793242994668310016
+97,1.616666667,BASELINE,765.304980932,744.695019068,714.695019068,679.695019068,659,634.695019068,879.695019068,787,805,652,631,652,0.400975761918,-0.0153843369364,0.0598467080221,0.999999948094,0.000194125158035,-0.000256843289226,1.26422068812e-05,1793242994684976896
+98,1.633333333,BASELINE,765.882146186,744.117853814,714.117853814,679.117853814,659,634.117853814,879.117853814,787,805,652,631,652,0.400977470783,-0.0153860126965,0.0598476692293,0.999999948693,0.000193277422517,-0.000255134801297,1.28295378453e-05,1793242994701643520
+99,1.650000000,BASELINE,765.54257976,744,714,679,659,634.45742024,879,787.45742024,805,652,631,652,0.400976678471,-0.0153852194605,0.0598472925365,0.999999948489,0.000193223438783,-0.000255977255954,1.27669579925e-05,1793242994718310144
+100,1.666666667,BASELINE,765,744.033075829,714,679,659,635,879,788,805,652,631,652,0.400975347334,-0.0153839864281,0.0598466661565,0.999999948119,0.000193359063008,-0.000257321225937,1.26868248323e-05,1793242994734976512
+101,1.683333333,BASELINE,765,744.623333203,714,679,659,635,879,788,805,652,631,652,0.400975750395,-0.0153860166946,0.0598476165537,0.999999948446,0.000193257851196,-0.000256087384642,1.33912040612e-05,1793242994751643136
+102,1.700000000,BASELINE,765,744.790395159,714,679.209604841,659,635,879,787.790395159,805,652.209604841,631,652,0.400975806942,-0.0153867325904,0.0598479554605,0.999999948439,0.000194076235559,-0.000255474784986,1.37310451845e-05,1793242994768310016
+103,1.716666667,BASELINE,765,744.211152427,714,679.788847573,659,635,879,787.211152427,805,652.788847573,631,652,0.400975252413,-0.0153851305949,0.0598472160049,0.999999947843,0.000196516326716,-0.000255957744369,1.34280237086e-05,1793242994784976640
+104,1.733333333,BASELINE,765,744.365530408,714,679.634469592,659,635,879,787,805,652.634469592,631.365530408,652,0.400975903084,-0.0153845137162,0.0598473666888,0.999999947889,0.000196850592249,-0.000255528035505,1.33063254499e-05,1793242994801643264
+105,1.750000000,BASELINE,765,744.940744828,714,679.059255172,659,635,879,787,805,652.059255172,631.940744828,652,0.400977245111,-0.0153844619427,0.059848027995,0.999999948304,0.000195976865578,-0.000254574780804,1.32886419834e-05,1793242994818309888
+106,1.766666667,BASELINE,765,744.48420748,714,679,659,635,878.48420748,787,805,652,631.48420748,652,0.400976756654,-0.0153852487408,0.0598472543379,0.999999948501,0.000193694748097,-0.000255564872472,1.2953900237e-05,1793242994834976768
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,788,805,652,631,652,0.400975173504,-0.0153867387209,0.0598472287137,0.999999949158,0.000189594277677,-0.000256074899826,1.27675754559e-05,1793242994877159424
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.577962238,744.422037762,714,679.422037762,659,635,879,788,805.577962238,652,631,652,0.400976227776,-0.0153871121762,0.0598477016949,0.9999999491,0.000190735322197,-0.000255447719724,1.29062676308e-05,1793242994893825792
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.844708106,744.155291894,714,679,659,635,879.155291894,787.844708106,805.844708106,652,631,652,0.400976515347,-0.0153870433981,0.0598476523823,0.999999948839,0.000191946526323,-0.000255561458843,1.29435655604e-05,1793242994910492672
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.269090521,744.730909479,714,679,659,635,879.730909479,787.269090521,805.269090521,652,631,652,0.400974727701,-0.0153857776351,0.0598461893872,0.999999948028,0.000193347630415,-0.000257680630152,1.27064215947e-05,1793242994927160576
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.313320009,745,714,679,659,635,879.686679991,787,805.313320009,652,631,652,0.400974984016,-0.0153860488322,0.0598463972065,0.999999948283,0.000193116882471,-0.000256855916268,1.28045044962e-05,1793242994943827200
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.901693818,745,714,679,659,635,879.098306182,787,805.901693818,652,631,652,0.400977034659,-0.0153876692783,0.0598480717813,0.999999949468,0.000191453582777,-0.000253446857871,1.31968725538e-05,1793242994960492800
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.517534795,745,714,679,659,635,879,787,805.517534795,652,630.517534795,652,0.400976146308,-0.015386629975,0.0598477152268,0.999999949193,0.00019151642784,-0.000254500813176,1.28370225509e-05,1793242994977159168
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.061324122,658.938675878,635,879.061324122,787,805,652,630.061324122,652,0.400974803042,-0.0153851948448,0.0598469860673,0.999999948636,0.000191878059267,-0.000256432239573,1.238709288e-05,1793242994993826048
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.636933801,658.363066199,635,879.636933801,787,805,652,630.636933801,652,0.400974588916,-0.0153849146088,0.0598465490359,0.999999948184,0.000191841562163,-0.000258214415362,1.24471635641e-05,1793242995010492928
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.787102237,714,679.787102237,658,635,879.787102237,787,804.787102237,652,631,652,0.4009776876,-0.0153848797096,0.059847709327,0.999999948465,0.000192186059975,-0.000256857719324,1.26128599082e-05,1793242995027159808
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.210533149,714,679.210533149,658,635,879.210533149,787,804.210533149,652,631,652,0.400986445215,-0.0153852638937,0.0598515981599,0.999999949972,0.000193181372173,-0.000250139211565,1.29589856849e-05,1793242995043826176
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.374542762,744,714,679.374542762,658.374542762,635,878.625457238,787.374542762,804.749085525,652,631,652,0.401013559066,-0.0153878527831,0.0598632578243,0.999999955279,0.000191190560134,-0.00022953634613,1.41752508817e-05,1793242995060492800
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.964511605,744,714,679.964511605,658.964511605,635,878.035488395,787.964511605,805.92902321,652,631,652,0.401051230888,-0.0153917097546,0.0598793870448,0.999999962109,0.000187482216436,-0.000200947602056,1.58919949349e-05,1793242995077159424
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.455636458,744,714,680,659,635,878,787.455636458,805.455636458,652,631,652,0.40111185445,-0.0153947685472,0.0598991189019,0.999999968381,0.000188869770867,-0.000165045679501,1.80828774001e-05,1793242995093826048
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.122445199,744,714,679.877554801,659,635,878.122445199,787,805,652,631,652,0.401175490815,-0.0153979594596,0.0599172144597,0.999999972864,0.000189717530446,-0.000133726614958,1.99318732874e-05,1793242995110492672
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.696386991,744,714,679.303613009,659,635,878.696386991,787,805,652,631,652,0.401244819797,-0.0154018259134,0.0599284262142,0.999999974913,0.000187372251983,-0.000121031991801,2.04083222917e-05,1793242995127159296
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.722748159,744.277251841,714,679,659.277251841,635,879,787,804.722748159,652,631,652,0.401320420474,-0.0154057499736,0.0599368467866,0.999999976485,0.000186158361636,-0.000109292181639,2.07456943722e-05,1793242995143825920
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.134107883,744.865892117,714,679,659.865892117,635,879,787,804.134107883,652,631,652,0.401403065042,-0.015409738733,0.0599421325125,0.99999997758,0.000186215161555,-9.86247464536e-05,2.09268656749e-05,1793242995160492544
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.447508634,744.552491366,714.447508634,679.447508634,659.552491366,635,879,787,804.895017267,652.447508634,631,652,0.401496445513,-0.0154143341576,0.0599411251284,0.99999997805,0.000184347444164,-9.75996155633e-05,1.97478064128e-05,1793242995177159680
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.026891922,715,680.026891922,659,635,879,787,805.973108078,652.973108078,631,652,0.401594397818,-0.0154191834717,0.0599383611851,0.999999978357,0.000181926039816,-9.92933119333e-05,1.81785101974e-05,1793242995193826304
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744.602989442,715,680.602989442,659,635,879,787,805.397010558,652.397010558,631,652,0.401721028744,-0.0154255623554,0.0599376435276,0.999999978853,0.000179793285715,-9.84118226796e-05,1.68357704414e-05,1793242995210492928
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744.820600873,714.820600873,680.641201746,659,635,879,787,804.820600873,652,631,652,0.401858051281,-0.0154319802467,0.0599385479449,0.999999979679,0.000177663575954,-9.39987485973e-05,1.55218923826e-05,1793242995227159552
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,744.243499236,714.243499236,679.486998472,659,635,879,787,804.243499236,652,631,652,0.402018110535,-0.0154384846117,0.0599430482731,0.999999981149,0.000175540615337,-8.17566501839e-05,1.42719968043e-05,1793242995243826176
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,744,714,679,659,635.340302099,879,787.340302099,804.680604198,652,631,652,0.402194840863,-0.0154469895177,0.0599476452509,0.999999982869,0.00017100287469,-6.96167923343e-05,1.31483419897e-05,1793242995260492544
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,744,714,679,659,635.928993662,879,787.928993662,805.857987323,652,631,652,0.40238373957,-0.0154569546368,0.0599523127745,0.999999984707,0.000164702564853,-5.75515594871e-05,1.21168312764e-05,1793242995277159168
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,744.50942079,714,679.50942079,659,635.49057921,879,787.49057921,806,652,631,652,0.402600189764,-0.0154677879951,0.0599516596617,0.999999985882,0.000158695705271,-5.42843396262e-05,1.02885793055e-05,1793242995293826048
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.911752356,744.911752356,714,679.911752356,659,635,878.911752356,787,805.911752356,652,631,652,0.402826162266,-0.015478497448,0.0599502812401,0.999999986959,0.000152507228622,-5.24998992966e-05,8.20630216696e-06,1793242995310492928
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.33550615,744.33550615,714,679.33550615,659,635,878.33550615,787,805.33550615,652,631,652,0.403083894661,-0.0154878631776,0.0599489275703,0.999999988095,0.000145091852228,-5.22418882533e-05,5.32361248082e-06,1793242995327159552
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.239540919,744,714,679,659,635,878.239540919,787.239540919,805,652,631,652,0.403350540602,-0.0154965378018,0.0599456440484,0.999999988668,0.000139786517646,-5.58335549056e-05,2.3573778485e-06,1793242995343826432
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.812916783,744,714,679,659,635,878.812916783,787.812916783,805,652,631,652,0.403629608844,-0.0155042492698,0.0599396709984,0.999999988458,0.000137421832222,-6.47903047135e-05,-7.25288587031e-07,1793242995360492800
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,744.399053844,714.399053844,679,659,635,879,787.600946156,805,652,631,652,0.403923841703,-0.0155020000509,0.0599294044848,0.999999988626,0.000126311136486,-8.23140284017e-05,-4.27184132748e-06,1793242995377159424
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,744.991371192,714.991371192,679,659,635,879,787.008628808,805,652,631,652,0.404225418843,-0.0154949268281,0.0599170586285,0.999999988404,0.0001109647101,-0.000103986774311,-8.04305612109e-06,1793242995393826048
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.430610565,745,714.430610565,679.569389435,659,635,879,787,805,652,631,652,0.404578385952,-0.015481616952,0.0599093369297,0.999999990149,7.282414221e-05,-0.000119176568107,-1.39627181709e-05,1793242995410492672
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.146679056,745,714,680,659,635,879,787,805,652,631,652,0.404952083224,-0.0154753663836,0.0599059644664,0.999999990846,4.37902064003e-05,-0.000126646130224,-1.8749004115e-05,1793242995427159296
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.722455448,745,714,680,659,635,879,787,805,652,631,652,0.405384202324,-0.0154900369501,0.0599151153483,0.999999992648,4.23827511677e-05,-0.000111811165833,-2.01267776662e-05,1793242995443826688
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.695153245,745,714,680,659,635,879,787,805,652,631,652,0.405836870375,-0.0155010254429,0.0599330161731,0.99999999578,3.5489986682e-05,-8.19741708748e-05,-2.14793597652e-05,1793242995460493568
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.106605808,745,714,680,659,635,879,787,805,652,631,652,0.406308662024,-0.0155085872752,0.0599590599914,0.999999998735,2.34924080108e-05,-3.81757779719e-05,-2.28084979777e-05,1793242995477159680
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.474408882,745,714,679.525591118,659.474408882,635,879,787,805,652,631,652,0.406816066168,-0.0155133843504,0.0599822511237,0.999999999684,6.8222070921e-06,-2.04461901838e-06,-2.40974455691e-05,1793242995493826048
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.946642625,744.946642625,714,679.053357375,659.946642625,635,878.946642625,787,805,652,631,652,0.40733054611,-0.0155165332336,0.0600020577816,0.999999999247,-1.05741521158e-05,2.70718678389e-05,-2.57275452364e-05,1793242995510492672
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.371604101,744.371604101,714,679.628395899,659.371604101,635,878.371604101,787,805,652,631,652,0.407837187977,-0.0155095469089,0.0599949435773,0.999999999206,-2.49647557353e-05,4.18708549226e-06,-3.07800491907e-05,1793242995527159552
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.202439997,744.202439997,714,680.202439997,659,635,878.202439997,787,804.797560003,652,631,652,0.408362243159,-0.015506223509,0.059986147991,0.999999998595,-3.37688054173e-05,-1.93903098291e-05,-3.59766001779e-05,1793242995543826176
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.774667591,744.774667591,714,680.774667591,659,635,878.774667591,787,804.225332409,652,631,652,0.408920933045,-0.0155095910014,0.0599742811039,0.999999997639,-3.23681595792e-05,-4.42328672347e-05,-4.14362748056e-05,1793242995560492800
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.639146939,745,714,680.639146939,659.360853061,635,878.639146939,787,804.360853061,652,631,652,0.409515393791,-0.0155131030503,0.0599739355893,0.999999996494,-5.25549080742e-05,-4.63910541242e-05,-4.57927525361e-05,1793242995577159424
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.043894886,745,714,680.043894886,659.956105114,635,878.043894886,787,804.956105114,652,631,652,0.410133090159,-0.0155167089986,0.0599810740024,0.999999994442,-8.67641604868e-05,-3.3814174291e-05,-4.94326274223e-05,1793242995593826560
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.534347961,744.465652039,714.534347961,679.465652039,659.465652039,635,878.534347961,787,805,652,631,652,0.410793036834,-0.0155220258726,0.059990148166,0.999999994012,-9.49759754528e-05,-1.0487438703e-05,-5.33467057527e-05,1793242995610493184
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,744,714.888679351,679.111320649,659,635,879,787,805,651.888679351,631,652,0.411456643563,-0.01552610582,0.0599948225332,0.999999993766,-9.68130409835e-05,3.46347065166e-06,-5.55280556685e-05,1793242995627159552
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,744,714.31135524,679.68864476,659,635,879,787,805,651.31135524,631,652,0.412121490901,-0.0155244376248,0.0599804336239,0.999999995158,-8.06286597906e-05,-2.54167062048e-05,-5.0364583077e-05,1793242995643826176
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,744,714,680,659,635,879,787,805,651.26363272,631,652,0.412784578866,-0.0155163753404,0.0599543093784,0.999999995797,-3.04033098068e-05,-7.58299730427e-05,-4.16083888244e-05,1793242995660492800
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,744,714,680,659,635,879,787,805,651.835885949,631,652,0.413445607317,-0.0155008278427,0.05991444721,0.999999986341,5.96719564835e-05,-0.000151450862291,-2.86463893259e-05,1793242995677159424
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,744.424753937,714,680,659.424753937,635,879,787,805,651.575246063,631,652,0.41419004566,-0.0154990482412,0.0599166147841,0.999999987062,6.2802868023e-05,-0.000145334679906,-2.84533293698e-05,1793242995693825792
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.980338984,745,714,679.980338984,660,635,879.019661016,787,805,651.019661016,631,652,0.414969966711,-0.0155031895796,0.0599367871939,0.999999993494,3.11584028421e-05,-0.000104594095534,-3.31925196625e-05,1793242995710492672
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.403613996,745,714,679.403613996,660,635,879.596386004,787,805,651.596386004,631,652,0.415804950239,-0.0155182343446,0.0599882551453,0.999999999371,4.76186622335e-06,-1.40526826806e-05,-3.22032478106e-05,1793242995727159552
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.173133793,744.826866207,714,679,660,635,879.826866207,787,805,652,631,652,0.416628124259,-0.0155291146125,0.0600226958078,0.999999998406,-1.41248150327e-05,4.43185743614e-05,-3.19904204769e-05,1793242995743826432
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.749934712,744.250065288,714,679,660,635,879.250065288,787,805,652,631,652,0.417423763974,-0.0155302852175,0.0600174367838,0.999999998933,-1.55020202353e-05,2.76840510369e-05,-3.35878996563e-05,1793242995760493056
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,744,714,679.333472289,660,635,879,787,805.333472289,652,631,652,0.418232118185,-0.0155296168489,0.0600033153467,0.999999999194,-1.6842691307e-05,4.2662582007e-06,-3.61872303366e-05,1793242995777159680
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,744,714,679.922165702,660,635,879,787,805.922165702,652,631,652,0.419050203329,-0.0155275410324,0.0599824111124,0.999999998757,-1.81554011172e-05,-2.43430707226e-05,-3.95533222896e-05,1793242995793826048
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.497262593,744,714,680,660,635,879.502737407,787,805.497262593,651.497262593,631,652,0.419876289516,-0.0155284365764,0.0599596048456,0.999999997273,-2.22799125894e-05,-5.60238396641e-05,-4.26373016782e-05,1793242995810492672
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.08117624,744.08117624,714,680,660,635,879.91882376,787,805,651,631,652,0.420697498576,-0.0155288705695,0.0599345749184,0.999999994174,-2.56176874098e-05,-9.43191169828e-05,-4.58262381371e-05,1793242995827159552
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.654189397,744.654189397,714,680,660,635,879.345810603,787,805,651,631,652,0.42148177138,-0.0155237651351,0.059897827934,0.999999984096,-2.15930654302e-05,-0.00016985554586,-4.99115215535e-05,1793242995843826176
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.77172152,745,714,680,660.22827848,635,879.22827848,787,805,651.22827848,631,651.77172152,0.422328658854,-0.0155228385445,0.0598892883642,0.999999980883,-2.09860139188e-05,-0.000187401220069,-5.17211764853e-05,1793242995860492800
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.195994752,745,714,680,660.804005248,635,879.804005248,787,805,651.804005248,631,651.195994752,0.42327084829,-0.015528272308,0.0599236815169,0.999999991612,-2.55806305072e-05,-0.000116682833209,-5.0067241502e-05,1793242995877159424
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744.608439911,714,680,660.608439911,635,880,787,805.391560089,651.608439911,631.391560089,651.391560089,0.424222597904,-0.0155349141621,0.0599730381117,0.999999997699,-3.30241946366e-05,-3.67273319488e-05,-4.65023307749e-05,1793242995893826048
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744.014780169,714,680,660.014780169,635,880,787,805.985219831,651.014780169,631.985219831,651.985219831,0.425179281849,-0.0155421795592,0.060030117929,0.999999997089,-4.19382128815e-05,4.79958053484e-05,-4.19510897639e-05,1793242995910492928
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.563084879,744.563084879,714,680,660,635,880,787,806,651,631.436915121,652,0.426086021414,-0.0155439615601,0.0600282323652,0.999999996602,-4.47104782689e-05,5.39934174149e-05,-4.33748077044e-05,1793242995927159808
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.86027522,745,714,680,660,635,880,787,806,651,631,652,0.426983981402,-0.0155449595277,0.060020283009,0.999999996583,-4.85089122757e-05,4.93553367364e-05,-4.522254975e-05,1793242995943826176
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.286190292,745,714,680,660,635,880,787,806,651,631,652,0.4278586126,-0.0155439554119,0.0599981634449,0.999999997125,-5.59848634365e-05,1.79028588525e-05,-4.79142036348e-05,1793242995960492544
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.296170092,745,714,680,660,635,880,787,806,651,631.296170092,652,0.428721733041,-0.0155415152793,0.059972334167,0.99999999715,-5.13866935563e-05,-2.29110387788e-05,-5.03433498375e-05,1793242995977159168
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.886756906,745,714,680,660,635,880,787,806,651,631.886756906,652,0.42957341082,-0.0155376476314,0.0599428171389,0.999999995349,-3.47858826529e-05,-7.3030933295e-05,-5.25115422143e-05,1793242995993826304
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,880,787,806,651,631.531534209,652,0.430460845239,-0.0155380657867,0.0599319059719,0.999999993709,-4.48076493662e-05,-8.70134788969e-05,-5.47977690664e-05,1793242996010493184
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714.047677783,680.047677783,660.047677783,635,880,787,806,651.047677783,631,652,0.431361391901,-0.0155398767098,0.0599301353647,0.999999993008,-5.96792085162e-05,-8.49270704393e-05,-5.6654169723e-05,1793242996027159552
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714.622568694,680.622568694,660.622568694,635,880,787,806,651.622568694,631,652,0.432313129885,-0.0155458456145,0.0599806305164,0.99999999687,-5.8339521053e-05,4.75082167455e-08,-5.34479786616e-05,1793242996043826432
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.8023088,745,714.8023088,681,660.8023088,635,880,787,806,651.8023088,631,652,0.433231745847,-0.0155500259621,0.0600122012888,0.999999995614,-5.95179315521e-05,5.08391600319e-05,-5.14220681246e-05,1793242996060493056
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.226743514,745,714.226743514,681,660.226743514,635,880,787,806,651.226743514,631,652,0.434087051346,-0.0155507875983,0.0600075993294,0.999999995862,-6.55095256688e-05,3.62923484799e-05,-5.16521883587e-05,1793242996077159424
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.358510977,744.641489023,714,680.641489023,660.358510977,635,880,787.358510977,806,651,631,652,0.43493626104,-0.0155520670758,0.0599842914794,0.999999996093,-6.98492313046e-05,-4.00433172397e-06,-5.40260346739e-05,1793242996093825792
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.950063675,744.049936325,714,680.049936325,660.950063675,635,880,787.950063675,806,651,631,652,0.435781508246,-0.0155536831639,0.0599488243004,0.999999993794,-7.31151647206e-05,-6.10391142376e-05,-5.77933601162e-05,1793242996110492672
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,744.530044079,714,680,661,635,880,787.469955921,806,651.530044079,631,652,0.436593742961,-0.0155477612794,0.0599299328273,0.999999990916,-7.55464120547e-05,-9.31764462723e-05,-6.14778705548e-05,1793242996127159296
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,714,680,661,635,880.108114975,787.108114975,806.108114975,652,631,652,0.437396107853,-0.0155417486313,0.059912554223,0.999999987073,-7.66112534583e-05,-0.000125762986651,-6.45579519712e-05,1793242996143825920
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,714,680,661,635,880.682551728,787.682551728,806.682551728,652,631,652,0.438169030298,-0.0155383421399,0.059895109241,0.999999980801,-7.21144404655e-05,-0.000170188063024,-6.50639417791e-05,1793242996160493056
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.744176634,745,714,680.255823366,661,635,880.744176634,787.744176634,807,652,631,652,0.438977508346,-0.0155392188486,0.0599056581544,0.999999982835,-7.18177384291e-05,-0.000158395257724,-6.39039659598e-05,1793242996177159680
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.172344259,745,714,680.827655741,661,635,880.172344259,787.172344259,807,652,631,652,0.439829906838,-0.0155453864338,0.059950786878,0.99999999224,-7.67092760425e-05,-7.71586080976e-05,-6.06860850675e-05,1793242996193826048
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.414385493,745,714.414385493,680.585614507,661,635,880,787,807,651.585614507,631,652,0.440654647082,-0.0155492709591,0.0599896567,0.999999994773,-8.25774431459e-05,-1.78773073437e-05,-5.75758130638e-05,1793242996210492928
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680.007363872,661,635,880,787.007363872,806.992636128,651.007363872,631.007363872,652,0.441466191873,-0.015552155396,0.0600250295909,0.999999994096,-8.87667002168e-05,3.08437813693e-05,-5.45662743008e-05,1793242996227159552
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680.586494958,661,635,880,787.586494958,806.413505042,651.586494958,631.586494958,652,0.442179640014,-0.0155538637117,0.0599985377667,0.999999994633,-8.71727578145e-05,-4.94380413005e-06,-5.57736055343e-05,1793242996243825920
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661,635,880,787.835358752,806,652,631.835358752,652,0.442885977893,-0.0155553577038,0.0599747503873,0.999999993865,-8.73205279935e-05,-3.64624322898e-05,-5.75870977334e-05,1793242996260492544
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,635,880,787.259671001,806,652,631.259671001,652,0.443574564307,-0.015556316612,0.0599577149713,0.999999992287,-9.18166911646e-05,-5.73231070047e-05,-6.09139434415e-05,1793242996277159168
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.67774218,745,714.67774218,681,661,635,880,787,806.32225782,651.67774218,631,652,0.444249408161,-0.0155577538546,0.0599583945991,0.999999991623,-9.92690085393e-05,-5.50612556829e-05,-6.21919559108e-05,1793242996293826048
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.090685105,745,714.090685105,681,661,635,880,787,806.909314895,651.090685105,631,652,0.444912959714,-0.0155595841447,0.0599736306798,0.999999991563,-0.000109150397571,-3.37996231976e-05,-6.17864418758e-05,1793242996310492672
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680.510090068,660.510090068,635,880,787,806.510090068,651,631,652,0.445533725579,-0.0155574537394,0.0599609917135,0.999999990438,-0.000102925329005,-6.67210501197e-05,-6.3869924891e-05,1793242996327159296
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.068881449,745,714,680,660.068881449,635,880,787,806,651.068881449,631,652,0.446143490824,-0.015554715583,0.0599441243624,0.999999987494,-9.77277257157e-05,-0.000105056878372,-6.65219527636e-05,1793242996343825920
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.644593863,745,714,680,660.644593863,635,880,787,806,651.644593863,631,652,0.446729829245,-0.0155528298637,0.0599336163318,0.999999984045,-0.000121741812927,-0.000110394795841,-7.00114371864e-05,1793242996360492800
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,714,680.220405538,661,635,880,787.220405538,806,651.779594462,631,652,0.447317076339,-0.0155543228222,0.0599376589331,0.999999983632,-0.000135367810488,-9.64136218983e-05,-7.15304289703e-05,1793242996377159168
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714,680.796377288,661,635,880,787.796377288,806,651.203622712,631,652,0.447905789282,-0.0155612663864,0.0599651751425,0.999999987502,-0.00013223536251,-5.1266188171e-05,-6.98705501527e-05,1793242996393826048
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,714,681,661,635,879.618292595,787.618292595,806,651,631,652,0.448433645237,-0.0155629404084,0.0599748074161,0.999999988369,-0.000130262382378,-3.63628701381e-05,-7.05148662106e-05,1793242996410492928
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,714,681,661,635,879.027844707,787.027844707,806,651,631,652,0.448928221,-0.0155617327295,0.0599746596845,0.999999988345,-0.00012892346855,-3.79988427481e-05,-7.24192540008e-05,1793242996427159552
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,714,681,661,635,880.101003495,786.449498252,806,651,631,652,0.449349004362,-0.0155617750305,0.0599304984561,0.99999998089,-0.000142931176782,-0.000109257869552,-7.65114294429e-05,1793242996443825920
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660.871706923,634.871706923,881,786,806,651,631,652,0.449760382689,-0.0155619752671,0.0598869224878,0.999999968948,-0.000154852433025,-0.000178027860734,-8.01965280061e-05,1793242996460492800
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660.293761901,634.293761901,881,786,806,651,631,652,0.450151598052,-0.0155625122205,0.0598530326072,0.999999958802,-0.00015679881681,-0.000225996885733,-8.20753667876e-05,1793242996477159168
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660.281895343,634,880.718104657,786,806,651,631,652,0.450543061504,-0.0155657100732,0.0598383130469,0.999999959326,-0.00012802163391,-0.000244141878807,-7.31625567196e-05,1793242996493826048
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660.855187662,634,880.144812338,786,806,651,631,652,0.450934781381,-0.015571658514,0.0598434099686,0.999999969527,-6.7485308072e-05,-0.000231457580694,-5.3094351665e-05,1793242996510492672
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,714,680.557410451,660.557410451,634,880,786,806.442589549,651,631,652,0.451297036021,-0.0155731225139,0.0598527558189,0.999999974239,-5.76451119852e-05,-0.000214075216582,-4.86994002641e-05,1793242996527159296
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.966061795,745,714,680.067876409,660.033938205,634,880,785.966061795,807,651.033938205,631,652,0.451647570652,-0.0155731350526,0.0598631544076,0.999999977446,-6.54058105926e-05,-0.000195865647932,-4.9666428028e-05,1793242996543825920
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.387891497,745,714,681.224217006,660.612108503,634,880,785.387891497,807,651.612108503,631,652,0.451969854583,-0.0155741760498,0.059867407025,0.99999997739,-8.06592680052e-05,-0.000189852862644,-5.16746342756e-05,1793242996560492544
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,681.810195383,661,634,880,785.189804617,807,651.810195383,631,651.810195383,0.452271674656,-0.0155762153132,0.0598684224705,0.999999976366,-9.38941539378e-05,-0.000188590846428,-5.37224060842e-05,1793242996577159424
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,681.233465985,661,634,880,785.766534015,807,651.233465985,631,651.233465985,0.452531778246,-0.0155802895845,0.0598628388026,0.999999973727,-0.000103014094255,-0.000197013475739,-5.58508337438e-05,1793242996593826048
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.349307786,745,714,681,660.650692214,634,880,785.650692214,807,651,630.650692214,651.349307786,0.452767699464,-0.0155831684288,0.0598574277282,0.999999970985,-0.000112639629232,-0.00020507131796,-5.73392496802e-05,1793242996610492672
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.936192615,745,714,681,660.063807385,634,880,785.063807385,807,651,630.063807385,651.936192615,0.45298717339,-0.0155852342196,0.0598521340404,0.99999996812,-0.000122609038599,-0.000212881055934,-5.83923703718e-05,1793242996627159296
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660,633.481169604,880,784.481169604,807,651.518830396,630,652,0.453178653624,-0.0155854997984,0.0598422886749,0.999999962658,-0.000133390161382,-0.000230732252789,-6.0448000545e-05,1793242996643826176
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.900129687,745,714,681.099870313,660.099870313,633,880,784,807,651.900129687,630.099870313,652,0.453361590671,-0.0155848395562,0.0598319663771,0.999999956794,-0.000141636370011,-0.000249891930821,-6.24990433015e-05,1793242996660492544
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.324236291,745,714,681.675763709,660.675763709,633,880,784,807,651.324236291,630.675763709,652,0.453520083766,-0.0155808131641,0.0598220172959,0.999999952224,-0.000137328183273,-0.000269449982951,-6.39453334941e-05,1793242996677159424
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714,681.749478212,660.749478212,633.250521788,880,784,807,651,630.749478212,652,0.453671174652,-0.0155794500147,0.0598164628586,0.999999949584,-0.000135590524198,-0.00027971701727,-6.48575744468e-05,1793242996693825792
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+227,3.783333333,POSE1_TO_POSE2_PRESS,765.368336707,745,714.368336707,682,660,633,880,783.368336707,807,651,630,652,0.454509219422,-0.0155945020107,0.0598132038648,0.99999994684,-0.00015109147967,-0.000281503323464,-6.51632404503e-05,1793242996877159424
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714,681.785926049,660.214073951,633,880.214073951,783.214073951,807,651,630,652,0.454529252414,-0.0155941759926,0.0598109916111,0.99999994615,-0.000150362256792,-0.000284344953409,-6.51151027743e-05,1793242996893826048
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714,681.210859524,660.789140476,633,880.789140476,783.789140476,807,651,630,652,0.454543901255,-0.0155925107579,0.0598091524966,0.999999945633,-0.000149595119334,-0.000286292850276,-6.62750326554e-05,1793242996910492672
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.375349502,745,714,681,660.624650498,633,881,784,807,651,630,652,0.454555000913,-0.0155923870554,0.0598085067799,0.999999945159,-0.00015087683105,-0.000287251858846,-6.6362691981e-05,1793242996927159296
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.968009517,745,714,681,660.031990483,633,881,784,807,651,630,652,0.454564045753,-0.0155931558311,0.0598085519869,0.999999944708,-0.000153344734494,-0.00028763834541,-6.58295547466e-05,1793242996943825920
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.452000409,745,714,681,660,633,880.452000409,783.452000409,806.452000409,651,630,652,0.454567900192,-0.0155941442609,0.0598073126686,0.999999943947,-0.000153433960055,-0.000290417239563,-6.49752808315e-05,1793242996960492800
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,744.874504087,714,681,660,633,880,783,806,651,630,652,0.454570594514,-0.0155942951315,0.0598056844533,0.999999943114,-0.000153112327282,-0.000293544088318,-6.44967207843e-05,1793242996977159424
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,744.303297184,714,681,660,633,880,783,806,651,630,652,0.454570220383,-0.0155914268168,0.0598029353364,0.999999942107,-0.000151813520108,-0.00029742191982,-6.54176224194e-05,1793242996993826048
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.269072687,744.269072687,714,681,660,633,880,783,806.269072687,651.269072687,630,652,0.454571002359,-0.0155901151776,0.059801539246,0.999999941609,-0.000151665031812,-0.000299092192063,-6.57591220315e-05,1793242997010492672
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.842759215,744.842759215,714,681,660,633,880,783,806.842759215,651.842759215,630,652,0.454573093151,-0.0155905658311,0.0598016748997,0.999999941701,-0.000152818805038,-0.00029826331444,-6.54446879434e-05,1793242997027159296
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.566084355,745,714,681,660,633.433915645,880,783,807,651.566084355,630,652,0.454573606011,-0.0155902299626,0.0598003789937,0.999999941165,-0.000153375580738,-0.000299812229593,-6.52569752778e-05,1793242997043825920
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633.969522513,880,783,806.969522513,651,630,652,0.454573449249,-0.0155896460732,0.0597986054784,0.999999940392,-0.000153757174717,-0.000302210184545,-6.51419648143e-05,1793242997060492800
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633.394246762,880,783,806.394246762,651,630,652,0.454571972751,-0.0155899372312,0.0597979566142,0.999999939711,-0.000155036678183,-0.000303736489095,-6.5471247536e-05,1793242997077159424
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.181296463,745,714.181296463,681,660,633,880,783.181296463,806.181296463,651,630,652,0.454571117963,-0.0155897700518,0.0597971773778,0.999999939221,-0.000155175822812,-0.00030523138539,-6.56731569462e-05,1793242997093826048
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.757422161,745,714.757422161,681,660,633,880,783.757422161,806.757422161,651,630,652,0.454571617139,-0.015588604701,0.0597961142153,0.99999993915,-0.00015283148259,-0.000306657880385,-6.5597671476e-05,1793242997110492672
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.660442657,745,715,681.339557343,660,633,880,783.660442657,806.660442657,651.339557343,630,652,0.4545721235,-0.0155884779049,0.0597961640545,0.999999939188,-0.000152462742821,-0.000306759052474,-6.54071724019e-05,1793242997127159296
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.073937012,745,715,681.926062988,660,633,880,783.073937012,806.073937012,651.926062988,630,652,0.454572635087,-0.0155891064139,0.0597970233412,0.999999939307,-0.000153530788984,-0.000305896363023,-6.51330279179e-05,1793242997143825920
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714.490819044,681.490819044,660,633,880,783.509180956,806.509180956,651.490819044,630,652,0.454572328368,-0.0155908064358,0.0597970587796,0.999999938916,-0.000155673677741,-0.000306142837393,-6.48835316618e-05,1793242997160492544
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,714.090488898,681.090488898,660,633,880,783.909511102,806.909511102,651,630,652,0.454571661573,-0.0155923052824,0.0597966689172,0.999999938415,-0.000157520567383,-0.000306867429653,-6.47209958007e-05,1793242997177158912
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,714.664732614,681.664732614,660,633,880,783.335267386,806.335267386,651,630,652,0.454569700845,-0.0155919023437,0.0597946407029,0.999999937739,-0.000156956174292,-0.000309292712515,-6.50043439012e-05,1793242997193825792
+247,4.116666667,HOLD_POSE2,765,745,714,681,660,633,880,783,807,651,630,652,0.454572283171,-0.0155878400781,0.059794352727,0.999999939085,-0.00015054393232,-0.000308033976721,-6.54329670867e-05,1793242997232516096
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+256,4.266666667,HOLD_POSE2,765.75914904,745,714,681,660,633,879.48170192,783,806,651,630,652,0.454571325634,-0.0155900437024,0.059792268787,0.999999937348,-0.000154558925884,-0.000311853328244,-6.45226105184e-05,1793242997382515712
+257,4.283333333,HOLD_POSE2,765.182941902,745,714,681,660,633,880.634116196,783,806,651,630,652,0.454573164327,-0.0155890708001,0.0597930931795,0.999999937853,-0.000153542380566,-0.000310736532729,-6.45174789456e-05,1793242997399182592
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+259,4.316666667,HOLD_POSE2,765.986414722,745,714,681,660,633,881,783.986414722,806,651,630,652,0.454569786024,-0.0155900749901,0.059791277424,0.999999936774,-0.000152499554976,-0.000314881129997,-6.36008058184e-05,1793242997432515840
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+261,4.350000000,HOLD_POSE2,765.145100228,745,714.145100228,681.145100228,660,633,880.145100228,783.854899772,807,651.854899772,631,652,0.454571955963,-0.0155890222198,0.0597918518526,0.99999993741,-0.000152897753349,-0.000312587739169,-6.39604123431e-05,1793242997465849088
+262,4.366666667,HOLD_POSE2,765.725056952,745,714.725056952,681.725056952,660,633,880.725056952,783.274943048,807,651.274943048,631,652,0.454571180979,-0.0155886868102,0.0597907644832,0.999999937034,-0.000153005582094,-0.000313616022085,-6.45527550058e-05,1793242997482515712
+263,4.383333333,HOLD_POSE2,765.698199571,745,714.698199571,681.698199571,660,633,880.698199571,783,807,651,630.698199571,652,0.45457056965,-0.0155887188235,0.0597904866806,0.999999936779,-0.000152637370781,-0.00031464184506,-6.43698503927e-05,1793242997499182592
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+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.841890395,681,660,633.158109605,879.158109605,783,806.158109605,651.158109605,630,652,0.454568587973,-0.0155881299614,0.0597891828186,0.99999993607,-0.000151163314592,-0.000317647877786,-6.40984759273e-05,1793242997581113856
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.26515938,681,660,633.73484062,879.73484062,783,806.73484062,651.73484062,630,652,0.454569871191,-0.0155904445611,0.059790207826,0.999999936358,-0.000152159367356,-0.000316477238117,-6.30443197944e-05,1793242997597780736
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.31143702,660,633.68856298,880.31143702,783,806.68856298,652,630,652,0.454570447112,-0.0155908981452,0.0597906628558,0.999999936419,-0.000153024781372,-0.000315885499152,-6.29409875188e-05,1793242997614447360
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.887918824,660,633.112081176,880.887918824,783,806.112081176,652,630,652,0.454570421097,-0.015589767934,0.0597906328129,0.99999993629,-0.000153779016771,-0.000315786426834,-6.3646842677e-05,1793242997631113984
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.218706401,745,714,681,660,633,880,783,806,651,630,652,0.454540845669,-0.01559001992,0.0597742471316,0.999999928193,-0.000154381868493,-0.000340039751402,-6.44467791565e-05,1793242997697780480
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c9ac0944d58b3e01e767b34ebbd35bcf7eab816f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_05/depth_05/simulation_data.csv
@@ -0,0 +1,410 @@
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+375,6.250000000,pose2_to_pose3_retreat,0.581057221702,-0.00999812949267,1.0500407179,0.551628940536,-0.00132330383722,1.04967851463
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+380,6.333333333,pose2_to_pose3_retreat,0.580827794971,-0.0099980885322,1.05004102772,0.551399515301,-0.00132325774671,1.04967882552
+381,6.350000000,pose2_to_pose3_retreat,0.580803163,-0.00999799493026,1.05004094813,0.551374882178,-0.00132316822846,1.04967874164
+382,6.366666667,pose2_to_pose3_retreat,0.580784301366,-0.00999809445116,1.05004085669,0.551356020131,-0.00132326928628,1.04967864701
+383,6.383333333,pose2_to_pose3_retreat,0.580770087997,-0.0099981338832,1.05004070111,0.551341807871,-0.00132330455841,1.04967850097
+384,6.400000000,pose2_to_pose3_retreat,0.580760287667,-0.00999823156892,1.05004089782,0.551332008137,-0.00132340034376,1.04967869474
+385,6.416666667,pose2_to_pose3_retreat,0.580754310935,-0.00999819848329,1.05004096565,0.55132603086,-0.00132336927037,1.04967875877
+386,6.433333333,pose2_to_pose3_retreat,0.580750573645,-0.00999814600558,1.05004096303,0.551322292862,-0.0013233192665,1.04967875431
+387,6.450000000,pose2_to_pose3_retreat,0.580748723455,-0.00999813247595,1.05004089746,0.551320442184,-0.00132330728764,1.04967869133
+388,6.466666667,pose2_to_pose3_retreat,0.580747442156,-0.00999812310637,1.05004085205,0.551319160547,-0.00132329899201,1.04967864772
+389,6.483333333,pose2_to_pose3_retreat,0.580746613497,-0.00999812520675,1.05004081068,0.551318331839,-0.00132330119994,1.04967860771
+390,6.500000000,pose2_to_pose3_retreat,0.580746172696,-0.00999814924563,1.05004075497,0.551317891491,-0.00132332364714,1.04967855329
+391,6.516666667,pose2_to_pose3_retreat,0.580745708824,-0.00999817454263,1.05004069634,0.551317428096,-0.00132334726917,1.04967849602
+392,6.533333333,pose2_to_pose3_retreat,0.580745080704,-0.00999820879679,1.05004061696,0.551316800623,-0.00132337925528,1.04967841847
+393,6.550000000,pose2_to_pose3_retreat,0.580744720041,-0.00999822846535,1.05004057138,0.551316440331,-0.00132339762153,1.04967837395
+394,6.566666667,pose2_to_pose3_retreat,0.580744620883,-0.00999823408238,1.0500405624,0.551316341289,-0.00132340283636,1.04967836514
+395,6.583333333,pose2_to_pose3_retreat,0.580744596427,-0.00999823646004,1.05004057701,0.551316316929,-0.00132340490569,1.04967837926
+396,6.600000000,pose2_to_pose3_retreat,0.580744579496,-0.00999823810603,1.05004058712,0.551316300066,-0.00132340633823,1.04967838903
+397,6.616666667,pose2_to_pose3_retreat,0.580744482029,-0.00999824758162,1.05004064534,0.551316202986,-0.00132341458505,1.04967844528
+398,6.633333333,pose2_to_pose3_retreat,0.580744384329,-0.00999825707999,1.0500407037,0.551316105672,-0.0013234228517,1.04967850167
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+404,6.733333333,pose2_to_pose3_retreat,0.580743702224,-0.00999826503716,1.05004099122,0.551315423999,-0.00132342976484,1.04967877921
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..82dad064d665ca0c49e1462b1ad9b158ba50d778
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f41eccef88e3e382d2f135c97d4e0e820f129b43c881ef39096f18afbf4d5cb
+size 25541760
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..10e9e48c72680fcf311998d0cebb8d13b7643033
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_01/franka_data.csv
@@ -0,0 +1,404 @@
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+25,0.416666667,BASELINE,765.490178557,744.490178557,714,679,660,635,879,787.509821443,805,653,631,652,0.400944189311,-0.0154413272112,0.0499345559005,0.999999976393,5.44352366862e-05,-0.000208100353535,-3.07265157987e-05,1793243001582670336
+26,0.433333333,BASELINE,765,744.088305848,714,679,660,635,879,788,805,653,631,652,0.400945941287,-0.0154432241226,0.0499362556327,0.999999976993,5.24572900246e-05,-0.000205775101077,-3.03197357529e-05,1793243001599337216
+27,0.450000000,BASELINE,765,744.66435209,714,679,660,635,879,788,805,653,631,652,0.400944649594,-0.0154428720479,0.0499351268839,0.999999976667,5.26616394296e-05,-0.000207283570955,-3.04287260067e-05,1793243001616004096
+28,0.466666667,BASELINE,765.23985185,745,714,679,659.76014815,635,879,787.76014815,805,653,631,652,0.40094346,-0.0154426333721,0.0499342905728,0.99999997638,5.3145878525e-05,-0.000208536260741,-3.04659720514e-05,1793243001632670720
+29,0.483333333,BASELINE,765.81458857,745,714,679,659.18541143,635,879,787.18541143,805,653,631,652,0.400942412958,-0.0154425530258,0.0499338625679,0.999999976148,5.40209039304e-05,-0.000209431826309,-3.04030477132e-05,1793243001649337088
+30,0.500000000,BASELINE,765.603393843,745,714,679,659,635,878.603393843,787,805,652.603393843,631,652,0.400942848094,-0.0154425869346,0.0499342531291,0.999999976344,5.33689654486e-05,-0.000208658797338,-3.04018598453e-05,1793243001666003456
+31,0.516666667,BASELINE,765.01790885,745,714,679,659,635,878.01790885,787,805,652.01790885,631,652,0.400943989099,-0.0154426752558,0.0499350335223,0.999999976742,5.19898290449e-05,-0.000207091120577,-3.0430073219e-05,1793243001682670080
+32,0.533333333,BASELINE,765,745,714.565716383,679,659.565716383,635,878,787,805,652.565716383,631,652,0.40094449933,-0.0154408793085,0.0499351712202,0.999999976717,5.31066943385e-05,-0.000206895301774,-3.06645524866e-05,1793243001699336704
+33,0.550000000,BASELINE,765,745,714.853560105,678.853560105,659.853560105,635,878,787,805,652.853560105,631,652,0.400944411328,-0.0154401282003,0.04993500505,0.999999976613,5.34920375025e-05,-0.000207276311263,-3.08169482902e-05,1793243001716003584
+34,0.566666667,BASELINE,765,745,714.281107473,678.281107473,659.281107473,635,878,787,805,652.281107473,631,652,0.400942640888,-0.0154425896275,0.0499340138825,0.999999976317,5.15201732574e-05,-0.000209209463308,-3.07116189149e-05,1793243001732670208
+35,0.583333333,BASELINE,765.291987156,745,714.291987156,678.583974313,659.291987156,635,878,787,805,652.291987156,631,652,0.400942225827,-0.0154431486626,0.0499338523264,0.999999976196,5.17742123756e-05,-0.000209732969874,-3.06563193351e-05,1793243001749336832
+36,0.600000000,BASELINE,765.865701292,745,714.865701292,679.731402583,659.865701292,635,878,787,805,652.865701292,631,652,0.40094311852,-0.0154418721545,0.0499344912298,0.999999976244,5.41759382982e-05,-0.000208896364918,-3.06492915345e-05,1793243001766003712
+37,0.616666667,BASELINE,765.54193062,745,714.54193062,679.54193062,659.54193062,635,878.45806938,787.45806938,805,653,631,652,0.400943439211,-0.0154424188378,0.0499342181666,0.999999976234,5.43636458006e-05,-0.000208937519524,-3.03716603931e-05,1793243001782670336
+38,0.633333333,BASELINE,765,745,714,679,659,635,878.946199373,787.946199373,805,652.946199373,631,652,0.400943591568,-0.0154433461686,0.049933756352,0.999999976218,5.39189185651e-05,-0.00020917459228,-3.00602154872e-05,1793243001799336960
+39,0.650000000,BASELINE,765,745,714,679,659,635,878.373038009,787.373038009,805,652.373038009,631,652,0.400943806552,-0.0154425689439,0.049934163088,0.99999997631,5.39012258207e-05,-0.000208713221553,-3.02207347866e-05,1793243001816003328
+40,0.666666667,BASELINE,765.202244452,745,714,679,659.202244452,635,878,787.202244452,805,652,631,652,0.400944155169,-0.0154419394841,0.0499345150757,0.999999976457,5.39468761046e-05,-0.000207976457117,-3.0369493177e-05,1793243001832670208
+41,0.683333333,BASELINE,765.781480688,745,714,679,659.781480688,635,878,787.781480688,805,652,631,652,0.400944752884,-0.0154415854642,0.0499347650103,0.999999976703,5.41106003388e-05,-0.000206726347772,-3.04963287511e-05,1793243001849336832
+42,0.700000000,BASELINE,766,745,714,679.365119544,659.634880456,635,878,787.634880456,805,652.365119544,631,652,0.400943783073,-0.0154421499872,0.0499341516667,0.999999976567,5.314602917e-05,-0.000207623106175,-3.05707612665e-05,1793243001866003456
+43,0.716666667,BASELINE,766,745,714,679.951425448,659.048574552,635,878,787.048574552,805,652.951425448,631,652,0.400941863666,-0.0154432709558,0.0499330153564,0.999999976193,5.14979460934e-05,-0.000209820419118,-3.06134484434e-05,1793243001882670080
+44,0.733333333,BASELINE,766,745,714,679.468674183,659.531325817,635,878.531325817,787.531325817,805,653,631,652,0.400942451679,-0.0154417575398,0.0499332284492,0.999999976113,5.49721979615e-05,-0.000209317822469,-3.06376921179e-05,1793243001899336960
+45,0.750000000,BASELINE,765.890112959,745,714,679,659.890112959,635,879,787.890112959,805.109887041,653,631,652,0.400943234453,-0.0154404241766,0.0499334988842,0.999999976111,5.78481965059e-05,-0.000208544777481,-3.06781699e-05,1793243001916003584
+46,0.766666667,BASELINE,765.314773243,745,714,679,659.314773243,635,879,787.314773243,805.685226757,653,631,652,0.400943882782,-0.0154408614499,0.0499334958913,0.999999976384,5.62302202728e-05,-0.000207659235404,-3.07944680291e-05,1793243001932670208
+47,0.783333333,BASELINE,765,745,714,679,659,635,879,787,805.739756624,652.739756624,631,652,0.400944037334,-0.0154413836816,0.0499333881651,0.99999997649,5.52892528641e-05,-0.000207401302534,-3.07778115605e-05,1793243001949336832
+48,0.800000000,BASELINE,765,745,714,679,659,635,879,787,805.165130242,652.165130242,631,652,0.400943595386,-0.0154420085458,0.0499331539174,0.999999976399,5.51661353353e-05,-0.000207901543196,-3.0600541351e-05,1793243001966003200
+49,0.816666667,BASELINE,765,744.57806244,714,679,659,635,878.57806244,787,805,652.42193756,631,652,0.400944044517,-0.0154421996941,0.049933767001,0.9999999764,5.52586531142e-05,-0.000207901891417,-3.03977755168e-05,1793243001982670080
+50,0.833333333,BASELINE,765,744.013735475,714,679,659,635,878.013735475,787,805.013735475,652.986264525,631,652,0.400944839402,-0.0154422158307,0.0499347013796,0.999999976437,5.54596780945e-05,-0.000207697783403,-3.01845728291e-05,1793243001999337216
+51,0.850000000,BASELINE,765,744.593706911,714,679,659,635,878.593706911,787,805.593706911,652.406293089,631,652,0.400945074703,-0.015442227233,0.0499347950629,0.99999997645,5.65491614351e-05,-0.000207375217549,-2.99649515941e-05,1793243002016003840
+52,0.866666667,BASELINE,765,745,714,679,659,635,879,787,805.828113955,652.171886045,631,652,0.400945242087,-0.0154424112798,0.0499350322399,0.99999997657,5.66868293926e-05,-0.000206773158203,-2.98672607477e-05,1793243002032670208
+53,0.883333333,BASELINE,765,745,714,679,659,635,879,787,805.254127665,652.745872335,631,652,0.400945250587,-0.0154429992011,0.0499356050976,0.999999976939,5.45978755717e-05,-0.000205517268006,-3.00548067948e-05,1793243002049337088
+54,0.900000000,BASELINE,765,745,714,679,659,635,879.318942661,787.318942661,805,652.681057339,631,652,0.400944473862,-0.0154425883776,0.049934848171,0.999999976686,5.47132646746e-05,-0.000206692700848,-3.0214405434e-05,1793243002066003968
+55,0.916666667,BASELINE,765,745,714,679,659,635,879.891285226,787.891285226,805,652.108714774,631,652,0.400943073276,-0.0154413840515,0.0499330347309,0.999999975931,5.65800040486e-05,-0.000209799819594,-3.03517998519e-05,1793243002082670336
+56,0.933333333,BASELINE,765,745,714,679,659.48286007,635,879.51713993,788,805,652.48286007,631,652,0.400943156956,-0.0154412183721,0.0499332976826,0.999999976019,5.75071158219e-05,-0.000209122623231,-3.03905270267e-05,1793243002099336960
+57,0.950000000,BASELINE,765,745,714,678.923543278,660,635,878.923543278,787.923543278,805,653,631,652,0.400943530426,-0.0154411655422,0.0499338574422,0.999999976234,5.83302471186e-05,-0.000207866041297,-3.03672969134e-05,1793243002116003328
+58,0.966666667,BASELINE,765,745,714,678.346244403,660,635,878.346244403,787.346244403,805,653,631,652,0.400943522308,-0.0154402565406,0.0499331720563,0.99999997599,5.99155485944e-05,-0.000208626984198,-3.00897629884e-05,1793243002132669952
+59,0.983333333,BASELINE,765,745,714,678.230218182,660,635,878.230218182,787,805,653,631,652,0.400943280732,-0.0154406508539,0.0499325629907,0.999999975923,5.83138983828e-05,-0.000209411804248,-2.99941304703e-05,1793243002149336832
+60,1.000000000,BASELINE,765,745,714,678.80542764,660,635,878.80542764,787,805,653,631,652,0.400942689309,-0.0154429982375,0.049932068294,0.999999976097,5.19364721445e-05,-0.000210232405284,-3.01710845404e-05,1793243002166003712
+61,1.016666667,BASELINE,765,745,714,679,660,635,879.391715659,787,805,653,631,652,0.400943674073,-0.0154429331271,0.0499325881992,0.999999976286,5.25351908663e-05,-0.000209174559667,-3.02435751779e-05,1793243002182670336
+62,1.033333333,BASELINE,765,745,714,679,660,635,879.983666731,787,805,653,631,652,0.400945464545,-0.0154416348091,0.0499336267441,0.999999976478,5.66999437633e-05,-0.000207156498255,-3.02626666663e-05,1793243002199337216
+63,1.050000000,BASELINE,765,745,714.560060149,679,660,635,878.879879703,787,805,653,631,652,0.400945428413,-0.0154404453256,0.049934344967,0.999999976539,5.84393076001e-05,-0.000206373691884,-3.02863049309e-05,1793243002216003840
+64,1.066666667,BASELINE,765,745,714.863531126,679,660,635,878,787.136468874,805.136468874,653,631,652,0.400945360957,-0.0154401827866,0.0499347525937,0.999999976599,5.84119630193e-05,-0.000206087393979,-3.0301010952e-05,1793243002232670464
+65,1.083333333,BASELINE,765,745,714.285645014,679,660,635,878,787.714354986,805.714354986,653,631,652,0.40094535983,-0.01544290852,0.0499341849767,0.999999976657,5.2892693346e-05,-0.000207293710864,-3.02864077535e-05,1793243002249336832
+66,1.100000000,BASELINE,765,745,714,679.297427688,659.702572312,635,878,787.702572312,805.702572312,653,631,652,0.400945036212,-0.015443562091,0.0499335267481,0.999999976559,5.18526984743e-05,-0.000208023845105,-3.03345444957e-05,1793243002266003456
+67,1.116666667,BASELINE,765,745,714,679.885569881,659.114430119,635,878,787.114430119,805.114430119,653,631,652,0.400944397382,-0.0154421902699,0.0499327799531,0.999999976322,5.51908778621e-05,-0.000208288544462,-3.04440050888e-05,1793243002282670080
+68,1.133333333,BASELINE,765,745,714.465639861,680,659,635,878,787,805,653,631,652,0.400942065628,-0.0154422553823,0.0499322087819,0.999999976008,5.47534591785e-05,-0.000209902369935,-3.04344882e-05,1793243002299336960
+69,1.150000000,BASELINE,765,745,714.956626876,679.956626876,659.043373124,635,878.043373124,787,805,652.956626876,631,652,0.40093954204,-0.0154426303813,0.0499316757816,0.999999975694,5.34976462292e-05,-0.00021172053942,-3.04067053453e-05,1793243002316003584
+70,1.166666667,BASELINE,765,745,714.383617285,679.383617285,659.616382715,635,878.616382715,787,805,652.383617285,631,652,0.400939669615,-0.0154425508835,0.0499310908496,0.999999975626,5.3385300932e-05,-0.000212054420827,-3.05068258657e-05,1793243002332670208
+71,1.183333333,BASELINE,765,745,714,679.190585267,659.809414733,635,878.809414733,787.190585267,805,652.190585267,631,652,0.400940319422,-0.0154423793421,0.0499308284327,0.999999975699,5.33807362927e-05,-0.000211692415012,-3.06503842012e-05,1793243002349336832
+72,1.200000000,BASELINE,765,745,714,679.767204284,659.232795716,635,878.232795716,787.767204284,805,652.767204284,631,652,0.400942027018,-0.0154420213647,0.0499312192754,0.999999976054,5.35944832169e-05,-0.000209920877667,-3.08819265995e-05,1793243002366003456
+73,1.216666667,BASELINE,765,745,714.353939204,679.646060796,659,635,878,787.646060796,805,653,631,652,0.400943016034,-0.0154419676382,0.0499318851769,0.999999976213,5.4769041753e-05,-0.000208889864549,-3.06483983476e-05,1793243002382670080
+74,1.233333333,BASELINE,765,745,714.94752336,679.05247664,659,635,878,787.05247664,805,653,631,652,0.400943518516,-0.0154421199138,0.049932737315,0.999999976239,5.65941460437e-05,-0.000208360245249,-3.00999803164e-05,1793243002399336704
+75,1.250000000,BASELINE,765,745.527883657,714.472116343,679.527883657,659,635,878.527883657,787.527883657,805,653,631,652,0.400944592826,-0.0154410703747,0.0499332464411,0.999999976392,5.73272342237e-05,-0.00020738518945,-3.03335967836e-05,1793243002416003328
+76,1.266666667,BASELINE,765,745.893776788,714,679.893776788,659.106223212,635,879,788,805,652.893776788,631,652,0.400945540134,-0.0154404277584,0.0499337100447,0.999999976553,5.70832725023e-05,-0.000206644276909,-3.05417224425e-05,1793243002432669952
+77,1.283333333,BASELINE,765,745.318695997,714,679.318695997,659.681304003,635,879,788,805,652.318695997,631,652,0.400945682094,-0.0154420957022,0.0499341195465,0.999999976686,5.29941675878e-05,-0.00020712752025,-3.0302577299e-05,1793243002449336832
+78,1.300000000,BASELINE,765,745,714.26182178,679,660,635,879,787.73817822,805,652.26182178,631,652,0.400944918704,-0.0154433398483,0.0499338387159,0.999999976625,5.14234157324e-05,-0.000207841632164,-3.01155251964e-05,1793243002466003200
+79,1.316666667,BASELINE,765,745,714.849097891,679,660,635,879,787.150902109,805,652.849097891,631,652,0.400943029929,-0.0154440571979,0.0499326997761,0.999999976339,5.29830718665e-05,-0.000208842722376,-2.99932267234e-05,1793243002482670080
+80,1.333333333,BASELINE,765,745,714.569516383,678.569516383,659.569516383,635,878.569516383,787,805,653,631,652,0.400942971978,-0.0154430069157,0.0499325783629,0.999999976266,5.42327663676e-05,-0.000208861632807,-3.00701403576e-05,1793243002499336704
+81,1.350000000,BASELINE,765,745,714,678.009835904,659.009835904,635,878.009835904,787.009835904,805,653,631,652,0.400943577507,-0.0154413866867,0.0499328369974,0.99999997628,5.53452694309e-05,-0.00020848255085,-3.02098761449e-05,1793243002516003328
+82,1.366666667,BASELINE,765,745,714,678.589388765,659.589388765,635,878.589388765,787.589388765,805,653,631,652,0.400945941837,-0.0154421596053,0.0499347277388,0.999999977097,5.47198772815e-05,-0.000204723962842,-2.99981852645e-05,1793243002532669952
+83,1.383333333,BASELINE,764.832277615,745,714,679.167722385,659.832277615,635,878.832277615,788,805,653,631,652,0.400947110792,-0.0154430168251,0.0499356966369,0.999999977509,5.38383381817e-05,-0.000202949295869,-2.99118714143e-05,1793243002549336576
+84,1.400000000,BASELINE,764.256907232,745,714,679.743092768,659.256907232,635,878.256907232,788,805,653,631,652,0.400945374399,-0.0154440789384,0.0499344250022,0.999999976959,5.23342357137e-05,-0.000205996533312,-3.01302854516e-05,1793243002566003200
+85,1.416666667,BASELINE,764.649633844,745,714,679.675183078,659,635,878.324816922,787.675183078,805,653,631.324816922,652,0.400943543889,-0.0154436431873,0.0499332098598,0.999999976394,5.37480252328e-05,-0.000208360645649,-3.0135841437e-05,1793243002582669824
+86,1.433333333,BASELINE,765.823333378,745,714,679.088333311,659,635,878.911666689,787.088333311,805,653,631.911666689,652,0.400941637453,-0.015441999095,0.0499320402903,0.99999997581,5.75157055559e-05,-0.000210173674398,-2.99696828308e-05,1793243002599336448
+87,1.450000000,BASELINE,766,745,714,678.507694963,659,635,879,787.492305037,805,653,631.507694963,652,0.400942568087,-0.0154424049493,0.0499326645173,0.999999976194,5.50939882323e-05,-0.000208965031772,-3.01570135363e-05,1793243002616003072
+88,1.466666667,BASELINE,765.928518336,745,714,678.071481664,659,635,879,787.928518336,805,653,631,652,0.400943737581,-0.01544305339,0.049933410086,0.999999976634,5.22454021651e-05,-0.000207557700648,-3.03649177598e-05,1793243002632669952
+89,1.483333333,BASELINE,765.351893548,745,714,678.648106452,659,635,879,787.351893548,805,653,631,652,0.400943042525,-0.0154428492375,0.0499327670003,0.999999976334,5.4130445908e-05,-0.000208529946765,-3.02755796686e-05,1793243002649336576
+90,1.500000000,BASELINE,765,745,714,679,659.223478069,635,879,787,805,653,631,652,0.400942853724,-0.0154419017078,0.0499324795537,0.999999976094,5.65110384085e-05,-0.000209028706402,-3.04064711902e-05,1793243002666003456
+91,1.516666667,BASELINE,765,745,714,679,659.796887365,635,879,787,805,653,631,652,0.40094345764,-0.0154397901675,0.0499327489815,0.999999975947,5.96675815249e-05,-0.000208786061184,-3.08822073797e-05,1793243002682670336
+92,1.533333333,BASELINE,765,745,714,679,660,635,879,787.382355174,805,652.617644826,631,652,0.400943268553,-0.015441042988,0.0499327835988,0.99999997603,5.819057814e-05,-0.000208834450121,-3.06877457229e-05,1793243002699336960
+93,1.550000000,BASELINE,765,745,714,679,660,635,879,787.974437293,805,652.025562707,631,652,0.400942644492,-0.0154441412055,0.0499326894193,0.99999997623,5.41720125982e-05,-0.000209042475175,-3.01256715955e-05,1793243002716003328
+94,1.566666667,BASELINE,765,744.447620028,714,679.552379972,660,635,879.552379972,787.447620028,805,652,631,652,0.400943425783,-0.0154425743647,0.0499331680448,0.999999976367,5.4578664227e-05,-0.000208249171912,-3.03235648355e-05,1793243002732670720
+95,1.583333333,BASELINE,765,744.129638328,714,679.870361672,660,635,879.740723344,787,805,652.129638328,631,652,0.400943835956,-0.0154413494523,0.0499333098844,0.999999976389,5.51559097526e-05,-0.000207971569699,-3.04641884034e-05,1793243002749337600
+96,1.600000000,BASELINE,765,744.706736967,714,679.293263033,660,635,878.586526065,787,805,652.706736967,631,652,0.4009427463,-0.0154420312991,0.0499322000609,0.999999976021,5.56327742918e-05,-0.00020962991516,-3.02887788886e-05,1793243002766004992
+97,1.616666667,BASELINE,765.288790853,745,714.288790853,679,659.711209147,635,878.288790853,787.288790853,805,653,631,652,0.400942960527,-0.0154417609477,0.0499321378288,0.99999997596,5.68328441807e-05,-0.000209579616992,-3.04335885543e-05,1793243002782671872
+98,1.633333333,BASELINE,765.875964534,745,714.875964534,679,659.124035466,635,878.875964534,787.875964534,805,653,631,652,0.400944521942,-0.0154405067713,0.0499331579831,0.999999976212,5.8780140124e-05,-0.000207763923754,-3.09092532552e-05,1793243002799337984
+99,1.650000000,BASELINE,766,745,714.543196728,679,659,635,878.543196728,787.543196728,805.456803272,652.543196728,631,652,0.400943396737,-0.015440758005,0.0499325287004,0.999999975964,5.84027833457e-05,-0.000209087809143,-3.0713138871e-05,1793243002816004096
+100,1.666666667,BASELINE,765.964166761,745,714,678.964166761,659.035833239,635,878.035833239,787.035833239,806,652.035833239,631,652,0.40094179255,-0.0154413856792,0.0499316170387,0.999999975639,5.74070523987e-05,-0.00021096294476,-3.03649657404e-05,1793243002832670720
+101,1.683333333,BASELINE,765.386831866,745,714,678.386831866,659.613168134,635,878.613168134,787.613168134,806,652.613168134,631,652,0.400943823241,-0.0154416093981,0.0499331136593,0.999999976214,5.64748392192e-05,-0.000208462079976,-3.0437713039e-05,1793243002849337088
+102,1.700000000,BASELINE,765.190184449,745,714,678.190184449,660,635,879,787.809815551,805.809815551,652.809815551,630.809815551,652,0.40094484326,-0.0154418833376,0.0499337649149,0.999999976532,5.5569403764e-05,-0.00020717700651,-3.04240242045e-05,1793243002866003456
+103,1.716666667,BASELINE,765.766553788,745,714,678.766553788,660,635,879,787.233446212,805.233446212,652.233446212,630.233446212,652,0.400943811025,-0.015442259254,0.049932699588,0.999999976339,5.47183427561e-05,-0.000208360695854,-3.02348198089e-05,1793243002882670336
+104,1.733333333,BASELINE,765.650299476,745,714,679,660,635,879,787.349700524,805,652.349700524,630.349700524,652,0.400943666458,-0.0154417760428,0.0499324565849,0.999999976326,5.55897955558e-05,-0.000208184361036,-3.02910051776e-05,1793243002899336960
+105,1.750000000,BASELINE,765.062538942,745,714,679,660,635,879,787.937461058,805,652.937461058,630.937461058,652,0.400944126175,-0.0154407079772,0.0499327733819,0.999999976432,5.76338563287e-05,-0.000207082184531,-3.05142405758e-05,1793243002916003584
+106,1.766666667,BASELINE,765,745,714,679.518838551,660,635,879,788,805,652.481161449,631,652,0.400944753071,-0.0154413980819,0.0499331955829,0.99999997655,5.58178175918e-05,-0.000207054086509,-3.02066884303e-05,1793243002932670464
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,635,879,788,806,652,631,652,0.400942668002,-0.0154419102913,0.0499322371408,0.999999976054,5.46806208992e-05,-0.000209706781905,-3.04262237768e-05,1793243002975471360
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.426259341,744.426259341,714.426259341,679.573740659,659,635,879,787.426259341,805.426259341,652.573740659,631,652,0.400942523056,-0.0154426270876,0.0499322196359,0.999999976018,5.50919768512e-05,-0.000209784610795,-3.03044127266e-05,1793243002992137984
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.152176837,714,679.847823163,659.152176837,635,879,787.152176837,805,653,631,652,0.400942444452,-0.0154430039622,0.0499323241075,0.999999976035,5.50662941209e-05,-0.000209717631058,-3.02850203076e-05,1793243003008804608
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.744184422,714,679.255815578,659.744184422,635,879,787.744184422,805,653,631,652,0.400942557592,-0.0154423983744,0.049932781123,0.999999976198,5.37774557139e-05,-0.000209232116646,-3.05616444155e-05,1793243003025471488
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.671196473,635,879,788,805,653,631,652,0.40094331166,-0.0154416504011,0.0499330598333,0.999999976281,5.45508706276e-05,-0.000208629199608,-3.06106667929e-05,1793243003042138368
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.092199454,635,879,788,805,653,631,652,0.400944553421,-0.0154407940838,0.0499332028673,0.999999976298,5.6893497375e-05,-0.00020793694848,-3.04865022288e-05,1793243003058804992
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714.482338018,679,659,635,879,787.517661982,805,653,631,652,0.400947558803,-0.0154404711407,0.049933438387,0.999999976596,5.80533920819e-05,-0.000206136243675,-3.07574339227e-05,1793243003075471616
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714.942423681,679,659.057576319,635,879,787.057576319,805,652.942423681,631,652,0.400951901196,-0.0154405721717,0.0499341969116,0.999999977151,5.86882818618e-05,-0.000203212475259,-3.09526021438e-05,1793243003092138240
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714.352906975,679,659.647093025,635,879,787.647093025,805,652.352906975,631,652,0.400965510006,-0.0154436569254,0.0499396255781,0.999999979555,5.65423121037e-05,-0.000191852482521,-2.97564448277e-05,1793243003108804864
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787.767426779,805,652.232573221,631,652,0.400983566525,-0.0154459679102,0.0499451786576,0.999999982186,5.50626164784e-05,-0.000178235308123,-2.87705792933e-05,1793243003125471232
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787.18796715,805,652.81203285,631,652,0.401008256865,-0.0154471248071,0.0499509173005,0.999999985115,5.45766787882e-05,-0.000161251514833,-2.8098367174e-05,1793243003142137856
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787,805,653,631,652,0.401040235745,-0.0154477019729,0.0499550851641,0.999999987843,5.4163760298e-05,-0.000143501519561,-2.80582434706e-05,1793243003158804480
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787,805,653,631,652,0.401075714072,-0.0154480007927,0.0499584988503,0.999999990292,5.37859004482e-05,-0.000125383646357,-2.83216041814e-05,1793243003175471104
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.448375174,635,879,787.551624826,805.551624826,653,631,652,0.401122189344,-0.0154515427238,0.0499621426407,0.999999992777,5.18774808879e-05,-0.000104756262981,-2.79564753368e-05,1793243003192137984
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.13527612,659.13527612,635,879,787.86472388,806,653,631,652,0.401171883879,-0.0154549092329,0.0499648011194,0.999999994453,5.02669015015e-05,-8.83226847006e-05,-2.76669183512e-05,1793243003208804608
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.714904524,659.714904524,635,879,787.285095476,806,653,631,652,0.401229975576,-0.0154570573772,0.0499641775059,0.999999994656,4.99377153076e-05,-8.61617165696e-05,-2.77500405476e-05,1793243003225471488
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.70570575,659.70570575,635,879,787.29429425,805.70570575,653,631,652,0.40129780621,-0.0154602312358,0.0499647064353,0.999999994876,4.94459520853e-05,-8.39850441563e-05,-2.73864569327e-05,1793243003242138112
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.126547088,659.126547088,635,879,787.873452912,805.126547088,653,631,652,0.40137506372,-0.0154643979424,0.0499663509776,0.999999995111,4.87968211816e-05,-8.17931707904e-05,-2.65904809435e-05,1793243003258804480
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.449194996,635,879,787.550805004,805,653,631,652,0.401467688579,-0.0154698942412,0.0499657823566,0.999999995242,4.60144939149e-05,-8.19967982264e-05,-2.59730791697e-05,1793243003275471104
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.975980908,635,878.975980908,787,805,653,631,652,0.401566033942,-0.0154758958501,0.0499648304184,0.999999995365,4.25424381758e-05,-8.25617619509e-05,-2.53691792153e-05,1793243003292137472
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.400300768,635,878.400300768,787,805,653,631,652,0.40169708285,-0.0154849651336,0.0499692866147,0.999999996141,3.69274710792e-05,-7.60428435851e-05,-2.39286540542e-05,1793243003308804096
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,678.819751416,659,635,878.180248584,787,804.819751416,652.819751416,631,652,0.401831872542,-0.0154931294885,0.049970942193,0.999999996477,3.26194196919e-05,-7.39067826613e-05,-2.28125556774e-05,1793243003325470720
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,678.228088243,659,635,878.771911757,787,804.228088243,652.228088243,631,652,0.401975200499,-0.0154992283564,0.0499662054037,0.999999995915,3.12943838399e-05,-8.17745265242e-05,-2.24369565851e-05,1793243003342137600
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,678.709134013,659.354567007,635,879,787,804.354567007,652,631,652,0.402143010538,-0.0155083501097,0.0499658689182,0.9999999961,2.72696512779e-05,-8.12133400418e-05,-2.1458200536e-05,1793243003358804480
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.863142408,659.931571204,635,879,787,804.931571204,652,631,652,0.402326179397,-0.0155193682673,0.0499682929575,0.999999996726,2.15512670579e-05,-7.5364274874e-05,-2.01010546487e-05,1793243003375471360
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.492345868,660,635,879,787,805.507654132,652,631,652,0.402538304756,-0.0155305336374,0.0499684207689,0.999999996954,1.46474951294e-05,-7.42887810021e-05,-1.89273917615e-05,1793243003392137984
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714.085456922,679,660,635,878.914543078,787,805.914543078,652.085456922,631,652,0.402761752564,-0.0155414941263,0.0499693889521,0.99999999726,8.3271175512e-06,-7.14248594294e-05,-1.75574507533e-05,1793243003408804608
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714.674117067,679,660,635,878.325882933,787,805.325882933,652.674117067,631,652,0.40302892968,-0.015551131566,0.0499771248272,0.999999998397,6.38114855949e-06,-5.42479735451e-05,-1.48863779503e-05,1793243003425471232
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659.741363392,635,878,787,805,652.741363392,630.741363392,652,0.403313263797,-0.0155578180539,0.0499858893678,0.999999999259,9.31000105993e-06,-3.54309611762e-05,-1.18568703218e-05,1793243003442137856
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659.161978855,635,878,787,805,652.161978855,630.161978855,652,0.403618875134,-0.0155608449213,0.0499959296061,0.999999999691,1.82843586769e-05,-1.45799486174e-05,-8.38285026232e-06,1793243003458804480
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714.584111588,679,659,635,878,787.415888412,805,652,630.415888412,652,0.403944548427,-0.0155551596617,0.0500010687067,0.99999999928,3.73225051763e-05,-2.37762288452e-06,-6.45009177679e-06,1793243003475470848
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714.00683313,679,659,635,878,787.99316687,805,652,630.99316687,652,0.404278006975,-0.0155460935659,0.050004305867,0.99999999815,6.02660148073e-05,6.46848483864e-06,-5.11543678226e-06,1793243003492137728
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.566786608,635,878.566786608,787.433213392,805.566786608,652.566786608,631,652,0.404653119505,-0.0155414114812,0.0500064978231,0.999999997852,6.37059554559e-05,1.4427408394e-05,-5.38608448983e-06,1793243003508804352
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.855272372,635,879,787,805.855272372,652.855272372,631,652,0.40503200912,-0.015536005573,0.0500043666574,0.999999997653,6.70210577244e-05,1.3055995812e-05,-5.58017011628e-06,1793243003525470976
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.263859041,635,879,787,805.263859041,652.263859041,631,652,0.405421016241,-0.0155282035857,0.0499889312987,0.999999997342,7.0671917818e-05,-1.70796618726e-05,-5.47860638212e-06,1793243003542137600
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.319836858,635,879.319836858,787,805,652,631,652,0.405828022583,-0.0155245503455,0.0499716972788,0.999999995456,8.09456314925e-05,-5.01227158925e-05,-4.94470580939e-06,1793243003558804480
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.897316097,635,879.897316097,787,805,652,631,652,0.406249528117,-0.015524239099,0.049953014358,0.999999991675,9.65543396364e-05,-8.55078062497e-05,-4.06253925752e-06,1793243003575471872
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879.530625656,787,805,652,631,651.530625656,0.406709970447,-0.0155255746747,0.049941220041,0.999999988169,0.000112928647942,-0.000104431129323,-2.03811213996e-06,1793243003592138240
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.041863259,745,714,679,660,635,879.041863259,787.041863259,805,652.041863259,631,651.041863259,0.407185997498,-0.0155272426927,0.0499329343313,0.999999984883,0.000129593226419,-0.000115932656644,4.40443198163e-07,1793243003608804352
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.635480939,745,714,679,660,635,879.635480939,787.635480939,805,652.635480939,631,651.635480939,0.407756444163,-0.015528598141,0.0499512563719,0.999999986118,0.000147901275705,-7.65384556328e-05,5.64845296187e-06,1793243003625470976
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.775742704,745,714,679,659.775742704,635.224257296,880,787.775742704,805,653,631,652.224257296,0.408340894697,-0.0155305199827,0.0499729704898,0.999999985667,0.000165130628297,-3.56168741832e-05,1.13398927127e-05,1793243003642137856
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.194669415,745,714,679,659.194669415,635.805330585,880,787.194669415,805,653,631,652.805330585,0.408947626767,-0.015533343013,0.0500000817437,0.999999983496,0.000180643664603,7.73492124308e-06,1.78005180572e-05,1793243003658805248
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+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.95831935,635.04168065,879.04168065,787.95831935,805,653,631,652.04168065,0.410153033226,-0.015542381868,0.0500138943764,0.999999984121,0.000175819203469,1.79058510845e-05,2.29026864235e-05,1793243003692137984
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879.533649584,787.466350416,804.466350416,653,631,652,0.410737437295,-0.0155411787386,0.0499858396693,0.99999998452,0.00016990647463,-4.15623419007e-05,1.91057601973e-05,1793243003708804608
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879.887796747,787,804.112203253,652.887796747,631,651.887796747,0.41134075276,-0.0155398591842,0.0499590443247,0.999999981595,0.000166213649152,-9.45349313372e-05,1.56860406905e-05,1793243003725471232
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879.295365873,787,804.704634127,652.295365873,631,651.295365873,0.412030851971,-0.015540067495,0.0499479623192,0.999999980015,0.000171986447993,-0.000100709536158,1.57390060817e-05,1793243003742137856
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+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,714,679,660,635,879,787.444826958,804.555173042,652,631,651.555173042,0.414256324489,-0.0155490650993,0.0499855477323,0.999999983671,0.000177568413078,-2.52647333841e-05,2.21092449736e-05,1793243003792138240
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.981089831,745,714,679,660,635,879.018910169,788,804.018910169,652,631,651.018910169,0.414975708636,-0.0155497291792,0.0499738152738,0.999999981176,0.000185684838758,-5.15659166623e-05,2.25954019668e-05,1793243003808805120
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.407074387,745,714,679,660,635,879.592925613,788,804.592925613,652,631,651.592925613,0.415711156675,-0.0155487478226,0.0499454160475,0.999999978891,0.000182705817414,-9.19817903457e-05,1.94094668126e-05,1793243003825471488
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+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879.23716282,787.23716282,805,652,631,652,0.417311774353,-0.0155548707455,0.0499511726707,0.999999982558,0.00017221772967,-6.94404726649e-05,2.00625392359e-05,1793243003858804480
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+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.927425268,635,879,787,805.927425268,652,631,652,0.418980656163,-0.0155595866779,0.0499884780403,0.999999984099,0.000175933077137,-1.36763711861e-05,2.57520896789e-05,1793243003892137472
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714.501129341,679,660.498870659,635,879,787,805.498870659,652,631,652,0.419784682899,-0.0155565415631,0.0499731228717,0.999999982431,0.000180868162892,-4.24083359574e-05,2.50342023896e-05,1793243003908804096
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.075999174,745,714.924000826,679,660,635,879,787,805.075999174,652,631,652,0.420596148706,-0.0155540255744,0.0499584766492,0.999999980476,0.000184314978702,-6.70520697436e-05,2.40798051229e-05,1793243003925470976
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.664925588,745,714.335074412,679,660,635,879,787,805.664925588,652,631,652,0.42148680934,-0.0155595865799,0.049981093855,0.999999983985,0.000176769281255,-1.23221499904e-05,2.51099785965e-05,1793243003942137856
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,679,660,635,879.249842223,787.249842223,806,652,631,652,0.422376871621,-0.015562199418,0.0499947805805,0.999999983934,0.000176335729707,1.86849785551e-05,2.62397629333e-05,1793243003958804480
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679,660,635,879.829466192,787.829466192,806,652,631,652,0.423266144222,-0.0155609207935,0.0499966794324,0.999999982287,0.000185289925879,1.83789788183e-05,2.75010298485e-05,1793243003975470848
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,714,679.406678541,660.406678541,635,879.593321459,788,806,652,631,652.406678541,0.424135626509,-0.0155594221928,0.0499871700223,0.99999998194,0.000188090352821,3.28891376556e-06,2.70466698935e-05,1793243003992137472
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,714,679.982885545,660.982885545,635,879.017114455,788,806,652,631,652.982885545,0.42499685893,-0.0155578318927,0.0499729049516,0.999999981771,0.000188325512176,-1.79640529325e-05,2.58771317563e-05,1793243004008804096
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714,679.441147131,660.441147131,635,879,788,805.441147131,652,631,652.441147131,0.425900503316,-0.0155621119542,0.0499958490505,0.999999982093,0.000186798700244,6.37915395265e-06,2.96678984566e-05,1793243004025470720
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,679.138093685,660,635,879,788,805.138093685,652,631,651.861906315,0.426784053956,-0.0155652586816,0.0500089711842,0.999999982028,0.000186374655166,1.24982997952e-05,3.24492530641e-05,1793243004042137600
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,679.728070303,660,635,879,788,805.728070303,652,631,651.271929697,0.427597603589,-0.0155641087825,0.0499862257836,0.999999980467,0.000189735680033,-4.55843182074e-05,3.14306491408e-05,1793243004058803968
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660.312116862,635,879.312116862,788,806,652,631,651.312116862,0.428458886996,-0.0155618711751,0.0499645160011,0.999999978013,0.000191660636758,-7.9887143811e-05,2.92892711728e-05,1793243004075470592
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+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714.955864307,679,660.044135693,635,879.955864307,787,806,651.955864307,631,652,0.43113807257,-0.01555860192,0.0499582243161,0.999999979085,0.000194272087935,-5.73495863386e-05,2.82812604527e-05,1793243004125470976
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714.368823119,679,660.631176881,635,879.368823119,787,806,651.368823119,631,652,0.431948463212,-0.0155549415349,0.0499388878403,0.999999974959,0.000200740824214,-9.50844873288e-05,2.72750485872e-05,1793243004142137600
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714.215745646,679.215745646,661,635,879.215745646,787,806,651.215745646,631,652,0.432786100409,-0.0155525853292,0.0499327231607,0.999999972737,0.000206298907397,-0.000105918237572,2.73514644189e-05,1793243004158804224
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714.796135717,679.796135717,661,635,879.796135717,787,806,651.796135717,631,652,0.433669788747,-0.0155524333933,0.0499488209067,0.999999974914,0.000210317843413,-7.12847743973e-05,2.92576929683e-05,1793243004175470848
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,634.625428378,880,787.374571622,805.625428378,652,631,652,0.434541137074,-0.015550865236,0.049967431054,0.999999975657,0.00021364935669,-4.54209741105e-05,3.12432421073e-05,1793243004192137216
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,634.048050562,880,787.951949438,805.048050562,652,631,652,0.435405804034,-0.0155485302868,0.0499874015025,0.999999975691,0.000216608674996,-2.43053785427e-05,3.3271738079e-05,1793243004208804096
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+183,3.050000000,POSE1_TO_POSE2_PRESS,766,744.898341456,714,679.101658544,660.898341456,635,879.898341456,787,806,652,631,652,0.436928994043,-0.0155410815415,0.0499415648716,0.999999967009,0.000219976678254,-0.000129106582859,3.04041207128e-05,1793243004242137344
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+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680.579528855,661,635,880,787.579528855,806.420471145,652,631,652,0.441478079392,-0.0155476839743,0.0499554601554,0.999999972682,0.000222182798443,-6.48315013045e-05,3.26844494806e-05,1793243004342137600
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,634.342285188,880.657714812,788,807,651.342285188,631.657714812,652,0.44349351961,-0.0155519208607,0.0499920244145,0.99999997491,0.000220832006616,-7.18208874224e-06,3.689988533e-05,1793243004392137216
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+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,714.507628878,679.507628878,661.492371122,635,880,788,806.507628878,652,631,652,0.444668597961,-0.0155486966808,0.0499492694401,0.999999971536,0.000222692354214,-7.88124287665e-05,3.35396460361e-05,1793243004425470720
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,714,679.136423945,661.931788027,635,880,788,806.068211973,651.931788027,631.068211973,652,0.445251219685,-0.0155470683977,0.049930881906,0.999999969627,0.000223053133235,-9.99462622189e-05,3.16957532069e-05,1793243004442137600
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714.695346043,680,661,635,880.695346043,788,806,652,631,652,0.449424257124,-0.0155460659184,0.0499454431146,0.999999971662,0.000229347676496,-5.48933088146e-05,3.25846602835e-05,1793243004592137472
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714.114695733,680,661,635,880.114695733,788,806,652,631,652,0.449782002646,-0.0155505841141,0.0499580490021,0.999999972937,0.000227359891938,-3.53009517142e-05,3.4467491673e-05,1793243004608804096
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634.539015011,880.460984989,787.539015011,806.460984989,652,631,652,0.45010004863,-0.015553478163,0.049960334763,0.999999973957,0.000222899076564,-3.40117926957e-05,3.52977553969e-05,1793243004625470976
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.036186482,745,714.036186482,680.036186482,661,634,880.963813518,787,807,652,631,652,0.450404825177,-0.0155557165123,0.0499595025767,0.999999974812,0.00021823899595,-3.83162034006e-05,3.57806342052e-05,1793243004642137600
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.622703671,745,714.622703671,680.622703671,661,634,880.377296329,787,807,652,631,652,0.450656414045,-0.0155540628998,0.0499498857544,0.999999973482,0.000219806311406,-5.91701267912e-05,3.49207353479e-05,1793243004658804224
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.79330393,745,714.79330393,680.79330393,661,634,880,787,807,652,631,652,0.450897267713,-0.015553599907,0.0499408967682,0.999999972198,0.000220019660012,-7.75710129549e-05,3.43166020674e-05,1793243004675470848
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.213864649,745,714.213864649,680.213864649,661,634,880,787,807,652,631,652,0.451118762143,-0.0155552840058,0.0499330399849,0.999999971509,0.000217791346496,-9.15482376747e-05,3.41737010955e-05,1793243004692137472
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714.363898587,680,661,634,880,787,807,652,631,652,0.45131698238,-0.0155576286047,0.0499251319515,0.999999970812,0.000214337197102,-0.000106269606926,3.38108030574e-05,1793243004708804352
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714.940681375,680,661,634,880,787,807,652,631,652,0.451501587009,-0.0155603596027,0.0499171939355,0.999999969988,0.000210165921597,-0.000121426309259,3.33192045849e-05,1793243004725470976
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661,634,880,787,807,652,631,652,0.451658282324,-0.0155607052875,0.0499098704914,0.999999967809,0.000208589399396,-0.000140660199101,3.29640760703e-05,1793243004742137600
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714.90591426,680,661.09408574,634,880,787,807,651.90591426,631,652,0.451809660638,-0.0155603643996,0.0499038051273,0.999999965561,0.000207659962725,-0.000157133465429,3.26233824986e-05,1793243004758804224
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714.316030048,680,661.683969952,634,880,787,807,651.316030048,631,652,0.451949879666,-0.0155578464299,0.049903998148,0.999999965467,0.000208573006786,-0.000156596298248,3.22763175457e-05,1793243004775470592
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.269510341,745,714.269510341,680.269510341,661.730489659,634,880,787,807,651,631,652,0.452077970709,-0.0155576379219,0.0499033328032,0.999999965511,0.000208033000677,-0.000157046377693,3.21996982602e-05,1793243004792137216
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.850037886,745,714.850037886,680.850037886,661.149962114,634,880,787,807,651,631,652,0.452192065948,-0.0155600945521,0.0499016768974,0.999999965711,0.000205816162375,-0.000158635748089,3.24351755728e-05,1793243004808804096
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.574912056,745,714.574912056,680.574912056,661,634,880,787,806.574912056,651.425087944,631,652,0.452287183802,-0.0155591426401,0.0499006554442,0.999999965706,0.000205158728239,-0.000159571979775,3.21522780152e-05,1793243004825470720
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.001769772,745,714.001769772,680.001769772,661,634,880,787,806.001769772,651.998230228,631,652,0.452375692001,-0.015557003563,0.0498998549651,0.999999965631,0.000205044420719,-0.000160280729038,3.16888351062e-05,1793243004842137344
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714.586168035,680.586168035,661,634,880,787,806,652,631,652,0.452438531265,-0.0155571020754,0.0498954293378,0.999999964736,0.000203214348816,-0.000168133642384,3.10414196171e-05,1793243004858804224
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680.827344747,661,634,880,787,806.172655253,652,631,652,0.452496369921,-0.0155578528628,0.0498907693142,0.999999963979,0.000201033472868,-0.000175203975302,3.05081914044e-05,1793243004875471104
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680.244413505,661,634,880,787,806.755586495,652,631,652,0.452542514687,-0.0155601371643,0.0498855789838,0.999999963669,0.000198031619585,-0.000180362099465,3.02476574999e-05,1793243004892137728
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661,634,880,786.66577578,806.66577578,651.66577578,630.66577578,652,0.452582814231,-0.0155618108908,0.0498823982164,0.999999963565,0.00019593096315,-0.000183205254134,3.02866524117e-05,1793243004908804096
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661,634,880,786.090237963,806.090237963,651.090237963,630.090237963,652,0.452618893466,-0.0155630437758,0.0498806683755,0.999999963625,0.000194480980536,-0.000184376975656,3.05419104283e-05,1793243004925470720
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714.515971941,680,661,634,880,786.484028059,806.484028059,651.484028059,630,652,0.452643564925,-0.0155609064472,0.0498799702955,0.999999962943,0.000196564035238,-0.00018597382356,2.98235469319e-05,1793243004942137600
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.059919494,745,714,680,661,634,880,786.940080506,807,652,630.059919494,652,0.452665223516,-0.0155583994492,0.049879379183,0.999999962198,0.000198893370162,-0.000187621843153,2.9032692522e-05,1793243004958804224
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.652358391,745,714,680,661,634,880,786.347641609,807,652,630.652358391,652,0.452678957588,-0.0155581764476,0.0498780337122,0.999999962191,0.000197573049428,-0.000189022109874,2.92065207444e-05,1793243004975470592
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.761177043,745,714,680,661,634,880,786.238822957,807,651.761177043,630.761177043,652,0.452689474435,-0.0155580527967,0.0498764659104,0.999999961937,0.000196681071821,-0.000191292885822,2.91598353711e-05,1793243004992137216
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.183196781,745,714,680,661,634,880,786.816803219,807,651.183196781,630.183196781,652,0.452695422435,-0.0155580702357,0.049874582372,0.999999961326,0.000196397393022,-0.000194799889427,2.8799994175e-05,1793243005008804096
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,744.607166468,714,680,661,634,880,786.607166468,807,651,630,652,0.452699594408,-0.0155569949095,0.0498730836067,0.999999961016,0.000195662027357,-0.000197175166883,2.83828474284e-05,1793243005025470976
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,744.032041031,714,680,661,634,880,786.032041031,807,651,630,652,0.452702942228,-0.0155554124925,0.049871763393,0.999999960847,0.00019471705928,-0.000199025273915,2.79391084151e-05,1793243005042137600
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,744.537834657,714,680,661,634,880,786,806.462165343,651.537834657,630.537834657,652,0.452703343837,-0.0155566970926,0.049870487283,0.999999960845,0.000192804973505,-0.000200915222736,2.77192353694e-05,1793243005058804224
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,879.886977682,786.113022318,806.113022318,652,630.886977682,652,0.452703794253,-0.015557706667,0.0498695120392,0.999999960877,0.000191053460513,-0.000202447970646,2.75634552823e-05,1793243005075470592
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,879.287598938,786.712401062,806.712401062,652,630.287598938,652,0.452705202675,-0.0155568048731,0.0498698202829,0.999999961033,0.000190238455607,-0.00020243349986,2.76266441478e-05,1793243005092137216
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633.701000647,879.298999353,786.701000647,807,651.701000647,630.298999353,652,0.452706310003,-0.0155564887485,0.0498698854062,0.999999961002,0.000190154170587,-0.000202643178994,2.78016679798e-05,1793243005108804352
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633.126191523,879.873808477,786.126191523,807,651.126191523,630.873808477,652,0.452707139588,-0.01555671287,0.049869726265,0.999999960798,0.000190743932699,-0.000203059623586,2.80798531678e-05,1793243005125472000
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633.432810615,880,786,807,651,631,652,0.45270710086,-0.0155545306627,0.0498686337036,0.999999960292,0.000192182184188,-0.000204266515669,2.75291889292e-05,1793243005142138624
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633.987366376,880,786,807,651,631,652,0.452706817884,-0.01555167158,0.0498672785808,0.999999959696,0.000193859106921,-0.000205695752429,2.67453779071e-05,1793243005158804480
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,880.597572203,786,806.402427797,651.597572203,630.402427797,652,0.452705876657,-0.0155537730477,0.0498668248998,0.999999959844,0.00019172103794,-0.000206890378046,2.74112304526e-05,1793243005175471104
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.199337468,714,680,661,634,880.800662532,786.199337468,806.199337468,652,630.199337468,652,0.452705414316,-0.0155543848033,0.0498666062809,0.999999959875,0.000190913803893,-0.000207457986121,2.76199484217e-05,1793243005192137984
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.782359194,714,680,661,634,880.217640806,786.782359194,806.782359194,652,630.782359194,652,0.452705903267,-0.0155519065742,0.0498667996595,0.999999959656,0.000192839344282,-0.00020682923983,2.68837254643e-05,1793243005208804608
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.359897257,745.640102743,714.359897257,680,661,634,879.640102743,786.640102743,806.640102743,652,630.640102743,651.640102743,0.452704928368,-0.0155516646894,0.0498657982847,0.999999959297,0.000192706634484,-0.000208692408208,2.6788814914e-05,1793243005225471232
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.934168931,745.065831069,714.934168931,680,661,634,879.065831069,786.065831069,806.065831069,652,630.065831069,651.065831069,0.452703081519,-0.0155527548932,0.0498640852498,0.999999958846,0.00019134791865,-0.000212039896768,2.70759050049e-05,1793243005242137856
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.493824849,745,714.493824849,680,661,634,880.012350303,786,806.506175151,651.493824849,630,651,0.452704893198,-0.0155522417327,0.049864779356,0.999999958903,0.000192272712102,-0.000210961110192,2.68329234471e-05,1793243005258804736
+245,4.083333333,HOLD_POSE2,765,745,714,680,661,633,879,786,806,651,630,652,0.452704696072,-0.015555827051,0.0498644032879,0.999999959592,0.000188430944876,-0.000211083065838,2.74588893308e-05,1793243005301281280
+246,4.100000000,HOLD_POSE2,765,745,714,680,661,633.579281549,879.579281549,786,806,651,630.579281549,652,0.452704760521,-0.015553879942,0.0498638372902,0.999999959236,0.000189215794689,-0.000212099490922,2.72007336015e-05,1793243005317947904
+247,4.116666667,HOLD_POSE2,765.157454662,745,714,680,661,634,880,786.157454662,806.157454662,651,630.842545338,652,0.452704593224,-0.0155524764874,0.0498632774718,0.999999958907,0.00018987617737,-0.000213096624036,2.69042256917e-05,1793243005334614272
+248,4.133333333,HOLD_POSE2,765.732686871,745,714,680,661,634,880,786.732686871,806.732686871,651,630.267313129,652,0.452703811035,-0.0155525155213,0.0498627340488,0.999999958652,0.000190206309145,-0.00021404256961,2.65059571324e-05,1793243005351280896
+249,4.150000000,HOLD_POSE2,765.371916537,745,714,680,661,634,880,786.685958268,806.685958268,651,630.314041732,652,0.4527036272,-0.0155532452775,0.0498626014386,0.999999958623,0.000190043520935,-0.00021432507642,2.64866664432e-05,1793243005367947776
+250,4.166666667,HOLD_POSE2,764.198576398,745,714,680,661,634,880,786.099288199,806.099288199,651,630.900711801,652,0.452703962813,-0.0155545746689,0.0498628254664,0.99999995879,0.000189452815198,-0.000214031633583,2.67963769787e-05,1793243005384614656
+251,4.183333333,HOLD_POSE2,764.482079979,745,714,680,661,634,880,786,806,651,630.517920021,652,0.452705886636,-0.0155527843258,0.049863998093,0.999999959171,0.000189978464243,-0.00021178409503,2.67208375921e-05,1793243005401281280
+252,4.200000000,HOLD_POSE2,765,745,714,680,660.938069626,634,880,786,806,651.061930374,630,652,0.452707868983,-0.0155506554555,0.0498651269629,0.999999959528,0.000190623377905,-0.000209524879481,2.65551940532e-05,1793243005417947904
+253,4.216666667,HOLD_POSE2,765,745,714,680,660.361853937,634,880,786,806,651.638146063,630,652,0.452707650525,-0.015550993091,0.0498642877017,0.999999959384,0.00019037013422,-0.000210474479469,2.629303839e-05,1793243005434614528
+254,4.233333333,HOLD_POSE2,765.213974605,745,714,680,660.213974605,633.786025395,880,786,806.213974605,652,630.213974605,652,0.452706798567,-0.0155514251779,0.0498633800425,0.999999959035,0.000190427923059,-0.000212088865837,2.6180313603e-05,1793243005451281152
+255,4.250000000,HOLD_POSE2,765.789149562,745,714,680,660.789149562,633.210850438,880,786,806.789149562,652,630.789149562,652,0.452704877228,-0.0155520167034,0.0498623569239,0.999999958336,0.000191010751137,-0.000214825446378,2.63198359964e-05,1793243005467947776
+256,4.266666667,HOLD_POSE2,765.626001756,745,714.373998244,680,661,633.373998244,879.626001756,786,807,652,630.626001756,652,0.452704348896,-0.0155525411787,0.0498619844492,0.999999958339,0.000190362907724,-0.000215355071567,2.65731094106e-05,1793243005484614656
+257,4.283333333,HOLD_POSE2,765.035554412,745,714.964445588,680,661,633.964445588,879.035554412,786,807,652,630.035554412,652,0.452704626759,-0.0155530268492,0.0498619885303,0.999999958749,0.000189002821086,-0.00021460743567,2.68922155163e-05,1793243005501281024
+258,4.300000000,HOLD_POSE2,765.544567099,745,714.455432901,680,661,634,879.544567099,786,806.455432901,652,630,652,0.452703741335,-0.0155526610067,0.0498618108892,0.999999958787,0.000187706360419,-0.000215640157481,2.63178922658e-05,1793243005517947904
+259,4.316666667,HOLD_POSE2,766,745,714.123107128,680,661,634,880,786.123107128,806,652,630.123107128,652,0.452702951676,-0.0155523949475,0.0498614593725,0.999999958811,0.0001864429557,-0.000216678970118,2.58124849364e-05,1793243005534614784
+260,4.333333333,HOLD_POSE2,766,745,714.69826954,680,661,634,880,786.69826954,806,652,630.69826954,652,0.452702787374,-0.0155526956444,0.0498605121329,0.999999958888,0.000185285963456,-0.00021732125895,2.57703497632e-05,1793243005551281408
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633,880,786,806,651,631,651,0.452705138631,-0.015552896821,0.0498628054205,0.999999959622,0.000185143677114,-0.000213966180701,2.63918252568e-05,1793243005590134272
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765.616475056,745,714,680,661,633.616475056,879.383524944,786,806.616475056,651.616475056,630.383524944,651.616475056,0.452705497815,-0.015552104796,0.0498625371371,0.999999959174,0.000187375193519,-0.000214147084264,2.61478647821e-05,1793243005606800896
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.782139448,745,714,680,661,634,879.217860552,786,807,652,630.217860552,652,0.452706264785,-0.0155517814043,0.0498626923682,0.999999959154,0.000188027463835,-0.00021369652628,2.59308360136e-05,1793243005623467264
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.205597046,745,714,680,661,634,879.794402954,786,807,652,630.794402954,652,0.452707703129,-0.0155522295624,0.0498635448661,0.99999995984,0.000186079691028,-0.000212206340943,2.57581471023e-05,1793243005640133888
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.368271246,680,661,634,880.368271246,786,807,652,630.631728754,652,0.45270736046,-0.0155510523409,0.0498631254687,0.999999959516,0.000187268086716,-0.000212714150587,2.55244903055e-05,1793243005656800512
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.940657374,680,661,634,880.940657374,786,807,652,630.059342626,652,0.452706030663,-0.0155489742503,0.0498620011213,0.999999958625,0.000190194708537,-0.000214329351986,2.52570419782e-05,1793243005673466880
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,634,880.468457847,786,807,652,630,652,0.452705459992,-0.0155491741345,0.0498614862108,0.999999958341,0.000190788243011,-0.000215133710576,2.52198182075e-05,1793243005690133760
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,634,880,786.121901643,807,652,630.121901643,652,0.452704197359,-0.0155498527324,0.049860721764,0.999999958172,0.00019035441297,-0.000216294243863,2.52598732573e-05,1793243005706800384
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,634,880,786.702238892,807,652,630.702238892,652,0.452700002255,-0.0155513407277,0.049858753786,0.999999958164,0.000187071846899,-0.000219146953788,2.54904049691e-05,1793243005723467264
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.718963991,680.281036009,661,634,880,786.718963991,807,651.718963991,630.718963991,652,0.452688066929,-0.0155521473969,0.0498529106719,0.999999956302,0.00018549537456,-0.000228793417944,2.53059784886e-05,1793243005740134144
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.141789808,680.858210192,661,634,880,786.141789808,807,651.141789808,630.141789808,652,0.45266797544,-0.0155522361271,0.0498429841819,0.999999952291,0.0001857166773,-0.000245598715322,2.46842949896e-05,1793243005756800512
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.568301544,661,634,880,786.431698456,807,651.431698456,630.431698456,651.568301544,0.452628190214,-0.0155488085548,0.0498254560383,0.999999944309,0.000186458205919,-0.000275876731219,2.25461176182e-05,1793243005773467136
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.995879268,634,880,786.995879268,806.995879268,652,631,651.004120732,0.452581846643,-0.0155442584515,0.0498054298881,0.999999934027,0.000187351591361,-0.000310560149699,1.9921377002e-05,1793243005790133760
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.404304593,634,880,786.404304593,806.404304593,652,631,651.595695407,0.452514865334,-0.0155429314759,0.0497822094749,0.999999922106,0.00018574120664,-0.000347780611039,1.83383551137e-05,1793243005806800640
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.183407247,680.183407247,660.183407247,634,880,786.183407247,806.183407247,652,631,652,0.452446415502,-0.015540068188,0.0497629609989,0.999999911224,0.000186341224255,-0.000377551731624,1.68685169829e-05,1793243005823467264
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.762779574,680.762779574,660.762779574,634,880,786.762779574,806.762779574,652,631,652,0.452374795206,-0.0155338880955,0.0497522876891,0.999999904966,0.000191713366065,-0.000391240186974,1.56430354365e-05,1793243005840134144
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.6600606,680.6600606,661,634,880,787,807,651.6600606,630.6600606,651.6600606,0.452295838741,-0.0155274849009,0.0497473071656,0.999999901425,0.000196402291406,-0.000397949923656,1.45498825506e-05,1793243005856801024
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.084434779,680.084434779,661,634,880,787,807,651.084434779,630.084434779,651.084434779,0.452211795975,-0.0155209270258,0.0497462735593,0.999999899856,0.00020061752953,-0.000399821181777,1.35484757049e-05,1793243005873467648
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,634,879.498802206,786.498802206,806.498802206,651,630,651.501197794,0.452111397606,-0.0155157972877,0.049751563493,0.999999902213,0.000201568873089,-0.000393392481903,1.36615606015e-05,1793243005890134016
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.087347482,660.912652518,634,879.087347482,786,806,651,630,651.912652518,0.452003137078,-0.0155102209842,0.0497573380442,0.999999904617,0.000202501928558,-0.00038674332037,1.3727245169e-05,1793243005906800384
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.66672056,660.33327944,634,879.66672056,786,806,651,630,651.33327944,0.451866426325,-0.0155007463317,0.049759719371,0.999999903761,0.00020649238463,-0.000386889123396,1.24467670465e-05,1793243005923467008
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.244663669,680.755336331,660,634,879.755336331,786,806.244663669,651.244663669,630,651.244663669,0.451716460287,-0.0154919296054,0.0497604649939,0.999999902309,0.000210724056671,-0.000388381744242,1.16754970715e-05,1793243005940133888
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.820670154,680.179329846,660,634,879.179329846,786,806.820670154,651.820670154,630,651.820670154,0.45154854291,-0.0154840038954,0.0497589954174,0.999999900046,0.000215282402059,-0.000391698331878,1.1593836992e-05,1793243005956800512
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.395554664,745,714.604445336,680,660.395554664,634,879.395554664,786.395554664,806.604445336,652,630.395554664,652,0.451361805764,-0.0154734994642,0.0497585392274,0.999999899754,0.000218734059008,-0.000390560452404,1.04925665135e-05,1793243005973467648
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.969932002,745,714.030067998,680,660.969932002,634,879.969932002,786.969932002,806.030067998,652,630.969932002,652,0.451166560546,-0.015461829242,0.0497585411698,0.999999900345,0.000221685403747,-0.000387408794111,8.93034973132e-06,1793243005990134784
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.439013505,745,714.560986495,680,661,634,879.439013505,787,806,651.439013505,631,652,0.450947619944,-0.0154508986196,0.0497617319778,0.99999990274,0.000225659874288,-0.000378860024518,7.89174516711e-06,1793243006006801408
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714.850566094,680,661,634,879,787,806.149433906,651.149433906,631,652,0.450716198636,-0.0154403202832,0.0497675494974,0.999999906924,0.00022882286283,-0.000365708909355,6.98354437891e-06,1793243006023468032
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714.272245155,680,661,634,879,787,806.727754845,651.727754845,631,652,0.450452713455,-0.0154306357725,0.0497804003077,0.999999915776,0.000229494623808,-0.000340204384133,6.36659633339e-06,1793243006040134144
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.304788934,745,714.304788934,680,661,634,879.609577869,787,806.695211066,652,631,652,0.450169628084,-0.0154240648665,0.0497900002973,0.999999922548,0.000226788611221,-0.000321622362326,5.47691915715e-06,1793243006056800256
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.880678375,745,714.880678375,680,661,634,880.76135675,787,806.119321625,652,631,652,0.449869108955,-0.015420263418,0.04979670878,0.999999927751,0.000221078171593,-0.000309197698824,4.34465773561e-06,1793243006073466880
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.545628401,745,714.545628401,680,661,634,880.091256801,787,806.454371599,652,631,652,0.449525502479,-0.0154234330666,0.0497986885425,0.999999934059,0.000202110898779,-0.00030170617243,2.69641546414e-06,1793243006090134016
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.02850967,745,714.02850967,680,661,634,879.02850967,787,806.97149033,652,631,652,0.44916844014,-0.0154279833295,0.0497996361232,0.999999940109,0.000180323987067,-0.000295405110669,9.22784969289e-07,1793243006106800896
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.622868981,745,714.622868981,680,661,634,879.622868981,787,806.377131019,652,631,652,0.448767808027,-0.0154237759087,0.0498046255676,0.999999944096,0.000171338114495,-0.000287143398984,-6.63073610812e-07,1793243006123467520
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,634.211173223,880,787,806.211173223,652,631,652,0.448348408562,-0.0154153497373,0.0498053555406,0.999999945958,0.000165942246013,-0.000283789831183,-3.21896966841e-06,1793243006140134400
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,634.78896517,880,787,806.78896517,652,631,652,0.44789642706,-0.0153995993758,0.0497986906268,0.999999944316,0.000166778999783,-0.000288957313654,-7.45895172866e-06,1793243006156801024
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,714.635049398,680,661,634.635049398,880,787,806.635049398,651.635049398,631,652,0.447413865036,-0.01539253644,0.049787550183,0.999999940865,0.000157374319319,-0.000305579928644,-1.11172678325e-05,1793243006173467648
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745,714.060103394,680,661,634.060103394,880,787,806.060103394,651.060103394,631,652,0.446913706701,-0.0153904723148,0.0497738344839,0.99999993575,0.000142076638298,-0.000328793915856,-1.44408892366e-05,1793243006190134016
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,744.472085621,714,680,661,634,879.472085621,787,806,651.527914379,631,651.472085621,0.44636550095,-0.015389965716,0.0497581233808,0.99999993001,0.000123538698858,-0.00035265520527,-1.87711215085e-05,1793243006206800640
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,744.115338403,714,680,661,634.115338403,879.115338403,787.115338403,806,652,631,651.115338403,0.445812348321,-0.015390080128,0.0497494673746,0.99999992728,0.000104694649068,-0.000366026630382,-2.24233625598e-05,1793243006223467264
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,661,635,879.729875037,788,806.270124963,651.729875037,631,652,0.444687674114,-0.0153905883427,0.0497904595951,0.9999999488,7.05941075561e-05,-0.000311202981165,-2.38388200123e-05,1793243006256800512
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,661,635,879.15737623,788,806.84262377,651.15737623,631,652,0.444086970684,-0.0153855779537,0.0498105027514,0.999999956143,5.84141505797e-05,-0.000289235976425,-2.53651902823e-05,1793243006273467392
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,661,634.581341284,879.418658716,787.581341284,806.581341284,651.418658716,631,652,0.443421132864,-0.0153815327458,0.049796994665,0.999999947607,5.4740006707e-05,-0.000317685951518,-2.9418062762e-05,1793243006290134272
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,661,634.003965773,879.996034227,787.003965773,806.003965773,651.996034227,631,652,0.442730602102,-0.0153778534457,0.0497707670396,0.99999993123,5.42904833109e-05,-0.000365249398056,-3.44287519088e-05,1793243006306800896
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.176697927,634.823302073,880,787,806.176697927,651.176697927,631,652,0.441348481029,-0.0153739382644,0.0497734687453,0.99999993879,7.44923717658e-05,-0.000339233925904,-4.23299992843e-05,1793243006340134656
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+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.90905954,745,714.90905954,679.90905954,661,634,880,787,806.09094046,652,631,652,0.439160647356,-0.0153782947467,0.0498204840227,0.99999996345,6.50817954715e-06,-0.000266185381562,-4.69254093015e-05,1793243006390134272
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745,714.505317033,680,661,634.494682967,880,787,806,652,631.494682967,652,0.438346700889,-0.015371179918,0.049789090504,0.999999947471,-5.85611297637e-06,-0.000319739388806,-5.28159058705e-05,1793243006406800896
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,660.975064946,635,880,788,805.975064946,652,631,652,0.426999558457,-0.0153582010446,0.0497871577836,0.999999932733,-2.16806293596e-05,-0.000361658178877,-5.71565577996e-05,1793243006623467264
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,714.780347659,679.219652341,660,635,879.219652341,788,805.780347659,652,631,652,0.424338370444,-0.0153581987653,0.0498116109439,0.99999995901,-1.45911488562e-05,-0.000280204767457,-5.70287571204e-05,1793243006673467392
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,714.067795396,679.932204604,660,635,879.932204604,788,806,652,631,652,0.422579234605,-0.0153631158088,0.0498482132819,0.999999973753,-2.66591228614e-05,-0.000220663045899,-5.55961670985e-05,1793243006706800640
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.923766964,659.076233036,635,879,788,805.923766964,653,631,652,0.403140455136,-0.0153723727309,0.0498579956698,0.999999958264,-8.04947305712e-05,-0.000271605397808,-5.67704285349e-05,1793243007223467008
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cffecfee474c5241b2fc10f857a1bb544a30cecb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_01/simulation_data.csv
@@ -0,0 +1,404 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..99f0b4cc55cbf05e55d4bbb0aab36df89e63517a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7327f5a20c45d2c92dba23f2f7989cc2d8f91f2cdf0ae53da20ec9d781c5a94
+size 25749565
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f99ad17594857e50a663f61193815d0c494d42f5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_02/franka_data.csv
@@ -0,0 +1,407 @@
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+8,0.133333333,BASELINE,765,745,714,679,659.362133122,635,879,788,805,652.362133122,631,652,0.400982262478,-0.0153997865353,0.0498553305696,0.999999961118,-8.65125870013e-05,-0.000260182389933,-5.08312047613e-05,1793243008220130816
+9,0.150000000,BASELINE,765.213167958,745,714.213167958,679,659.213167958,635,879,788,805,652.213167958,631,652,0.400982225098,-0.0153998326469,0.0498549519811,0.999999960926,-8.63010254449e-05,-0.000260978792832,-5.08845648731e-05,1793243008236797696
+10,0.166666667,BASELINE,765.78788087,745,714.78788087,679,659.78788087,635,879,788,805,652.78788087,631,652,0.400982654043,-0.015399291561,0.0498551359055,0.999999961265,-8.41297878936e-05,-0.000260346961613,-5.11032480884e-05,1793243008253464064
+11,0.183333333,BASELINE,766,745,714.626747043,679,659.626747043,635,878.626747043,788,805,653,631,652,0.400981529176,-0.015398864349,0.0498548245476,0.999999960999,-8.45671909596e-05,-0.000261167949119,-5.13979417353e-05,1793243008270130688
+12,0.200000000,BASELINE,766,745,714.035139232,679,659.035139232,635,878.035139232,788,805,653,631,652,0.400979495322,-0.0153985037539,0.049854223447,0.999999960376,-8.65306616811e-05,-0.000262838842813,-5.1737101887e-05,1793243008286797056
+13,0.216666667,BASELINE,766,745,714,679,659,634.456066096,878.543933904,787.456066096,805,652.456066096,631,652,0.400981495042,-0.0154002091576,0.0498551077795,0.999999960908,-8.78697053264e-05,-0.000260508737413,-5.09747424571e-05,1793243008303464192
+14,0.233333333,BASELINE,765.878433974,745,714,679,659.121566026,634.121566026,879,787,805,652.121566026,631,652,0.400982994731,-0.0154015495898,0.0498556983276,0.999999961266,-8.88913754538e-05,-0.000258890553183,-5.04086281708e-05,1793243008320131328
+15,0.250000000,BASELINE,765.30322535,745,714,679,659.69677465,634.69677465,879,787,805,652.69677465,631,652,0.400981678003,-0.0154010412379,0.0498548425427,0.999999960731,-8.88758585629e-05,-0.000260871817718,-5.08343976164e-05,1793243008336797696
+16,0.266666667,BASELINE,765,745,714.271420845,679,659.728579155,635,878.728579155,787.271420845,805.271420845,652.728579155,631,652,0.400981410112,-0.0154007195943,0.0498549987608,0.999999960664,-8.86523314391e-05,-0.000261159685288,-5.10751645412e-05,1793243008353464320
+17,0.283333333,BASELINE,765,745,714.845439971,679,659.154560029,635,878.154560029,787.845439971,805.845439971,652.154560029,631,652,0.400982311536,-0.0154006061058,0.0498562832283,0.999999961119,-8.81969004654e-05,-0.000259559639476,-5.11096781406e-05,1793243008370130944
+18,0.300000000,BASELINE,765,745,714.565963323,679,659.434036677,635,878.434036677,788,805.565963323,652,631.434036677,652,0.400982453645,-0.0153997273457,0.0498561162214,0.999999961418,-8.59515980095e-05,-0.00025918078237,-5.10026921867e-05,1793243008386797312
+19,0.316666667,BASELINE,765,745,714,679,660,635,879,788,805,652,631.973045483,652,0.400982373269,-0.0153987253705,0.049855492822,0.999999961646,-8.33798016576e-05,-0.000259178274714,-5.08252199774e-05,1793243008403463936
+20,0.333333333,BASELINE,765,745,714,679,660,635,879,788,805,652,631.401354113,652,0.400983450983,-0.015400932017,0.0498564546341,0.999999961703,-8.75383339763e-05,-0.000257687791725,-5.02769590341e-05,1793243008420130560
+21,0.350000000,BASELINE,765,745,714,678.827534234,659.827534234,635,879,787.827534234,805,652,631,652,0.400983984159,-0.015402296855,0.0498569838458,0.99999996171,-9.01418692218e-05,-0.000256821738503,-4.99762780306e-05,1793243008436797184
+22,0.366666667,BASELINE,765,745,714,678.248699175,659.248699175,635,879,787.248699175,805,652,631,652,0.400983234277,-0.0154016781968,0.0498564937506,0.999999961635,-8.90814706011e-05,-0.000257426986664,-5.02589527913e-05,1793243008453464064
+23,0.383333333,BASELINE,765,745,714,678.328614554,659.328614554,635,879,787,805,652.328614554,631,652,0.400982128367,-0.0154010477212,0.049855942997,0.999999961563,-8.69681131059e-05,-0.000258372219237,-5.05311694297e-05,1793243008470130944
+24,0.400000000,BASELINE,765,745,714,678.904782291,659.904782291,635,879,787,805,652.904782291,631,652,0.400980754253,-0.0154004083431,0.049855346548,0.999999961488,-8.40615364601e-05,-0.000259573570243,-5.07955077446e-05,1793243008486797568
+25,0.416666667,BASELINE,765,744.503578632,714,679,660,635,878.503578632,787.496421368,805,653,631,652,0.400980199959,-0.0154011141539,0.0498552839205,0.999999961114,-8.58996459504e-05,-0.000260446093989,-5.06021273412e-05,1793243008503464448
+26,0.433333333,BASELINE,764.912119662,744.087880338,714,679,659.912119662,635,878,788,805,653,631,652,0.400979902449,-0.0154021048932,0.0498553085634,0.999999960766,-8.83427053723e-05,-0.00026101565039,-5.03469284531e-05,1793243008520131072
+27,0.450000000,BASELINE,764.338582915,744.661417085,714,679,659.338582915,635,878,788,805,653,631,652,0.40098012706,-0.015403198479,0.0498552314404,0.999999960912,-8.893778429e-05,-0.000260270675698,-5.02508875705e-05,1793243008536797696
+28,0.466666667,BASELINE,764.236696877,745,714,679,659,635,878,788,805.236696877,652.763303123,631,652,0.400980713308,-0.0154027472551,0.049855485125,0.999999961188,-8.80676891246e-05,-0.000259486059247,-5.03543541056e-05,1793243008553464320
+29,0.483333333,BASELINE,764.814488469,745,714,679,659,635,878,788,805.814488469,652.185511531,631,652,0.400981820699,-0.0154000698657,0.0498562155237,0.999999961644,-8.50861882126e-05,-0.000258644316636,-5.07453230706e-05,1793243008570130944
+30,0.500000000,BASELINE,765.401286905,745,714,679,659,635,878.401286905,788,805.598713095,652,631,652,0.400982257306,-0.0153993617914,0.0498561550403,0.999999961647,-8.51430243456e-05,-0.000258590852888,-5.08682570071e-05,1793243008586797312
+31,0.516666667,BASELINE,765.992344714,745,714,679,659,635,878.992344714,788,805.007655286,652,631,652,0.400982376696,-0.0153995850176,0.0498557205442,0.999999961436,-8.66367077603e-05,-0.000258910170809,-5.08644356142e-05,1793243008603464192
+32,0.533333333,BASELINE,765.426501186,745,714,679,659,635,879,787.426501186,805,652,631,652,0.400982192385,-0.0154010840408,0.0498558939836,0.99999996146,-8.73720928306e-05,-0.000258623383583,-5.05997948999e-05,1793243008620130816
+33,0.550000000,BASELINE,765,745,714,679,659,635,879,787,805,652.151754786,631,652,0.40098206446,-0.0154022574022,0.049856223908,0.999999961544,-8.77195554406e-05,-0.00025822472671,-5.03759833528e-05,1793243008636797440
+34,0.566666667,BASELINE,765,745,714,679,659,635,879,787,805,652.722370187,631,652,0.400982103168,-0.0154024856931,0.0498569637312,0.999999961786,-8.70237712315e-05,-0.000257539248533,-5.0274311298e-05,1793243008653464064
+35,0.583333333,BASELINE,765.303252684,744.696747316,714,679,659.303252684,635,879,787.303252684,805,653,631,652,0.400981788408,-0.0154026706682,0.0498569613216,0.99999996186,-8.55911167185e-05,-0.000257762964671,-5.012468287e-05,1793243008670130688
+36,0.600000000,BASELINE,765.893864236,744.106135764,714,679,659.893864236,635,879,787.893864236,805,653,631,652,0.400981138706,-0.0154028145979,0.0498562555807,0.99999996177,-8.34602120287e-05,-0.000258848223138,-4.9929611505e-05,1793243008686797312
+37,0.616666667,BASELINE,765.524521432,744.475478568,714.475478568,679,659.524521432,635,879.475478568,788,805,653,631,652,0.400980775227,-0.0154029790668,0.0498555537245,0.999999961364,-8.50359666335e-05,-0.000259875266193,-5.00582547031e-05,1793243008703464192
+38,0.633333333,BASELINE,765.054678851,745,714.945321149,678.945321149,659.054678851,635,879.945321149,788,805,653,631,652,0.400980510555,-0.0154031622115,0.0498548970862,0.999999960928,-8.72779127505e-05,-0.000260772919668,-5.02343129892e-05,1793243008720130560
+39,0.650000000,BASELINE,765.629664069,745,714.370335931,678.370335931,659.629664069,635,879.370335931,788,805,653,631,652,0.400980589434,-0.0154034802534,0.0498546626279,0.999999960911,-8.81321034408e-05,-0.000260560701862,-5.01867323463e-05,1793243008736797440
+40,0.666666667,BASELINE,766,745,714,678.204310942,659.795689058,635,879,787.795689058,805,652.795689058,631,652,0.400981121147,-0.0154031326501,0.0498549833641,0.999999961206,-8.71153229482e-05,-0.000259771951927,-5.01687567797e-05,1793243008753464320
+41,0.683333333,BASELINE,766,745,714,678.778345509,659.221654491,635,879,787.221654491,805,652.221654491,631,652,0.400982472314,-0.0154015804867,0.0498563087872,0.999999962053,-8.27128096591e-05,-0.000257939902284,-5.02043549302e-05,1793243008770130944
+42,0.700000000,BASELINE,766,745,714,679,659.364392236,635,878.635607764,787.364392236,805,652.364392236,631,652,0.400982786471,-0.0154014481882,0.0498565029259,0.99999996204,-8.38607413288e-05,-0.000257618665165,-5.01973918661e-05,1793243008786797568
+43,0.716666667,BASELINE,766,745,714,679,659.95799484,635,878.04200516,787.95799484,805,652.95799484,631,652,0.400982448325,-0.0154022090144,0.0498559854628,0.99999996148,-8.85000196139e-05,-0.000258247760921,-5.01636569023e-05,1793243008803463936
+44,0.733333333,BASELINE,765.466694088,745,714,678.466694088,660,635,878.533305912,788,805,652.466694088,631,651.466694088,0.400982372637,-0.0154018744423,0.0498561790388,0.999999961589,-8.75386638812e-05,-0.000258113975555,-5.03514516896e-05,1793243008820130560
+45,0.750000000,BASELINE,765.10804403,745,714,678.10804403,660.10804403,635,878.89195597,787.89195597,805,652.10804403,631,651.10804403,0.400982319804,-0.0154016184149,0.0498563769057,0.999999961739,-8.62881732603e-05,-0.00025793997707,-5.04362484812e-05,1793243008836797184
+46,0.766666667,BASELINE,765.686350962,745,714,678.686350962,660.686350962,635,878.313649038,787.313649038,805,652.686350962,631,651.686350962,0.400982279455,-0.0154020673262,0.0498563577738,0.999999961842,-8.56355600972e-05,-0.000257843808871,-4.99993188068e-05,1793243008853463808
+47,0.783333333,BASELINE,765.735780746,744.735780746,714,679,660.471561492,635,878,787.264219254,805,653,631,652,0.400981772932,-0.0154012086183,0.0498562758515,0.999999961901,-8.42830146707e-05,-0.000258038583252,-5.01001799744e-05,1793243008870130688
+48,0.800000000,BASELINE,765.158432216,744.158432216,714,679,659.316864432,635,878,787.841567784,805,653,631,652,0.400980713941,-0.0153988002359,0.0498561195156,0.999999961906,-8.21009713851e-05,-0.000258578157017,-5.08383831951e-05,1793243008886798080
+49,0.816666667,BASELINE,765,744.429283258,714,678.570716742,659,635,878,787.570716742,805,652.570716742,631,652,0.400981250374,-0.0153993689899,0.0498559493201,0.999999961794,-8.36220779081e-05,-0.000258525283231,-5.08409807609e-05,1793243008903464448
+50,0.833333333,BASELINE,765.020430541,744.979569459,714,678.020430541,659.020430541,635,878.020430541,787.020430541,805,652,631,652,0.400982383959,-0.0154009555593,0.0498557965068,0.999999961656,-8.63254469418e-05,-0.000258220546501,-5.05797873313e-05,1793243008920131072
+51,0.850000000,BASELINE,765.598240216,744.401759784,714,678.598240216,659.598240216,635,878.598240216,787.598240216,805,652,631,652,0.400983347587,-0.015399592329,0.0498562609094,0.999999962199,-8.30745528402e-05,-0.000257157324113,-5.0711767705e-05,1793243008936797696
+52,0.866666667,BASELINE,765.649156995,744.175421502,714,679,659.824578498,635,879,788,805,652,631,652,0.400983439001,-0.0153991583138,0.0498564245547,0.999999962391,-8.15584123551e-05,-0.00025689678657,-5.07074094099e-05,1793243008953464320
+53,0.883333333,BASELINE,764.497662558,744.751168721,714,679,659.248831279,635,879,788,805,652,631,652,0.400981539952,-0.0154008448409,0.0498559018483,0.999999961799,-8.40011167647e-05,-0.000258468039277,-5.03919155022e-05,1793243008970130944
+54,0.900000000,BASELINE,764.334390936,745,714,679,659,635,879,788,805,652,631,652,0.400980224711,-0.0154014290013,0.0498554722628,0.999999961388,-8.49686474109e-05,-0.000259724574188,-5.04811286404e-05,1793243008986797312
+55,0.916666667,BASELINE,764.923302701,745,714,679,659,635,879,788,805,652,631,652,0.400979353835,-0.0154011740979,0.0498551135562,0.999999961116,-8.4813353111e-05,-0.000260741562365,-5.08783835527e-05,1793243009003464192
+56,0.933333333,BASELINE,765,745,714.50418151,679,659.50418151,635,879,787.49581849,805,652,631,651.49581849,0.400979269626,-0.0154009993517,0.0498550641948,0.999999961054,-8.51077850776e-05,-0.000260928259734,-5.06479622902e-05,1793243009020130816
+57,0.950000000,BASELINE,765,745,714.916751226,679,659.916751226,635,879,787.083248774,805,652,631,651.083248774,0.400979389218,-0.0154009082715,0.0498550678613,0.99999996105,-8.54499854666e-05,-0.000260871911618,-5.0429859848e-05,1793243009036797440
+58,0.966666667,BASELINE,765,745,714.341283319,679,659.341283319,635,879,787.658716681,805,652,631,651.658716681,0.400980017348,-0.0154012409104,0.0498551111875,0.999999961208,-8.56764631362e-05,-0.000260113613255,-5.08402994289e-05,1793243009053464320
+59,0.983333333,BASELINE,765.234590402,745,714,679,659,635,879,788,805,652.234590402,631,652,0.400980830767,-0.0154016931822,0.0498556696297,0.999999961408,-8.61621124446e-05,-0.000259163895472,-5.09374984273e-05,1793243009070131200
+60,1.000000000,BASELINE,765.811055611,745,714,679,659,635,879,788,805,652.811055611,631,652,0.400981914214,-0.0154023197982,0.0498569787643,0.999999961669,-8.70254594803e-05,-0.000257935216986,-5.05782036887e-05,1793243009086797824
+61,1.016666667,BASELINE,765.603153312,745,714,679,659,635,878.603153312,788,805.396846688,653,631.396846688,652,0.40098072385,-0.0154021078706,0.0498565510593,0.999999961566,-8.55256269205e-05,-0.000258860891831,-5.04452613399e-05,1793243009103464192
+62,1.033333333,BASELINE,765.012815237,745,714,679,659,635,878.012815237,788,805.987184763,653,631.987184763,652,0.400978424839,-0.0154014870925,0.0498552765196,0.999999961277,-8.28735737816e-05,-0.000260836969408,-5.04226821307e-05,1793243009120130816
+63,1.050000000,BASELINE,765.565391113,744.434608887,714,679,659,635,878,788,805.434608887,652.434608887,631.434608887,652,0.400980386816,-0.0154014172018,0.0498559048255,0.999999961684,-8.28573494707e-05,-0.000259300169549,-5.03025346702e-05,1793243009136797440
+64,1.066666667,BASELINE,765.856096004,744.143903996,714,678.856096004,659.143903996,635,878.143903996,788,805,652.143903996,631.143903996,652,0.400981623657,-0.0154011278449,0.0498561776007,0.999999961873,-8.2961397926e-05,-0.000258534463618,-5.03078015291e-05,1793243009153464064
+65,1.083333333,BASELINE,765.275837372,744.724162628,714,678.275837372,659.724162628,635,878.724162628,788,805,652.724162628,631.724162628,652,0.400980374994,-0.015400135942,0.0498552442787,0.99999996136,-8.32527907616e-05,-0.000260343283897,-5.06999224567e-05,1793243009170130944
+66,1.100000000,BASELINE,765,745,714,678.306174163,659.693825837,635,879,788,805,652.693825837,631.693825837,652,0.400979780372,-0.0154006870179,0.0498549543813,0.999999961119,-8.50506428917e-05,-0.000260663581847,-5.08226938666e-05,1793243009186797568
+67,1.116666667,BASELINE,765,745,714,678.889773976,659.110226024,635,879,788,805,652.110226024,631.110226024,652,0.400979778379,-0.015402636193,0.0498552474936,0.999999961119,-8.82135038853e-05,-0.000259635123573,-5.07014065638e-05,1793243009203464192
+68,1.133333333,BASELINE,765,745,714,679,659,635,878.530054197,787.530054197,805,652,631,652,0.400979754243,-0.0154026356841,0.0498548096847,0.999999961077,-8.76268078274e-05,-0.000260060707205,-5.03554232982e-05,1793243009220131072
+69,1.150000000,BASELINE,765.049013933,744.950986067,714,679,659,635,878.049013933,787.049013933,805,652.049013933,631,652,0.400979815539,-0.0154022182624,0.0498543413345,0.999999961077,-8.62663078149e-05,-0.000260582249715,-5.00047584227e-05,1793243009236797696
+70,1.166666667,BASELINE,765.624798461,744.375201539,714,679,659,635,878.624798461,787.624798461,805,652.624798461,631,652,0.400980850425,-0.0154021992994,0.0498553739086,0.999999961636,-8.59728913719e-05,-0.000258496291291,-5.01660906614e-05,1793243009253464064
+71,1.183333333,BASELINE,765.799872611,744,714,679,659,635,879,787.799872611,805,653,631,652,0.400981959656,-0.0154019641628,0.0498561353337,0.99999996206,-8.52185901774e-05,-0.000257079403161,-5.0278782558e-05,1793243009270130688
+72,1.200000000,BASELINE,765.225395808,744,714,679,659,635,879,787.225395808,805,653,631,652,0.400983207954,-0.0154013246613,0.0498563895596,0.999999962238,-8.36021783679e-05,-0.000256914047873,-5.03004900173e-05,1793243009286797568
+73,1.216666667,BASELINE,765,744.359669471,714,679,659.359669471,635,879,787,805,653,631,652,0.4009826925,-0.0154018465487,0.0498560745596,0.999999962032,-8.30872573564e-05,-0.000257898496994,-5.02004828195e-05,1793243009303464192
+74,1.233333333,BASELINE,765,744.95157152,714,679,659.95157152,635,879,787,805,653,631,652,0.40098103822,-0.0154031183255,0.04985539202,0.999999961578,-8.32835506713e-05,-0.000259625355644,-5.0021886497e-05,1793243009320130816
+75,1.250000000,BASELINE,765,745,714,679,660,635,878.468403702,787.531596298,805.531596298,652.468403702,631,652,0.400981924445,-0.0154037867299,0.0498560370156,0.999999961736,-8.5319455077e-05,-0.000258389745987,-4.98406067376e-05,1793243009336797696
+76,1.266666667,BASELINE,765,745,714,679,659.890415886,635,878.109584114,787.890415886,805.890415886,652,631,652,0.40098283828,-0.015404083881,0.0498566650991,0.999999961908,-8.7026715016e-05,-0.000257167442111,-4.97510533341e-05,1793243009353464064
+77,1.283333333,BASELINE,765,745,714,679,659.316573922,635,878.683426078,787.316573922,805.316573922,652,631,652,0.40098291001,-0.0154030359833,0.0498567203689,0.999999961938,-8.66471777835e-05,-0.000257119884677,-5.00511156594e-05,1793243009370130688
+78,1.300000000,BASELINE,765,745,714,679,659,635,879,787.264141886,805.264141886,652.264141886,631,652,0.400982545289,-0.0154022731702,0.0498567215735,0.99999996196,-8.58432130574e-05,-0.000257286335913,-5.01426667675e-05,1793243009386797312
+79,1.316666667,BASELINE,765,745,714,679,659,635,879,787.853316065,805.853316065,652.853316065,631,652,0.400981643506,-0.0154018611597,0.0498566562497,0.999999961971,-8.45169811644e-05,-0.000257716129442,-4.99776402983e-05,1793243009403463936
+80,1.333333333,BASELINE,765,745,714,679,659,635,879,788,805.564705567,652.564705567,631,652,0.400982524469,-0.0154016738985,0.0498573518608,0.999999962304,-8.33957110929e-05,-0.000256788155521,-4.99732296879e-05,1793243009420130560
+81,1.350000000,BASELINE,765,745,714,679,659.014793573,635,879,788,805,652,631,652,0.400983897779,-0.0154015500928,0.049858243187,0.999999962716,-8.23639655452e-05,-0.000255503939163,-5.00225994368e-05,1793243009436797184
+82,1.366666667,BASELINE,765,745,714,679,659.590731387,635,879,788,805,652,631,652,0.400981529983,-0.0154010072151,0.0498569901574,0.999999962146,-8.21508032731e-05,-0.0002577797093,-5.00923298337e-05,1793243009453463808
+83,1.383333333,BASELINE,764.833177058,745,714,679,660,635,878.833177058,788,805,652.166822942,631,652,0.400979974568,-0.0154005127919,0.0498562142935,0.999999961781,-8.19474890843e-05,-0.000259239112997,-5.01774503153e-05,1793243009470130688
+84,1.400000000,BASELINE,764.256707862,745,714,679,660,635,878.256707862,788,805,652.743292138,631,652,0.400980414018,-0.0154001373518,0.0498566101458,0.999999961931,-8.17683575602e-05,-0.000258693868105,-5.03003623202e-05,1793243009486797312
+85,1.416666667,BASELINE,764.323040158,745,714,679,659.676959842,635,878.323040158,788,805,652.676959842,631,652,0.400980982959,-0.0154009490681,0.0498569887039,0.999999962018,-8.27400547129e-05,-0.000258065162567,-5.02101303577e-05,1793243009503464192
+86,1.433333333,BASELINE,764.905420417,745,714,679,659.094579583,635,878.905420417,788,805,652.094579583,631,652,0.400981655857,-0.0154027138464,0.0498573533781,0.999999962051,-8.46356494737e-05,-0.000257369453963,-4.9948784126e-05,1793243009520130816
+87,1.450000000,BASELINE,765.491155143,745,714,679,659,635,879,788,805,652,631,652,0.400982001104,-0.0154038923962,0.049857227924,0.999999961954,-8.6457542759e-05,-0.000257187389531,-4.97107199482e-05,1793243009536797440
+88,1.466666667,BASELINE,765.923720463,744.923720463,714,679,659,635,878.923720463,788,805,652,631,651.923720463,0.400982172883,-0.0154048948876,0.0498570235555,0.999999961823,-8.80855535432e-05,-0.000257178367004,-4.95465051123e-05,1793243009553463808
+89,1.483333333,BASELINE,765.346869375,744.346869375,714,679,659,635,878.346869375,788,805,652,631,651.346869375,0.400981623201,-0.0154054879242,0.049856924949,0.999999961647,-8.85350187475e-05,-0.00025765135772,-4.983729071e-05,1793243009570130432
+90,1.500000000,BASELINE,765.227965237,744.227965237,714,679,659,635,878.227965237,787.772034763,805,652,631,651.227965237,0.400981522569,-0.0154043109977,0.0498570509924,0.999999961754,-8.73990558709e-05,-0.000257542535935,-5.02531358896e-05,1793243009586797312
+91,1.516666667,BASELINE,765.799758454,744.799758454,714,679,659,635,878.799758454,787.200241546,805,652,631,651.799758454,0.400982099214,-0.0154004645287,0.0498575158635,0.999999962279,-8.38718751427e-05,-0.000256556196899,-5.08576018337e-05,1793243009603464192
+92,1.533333333,BASELINE,765.615871246,745,714,679,659.384128754,635,879,787.384128754,805,652,631,652,0.400982752243,-0.0154004580515,0.0498578878836,0.999999962576,-8.31544847801e-05,-0.0002556659963,-5.06799423704e-05,1793243009620130816
+93,1.550000000,BASELINE,765.024722684,745,714,679,659.975277316,635,879,787.975277316,805,652,631,652,0.400983446439,-0.0154025210736,0.0498582098633,0.999999962753,-8.3951383918e-05,-0.000254827607825,-5.00807694718e-05,1793243009636797440
+94,1.566666667,BASELINE,765,744.445121864,714,679,660,635,879,788,805,652.554878136,631,652,0.400982837977,-0.0154022404615,0.0498580083416,0.999999962568,-8.39979271257e-05,-0.000255545772079,-5.00463579004e-05,1793243009653464064
+95,1.583333333,BASELINE,765,744.133408459,714,679,660,634.866591541,878.866591541,788,805,653,631,652,0.400982284618,-0.015402098397,0.0498576791772,0.999999962405,-8.41927082504e-05,-0.000256123831248,-5.00235534104e-05,1793243009670130688
+96,1.600000000,BASELINE,765,744.710056863,714,679,660,634.289943137,878.289943137,788,805,653,631,652,0.400982103243,-0.0154027565055,0.0498570018436,0.99999996237,-8.49888107673e-05,-0.000256010680659,-4.99574146619e-05,1793243009686797312
+97,1.616666667,BASELINE,765.291369248,745,714,679,659.708630752,634.291369248,878.291369248,788,805,652.708630752,631,652,0.400982085359,-0.0154026087663,0.0498569956704,0.999999962396,-8.44709687286e-05,-0.000256065809452,-5.00226015102e-05,1793243009703463936
+98,1.633333333,BASELINE,765.877398251,745,714,679,659.122601749,634.877398251,878.877398251,788,805,652.122601749,631,652,0.400982232813,-0.0154016460785,0.0498576682374,0.999999962483,-8.26243433807e-05,-0.000256291118053,-5.02205970523e-05,1793243009720130560
+99,1.650000000,BASELINE,766,745,714,679,659.460843212,635,879,788,805,652,631,652,0.400982189325,-0.0154032168687,0.049858016507,0.999999962251,-8.50163726863e-05,-0.00025648491695,-4.98644620563e-05,1793243009736797184
+100,1.666666667,BASELINE,766,745,714,679,660,635,879,788,805.042734783,652.042734783,631,652,0.400982127826,-0.0154050977176,0.0498582678568,0.999999961983,-8.80051692941e-05,-0.000256603921681,-4.94282666119e-05,1793243009753463808
+101,1.683333333,BASELINE,766,745,714,679,660,635,879,788,805.613871987,652.613871987,631,652,0.400982468211,-0.0154025249986,0.0498583816428,0.999999962446,-8.45076010026e-05,-0.000255901192167,-4.98147838165e-05,1793243009770130688
+102,1.700000000,BASELINE,765.812664043,745,714,679,659.812664043,635,879,788,806,653,631,652,0.400982847185,-0.0154009072576,0.0498585244568,0.999999962788,-8.26542343078e-05,-0.000255107043887,-5.0135200481e-05,1793243009786797312
+103,1.716666667,BASELINE,765.234344007,745,714,679,659.234344007,635,879,788,806,653,631,652,0.400983306695,-0.015401282627,0.0498587278547,0.999999962897,-8.42324390949e-05,-0.000254122097931,-5.03176603533e-05,1793243009803463936
+104,1.733333333,BASELINE,765,744.64915604,714,679,659.35084396,635,879,787.64915604,806,652.64915604,631,652,0.400983448679,-0.0154019203132,0.0498587519038,0.999999962854,-8.42347342317e-05,-0.000254364599456,-4.99545362734e-05,1793243009820130560
+105,1.750000000,BASELINE,765,744.05928903,714,679,659.94071097,635,879,787.05928903,806,652.05928903,631,652,0.400983374339,-0.0154027367106,0.0498586537662,0.999999962705,-8.31633934552e-05,-0.000255443336572,-4.9219716657e-05,1793243009836797184
+106,1.766666667,BASELINE,765,744.522775139,714,679,660,635,879,787.522775139,805.477224861,652.522775139,631,652,0.400981298406,-0.0154020896705,0.0498570201043,0.999999962322,-8.18824350605e-05,-0.000257287528017,-4.95477453173e-05,1793243009853463808
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,746,714,679,660,635,879,788,805,652,631,652,0.400982288641,-0.0154029519012,0.0498578586719,0.999999962292,-8.56286918956e-05,-0.000256178980635,-4.95624126845e-05,1793243009896175616
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.575695884,745.424304116,714,679,659.424304116,635,878.424304116,788,805,652,631,652,0.400980351336,-0.0154021202863,0.0498563972847,0.999999961713,-8.50761716445e-05,-0.000258565439151,-4.98027108263e-05,1793243009912842240
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.844729292,744.844729292,714,679,659.155270708,635,878,787.844729292,805,652.155270708,631,652,0.40097956417,-0.0154017160204,0.0498557591357,0.999999961537,-8.45193539376e-05,-0.000259396355265,-4.99521809278e-05,1793243009929508608
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.254282868,744.254282868,714,679,659.745717132,635,878,787.254282868,805,652.745717132,631,652,0.400982000492,-0.015402509481,0.049857428268,0.9999999625,-8.39504916669e-05,-0.000255867568258,-4.9847088212e-05,1793243009946175232
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.328843375,714,679,659.671156625,635,878.328843375,787,805,653,631,652,0.400982815686,-0.0154027833614,0.049857835339,0.999999962694,-8.43288867261e-05,-0.000254979174792,-4.98707505452e-05,1793243009962841344
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.906432409,714,679,659.093567591,635,878.906432409,787,805,653,631,652,0.400982404616,-0.0154026642178,0.0498572877542,0.999999962311,-8.54238118333e-05,-0.000256088043702,-4.99918065433e-05,1793243009979507712
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.480440598,635,879,787.480440598,805,653,631,652,0.400980945015,-0.0154023679122,0.0498565852452,0.999999961778,-8.56728679991e-05,-0.000258061763144,-5.0078178967e-05,1793243009996174592
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878.944565231,788,805,653,631,652,0.400979713737,-0.0154019748345,0.0498559938656,0.999999961327,-8.55424998051e-05,-0.000259833581622,-5.01494471996e-05,1793243010012840960
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878.353351111,788,805,653,631,652,0.400982648261,-0.0154009774556,0.0498567660122,0.99999996198,-8.33253816534e-05,-0.0002580381519,-5.01395348017e-05,1793243010029507840
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.765945367,635,878.234054633,787.765945367,805,652.765945367,631,652,0.400990796985,-0.0154009843542,0.0498599053026,0.999999963689,-8.22504202933e-05,-0.0002517379483,-4.98469352514e-05,1793243010046174464
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.184197109,635,878.815802891,787.184197109,805,652.184197109,631,652,0.401006691526,-0.0154024831307,0.0498665610405,0.999999966859,-8.28721597259e-05,-0.000238745797969,-4.9134397326e-05,1793243010062841344
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,652,631,652,0.401041264181,-0.0154050850892,0.0498786366411,0.999999972565,-8.39583533246e-05,-0.000213395726729,-4.77777814943e-05,1793243010079507968
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,652,631,652,0.401084490958,-0.0154081981845,0.0498932234242,0.999999978681,-8.52597422128e-05,-0.000182319865336,-4.61227452939e-05,1793243010096174592
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.450076339,714,679,659.549923661,635,878.450076339,787.549923661,805,652,631,652,0.401146190047,-0.0154115805529,0.0499107631565,0.999999984841,-8.45062299596e-05,-0.000145766604633,-4.39185812706e-05,1793243010112841216
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.132457876,714,679,659.867542124,635,878.132457876,788,805,652,631,652,0.401211522841,-0.0154153978691,0.0499267360353,0.999999988931,-8.45839218511e-05,-0.000115075450556,-4.17354620629e-05,1793243010129508096
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.715211894,714,679,659.284788106,635,878.715211894,788,805,652,631,652,0.401285492071,-0.0154206396334,0.0499367882186,0.999999989791,-8.79007610679e-05,-0.000105414785805,-3.97343663609e-05,1793243010146174464
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.295981817,635,879,788,805,652.295981817,631,652,0.401363559209,-0.0154264069139,0.0499412778158,0.999999990089,-9.07429450783e-05,-0.00010049487861,-3.85779022575e-05,1793243010162840832
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.874855361,635,879,788,805,652.874855361,631,652,0.401445543019,-0.0154326764688,0.0499404508372,0.999999989922,-9.31314657901e-05,-0.000100106064826,-3.82287152007e-05,1793243010179507712
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.549403329,714,678.549403329,660,635,878.549403329,788,805,652.549403329,631,652,0.401548446496,-0.0154384251074,0.0499416892892,0.999999990119,-9.35454972257e-05,-9.80842719924e-05,-3.72807486789e-05,1793243010196174336
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.026065474,714,678.026065474,660,635,878.026065474,788,805,652.026065474,631,652,0.401658031283,-0.0154441806157,0.049943445325,0.999999990377,-9.36536878704e-05,-9.57437214218e-05,-3.61801624324e-05,1793243010212840960
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.614289417,714,678.614289417,660,635,878.614289417,788,805,652.614289417,631,652,0.401787271952,-0.0154531829692,0.0499440779235,0.999999989852,-9.89110476474e-05,-9.62422769571e-05,-3.53498522162e-05,1793243010229507840
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.80045075,635,879,788,805,653,631,652,0.401927524667,-0.0154617225123,0.0499433376691,0.999999989288,-0.000102392880797,-9.8698375972e-05,-3.46087865448e-05,1793243010246174464
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.220836477,635,879,788,805,653,631,652,0.402088751102,-0.0154693805775,0.0499399826547,0.999999988668,-0.000102493014004,-0.000104882846784,-3.4037697704e-05,1793243010262840832
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.356596989,745,714,679,659,635,879,788,805.356596989,652.643403011,631,652,0.402269105701,-0.0154787861432,0.0499393379767,0.999999988519,-0.000103017406026,-0.000106148662605,-3.28826555379e-05,1793243010279507456
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.932688171,745,714,679,659,635,879,788,805.932688171,652.067311829,631,652,0.402461234169,-0.015489267339,0.0499403615768,0.999999988672,-0.000103802939765,-0.000104386926253,-3.13681757241e-05,1793243010296174080
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.495069159,745,714,678.495069159,659,635,879,787.495069159,805.495069159,652.504930841,631,652,0.40269454741,-0.0154999997789,0.0499479216745,0.999999989918,-0.000104306882906,-9.19291323402e-05,-2.88760254345e-05,1793243010312840704
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,678,659.159382561,635,879,787.079691281,805,653,631,652,0.402937813735,-0.0155107961444,0.0499563786335,0.999999991205,-0.000104440729146,-7.7426605349e-05,-2.62272634083e-05,1793243010329507328
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,678,660.347997489,635,879,787.673998745,805,653,631,652,0.403210167319,-0.0155217906726,0.049965042747,0.999999992749,-0.000102425205939,-5.88581083754e-05,-2.34024311188e-05,1793243010346174208
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,678.261544895,660.47691021,635,879,788,805,652.738455105,631,652,0.403504920868,-0.0155268344717,0.0499720946537,0.999999994654,-9.14437424102e-05,-4.38564935167e-05,-2.01603329794e-05,1793243010362841088
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,678.840875781,659.318248437,635,879,788,805,652.159124219,631,652,0.403826891126,-0.0155246479307,0.0499771876736,0.999999996895,-6.95683548708e-05,-3.31887635263e-05,-1.64112427296e-05,1793243010379507968
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.416222278,635,879,787.583777722,805,652,631,652,0.404169434457,-0.0155147503049,0.0499836389305,0.999999998818,-4.18596469582e-05,-1.97592435232e-05,-1.48711577376e-05,1793243010396174592
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.99005995,635,879,787.00994005,805,652,631,652,0.404519768409,-0.0155019326393,0.0499906045255,0.999999999814,-1.19419729733e-05,-5.28388684296e-06,-1.41675807395e-05,1793243010412840960
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.420889226,635,879,787,805,652,631,652,0.404895014289,-0.0155100601196,0.0499896652505,0.999999999927,-1.15556183978e-06,-5.43819867389e-06,-1.07431340836e-05,1793243010429507328
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.164718526,745,714,679,659,635,879,787.164718526,805.164718526,652,631,652,0.405273694851,-0.0155169357876,0.0499829112176,0.999999999745,1.0836532368e-05,-1.81799616551e-05,-7.93683422264e-06,1793243010446173952
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.74105217,745,714,679,659,635,879,787.74105217,805.74105217,652,631,652,0.405659860933,-0.0155197606856,0.0499619748894,0.999999997715,2.66842215484e-05,-6.17320816196e-05,-6.79507377583e-06,1793243010462840576
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.680781897,745,714,678.680781897,659,635,879,787.680781897,805.680781897,652,631,652,0.406088092149,-0.0155212932617,0.0499450630519,0.999999994685,4.5398650788e-05,-9.24076261112e-05,-5.38427256835e-06,1793243010479507456
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.101120976,745,714,678.101120976,659,635,879,787.101120976,805.101120976,652,631,652,0.406550643397,-0.0155217714621,0.0499314347029,0.999999991448,6.64519900233e-05,-0.000112577469224,-3.75396698048e-06,1793243010496174336
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.529051752,714,678.470948248,659.470948248,635,879,787.470948248,805,652.470948248,631,652,0.407040100545,-0.0155217717405,0.0499274765373,0.999999988857,9.02091203355e-05,-0.000118943754871,-8.99726990355e-07,1793243010512841216
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.043208674,714,679,660,635,879,788,805,653,630.956791326,652,0.40754105258,-0.0155218074757,0.049927556887,0.999999986427,0.000114572703296,-0.000118381358621,2.43291103741e-06,1793243010529507584
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.638405882,714,679,660,635,879,788,805,653,630.361594118,652,0.408116219327,-0.0155235863165,0.0499531244652,0.999999988034,0.000139384842743,-6.65680232914e-05,8.57305925685e-06,1793243010546174208
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.226795317,745,714,679,660,635,879,788,805,652.773204683,630.226795317,652,0.40870495575,-0.015525946398,0.0499760960312,0.999999986055,0.000164496129487,-2.47008017344e-05,1.48850990021e-05,1793243010562840832
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.804646968,745,714,679,660,635,879,788,805,652.195353032,630.804646968,652,0.409314696631,-0.0155292061815,0.0499950492301,0.999999981705,0.000190070465096,1.77083305181e-06,2.14632091917e-05,1793243010579507456
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.617803607,745,714,679,660,635,879,787.617803607,805,652,631,652,0.40992714918,-0.0155313751589,0.0499960624128,0.999999977017,0.000212909308797,-3.16487472525e-06,2.49991734492e-05,1793243010596173824
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.040408553,745,714,679,660,635,879,787.040408553,805,652,631,652,0.410540986635,-0.0155329870303,0.0499879131142,0.999999971884,0.000234351057478,-2.41412139548e-05,2.6981426318e-05,1793243010612840448
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.545234204,745,714,679,660,635,879,787.545234204,805,652.545234204,631,652,0.411131520956,-0.0155311398506,0.0499564888808,0.99999997356,0.000210035032523,-8.96345876219e-05,2.7029664813e-05,1793243010629507584
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,714.130058039,679,660,635,879,788,805,652.869941961,631,652,0.411749828601,-0.0155311038608,0.0499333596872,0.999999977238,0.000163647967742,-0.000134831650064,2.37381306783e-05,1793243010646174464
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,714.709903203,679,660,635,879,788,805,652.290096797,631,652,0.412470250673,-0.0155382318079,0.0499449748584,0.999999993733,5.28395353409e-05,-9.82515424162e-05,9.39978524824e-06,1793243010662841088
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.711635896,745,714.711635896,679,660,635,879,788,805.288364104,652,631,652,0.413212659071,-0.0155458174671,0.0499623291556,0.999999997973,1.33419876051e-05,-6.19548110105e-05,6.11610065453e-06,1793243010679507456
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.134560855,745,714.134560855,679,660,635,879,788,805.865439145,652,631,652,0.413977080325,-0.0155538613895,0.0499854294831,0.999999998544,4.52410815935e-05,-2.59417930991e-05,1.39003713675e-05,1793243010696174080
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.43882304,744.56117696,714,679,660,635,879,787.56117696,805.56117696,652,631,652,0.41471492731,-0.0155522591359,0.0499675820515,0.999999995199,8.00830761541e-05,-5.42159072035e-05,1.57786271158e-05,1793243010712840704
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.988520363,744.011479637,714,679,660,634.988520363,879,787,805.011479637,652,631,652,0.41544538205,-0.0155477964092,0.0499377194464,0.999999988075,0.000115483515727,-0.000101299577085,1.58714178524e-05,1793243010729507328
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.395858367,744.604141633,714,679,660,634.395858367,879,787,805.604141633,652,631,652,0.416210697318,-0.0155470173575,0.0499299467619,0.999999984749,0.000133851059537,-0.00011096779088,1.64933289186e-05,1793243010746174208
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.192351295,879,787,805.807648705,652,631,652,0.417000808917,-0.0155481255961,0.0499351559323,0.999999984007,0.000147334893052,-9.98067553587e-05,1.78099617733e-05,1793243010762840832
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.771605328,879,787,805.228394672,652,631,652,0.417840796758,-0.0155530300024,0.0499664773013,0.999999987297,0.000150995444007,-4.674897208e-05,2.05239844909e-05,1793243010779507712
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.349380305,745,714,679,660,635,879,787.349380305,805,652,631,652,0.418663168203,-0.0155561455893,0.0499774748073,0.999999989393,0.000139531718439,-3.53169301534e-05,2.23219017726e-05,1793243010796174336
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.926192457,745,714,679,660,635,879,787.926192457,805,652,631,652,0.419474072083,-0.0155580967299,0.0499752423342,0.999999991435,0.000118222726524,-5.09814928379e-05,2.35234729511e-05,1793243010812841216
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,714,679,660,635,879,787.498994545,805,652,631,652,0.420339231983,-0.0155568028285,0.0499679028926,0.999999990027,0.00013091467641,-4.74860591228e-05,2.35178359882e-05,1793243010829507584
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714.077642382,679,660,635,879.077642382,787.077642382,805,652,631,652,0.421213715273,-0.0155559674331,0.0499639307089,0.999999988261,0.000146893679697,-3.65990988293e-05,2.36727005166e-05,1793243010846173952
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714.668267852,679,660,635,879.668267852,787.668267852,805,652,631,652,0.422097198373,-0.0155613073464,0.0499871570326,0.999999988155,0.00015162744404,4.54867995859e-06,2.60583465416e-05,1793243010862840832
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,660,635,879.746698029,787.746698029,805,652,630.746698029,652,0.422963982345,-0.0155630310938,0.0499928516777,0.999999987583,0.000154744513934,1.32207837849e-05,2.67144200769e-05,1793243010879507456
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,660,635,879.168828292,787.168828292,805,652,630.168828292,652,0.423809369058,-0.0155601212779,0.0499760821588,0.999999987354,0.000155790037741,-1.97197213236e-05,2.51543111288e-05,1793243010896174080
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.59313501,745,714.59313501,679,660,635,879.40686499,787,805,652,630.40686499,652,0.424694675957,-0.0155605106098,0.0499760729986,0.999999988089,0.000150990864106,-1.89318690675e-05,2.57790053053e-05,1793243010912840960
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.018340075,745,714.018340075,679,660,635,879.981659925,787,805,652,630.981659925,652,0.425596459512,-0.015562261636,0.04998298153,0.999999989282,0.000143779342966,-4.22293205954e-06,2.73054578459e-05,1793243010929507840
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.570880311,744.429119689,714,679,660.570880311,635,879.429119689,787,805.570880311,652,631,652,0.426497441499,-0.0155665645704,0.0500013419393,0.999999987849,0.000152308030671,1.21594610475e-05,3.09366760402e-05,1793243010946174720
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,744,714,679,660.842262734,635,879,787.157737266,806,651.842262734,631,651.842262734,0.427377327244,-0.0155680745549,0.0500033524747,0.999999986479,0.000161135660772,2.88149905552e-06,3.26891006654e-05,1793243010962841088
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,744,714,679,660.262992354,635,879,787.737007646,806,651.262992354,631,651.262992354,0.428200906472,-0.0155618959626,0.0499606613547,0.999999982407,0.000169375806411,-7.51179487572e-05,2.92353001202e-05,1793243010979507712
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,744.314926872,714,679,660.314926872,635,879,787.685073128,806,651.314926872,631,651.314926872,0.429074750199,-0.0155585632192,0.0499461768491,0.999999980726,0.000170195538989,-9.39988029102e-05,2.73220086105e-05,1793243010996174592
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,744.891722555,714,679,660.891722555,635,879,787.108277445,806,651.891722555,631,651.891722555,0.429990389952,-0.0155575968637,0.049955146783,0.999999984027,0.000164845030521,-6.37212068354e-05,2.66896854348e-05,1793243011012841216
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714,679,661,635,879,787,806,652,631,652,0.430862563231,-0.0155568997265,0.0499518269724,0.999999982992,0.000168455577206,-7.00762452718e-05,2.69682861843e-05,1793243011029507840
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.957264124,745,714,679.042735876,661,635,879.042735876,787,806,652,631,651.957264124,0.431724698093,-0.0155561948835,0.0499452490817,0.99999998086,0.000174155679009,-8.48434692518e-05,2.74193719271e-05,1793243011046174464
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.366293311,745,714,679.633706689,661,635,879.633706689,787,806,652,631,651.366293311,0.432586921307,-0.0155545930261,0.0499333108999,0.999999978516,0.000180094387202,-9.8919976971e-05,2.73825256352e-05,1793243011062840832
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.21958547,745,714,679.78041453,661,634.78041453,880,787,805.78041453,652,631,651.21958547,0.433456203602,-0.0155536058587,0.0499367626891,0.999999978422,0.000184929406775,-9.02693844066e-05,2.84423020116e-05,1793243011079507456
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.797162769,745,714,679.202837231,661,634.202837231,880,787,805.202837231,652,631,651.797162769,0.434336994504,-0.0155536208248,0.0499653048607,0.999999980852,0.000187965075292,-4.45666329395e-05,3.12899104611e-05,1793243011096174080
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714,679,661,634.373543328,880,787.373543328,805,652,631,652,0.435162686435,-0.0155514967339,0.049972936333,0.999999979715,0.000193659994637,-4.47919515424e-05,3.25541707214e-05,1793243011112840960
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714,679,661,634.949276088,880,787.949276088,805,652,631,652,0.43595855465,-0.0155482148262,0.0499692493779,0.999999976856,0.000200794298165,-6.9876960251e-05,3.2961405018e-05,1793243011129507584
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714,679,661,634.463027105,879.463027105,787.463027105,805.536972895,652,631,652,0.436765622719,-0.0155455910767,0.0499541414493,0.999999974782,0.000200949420224,-9.50224819097e-05,3.20248498924e-05,1793243011146174208
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,714,679.123790703,661,634.123790703,879.247581406,787,806.123790703,651.876209297,631,652,0.437580014198,-0.0155443036235,0.0499467607704,0.999999974081,0.000200921962607,-0.000102272313445,3.17503591796e-05,1793243011162840576
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,714,679.7031202,661,634.7031202,880.406240401,787,806.7031202,651.2968798,631,652,0.438417373192,-0.0155476996235,0.0499718762508,0.999999977912,0.000202703977518,-4.36460790361e-05,3.43899721227e-05,1793243011179507456
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+187,3.116666667,POSE1_TO_POSE2_PRESS,766,744.566892266,714.433107734,680,660.566892266,635,880,788,806,652,631,652,0.440653505957,-0.0155482161245,0.0499512194184,0.999999975643,0.000205114167062,-7.52604205335e-05,3.12638612356e-05,1793243011229508096
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,744.008458296,714.991541704,679.991541704,660.008458296,635,880,788,806,652,631,652,0.441364344724,-0.0155465571058,0.0499394705548,0.999999974237,0.000205503320507,-9.18127514182e-05,2.93961246847e-05,1793243011246174464
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,744.599479698,714.400520302,679.400520302,660.599479698,635,880,788,806,652,631,652,0.442110248498,-0.01555249934,0.0499690602372,0.999999979063,0.000198295627488,-3.76812073395e-05,3.36506259176e-05,1793243011262840832
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714.185878807,679,661,635,880,787.814121193,806,652,631,652,0.442825234636,-0.0155560674683,0.0499902163613,0.999999980489,0.000194057065307,-7.70889270832e-07,3.69350095838e-05,1793243011279507712
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714.762559853,679,661,635,880,787.237440147,806,652,631,652,0.443475217905,-0.0155546441412,0.0499936412954,0.999999980051,0.000196060973401,-6.74522921326e-08,3.81797635376e-05,1793243011296174080
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.661429388,745,714.661429388,679.338570612,661,635,880,787,806,651.661429388,631,652,0.444081436616,-0.0155503414397,0.0499727860732,0.99999997747,0.000205484106471,-3.81377860092e-05,3.71772917238e-05,1793243011312840704
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.085887809,745,714.085887809,679.914112191,661,635,880,787,806,651.085887809,631,652,0.444657023777,-0.0155440234182,0.0499349367824,0.999999969839,0.000220100072491,-0.000103346499667,3.4601950576e-05,1793243011329507328
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765.3410424,745,714,680,661.6589576,635,880,787.3410424,807,651.3410424,631.3410424,651.6589576,0.446450198648,-0.0155487995792,0.0499681607295,0.999999969994,0.000241347281132,-1.35072375563e-05,3.97537130911e-05,1793243011379507712
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661.756024677,635,880,787.243975323,806.756024677,651,631,652,0.446993861896,-0.0155489716324,0.0499735957223,0.999999967798,0.000250372408427,-2.24021897927e-06,4.13885377425e-05,1793243011396174592
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+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,714,680,661,634,880.375189122,787.375189122,807,651,631,652,0.451155501413,-0.0155559664625,0.0499289394264,0.999999980765,0.000167640027881,-9.82822699061e-05,2.6585384e-05,1793243011579507712
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+247,4.116666667,HOLD_POSE2,765,745,715,679.196225152,661,633.196225152,880,786,807,652,630,652,0.45318332461,-0.0155510506699,0.0498511248744,0.99999995788,0.000178539664639,-0.000227488609056,2.47533475647e-05,1793243012245213696
+248,4.133333333,HOLD_POSE2,765.379521112,745,715,679.379521112,661,633.379521112,880,786,806.620478888,651.620478888,630,652,0.453182825093,-0.0155517899876,0.0498501021278,0.999999958047,0.000176153817913,-0.000228636618109,2.45276404001e-05,1793243012261880320
+249,4.150000000,HOLD_POSE2,765.955541319,745,715,679.955541319,661,633.955541319,880,786,806.044458681,651.044458681,630,652,0.453182746765,-0.0155535438419,0.0498492586049,0.999999958443,0.000172848664113,-0.000229425589742,2.45075211715e-05,1793243012278546944
+250,4.166666667,HOLD_POSE2,765.45553347,745,715,680,661,633.45553347,880,786,806.54446653,651.54446653,630,652,0.453183696074,-0.0155529058923,0.049849964891,0.999999958358,0.000174567149055,-0.000228418298249,2.52078358523e-05,1793243012295213568
+251,4.183333333,HOLD_POSE2,765,745,714.867885684,680,661,633.132114316,880,786,807,652,630,652,0.453184394293,-0.0155524545323,0.0498506088373,0.999999958205,0.00017604798798,-0.000227890359233,2.57506285077e-05,1793243012311880192
+252,4.200000000,HOLD_POSE2,765,745,714.288221713,680,661,633.711778287,880,786,807,652,630,652,0.453183950765,-0.0155533129345,0.0498506024921,0.999999957974,0.000175300425075,-0.000229495209182,2.55556790787e-05,1793243012328546816
+253,4.216666667,HOLD_POSE2,765.289972897,745,714.289972897,680,661,634,880,786.289972897,807,652,630,652,0.453183926103,-0.0155534187463,0.049850601092,0.999999957988,0.000175178323295,-0.00022956346261,2.52456252533e-05,1793243012345213440
+254,4.233333333,HOLD_POSE2,765.866714349,745,714.866714349,680,661,634,880,786.866714349,807,652,630,652,0.453184315678,-0.0155527802843,0.0498506045823,0.999999958244,0.000175674771035,-0.000228112099557,2.48217390025e-05,1793243012361880320
+255,4.250000000,HOLD_POSE2,766,745,714.558685733,680,661,634,880,786.558685733,806.558685733,652,630.441314267,652,0.453183132076,-0.0155529414473,0.0498500870131,0.999999958097,0.000174726922457,-0.000229493370343,2.46806409211e-05,1793243012378547200
+256,4.266666667,HOLD_POSE2,766,745,714.015747622,680,661,634,880,786.015747622,806.015747622,652,630.984252378,652,0.453181533722,-0.0155532781197,0.0498494175205,0.999999957827,0.000173427303192,-0.000231650742732,2.46217866438e-05,1793243012395213824
+257,4.283333333,HOLD_POSE2,766,745,714.607634445,680,661,634,880,786.607634445,806.607634445,652,630.392365555,652,0.453182060387,-0.0155512430489,0.0498489195052,0.999999957671,0.000175139755267,-0.000231053985519,2.4462271325e-05,1793243012411880704
+258,4.300000000,HOLD_POSE2,766,745,715,680,661,633.80465603,880,787,806.80465603,652,630,652,0.453182383808,-0.0155502123273,0.0498484573583,0.999999957518,0.000176431560495,-0.000230732307183,2.44462702062e-05,1793243012428547328
+259,4.316666667,HOLD_POSE2,766,745,715,680,661,633.225161204,880,787,806.225161204,652,630,652,0.453182307542,-0.0155511566938,0.0498480657477,0.999999957379,0.00017689614906,-0.000230951581127,2.47124948311e-05,1793243012445213696
+260,4.333333333,HOLD_POSE2,765.64936862,745,714.64936862,680,661,633.35063138,880,786.64936862,806.35063138,652,630,652,0.453182584389,-0.0155517423905,0.0498480830461,0.999999957559,0.000175527305382,-0.000231195245257,2.49327672453e-05,1793243012461880320
+261,4.350000000,HOLD_POSE2,765.075928661,745,714.075928661,680,661,633.924071339,880,786.075928661,806.924071339,652,630,652,0.453183085622,-0.0155521001706,0.0498483601858,0.999999957935,0.000172993407837,-0.000231454408106,2.51238393282e-05,1793243012478546944
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,634,880,786,807,651,631,652,0.453184691378,-0.0155485393733,0.0498488219167,0.999999957587,0.000176799346206,-0.000230191662585,2.40700738451e-05,1793243012509045248
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,634,880,786,807,651.579711064,630.420288936,652,0.453184047625,-0.0155491160053,0.0498491055486,0.999999957189,0.000177634860912,-0.000231284385964,2.39984522987e-05,1793243012525711872
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.158592907,745,714.158592907,680.158592907,661,634,880,786,807,652,630,652,0.453183561473,-0.015550186172,0.0498490929961,0.999999957049,0.000177364986082,-0.000232088111163,2.40725599094e-05,1793243012542378752
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.73528878,745,714.73528878,680.73528878,661,634,880,786,807,652,630,652,0.453183490807,-0.0155525574578,0.0498482996041,0.999999957587,0.000174180941751,-0.000232129942532,2.45308574011e-05,1793243012559045376
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.682981247,661,633.682981247,880,786,807,651.682981247,630,652,0.453183100542,-0.0155523728612,0.0498475832398,0.999999957413,0.000174615763622,-0.000232558854629,2.4502134753e-05,1793243012575712000
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.096979999,661,633.096979999,880,786,807,651.096979999,630,652,0.453182439105,-0.0155500196621,0.0498469322316,0.999999956629,0.000178121103273,-0.000233316195055,2.40601876522e-05,1793243012592378624
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.516480143,745,714.516480143,680,661,633.483519857,880,786,807,651,630,652,0.453181959944,-0.0155494396662,0.0498475367949,0.999999956876,0.000177624394329,-0.000232627754543,2.41181917548e-05,1793243012609044992
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.062820307,745,714,680,661,634,880,786,807,651.062820307,630,652,0.453181154183,-0.0155491654374,0.049848035458,0.99999995717,0.000176502246358,-0.000232205506203,2.42288249255e-05,1793243012625711616
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.641231086,745,714,680,661,634,880,786,807,651.641231086,630,652,0.453177371215,-0.0155485146135,0.049845621335,0.999999956167,0.000176760787362,-0.000236321215477,2.39576628443e-05,1793243012642378240
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,661,634,880,786,806.782601064,652,630.217398936,652,0.453168841031,-0.0155486935473,0.049841225911,0.999999954635,0.000175971854741,-0.000243319791684,2.36321715764e-05,1793243012659044864
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,661,634,880,786,806.210096932,652,630.789903068,652,0.453152556616,-0.0155502278291,0.0498335941774,0.999999952165,0.000173471950848,-0.000255027318876,2.32179375964e-05,1793243012675711744
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,714.374406833,680,661,633.625593167,880,786,806,651.625593167,630.625593167,652,0.453119933138,-0.015548265438,0.0498192236043,0.999999945539,0.000174220877347,-0.000279446261695,2.1887173777e-05,1793243012692378624
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,714.965867157,680,661,633.034132843,880,786,806,651.034132843,630.034132843,652,0.453077837474,-0.0155442759339,0.049800946348,0.999999935728,0.000176853235911,-0.000311234347418,2.00250734443e-05,1793243012709045248
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,714.453910033,680,660.453910033,633.546089967,880,786,806,651.546089967,630,652,0.453009744974,-0.0155411950995,0.0497769270059,0.999999922517,0.00017740879155,-0.000350959709133,1.78576732286e-05,1793243012725711616
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.875060545,745,714,680,660.124939455,634,880,786,806.124939455,651.875060545,630,652,0.452939959726,-0.0155378151005,0.0497556037928,0.999999910015,0.000177987014157,-0.00038475931208,1.58424714434e-05,1793243012742378240
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.298686302,745,714,680,660.701313698,634,880,786,806.701313698,651.298686302,630,652,0.45286981095,-0.0155331530729,0.0497452929566,0.999999905689,0.000179106709779,-0.000395391385741,1.4444755966e-05,1793243012759044864
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.723178956,634,880.276821044,786,806.723178956,651,630,652,0.452793544741,-0.0155279896629,0.0497406898978,0.999999903651,0.000180557327379,-0.000399898234647,1.3344508877e-05,1793243012775711744
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.148604095,634,880.851395905,786,806.148604095,651,630,652,0.452710698511,-0.0155222869571,0.0497422262303,0.999999904164,0.000182363890708,-0.000397816678279,1.2564224356e-05,1793243012792378368
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.438534151,660.438534151,634,880.561465849,786.438534151,806,651,630,652,0.452613906102,-0.0155165755038,0.0497476567797,0.999999905639,0.00018552125495,-0.000392620517235,1.23960798405e-05,1793243012809044992
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.970559461,661,634,880.029440539,786.970559461,806.029440539,651.029440539,630,651.970559461,0.452510208804,-0.0155107252968,0.0497540571626,0.999999907192,0.000189095757293,-0.000386917958446,1.24179234214e-05,1793243012825711872
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.391136511,661,634,880.608863489,786.391136511,806.608863489,651.608863489,630,651.391136511,0.452368408934,-0.0155023400201,0.0497531961504,0.999999904708,0.000191659572975,-0.000392053491195,1.1999584222e-05,1793243012842378496
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.186742408,680,661,634,881,786.186742408,806.813257592,652,630,651.186742408,0.452219345262,-0.0154932072056,0.0497532143866,0.999999902846,0.00019534720108,-0.000394989329051,1.14834409833e-05,1793243012859045376
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.761413766,680,661,634,881,786.761413766,806.238586234,652,630,651.761413766,0.452055192163,-0.0154825214957,0.0497550591279,0.999999902303,0.000201369378256,-0.000393355634692,1.0764124781e-05,1793243012875711744
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.336063838,745,715,680,660.663936162,634,880.663936162,787,806.336063838,652,630,652,0.451865834068,-0.0154710186926,0.0497547423652,0.999999899695,0.000207339545658,-0.000396890937428,9.84512212265e-06,1793243012892378368
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.910698858,745,715,680,660.089301142,634,880.089301142,787,806.910698858,652,630,652,0.451658582969,-0.0154589358353,0.0497528911545,0.999999895572,0.000213272792013,-0.00040409570276,8.78436229378e-06,1793243012909044992
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.528613096,745,714.528613096,680,660.471386904,634,879.528613096,787,806.528613096,651.528613096,630.471386904,652,0.451434653584,-0.0154502117069,0.0497507969249,0.999999893915,0.000215359853623,-0.000407101098296,7.65904766155e-06,1793243012925711616
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.032235873,745,714,680,661,634,879.032235873,787,806.032235873,651,631,652,0.451205320031,-0.0154420030446,0.0497490506424,0.999999893163,0.000216581475113,-0.000408319632398,6.47125334611e-06,1793243012942378240
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.641939303,745,714,680,661,634,879.641939303,787,806.641939303,651,631,652,0.450934150791,-0.0154319575253,0.0497543384379,0.999999900297,0.000214977293038,-0.000391370334867,4.37698921833e-06,1793243012959045376
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.761058028,745,714,679.761058028,661,634,880,787,806.761058028,651.238941972,631,652,0.450653131594,-0.0154249874994,0.0497625808431,0.999999908895,0.000210016037568,-0.000371610365294,2.85161197405e-06,1793243012975712000
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.182127217,745,714,679.182127217,661,634,880,787,806.182127217,651.817872783,631,652,0.450358096978,-0.0154223935719,0.0497750273412,0.999999919442,0.000200278026238,-0.000347851111377,2.1356999674e-06,1793243012992378368
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.402501923,745,714,679.402501923,661,634,880,787,806,652,631,652,0.450037026786,-0.0154230230535,0.0497836655977,0.99999992815,0.000187870639764,-0.00032924765208,1.15439602711e-06,1793243013009044992
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.989746499,745,714,679.989746499,661,634,880,787,806,652,631,652,0.449704006642,-0.0154251320342,0.0497905559251,0.999999935833,0.00017423804833,-0.000313010629723,5.12809864368e-08,1793243013025711872
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.430395421,745,714,680.569604579,661.569604579,634,880,787,806,651.430395421,631,652,0.44930871029,-0.0154242517338,0.0497976395583,0.999999940971,0.000163776199118,-0.000302047723971,-1.3217314169e-06,1793243013042378240
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.148537048,745,714.148537048,680.851462952,661.851462952,634,880,787.148537048,806.148537048,651.148537048,631,652,0.448899318975,-0.0154205935602,0.0498040709015,0.999999945606,0.00015504410973,-0.000291101546054,-3.12294493221e-06,1793243013059044864
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.725179985,745,714.725179985,680.274820015,661.274820015,634,880,787.725179985,806.725179985,651.725179985,631,652,0.448452493585,-0.0154090822465,0.0498086123457,0.999999949379,0.00015113504972,-0.000279933454521,-6.14447406878e-06,1793243013075711488
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.699177563,745,714.699177563,680,661,634.300822437,880,787.699177563,806.699177563,651.699177563,631,652,0.447976197097,-0.015399470335,0.0498038807807,0.999999948887,0.000145985691044,-0.000284290333649,-9.60685042067e-06,1793243013092378368
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.124446021,745,714.124446021,680,661,634.875553979,880,787.124446021,806.124446021,651.124446021,631,652,0.447473066116,-0.0153915878928,0.0497907058246,0.999999944311,0.000139706997589,-0.000302783227525,-1.34706335649e-05,1793243013109044992
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+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,744.217620817,714,679.217620817,661,634.217620817,880,787,807,652,631,652,0.44463820886,-0.0153887034701,0.0497945900554,0.999999950366,5.08705629508e-05,-0.000309779156067,-2.67761162241e-05,1793243013192378112
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.388793206,787.805603397,805,653,631,652,0.402259639594,-0.0153721112717,0.049809363408,0.999999933964,-4.68309838582e-05,-0.000354911674897,-6.25783515583e-05,1793243014209044992
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879.538692037,787.230653982,805,653,631,652,0.402065599418,-0.0153702686101,0.0498060255654,0.99999993382,2.31261082043e-08,-0.000360147593012,-5.15226139532e-05,1793243014225711616
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.942566459,745,714,679,659.942566459,635,879.057433541,787.942566459,805,652.057433541,631,652,0.401759673845,-0.0153669331185,0.0498148939631,0.999999940654,4.73845561763e-06,-0.000340994780683,-4.89010900586e-05,1793243014259045120
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.477188026,745,714,678.477188026,660,635,878.477188026,788,805.522811974,652.522811974,631,652,0.401637780102,-0.0153695279632,0.0498209045774,0.999999944974,-4.04270046712e-06,-0.000328080153088,-4.89768791519e-05,1793243014275711488
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.389857835,635,879.389857835,788,805.610142165,653,631,652,0.400981625433,-0.0153967612532,0.0498511721494,0.999999961682,-5.77688504502e-05,-0.000266164930263,-4.95529564811e-05,1793243014709045504
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744.814530818,714.185469182,679,659.185469182,635,879,788,806,653,631,652,0.400981876842,-0.0153965568984,0.0498516835839,0.999999961966,-5.72211034474e-05,-0.000265235520618,-4.94358158618e-05,1793243014725712128
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744.238685987,714.761314013,679,659.761314013,635,879,788,806,653,631,652,0.400982857248,-0.0153974376121,0.0498521114342,0.999999962393,-5.79294622536e-05,-0.000263566457507,-4.8906426607e-05,1793243014742378752
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744.344491604,714.655508396,679,660,635,879,788,805.655508396,653,631,652,0.400982973715,-0.015397547719,0.0498521109811,0.999999962577,-5.82009286446e-05,-0.000262779650822,-4.90448481592e-05,1793243014759045376
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.907475018,714,678.907475018,659,635,878.907475018,788,805.092524982,652,631,652,0.400982493202,-0.0153979980748,0.0498524071409,0.999999962455,-5.8040710441e-05,-0.000263254336341,-4.917015498e-05,1793243014809044992
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.249305391,744,714,678.249305391,659.249305391,635,878.249305391,787.750694609,806,652,631,652,0.400982041809,-0.0153974235559,0.0498525947741,0.999999962512,-5.65150330202e-05,-0.000263365823559,-4.92013488852e-05,1793243014842378240
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.836171972,744,714,678.836171972,659.836171972,635,878.836171972,787.163828028,806,652,631,652,0.400982027142,-0.015397185169,0.0498529099673,0.999999962822,-5.40124492617e-05,-0.000262725627994,-4.91356217284e-05,1793243014859044864
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.582357035,744.417642965,714,679,659.582357035,635,878.582357035,787,805.582357035,652,631,652,0.400983632137,-0.0153976604085,0.0498538974885,0.999999963144,-5.60756895797e-05,-0.000261062721694,-4.91215377872e-05,1793243014875711488
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.002975599,744.997024401,714,679,659.002975599,635,878.002975599,787,805.002975599,652,631,652,0.400985864369,-0.0153984120103,0.0498551453787,0.999999963457,-5.99071135617e-05,-0.000259003755431,-4.91274534552e-05,1793243014892378112
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0a6e3cad9cc5af370ef24e5855899a8ed8df244f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_02/simulation_data.csv
@@ -0,0 +1,407 @@
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+385,6.416666667,pose2_to_pose3_retreat,0.580746117214,-0.00999821962976,1.0400407841,0.551317838,-0.00132338733034,1.03967858125
+386,6.433333333,pose2_to_pose3_retreat,0.580745978397,-0.00999823011169,1.04004077697,0.551317699281,-0.00132339747182,1.03967857427
+387,6.450000000,pose2_to_pose3_retreat,0.580745907236,-0.00999823548499,1.04004077332,0.551317628171,-0.0013234026706,1.03967857069
+388,6.466666667,pose2_to_pose3_retreat,0.580745755446,-0.00999824694655,1.04004076552,0.551317476488,-0.00132341375989,1.03967856306
+389,6.483333333,pose2_to_pose3_retreat,0.580745563068,-0.00999826147279,1.04004075565,0.551317284247,-0.00132342781432,1.03967855339
+390,6.500000000,pose2_to_pose3_retreat,0.580745524904,-0.00999826435451,1.04004075369,0.55131724611,-0.00132343060244,1.03967855147
+391,6.516666667,pose2_to_pose3_retreat,0.580745353999,-0.00999827725938,1.04004074492,0.551317075327,-0.00132344308817,1.03967854287
+392,6.533333333,pose2_to_pose3_retreat,0.580745192416,-0.00999828946034,1.04004073662,0.551316913858,-0.00132345489285,1.03967853475
+393,6.550000000,pose2_to_pose3_retreat,0.58074501635,-0.00999830275495,1.04004072758,0.551316737917,-0.00132346775565,1.0396785259
+394,6.566666667,pose2_to_pose3_retreat,0.580744850719,-0.00999831203848,1.04004072383,0.551316572338,-0.00132347686707,1.03967852209
+395,6.583333333,pose2_to_pose3_retreat,0.580744824696,-0.00999830732074,1.04004073234,0.551316546196,-0.00132347257088,1.03967853014
+396,6.600000000,pose2_to_pose3_retreat,0.580744755693,-0.00999829481135,1.04004075492,0.551316476879,-0.00132346117928,1.03967855151
+397,6.616666667,pose2_to_pose3_retreat,0.580744677747,-0.00999828068061,1.04004078041,0.551316398577,-0.00132344831121,1.03967857564
+398,6.633333333,pose2_to_pose3_retreat,0.580744621653,-0.00999827051134,1.04004079876,0.551316342227,-0.00132343905063,1.03967859301
+399,6.650000000,pose2_to_pose3_retreat,0.580744562801,-0.00999825984225,1.04004081801,0.551316283107,-0.00132342933489,1.03967861123
+400,6.666666667,pose2_to_pose3_retreat,0.580744477989,-0.00999824446682,1.04004084576,0.551316197908,-0.00132341533335,1.03967863749
+401,6.683333333,pose2_to_pose3_retreat,0.580744436905,-0.00999823701877,1.0400408592,0.551316156637,-0.00132340855082,1.03967865021
+402,6.700000000,pose2_to_pose3_retreat,0.580744332223,-0.00999821804108,1.04004089344,0.551316051477,-0.00132339126891,1.03967868262
+403,6.716666667,pose2_to_pose3_retreat,0.580744025415,-0.0099981624205,1.0400409938,0.551315743271,-0.00132334061837,1.03967877761
+404,6.733333333,pose2_to_pose3_retreat,0.580743725,-0.00999812409218,1.04004099989,0.551315443584,-0.00132329964581,1.03967878778
+405,6.750000000,pose2_to_pose3_retreat,0.580743493501,-0.00999822985509,1.04004083352,0.55131521419,-0.0013233978677,1.03967863105
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2d535ce5aafb418845fd7c6b2720c9a5a1689e8f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0603c7961d422dd457727aa7224c4f38488df2a6bd8eacf6ba7ab5ee69c1dd07
+size 25801066
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..708aaff99a3be1b37049b908fef2fbfa5fd52920
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+45,0.750000000,BASELINE,765,745,714,679,659,635,878.895079688,787.104920312,805,653,631,652,0.40098366685,-0.0154013121959,0.0498560330108,0.999999964306,-5.73819735995e-05,-0.000256565405294,-4.76383223429e-05,1793243015757471232
+46,0.766666667,BASELINE,765,745,714,679,659,635,878.315286506,787.684713494,805,653,631,652,0.400981819772,-0.0154006029589,0.0498552672039,0.999999963599,-5.84830422959e-05,-0.0002589075224,-4.84643315983e-05,1793243015774137856
+47,0.783333333,BASELINE,765,745,714,679,659,635,878.269212467,787.730787533,805.269212467,652.730787533,631,652,0.400981883504,-0.015400105986,0.0498553018695,0.99999996358,-5.86969472187e-05,-0.000258878952443,-4.87554395422e-05,1793243015790804480
+48,0.800000000,BASELINE,765,745,714,679,659,635,878.859320721,787.140679279,805.859320721,652.140679279,631,652,0.400984224883,-0.0153998620275,0.0498562906819,0.99999996438,-5.78533711046e-05,-0.000256024572012,-4.84089561066e-05,1793243015807471104
+49,0.816666667,BASELINE,765,745,714,679,659,635,879,787.441131486,805.558868514,652,631,652,0.400984695129,-0.0154005913702,0.0498564928073,0.999999964626,-5.79487007085e-05,-0.000255088061986,-4.81722417046e-05,1793243015824137984
+50,0.833333333,BASELINE,765,745,714,679,659,635,879,788,805,652.020246365,630.979753635,652,0.40098458666,-0.0154015774655,0.0498564433313,0.999999964691,-5.83173408803e-05,-0.00025478309917,-4.79817325197e-05,1793243015840804608
+51,0.850000000,BASELINE,765,745,714,679,659,635,879,788,805,652.596653039,630.403346961,652,0.400984670035,-0.0154012475476,0.0498562467764,0.999999964555,-5.81205561393e-05,-0.000255335726587,-4.81166160453e-05,1793243015857471488
+52,0.866666667,BASELINE,765,745,714.176024733,679,659,635,878.823975267,788,805,652.823975267,630.176024733,652,0.400984581795,-0.0154008391628,0.0498562991348,0.999999964471,-5.79833048397e-05,-0.000255668215638,-4.82656730504e-05,1793243015874138368
+53,0.883333333,BASELINE,765,745,714.762306905,679,659,635,878.237693095,788,805,652.237693095,630.762306905,652,0.40098409358,-0.0154002478971,0.0498569316303,0.999999964508,-5.79848069918e-05,-0.000255487632425,-4.84477639021e-05,1793243015890804992
+54,0.900000000,BASELINE,765.344691134,745,714.655308866,679,659,635,878,788,805,652.344691134,631,652,0.4009836361,-0.0153996345622,0.049856719878,0.999999964458,-5.7300648585e-05,-0.000255797682288,-4.86654209776e-05,1793243015907471616
+55,0.916666667,BASELINE,765.924417442,745,714.075582558,679,659,635,878,788,805,652.924417442,631,652,0.400983199579,-0.0153990061789,0.0498559324569,0.999999964346,-5.61489575576e-05,-0.00025644228103,-4.89073296519e-05,1793243015924138240
+56,0.933333333,BASELINE,766,744.498264768,714,679,659.501735232,635,878.501735232,788,805,653,631,652,0.400984149604,-0.0154004835413,0.0498570370105,0.999999964692,-5.87025717397e-05,-0.000254532279804,-4.8817028744e-05,1793243015940805120
+57,0.950000000,BASELINE,765.921435309,744,714,679,659.921435309,635,879,788,805,652.921435309,631,652,0.40098490077,-0.0154019860753,0.049857946075,0.999999964943,-6.10610668148e-05,-0.000253016880852,-4.86580752556e-05,1793243015957472000
+58,0.966666667,BASELINE,765.345411763,744,714,679,659.345411763,635,879,788,805,652.345411763,631,652,0.400983076562,-0.0154016490367,0.0498558213095,0.999999964232,-5.8666704652e-05,-0.000256425085717,-4.8379786668e-05,1793243015974138368
+59,0.983333333,BASELINE,765.236016829,744.236016829,714,679,659,635,878.763983171,787.763983171,805,652,631,652,0.400982437784,-0.0154011934753,0.0498549280634,0.999999963963,-5.70201053185e-05,-0.000257849444103,-4.83318687185e-05,1793243015990804736
+60,1.000000000,BASELINE,765.825541224,744.825541224,714,679,659,635,878.174458776,787.174458776,805,652,631,652,0.400983574552,-0.0154005603895,0.049855879395,0.999999964376,-5.64935097295e-05,-0.000256302384658,-4.86290013907e-05,1793243016007471360
+61,1.016666667,BASELINE,765.591860462,745,714,679,659.408139538,635,878.408139538,787.408139538,805.408139538,652,631,652,0.400984319292,-0.0154005393037,0.0498564162184,0.999999964681,-5.62682256323e-05,-0.000255171987866,-4.85639008131e-05,1793243016024138240
+62,1.033333333,BASELINE,765.012173326,745,714,679,659.987826674,635,878.987826674,787.987826674,805.987826674,652,631,652,0.400984899256,-0.0154007754514,0.0498567788175,0.999999964941,-5.61695876221e-05,-0.000254216721166,-4.83465477698e-05,1793243016040805120
+63,1.050000000,BASELINE,765,745,714,679,660,635,878.437039143,788,805.437039143,652,631,652,0.400986187161,-0.0154012811568,0.0498575426824,0.999999965276,-5.56524085645e-05,-0.000253087109734,-4.79318017934e-05,1793243016057472000
+64,1.066666667,BASELINE,765.141154323,745,714,678.858845677,659.858845677,635,878,788,805,652.141154323,630.858845677,652,0.400986574046,-0.0154015182722,0.0498577909605,0.999999965342,-5.55590401437e-05,-0.000252894371985,-4.76853457574e-05,1793243016074138368
+65,1.083333333,BASELINE,765.729345839,745,714,678.270654161,659.270654161,635,878,788,805,652.729345839,630.270654161,652,0.400984059298,-0.0154008864483,0.0498563791104,0.999999964547,-5.68363172416e-05,-0.00025568056669,-4.79852752559e-05,1793243016090804992
+66,1.100000000,BASELINE,765.687044468,744.687044468,714,678.312955532,659.312955532,635,878,788,805.312955532,653,630.312955532,652,0.400983264833,-0.0154008486344,0.0498559095932,0.999999964333,-5.69399697419e-05,-0.000256466987745,-4.81348781922e-05,1793243016107471104
+67,1.116666667,BASELINE,765.107340138,744.107340138,714,678.892659862,659.892659862,635,878,788,805.892659862,653,630.892659862,652,0.400983936657,-0.0154013171272,0.0498562432771,0.999999964617,-5.6043278943e-05,-0.000255548894251,-4.8156349716e-05,1793243016124137728
+68,1.133333333,BASELINE,765,744.464299603,714,679,659.535700397,635,878,788,805.535700397,652.535700397,631,652,0.400985366958,-0.0154011875414,0.04985709528,0.999999965027,-5.5924349089e-05,-0.00025398219125,-4.80746732551e-05,1793243016140804864
+69,1.150000000,BASELINE,765,745,714,679,659.03478706,635,878,787.96521294,805,652.03478706,631,651.96521294,0.400986829508,-0.015400985692,0.0498580047121,0.99999996543,-5.60334960194e-05,-0.000252389529513,-4.79634746951e-05,1793243016157472000
+70,1.166666667,BASELINE,765,745,714,679,659.615959244,635,878,787.384040756,805,652.615959244,631,651.384040756,0.400986091456,-0.0154017834688,0.0498579661944,0.999999965308,-5.6948989886e-05,-0.000252704139995,-4.77567374931e-05,1793243016174138624
+71,1.183333333,BASELINE,765,745,714,679,659.804981345,635,878.195018655,787.195018655,805,653,631,651.195018655,0.400985552132,-0.0154020501942,0.0498577117398,0.999999965137,-5.77737397114e-05,-0.000253196042955,-4.77517128277e-05,1793243016190805248
+72,1.200000000,BASELINE,765,745,714,679,659.23003782,635,878.76996218,787.76996218,805,653,631,651.76996218,0.400985399957,-0.0154012823537,0.0498570366083,0.999999964868,-5.84217070314e-05,-0.000254033337654,-4.81396536566e-05,1793243016207471872
+73,1.216666667,BASELINE,765,745,714,679,659.357991948,635,879,787.642008052,805,653,631,652,0.40098520711,-0.0154013778373,0.0498569190952,0.999999964843,-5.86540841395e-05,-0.00025407437662,-4.81716922254e-05,1793243016224138496
+74,1.233333333,BASELINE,765,745,714,679,659.954749663,635,879,787.045250337,805,653,631,652,0.400984987137,-0.0154020491224,0.0498571734905,0.99999996498,-5.8609279791e-05,-0.000253584346018,-4.7966358739e-05,1793243016240805120
+75,1.250000000,BASELINE,765,745,714,679,659.469958247,635,879,787.530041753,805,653,631,652,0.40098506009,-0.0154013957998,0.0498572728914,0.999999964894,-5.7833440405e-05,-0.000254060337247,-4.81773958015e-05,1793243016257471744
+76,1.266666667,BASELINE,765.104015133,744.895984867,714,679,659.104015133,635,879,788,805,652.895984867,631,652,0.40098506527,-0.015400591771,0.049857304462,0.999999964822,-5.67134199085e-05,-0.000254552737198,-4.83953203951e-05,1793243016274138368
+77,1.283333333,BASELINE,765.679996382,744.320003618,714,679,659.679996382,635,879,788,805,652.320003618,631,652,0.400984653878,-0.015399597058,0.0498570859579,0.999999964899,-5.43038452675e-05,-0.000254759948209,-4.84894851727e-05,1793243016290804992
+78,1.300000000,BASELINE,765.738137984,744.261862016,714,679,659.738137984,635,879,788,805,652.261862016,631,652,0.400984234367,-0.0153994249937,0.049856730415,0.999999964801,-5.39358979113e-05,-0.000255229998271,-4.84395330658e-05,1793243016307471872
+79,1.316666667,BASELINE,765.14891619,744.85108381,714,679,659.14891619,635,879,788,805,652.85108381,631,652,0.400983804709,-0.0154002813416,0.0498562035566,0.999999964488,-5.61202363585e-05,-0.000256028629517,-4.82094170923e-05,1793243016324138752
+80,1.333333333,BASELINE,765.433322882,745,714,679,659,635,879,787.566677118,805,653,631,652,0.400983746381,-0.0153998437645,0.0498565466596,0.99999996463,-5.5694373114e-05,-0.000255543518497,-4.83223574387e-05,1793243016340805376
+81,1.350000000,BASELINE,765.986862919,745,714,679,659.013137081,635,879,787.013137081,805,653,631,651.986862919,0.400983827706,-0.015399055637,0.0498571655799,0.999999964917,-5.44786423159e-05,-0.000254640199252,-4.85362252729e-05,1793243016357471744
+82,1.366666667,BASELINE,765.409765479,745,714,679,659.590234521,635,879,787.590234521,805,653,631,651.409765479,0.400984512822,-0.0154020052969,0.0498569940417,0.999999964839,-5.72523547438e-05,-0.000254422350423,-4.81019550301e-05,1793243016374138880
+83,1.383333333,BASELINE,765,745,714,679,660,635,878.830183396,788,805.169816604,653,631,651.169816604,0.400984676858,-0.0154035013201,0.0498567634572,0.999999964691,-5.82868563605e-05,-0.000254820523833,-4.78305397617e-05,1793243016390806016
+84,1.400000000,BASELINE,765,745,714,679,660,635,878.244516755,788,805.755483245,653,631,651.755483245,0.400983564868,-0.0154014376515,0.0498563882788,0.99999996438,-5.50623470005e-05,-0.000256727223832,-4.79579266725e-05,1793243016407472128
+85,1.416666667,BASELINE,765,745,714,679,660,634.662276199,878.337723801,788,806,652.662276199,631,652,0.400983195854,-0.0154000745552,0.0498563398407,0.999999964424,-5.37619365042e-05,-0.000256814282057,-4.80477273307e-05,1793243016424138752
+86,1.433333333,BASELINE,765,745,714,679,660,634.0824913,878.9175087,788,806,652.0824913,631,652,0.400983359364,-0.0153992135891,0.0498565255913,0.999999964728,-5.38406101804e-05,-0.000255597125053,-4.81105883061e-05,1793243016440805888
+87,1.450000000,BASELINE,765,745,714,679,659.504693808,634.495306192,879,788,805.504693808,652,631,652,0.400984851952,-0.0154015178831,0.0498567792027,0.999999964742,-5.69277190113e-05,-0.000254876809635,-4.80989661099e-05,1793243016457472768
+88,1.466666667,BASELINE,765,745,714,678.927512277,659.072487723,635,879,788,805.072487723,652.072487723,631,652,0.400986193348,-0.0154038518264,0.0498570004627,0.99999996469,-6.0026133652e-05,-0.000254371132714,-4.80839267251e-05,1793243016474139136
+89,1.483333333,BASELINE,765,745,714,678.352316174,659.647683826,635,879,788,805.647683826,652.647683826,631,652,0.40098495725,-0.0154027500901,0.0498569192967,0.9999999646,-5.97420666017e-05,-0.000254782427588,-4.81308739161e-05,1793243016490805504
+90,1.500000000,BASELINE,765,745,714,678.456966651,659.771516674,635,879,788,805.771516674,653,631,652,0.400984310877,-0.015402258674,0.0498570980498,0.999999964683,-5.97443866265e-05,-0.000254449582323,-4.81764913439e-05,1793243016507471616
+91,1.516666667,BASELINE,765,745,714,679.636280617,659.181859692,635,879,788,805.181859692,653,631,652,0.400984596707,-0.0154027320181,0.0498576876685,0.999999965036,-6.01994113421e-05,-0.000252940441924,-4.8220006752e-05,1793243016524138240
+92,1.533333333,BASELINE,765.400886093,745,714,679.599113907,659.400886093,635,879,788,805,652.599113907,631,652,0.400984565383,-0.0154018829474,0.0498571667469,0.999999964886,-5.9272217343e-05,-0.000253736956704,-4.82964575466e-05,1793243016540804864
+93,1.550000000,BASELINE,765.980549836,745,714,679.019450164,659.980549836,635,879,788,805,652.019450164,631,652,0.400984392623,-0.0154004441378,0.0498561505729,0.999999964507,-5.77286143359e-05,-0.000255561692644,-4.83875960854e-05,1793243016557471232
+94,1.566666667,BASELINE,766,745,714.556285338,679,660,635,879,788,805,652.556285338,631,652,0.400984469106,-0.0154015341178,0.0498566307089,0.99999996471,-5.72082329248e-05,-0.000254982613697,-4.78624790022e-05,1793243016574138112
+95,1.583333333,BASELINE,765.868400898,745,714.868400898,679,660,635,879,787.868400898,805,652.868400898,631,652,0.400984662989,-0.0154024421301,0.0498570164279,0.999999964909,-5.70111964314e-05,-0.000254323066113,-4.74456177036e-05,1793243016590804736
+96,1.600000000,BASELINE,765.294047036,745,714.294047036,679,660,635,879,787.294047036,805,652.294047036,631,652,0.400985222737,-0.0154024425384,0.0498569097043,0.999999965029,-5.77825056938e-05,-0.000253673577567,-4.74649590883e-05,1793243016607471616
+97,1.616666667,BASELINE,765.289075292,745,714,679,660,635,878.710924708,787.289075292,805.289075292,652,631.289075292,652,0.400984406042,-0.0154023067125,0.0498565526535,0.999999964792,-5.82424962137e-05,-0.000254461593355,-4.76814637099e-05,1793243016624138496
+98,1.633333333,BASELINE,765.881395867,745,714,679,660,635,878.118604133,787.881395867,805.881395867,652,631.881395867,652,0.400982145434,-0.0154020279745,0.049855933005,0.999999964177,-5.83759076168e-05,-0.000256757577589,-4.81047961819e-05,1793243016640805120
+99,1.650000000,BASELINE,766,744.536194029,714,678.536194029,659.536194029,635,878.463805971,788,806,652.463805971,631.536194029,652,0.400982093826,-0.0154025192389,0.0498557600441,0.999999964174,-5.77137139943e-05,-0.000256949413849,-4.79414435323e-05,1793243016657471744
+100,1.666666667,BASELINE,765.956734915,744,714,678.043265085,659,635,879,788,805.956734915,653,631,652,0.400982526425,-0.0154030802833,0.0498556679993,0.999999964299,-5.68451781123e-05,-0.000256705706767,-4.7681728867e-05,1793243016674138624
+101,1.683333333,BASELINE,765.38303442,744,714,678.61696558,659,635,879,788,805.38303442,653,631,652,0.400982114805,-0.0154021332693,0.0498551968624,0.99999996411,-5.58890183289e-05,-0.000257580994362,-4.80414696042e-05,1793243016690804992
+102,1.700000000,BASELINE,765,744.195851842,714,679,659,635,879,788,805,652.804148158,631,652,0.40098191978,-0.0154014914249,0.0498551690375,0.99999996406,-5.56849729769e-05,-0.000257785271229,-4.82264297968e-05,1793243016707471360
+103,1.716666667,BASELINE,765,744.785155868,714,679,659,635,879,788,805,652.214844132,631,652,0.40098215988,-0.0154014626444,0.0498560317947,0.999999964289,-5.69918712319e-05,-0.000256641535973,-4.80602684739e-05,1793243016724137984
+104,1.733333333,BASELINE,765,744.63185452,714,679,659.36814548,635,879,787.63185452,805,652,631,652,0.400982664512,-0.01540210286,0.0498562189911,0.999999964396,-5.75969723981e-05,-0.000256124936778,-4.78604399073e-05,1793243016740804864
+105,1.750000000,BASELINE,765,744.052487712,714,679,659.947512288,635,879,787.052487712,805,652,631,652,0.400983320916,-0.0154031269082,0.0498560185885,0.999999964435,-5.77994216871e-05,-0.000255968153145,-4.76412949396e-05,1793243016757471744
+106,1.766666667,BASELINE,765.521315972,744,714,679,660,635,878.478684028,787,805.521315972,652.521315972,631,652,0.400984528654,-0.0154022023973,0.0498573661363,0.999999964905,-5.74249213341e-05,-0.000254172130777,-4.78525869934e-05,1793243016774138880
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,788,805,652,631,652,0.400985198104,-0.015402116052,0.0498586001189,0.999999965202,-5.75842487163e-05,-0.000252990049914,-4.77017688692e-05,1793243016816940800
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,678.408081646,659.591918354,635,878.408081646,788,805,652,631,652,0.400985235899,-0.0154014653387,0.0498576811482,0.999999965171,-5.56756387714e-05,-0.000253514390424,-4.78418284349e-05,1793243016833607424
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.820836283,714,678.179163717,659.820836283,635,878,788,805,652,631,652,0.400985218025,-0.0154015913606,0.0498570851955,0.999999965142,-5.556840371e-05,-0.000253647554213,-4.7855388969e-05,1793243016850274048
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.243963937,714,678.756036063,659.243963937,635,878,788,805,652,631,652,0.400985076576,-0.0154034415834,0.0498572062799,0.999999965118,-5.94598703865e-05,-0.000252912381814,-4.7588146268e-05,1793243016866940672
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.331794272,714,678.668205728,659.331794272,635,878.331794272,787.668205728,805,652,630.668205728,652,0.400983846602,-0.0154031740576,0.0498567789638,0.999999964825,-5.93164315602e-05,-0.000254086962023,-4.76639860772e-05,1793243016883607552
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.906735977,714,678.093264023,659.906735977,635,878.906735977,787.093264023,805,652,630.093264023,652,0.400981818927,-0.0154013545906,0.0498559497656,0.999999964331,-5.62161092736e-05,-0.000256661058434,-4.79912456489e-05,1793243016900274688
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,678,659.518011327,635,878.518011327,787.481988673,805,652,630.481988673,652,0.400982291646,-0.0154006805854,0.0498563307555,0.999999964341,-5.65635215741e-05,-0.000256502493825,-4.82250919967e-05,1793243016916941056
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,678,659,635,878.058940332,787.941059668,805,652,631,652,0.400983182275,-0.015400227901,0.0498569554344,0.999999964468,-5.73798624479e-05,-0.000255786978132,-4.8412169399e-05,1793243016933607424
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,678,659,635,878.650706427,787.349293573,805,652,631,652,0.400983474231,-0.0153997709918,0.0498576648045,0.999999964775,-5.6400542014e-05,-0.000254819748068,-4.8339959299e-05,1793243016950274048
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,678.236954379,659.236954379,635,879,787.236954379,805.236954379,652.236954379,631,652,0.400986248025,-0.0154000444993,0.0498587012234,0.999999965332,-5.57380095651e-05,-0.00025278437137,-4.8268033818e-05,1793243016966940672
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,678.815253124,659.815253124,635,879,787.815253124,805.815253124,652.815253124,631,652,0.400992597026,-0.0154013702081,0.0498602087722,0.999999966244,-5.55318257805e-05,-0.000249210277312,-4.81965183505e-05,1793243016983607296
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.607438403,714.392561597,679,659.607438403,635,878.607438403,787.607438403,805.607438403,652.607438403,631,652,0.40101404575,-0.0154023913747,0.0498684091723,0.999999970187,-5.59373092673e-05,-0.000232966275676,-4.71538310166e-05,1793243017000273920
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.030594749,714.969405251,679,659.030594749,635,878.030594749,787.030594749,805.030594749,652.030594749,631,652,0.401042582809,-0.0154032695787,0.0498797514297,0.999999975141,-5.66299305905e-05,-0.000210774578625,-4.56552418266e-05,1793243017016940544
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,714.444455423,679,659,635,878,787.555544577,805,652,631,651.444455423,0.401093568726,-0.0154066661047,0.0498964560963,0.999999981838,-5.79156364027e-05,-0.000176215025849,-4.38046355506e-05,1793243017033607168
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.140606774,714,679,659,635,878,788,805.140606774,652.140606774,630.859393226,651.140606774,0.401149815487,-0.015410371441,0.0499127754545,0.999999987093,-5.87936407055e-05,-0.000143537615905,-4.18747170982e-05,1793243017050274048
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.720675342,714,679,659,635,878,788,805.720675342,652.720675342,630.279324658,651.720675342,0.401218575098,-0.0154146011127,0.049926951839,0.999999990441,-5.8293566383e-05,-0.00011890781097,-3.97585326188e-05,1793243017066940928
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787.700808837,806,652.700808837,630.299191163,652,0.40129303885,-0.0154194386308,0.0499373638351,0.999999992375,-5.86637612937e-05,-0.000101802966856,-3.80152914517e-05,1793243017083607552
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787.123735209,806,652.123735209,630.876264791,652,0.401372800486,-0.0154248407038,0.0499442795455,0.999999993336,-5.98422440289e-05,-9.16871497259e-05,-3.66184323359e-05,1793243017100274176
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.460134326,787.460134326,806,652.460134326,631,652,0.401462924563,-0.0154290848971,0.0499455496363,0.999999993434,-6.01804199562e-05,-9.06504783078e-05,-3.59456686725e-05,1793243017116940800
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.954612799,714,678.954612799,659,635,879,788,805.954612799,652.954612799,631,652,0.401557944684,-0.0154333324988,0.049945388663,0.999999993307,-6.0648352646e-05,-9.19369669469e-05,-3.54383360509e-05,1793243017133607168
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.374911106,714,678.374911106,659,635,879,788,805.374911106,652.374911106,631,652,0.401677306488,-0.0154413406963,0.0499465210485,0.999999993091,-6.53438812028e-05,-9.13996532014e-05,-3.45518721164e-05,1793243017150273792
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.204611691,714,678.204611691,659,635,879,787.795388309,805,652,630.795388309,652,0.401803068096,-0.0154491676225,0.0499461557559,0.999999992663,-6.89143118292e-05,-9.37208458433e-05,-3.37702858826e-05,1793243017166940416
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.783806918,714,678.783806918,659,635,879,787.216193082,805,652,630.216193082,652,0.40194054584,-0.0154566626938,0.0499430486572,0.999999991841,-7.04250201419e-05,-0.000101275118931,-3.31806998203e-05,1793243017183607296
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.360057119,635,879,787.360057119,805,652,630.360057119,652,0.402104843957,-0.0154665531906,0.0499423573167,0.999999991698,-7.23257786418e-05,-0.0001017651501,-3.18884740938e-05,1793243017200273920
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.934553407,635,879,787.934553407,805,652,630.934553407,652,0.402285115494,-0.0154778703313,0.0499431047288,0.999999991966,-7.44588394232e-05,-9.80479324098e-05,-3.01777773032e-05,1793243017216940800
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.478396051,714,678.478396051,660,635,879,788,805,652.521603949,630.478396051,652,0.402494232445,-0.0154890713647,0.04994703311,0.999999992358,-7.66846087508e-05,-9.27270426276e-05,-2.83609431874e-05,1793243017233607168
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.108586943,714,678,659.891413057,635,878.891413057,788,805,653,630.108586943,652,0.402715162766,-0.0155003198301,0.0499517372004,0.999999992902,-7.8313900707e-05,-8.58317942314e-05,-2.63863889896e-05,1793243017250273792
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.688274557,714,678,659.311725443,635,878.311725443,788,805,653,630.688274557,652,0.402971255649,-0.0155118388428,0.0499580323986,0.999999994065,-7.73036860866e-05,-7.30007403115e-05,-2.37867724016e-05,1793243017266940416
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,678,659,635,878.265516714,788,805,653,631,652,0.403243042805,-0.0155211881057,0.0499650369852,0.999999995373,-7.33519574119e-05,-5.86559588364e-05,-2.08083917859e-05,1793243017283607296
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,678,659,635,878.839913991,788,805,653,631,652,0.403533087387,-0.0155280132571,0.0499728668163,0.999999996767,-6.59783104435e-05,-4.25502305335e-05,-1.73893880429e-05,1793243017300274176
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.413167655,745,714,678.413167655,659,635,879,787.586832345,805,652.586832345,631,652,0.403853827399,-0.015518757439,0.0499799721447,0.99999999876,-3.7626042745e-05,-2.88120047316e-05,-1.53150745399e-05,1793243017316940544
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.985979424,745,714,678.985979424,659,635,879,787.014020576,805,652.014020576,631,652,0.404186427832,-0.0155032880846,0.0499867975318,0.999999999777,-1.16783246727e-06,-1.59885600767e-05,-1.37603368212e-05,1793243017333607168
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.419517038,745,714,678.419517038,659,635,878.419517038,787,805,652,631,652,0.404560804059,-0.0155039236553,0.0499919431564,0.999999999811,1.61771787367e-05,-2.62216727664e-06,-1.04277161391e-05,1793243017350274048
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.170532864,745,714,678.170532864,659,635,878.170532864,787.170532864,805,652,631,652,0.40493844524,-0.0155068048177,0.049991465083,0.999999999491,3.09790218245e-05,-1.25671908691e-06,-7.58042013903e-06,1793243017366940672
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.748637739,745,714,678.748637739,659,635,878.748637739,787.748637739,805,652,631,652,0.405321384405,-0.0155140871598,0.0499776471516,0.999999998739,4.08488753802e-05,-2.86059814425e-05,-5.9996606281e-06,1793243017383607296
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.674582576,745,714,679,659.325417424,635,878.674582576,788,805,652,631,652,0.405715973562,-0.0155180421234,0.0499597600335,0.999999996412,5.52877325948e-05,-6.40071612439e-05,-4.65642599963e-06,1793243017400273920
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.098822295,745,714,679,659.901177705,635,878.098822295,788,805,652,631,652,0.40611952507,-0.0155194373434,0.0499387424982,0.999999991736,7.3241514528e-05,-0.000105602664967,-3.49591852978e-06,1793243017416940544
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878.487393947,787.512606053,805.487393947,652,631,652,0.406584237731,-0.0155187388434,0.0499284511596,0.999999987855,9.65999801221e-05,-0.000122297399299,-1.48273074531e-06,1793243017433607168
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.926058916,635,879,787.073941084,805.926058916,652.073941084,631,652,0.407070284423,-0.0155180587315,0.0499233480547,0.999999984484,0.000120775281991,-0.000128231326349,1.05588582308e-06,1793243017450273792
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.351928766,635,879,787.648071234,805.351928766,652.648071234,631,652,0.407614922716,-0.0155204376828,0.0499383073405,0.999999985138,0.000142900739105,-9.6273962533e-05,5.95370582427e-06,1793243017466940416
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.225319636,635,879,787.774680364,805,652.774680364,631,652,0.408181292907,-0.0155222842257,0.0499573281724,0.999999984082,0.000167535722446,-6.03250715813e-05,1.13822203866e-05,1793243017483607296
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.807506777,635,879,787.192493223,805,652.192493223,631,652,0.40878208265,-0.015523287525,0.0499827817932,0.999999980445,0.000196145361855,-1.80542909469e-05,1.76512634501e-05,1793243017500274432
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787,805.383600521,652,631,652,0.409378392248,-0.0155265452888,0.0499942311138,0.999999975449,0.000220427130788,-2.61688051052e-06,2.25224620084e-05,1793243017516941312
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787,805.956684353,652,631,652,0.409972488815,-0.0155309166679,0.0499987628696,0.999999970223,0.000242571104082,-4.34082724174e-07,2.67031811247e-05,1793243017533607936
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.547119946,745,714,679,660,635,878.452880054,787,805.452880054,652,631,651.452880054,0.410576220873,-0.0155312979469,0.049979594269,0.99999996267,0.000267991466354,-4.4781085334e-05,2.88914146362e-05,1793243017550274304
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,744.864270544,714,679,660,634.864270544,878.135729456,787,805,652,631,651.135729456,0.411192448746,-0.0155307551984,0.0499582634096,0.999999952463,0.000293639874696,-8.89308461717e-05,3.06851785968e-05,1793243017566940928
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,744.286235162,714,679,660,634.286235162,878.713764838,787,805,652,631,651.713764838,0.411846829679,-0.015528264434,0.0499362011744,0.999999941361,0.000319158443067,-0.000120040206356,3.17243596056e-05,1793243017583607296
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.709648536,744.290351464,714,679,660.290351464,634.290351464,879,787,805,652,631,652,0.412557899766,-0.0155301320617,0.0499424147296,0.999999957478,0.000271316171772,-0.000100760839789,3.57461775995e-05,1793243017600273920
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.134482967,744.865517033,714,679,660.865517033,634.865517033,879,787,805,652,631,652,0.413324577953,-0.0155362749614,0.0499763648182,0.999999987097,0.000151512141579,-3.20537237804e-05,4.26937496847e-05,1793243017616940800
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.440949053,745,714,679,660.559050947,635,879,787.440949053,805.440949053,652,631,652,0.414051548734,-0.0155406553661,0.0499799670724,0.999999997131,6.3377942501e-05,-3.28143381251e-05,2.53896295336e-05,1793243017633607168
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659.983032163,635,879,788,806,652,631,651.983032163,0.414767592531,-0.0155445227004,0.049973594529,0.999999998398,-1.19868981735e-05,-5.52935291032e-05,1.43428689135e-06,1793243017650273792
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659.389847386,635,879,788,806,652,631,651.389847386,0.415524066893,-0.0155492318817,0.049942989978,0.999999995281,1.80812691452e-05,-9.54021572767e-05,2.93682192867e-06,1793243017666940416
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.801640723,745,714,679,659.198359277,635,879.198359277,787.801640723,806,652,631,651.198359277,0.416301206181,-0.0155532767431,0.049928071763,0.999999992401,5.06739371094e-05,-0.000112212457258,6.26481555286e-06,1793243017683606784
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.222978353,745,714,679,659.777021647,635,879.777021647,787.222978353,806,652,631,651.777021647,0.417117965122,-0.015556047941,0.0499432280805,0.999999992475,8.81066865003e-05,-8.43541797671e-05,1.30926582506e-05,1793243017700273664
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.351973236,745,714,678.648026764,660,635,879.648026764,787.351973236,805.648026764,652,631,652,0.417947397117,-0.0155560149103,0.0499641892364,0.999999991675,0.000118390668579,-4.79159920235e-05,1.83557745852e-05,1793243017716940288
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.924598514,745,714,678.075401486,660,635,879.075401486,787.924598514,805.075401486,652,631,652,0.418784773821,-0.0155542239086,0.0499887894451,0.999999989329,0.000144193086487,-6.09905907293e-06,2.26379635974e-05,1793243017733606912
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,714.51020104,678,660,635,879,787.48979896,805,652,631,652,0.419567178152,-0.0155530518994,0.0499715979728,0.999999988833,0.000140276143953,-4.62126137077e-05,2.28229083483e-05,1793243017750273536
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,678.096406929,660.096406929,635,879,787.096406929,805.096406929,652,631,652,0.420368052427,-0.0155528164262,0.0499554216843,0.999999987472,0.000134323002941,-8.06290199251e-05,2.26538118645e-05,1793243017766940160
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,678.675776618,660.675776618,635,879,787.675776618,805.675776618,652,631,652,0.421303215642,-0.0155568024107,0.0499760795982,0.999999989517,0.000140746615453,-2.42634790474e-05,2.38237150919e-05,1793243017783607040
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714.745577553,679,660.745577553,635,879.254422447,787.745577553,806,652,631,652,0.422209982248,-0.0155597608249,0.0499886946301,0.999999988577,0.000148801902443,9.03326554981e-06,2.49372793154e-05,1793243017800273664
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714.167851479,679,660.167851479,635,879.832148521,787.167851479,806,652,631,652,0.423080664403,-0.0155614134698,0.0499910892894,0.999999986948,0.000158930617383,1.30156800872e-05,2.59792518023e-05,1793243017816940288
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.407374464,745,714,679,660.407374464,635,880,787,806,652,631,652,0.423947509161,-0.0155600316281,0.0499813583961,0.999999988103,0.00015207281742,-2.74877773092e-06,2.56840952955e-05,1793243017833606912
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.98157652,745,714,679,660.98157652,635,880,787,806,652,631,652,0.424812782379,-0.0155574071062,0.049966661858,0.99999998978,0.000138258715756,-2.65999556725e-05,2.48413589503e-05,1793243017850273792
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.857649828,745,714,679,661,635,879.428824914,787,806,652,631,652,0.425706357084,-0.0155608407782,0.0499862138667,0.999999989737,0.000140676357753,-1.88212263379e-06,2.70693297635e-05,1793243017866940160
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.158868925,744.841131075,714,679,660.841131075,635,879.158868925,787.158868925,806,652,631,651.841131075,0.42659707532,-0.0155634752999,0.0499977919396,0.999999988805,0.00014667851252,5.38944871751e-06,2.90997838251e-05,1793243017883607040
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.740141406,744.259858594,714,679,660.259858594,635,879.740141406,787.740141406,806,652,631,651.259858594,0.427477704266,-0.0155634510753,0.0499851502022,0.999999985892,0.000160780616282,-3.80061449223e-05,3.03344336171e-05,1793243017900273408
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,744.31767502,714,679.31767502,660.31767502,635,880,787.68232498,806,652,631,651.31767502,0.428352753884,-0.0155615462539,0.0499648374581,0.999999982686,0.000169233816597,-7.16952554332e-05,2.91091947596e-05,1793243017916940288
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,744.892185784,714,679.892185784,660.892185784,635,880,787.107814216,806,652,631,651.892185784,0.429223292652,-0.0155581209969,0.0499383228146,0.999999979923,0.000173119958081,-9.7536810029e-05,2.58951708064e-05,1793243017933606912
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714,680,661,635,880.465295536,787,806,652,631,651.534704464,0.430122761463,-0.0155570285943,0.04994584845,0.999999983045,0.000165151555444,-7.71335544354e-05,2.61627467015e-05,1793243017950273792
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,679.960301989,660.960301989,635,880.960301989,787.039698011,806,652,631,651.039698011,0.431024524943,-0.0155564206262,0.0499588906521,0.999999986184,0.000155897727375,-5.09214356512e-05,2.71211937346e-05,1793243017966940160
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,679.363204542,660.363204542,635,880.363204542,787.636795458,806,652,631,651.636795458,0.431864666864,-0.015555047543,0.0499389748249,0.999999981358,0.000167047719805,-9.31509365885e-05,2.64869283519e-05,1793243017983607040
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.774891565,745,714,679,660.225108435,635,880.225108435,787.774891565,806,651.774891565,631,652,0.432731955145,-0.0155541611183,0.0499331697522,0.999999978175,0.000178880843559,-0.00010452694544,2.69282897652e-05,1793243018000273408
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.200219612,745,714,679,660.799780388,635,880.799780388,787.200219612,806,651.200219612,631,652,0.433641398248,-0.0155540304097,0.0499492768051,0.999999978878,0.000191774781497,-6.79915834508e-05,2.90399567417e-05,1793243018016940288
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.375384938,745,714,679.375384938,661,634.624615062,880.624615062,787.375384938,806,651.375384938,631,652,0.434517411057,-0.015552711073,0.0499687598737,0.999999978756,0.00020003842201,-3.86317038714e-05,3.13027297151e-05,1793243018033606912
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.951488113,745,714,679.951488113,661,634.048511887,880.048511887,787.951488113,806,651.951488113,631,652,0.435375548642,-0.0155507561772,0.0499900480961,0.999999978166,0.000205826242807,-1.31085552304e-05,3.36462989008e-05,1793243018050273536
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714.538243766,680,660.461756234,634.538243766,880,788,806,651.461756234,631,652,0.436134449682,-0.0155464303891,0.0499644807597,0.999999978248,0.000192163935119,-7.42459406963e-05,3.26195026076e-05,1793243018066940160
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,744.875203067,715,680,660.124796933,635,880,787.875203067,806.124796933,651,631,652,0.436908886323,-0.0155431092127,0.0499441793671,0.999999975998,0.000181862415072,-0.00011801623873,3.16557771534e-05,1793243018083606784
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,744.292982288,715,680,660.707017712,635,880,787.292982288,806.707017712,651,631,652,0.437773711724,-0.0155442693414,0.0499589710933,0.999999978978,0.000190434575168,-6.89231731264e-05,3.20591347409e-05,1793243018100273408
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,744.28543522,714.71456478,679.71456478,661,635,880,787,806.429129561,651.28543522,631,652,0.438607500696,-0.0155459102478,0.0499698234491,0.999999979002,0.000197999453202,-4.15083027485e-05,3.26956586035e-05,1793243018116940288
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,744.860000192,714.139999808,679.139999808,661,635,880,787,805.279999617,651.860000192,631,652,0.439409851464,-0.0155480381549,0.0499766854441,0.999999977868,0.000204544011238,-3.60522225884e-05,3.35683667655e-05,1793243018133606912
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.56480774,745,714,679.43519226,661,635,880,787,805.43519226,651.56480774,631,651.56480774,0.440153439895,-0.0155479698516,0.0499600575039,0.999999975916,0.000208806308274,-5.95405976557e-05,3.19835756731e-05,1793243018150273792
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.010840204,745,714.010840204,679.989159796,661,635,880.010840204,787.010840204,806.010840204,651.010840204,631,651.010840204,0.440878134206,-0.0155472604128,0.0499366287358,0.999999972938,0.000211956293249,-9.11979315011e-05,2.96960580981e-05,1793243018166940416
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.600029108,745,714.600029108,679.399970892,661,635,880.600029108,787.600029108,806.600029108,651.600029108,631,651.600029108,0.44160478842,-0.0155500934136,0.0499541055038,0.9999999786,0.000194989437023,-6.11903069591e-05,3.21559986707e-05,1793243018183607296
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714.813801304,679.186198696,661,634.813801304,880.813801304,788,806.813801304,652,631,651.813801304,0.442328948308,-0.0155517736503,0.0499726196071,0.99999998191,0.000184576640679,-2.999858289e-05,3.48141976147e-05,1793243018200273920
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714.234013869,679.765986131,661,634.234013869,880.234013869,788,806.234013869,652,631,651.234013869,0.4430478358,-0.0155510171629,0.0499933264437,0.9999999816,0.000188017881309,3.69610857377e-06,3.78914776668e-05,1793243018216940544
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.657534615,745,714,680,661,634.342465385,880.342465385,787.657534615,806,652,631,651.342465385,0.443705483881,-0.0155493712336,0.049982875597,0.999999979681,0.000197243645883,-1.65359669702e-05,3.82160168926e-05,1793243018233607168
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.083294317,745,714,680,661,634.916705683,880.916705683,787.083294317,806,652,631,651.916705683,0.444321686099,-0.0155471233448,0.0499513377439,0.999999974513,0.000210384280028,-7.32647891732e-05,3.66775463541e-05,1793243018250273792
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.502818192,745,714,680,661,635,879.994363617,787.502818192,806.502818192,651.497181808,631,652,0.444924622511,-0.0155482616049,0.0499360790382,0.999999971131,0.000220714198916,-8.76732015998e-05,3.65729527443e-05,1793243018266940416
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,714,680,661,634.910428728,879.089571272,787.910428728,807,651.089571272,631,652,0.445528481002,-0.0155498298753,0.0499296185758,0.999999969029,0.000230688265759,-8.57058378016e-05,3.71518576522e-05,1793243018283607040
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714,680,661,634.331185325,879.668814675,787.331185325,807,651.668814675,631,652,0.446149684515,-0.0155506082599,0.0499561576711,0.999999969516,0.000241323909221,-3.34672438214e-05,4.01374076296e-05,1793243018300273920
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.753148205,745,714.246851795,680,661,634.246851795,880,787.246851795,807,652,631,652,0.446730476667,-0.0155494466195,0.0499683028276,0.999999967098,0.000252806083598,-1.02497063356e-05,4.22811959958e-05,1793243018316940544
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.176721655,745,714.823278345,680,661,634.823278345,880,787.823278345,807,652,631,652,0.447257315084,-0.0155456948284,0.0499612304639,0.999999963507,0.000265418471237,-2.57785294725e-05,4.3301138332e-05,1793243018333607424
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714.600485185,679.600485185,661,635,880.399514815,788,806.600485185,651.600485185,631,652,0.447751664151,-0.0155435818578,0.0499399078702,0.999999959953,0.000273977300439,-5.66371015966e-05,4.26944732262e-05,1793243018350274048
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714.024332705,679.024332705,661,635,880.975667295,788,806.024332705,651.024332705,631,652,0.448231648733,-0.0155421934592,0.0499122848154,0.999999955292,0.000280743928809,-9.42734238186e-05,4.13686354802e-05,1793243018366940416
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.849195077,661,634,880.150804923,787.849195077,806,651.849195077,630.849195077,652,0.44913470445,-0.015545986292,0.0499210184291,0.999999954618,0.00028745587395,-7.85641431563e-05,4.42857079445e-05,1793243018400274176
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.269187332,661,634,880.730812668,787.269187332,806,651.269187332,630.269187332,652,0.449561451801,-0.0155451562609,0.0499379710262,0.999999957938,0.00028102486766,-5.47463597226e-05,4.6391853833e-05,1793243018416940800
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714.307632042,679.307632042,661,634,880.692367958,787,806.307632042,651,630.307632042,652,0.449967554837,-0.015546788981,0.0499510493997,0.999999964929,0.000257879986579,-3.65753055561e-05,4.79853780259e-05,1793243018433607424
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714.881690078,679.881690078,661,634,880.118309922,787,806.881690078,651,630.881690078,652,0.450355778754,-0.015550554577,0.0499607724852,0.999999974264,0.000220259985741,-2.32946258694e-05,4.91349439266e-05,1793243018450274048
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714.532826523,680,661,634,880,787,806.532826523,651.467173477,631,652,0.450683961965,-0.0155539118994,0.0499547918675,0.999999984675,0.000166757817299,-4.06248491914e-05,3.45059026859e-05,1793243018466940672
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,879.945249294,787,806,651.945249294,631,652,0.450992936272,-0.0155570565357,0.0499444613122,0.999999991035,0.00011530662226,-6.57560951634e-05,1.76109961916e-05,1793243018483607296
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,879.366026445,787,806,651.366026445,631,652,0.451267208356,-0.0155591790612,0.0499315124036,0.999999988265,0.000122996963267,-8.9494383537e-05,1.82479074358e-05,1793243018500274176
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.213227237,745,714,679.786772763,661,634,879.213227237,786.786772763,806.213227237,651,630.786772763,652,0.451525243323,-0.015560312642,0.049916527685,0.999999984308,0.0001310119224,-0.000117798563197,1.85523107013e-05,1793243018516940800
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.792533793,745,714,679.207466207,661,634,879.792533793,786.207466207,806.792533793,651,630.207466207,652,0.451755401555,-0.0155597483524,0.0498980477859,0.999999978242,0.000139584201565,-0.000153941693799,1.8285847361e-05,1793243018533607424
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.631349566,745,714,679.368650434,661,634,880.368650434,786,807,651,630,652,0.451978432611,-0.0155596918596,0.049888540443,0.99999997454,0.000145897503276,-0.000171098799302,1.89475712361e-05,1793243018550274304
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.057012665,745,714,679.942987335,661,634,880.942987335,786,807,651,630,652,0.452197487121,-0.0155599186893,0.0498840392864,0.999999972622,0.000150950421908,-0.000177662760825,2.01271720054e-05,1793243018566940672
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.4703531,634,880.4703531,786.5296469,807,651,630,651.4703531,0.452402494461,-0.0155577619851,0.0498909051602,0.999999973437,0.00015900568765,-0.000165425874231,2.18336264173e-05,1793243018583607040
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.115992604,633.884007396,880,787,806.884007396,651,630,651.115992604,0.452597396201,-0.0155557157956,0.0498972309688,0.999999973944,0.000167048020504,-0.000153816008401,2.33833591805e-05,1793243018600273920
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765.178262502,745,714.178262502,680,660.821737498,633.178262502,880,786,807,651,630,651.821737498,0.453381115807,-0.0155606038402,0.0498667285304,0.999999964141,0.000180911935798,-0.000195877399532,2.4907324348e-05,1793243018716940544
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.757258429,745,714.757258429,680,660.242741571,633.757258429,880,786,807,651,630,651.242741571,0.453442703741,-0.015560966239,0.04986327128,0.999999963632,0.000179023805345,-0.000200200720068,2.46001892856e-05,1793243018733607168
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.665852924,745,715,680,660,633.665852924,880,786,806.665852924,651,630,651,0.453494247407,-0.0155614315695,0.0498605644463,0.99999996338,0.000177045504799,-0.00020320502722,2.45360058426e-05,1793243018750273792
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.090485461,745,715,680,660,633.090485461,880,786,806.090485461,651,630,651,0.453538540134,-0.0155619712062,0.0498583993372,0.999999963318,0.000175002110373,-0.000205257140582,2.46472088612e-05,1793243018766940416
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660.495451504,633,880,786,806,651.495451504,630,651.495451504,0.453572582004,-0.015562310693,0.0498566988662,0.999999962884,0.000174019304673,-0.000208189871288,2.46067872452e-05,1793243018783607040
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.082203719,745,714.917796281,680,661,633,879.917796281,786,806.082203719,651.917796281,630,652,0.453602950722,-0.0155622143377,0.0498550872628,0.999999962333,0.000173596370803,-0.000211176187066,2.45540169228e-05,1793243018800273664
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.661952371,745,714.338047629,680,661,633,879.338047629,786,806.661952371,651.338047629,630,652,0.453622665669,-0.0155597060785,0.0498534887315,0.999999961532,0.000175364180357,-0.00021349218112,2.45977639653e-05,1793243018816940288
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.759890537,745,714,680,661,633.240109463,879.240109463,786,806.759890537,651,630,652,0.453639633723,-0.0155582854892,0.0498524515106,0.999999961295,0.000175305807742,-0.000214671260093,2.43908937833e-05,1793243018833606912
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.183959464,745,714,680,661,633.816040536,879.816040536,786,806.183959464,651,630,652,0.453652759919,-0.0155583861354,0.0498521993488,0.999999961851,0.000172693302314,-0.000214260228122,2.38335056372e-05,1793243018850273536
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.391902725,745,714,680,661,633.608097275,880,786,806,651,630,652,0.453661043576,-0.0155573443985,0.049850809254,0.999999961207,0.000173966192288,-0.000216292689192,2.32195373349e-05,1793243018866940160
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.967732569,745,714,680,661,633.032267431,880,786,806,651,630,652,0.453667054539,-0.0155557665203,0.0498488851062,0.999999959986,0.000177062569493,-0.000219471926266,2.25790149454e-05,1793243018883606784
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,714,680,661,633.557312571,880.557312571,786,806.557312571,651.557312571,630,652,0.453667719713,-0.0155564174683,0.0498468921127,0.999999959785,0.000174361887895,-0.000222524370062,2.26215963109e-05,1793243018900273664
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.856012847,745,714,680,661,633.856012847,880.856012847,786,807,652,630,652,0.453668089294,-0.015556472933,0.0498449099325,0.99999995939,0.000172578438036,-0.000225660691816,2.26540152731e-05,1793243018916940032
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.28049232,745,714,680,661,633.28049232,880.28049232,786,807,652,630,652,0.453668524062,-0.015554347183,0.0498429724093,0.999999958271,0.0001745753242,-0.000229070955564,2.25344447642e-05,1793243018933606912
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633,880,786,806.704292552,651.704292552,630,652,0.453669363482,-0.0155544963512,0.0498423708029,0.99999995817,0.000172897693119,-0.000230769233049,2.26430152322e-05,1793243018950273792
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633,880,786,806.12744694,651.12744694,630,652,0.453670587618,-0.0155568083539,0.0498430392936,0.999999959027,0.000167726585751,-0.000230839872957,2.29684863269e-05,1793243018966940416
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.459509536,745,714,680.459509536,661,633.459509536,880,786,806.459509536,651.459509536,630,652,0.45367021679,-0.0155555278576,0.0498419852118,0.9999999587,0.000167474327102,-0.000232504705156,2.22291329257e-05,1793243018983606784
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.95149392,745,714.04850608,681,661,633.95149392,879.95149392,786,807,651.95149392,630,652,0.453669572864,-0.0155535138444,0.0498406120564,0.999999958117,0.000168498228089,-0.000234351471179,2.13037915183e-05,1793243019000273664
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.371560948,745,714.628439052,681,661,633.371560948,879.371560948,786,807,651.371560948,630,652,0.453670892487,-0.0155546254947,0.049841095247,0.999999958417,0.000168220590334,-0.000233238286291,2.1649224783e-05,1793243019016940544
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680.792438046,661,633,879.207561954,786,806.792438046,651.207561954,630,652,0.45367176786,-0.015555798999,0.0498413545323,0.999999958507,0.000168164712262,-0.000232859630393,2.19784848617e-05,1793243019033607168
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680.214759665,661,633,879.785240335,786,806.214759665,651.785240335,630,652,0.453671851065,-0.015557082799,0.0498412145585,0.999999958226,0.00016850426747,-0.000233790758176,2.22789055212e-05,1793243019050273536
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714.639980089,680,661,633.360019911,880,786,806,651.639980089,630,652,0.453672511741,-0.0155558114323,0.0498411896814,0.999999958179,0.000169315632542,-0.000233417514488,2.21263154763e-05,1793243019066940160
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714.066915922,680,661,633.933084078,880,786,806,651.066915922,630,652,0.453673514138,-0.015553028028,0.0498412329138,0.99999995827,0.000170406194328,-0.000232272399985,2.17056532236e-05,1793243019083606784
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,744.480919386,714,680,661,633.480919386,880,786,806,651,630,651.480919386,0.453671339169,-0.0155514512629,0.0498387134067,0.9999999576,0.000170212750746,-0.00023535873226,2.08262517232e-05,1793243019100273408
+245,4.083333333,HOLD_POSE2,765,744,714,680,661,633,879,786,806,651,630,652,0.453671888323,-0.0155538010331,0.049840379968,0.999999958067,0.000167402139512,-0.000235309876329,2.17196919589e-05,1793243019142820608
+246,4.100000000,HOLD_POSE2,765,744.579693522,714,680,661,633,879.579693522,786,806,651,630,651.420306478,0.453672610643,-0.0155537504348,0.0498398146294,0.999999957794,0.000168123773891,-0.000235969791509,2.15475289235e-05,1793243019159487488
+247,4.116666667,HOLD_POSE2,765,745,714,680,661,633,880,786,806,651,630,651.158842887,0.453672527672,-0.0155532525425,0.0498388822389,0.999999957425,0.000168765340886,-0.000237090021086,2.13520426175e-05,1793243019176153856
+248,4.133333333,HOLD_POSE2,765,745,714,680,661,633,880,786,806,651,630,651.736557426,0.453670321132,-0.0155515751276,0.0498369819254,0.999999956802,0.000169195768854,-0.000239424108453,2.10950523745e-05,1793243019192820480
+249,4.150000000,HOLD_POSE2,765,745,714,680,661,633,880,786,806.319825906,651.319825906,630.319825906,652,0.453669452754,-0.0155521059078,0.0498365570929,0.999999956696,0.000168349594796,-0.000240454041386,2.11715499126e-05,1793243019209487104
+250,4.166666667,HOLD_POSE2,765,745,714,680,661,633,880,786,806.907750012,651.907750012,630.907750012,652,0.45366970611,-0.0155544877362,0.0498373691016,0.999999957024,0.000166433292554,-0.000240390749864,2.15275979105e-05,1793243019226153728
+251,4.183333333,HOLD_POSE2,765,745,714,679.51039349,661,633.48960651,880,786,807,651.51039349,630.51039349,651.51039349,0.453669211593,-0.0155541449322,0.0498359901271,0.99999995682,0.000166204500285,-0.000241419080316,2.12662167518e-05,1793243019242820608
+252,4.200000000,HOLD_POSE2,765,745,714.069531434,679.069531434,661.069531434,633.930468566,880,786,807,651.069531434,630,651.069531434,0.453668612991,-0.0155533985785,0.0498344722369,0.999999956567,0.000166156393924,-0.000242527782544,2.09505676347e-05,1793243019259487232
+253,4.216666667,HOLD_POSE2,765,745,714.643634081,679.643634081,661.643634081,633.356365919,880,786,807,651.643634081,630,651.643634081,0.453668269105,-0.0155534035299,0.049834905309,0.99999995668,0.000165140407181,-0.00024274542911,2.10749805685e-05,1793243019276153856
+254,4.233333333,HOLD_POSE2,765,744.777087175,714.777087175,680,661.777087175,633.222912825,880,786,807,651.777087175,630,652,0.453668121656,-0.0155529558805,0.0498348540016,0.999999956658,0.000164682814084,-0.000243157030755,2.09468909042e-05,1793243019292820736
+255,4.250000000,HOLD_POSE2,765,744.18933686,714.18933686,680,661.18933686,633.81066314,880,786,807,651.18933686,630,652,0.453668295713,-0.0155517674677,0.0498340099187,0.999999956416,0.000165139134122,-0.000243886075242,2.0405534678e-05,1793243019309487360
+256,4.266666667,HOLD_POSE2,765,744.392693309,714,679.607306691,661,633.607306691,880,786,807,651.392693309,630,652,0.453669609881,-0.0155518510691,0.0498348465345,0.999999956913,0.000163987477437,-0.000242613062089,2.05081373229e-05,1793243019326153984
+257,4.283333333,HOLD_POSE2,765,744.972005161,714,679.027994839,661,633.027994839,880,786,807,651.972005161,630,652,0.453671465863,-0.0155525391662,0.0498364818641,0.999999957754,0.000162071666511,-0.000240388616747,2.09167666933e-05,1793243019342820608
+258,4.300000000,HOLD_POSE2,765,745,714,679.549976565,661,633.549976565,879.450023435,786,807,651.450023435,630,652,0.453670616767,-0.0155534514926,0.0498363281876,0.999999957437,0.000163190738965,-0.000240926125648,2.12060648832e-05,1793243019359487232
+259,4.316666667,HOLD_POSE2,765,745,714,680,661,633.872820809,879.127179191,786,806.872820809,651,630,652,0.453669940939,-0.0155541721277,0.0498359907477,0.999999957183,0.000163842417172,-0.000241521036207,2.13887078438e-05,1793243019376153856
+260,4.333333333,HOLD_POSE2,765,745,714,680,661,633.298083916,879.701916084,786,806.298083916,651,630,652,0.453670358241,-0.0155541781119,0.0498353263079,0.999999957364,0.000162306968508,-0.000241824405581,2.12173430266e-05,1793243019392820480
+261,4.350000000,HOLD_POSE2,765.284061305,745,714,679.715938695,660.715938695,633,880,786,806.284061305,651.284061305,630,652,0.453670802887,-0.0155535340019,0.0498352193894,0.999999957233,0.000163197519149,-0.000241776462388,2.10916897552e-05,1793243019409487104
+262,4.366666667,HOLD_POSE2,765.874188705,745,714,679.125811295,660.125811295,633,880,786,806.874188705,651.874188705,630,652,0.453671276996,-0.0155521894383,0.0498357131804,0.999999956759,0.000166701999056,-0.000241349992206,2.10152890817e-05,1793243019426153728
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633,880,787,806,652,630,652,0.453669273821,-0.0155533939152,0.0498336042956,0.99999995622,0.000163772591182,-0.000245558587238,2.09826792843e-05,1793243019458461184
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633,880,786.425642654,806.574357346,652,630,652,0.453670681962,-0.0155513863998,0.0498345497663,0.999999956602,0.000165170805023,-0.000243077324305,2.07025391699e-05,1793243019475127808
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633,880,786,806.850831637,652,630,652,0.453671475323,-0.0155501947031,0.049835217195,0.999999956849,0.000165877578569,-0.000241582714766,2.05995705597e-05,1793243019491794176
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633,880,786,806.274722016,652,630,652,0.453670509095,-0.0155513379959,0.0498350888277,0.999999956729,0.000164605351095,-0.00024291204825,2.10036921525e-05,1793243019508460800
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.69022893,633,880,786,806.30977107,652,630,652,0.45366960834,-0.0155515575537,0.0498343161612,0.999999956444,0.000164684122163,-0.000244029820761,2.09787770673e-05,1793243019525127424
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.098094153,633,880,786,806.901905847,652,630,652,0.453668767265,-0.0155509351051,0.0498329562007,0.99999995601,0.000165994360653,-0.000244954750328,2.05627848075e-05,1793243019541794048
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,744.51861737,714,680,660.48138263,633.48138263,880,786,806.51861737,651.51861737,630,652,0.453669780927,-0.0155522782552,0.0498334679439,0.999999956524,0.000164295276161,-0.000243977591237,2.08503030766e-05,1793243019558460672
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.058861713,744.058861713,714,680,661,633.941138287,879.941138287,786,806.058861713,651.058861713,630,651.941138287,0.453670463281,-0.0155536335737,0.0498340646428,0.999999957041,0.000162223629781,-0.000243214768289,2.11719755489e-05,1793243019575127552
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.640923872,744.640923872,714,680,661,633.359076128,879.359076128,786,806.640923872,651.640923872,630,651.359076128,0.453664927355,-0.0155516280039,0.049832113146,0.999999955961,0.000162151515482,-0.000247714063565,2.05556193443e-05,1793243019591794176
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.77665671,745,714,680,661,633.22334329,879,786,806.77665671,652,630,651,0.453653192334,-0.015549818347,0.0498267687725,0.999999953493,0.000162336404918,-0.000257450782222,1.95101632066e-05,1793243019608460800
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.193662053,745,714,680,661,633.806337947,879,786,806.193662053,652,630,651,0.453631474862,-0.0155483241702,0.0498159608248,0.999999948585,0.000162935149366,-0.000275621362372,1.77737242981e-05,1793243019625127424
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633.613072448,879.386927552,786,806,652,630,651.386927552,0.453592089698,-0.0155467298994,0.0497979537747,0.99999993946,0.000162775786363,-0.000307107750747,1.64161140841e-05,1793243019641794304
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633.033679114,879.966320886,786,806,652,630,651.966320886,0.453543916256,-0.0155450858395,0.049776365741,0.999999927135,0.000162239324878,-0.000345217699367,1.52469409388e-05,1793243019658460928
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,744.457446431,714,680,661,633,880,786,806.542553569,651.457446431,630,652,0.453476253213,-0.0155414423187,0.0497524736674,0.999999912022,0.000164675312586,-0.000385565134288,1.33045586973e-05,1793243019675127552
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,744.117489238,714,680.117489238,660.882510762,633.117489238,880,786,806.882510762,651,630,652,0.453406917317,-0.015537386556,0.0497319278728,0.999999898032,0.000167222942628,-0.000419336091511,1.14315151194e-05,1793243019691794176
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,744.688174469,714,680.688174469,660.311825531,633.688174469,880,786,806.311825531,651,630,652,0.453335768296,-0.0155322166229,0.0497248383044,0.999999894333,0.000169493600543,-0.000427206696604,1.00100027264e-05,1793243019708460800
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.270190419,745,714,680.459619163,660.270190419,633.729809581,880,786,806.270190419,651,630,652,0.453260104154,-0.0155275017755,0.0497220590058,0.999999892546,0.000171057331981,-0.0004307692719,9.22478752042e-06,1793243019725127680
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.865855454,745,714,679.268289092,660.865855454,633.134144546,880,786,806.865855454,651,630,652,0.453179001048,-0.0155233351304,0.0497244719103,0.999999893124,0.000171769491186,-0.000429142342419,9.2060636193e-06,1793243019741794304
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.552980609,745,714.447019391,679.447019391,661,633,880,786,807,651,630,651.552980609,0.453079762923,-0.0155171999909,0.0497290000326,0.999999894494,0.000175679167251,-0.000424343291491,9.00395604886e-06,1793243019758460672
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.976090538,680,661,633,880,786,806.976090538,651,630,651.023909462,0.452974112326,-0.0155105245576,0.0497340923273,0.99999989611,0.00018032871717,-0.000418552007614,8.75940246147e-06,1793243019775127296
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.797478968,744.202521032,714,680,661,634.797478968,880,787,807,652,631,652,0.445099296865,-0.0153914402123,0.0497736147938,0.999999942171,3.36102098658e-05,-0.000337058479652,-3.03361561856e-05,1793243020141794304
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.619524404,744,714,680,661,634.619524404,880,787.380475596,807,651.619524404,631,652,0.444469453927,-0.0153885116007,0.0497947604706,0.999999951369,1.57311949595e-05,-0.0003098502344,-3.17538646001e-05,1793243020158460928
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,744.928358936,714,679.071641064,660.071641064,634.071641064,879.928358936,787.071641064,806,651.071641064,631,651.928358936,0.432590981052,-0.0153604335989,0.0497938107218,0.999999940019,-7.88629288905e-05,-0.00032856212608,-7.60944125832e-05,1793243020408461312
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,744.35440576,714,679.64559424,660.64559424,634.64559424,879.35440576,787.64559424,806,651.64559424,631,651.35440576,0.431717657372,-0.0153597181652,0.0498150563195,0.99999995418,1.11229944384e-05,-0.000299049667484,-4.56619578138e-05,1793243020425128192
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf144b77b85b19f84a1d760e3744ab14d069b924
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
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+379,6.316666667,pose2_to_pose3_retreat,0.580786810839,-0.00999813870891,1.04004088415,0.551358530458,-0.00132331035342,1.03967868148
+380,6.333333333,pose2_to_pose3_retreat,0.580772919093,-0.00999810978306,1.04004097989,0.551344638832,-0.00132328136035,1.03967876916
+381,6.350000000,pose2_to_pose3_retreat,0.580763365065,-0.00999820683602,1.04004087514,0.551335084596,-0.0013233790071,1.03967866706
+382,6.366666667,pose2_to_pose3_retreat,0.58075704512,-0.0099981533639,1.04004075907,0.551328763775,-0.00132332813417,1.03967855986
+383,6.383333333,pose2_to_pose3_retreat,0.580753248739,-0.00999809605963,1.04004067934,0.551324966712,-0.00132327286344,1.03967848697
+384,6.400000000,pose2_to_pose3_retreat,0.580750892874,-0.0099980479606,1.04004075117,0.551322611091,-0.00132322413299,1.03967855403
+385,6.416666667,pose2_to_pose3_retreat,0.580749304751,-0.00999801493737,1.04004080539,0.551321023166,-0.00132319059367,1.0396786046
+386,6.433333333,pose2_to_pose3_retreat,0.580748179452,-0.00999799153804,1.04004084381,0.551319898007,-0.00132316682865,1.03967864043
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+388,6.466666667,pose2_to_pose3_retreat,0.580746818308,-0.00999811203208,1.04004091669,0.551318538564,-0.00132328169735,1.03967870972
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+391,6.516666667,pose2_to_pose3_retreat,0.580746267128,-0.00999816376405,1.04004094672,0.551317988104,-0.00132333104902,1.03967873829
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+394,6.566666667,pose2_to_pose3_retreat,0.580745692947,-0.00999821765482,1.04004097801,0.551317414672,-0.00132338246016,1.03967876806
+395,6.583333333,pose2_to_pose3_retreat,0.580745100687,-0.00999824021227,1.04004099998,0.551316822313,-0.00132340543038,1.03967878813
+396,6.600000000,pose2_to_pose3_retreat,0.58074465408,-0.0099982205552,1.04004100512,0.551316374665,-0.00132338938212,1.03967879147
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eb9e6973750d834a5903f0fad726e5359159e0d7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e7980450680d6a568491d0b5618005450473ae3d3d997aabe9c626c401e0f92
+size 25800497
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..18670f4bb1c790dc10252f329250c6089fcfa15e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_04/franka_data.csv
@@ -0,0 +1,408 @@
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+19,0.316666667,BASELINE,765,744.970284232,714,678.970284232,660,635,878.029715768,787.029715768,805,652.029715768,631,651.970284232,0.40098825309,-0.0153977880592,0.0498571988063,0.999999966561,-3.13444564565e-05,-0.000252764270076,-4.47880723952e-05,1793243022302206464
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+21,0.350000000,BASELINE,765,744.192758594,714,678.192758594,660,635,879,787.807241406,805.192758594,652.807241406,631,651.192758594,0.400988518572,-0.0153989457671,0.0498572483225,0.999999966609,-3.36865036736e-05,-0.000252352473352,-4.43293675454e-05,1793243022335539712
+22,0.366666667,BASELINE,765,744.768480589,714,678.768480589,660,635,879,787.231519411,805.768480589,652.231519411,631,651.768480589,0.400986457492,-0.0153971487896,0.049856355637,0.999999966132,-3.3318690863e-05,-0.000254167688979,-4.50056163613e-05,1793243022352206336
+23,0.383333333,BASELINE,765,745,714.343521681,679,660,635,879,787.343521681,806,652,631,652,0.400986858774,-0.0153974275222,0.0498565604661,0.999999966174,-3.4001566821e-05,-0.000253912402935,-4.49924892096e-05,1793243022368873216
+24,0.400000000,BASELINE,765,745,714.918104837,679,660,635,879,787.918104837,806,652,631,652,0.400988916304,-0.0153991024306,0.0498575035115,0.999999966564,-3.5391162901e-05,-0.000252264444652,-4.45156702045e-05,1793243022385539840
+25,0.416666667,BASELINE,765,745,714.495605403,679,660,635,879,788,806,652.504394597,631.504394597,652,0.400988290606,-0.0153981744022,0.0498569507806,0.999999966375,-3.54178371301e-05,-0.000252919210497,-4.50201386759e-05,1793243022402206720
+26,0.433333333,BASELINE,765.091320432,745,714,679,659.908679568,635,879,788,806,653,631.908679568,652,0.400987420883,-0.015397207141,0.0498563893264,0.999999966166,-3.54069934964e-05,-0.000253651028931,-4.55561816162e-05,1793243022418873344
+27,0.450000000,BASELINE,765.671238532,745,714,679,659.328761468,635,879,788,806,653,631.328761468,652,0.400987631847,-0.015398344875,0.0498571114582,0.999999966367,-3.64075216843e-05,-0.00025274719372,-4.53884577703e-05,1793243022435540992
+28,0.466666667,BASELINE,766,745,714,679,659.248995829,635,879,788,806,653,631,652,0.400987493236,-0.0153988992249,0.0498571445358,0.999999966387,-3.60316835552e-05,-0.000252756237507,-4.51805601232e-05,1793243022452208128
+29,0.483333333,BASELINE,766,745,714,679,659.823924623,635,879,788,806,653,631,652,0.400986897032,-0.0153986899312,0.0498562756486,0.99999996617,-3.38541960964e-05,-0.000253960230515,-4.49200753957e-05,1793243022468873984
+30,0.500000000,BASELINE,765.601597682,745,714.398402318,679,660,635,879.398402318,788,805.601597682,653,631,652,0.400985954887,-0.0153988266596,0.0498557230137,0.999999965894,-3.35453688025e-05,-0.00025505407033,-4.51006189464e-05,1793243022485540864
+31,0.516666667,BASELINE,765.027319142,745,714.972680858,679,660,635,879.972680858,788,805.027319142,653,631,652,0.400984860026,-0.0153991161407,0.0498553099894,0.999999965592,-3.40614687198e-05,-0.000256099282566,-4.54758561189e-05,1793243022502207744
+32,0.533333333,BASELINE,765,745,714.435742326,679,660,635,879.435742326,787.435742326,805.564257674,653,631,652.564257674,0.400985774909,-0.015398928124,0.0498565645855,0.99999996603,-3.45518840518e-05,-0.000254403325456,-4.50059793323e-05,1793243022518873600
+33,0.550000000,BASELINE,765.153462156,745,714,679,660,635,879,787.153462156,805.846537844,652.846537844,631,652.846537844,0.400986779618,-0.0153987186926,0.0498575755661,0.99999996643,-3.44580169249e-05,-0.000252904127844,-4.46417339481e-05,1793243022535539712
+34,0.566666667,BASELINE,765.73366703,745,714,679,660,635,879,787.73366703,805.26633297,652.26633297,631,652.26633297,0.400987754974,-0.0153985160322,0.0498576774889,0.999999966629,-3.27429628702e-05,-0.000252332799265,-4.46886045714e-05,1793243022552206336
+35,0.583333333,BASELINE,765.69115428,745,714,679,659.69115428,635,878.69115428,787.69115428,805,652,631,652,0.400987913439,-0.015398333525,0.0498573321794,0.999999966549,-3.26779403093e-05,-0.000252639975815,-4.48010499434e-05,1793243022568873216
+36,0.600000000,BASELINE,765.120240446,745,714,679,659.120240446,635,878.120240446,787.120240446,805,652,631,652,0.400987378737,-0.0153981681184,0.0498566073751,0.99999996623,-3.40130361673e-05,-0.000253692599516,-4.49691381528e-05,1793243022585540096
+37,0.616666667,BASELINE,765.466630946,745,714,679.466630946,659,635,878.466630946,787,805.466630946,652,631,652,0.400986857775,-0.0153982677159,0.0498564017915,0.999999966111,-3.48300866577e-05,-0.000254048017916,-4.49961807697e-05,1793243022602206976
+38,0.633333333,BASELINE,765.943361037,745,714,679.943361037,659,635,878.943361037,787.056638963,805.943361037,652,631,652,0.400986523213,-0.0153982946221,0.0498564420572,0.999999966101,-3.52373015213e-05,-0.000254026707669,-4.50135637271e-05,1793243022618873600
+39,0.650000000,BASELINE,765.36370314,745,714,679.36370314,659,635,878.36370314,787.63629686,805.36370314,652,631,652,0.400987876073,-0.0153969973835,0.0498574733468,0.999999966612,-3.31363049692e-05,-0.000252244303484,-4.52892432568e-05,1793243022635540224
+40,0.666666667,BASELINE,765,745,714,679,659,635,878.215544517,788,805,652,631,652,0.400987601333,-0.0153967490461,0.0498573676733,0.999999966571,-3.29068401332e-05,-0.000252424494639,-4.5364684686e-05,1793243022652206592
+41,0.683333333,BASELINE,765,745,714,679,659,635,878.794101228,788,805,652,631,652,0.400984585449,-0.0153982672299,0.049855347168,0.999999965596,-3.58293407172e-05,-0.000255910017223,-4.51028924106e-05,1793243022668873216
+42,0.700000000,BASELINE,765,745,714,679,659,635,879,788,805.369422615,652,631,652,0.400984518637,-0.0153983311368,0.0498551622204,0.999999965672,-3.58368859515e-05,-0.000255597400662,-4.5183331002e-05,1793243022685539840
+43,0.716666667,BASELINE,765,745,714,679,659,635,879,788,805.942956421,652,631,652,0.400986081228,-0.0153975915352,0.0498559914443,0.999999966329,-3.42338772544e-05,-0.00025318625868,-4.54528569702e-05,1793243022702206464
+44,0.733333333,BASELINE,765,745,714,679,659.531241163,635,879,788,805.468758837,652.531241163,631,652,0.400987554143,-0.015397955625,0.0498571840858,0.999999966837,-3.3201291474e-05,-0.000251378096448,-4.50888951187e-05,1793243022718873344
+45,0.750000000,BASELINE,765,745,714.118981426,679,660,635,879,788,805,653,631,652,0.400988659068,-0.0153984115829,0.0498582692828,0.999999967222,-3.28850988588e-05,-0.000249942871992,-4.4761727195e-05,1793243022735540480
+46,0.766666667,BASELINE,765,745,714.698311542,679,660,635,879,788,805,653,631,652,0.400988378534,-0.0153987513567,0.0498587834729,0.999999967205,-3.50969364927e-05,-0.000249692909363,-4.48476195489e-05,1793243022752207104
+47,0.783333333,BASELINE,765,745,715,679,659.724826722,635,879,788,805.275173278,653,631,652,0.400987992167,-0.015398395994,0.0498586337557,0.999999967023,-3.53099420642e-05,-0.000250378416624,-4.49140364642e-05,1793243022768873728
+48,0.800000000,BASELINE,765,745,715,679,659.150647084,635,879,788,805.849352916,653,631,652,0.400987490799,-0.0153972852881,0.0498577626294,0.999999966661,-3.33509946458e-05,-0.000252080415897,-4.4959291161e-05,1793243022785540096
+49,0.816666667,BASELINE,765,745,714.575819695,679,659,635,879,788,806,653,630.575819695,651.575819695,0.400987131928,-0.0153973551374,0.0498572770825,0.999999966406,-3.43734792495e-05,-0.000252929921493,-4.50929830315e-05,1793243022802206720
+50,0.833333333,BASELINE,765,745,714.00076194,679,659,635,879,788,806,653,630.00076194,651.00076194,0.400986823741,-0.0153978449005,0.049856928683,0.999999966186,-3.64564348416e-05,-0.00025347620199,-4.52581312751e-05,1793243022818873600
+51,0.850000000,BASELINE,765.592457945,745,714,679,659.592457945,635,879,788,805.407542055,652.407542055,630.592457945,651.592457945,0.400989285402,-0.0153972972473,0.0498584820713,0.999999967145,-3.35687381179e-05,-0.000250088147917,-4.51669282727e-05,1793243022835539968
+52,0.866666667,BASELINE,766,745.180667414,714.180667414,679,660,635,879,788,805,652.180667414,631,652,0.400990899484,-0.0153973586329,0.0498596414739,0.999999967797,-3.23331817333e-05,-0.000247649966039,-4.50516467306e-05,1793243022852206848
+53,0.883333333,BASELINE,766,745.757828091,714.757828091,679,660,635,879,788,805,652.757828091,631,652,0.400990645403,-0.0153987596375,0.0498599306972,0.999999967809,-3.47378906793e-05,-0.000247307832283,-4.4884268767e-05,1793243022868873728
+54,0.900000000,BASELINE,766,745.675168316,714.675168316,679,659.675168316,635,879,788,805.324831684,653,631,652,0.400989099339,-0.0153989097614,0.0498594284732,0.999999967332,-3.62393330972e-05,-0.000249004239736,-4.49503949753e-05,1793243022885540352
+55,0.916666667,BASELINE,766,745.115507563,714.115507563,679,659.115507563,635,879,788,805.884492437,653,631,652,0.400986619267,-0.0153981555919,0.0498583540919,0.999999966495,-3.70877811101e-05,-0.000252174360385,-4.51853272833e-05,1793243022902207232
+56,0.933333333,BASELINE,765.518299675,745,714.481700325,679,659,635,879,787.518299675,805.518299675,653,631,652,0.400986974599,-0.015397646077,0.0498577818202,0.999999966656,-3.4268453318e-05,-0.000251933111097,-4.52052578599e-05,1793243022918873344
+57,0.950000000,BASELINE,765,745,714.915382552,679,659,635,879,787.084617448,805.084617448,653,631,652,0.400987906017,-0.0153974680572,0.0498574955809,0.999999966982,-3.1505707542e-05,-0.000251013572268,-4.51146367563e-05,1793243022935539712
+58,0.966666667,BASELINE,765,745,714.336169612,679,659,635,879,787.663830388,805.663830388,653,631,652,0.400987894642,-0.015398855755,0.0498581179748,0.999999966821,-3.46490205514e-05,-0.00025131495161,-4.47046535021e-05,1793243022952206336
+59,0.983333333,BASELINE,765.241597187,745,714,679,659,635,878.758402813,787.758402813,806,653,631,652,0.400987460779,-0.0153997147229,0.0498581488553,0.999999966586,-3.63931363431e-05,-0.000252040595056,-4.44830719636e-05,1793243022968872960
+60,1.000000000,BASELINE,765.817363813,745,714,679,659,635,878.182636187,787.182636187,806,653,631,652,0.400986442542,-0.015399842369,0.0498573615736,0.99999996626,-3.62019281129e-05,-0.000253353066974,-4.45220815445e-05,1793243022985539584
+61,1.016666667,BASELINE,765.601230777,745,714,679,659.398769223,635,878.398769223,787,805.601230777,652.601230777,631,652.398769223,0.40098794268,-0.0153999831783,0.049857883789,0.999999966736,-3.60674693646e-05,-0.000251490282366,-4.44846587803e-05,1793243023002206720
+62,1.033333333,BASELINE,765.017205797,745,714,679,659.982794203,635,878.982794203,787,805.017205797,652.017205797,631,652.982794203,0.400990612775,-0.0154001301028,0.0498590143559,0.999999967577,-3.59593746684e-05,-0.000248152372432,-4.44117279273e-05,1793243023018873856
+63,1.050000000,BASELINE,765,744.435238773,714,679,660,635,879,787.564761227,805,652.564761227,631,652.435238773,0.400987293962,-0.0153982187236,0.0498573243455,0.999999966724,-3.25567621636e-05,-0.000251977413682,-4.47249811674e-05,1793243023035540224
+64,1.066666667,BASELINE,765,744.145759147,714,679,659.854240853,635,878.854240853,788,805,653,631,652,0.400985453517,-0.0153970196287,0.0498563329769,0.999999966218,-3.03220068356e-05,-0.000254218468668,-4.49233253165e-05,1793243023052206848
+65,1.083333333,BASELINE,765,744.724066547,714,679,659.275933453,635,878.275933453,788,805,653,631,652,0.400988539695,-0.0153981196884,0.049857668944,0.999999966963,-3.18497024188e-05,-0.000251113717902,-4.47458829177e-05,1793243023068873472
+66,1.100000000,BASELINE,765,745,714,679,659.6016024,635,878.3008012,788,805,652.6991988,631,652,0.400989234621,-0.0153987307392,0.0498581151637,0.999999967213,-3.31148987639e-05,-0.000249957792458,-4.47062760368e-05,1793243023085539840
+67,1.116666667,BASELINE,765,745,714,679,660.752201202,635,878.876100601,788,805,652.123899399,631,652,0.400987747394,-0.0153988955415,0.0498577494382,0.999999967019,-3.41405495429e-05,-0.000250580281117,-4.47924519146e-05,1793243023102206720
+68,1.133333333,BASELINE,765,745,714,679,660.53857636,635,879,788,805,652.46142364,631,652,0.400987543365,-0.0153989098256,0.0498575048602,0.999999966892,-3.44221289868e-05,-0.000251001923295,-4.50554681621e-05,1793243023118873344
+69,1.150000000,BASELINE,765,745,714,679,659.951210211,635,879,788,805,653,631,652,0.40098760962,-0.0153988134661,0.0498573541887,0.999999966808,-3.42108226281e-05,-0.000251318552164,-4.52970487555e-05,1793243023135539968
+70,1.166666667,BASELINE,765,745,714,679,659.371549875,635,879,788,805,653,631,652,0.400986784458,-0.0153979627457,0.0498578634814,0.999999966998,-3.08587320945e-05,-0.000251092389591,-4.47772530196e-05,1793243023152206592
+71,1.183333333,BASELINE,765,745,714.206502282,679,659.206502282,635,879.206502282,788,805,653,631,652,0.40098663961,-0.0153973821794,0.0498582539143,0.999999967145,-2.96485684887e-05,-0.000250670907707,-4.46667354297e-05,1793243023168873472
+72,1.200000000,BASELINE,765,745,714.781683372,679,659.781683372,635,879.781683372,788,805,653,631,652,0.400987709362,-0.0153972839322,0.0498584321406,0.999999967229,-3.226249315e-05,-0.000249900712493,-4.52869224129e-05,1793243023185540352
+73,1.216666667,BASELINE,765,745,714.645697629,679,659.645697629,635,879.645697629,788,805,652.645697629,631,652,0.4009878288,-0.0153977119414,0.0498581190862,0.999999967015,-3.38019142421e-05,-0.000250544814446,-4.53360466334e-05,1793243023202206976
+74,1.233333333,BASELINE,765,745,714.07464606,679,659.07464606,635,879.07464606,788,805,652.07464606,631,652,0.400987366871,-0.0153984618948,0.0498575054841,0.999999966619,-3.46839932929e-05,-0.000252054131593,-4.50358155578e-05,1793243023218873344
+75,1.250000000,BASELINE,765,745,714.518052516,678.481947484,659.518052516,635,879,788,805,652.518052516,631,652,0.40098781916,-0.0153974675292,0.0498580124166,0.999999966906,-3.3372918451e-05,-0.000251061849577,-4.51843936629e-05,1793243023235539968
+76,1.266666667,BASELINE,765.110638976,745,714.889361024,678.110638976,659.889361024,635,879.110638976,788,805.110638976,653,631,652,0.400988218945,-0.0153969518766,0.049858535411,0.999999967224,-3.23034680004e-05,-0.000249913033181,-4.52959025537e-05,1793243023252206336
+77,1.283333333,BASELINE,765.688990805,745,714.311009195,678.688990805,659.311009195,635,879.688990805,788,805.688990805,653,631,652,0.400987815626,-0.0153995687612,0.049858413999,0.99999996725,-3.36496088007e-05,-0.000249692713909,-4.4965404902e-05,1793243023268873216
+78,1.300000000,BASELINE,765.733692084,745,714,679,659,635,879.733692084,788,805.733692084,653,631,652,0.40098777351,-0.0154004450517,0.0498582626142,0.999999967212,-3.45499851601e-05,-0.00024974628658,-4.48307105571e-05,1793243023285539584
+79,1.316666667,BASELINE,765.157578738,745,714,679,659,635,879.157578738,788,805.157578738,653,631,652,0.400988151595,-0.0153992964473,0.0498580763611,0.999999967101,-3.49317878663e-05,-0.000250118487462,-4.49238011557e-05,1793243023302206464
+80,1.333333333,BASELINE,765,745,714,679,659,635,879,787.573130871,805,653,630.573130871,652,0.400988744641,-0.0153985181432,0.0498586762526,0.99999996737,-3.25473256778e-05,-0.000249387919206,-4.4792159149e-05,1793243023318873344
+81,1.350000000,BASELINE,765,745,714,679,659.014253993,635,878.985746007,787.014253993,805.014253993,653,630.014253993,652,0.400989413622,-0.0153979176864,0.0498595485056,0.999999967759,-2.93103048635e-05,-0.000248262316441,-4.45859166665e-05,1793243023335540224
+82,1.366666667,BASELINE,765,745,714,679,659.593669081,635,878.406330919,787.593669081,805.593669081,653,630.593669081,652,0.400989884442,-0.0153988409128,0.0498594841255,0.999999967698,-3.35647615414e-05,-0.000247936019164,-4.47766278628e-05,1793243023352206848
+83,1.383333333,BASELINE,765,744.82711671,714,678.82711671,660,635,878.17288329,787.82711671,806,652.82711671,631,652,0.400990146235,-0.0153989404583,0.0498595414938,0.999999967668,-3.5870199121e-05,-0.0002476960263,-4.49867483378e-05,1793243023368873472
+84,1.400000000,BASELINE,765,744.24837397,714,678.24837397,660,635,878.75162603,787.24837397,806,652.24837397,631,652,0.400989917319,-0.015397106337,0.049859884678,0.999999967745,-3.36001356523e-05,-0.000247658640935,-4.52424339228e-05,1793243023385540096
+85,1.416666667,BASELINE,765,744.328119315,714,678.328119315,660,635,878.671880685,787.328119315,805.671880685,652,631,652,0.400989553537,-0.015397153401,0.0498597287737,0.999999967677,-3.26054134897e-05,-0.00024807748217,-4.51783216116e-05,1793243023402206464
+86,1.433333333,BASELINE,765,744.902921406,714,678.902921406,660,635,878.097078594,787.902921406,805.097078594,652,631,652,0.400989088363,-0.0153986147554,0.0498591976506,0.999999967502,-3.25695034579e-05,-0.000248839318288,-4.48737826188e-05,1793243023418873088
+87,1.450000000,BASELINE,765,745,714,679,659.511006948,635,878.488993052,788,805.488993052,652.488993052,631,652,0.400989318167,-0.0153989114324,0.049859440424,0.999999967442,-3.27113684538e-05,-0.000249085152451,-4.47507969809e-05,1793243023435540224
+88,1.466666667,BASELINE,765,745,714,679,659.076194183,635,879,788,805.923805817,653,631,652,0.40098943897,-0.0153989396763,0.0498596765266,0.999999967384,-3.28476748616e-05,-0.000249308421984,-4.46941561289e-05,1793243023452207360
+89,1.483333333,BASELINE,765,745,714,679,659.655728307,635,879,788,805.344271693,653,631,652,0.400987906762,-0.0153987581255,0.0498588296729,0.999999967191,-3.27086134802e-05,-0.000250075317448,-4.48320701982e-05,1793243023468873728
+90,1.500000000,BASELINE,765,745,714,679,659.766798602,635,879,788,805.233201398,652.766798602,631,652,0.400987694142,-0.0153989313728,0.0498586200673,0.999999967185,-3.36033124363e-05,-0.000249976411773,-4.48718176889e-05,1793243023485540352
+91,1.516666667,BASELINE,765,745,714,679,659.19234158,635,879,788,805.80765842,652.19234158,631,652,0.400989412543,-0.0153996238146,0.0498593429798,0.999999967446,-3.60107661834e-05,-0.000248610534604,-4.47679129535e-05,1793243023502206720
+92,1.533333333,BASELINE,765,745,714,679,659.391148178,635,879,788,805.608851822,652.391148178,631,652,0.400990076711,-0.01539927565,0.0498595253588,0.999999967566,-3.56523781088e-05,-0.000248170553628,-4.48117159158e-05,1793243023518873344
+93,1.550000000,BASELINE,765,745,714,679,659.979184707,635,879,788,805.020815293,652.979184707,631,652,0.400990210219,-0.0153984036859,0.0498594356548,0.999999967615,-3.39017760854e-05,-0.000248196631647,-4.49298690167e-05,1793243023535539712
+94,1.566666667,BASELINE,765,745,714,678.441123254,659.441123254,635,879,787.441123254,805.558876746,652.441123254,631,651.441123254,0.400989368576,-0.015398228894,0.0498585314084,0.999999967325,-3.27024060346e-05,-0.000249515323487,-4.4966047246e-05,1793243023552206592
+95,1.583333333,BASELINE,765,745,714,678.138092689,659.138092689,635,879.138092689,787,805.861907311,652,631,651.138092689,0.400988636795,-0.0153983753905,0.049857962833,0.999999967132,-3.21696046135e-05,-0.000250366686058,-4.49270241231e-05,1793243023568873216
+96,1.600000000,BASELINE,765,745,714,678.716766788,659.716766788,635,879.716766788,787,805.283233212,652,631,651.716766788,0.400988369699,-0.0153994653243,0.0498585605747,0.999999967291,-3.36989354448e-05,-0.000249575705953,-4.46576705803e-05,1793243023585540096
+97,1.616666667,BASELINE,765,745,714,678.708260411,660,635,879.708260411,787.291739589,805,652,631,652,0.400988736387,-0.015399526949,0.0498592378905,0.999999967527,-3.38976504816e-05,-0.000248604282427,-4.46405306629e-05,1793243023602206720
+98,1.633333333,BASELINE,765,745,714,678.136836003,660,635,879.136836003,787.863163997,805,652,631,652,0.400989710671,-0.0153986027548,0.0498599914925,0.999999967837,-3.28207310872e-05,-0.000247459871507,-4.48651828424e-05,1793243023618873600
+99,1.650000000,BASELINE,765,745,714,678.901349797,660,635,879,788,805,652.450674898,631,652,0.400989764738,-0.0153986476488,0.0498599245,0.99999996775,-3.41043287021e-05,-0.000247654720681,-4.47622186695e-05,1793243023635540224
+100,1.666666667,BASELINE,765,745,714,680,660,635,879,788,805.042193321,653,631,652,0.400989409712,-0.0153989047348,0.0498595552898,0.999999967523,-3.58128347491e-05,-0.000248360622193,-4.45957327491e-05,1793243023652207104
+101,1.683333333,BASELINE,765,745,714,680,660,635,879,788,805.620280295,653,631,652,0.400987538828,-0.0153979814177,0.0498586292394,0.99999996713,-3.34782333939e-05,-0.000250201582576,-4.49326177899e-05,1793243023668873984
+102,1.700000000,BASELINE,765,745,714,679.802071861,659.802071861,635,878.802071861,788,805.802071861,652.802071861,631,652,0.400986489711,-0.0153979425281,0.0498581671774,0.999999966911,-3.26905149477e-05,-0.000251141658108,-4.51462357728e-05,1793243023685540608
+103,1.716666667,BASELINE,765,745,714,679.22526468,659.22526468,635,878.22526468,788,805.22526468,652.22526468,631,652,0.400987013643,-0.0153995966318,0.0498585932939,0.999999967035,-3.48638791088e-05,-0.00025035723689,-4.51238928014e-05,1793243023702207232
+104,1.733333333,BASELINE,765,745,714,679,659,635,878.352721873,788,805.352721873,652.352721873,631,652,0.400988170384,-0.0153995919164,0.0498591662992,0.999999967358,-3.55084168713e-05,-0.00024898788363,-4.50459077106e-05,1793243023718873600
+105,1.750000000,BASELINE,765,745,714,679,659,635,878.931464211,788,805.931464211,652.931464211,631,652,0.400989732622,-0.0153985242473,0.0498598334293,0.999999967807,-3.51732989733e-05,-0.00024724371199,-4.49322677326e-05,1793243023735540224
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,714,679,660,635,879,788,806,653,631,652,0.400988788688,-0.0153981213229,0.0498583260034,0.999999967153,-3.15316368343e-05,-0.000250371755275,-4.48821568851e-05,1793243023765867264
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679,660,635,879,787.423940896,806,652.423940896,631,652,0.400989168265,-0.015398820185,0.0498591068925,0.999999967455,-3.34558678246e-05,-0.000248920290884,-4.48311255537e-05,1793243023782533888
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.848288856,745,714,679,660,635,878.848288856,787.151711144,806,652,631,652,0.400989456167,-0.0153992974747,0.0498596073819,0.999999967633,-3.52484356683e-05,-0.0002479516594,-4.48419409588e-05,1793243023799200512
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.273771141,745,714,679,660,635,878.273771141,787.726228859,806,652,631,652,0.400989488579,-0.0153991572607,0.0498593264202,0.99999996748,-3.66740695082e-05,-0.00024832864349,-4.50251181586e-05,1793243023815867136
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.690144896,714,679,659.690144896,635,878.309855104,788,805.690144896,652.309855104,631,652,0.400990014191,-0.0153993386254,0.0498597281037,0.999999967628,-3.62624878021e-05,-0.000247812169441,-4.49272629582e-05,1793243023832533504
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.098227145,714,679,659.098227145,635,878.901772855,788,805.098227145,652.901772855,631,652,0.400990988767,-0.0153998127247,0.0498607512025,0.999999968046,-3.41784795351e-05,-0.00024648237597,-4.45735825513e-05,1793243023849200128
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.48306136,714,679,659.48306136,635,879,787.51693864,805,653,631,652,0.400990433684,-0.0153994317106,0.0498603153734,0.999999967987,-3.31889704152e-05,-0.000246857497088,-4.45654457082e-05,1793243023865866752
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878.9380957,787.0619043,805,653,631,652,0.400989520823,-0.0153988429471,0.0498596134918,0.999999967794,-3.25531439743e-05,-0.00024770443144,-4.4655255148e-05,1793243023882533632
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878.361999754,787.638000246,805,653,631,652,0.400988164153,-0.0153979417717,0.0498591128124,0.999999967279,-3.30462649655e-05,-0.000249652730385,-4.49875668766e-05,1793243023899200512
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.213464585,744.786535415,714,679,660,635,878.42692917,788,805,652.786535415,631,652,0.400988851995,-0.0153983670236,0.0498593165566,0.999999967159,-3.43356808197e-05,-0.00024995401372,-4.50153299115e-05,1793243023915867392
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.787860926,744.212139074,714,679,660,635,879.575721852,788,805,652.212139074,631,652,0.400992996755,-0.0154010350351,0.0498607113593,0.999999967704,-3.69714937451e-05,-0.000247470477842,-4.45281536562e-05,1793243023932534016
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744.37324794,714,679,659.62675206,635,879.62675206,788,805.37324794,652,631,652,0.401007114135,-0.0154015753675,0.0498659745332,0.999999970226,-3.6522114381e-05,-0.000237251157316,-4.3897529e-05,1793243023949200128
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744.965071185,714,679,659.034928815,635,879.034928815,788,805.965071185,652,631,652,0.401027071517,-0.0154008697237,0.049873503039,0.999999973727,-3.42660358175e-05,-0.000222501733845,-4.31829004023e-05,1793243023965866496
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,879,788,805.457831389,652,631,652,0.401077811821,-0.0154043912856,0.0498912504201,0.999999981309,-3.46807777566e-05,-0.000185737585698,-4.10035749552e-05,1793243023982533376
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,714.117984935,679,659.117984935,635,879,788,805,652.117984935,630.882015065,652,0.401133217464,-0.0154081334258,0.0499089600592,0.999999987368,-3.54384021712e-05,-0.000149998541604,-3.88378364605e-05,1793243023999200000
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,714.692418416,679,659.692418416,635,879,788,805,652.692418416,630.307581584,652,0.401199202525,-0.0154117031969,0.0499240441044,0.999999990998,-3.68744684405e-05,-0.000123567132427,-3.70800667347e-05,1793243024015866624
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.73411181,745,714.73411181,679,659.73411181,635,879.26588819,788,805.26588819,652.73411181,630.26588819,652,0.40126854621,-0.0154155258754,0.0499347899963,0.99999999299,-3.74467121809e-05,-0.000106581274539,-3.54643363424e-05,1793243024032533248
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.161752868,745,714.161752868,679,659.161752868,635,879.838247132,788,805.838247132,652.161752868,630.838247132,652,0.401341761144,-0.0154196400625,0.0499405356009,0.999999993688,-3.70232879376e-05,-0.000100482645816,-3.40123249003e-05,1793243024049200384
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.144975085,787.572487543,805.572487543,652,631,652,0.401428953373,-0.0154255084806,0.0499422576452,0.99999999391,-3.93346938876e-05,-9.76587306066e-05,-3.31051166882e-05,1793243024065867264
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714.02276896,679,659,635,878,787,805,652.02276896,631,652,0.401522575937,-0.0154321024147,0.0499424911895,0.99999999395,-4.2655590253e-05,-9.60737334564e-05,-3.23997179217e-05,1793243024082534144
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714.601688087,679,659,635,878,787,805,652.601688087,631,652,0.401638771971,-0.0154395380595,0.0499450825254,0.999999994179,-4.43189531934e-05,-9.32402764941e-05,-3.13814577523e-05,1793243024099200512
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714.820506308,679,659.179493692,635,878.179493692,787,805,652.820506308,630.820506308,652,0.40176123778,-0.015446901404,0.0499465020965,0.99999999418,-4.57670269796e-05,-9.28552303121e-05,-3.03990021042e-05,1793243024115867392
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714.245156542,679,659.754843458,635,878.754843458,787,805,652.245156542,630.245156542,652,0.40189753096,-0.015454105296,0.0499453374525,0.999999993683,-4.67403010247e-05,-9.78699189704e-05,-2.94955100188e-05,1793243024132533760
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.662718849,635,879,787.337281151,805,652,630.337281151,652,0.402051491104,-0.0154629103893,0.0499444159199,0.999999993412,-4.82591962955e-05,-0.000100197007708,-2.84309072481e-05,1793243024149200128
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.075018565,635,879,787.924981435,805,652,630.924981435,652,0.402218568349,-0.0154729043178,0.0499436748886,0.999999993317,-5.01831958192e-05,-0.00010052865062,-2.72466854895e-05,1793243024165866752
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.508405194,635,879.508405194,787.491594806,805,652,631,652,0.402422770035,-0.0154834129755,0.0499451575003,0.999999993397,-5.38241438412e-05,-9.82027439213e-05,-2.57734475445e-05,1793243024182533632
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.910216216,635,879.910216216,787.089783784,805.089783784,652.089783784,631,652,0.402638047101,-0.0154939648907,0.0499475395126,0.999999993649,-5.68521390976e-05,-9.42634791794e-05,-2.41774492299e-05,1793243024199200512
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.336488138,635,879.336488138,787.663511862,805.663511862,652.663511862,631,652,0.402883741251,-0.0155043439996,0.049953015578,0.999999994725,-5.5222076527e-05,-8.37240802214e-05,-2.21477091825e-05,1793243024215867136
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787.763076137,805.763076137,653,631,652,0.403147052959,-0.01551420323,0.0499604768558,0.999999996082,-5.18361690551e-05,-6.91173304011e-05,-1.93006360805e-05,1793243024232533760
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787.190112478,805.190112478,653,631,652,0.40343535243,-0.0155233250926,0.0499707538494,0.999999997639,-4.59598676889e-05,-4.87416741032e-05,-1.5294302777e-05,1793243024249200384
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,678.601366609,659.398633391,635,878.601366609,787.398633391,805,652.601366609,630.601366609,652,0.403745491405,-0.0155203481523,0.0499776952081,0.999999999022,-2.58014711311e-05,-3.36663318653e-05,-1.24863532666e-05,1793243024265867008
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,678.004783783,659.995216217,635,878.004783783,787.995216217,805,652.004783783,630.004783783,652,0.404066475217,-0.0155113633077,0.0499829801899,0.999999999721,1.44898714048e-06,-2.12229678607e-05,-1.0273485465e-05,1793243024282533632
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,678.57190205,660,635,878.57190205,787.42809795,805,652,630.57190205,652,0.404435841853,-0.0155023205486,0.0499871984416,0.999999999424,3.11061658589e-05,-1.05040724869e-05,-8.55986576249e-06,1793243024299200256
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787.147932779,805.147932779,652,631,652,0.404808768105,-0.0154984330078,0.0499884578019,0.999999998459,5.4764517014e-05,-6.36477918508e-06,-6.50425442881e-06,1793243024315866624
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787.722537824,805.722537824,652,631,652,0.405190833021,-0.0155094156577,0.0499812079062,0.999999997906,6.10647485844e-05,-2.11623730934e-05,-3.45062088945e-06,1793243024332533760
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.695940724,635,879,787.695940724,805.695940724,652,631,652,0.405575353795,-0.0155162707311,0.0499670960665,0.999999996238,7.096471999e-05,-4.98654201029e-05,-1.43688355843e-06,1793243024349200384
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.107960892,635,879,787.107960892,805.107960892,652,631,652,0.405962167813,-0.0155192716104,0.0499465767685,0.999999992262,8.42260107507e-05,-9.15529237186e-05,-3.94166762638e-07,1793243024365866752
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.4734659,635,879,787,805,652,631,652,0.406413809403,-0.0155174474067,0.0499331742926,0.999999987846,0.000107961161578,-0.000112475697017,1.08517926517e-06,1793243024382533120
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.053060675,745,714,679,660,635,879,787,805.053060675,652,631,652,0.406886944134,-0.0155151422355,0.04992324278,0.999999983157,0.000133831699934,-0.000125565783178,2.92131807736e-06,1793243024399199744
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.629125394,745,714,679,660,635,879,787,805.629125394,652,631,652,0.40742821662,-0.0155187928883,0.0499317464864,0.999999981789,0.000157530972308,-0.000107484024422,7.30631278347e-06,1793243024415866368
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,714,678.795784635,659.795784635,635,879,787.204215365,805.795784635,652,631,652,0.407984992369,-0.0155220184015,0.0499465938427,0.999999980311,0.000181588987159,-7.90934657269e-05,1.21529861027e-05,1793243024432533504
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,714,678.222456522,659.222456522,635,879,787.777543478,805.222456522,652,631,652,0.408569789737,-0.015524475488,0.0499729071429,0.999999978048,0.000206295416034,-3.20700815972e-05,1.78341284901e-05,1793243024449200384
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,714,678.363355633,659.363355633,635,879,788,805,652,631,652,0.409161621299,-0.0155255339796,0.0499891162485,0.999999972895,0.000231604095401,-6.89537132023e-06,2.2859964939e-05,1793243024465867008
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,714,678.95708279,659.95708279,635,879,788,805,652,631,652,0.409757912596,-0.0155257057462,0.0499989191811,0.999999966513,0.000257294607478,4.42703430612e-06,2.74703299099e-05,1793243024482533376
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.463087599,745,714,678.463087599,660,635,879,787.463087599,805,652,631,652,0.410357017039,-0.0155275958223,0.0499858310125,0.999999959267,0.000282532132334,-2.69966781265e-05,3.02138463214e-05,1793243024499200256
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,678.116091399,659.883908601,635,878.883908601,787,805,652,631,652,0.410961283817,-0.0155286532114,0.0499683163268,0.999999949697,0.000308699240529,-6.52438288797e-05,3.24718130551e-05,1793243024515866880
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,678.697000876,659.302999124,635,878.302999124,787,805,652,631,652,0.411585342282,-0.0155258405454,0.0499402196579,0.999999935174,0.00033872961824,-0.000117475817612,3.3368088565e-05,1793243024532533248
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.271734516,745,714,679,659.271734516,635,878.271734516,787.271734516,805,652,631,652,0.4122790723,-0.0155268739818,0.0499377132314,0.999999951589,0.0002865119267,-0.000115759099409,3.65091940827e-05,1793243024549199872
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.839734856,745,714,679,659.839734856,635,878.839734856,787.839734856,805,652,631,652,0.413048763667,-0.015532100734,0.0499631072478,0.999999987131,0.000144621076426,-5.52233648417e-05,4.20977851676e-05,1793243024565866496
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,714,679,660,635,879,787.575181946,805,652,631,652,0.413786322931,-0.0155406375968,0.0499754511211,0.99999999863,2.80586591928e-05,-3.66795945388e-05,2.46506497681e-05,1793243024582533120
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.98379191,745,714,679,660,635,879,787.01620809,805.01620809,652,631,652,0.414511287577,-0.0155502933497,0.0499815002325,0.999999996568,-7.44679384718e-05,-3.62923879593e-05,-1.03289149861e-06,1793243024599200000
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.406516591,745,714,679,660,635,879,787.593483409,805.593483409,652,631,652,0.415237475271,-0.0155536424154,0.0499472125344,0.999999995029,-3.57532707565e-05,-9.30613517741e-05,1.60184486823e-06,1793243024615866624
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,678.829648262,660,635,879,788,805.829648262,652,631,652,0.415993374487,-0.0155562198814,0.0499256599716,0.999999991989,3.2150164789e-06,-0.000126431991942,5.07322996544e-06,1793243024632533248
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,678.253748872,660,635,879,788,805.253748872,652,631,652,0.416820006355,-0.0155569604393,0.0499344252951,0.999999993611,4.27870800745e-05,-0.00010409943925,1.05363816796e-05,1793243024649199872
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,678.329717158,660,635,879,787.670282842,805,652,631,651.670282842,0.417651580764,-0.0155568806665,0.0499552102075,0.999999994591,7.97094426304e-05,-6.48333572181e-05,1.61615853574e-05,1793243024665866752
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,678.919143187,660,635,879,787.080856813,805,652,631,651.080856813,0.418487048233,-0.0155561547423,0.0499854626093,0.999999993125,0.000114544708639,-1.22292143889e-05,2.19144324879e-05,1793243024682533632
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.496439686,745,714,679,660,635,879,787,805.496439686,652,631,651.496439686,0.419278996173,-0.0155533417534,0.0499736072041,0.999999989318,0.00013713247413,-4.49765828204e-05,2.31558025341e-05,1793243024699200512
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.927800345,744.927800345,714,679,660,634.927800345,879,787,805.927800345,652,631,652,0.420078323862,-0.0155508655695,0.0499584694004,0.999999984504,0.000154689161194,-8.06717854254e-05,2.35693336057e-05,1793243024715867136
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.349292198,744.349292198,714,679,660,634.349292198,879,787,805.349292198,652,631,652,0.420977923639,-0.0155530781973,0.0499672605571,0.999999987511,0.000150619891734,-4.18782472312e-05,2.32075174368e-05,1793243024732533760
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.226932345,744.226932345,714,679,660,634.226932345,879.226932345,787.226932345,805.226932345,651.773067655,631,652,0.421879430039,-0.0155560634944,0.0499781161313,0.999999988285,0.000150907850632,-9.82482100248e-06,2.36817986966e-05,1793243024749200384
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.799677089,744.799677089,714,679,660,634.799677089,879.799677089,787.799677089,805.799677089,651.200322911,631,652,0.422783841993,-0.015560226229,0.0499921175834,0.999999987149,0.000157835601228,1.19576455432e-05,2.54301726941e-05,1793243024765867008
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.612472575,745,714,679,660,635,879.612472575,787.612472575,805.612472575,651,631,652,0.423656238965,-0.0155600430716,0.0499852497951,0.999999987476,0.00015617712488,-1.84715524097e-06,2.55734712745e-05,1793243024782533376
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.016497091,745,714,679,660,635,879.016497091,787.016497091,805.016497091,651,631,652,0.424511415267,-0.0155575222916,0.0499671565999,0.999999987851,0.000149900181704,-3.47940782957e-05,2.4853411848e-05,1793243024799200000
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.563467688,660,635,879.563467688,787,805.563467688,651.563467688,631,652,0.425421600194,-0.0155601524875,0.0499825566792,0.999999988937,0.00014585522428,-1.06443247462e-05,2.7167415904e-05,1793243024815866624
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679.858570743,660,635,879.858570743,787,806,652,631,652,0.426323372357,-0.015562283185,0.0499947062028,0.999999988761,0.000146988643617,2.95305775766e-06,2.94010089864e-05,1793243024832533248
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.285333694,660,635,879.285333694,787,806,652,631,652,0.42719467749,-0.0155624411031,0.0499940199745,0.999999985898,0.00016373853137,-2.0630622507e-05,3.11253716894e-05,1793243024849199872
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.296325044,745,714,679.296325044,660,635,879.296325044,787.296325044,806,651.703674956,631,652,0.428060941286,-0.0155609484471,0.0499754774508,0.999999982318,0.000176774445264,-5.64515340692e-05,3.04558418106e-05,1793243024865866752
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.886330268,745,714,679.886330268,660,635,879.886330268,787.886330268,806,651.113669732,631,652,0.428922208691,-0.0155578199494,0.0499392380091,0.999999976852,0.000186129533346,-0.000104400451456,2.74137860155e-05,1793243024882533376
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,679.532513921,660,635,880,787.532513921,806,651.467486079,631,651.532513921,0.42984185966,-0.0155607571291,0.0499445132831,0.999999982505,0.000164576595755,-8.4488642715e-05,2.76768858528e-05,1793243024899200256
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.95378797,745,714,679.04621203,660.04621203,634.95378797,879.95378797,787,806,651.95378797,631,651.04621203,0.430768380377,-0.0155643833678,0.0499570865889,0.999999988389,0.000139521761752,-5.42244782647e-05,2.85584997509e-05,1793243024915867648
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.378702898,745,714,679.621297102,660.621297102,634.378702898,879.378702898,787,806,651.378702898,631,651.621297102,0.431614073111,-0.0155593299151,0.0499398037181,0.99999998289,0.000158800638509,-9.08133803568e-05,2.7492173502e-05,1793243024932534272
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.804049892,661,634.195950108,879.195950108,787.195950108,806,651.195950108,631.195950108,652,0.432474309429,-0.0155555013026,0.0499312564239,0.99999997829,0.000176539467458,-0.000107308035855,2.71990920708e-05,1793243024949201152
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.230229982,661,634.769770018,879.769770018,787.769770018,806,651.769770018,631.769770018,652,0.433362591715,-0.0155540346685,0.0499395547953,0.99999997768,0.00019130847498,-8.50529923582e-05,2.83971343009e-05,1793243024965867776
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.355522105,745,714,679,661,635,880,787.644477895,805.644477895,651.644477895,631.644477895,652,0.434254913917,-0.015552691606,0.0499593350035,0.999999977474,0.000203078494677,-5.3667723209e-05,3.05138183599e-05,1793243024982534144
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.949269573,745,714,679,661,635,880,787.050730427,805.050730427,651.050730427,631.050730427,652,0.435149943099,-0.0155514313454,0.0499868088672,0.999999976666,0.000212838975911,-1.61645479164e-05,3.32460583746e-05,1793243024999200256
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,744.470915034,714,679,661,634.470915034,880.529084966,787.529084966,805,651,631,651.470915034,0.435945078672,-0.0155451864132,0.0499663531909,0.99999997817,0.000193322126934,-7.23575841351e-05,3.24080070746e-05,1793243025015866624
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.893342482,744.106657518,714,679.106657518,661,634.106657518,880.893342482,788,805.106657518,651.106657518,631,651,0.436741807993,-0.0155401361124,0.0499474313627,0.999999976748,0.000177424939443,-0.000118467817465,3.14466404577e-05,1793243025032533248
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.319889461,744.680110539,714,679.680110539,661,634.680110539,880.319889461,788,805.680110539,651.680110539,631,651,0.437586356427,-0.015542352322,0.0499548197263,0.999999978209,0.000189340265556,-8.21398124801e-05,3.14053764999e-05,1793243025049199616
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+186,3.100000000,POSE1_TO_POSE2_PRESS,765.417460835,745,714,679,661,634.417460835,880.417460835,787,806,651,631,651,0.439992509524,-0.0155494535008,0.0499608961394,0.999999974843,0.000213197963096,-6.14708130398e-05,3.28829955882e-05,1793243025099200512
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.986484897,745,714,679.013515103,661,635,880.986484897,787.013515103,806,651,631,651,0.440748620334,-0.0155505559023,0.049939552586,0.999999972278,0.000215277642003,-9.00299129231e-05,3.15337539512e-05,1793243025115867136
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.41039501,745,714,679.58960499,661,635,880.41039501,787.58960499,806,651,631,651,0.441503691859,-0.0155523273623,0.0499516230667,0.999999979966,0.000185221451495,-6.83196425368e-05,3.3068908913e-05,1793243025132533504
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+190,3.166666667,POSE1_TO_POSE2_PRESS,765,744.262563368,714,680,661,634.262563368,880,787.262563368,806,651,631,651,0.442968816093,-0.0155511818361,0.0499908955064,0.999999982181,0.00018500757448,-4.86435117371e-06,3.72368860738e-05,1793243025165866496
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,744.319789411,714,679.680210589,661.639578821,634.319789411,879.680210589,787,806,651,631,651.319789411,0.4436413844,-0.0155486669257,0.0499863362686,0.999999978783,0.000201763995275,-1.67253958673e-05,3.80298154152e-05,1793243025182533376
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,744.910302868,714,679.089697132,662.820605736,634.910302868,879.089697132,787,806,651,631,651.910302868,0.444273706369,-0.0155456058106,0.0499577503379,0.999999972905,0.000218769162635,-7.01791264953e-05,3.74727168071e-05,1793243025199200000
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679.491362925,662.017274149,634.508637075,879.491362925,787.491362925,806,651,631,652,0.444903905057,-0.0155453788193,0.0499385186558,0.999999969298,0.000228615870295,-8.81879465402e-05,3.68920641501e-05,1793243025215866880
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765.221517361,744.778482639,714,679.778482639,661,634,880,787.221517361,806,651.778482639,631,652,0.446770995231,-0.0155500257917,0.0499684793637,0.999999966655,0.00025454410061,-8.04769861779e-06,4.28132960083e-05,1793243025265867008
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+198,3.300000000,POSE1_TO_POSE2_PRESS,765.620897079,744.379102921,714,679,661,634,880,787.620897079,806.379102921,651.379102921,631,651.620897079,0.447800587326,-0.0155450384223,0.0499402561979,0.99999995926,0.000276567161717,-5.64284735635e-05,4.24932243248e-05,1793243025299200000
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.025319812,744.974680188,714,679,661,634,880,787.025319812,806.974680188,651.974680188,631,651.025319812,0.448313904738,-0.0155434334146,0.0499110731422,0.99999995379,0.000283862308318,-0.000100617530708,4.14528229149e-05,1793243025315866624
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.553589487,661,634,880,787.553589487,806.446410513,652,631,651.553589487,0.448799837595,-0.0155436949155,0.0499141761707,0.99999995266,0.000290123743654,-9.348669213e-05,4.20552125543e-05,1793243025332533248
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.13087066,745,714,680,661,634,880,787.86912934,806,651.86912934,631,651.86912934,0.449275779714,-0.0155445183243,0.0499219574662,0.999999952492,0.000294462724665,-8.01957034026e-05,4.33251133704e-05,1793243025349200128
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.705143165,745,714,680,661,634,880,787.294856835,806,651.294856835,631,651.294856835,0.449721991976,-0.0155469647435,0.0499407322524,0.999999954707,0.00029244375985,-5.37537903492e-05,4.66094727919e-05,1793243025365866752
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.719838697,745,714,679.719838697,661,634,880,787,806,651.280161303,630.719838697,651,0.45014204344,-0.0155497239346,0.049953511842,0.999999962887,0.000265370023906,-3.7951668356e-05,4.8618916871e-05,1793243025382533632
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.144033754,745,714,679.144033754,661,634,880,787,806,651.855966246,630.144033754,651,0.450534488376,-0.0155528131817,0.049959964926,0.999999975787,0.000211856934208,-3.33773174449e-05,4.92829906794e-05,1793243025399200512
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714.44325813,679.44325813,661,634,880,787,806,652,630.44325813,651.44325813,0.450884065257,-0.0155542586788,0.0499522249801,0.999999986045,0.00015512465587,-5.19151820647e-05,3.39360930422e-05,1793243025415867136
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714.966304961,679.966304961,661,634,880,786.966304961,806.033695039,651.966304961,630.966304961,652,0.451216032762,-0.0155554323557,0.0499393881037,0.999999991695,0.000100952622901,-7.87873109434e-05,1.45061672373e-05,1793243025432533760
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714.386990506,679.386990506,661,634,880,786.386990506,806.613009494,651.386990506,630.386990506,652,0.451494416509,-0.0155610836101,0.0499206844843,0.999999987601,0.000105627557411,-0.00011576870613,1.54475536296e-05,1793243025449200128
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.189878024,745,714,679.189878024,661,634,880,786.189878024,807,651.189878024,630,651.810121976,0.451764364904,-0.0155646905168,0.0499030984044,0.999999982504,0.000111700112377,-0.000149179295358,1.61607068238e-05,1793243025465867008
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.761824843,745,714,679.761824843,661,634,880,786.761824843,807,651.761824843,630,651.238175157,0.452017339815,-0.0155641838269,0.0498877610175,0.999999977211,0.000120584931141,-0.000175404775376,1.64146136162e-05,1793243025482533632
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.65514716,745,714.34485284,680,661,634,880,786.65514716,807,652,630,651.34485284,0.452263928192,-0.0155621286829,0.0498823367957,0.999999974416,0.000132083239018,-0.000182807076762,1.74050482312e-05,1793243025499200512
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.064211718,745,714.935788282,680,661,634,880,786.064211718,807,652,630,651.935788282,0.452505959245,-0.0155589685816,0.0498839864809,0.999999973619,0.000145446500452,-0.000176777399848,1.89210597687e-05,1793243025515867392
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714.482287585,680,661,633.482287585,880.517712415,786,807,652,630.517712415,652,0.452726589035,-0.0155591766821,0.0498877621019,0.99999997445,0.000149183629092,-0.0001686451906,2.009411082e-05,1793243025532533760
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.097476722,745,714.097476722,680,661,633.097476722,880.902523278,786.097476722,806.902523278,652,630.902523278,652,0.452936932303,-0.0155597922566,0.0498909288601,0.999999975058,0.000152428586219,-0.000161861360964,2.12314896837e-05,1793243025549200384
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.672046884,745,714.672046884,680,661,633.672046884,880.327953116,786.672046884,806.327953116,652,630.327953116,652,0.453109698424,-0.0155603924824,0.0498898470985,0.999999973834,0.000159008264128,-0.000162931601361,2.23989078707e-05,1793243025565867008
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.75413132,745,714.75413132,680,660.75413132,634,880,786.75413132,806.24586868,652,630,651.75413132,0.453266171454,-0.0155605564718,0.0498866086523,0.999999972073,0.00016452701898,-0.000168084779964,2.30520196358e-05,1793243025582533632
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.181304741,745,714.181304741,680,660.181304741,634,880,786.181304741,806.818695259,652,630,651.181304741,0.453400977807,-0.0155601403509,0.0498805022318,0.999999969555,0.000168634950491,-0.000178667478427,2.30212030343e-05,1793243025599200256
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.408249161,634,880,786.408249161,807,652,630,651.408249161,0.453517274069,-0.015561357452,0.0498724827327,0.999999967114,0.000169913804671,-0.000190682301789,2.32759994197e-05,1793243025615867136
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,880,786.994654847,806.994654847,651.994654847,630,652,0.453624820468,-0.0155632841971,0.0498635887059,0.99999996461,0.000169909359408,-0.000203349786533,2.36503328418e-05,1793243025632533760
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,880,786.41930587,806.41930587,651.41930587,630,652,0.453713357025,-0.0155602347744,0.0498559076543,0.99999996173,0.000172760832661,-0.000214895180651,2.26678142717e-05,1793243025649200384
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.156220442,745,714,680,661,634,880,786,806,651,630,652,0.453797578362,-0.0155586522329,0.0498500531109,0.999999959583,0.000174820252285,-0.000223129183797,2.20334516907e-05,1793243025665867008
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.732223185,745,714,680,661,634,880,786,806,651,630,652,0.453870204193,-0.0155610113707,0.0498491066059,0.999999959736,0.000174751332284,-0.000222465096678,2.23346244691e-05,1793243025682533632
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.685314634,745,714.314685366,680,661,633.685314634,880,786,806.314685366,651,630,652,0.453932143349,-0.0155635519318,0.0498479778644,0.999999960044,0.000172767491614,-0.000222589284434,2.27253706457e-05,1793243025699200256
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.097240633,745,714.902759367,680,661,633.097240633,880,786,806.902759367,651,630,652,0.453984798269,-0.0155662501079,0.0498466908016,0.999999960477,0.000169120028779,-0.000223398300248,2.31939353747e-05,1793243025715866880
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.485671738,745,714.514328262,680,661,633.485671738,880,786,806.514328262,651,630,652,0.454023622347,-0.0155666770424,0.0498446489427,0.999999959459,0.000169578756608,-0.000227575756527,2.31125761879e-05,1793243025732533504
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745,714.066584795,680,661,633.933415205,880,786,806.066584795,651.066584795,630,652,0.454058476699,-0.0155662722772,0.0498425921195,0.999999958208,0.000170988653246,-0.0002319960746,2.2922444148e-05,1793243025749199872
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,714.640062574,680,661,633.359937426,880,786,806.640062574,651.640062574,630,652,0.454083970048,-0.0155629614501,0.0498415597493,0.999999957512,0.00017344665561,-0.000233185004954,2.27336397172e-05,1793243025765866496
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,714.781397622,680,661,633,880,786,807,651.781397622,630,652,0.454105330739,-0.0155612804331,0.0498399292824,0.999999956715,0.0001750508714,-0.000235409316157,2.25902093954e-05,1793243025782533376
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,714.194325452,680,661,633,880,786,807,651.194325452,630,652,0.454119725543,-0.0155623465766,0.0498372906811,0.999999955745,0.000175215969299,-0.000239378835047,2.25232603594e-05,1793243025799200000
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.612272196,745,714,680,661,633,880,786,806.612272196,651,630,652,0.454129665558,-0.0155625429535,0.0498355360277,0.999999954996,0.000174378920869,-0.000243100584854,2.24243631044e-05,1793243025815866624
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765.545485716,745,714,680,660.454514284,633,880,786,806.545485716,651,630,651.454514284,0.454142841577,-0.015561171946,0.049833483421,0.999999954337,0.000172892810962,-0.000246847988358,2.23617134861e-05,1793243025849199872
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.879324865,745,714,680,660.120675135,633,880,786,807,651,630,651.120675135,0.454146694268,-0.0155600950973,0.0498326062987,0.999999954159,0.000172666422828,-0.000247733823367,2.22797686267e-05,1793243025865866240
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.314858998,745,714,680,660.685141002,633,880,786,807,651,630,651.685141002,0.454145213757,-0.0155594381906,0.049831079697,0.999999953213,0.0001719115012,-0.000252091097507,2.16683568168e-05,1793243025882533120
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633.265542436,880,786,807,651,630,652,0.454145669979,-0.0155592379387,0.0498298296143,0.999999952674,0.000171626440379,-0.000254431827273,2.14519371606e-05,1793243025899199744
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633.866045389,880,786,807,651,630,652,0.454148569235,-0.0155596137202,0.049828928338,0.999999952667,0.00017193407124,-0.000254228848411,2.17337683892e-05,1793243025915866624
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.450497055,714.450497055,680,661,633.549502945,880,786,807,651,630,652,0.454149124791,-0.015559201151,0.0498284598505,0.999999952341,0.00017264293886,-0.000255030965801,2.17108675141e-05,1793243025932532992
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.969892302,715,680,661,633,880,786,806.969892302,651.030107698,630,652,0.454149036055,-0.015558542387,0.0498281596477,0.999999951944,0.000173447832163,-0.00025604748975,2.160583242e-05,1793243025949199872
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.394490156,715,680,661,633,880,786,806.394490156,651.605509844,630,652,0.454149465807,-0.0155575242022,0.0498286567686,0.999999951949,0.000173905407003,-0.000255720596061,2.15978741638e-05,1793243025965866496
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714.820597407,680,661,633,880,786,806,652,629.820597407,652,0.454149802983,-0.0155571325667,0.0498287564104,0.999999952069,0.000172972791209,-0.000255892508401,2.14802318236e-05,1793243025982533120
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714.249996029,680,661,633,880,786,806,652,629.249996029,652,0.454149938291,-0.015558107162,0.0498279893242,0.999999952431,0.000169008776114,-0.000257152099091,2.11234163482e-05,1793243025999199744
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.333704661,745,714.333704661,680,661,633.333704661,880.333704661,785.666295339,806.333704661,651.666295339,629.333704661,652,0.454150286515,-0.0155584047943,0.0498275349967,0.999999952574,0.000167394846708,-0.000257656513659,2.10680547921e-05,1793243026015866624
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.927619674,745,714.927619674,680,661,633.927619674,880.927619674,785.072380326,806.927619674,651.072380326,629.927619674,652,0.454150800764,-0.0155581745562,0.0498273245467,0.999999952555,0.000167613425981,-0.000257572070215,2.1247755689e-05,1793243026032533504
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633,880,786,807,651,630,652,0.454147344747,-0.0155565666169,0.0498236342258,0.999999951278,0.000167254890828,-0.000262776861619,2.04335436361e-05,1793243026065866496
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633,880,786,807,651,630,652,0.454148378277,-0.0155539225695,0.0498241125928,0.999999950672,0.000172098468846,-0.00026195549901,2.04237298065e-05,1793243026082533120
+246,4.100000000,HOLD_POSE2,765,745,715,680,661,633,880,786,806,651,629,652,0.454148095374,-0.0155557265671,0.0498243363549,0.999999950745,0.000171557890122,-0.00026206260731,2.00380303787e-05,1793243026120677888
+247,4.116666667,HOLD_POSE2,765,745,714.420277342,680.579722658,661,633.579722658,880,786,806.579722658,651,629.579722658,652,0.454149328341,-0.0155537433735,0.0498253997582,0.999999950742,0.000173071741286,-0.000261081879384,1.99781480003e-05,1793243026137344512
+248,4.133333333,HOLD_POSE2,765,745.158943039,714,680.841056961,661,633.841056961,880,786,807,651,629.841056961,652,0.45414987306,-0.0155522673924,0.0498255920797,0.999999950551,0.00017418117947,-0.000261079024212,1.98987617065e-05,1793243026154011136
+249,4.150000000,HOLD_POSE2,765,745.736839605,714,680.263160395,661,633.263160395,880,786,807,651,629.263160395,652,0.454148603644,-0.0155521283583,0.0498234883409,0.999999949871,0.000174224637078,-0.00026365371637,1.97679655721e-05,1793243026170677760
+250,4.166666667,HOLD_POSE2,765.31400381,745.68599619,714,680,660.68599619,633,880.31400381,786,806.68599619,651,629.31400381,652,0.454148139509,-0.0155523538809,0.0498225913614,0.999999949638,0.000173827703032,-0.00026479575346,1.97997386164e-05,1793243026187344384
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+256,4.266666667,HOLD_POSE2,765,744.79352872,714.79352872,680,660.79352872,633.20647128,880.20647128,786,807,652,630,652,0.454148143463,-0.0155532471717,0.0498225372255,0.9999999496,0.000171422769066,-0.000266474153485,2.01546129727e-05,1793243026287344384
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+258,4.300000000,HOLD_POSE2,765.943391016,745,715,680,661,633,880,786,806.056608984,651.056608984,630,652,0.454149459431,-0.0155557469844,0.0498218184717,0.999999950626,0.000168402481868,-0.000264486661437,2.08461685261e-05,1793243026320679680
+259,4.316666667,HOLD_POSE2,766,745,715,680,661,633,880,786,806.534661159,651,630,652,0.454148917146,-0.0155542929638,0.0498214925356,0.999999949893,0.000170402379803,-0.000266008938748,2.04252520892e-05,1793243026337345792
+260,4.333333333,HOLD_POSE2,765.875237956,745,714.875237956,680,661,633,880,786,807,651,630,652,0.454148510391,-0.0155531456254,0.0498213926745,0.999999949338,0.000171595874947,-0.000267353420558,2.00051068903e-05,1793243026354011648
+261,4.350000000,HOLD_POSE2,765.295793095,745,714.295793095,680,661,633,880,786,807,651,630,652,0.454149145143,-0.0155543442077,0.049822052675,0.999999950053,0.000168019280415,-0.000266958617773,1.98976906875e-05,1793243026370678272
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633,880,786,806,651,629,652,0.454148386536,-0.015556895753,0.0498200879999,0.999999949921,0.000166625028546,-0.0002682876153,2.04012247362e-05,1793243026408276736
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.589853649,745,714,680,661,633.589853649,879.410146351,786,806,651,629.589853649,652,0.454149156787,-0.0155563654395,0.0498207423683,0.999999950321,0.0001653513962,-0.000267600539453,2.0178031259e-05,1793243026424943360
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,661,633.823064316,879.176935684,786,806,651.176935684,630,651.823064316,0.454149482648,-0.0155554803263,0.0498211896068,0.999999950444,0.000165026710188,-0.000267360138409,1.99408539081e-05,1793243026441609984
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,661,633.242307828,879.757692172,786,806,651.757692172,630,651.242307828,0.454148794277,-0.0155537854525,0.0498211641121,0.999999949935,0.000166867806783,-0.000268139184373,1.96717610795e-05,1793243026458276608
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,660.665093046,633,879.665093046,786,806,652,630,651.334906954,0.454147889242,-0.0155535660313,0.0498205229228,0.999999949546,0.00016765090061,-0.00026910215572,1.9638454245e-05,1793243026474942976
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,660.090413935,633,879.090413935,786,806,652,630,651.909586065,0.45414682909,-0.0155544029408,0.0498194409353,0.999999949244,0.000167676531389,-0.00027019680594,1.97739552571e-05,1793243026491609344
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.519229456,745,714,680,660.961541088,633,879.480770544,786,806,651.519229456,629.519229456,652,0.454147201077,-0.0155532552101,0.0498194132807,0.999999949236,0.000168069503463,-0.000270000399655,1.94847631114e-05,1793243026508276224
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,661.946404529,633,880,786,806.053595471,651.053595471,629,652,0.454147793645,-0.0155521099203,0.0498197116231,0.999999949348,0.000168267402858,-0.000269483956149,1.92115453769e-05,1793243026524942848
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,661.350373225,633,880,786,806.649626775,651.649626775,629,652,0.454147912496,-0.0155547395318,0.049821317078,0.999999950101,0.000165796853829,-0.000268168033941,1.99025083389e-05,1793243026541609472
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.238834447,745,714.238834447,680,661,633.238834447,880,786,807,651.761165553,629.238834447,652,0.454142965256,-0.015554939855,0.0498194652617,0.999999949156,0.00016581828662,-0.000271656211771,1.9859682801e-05,1793243026558276096
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.818309769,745,714.818309769,680,661,633.818309769,880,786,807,651.181690231,629.818309769,652,0.454130792434,-0.0155516753727,0.0498126824653,0.999999945716,0.000169393942556,-0.000281996302681,1.87702813792e-05,1793243026574942720
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.604868873,745,715,679.604868873,661,633.604868873,880,786,806.604868873,651,630,652,0.454102400325,-0.0155495913264,0.0497985734175,0.999999938976,0.000169600805059,-0.000304931893909,1.73389025541e-05,1793243026591609344
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.029259677,745,715,679.029259677,661,633.029259677,880,786,806.029259677,651,630,652,0.454066599976,-0.0155480464496,0.049781118068,0.999999930067,0.000168268954929,-0.000333620542043,1.57513237754e-05,1793243026608275968
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.556798626,745,715,679.556798626,661,633.556798626,880.556798626,786,806.556798626,651,629.443201374,652,0.454007652154,-0.0155449797346,0.0497580093196,0.999999915409,0.000169113056583,-0.000374694709767,1.3649541129e-05,1793243026624942848
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.858288461,745,714.858288461,680,661,633.858288461,880.716576922,785.858288461,807,651,629.141711539,652,0.453944443883,-0.0155415148373,0.0497355883068,0.999999900709,0.000170003963299,-0.000411763065692,1.14771264514e-05,1793243026641609472
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.278644353,745,714.278644353,680,661,633.278644353,879.557288707,785.278644353,807,651,629.721355647,652,0.453871900426,-0.0155370712986,0.0497162282482,0.999999891039,0.000170679390613,-0.000434402416088,9.17153777209e-06,1793243026658276096
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.29976234,680,661,633,879.29976234,785.29976234,806.70023766,651,630,652,0.453796762259,-0.0155330116986,0.049705834878,0.999999885202,0.000172296793927,-0.000447043105389,7.85286484606e-06,1793243026674942720
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714.877023489,680,661,633,879.877023489,785.877023489,806.122976511,651,630,652,0.453719222097,-0.0155293075223,0.049703742236,0.999999883255,0.000174786212128,-0.000450427739045,7.4478089798e-06,1793243026691609600
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.452086402,745,715,680,661,633.452086402,880,786,806,651,630,652,0.453624894923,-0.0155241209905,0.0497038482762,0.999999882342,0.000177627558246,-0.000451343364196,7.29286522129e-06,1793243026708276224
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.972693767,744.972693767,715,680,660.972693767,634,880,786,806.027306233,651,630,651.972693767,0.453525034845,-0.0155184122014,0.0497047278181,0.99999988181,0.000180632343757,-0.000451330627868,7.19209560265e-06,1793243026724942592
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.381957423,744.381957423,715,680,660.381957423,634,880,786,806.618042577,651,630,651.381957423,0.453404776239,-0.0155102071763,0.0497092865719,0.999999883419,0.000185043758372,-0.000445953283431,6.81210749925e-06,1793243026741609472
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,744.20486292,715,680,660,634,880,786,807,651,630,651.20486292,0.453272968543,-0.0155016069515,0.0497142993424,0.999999885043,0.000189232065644,-0.000440527672769,6.40482971978e-06,1793243026758276096
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,744.784518941,715,680,660,634,880,786,807,651,630,651.784518941,0.453120032004,-0.0154922837169,0.049720142728,0.999999886737,0.000193012201487,-0.000435013760508,5.94762600078e-06,1793243026774942720
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,744.638152722,715,680,660.361847278,634,880,786,807,651,630,652,0.452946431209,-0.0154816074285,0.0497238151308,0.999999886505,0.000197722464146,-0.000433435551993,5.43125709089e-06,1793243026791609600
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,744.062201613,715,680,660.937798387,634,880,786,807,651,630,652,0.452760603427,-0.0154701305418,0.0497262029707,0.999999885128,0.000202983080108,-0.000434186085759,4.87988029075e-06,1793243026808276224
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,744.52324973,714.47675027,680,661,633.47675027,880,786.52324973,806.47675027,651,630,652,0.452552284696,-0.0154620156661,0.0497305704234,0.999999885499,0.000204286408398,-0.000432723635086,4.45231628555e-06,1793243026824942848
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633.108510291,880.108510291,786.891489709,806,651,630,651.891489709,0.452331842506,-0.0154540754147,0.0497343539873,0.999999885759,0.000204785900269,-0.000431891430514,3.84322453253e-06,1793243026841609472
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633.687951103,880.687951103,786.312048897,806,651,630,651.312048897,0.452070602899,-0.0154451264356,0.0497345632985,0.99999988462,0.000203876152571,-0.000434957294793,2.38125100654e-06,1793243026858276096
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633.733158598,880.466317197,786,806,651.266841402,630.266841402,651,0.451787441259,-0.0154355675977,0.0497341203775,0.999999883986,0.00020283082937,-0.000436906176329,5.1226688523e-07,1793243026874942976
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633.15491079,879.30982158,786,806,651.84508921,630.84508921,651,0.451478696417,-0.0154252970495,0.0497329162955,0.999999883946,0.000201627288347,-0.000437551528395,-1.83170231286e-06,1793243026891609856
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633.420043389,879,786.420043389,806,651.579956611,630.579956611,651.420043389,0.451154354619,-0.0154240607997,0.0497317222834,0.99999988749,0.000191814018186,-0.000433835969779,-3.74628807056e-06,1793243026908276480
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633.993792324,879,786.993792324,806,651.006207676,630.006207676,651.993792324,0.450824305467,-0.0154261304509,0.0497305319563,0.999999892174,0.000178850208911,-0.00042852463269,-5.50375044516e-06,1793243026924943104
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,744.416642045,714,680,661.583357955,634,879.583357955,787,806.583357955,651,630,652,0.450484766187,-0.01543123194,0.0497477417246,0.999999910204,0.000159162529506,-0.000392715652141,-5.76893046116e-06,1793243026941609472
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.170116244,744,714,680,661.659767513,634,880,787,806.829883756,651,630.170116244,652,0.45012766816,-0.015432675123,0.0497652835788,0.999999925659,0.00014435417301,-0.000357495004997,-6.36816341294e-06,1793243026958276096
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.749700787,744,714,680,660.500598427,634,880,787,806.250299213,651,630.749700787,652,0.449728556284,-0.0154252329745,0.0497831403332,0.999999937315,0.000141467328351,-0.000324493397813,-7.81074656507e-06,1793243026974942720
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.67217487,744.32782513,714,680,660.32782513,634.32782513,880,786.67217487,806.32782513,651.32782513,631,652,0.449291001378,-0.0154160180662,0.0497973195692,0.999999945329,0.000137166489661,-0.000300721258696,-9.65290549493e-06,1793243026991609344
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.095160404,744.904839596,714,680,660.904839596,634.904839596,880,786.095160404,806.904839596,651.904839596,631,652,0.448824224773,-0.0154054556311,0.0498087034192,0.999999950928,0.000131790833079,-0.000283964701038,-1.17987936511e-05,1793243027008275968
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.652858097,744.652858097,714,679.652858097,661,634,880.652858097,787,806.347141903,651,631.305716194,652,0.447242937537,-0.0153870672634,0.0497844438464,0.999999946227,9.58725503909e-05,-0.000312788801604,-2.27429697324e-05,1793243027058277120
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.768258081,745,714,680,661,634,880.768258081,787,806,651,631.768258081,651.768258081,0.446645586984,-0.0153847784958,0.0497638215153,0.999999937031,7.58520610645e-05,-0.000345586991243,-2.7474473731e-05,1793243027074943488
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1352e09b68645bd1165a09e9cc353303741b5a4b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_04/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eecff528b8b2fab8aad0e78c59fe97b1f1b0cdaa
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5667d85441d9a111fcaf95e8a6c3bf0aee712d6da7a40963fa23802682adcbe
+size 25926968
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0a811fe9da331570220e8d69f0e821eee9544c2c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_05/franka_data.csv
@@ -0,0 +1,410 @@
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+59,0.983333333,BASELINE,765,744.766103398,714.766103398,679,659.233896602,635,879,788,805,652,631,652,0.400984588148,-0.0154004179898,0.0498539949102,0.99999996645,-1.21158601128e-05,-0.000255080988823,-4.34295766148e-05,1793243029918254592
+60,1.000000000,BASELINE,765,744.17494647,714.17494647,679,659.82505353,635,879,788,805,652,631,652,0.400982750822,-0.0153991631145,0.0498534715356,0.999999966028,-1.23466215257e-05,-0.000256633759337,-4.39437461379e-05,1793243029934920960
+61,1.016666667,BASELINE,765,744,714,679,660,635,879,788,805.407714477,652.407714477,631,652,0.40098276139,-0.0153985611781,0.0498535610133,0.999999966052,-1.0793665901e-05,-0.000256601588985,-4.40003481469e-05,1793243029951587328
+62,1.033333333,BASELINE,765,744,714,679,660,635,879,788,805.986804257,652.986804257,631,652,0.400983548686,-0.0153982336926,0.0498539080922,0.999999966259,-8.49095751506e-06,-0.000255903217712,-4.38646200112e-05,1793243029968253952
+63,1.050000000,BASELINE,765,744.562706249,714.562706249,679,660,635,879,788,806,653,631,652,0.400984425977,-0.0153977074086,0.0498539758832,0.99999996633,-9.15729544626e-06,-0.000255556201879,-4.41352522983e-05,1793243029984920832
+64,1.066666667,BASELINE,765,745,714.861581106,679,660,635,879,788,805.861581106,653,631.138418894,652,0.400985044438,-0.0153971989173,0.0498541035424,0.999999966451,-9.74251130574e-06,-0.000255027953588,-4.43046312085e-05,1793243030001587456
+65,1.083333333,BASELINE,765,745,714.286231533,679,660,635,879,788,805.286231533,653,631.713768467,652,0.400984839257,-0.0153967612228,0.0498544407375,0.999999966745,-9.85311764028e-06,-0.00025390176806,-4.41244847035e-05,1793243030018254336
+66,1.100000000,BASELINE,765,745,714,679,659.703112965,635,879,788,805,653,631.703112965,652,0.400984533241,-0.0153969586631,0.0498542935427,0.999999966629,-9.18888666489e-06,-0.000254446478947,-4.37540458747e-05,1793243030034920960
+67,1.116666667,BASELINE,765,745,714,679,659.112302999,635,879,788,805,653,631.112302999,652,0.400984127394,-0.0153977848972,0.0498536667942,0.999999966104,-7.75755431001e-06,-0.000256645404169,-4.31952146016e-05,1793243030051587840
+68,1.133333333,BASELINE,765,745,714.469260099,679,659.469260099,635,879,788,805,653,631,652,0.40098523895,-0.0153980289013,0.0498545483809,0.999999966557,-7.71465703973e-06,-0.000254833766504,-4.34212849501e-05,1793243030068254464
+69,1.150000000,BASELINE,765,745,714.951868382,679,659.951868382,635,879.048131618,788,805.048131618,653,631,652,0.400986516413,-0.0153981458822,0.0498556511818,0.999999967158,-8.20320880293e-06,-0.000252382956481,-4.38194341388e-05,1793243030084920832
+70,1.166666667,BASELINE,765,745,714.378685,679,659.378685,635,879.621315,788,805.621315,653,631,652,0.400985718839,-0.0153983678382,0.0498553054861,0.999999966906,-1.09344820432e-05,-0.000253227494096,-4.4085224558e-05,1793243030101587456
+71,1.183333333,BASELINE,765,745,714,679,659.199963794,635,879.800036206,788,806,652.800036206,631,652,0.400985255483,-0.0153984090177,0.0498550183508,0.999999966724,-1.15305070069e-05,-0.000253908503315,-4.41440787136e-05,1793243030118254080
+72,1.200000000,BASELINE,765,745,714,679,659.789253756,635,879.210746244,788,806,652.210746244,631,652,0.40098544284,-0.0153980982285,0.0498548452317,0.999999966682,-7.96923971781e-06,-0.000254271125628,-4.38000314666e-05,1793243030134920704
+73,1.216666667,BASELINE,765,745,714,679,659.627588079,635,879,788,805.627588079,652.372411921,631,652,0.400985372493,-0.0153978359204,0.0498544950171,0.999999966586,-7.07499756314e-06,-0.000254688567231,-4.3731044214e-05,1793243030151587584
+74,1.233333333,BASELINE,765,745,714,679,659.047843697,635,879,788,805.047843697,652.952156303,631,652,0.400985158674,-0.0153976006031,0.0498540462085,0.999999966463,-7.66556546288e-06,-0.000255136528295,-4.38151908173e-05,1793243030168254720
+75,1.250000000,BASELINE,765,744.472133064,714.527866936,679,659,635,879,788,805.527866936,653,631,652,0.400984585441,-0.0153982057315,0.0498538276049,0.999999966375,-9.36113655923e-06,-0.00025539214671,-4.40114809335e-05,1793243030184921088
+76,1.266666667,BASELINE,765,744.102974557,714.897025443,679,659.102974557,635,879,787.897025443,806,653,631,652,0.400984230375,-0.0153985376115,0.0498538362194,0.999999966361,-1.06625252173e-05,-0.000255366555869,-4.41840922689e-05,1793243030201587712
+77,1.283333333,BASELINE,765,744.676983502,714.323016498,679,659.676983502,635,879,787.323016498,806,653,631,652,0.40098502115,-0.0153972737757,0.0498547894748,0.999999966684,-9.7061598779e-06,-0.000254133774672,-4.42022488131e-05,1793243030218254336
+78,1.300000000,BASELINE,765,745,714,679,659.740834854,635,878.740834854,787.259165146,805.740834854,653,630.740834854,652,0.400984853959,-0.015396584554,0.0498549076199,0.999999966652,-8.51837844819e-06,-0.000254302872172,-4.41985812866e-05,1793243030234920960
+79,1.316666667,BASELINE,765,745,714,679,659.148135342,635,878.148135342,787.851864658,805.148135342,653,630.148135342,652,0.400983453906,-0.0153966348361,0.0498539510142,0.999999966161,-7.03277456563e-06,-0.000256276127183,-4.41668271208e-05,1793243030251587584
+80,1.333333333,BASELINE,765,745,714,679,659.868931522,635,878.434465761,788,805.434465761,653,630.434465761,652,0.400982951623,-0.015397846164,0.0498534358505,0.999999965992,-9.20476848066e-06,-0.000256882337139,-4.40854798453e-05,1793243030268253952
+81,1.350000000,BASELINE,765,744.986411882,714,679,660.972823765,635,878.986411882,788,805.986411882,653,631,652,0.400982798669,-0.0153993984863,0.049853114439,0.999999965941,-1.24798259064e-05,-0.000256959690136,-4.39792947819e-05,1793243030284920832
+82,1.366666667,BASELINE,765,744.411988717,714,679,659.823977433,635,878.411988717,788,805.411988717,653,631,652,0.400984716801,-0.0153990570209,0.0498547187555,0.999999966732,-1.09793934766e-05,-0.000254010120931,-4.35300150492e-05,1793243030301587968
+83,1.383333333,BASELINE,765,744.166436874,714,679,659.166436874,635,878.166436874,787.833563126,805,653,631,652,0.400985999733,-0.0153985303895,0.0498558396957,0.999999967229,-9.68120593711e-06,-0.000252137843486,-4.32972215018e-05,1793243030318254592
+84,1.400000000,BASELINE,765,744.755014095,714,679,659.755014095,635,878.755014095,787.244985905,805,653,631,652,0.400985671582,-0.0153975341146,0.0498557346304,0.999999967005,-8.89597969542e-06,-0.0002529979426,-4.36135102285e-05,1793243030334920960
+85,1.416666667,BASELINE,765,745,714,679,660,635,879,787.338412166,805.338412166,652.661587834,631,652,0.400985196824,-0.0153972126141,0.049855247448,0.999999966782,-7.36734703356e-06,-0.000253918514486,-4.36701320049e-05,1793243030351587584
+86,1.433333333,BASELINE,765,745,714,679,660,635,879,787.918117388,805.918117388,652.081882612,631,652,0.400984617532,-0.015397372238,0.0498544878103,0.999999966556,-5.30865425767e-06,-0.000254882204333,-4.35416072504e-05,1793243030368254208
+87,1.450000000,BASELINE,765,744.50346297,714,678.50346297,659.50346297,635,879,788,805.50346297,652.49653703,631,652,0.400984275476,-0.0153966200749,0.0498540777118,0.999999966429,-4.72683050211e-06,-0.000255376266338,-4.36251168843e-05,1793243030384921088
+88,1.466666667,BASELINE,765,744.073983868,714,678.073983868,659.073983868,635,879,787.926016132,805,652.926016132,631,652,0.400984163687,-0.0153960416116,0.0498538851332,0.999999966375,-4.76412003301e-06,-0.000255566913852,-4.37254345917e-05,1793243030401587712
+89,1.483333333,BASELINE,765,744.64630246,714,678.64630246,659.64630246,635,879,787.35369754,805,652.35369754,631,652,0.400985340084,-0.0153976433111,0.0498547704535,0.999999966701,-7.3353586461e-06,-0.000254234147314,-4.37040535635e-05,1793243030418254336
+90,1.500000000,BASELINE,765,745,714,679,659.774278172,635,879,787,805.225721828,652,631,652,0.400985436449,-0.0153984985146,0.0498548613473,0.999999966783,-9.09482820419e-06,-0.00025382794461,-4.38435827489e-05,1793243030434920960
+91,1.516666667,BASELINE,765,745,714,679,659.183370825,635,879,787,805.816629175,652,631,652,0.400983785479,-0.0153981459943,0.049853666973,0.999999966483,-9.54097169343e-06,-0.000254920789338,-4.42434415676e-05,1793243030451587840
+92,1.533333333,BASELINE,765,745,714,678.599261426,659,635,879,787.400738574,806,652.400738574,630.599261426,652,0.400983738137,-0.015398058224,0.0498538203908,0.999999966444,-1.01396275835e-05,-0.000255084649606,-4.40638387134e-05,1793243030468254464
+93,1.550000000,BASELINE,765,745,714,678.01821071,659,635,879,787.98178929,806,652.98178929,630.01821071,652,0.400984412346,-0.0153980895777,0.0498545802469,0.999999966521,-1.08069063992e-05,-0.000254830513825,-4.36235073723e-05,1793243030484921344
+94,1.566666667,BASELINE,765,744.443380373,714,678.556619627,659.556619627,635,879,788,805.443380373,652.443380373,630.556619627,652,0.400984779601,-0.0153991895114,0.049854748836,0.999999966656,-1.07546386901e-05,-0.000254306835126,-4.35849672172e-05,1793243030501587968
+95,1.583333333,BASELINE,765,744.131146213,714,679,659.868853787,635,879,788,805,652.131146213,631,652,0.400985063536,-0.0153998771893,0.0498547671982,0.999999966723,-1.02174453496e-05,-0.000254063840656,-4.3600760156e-05,1793243030518254336
+96,1.600000000,BASELINE,765,744.705326722,714,679,659.294673278,635,879,788,805,652.705326722,631,652,0.400985099545,-0.0153990554001,0.0498543426944,0.999999966549,-8.1207374694e-06,-0.000254798506552,-4.37561834389e-05,1793243030534920960
+97,1.616666667,BASELINE,765.288017879,745,714.288017879,679,659,635,879,788,805,652.711982121,631,651.711982121,0.40098472031,-0.0153984066112,0.0498544822458,0.999999966378,-7.66187816439e-06,-0.000255460045589,-4.38871069775e-05,1793243030551587584
+98,1.633333333,BASELINE,765.879681436,745,714.879681436,679,659,635,879,788,805,652.120318564,631,651.120318564,0.400983903299,-0.0153979402096,0.0498552164581,0.999999966213,-8.92973693631e-06,-0.000256044489876,-4.39922014106e-05,1793243030568254464
+99,1.650000000,BASELINE,765.540030772,744.540030772,715,678.540030772,659,635,878.540030772,787.540030772,805,652.459969228,631,651.459969228,0.400985176201,-0.015398026097,0.0498557537502,0.999999966753,-9.18850785374e-06,-0.000253921612679,-4.3959200536e-05,1793243030584921088
+100,1.666666667,BASELINE,765,744.03726908,714.96273092,678.03726908,659,635,878.03726908,787,805,652.96273092,631,651.96273092,0.400986795208,-0.0153982550946,0.0498561583887,0.999999967396,-9.17745590541e-06,-0.000251391749659,-4.38852660107e-05,1793243030601587712
+101,1.683333333,BASELINE,765,744.613353317,714.386646683,678.613353317,659,635,878.613353317,787,805,652.386646683,631,651.386646683,0.400985705186,-0.0153985148751,0.0498553719295,0.999999967007,-8.98949430589e-06,-0.000252969278904,-4.37291763818e-05,1793243030618254592
+102,1.700000000,BASELINE,765,745,714,679,659,635,879,787.193473735,805,652,631,651.193473735,0.400985178339,-0.0153987275721,0.0498550451367,0.999999966796,-8.97208855646e-06,-0.000253811801734,-4.3671700258e-05,1793243030634920960
+103,1.716666667,BASELINE,765,745,714,679,659,635,879,787.781832021,805,652,631,651.781832021,0.400985800948,-0.0153988441704,0.0498556565342,0.999999966953,-9.30279142759e-06,-0.000253154158577,-4.38154966921e-05,1793243030651587328
+104,1.733333333,BASELINE,765,745,714,679,659,635,878.635645286,788,805,652,631,652,0.400984584965,-0.0153990156471,0.049854586086,0.999999966564,-9.53723821584e-06,-0.000254683094876,-4.37874396251e-05,1793243030668253952
+105,1.750000000,BASELINE,765,745,714,679,659,635,878.056561688,788,805,652,631,652,0.400982285426,-0.0153992194658,0.0498525244587,0.999999965846,-9.71495745519e-06,-0.000257500670313,-4.36581023924e-05,1793243030684920576
+106,1.766666667,BASELINE,765,745,714,679,659,635,878.520317641,788,805,652,631,652,0.400983120557,-0.0153994779185,0.049853735497,0.99999996617,-1.00264733539e-05,-0.000256230841315,-4.36433225006e-05,1793243030701587456
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,878,788,806,652,630,652,0.400983240511,-0.0153978280927,0.0498540985422,0.999999966191,-6.3903524316e-06,-0.000256261936261,-4.36792505134e-05,1793243030744435712
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.41018549,745,714,679,659.58981451,635,878.58981451,788,805.41018549,652,630.58981451,652,0.400982501462,-0.0153956953699,0.0498533132649,0.99999996606,-6.15191298164e-06,-0.000256684549139,-4.42266811282e-05,1793243030761102336
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.823172505,635,879,788,805,652.176827495,631,651.823172505,0.400982384953,-0.015394718827,0.0498531796535,0.999999966137,-6.45800808846e-06,-0.000256309009495,-4.46026112231e-05,1793243030777769216
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.242556729,635,879,788,805,652.757443271,631,651.242556729,0.400983690022,-0.0153963824383,0.0498545341307,0.999999966688,-8.00755611278e-06,-0.000254110876477,-4.45869173732e-05,1793243030794435840
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,678.665856758,659,635,879,787.665856758,805.334143242,653,631,651.334143242,0.400984381015,-0.0153983972181,0.0498548228408,0.999999966753,-9.26891123036e-06,-0.000253872619863,-4.42456454096e-05,1793243030811102208
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+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,678.493254805,659,635,879,787.493254805,805.506745195,652.506745195,631,652,0.400984558388,-0.0153989925365,0.0498547428939,0.999999966547,-8.93279625859e-06,-0.000254770509603,-4.37976824748e-05,1793243030844435712
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.079559081,635,879,788,805.079559081,652,631,652,0.400984578913,-0.0153971317004,0.0498552659859,0.999999966679,-7.5696455652e-06,-0.000254259923034,-4.39988445125e-05,1793243030861102592
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+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.609449329,714,679,659.390550671,635,878,787.609449329,805,652.390550671,630.609449329,652,0.401025485064,-0.0153987092475,0.0498709950897,0.999999973812,-4.66970600861e-06,-0.000224898635147,-4.21186731277e-05,1793243030927769344
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.035239682,714,679,659.964760318,635,878,787.035239682,805,652.964760318,630.035239682,652,0.401062082787,-0.0153995914547,0.0498848069756,0.999999979639,-3.23629929678e-06,-0.000197567619818,-4.09643036274e-05,1793243030944435968
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.553583195,744.553583195,714,679,659.446416805,635,878,787.553583195,805,652.446416805,630.553583195,652,0.401121021214,-0.0154049836122,0.0499031048501,0.999999986612,-8.57524919025e-06,-0.000158790582453,-3.85870168029e-05,1793243030961102592
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.858797314,745,714,679,659.141202686,635,878.141202686,788,805,652.141202686,631,652,0.4011838262,-0.0154105902248,0.0499201653313,0.999999991415,-1.32063794062e-05,-0.000125220587964,-3.62552381675e-05,1793243030977768960
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.277900167,745,714,679,659.722099833,635,878.722099833,788,805,652.722099833,631,652,0.401254122828,-0.015415946415,0.0499324593259,0.999999993238,-1.42545698508e-05,-0.000110195318704,-3.43141527646e-05,1793243030994435584
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787.701850988,805,653,631,652,0.40132955962,-0.0154205232781,0.0499400234474,0.999999994322,-1.50393687346e-05,-0.000100235902658,-3.29017001458e-05,1793243031011102464
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787.130248261,805,653,631,652,0.401409710819,-0.0154243853645,0.0499432494641,0.999999994862,-1.55825923784e-05,-9.49227426766e-05,-3.19740944632e-05,1793243031027769088
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.455322682,745,714,679,659.544677318,635,878.544677318,787,805,652.544677318,631,652,0.401504388984,-0.0154301614135,0.0499443417616,0.999999994871,-1.85328325229e-05,-9.45310179305e-05,-3.12909662621e-05,1793243031044435712
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.95550504,745,714,679,659,635,878.04449496,787,805,652.04449496,631,652,0.40160556416,-0.0154366361786,0.0499448921617,0.999999994751,-2.19473713623e-05,-9.52870860787e-05,-3.06035872451e-05,1793243031061102336
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.372634544,745,714,679,659,635,878.627365456,787,805,652.627365456,631,652,0.401733479109,-0.0154447309241,0.0499465047355,0.999999995064,-2.23849408636e-05,-9.23579077456e-05,-2.89918076678e-05,1793243031077768960
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,678.792564747,659,635,879,787,805,652.792564747,631,652,0.401867852933,-0.0154528576851,0.0499461532865,0.99999999496,-2.34837820246e-05,-9.35602050645e-05,-2.78326481414e-05,1793243031094436352
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,678.217459136,659,635,879,787,805,652.217459136,631,652,0.402013674831,-0.0154610411914,0.0499423206887,0.99999999408,-2.57546996531e-05,-0.000102085371456,-2.74757390009e-05,1793243031111103744
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,678.34851127,659.34851127,635,878.65148873,787.34851127,805,652.34851127,631,652,0.402182945769,-0.0154694145005,0.0499428450232,0.99999999421,-2.63309331508e-05,-0.000100962982715,-2.63366568763e-05,1793243031127770368
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,678.908927269,659.908927269,635,878.091072731,787.908927269,805,652.908927269,631,652,0.402366474402,-0.0154779032158,0.0499460184958,0.999999994944,-2.58767508911e-05,-9.39746078763e-05,-2.4721991377e-05,1793243031144436224
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.490779779,635,878,787.490779779,805.509220221,652.490779779,631,652,0.402587027048,-0.0154897984797,0.0499486538829,0.999999995341,-2.8178081507e-05,-8.94388559946e-05,-2.29026683729e-05,1793243031161102848
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.88840157,714,679,659,635,878.11159843,787,805.88840157,652.11159843,631,652,0.40282214391,-0.0155019919825,0.0499523039146,0.999999995885,-3.02572544333e-05,-8.29507725961e-05,-2.08165159625e-05,1793243031177769728
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.309683306,714,679,659,635,878.690316694,787,805.309683306,652.690316694,631,652,0.403088151322,-0.0155126670031,0.0499606380039,0.999999997219,-2.91684849053e-05,-6.62987306391e-05,-1.77797144085e-05,1793243031194436608
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.267313831,714,678.732686169,659,635,878.732686169,787,805,652.732686169,630.732686169,652,0.403368676226,-0.0155186943834,0.0499678234982,0.999999998309,-2.18897396289e-05,-5.18946468019e-05,-1.44781357677e-05,1793243031211103232
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.842329763,714,678.157670237,659,635,878.157670237,787,805,652.157670237,630.157670237,652,0.403665912044,-0.015519371914,0.0499736868565,0.99999999911,-7.48577933506e-06,-4.00781645883e-05,-1.08717752279e-05,1793243031227769856
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,678.416349009,659.416349009,635,878.416349009,787.416349009,805,652,630.416349009,652,0.403992850172,-0.0155086127468,0.0499785945444,0.999999999259,2.1845065428e-05,-3.02750639623e-05,-9.35628647958e-06,1793243031244436224
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,678.989991702,659.989991702,635,878.989991702,787.989991702,805,652,630.989991702,652,0.404331009614,-0.0154935328768,0.0499831411867,0.999999998123,5.68151802428e-05,-2.1232604765e-05,-8.63071424105e-06,1793243031261102592
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878.4167339,788,805,652.5832661,631,652,0.404714776226,-0.0154985515635,0.0499883036378,0.999999997558,6.90653963021e-05,-9.26999801715e-06,-5.22938465717e-06,1793243031277769216
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878.172082184,787.827917816,805,652.827917816,631,652,0.405099666061,-0.015504501391,0.0499871888238,0.999999996703,8.05501225463e-05,-9.97870454477e-06,-2.30703521328e-06,1793243031294435840
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878.749573569,787.250426431,805,652.250426431,631,652,0.405485294155,-0.015511804111,0.0499712596107,0.999999995016,9.11818707691e-05,-4.06619762482e-05,-6.2505307666e-07,1793243031311102720
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.324946014,679,660,635,879,787.324946014,805,652,631,651.675053986,0.405888443894,-0.015516163066,0.0499524113569,0.999999991542,0.000106045414827,-7.52945668451e-05,6.5668832746e-07,1793243031327769856
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.898696094,679,660,635,879,787.898696094,805,652,631,651.101303906,0.406305009616,-0.0155182680454,0.0499313280559,0.999999985913,0.000124149153586,-0.000112951067861,1.63197432047e-06,1793243031344436480
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714.515626273,679,660,635,879,788,805,652,631,651.484373727,0.406780086248,-0.0155165425449,0.0499225028714,0.999999980641,0.00014817941109,-0.000129415803,3.43775523771e-06,1793243031361103104
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.928210867,635,879.071789133,788,805,652,631,652,0.407277679132,-0.0155147501395,0.0499197244712,0.999999975934,0.000173413669453,-0.000134255820559,5.89792091094e-06,1793243031377769984
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.346616791,635,879.653383209,788,805,652,631,652,0.407846074095,-0.015518315349,0.0499412211942,0.999999976351,0.000198173648194,-8.88128779827e-05,1.17405412786e-05,1793243031394436608
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.464288707,635,879.767855646,788,805,652,631,652,0.408428043532,-0.0155214048265,0.0499643915693,0.999999973786,0.000223804149949,-4.50061794334e-05,1.77302168887e-05,1793243031411103232
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.613453168,635,879.193273416,788,805,652,631,652,0.409030036741,-0.0155237925482,0.0499900307599,0.999999968277,0.000250718765512,-3.61311960466e-06,2.39368144514e-05,1793243031427769856
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.382249932,745,714,679,660.617750068,635,879.382249932,788,805,652,631,652,0.409626855058,-0.0155257710844,0.0499965555093,0.999999961447,0.000276210871087,3.06833861561e-06,2.83655163956e-05,1793243031444436736
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.958250286,745,714,679,660.041749714,635,879.958250286,788,805,652,631,652,0.410221050367,-0.0155275422172,0.0499933917511,0.999999954166,0.000300981950493,-7.84441930993e-06,3.18930590008e-05,1793243031461103616
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.454044853,744.454044853,714,679,659.454044853,635,879.454044853,787.454044853,805,652,631,652,0.410820241775,-0.015525475012,0.0499661531664,0.999999942257,0.000331069054498,-6.9262040044e-05,3.28956025622e-05,1793243031477770496
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.133297491,744.133297491,714,679,659,635,879,787.133297491,805.133297491,652,631,652,0.411442400886,-0.015523739996,0.0499430046,0.999999927556,0.000360371201488,-0.000117661119955,3.42910651116e-05,1793243031494437120
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.716330591,744.716330591,714,679,659,635,879,787.716330591,805.716330591,652,631,652,0.412140733878,-0.0155241377768,0.0499400030125,0.999999919017,0.000385623339751,-0.000108820521454,3.767794728e-05,1793243031511103488
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.705938911,745,714.294061089,678.705938911,659.294061089,634.705938911,879,787.705938911,805.705938911,652,631,651.705938911,0.41287070277,-0.0155296005911,0.0499535957719,0.999999949905,0.000303763968623,-7.84816809823e-05,4.19366224225e-05,1793243031527770112
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.133232959,745,714.866767041,678.133232959,659.866767041,634.133232959,879,787.133232959,805.133232959,652,631,651.133232959,0.413630649124,-0.0155398629031,0.0499829129151,0.99999999126,0.00012040842885,-2.77716456816e-05,4.70213858777e-05,1793243031544436480
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.442569271,745,714.557430729,678.442569271,660,634.442569271,879.442569271,787,805,652,631,651.442569271,0.414357103258,-0.0155468690029,0.0499754733088,0.999999998647,1.69065054109e-05,-4.05133422362e-05,2.7902069067e-05,1793243031561103360
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,714,679,660.019835609,635,880,787,805,652,631,652,0.415075164776,-0.0155527380736,0.0499567339701,0.999999995653,-5.84569729242e-05,-7.26065180802e-05,2.41051565339e-06,1793243031577769984
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,714,679,660.612270526,635,880,787,805,652,631,652,0.415844064595,-0.0155542811506,0.0499334808697,0.999999993946,-2.03838803379e-05,-0.000108022853904,4.79313159058e-06,1793243031594436352
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.800528585,745,714.199471415,679,660.800528585,635,879.800528585,787,805,652,631,652,0.416635342376,-0.0155546127823,0.0499272231465,0.99999999317,1.94537372926e-05,-0.000114928360779,8.57972869155e-06,1793243031611102976
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.223241423,745,714.776758577,679,660.223241423,635,879.223241423,787,805,652,631,652,0.417469005865,-0.0155526498338,0.0499531561077,0.999999995625,6.26335123657e-05,-6.78319419055e-05,1.50255848366e-05,1793243031627769600
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714.648421623,679,660,634.648421623,879,787.351578377,805.351578377,651.648421623,631,651.648421623,0.418297226908,-0.0155527485003,0.0499717509275,0.9999999945,9.52348021484e-05,-3.9120288109e-05,1.99782579992e-05,1793243031644436480
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714.075157626,679,660,634.075157626,879,787.924842374,805.924842374,651.075157626,631,651.075157626,0.419122016218,-0.0155541471058,0.0499857187255,0.99999999213,0.000121165890408,-2.20010386436e-05,2.39894134298e-05,1793243031661103104
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.513911311,745,714,679.513911311,660,634.513911311,879,788,805.486088689,651.513911311,630.486088689,651.513911311,0.419926817319,-0.0155528683363,0.0499663410625,0.999999988259,0.000141627547779,-5.37609527865e-05,2.31156804303e-05,1793243031677769472
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714,679.896955698,660,634.896955698,879,788,805.103044302,652,630.103044302,651.896955698,0.420754364473,-0.0155525804003,0.0499512164652,0.999999984524,0.00015745219821,-7.52705958733e-05,2.22384688014e-05,1793243031694435840
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714,679.318529166,660,634.318529166,879,788,805.681470834,652,630.681470834,651.318529166,0.421700761233,-0.0155587272668,0.049978924555,0.999999987454,0.000155691836811,-1.54672084225e-05,2.47455669915e-05,1793243031711102464
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,679.258344368,660,634.258344368,879,788,805.741655632,652,631,651,0.422607904906,-0.0155618171794,0.0499907559499,0.999999987094,0.000158176310055,1.0433834363e-05,2.61243538166e-05,1793243031727769600
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679.83331463,660,634.83331463,879,788,805.16668537,652,631,651,0.423466940268,-0.0155611605015,0.0499831289304,0.99999998589,0.000165863237064,-5.2157020722e-06,2.61202868555e-05,1793243031744436480
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,714,679.593832164,660,635,879.406167836,787.593832164,805,652,630.593832164,651.406167836,0.424342915103,-0.015560431911,0.0499760565179,0.999999988251,0.000150437777276,-1.40426199933e-05,2.58867394597e-05,1793243031761103104
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,714,679.021843295,660,635,879.978156705,787.021843295,805,652,630.021843295,651.978156705,0.425225805553,-0.0155596739616,0.0499692105283,0.999999991587,0.000125576513571,-2.00841523425e-05,2.55595049616e-05,1793243031777769728
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714,679,660.573928853,635,880.573928853,787.573928853,805,652,630.573928853,652,0.426134931932,-0.0155610822112,0.0499914066905,0.999999989285,0.00014354842502,-3.21592506051e-07,2.86891038995e-05,1793243031794436352
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,679,660.83528711,635,880.83528711,787.83528711,805.16471289,652,631,652,0.427031910083,-0.0155614821759,0.0500000914393,0.999999986353,0.000162285450856,-3.02931188675e-06,3.07846544482e-05,1793243031811102976
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,679,660.259315296,635,880.259315296,787.259315296,805.740684704,652,631,652,0.427895955306,-0.0155591498853,0.0499721614778,0.999999981513,0.000178686551473,-6.43994376709e-05,2.9955674848e-05,1793243031827769600
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714.316776513,679,660.316776513,634.683223487,880,787.316776513,806,652,631,652,0.428787247111,-0.0155585808684,0.0499545842205,0.999999979032,0.000182906140788,-8.75485415585e-05,2.8562844763e-05,1793243031844435968
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714.892966559,679,660.892966559,634.107033441,880,787.892966559,806,652,631,652,0.429700851552,-0.0155594558256,0.0499454849657,0.9999999808,0.000177150088335,-7.93978146749e-05,2.67082682857e-05,1793243031861102592
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.519862323,745,714.519862323,679.480137677,661,634.480137677,879.519862323,787.519862323,805.519862323,652,631,652,0.430582987227,-0.0155605677174,0.0499476796345,0.999999983605,0.000162998216846,-7.39969182678e-05,2.73316695867e-05,1793243031877769472
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.068597024,745,714,679.931402976,661,634.931402976,879.137194049,787,805.068597024,652,631,652,0.431458253586,-0.0155609552398,0.0499499776224,0.999999985469,0.000151581734287,-7.27082135117e-05,2.82703337408e-05,1793243031894435840
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.647993843,745,714,679.352006157,661,634.352006157,880.295987686,787,805.647993843,652,631,652,0.432335827639,-0.01555554632,0.0499338586296,0.999999979609,0.000174796993669,-9.73690060641e-05,2.73469300423e-05,1793243031911102720
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714,679,661,634,880.774606541,787,806,652,631,652,0.433231233047,-0.0155522538965,0.049934891834,0.99999997637,0.000194094187494,-9.38376519425e-05,2.7954351842e-05,1793243031927769856
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,679,661,634,880.200298555,787,806,652,631,652,0.434154241959,-0.0155522378595,0.0499624770522,0.999999976941,0.000207326124541,-4.66641765092e-05,3.09315283975e-05,1793243031944436224
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.62524717,745,714,679.37475283,661,634.37475283,880,787,806,651.62524717,631,651.62524717,0.435017616261,-0.0155497377775,0.0499732864578,0.999999976922,0.00020865686511,-3.96531056455e-05,3.23402774765e-05,1793243031961102848
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.049797696,745,714,679.950202304,661,634.950202304,880,787,806,651.049797696,631,651.049797696,0.435849053548,-0.0155459073798,0.0499751116754,0.999999977263,0.000203613990213,-5.4150773938e-05,3.29090644146e-05,1793243031977769216
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.540663522,745,714.540663522,680,661,635,880,787,806,651,631,651.540663522,0.436646952079,-0.0155434442079,0.0499540647277,0.999999976372,0.000192951153989,-9.50312270617e-05,3.15450177232e-05,1793243031994435840
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.870985672,745,714.870985672,679.870985672,661,634.870985672,880,787,805.870985672,651.129014328,631,651.870985672,0.437459479774,-0.0155425341624,0.0499417230916,0.999999975568,0.000186379591172,-0.000114830951709,3.06835725017e-05,1793243032011102720
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.294876822,745,714.294876822,679.294876822,661,634.294876822,880,787,805.294876822,651.705123178,631,651.294876822,0.438333715097,-0.015546557559,0.0499670583615,0.999999978907,0.000195831230863,-5.29146662269e-05,3.21984264741e-05,1793243032027769344
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+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714,679.191508335,661,634.191508335,880,788,806.808491665,651.808491665,631,652,0.442963718226,-0.0155530792858,0.0499871988385,0.999999979058,0.000201026783246,-3.07172572181e-06,3.82567119889e-05,1793243032127769344
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,679.766469116,661,634.766469116,880,788,806.233530884,651.233530884,631,652,0.443645420304,-0.0155524772572,0.0499847639966,0.999999976617,0.000212068887845,-1.55033472074e-05,3.94005542401e-05,1793243032144435968
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.65867709,744.65867709,714,680,661,635,880,787.65867709,806,651.34132291,631.34132291,652,0.444304909047,-0.0155497687281,0.0499636322141,0.999999973038,0.000223137761028,-5.14938982614e-05,3.8503420676e-05,1793243032161102592
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.083896506,744.083896506,714,680,661,635,880,787.083896506,806,651.916103494,631.916103494,652,0.444949204297,-0.015545619397,0.0499297121185,0.999999966547,0.000234224942222,-0.000103598259526,3.62103025398e-05,1793243032177769216
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.502959499,744.502959499,714,680,661,634.497040501,879.497040501,787,806,651.497040501,631.497040501,652,0.445596497513,-0.0155475896877,0.0499356450498,0.999999966825,0.000242976469385,-7.66399855079e-05,3.79314557315e-05,1793243032194436096
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765.330142169,745,714.669857831,680,661,634.669857831,879.669857831,787.669857831,806.669857831,651,631,652,0.446840811428,-0.0155466919392,0.0499614470396,0.999999963868,0.000264616610642,-2.15737117559e-05,4.21516624783e-05,1793243032227769856
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.247910768,745,714.752089232,680,661,635,880,787.752089232,806.752089232,651.247910768,631.247910768,652,0.447411193333,-0.0155444086988,0.0499586637389,0.999999960925,0.000275060237089,-2.56934342092e-05,4.28002790809e-05,1793243032244436480
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.82410685,745,714.17589315,680,661,635,880,787.17589315,806.17589315,651.82410685,631.82410685,652,0.447937810931,-0.0155430463403,0.0499349595606,0.999999957436,0.000282619615464,-5.92202147832e-05,4.18008388634e-05,1793243032261102848
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,714,680,661,635,880,787,806,652,631.603764181,652,0.448451861396,-0.0155429224392,0.0499214404272,0.999999954447,0.000288302213428,-7.91470599682e-05,4.15229244523e-05,1793243032277769472
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714.364563854,679.364563854,660.364563854,634,880,787,806.364563854,652,631,652,0.452017628153,-0.0155627246109,0.0498894485638,0.99999997857,0.000109126875572,-0.000175190422569,1.6093418628e-05,1793243032427769600
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+236,3.933333333,POSE1_TO_POSE2_PRESS,765.873584399,745,714.873584399,680,661.126415601,633,880.873584399,785.873584399,807,652,630,652,0.454616530828,-0.0155634458846,0.0498103896156,0.999999945037,0.000171759790994,-0.00028279120174,2.13035916095e-05,1793243032894436096
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,633,881,786,806.551500182,652,630,652,0.454615594224,-0.0155621992982,0.0498091722417,0.999999944046,0.000174001203407,-0.000284931920507,2.11209361227e-05,1793243032911102720
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,633,881,786,806.024307725,652,630,652,0.454614057795,-0.0155604805815,0.0498078152434,0.999999942719,0.000177399389746,-0.000287496599229,2.09009998789e-05,1793243032927769344
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,633,881,786,806.61706919,652,630,652,0.454613896295,-0.0155609845994,0.0498064955967,0.999999942495,0.000175777453726,-0.000289282190572,2.07034998906e-05,1793243032944436480
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,714.795278744,680,661,633,880.795278744,786,807,652,630,652,0.454614178788,-0.0155607265082,0.0498059142809,0.999999942456,0.000174771983719,-0.000290042518067,2.04498521221e-05,1793243032961103616
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,714.216951117,680,661,633,880.216951117,786,807,652,630,652,0.454615271546,-0.0155590776051,0.0498066803832,0.999999942764,0.000174891534399,-0.000288931788626,2.00937373879e-05,1793243032977769728
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.642840221,745,714.357159779,680,660.642840221,633,880,786,807,652,630,652,0.454616040132,-0.015559437221,0.0498071090019,0.999999942918,0.000174270812361,-0.000288768523871,2.01682447721e-05,1793243032994436096
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.071260846,745,714.928739154,680,660.071260846,633,880,786,807,652,630,652,0.454616614102,-0.0155610026442,0.0498073350135,0.999999942979,0.000173205670237,-0.000289174066192,2.05012746178e-05,1793243033011102464
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.5195022,745,715,680,660.5195022,633.5195022,880,786,807,652,630,652,0.454614055095,-0.0155605418086,0.0498049179052,0.999999942202,0.000172509392803,-0.000292271790812,2.03363388017e-05,1793243033027769088
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,633.890049534,880.109950466,786,807,652,630,652,0.454612041081,-0.0155596230622,0.0498030620606,0.999999941511,0.000172582350123,-0.000294601020194,2.0108592677e-05,1793243033044435712
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,633.31255869,880.68744131,786,807,652,630,652,0.454614242039,-0.0155579843675,0.0498051936912,0.999999941725,0.000175702905347,-0.000292031852285,1.99153556576e-05,1793243033061102592
+247,4.116666667,HOLD_POSE2,766,745,714,681,660,634,880,786,807,652,630,652,0.454612790053,-0.0155593893553,0.0498033385779,0.999999940634,0.000175108453034,-0.000296050151148,2.05588261367e-05,1793243033099068672
+248,4.133333333,HOLD_POSE2,765.411040121,745.588959879,714,680.411040121,660.588959879,633.411040121,880.588959879,786,806.411040121,652,630,652,0.454613363155,-0.0155588207516,0.0498036220549,0.999999941422,0.000173740921299,-0.000294207312169,2.03154226881e-05,1793243033115735040
+249,4.150000000,HOLD_POSE2,765,745.824972037,714.175027963,680.175027963,661,633.175027963,880.824972037,786,806.175027963,652,630,652,0.454613483473,-0.0155585812438,0.0498034034797,0.999999941706,0.000172758331468,-0.000293827077509,2.01911353928e-05,1793243033132401408
+250,4.166666667,HOLD_POSE2,765,745.245584625,714.754415375,680.754415375,661,633.754415375,880.245584625,786,806.754415375,652,630,652,0.454612557747,-0.0155591020318,0.0498020250353,0.999999940834,0.00017266505582,-0.000296825833295,2.03420368905e-05,1793243033149067776
+251,4.183333333,HOLD_POSE2,765.332349755,745,714.667650245,680.667650245,661,633.667650245,880,786,807,652,630,652,0.454612451091,-0.0155588770572,0.0498017284051,0.999999940528,0.000173209129988,-0.000297553514091,2.0101318636e-05,1793243033165734144
+252,4.200000000,HOLD_POSE2,765.909215078,745,714.090784922,680.090784922,661,633.090784922,880,786,807,652,630,652,0.454612947038,-0.015558103412,0.0498022276846,0.999999940643,0.000174222113648,-0.000296610324839,1.95724788235e-05,1793243033182400768
+253,4.216666667,HOLD_POSE2,766,745,714.484072287,680,661,633,880.484072287,786,807,652,630,652,0.454612598821,-0.0155575736519,0.0498021090344,0.999999940787,0.000172611236106,-0.000297088475738,1.92474939385e-05,1793243033199067648
+254,4.233333333,HOLD_POSE2,766,745,715,680,660.939768022,633,880.939768022,786,807.060231978,652,630,652,0.454612132543,-0.0155570461428,0.0498018466879,0.999999940854,0.000171025175748,-0.000297790446315,1.90457090346e-05,1793243033215734016
+255,4.250000000,HOLD_POSE2,766,745,715,680,660.348827418,633,880.348827418,786,807.651172582,652,630,652,0.454612015204,-0.0155561371212,0.0498013351121,0.999999940235,0.000173975710426,-0.000298125496344,1.9593977032e-05,1793243033232400896
+256,4.266666667,HOLD_POSE2,765.762438901,745,714.762438901,679.762438901,660.237561099,633,880,786,807.762438901,652,630,652,0.45461188343,-0.0155563195087,0.0498010779644,0.999999940047,0.000174505639527,-0.000298435640336,1.97413362745e-05,1793243033249067776
+257,4.283333333,HOLD_POSE2,765.182608907,745,714.182608907,679.182608907,660.817391093,633,880,786,807.182608907,652,630,652,0.454611730858,-0.0155580743569,0.0498011873872,0.999999940485,0.000171548052937,-0.000298709900641,1.93110815519e-05,1793243033265734400
+258,4.300000000,HOLD_POSE2,765.393754313,745,714.393754313,679.393754313,661,633,880,786,807,652,629.606245687,652,0.454611992516,-0.0155571774083,0.0498006762954,0.999999940135,0.000172955033135,-0.000299083714457,1.91370348169e-05,1793243033282400768
+259,4.316666667,HOLD_POSE2,765.96852385,745,714.96852385,679.96852385,661,633,880,786,807,652,629.03147615,652,0.454612444602,-0.015555061386,0.0497998799431,0.999999939414,0.000176368474999,-0.000299503294655,1.90807709987e-05,1793243033299067392
+260,4.333333333,HOLD_POSE2,765.444429296,745,714.444429296,680,661,633,880,786,807,652,629.555570704,652,0.454613457159,-0.0155568366794,0.0498006899715,0.999999940326,0.000173394778147,-0.000298179866853,1.92633639791e-05,1793243033315733760
+261,4.350000000,HOLD_POSE2,765,745,714.141225693,680.141225693,661,633,880,786,806.858774307,652,629.858774307,652,0.454613950481,-0.0155576614576,0.0498013057606,0.999999940817,0.00017160370736,-0.000297564789003,1.9309382912e-05,1793243033332400640
+262,4.366666667,HOLD_POSE2,765,745,714.720359415,680.720359415,661,633,880,786,806.279640585,652,629.279640585,652,0.454612733094,-0.0155548398522,0.0498010306801,0.999999939736,0.000174627104929,-0.000299459262824,1.88890079852e-05,1793243033349067520
+263,4.383333333,HOLD_POSE2,765,745,714.701372116,680.701372116,661,633,880,785.701372116,806.298627884,652,629.298627884,652,0.454611947783,-0.0155543902037,0.0498003807653,0.999999939236,0.000175208787163,-0.000300795569178,1.87332691733e-05,1793243033365734144
+264,4.400000000,HOLD_POSE2,765,745,714.123911579,680.123911579,661,633,880,785.123911579,806.876088421,652,629.876088421,652,0.454611565906,-0.0155561552816,0.0497993808629,0.999999939285,0.000173510608569,-0.000301610707361,1.88246244912e-05,1793243033382401024
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,661,633,880,786,806,652,630,652,0.45461496534,-0.0155546687455,0.0498015308743,0.999999940035,0.000175507213995,-0.000297932469757,1.90640381689e-05,1793243033415035136
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.411901949,745,715,680.411901949,661,633,880,786,806.588098051,651.411901949,629.411901949,651.411901949,0.454614361524,-0.0155549058416,0.0498018443907,0.9999999401,0.000173752540379,-0.000298744390309,1.8999770162e-05,1793243033431701504
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.825459064,680,661,633,880,786,807,651.174540936,629.174540936,651.174540936,0.454613525548,-0.0155553982059,0.0498014438091,0.999999939996,0.000172418957211,-0.000299867603445,1.89652234105e-05,1793243033448367872
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.242885421,680,661,633,880,786,807,651.757114579,629.757114579,651.757114579,0.45461214684,-0.0155564873227,0.0497993738464,0.999999939498,0.000172069777002,-0.000301718540329,1.90001574482e-05,1793243033465034752
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.335640766,680,661,633,880,786,806.664359234,651.664359234,630,652,0.454611565659,-0.0155571839185,0.0497985381449,0.999999939511,0.000170649014624,-0.00030247424642,1.91510519105e-05,1793243033481701376
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.91127289,680,661,633,880,786,806.08872711,651.08872711,630,652,0.454611554731,-0.0155575998522,0.0497985849704,0.999999939885,0.000168462044806,-0.000302446835592,1.93848609103e-05,1793243033498367744
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.484225272,745,715,680,661,633,880,786,806.484225272,651.484225272,630,652,0.454611013842,-0.015557465883,0.0497988210943,0.999999939941,0.000168182335315,-0.000302421354981,1.93353222991e-05,1793243033515034624
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.941426155,745,715,680,661,633,880,786,807,652,629.941426155,652,0.454609628876,-0.0155571063776,0.0497986129683,0.999999939666,0.000168651620053,-0.000303078010914,1.91871367535e-05,1793243033531701504
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.349931778,745,715,680,661,633,880,786,807,652,629.349931778,652,0.454601442919,-0.0155556065952,0.0497940490901,0.999999936871,0.000172773317143,-0.00030993772763,1.86112104691e-05,1793243033548368128
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.236723562,745,715,680,661,633,880.236723562,785.763276438,807,652,629,652,0.454584880555,-0.0155546687333,0.0497855524858,0.999999932312,0.000174282236184,-0.000323546019875,1.78896411457e-05,1793243033565034752
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.816368939,745,715,680,661,633,880.816368939,785.183631061,807,652,629,652,0.454556183984,-0.0155545448792,0.0497713588676,0.999999924883,0.000172006239681,-0.000346930413781,1.69570908601e-05,1793243033581701376
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.607085745,745,715,680,660.607085745,633,880.607085745,785.392914255,806.607085745,652,629.392914255,652,0.454508552828,-0.0155519477357,0.0497510008818,0.999999912126,0.000171152789163,-0.000382397634356,1.50599473859e-05,1793243033598368000
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.031977872,745,715,680,660.031977872,633,880.031977872,785.968022128,806.031977872,652,629.968022128,652,0.454452141736,-0.0155482037322,0.0497277844888,0.999999895643,0.000170958970189,-0.000423467641042,1.27155237204e-05,1793243033615034368
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.555041981,745,714.444958019,680,660.555041981,633,880,786,806,651.444958019,629.444958019,652,0.454384527672,-0.0155438629637,0.0497080292835,0.999999882937,0.000173500644852,-0.000451565972002,1.0525928588e-05,1793243033631700992
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.859296789,745,714.140703211,680,661,633.140703211,880,786,806.140703211,651.140703211,629.140703211,652,0.454315134949,-0.0155395915112,0.0496918556251,0.999999872502,0.000175805571232,-0.000473299760775,8.68311186697e-06,1793243033648367872
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.280055828,745,714.719944172,680,661,633.719944172,880,786,806.719944172,651.719944172,629.719944172,652,0.454242254361,-0.0155356456084,0.0496862096276,0.999999870287,0.000176870633944,-0.000477577196137,7.89270688691e-06,1793243033665034752
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,633.70122655,880,786,806.70122655,651.70122655,630,652,0.454162228505,-0.0155305505181,0.0496864508219,0.999999871055,0.000180207760292,-0.000474720909255,7.45810165331e-06,1793243033681701376
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,633.122782667,880,786,806.122782667,651.122782667,630,652,0.454075514238,-0.0155243797173,0.0496922027921,0.999999874536,0.000185671678684,-0.000465187016738,7.35654704046e-06,1793243033698368000
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.451494868,745,715,680,661,633,880,786,806.451494868,651,630,652,0.453965270092,-0.0155186786572,0.0496964112202,0.999999876743,0.000186287658437,-0.000460174822548,7.07536697225e-06,1793243033715034624
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.974579517,745,714.974579517,680,661,633,880,786,807,651,630,651.974579517,0.453847265847,-0.0155129298005,0.0497000818535,0.999999878488,0.000185855626357,-0.000456548294398,6.72907426927e-06,1793243033731700992
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.383503109,745,714.383503109,680,661,633,880,786,807,651,630,651.383503109,0.453697669842,-0.0155033007936,0.049701040612,0.999999877447,0.000191171630295,-0.00045664334679,6.01093579841e-06,1793243033748367616
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633,880,786,807,651.203453666,630,651.203453666,0.453536055011,-0.0154931754168,0.0497016391109,0.999999875773,0.000196257916537,-0.000458158483238,5.23808125878e-06,1793243033765034240
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,633,880,786,807,651.782799127,630,651.782799127,0.453352234753,-0.0154821329705,0.0497015720104,0.999999872947,0.000200919786162,-0.000462297302783,4.36413586392e-06,1793243033781701120
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714.359293359,679.640706641,661,633,880,786,807,652,630,652,0.453153567498,-0.0154709392305,0.0497050418271,0.999999872303,0.000206929707997,-0.000461042882446,3.75421017835e-06,1793243033798367744
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714.934077585,679.065922415,661,633,880,786,807,652,630,652,0.452945995546,-0.015459654749,0.0497106329561,0.99999987293,0.000213748142127,-0.000456553796698,3.30263366459e-06,1793243033815034624
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.508873235,661,633.508873235,880,786,807,651.491126765,630,652,0.452707136018,-0.0154495631656,0.0497192466491,0.999999876308,0.000215836247147,-0.000448098385686,2.42015920014e-06,1793243033831701504
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.086282026,745,714.913717974,680,661,634,880.086282026,786,807,651,630,652,0.452457206779,-0.0154400636103,0.0497272874196,0.99999987959,0.000216174326883,-0.000440552368971,1.41401116963e-06,1793243033848368128
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.679020934,745,714.320979066,680,661,634,880.679020934,786,807,651,630,652,0.452166092423,-0.0154331320203,0.0497296668343,0.999999880585,0.000209837188612,-0.000441360383151,9.5904202083e-09,1793243033865034752
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.988246131,745.011753869,714.011753869,680.988246131,661,634,880.988246131,786.988246131,806.988246131,651.988246131,630,652,0.450800120554,-0.0154344789937,0.0497187334589,0.999999888067,0.000157282017149,-0.000446180514588,-7.22226577887e-06,1793243033931701248
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d75363aa8a05bc75db9073cb12dcc33939efaa1e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_06/depth_05/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+362,6.033333333,pose2_to_pose3_retreat,0.583182241444,-0.00999806572413,1.04004098392,0.553753960646,-0.00132323896852,1.03967877573
+363,6.050000000,pose2_to_pose3_retreat,0.58291858378,-0.00999809948267,1.04004099694,0.553490303811,-0.00132327001329,1.03967878662
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+365,6.083333333,pose2_to_pose3_retreat,0.582424251487,-0.00999819713274,1.0400407102,0.55299597277,-0.00132336283805,1.03967851398
+366,6.100000000,pose2_to_pose3_retreat,0.582200500445,-0.00999820780456,1.04004087256,0.552772221929,-0.00132337328678,1.03967866531
+367,6.116666667,pose2_to_pose3_retreat,0.581996802776,-0.00999828293834,1.04004097266,0.552568523789,-0.00132344999172,1.03967876614
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+369,6.150000000,pose2_to_pose3_retreat,0.581654874216,-0.00999838463245,1.04004085516,0.552226597213,-0.00132354500805,1.03967864745
+370,6.166666667,pose2_to_pose3_retreat,0.581514147343,-0.0099982521139,1.0400407303,0.552085868963,-0.00132341678507,1.03967853161
+371,6.183333333,pose2_to_pose3_retreat,0.581391029325,-0.00999809155829,1.04004075773,0.551962747664,-0.00132326717199,1.03967856361
+372,6.200000000,pose2_to_pose3_retreat,0.581282849115,-0.00999819259148,1.04004082692,0.551854568787,-0.00132336398664,1.03967862548
+373,6.216666667,pose2_to_pose3_retreat,0.581189023303,-0.00999831335231,1.04004094696,0.551760745628,-0.0013234760345,1.03967873897
+374,6.233333333,pose2_to_pose3_retreat,0.581107232704,-0.00999823458032,1.04004107185,0.551678954721,-0.00132339828357,1.03967886494
+375,6.250000000,pose2_to_pose3_retreat,0.581036765988,-0.00999815249956,1.04004096965,0.551608487064,-0.00132331953242,1.03967875935
+376,6.266666667,pose2_to_pose3_retreat,0.580975882999,-0.00999812376498,1.04004073576,0.551547601415,-0.00132329951436,1.0396785327
+377,6.283333333,pose2_to_pose3_retreat,0.580923845568,-0.0099982027465,1.04004092805,0.551495566478,-0.00132337012316,1.03967872278
+378,6.300000000,pose2_to_pose3_retreat,0.580880424155,-0.00999813651575,1.04004088188,0.55145214382,-0.00132330808672,1.03967867725
+379,6.316666667,pose2_to_pose3_retreat,0.580844482042,-0.00999813077789,1.04004071812,0.551416201543,-0.00132330300112,1.03967851116
+380,6.333333333,pose2_to_pose3_retreat,0.580815914165,-0.0099982151887,1.04004079921,0.551387636251,-0.00132337866528,1.03967859176
+381,6.350000000,pose2_to_pose3_retreat,0.580794109433,-0.00999821730925,1.04004088397,0.551365832256,-0.00132337813787,1.03967867998
+382,6.366666667,pose2_to_pose3_retreat,0.580778443685,-0.00999809336229,1.04004069426,0.551350163357,-0.0013232647504,1.03967849339
+383,6.383333333,pose2_to_pose3_retreat,0.580767207495,-0.00999807108224,1.04004060627,0.551338925608,-0.00132324780762,1.03967840435
+384,6.400000000,pose2_to_pose3_retreat,0.580759435565,-0.00999820804546,1.04004093134,0.551331156738,-0.00132337458539,1.03967872444
+385,6.416666667,pose2_to_pose3_retreat,0.580754729588,-0.00999826755611,1.04004108,0.551326452034,-0.00132342980019,1.0396788725
+386,6.433333333,pose2_to_pose3_retreat,0.580751569847,-0.00999822627331,1.04004099618,0.551323291052,-0.00132339251259,1.03967879408
+387,6.450000000,pose2_to_pose3_retreat,0.580749440627,-0.00999818757875,1.04004093997,0.551321160867,-0.00132335697631,1.03967874082
+388,6.466666667,pose2_to_pose3_retreat,0.580748252383,-0.00999810488425,1.04004091016,0.551319971358,-0.00132327866278,1.03967870881
+389,6.483333333,pose2_to_pose3_retreat,0.580747510736,-0.00999805327024,1.04004089155,0.551319228923,-0.00132322978316,1.03967868884
+390,6.500000000,pose2_to_pose3_retreat,0.580746927208,-0.00999801266022,1.04004087691,0.551318644773,-0.00132319132458,1.03967867312
+391,6.516666667,pose2_to_pose3_retreat,0.580746518175,-0.00999798419404,1.04004086665,0.551318235305,-0.00132316436647,1.03967866211
+392,6.533333333,pose2_to_pose3_retreat,0.580746230261,-0.00999797169976,1.04004086105,0.55131794718,-0.00132315261644,1.03967865588
+393,6.550000000,pose2_to_pose3_retreat,0.580746018191,-0.00999799607663,1.04004086417,0.551317735376,-0.00132317612906,1.03967865807
+394,6.566666667,pose2_to_pose3_retreat,0.580745877956,-0.00999801219635,1.04004086622,0.551317595317,-0.00132319167727,1.03967865953
+395,6.583333333,pose2_to_pose3_retreat,0.580745726448,-0.00999802961188,1.04004086845,0.551317443999,-0.00132320847535,1.0396786611
+396,6.600000000,pose2_to_pose3_retreat,0.580745687142,-0.00999803413001,1.04004086902,0.551317404742,-0.00132321283329,1.0396786615
+397,6.616666667,pose2_to_pose3_retreat,0.580745514806,-0.00999805393959,1.04004087155,0.551317232622,-0.00132323194055,1.03967866329
+398,6.633333333,pose2_to_pose3_retreat,0.58074524478,-0.00999808497848,1.04004087552,0.551316962935,-0.00132326187899,1.03967866609
+399,6.650000000,pose2_to_pose3_retreat,0.580744892612,-0.00999812545945,1.04004088069,0.551316611207,-0.00132330092475,1.03967866974
+400,6.666666667,pose2_to_pose3_retreat,0.580744714171,-0.0099981459708,1.04004088331,0.55131643299,-0.0013233207089,1.03967867158
+401,6.683333333,pose2_to_pose3_retreat,0.580744700048,-0.00999814759425,1.04004088351,0.551316418885,-0.00132332227479,1.03967867173
+402,6.700000000,pose2_to_pose3_retreat,0.580744692939,-0.00999814841143,1.04004088362,0.551316411784,-0.001323323063,1.0396786718
+403,6.716666667,pose2_to_pose3_retreat,0.580744642496,-0.00999815420973,1.04004088436,0.551316361405,-0.00132332865572,1.03967867233
+404,6.733333333,pose2_to_pose3_retreat,0.580744555222,-0.00999816424159,1.04004088564,0.551316274241,-0.00132333833191,1.03967867323
+405,6.750000000,pose2_to_pose3_retreat,0.58074437904,-0.00999817166173,1.04004086597,0.551316098155,-0.00132334540519,1.03967865401
+406,6.766666667,pose2_to_pose3_retreat,0.580744031961,-0.00999816762693,1.04004079489,0.551315751087,-0.00132334122658,1.03967858554
+407,6.783333333,pose2_to_pose3_retreat,0.580743697564,-0.00999815315175,1.04004077888,0.551315416728,-0.00132332654345,1.03967857149
+408,6.800000000,pose2_to_pose3_retreat,0.580743493501,-0.00999822985509,1.04004083352,0.55131521419,-0.0013233978677,1.03967863105
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cf1be76239b45bfe4a885c9f07d9452ecace8e57
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:636dc6e7da52150bab8de69166fc549299bb6f9dfbaa3be08752590ffc6fa5ff
+size 25631506
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e5cd7d4c1649e946b2cbe562df0a59df1fb5199d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+29,0.483333333,BASELINE,765,744.177630565,714.177630565,679,659,635,879,788,805,652,631,651.177630565,0.400999969676,-0.0154973858872,0.0698407620387,0.999999982732,5.97871815304e-05,-0.000175631414188,1.0749603082e-05,1793243037832070912
+30,0.500000000,BASELINE,765,744.40665418,714,679,659,635,879,787.59334582,805,651.59334582,631,651.40665418,0.400999216975,-0.0154982199957,0.0698407639078,0.999999982583,5.92507147005e-05,-0.000176645462405,1.09270940838e-05,1793243037848737536
+31,0.516666667,BASELINE,765,744.995078315,714,679,659,635,879,787.004921685,805,651.004921685,631,651.995078315,0.400997760282,-0.0154991976957,0.0698407329818,0.999999982237,5.94553872547e-05,-0.000178508297751,1.1193261043e-05,1793243037865404160
+32,0.533333333,BASELINE,765,744.426057764,714.573942236,679,659,635,879,787.573942236,805,651.573942236,631,652,0.40099757935,-0.015497519241,0.0698410119949,0.99999998231,5.99205565849e-05,-0.000177978802119,1.06448777997e-05,1793243037882070784
+33,0.550000000,BASELINE,765,744.15230467,715,679,659,635,879,788,805,652,631,652.15230467,0.400997707796,-0.0154965051917,0.0698413626257,0.999999982445,6.00335083944e-05,-0.000177197073459,1.03388021934e-05,1793243037898737920
+34,0.566666667,BASELINE,765,744.729492965,715,679,659,635,879,788,805,652,631,652.729492965,0.400998669295,-0.015497407132,0.0698419057553,0.999999982745,5.91577509775e-05,-0.000175767983917,1.07278577962e-05,1793243037915405056
+35,0.583333333,BASELINE,765,745,714.694645428,679,659,635,879,788,805,652,631,652.694645428,0.400999023231,-0.0154976317081,0.0698416273568,0.999999982788,5.88393539881e-05,-0.000175634565483,1.07018191619e-05,1793243037932071680
+36,0.600000000,BASELINE,765,745,714.119953958,679,659,635,879,788,805,652,631,652.119953958,0.400998841267,-0.0154972588176,0.0698406243325,0.999999982604,5.90125746561e-05,-0.000176643988916,1.03096481959e-05,1793243037948738560
+37,0.616666667,BASELINE,765,744.532630602,714,679,659,635,879,787.532630602,805,652,631,652,0.400998013237,-0.0154971342951,0.069840820936,0.999999982294,6.13906327735e-05,-0.00017757731284,1.04518547027e-05,1793243037965404928
+38,0.633333333,BASELINE,765,744.056903758,714,678.943096242,659,635,879.056903758,787.056903758,805,652,631,652,0.400997082382,-0.0154971210618,0.0698412675265,0.999999981993,6.39169355715e-05,-0.000178365383534,1.07130499316e-05,1793243037982071040
+39,0.650000000,BASELINE,765,744.636147276,714,678.363852724,659,635,879.636147276,787.636147276,805,652,631,652,0.400996772039,-0.0154975279936,0.0698411040616,0.999999982148,6.24652446818e-05,-0.000178004391028,1.07725451674e-05,1793243037998737408
+40,0.666666667,BASELINE,765,745,714.213956861,678.213956861,659,635,879.786043139,788,805,652,631,652,0.400996996576,-0.0154972687489,0.0698412090975,0.999999982244,6.19201185465e-05,-0.000177654039201,1.08264420828e-05,1793243038015404288
+41,0.683333333,BASELINE,765,745,714.789344113,678.789344113,659,635,879.210655887,788,805,652,631,652,0.400998124672,-0.0154958841538,0.0698417677032,0.999999982241,6.29064229612e-05,-0.000177321662354,1.08708819339e-05,1793243038032071168
+42,0.700000000,BASELINE,765,744.628004254,715,679,659,635,879,788,805,652,631,652,0.400998860514,-0.0154956279336,0.0698419010538,0.999999982391,6.21543851327e-05,-0.000176758173786,1.05645690934e-05,1793243038048737792
+43,0.716666667,BASELINE,765,744.041156994,715,679,659,635,879,788,805,652,631,652,0.400999369804,-0.0154960234226,0.0698417887922,0.999999982627,6.03983426047e-05,-0.000176061203316,1.00556739692e-05,1793243038065404672
+44,0.733333333,BASELINE,765,744,714.46087586,679,659,635,879,787.46087586,805,652,631,652,0.400999451172,-0.0154962926648,0.0698417987382,0.99999998263,6.08210170859e-05,-0.000175881194594,1.03199714701e-05,1793243038082071296
+45,0.750000000,BASELINE,765,744,714.118545081,679.118545081,659,635,879,787.118545081,805,652,631,652,0.400999117924,-0.015496517935,0.0698415844373,0.99999998255,6.11652803221e-05,-0.00017620171642,1.05654921466e-05,1793243038098737664
+46,0.766666667,BASELINE,765,744,714.696551335,679.696551335,659,635,879,787.696551335,805,652,631,652,0.40099730278,-0.0154966096819,0.0698404652682,0.999999982213,6.05687456566e-05,-0.000178311092388,1.05122150179e-05,1793243038115404288
+47,0.783333333,BASELINE,765,744.27286897,714.72713103,680,659,635,879,788,805,652,631,652,0.400997035849,-0.0154966933842,0.0698406460817,0.999999982209,5.9974659372e-05,-0.000178539173608,1.04119682345e-05,1793243038132070912
+48,0.800000000,BASELINE,765,744.847320369,714.152679631,680,659,635,879,788,805,652,631,652,0.400998480045,-0.015496768195,0.0698422636721,0.999999982575,5.93832790311e-05,-0.000176687995442,1.02598092664e-05,1793243038148737536
+49,0.816666667,BASELINE,764.567094059,744.567094059,714,679.567094059,659,635,879.432905941,788,805,652,630.567094059,652,0.400997634062,-0.0154976115027,0.0698416387345,0.999999982408,5.8435642355e-05,-0.000177938905762,1.02973056524e-05,1793243038165403904
+50,0.833333333,BASELINE,764.022124925,744,714,678.977875075,659,635,879.977875075,788,805,652,630.022124925,652,0.400996077251,-0.0154985846913,0.0698403038299,0.999999982064,5.75395778895e-05,-0.000180149840411,1.039462369e-05,1793243038182070784
+51,0.850000000,BASELINE,764.601345715,744,714,678.398654285,659,635,879.398654285,788,805,652,630.601345715,652,0.400997496884,-0.0154958234566,0.0698415326789,0.999999982187,6.11893168502e-05,-0.00017825855409,1.02695358723e-05,1793243038198737664
+52,0.866666667,BASELINE,765,744,714,678.179446359,659,635,879,788,804.820553641,652,631,652,0.400998289844,-0.0154947182265,0.069842123281,0.999999982277,6.28514891588e-05,-0.000177179426906,1.01944671799e-05,1793243038215404544
+53,0.883333333,BASELINE,765,744,714,678.75507391,659,635,879,788,804.24492609,652,631,652,0.400997699235,-0.0154972691191,0.0698413047632,0.999999982317,6.01255168935e-05,-0.00017789338262,1.02298305869e-05,1793243038232071168
+54,0.900000000,BASELINE,765,744,714,679,659,635,879.330430316,788,804.330430316,652,631,652,0.400997434698,-0.0154985342715,0.0698409581991,0.999999982377,5.7652070958e-05,-0.000178367659461,1.03594763841e-05,1793243038248737792
+55,0.916666667,BASELINE,765,744,714,679,659,635,879.905585881,788,804.905585881,652,631,652,0.400997411659,-0.0154988471713,0.069840961176,0.999999982451,5.53656526829e-05,-0.000178664423892,1.05589501595e-05,1793243038265404416
+56,0.933333333,BASELINE,765,744,714.494641723,678.505358277,659,635,880,788,805,652,631,652,0.400997212343,-0.0154967961758,0.0698403476463,0.999999982124,5.95893830672e-05,-0.000179151987534,1.02349245809e-05,1793243038282071040
+57,0.950000000,BASELINE,765,744,715,678.084047713,659.084047713,635,879.915952287,788,805,652,631,652,0.400996971674,-0.0154947258039,0.0698398494027,0.999999981769,6.43757685186e-05,-0.000179495509849,9.97586847087e-06,1793243038298737664
+58,0.966666667,BASELINE,765,744,715,678.659538511,659.659538511,635,879.340461489,788,805,652,631,652,0.40099669163,-0.0154952567049,0.0698407332214,0.999999981851,6.49762014178e-05,-0.000178777691234,1.06978597907e-05,1793243038315404288
+59,0.983333333,BASELINE,765,744,715,679,659.764448728,634.764448728,879,788,805.235551272,652,631,652,0.400996694764,-0.0154959718408,0.0698411486019,0.999999981985,6.38234584682e-05,-0.000178433745334,1.0894960743e-05,1793243038332070912
+60,1.000000000,BASELINE,765,744,715,679,659.187679772,634.187679772,879,788,805.812320228,652,631,652,0.400997108108,-0.015496953858,0.0698408854066,0.999999982184,6.01310791253e-05,-0.000178631388345,1.03317098224e-05,1793243038348737792
+61,1.016666667,BASELINE,765,744.393650383,715,679,659,634.393650383,879.393650383,788,805.606349617,652,631,652,0.400998017415,-0.015497268916,0.0698411587937,0.999999982392,5.9278981926e-05,-0.000177768385319,1.00650050273e-05,1793243038365404672
+62,1.033333333,BASELINE,765,744.977180629,715,679,659,634.977180629,879.977180629,788,805.022819371,652,631,652,0.400999165953,-0.0154972622617,0.069841691005,0.999999982605,5.9796913802e-05,-0.000176393772661,9.94134124831e-06,1793243038382071808
+63,1.050000000,BASELINE,765,744.440254356,714.440254356,679,659,635,880,788,805,652,631,652,0.400997601028,-0.0154969953006,0.0698408858728,0.99999998209,6.00966266527e-05,-0.000179187429467,1.00240715482e-05,1793243038398738176
+64,1.066666667,BASELINE,765,744,714,679,659,635,879.858480122,788,805,652,631,652.141519878,0.400996446737,-0.0154967354703,0.0698403972936,0.999999981734,6.05428956767e-05,-0.000181009500811,1.01396179213e-05,1793243038415404544
+65,1.083333333,BASELINE,765,744,714,679,659,635,879.279031407,788,805,652,631,652.720968593,0.400996904859,-0.0154965304881,0.0698410566979,0.999999981983,6.14701598704e-05,-0.000179300094892,1.03307201035e-05,1793243038432071168
+66,1.100000000,BASELINE,765,744,714,679,659,635,879,788,805,652,631,652.701948493,0.400997463483,-0.0154962639739,0.0698414548048,0.999999982142,6.23448156569e-05,-0.000178099012081,1.0486381462e-05,1793243038448737792
+67,1.116666667,BASELINE,765,744,714,679,659,635,879,788,805,652,631,652.127062995,0.400998115453,-0.015495940308,0.0698416102151,0.999999982218,6.31706080414e-05,-0.000177370066263,1.06091249267e-05,1793243038465404416
+68,1.133333333,BASELINE,765,744.452441837,714.452441837,679,659,635,879.904883674,788,805,652,631,652,0.400998533635,-0.0154953924036,0.0698417360807,0.999999982261,6.29106695853e-05,-0.00017724113448,1.03312131691e-05,1793243038482071040
+69,1.150000000,BASELINE,765,745,715,679,659,635,880.932477187,788,805,652,631,652,0.400998857561,-0.0154949324235,0.0698418816352,0.999999982301,6.23691761468e-05,-0.00017722517378,9.98924377177e-06,1793243038498737664
+70,1.166666667,BASELINE,765,745,715,679,659,635,879.753241239,788,805,652,631,652,0.400998721757,-0.0154969675821,0.0698424893705,0.999999982472,6.22640693867e-05,-0.000176266238989,1.04642699521e-05,1793243038515404288
+71,1.183333333,BASELINE,765,745,714.792146335,679,659,635,879,788,805,652,631,652,0.400998454053,-0.0154982449834,0.0698427873148,0.999999982598,6.10654109126e-05,-0.000175963429755,1.05896820265e-05,1793243038532071168
+72,1.200000000,BASELINE,765,745,714.216766993,679,659,635,879,788,805,652,631,652,0.400997953125,-0.0154981825228,0.0698425374887,0.999999982638,5.79331404642e-05,-0.000176820777858,1.00969084951e-05,1793243038548737536
+73,1.216666667,BASELINE,765,745,714.356697897,679,659,635,879,788,805,652,631,652,0.400997681642,-0.0154975441775,0.0698420289933,0.999999982505,5.89671866722e-05,-0.000177233393752,1.00603501107e-05,1793243038565404416
+74,1.233333333,BASELINE,765,745,714.929005543,679,659,635,879,788,805,652,631,652,0.400997548849,-0.0154965577327,0.0698413641426,0.999999982261,6.25196064469e-05,-0.000177377186589,1.02995557402e-05,1793243038582071296
+75,1.250000000,BASELINE,765,745,714.481928578,679,659,635,879.518071422,788.518071422,805,652,631,652,0.400998688176,-0.0154968694971,0.0698426524052,0.999999982372,6.32039598406e-05,-0.000176493325452,1.05221677519e-05,1793243038598737920
+76,1.266666667,BASELINE,765,745,714,679,659.107210139,635,880,788.892789861,805,652,631,652,0.40099956292,-0.0154971884176,0.0698436670359,0.999999982475,6.31919438946e-05,-0.000175908158793,1.06383138423e-05,1793243038615404544
+77,1.283333333,BASELINE,765,745,714,679,659.686225302,635,880,788.313774698,805,652,631,652,0.400998480484,-0.0154967297585,0.0698422602602,0.999999982317,6.19028194795e-05,-0.000177277927329,1.02962715102e-05,1793243038632071680
+78,1.300000000,BASELINE,765,744.736875557,714,679,659.736875557,635,879.736875557,787.736875557,805,652,631,652,0.400998005213,-0.0154964919709,0.0698416703612,0.999999982231,6.1800862551e-05,-0.000177809805222,1.01574555119e-05,1793243038648738560
+79,1.316666667,BASELINE,765,744.162479671,714,679,659.162479671,635,879.162479671,787.162479671,805,652,631,652,0.400998248209,-0.0154965154701,0.0698420468127,0.99999998223,6.3103303313e-05,-0.000177350473591,1.02590526038e-05,1793243038665405184
+80,1.333333333,BASELINE,765,744,714,679,659,635,879.422697878,787.422697878,805,652.422697878,630.577302122,652,0.400997601136,-0.0154974609321,0.0698418508023,0.999999982111,6.2526744599e-05,-0.000178214885379,1.03948358141e-05,1793243038682071552
+81,1.350000000,BASELINE,765,744,714.011928192,679,658.988071808,635,879.988071808,788,805,652.988071808,630.011928192,652,0.400996624975,-0.0154987115401,0.0698414319503,0.999999981946,6.12489736628e-05,-0.000179569553155,1.05390653405e-05,1793243038698737920
+82,1.366666667,BASELINE,765,744,714.591634134,679,658.408365866,635,879.408365866,788,805,652.408365866,630.591634134,652,0.400996695936,-0.0154971765747,0.0698411542382,0.999999981938,6.18731005952e-05,-0.000179406147446,1.04434709657e-05,1793243038715404288
+83,1.383333333,BASELINE,765,744,715,679,658.169860072,635,879,788,805,652,631,652,0.400997098238,-0.015496340033,0.0698412977003,0.999999982036,6.21491718897e-05,-0.000178767623047,1.03752241613e-05,1793243038732070656
+84,1.400000000,BASELINE,765,744,715,679,658.744558736,635,879,788,805,652,631,652,0.400998290243,-0.0154971680902,0.0698424449744,0.999999982385,6.15956995984e-05,-0.000176996717242,1.03721565866e-05,1793243038748737536
+85,1.416666667,BASELINE,765,744,715,678.679859077,659,635,879,788,805.320140923,652,631,652,0.400998536644,-0.0154982560483,0.0698425082134,0.999999982515,6.04241963655e-05,-0.000176670502891,1.02880631934e-05,1793243038765404416
+86,1.433333333,BASELINE,765,744,715,678.103570007,659,635,879,788,805.896429993,652,631,652,0.400998026458,-0.0154995519561,0.0698417041044,0.999999982469,5.8758200059e-05,-0.000177500201592,1.01391401842e-05,1793243038782071808
+87,1.450000000,BASELINE,765,744.484834412,714.515165588,678,659,635,879,788,805.515165588,652,631,652,0.400997348284,-0.0154983905636,0.0698414140224,0.999999982348,5.87766533339e-05,-0.000178181835,1.00137155671e-05,1793243038798738688
+88,1.466666667,BASELINE,765,744.925721003,714.074278997,678.074278997,659,635,879,788,805,652,631,652,0.40099696353,-0.015496898027,0.0698414255768,0.999999982258,5.93637983957e-05,-0.000178497197961,9.95691645006e-06,1793243038815405312
+89,1.483333333,BASELINE,765,744.347233893,714.652766107,678.652766107,659,635,879,788,805,652,631,652,0.400998820353,-0.0154968122162,0.0698427201775,0.999999982483,6.13060967114e-05,-0.000176546511299,1.03310020937e-05,1793243038832071680
+90,1.500000000,BASELINE,765,744.229600159,715,678.770399841,659,635,879,788,805.229600159,652,631,652,0.40099967864,-0.0154966439635,0.0698433822346,0.999999982525,6.27175074504e-05,-0.000175798551616,1.05193407556e-05,1793243038848737792
+91,1.516666667,BASELINE,765,744.803952042,715,678.196047958,659,635,879,788,805.803952042,652,631,652,0.400999037597,-0.0154963519219,0.0698430945078,0.999999982301,6.33317739341e-05,-0.000176856523789,1.04287745582e-05,1793243038865404416
+92,1.533333333,BASELINE,765,744.611525003,715,678.388474997,659,635,879.388474997,788,806,652,631,652,0.40099849848,-0.0154957406271,0.0698429206016,0.999999982075,6.47261011477e-05,-0.000177627867579,1.0416376364e-05,1793243038882071040
+93,1.550000000,BASELINE,765,744.021731052,715,678.978268948,659,635,879.978268948,788,806,652,631,652,0.400998012183,-0.015494963886,0.0698428056805,0.999999981846,6.65246783978e-05,-0.000178250672365,1.04444870765e-05,1793243038898737664
+94,1.566666667,BASELINE,765,744.557958559,715,679,659,635,879.442041441,788,805.442041441,652,630.442041441,652,0.400998310434,-0.0154965928773,0.0698426898758,0.999999982195,6.35560152517e-05,-0.000177373887509,1.04721059595e-05,1793243038915404544
+95,1.583333333,BASELINE,765,745,714.863323538,679,659,635,879,788,805,652,630.136676462,652,0.40099844904,-0.0154977261298,0.0698424411631,0.999999982439,6.10361837847e-05,-0.000176878927058,1.04777712211e-05,1793243038932071424
+96,1.600000000,BASELINE,765,745,714.286489985,679,659,635,879,788,805,652,630.713510015,652,0.400997976868,-0.0154969665125,0.0698417645382,0.999999982307,6.05490901311e-05,-0.000177798349627,1.04127969629e-05,1793243038948738560
+97,1.616666667,BASELINE,765,745,714.28937014,679,659,635,879,788,805,652,631,652,0.400996907886,-0.0154968006408,0.0698413321069,0.999999982193,5.98328433518e-05,-0.000178680570392,1.03349535387e-05,1793243038965405184
+98,1.633333333,BASELINE,765,745,714.864269722,679,659,635,879,788,805,652,631,652,0.400995250014,-0.0154972206344,0.069841140628,0.999999982099,5.88904849365e-05,-0.00017952608306,1.02444117601e-05,1793243038982071552
+99,1.650000000,BASELINE,765,745,715,679,659,635,879,788,805,652,631,652,0.400994873103,-0.0154958561385,0.0698404278198,0.999999981686,6.13264174504e-05,-0.000181008362436,1.01120028003e-05,1793243038998738176
+100,1.666666667,BASELINE,765,744.964176552,715,679,659,635,879,788,805,652,630.964176552,652,0.400994970669,-0.0154941678841,0.0698396431318,0.99999998122,6.45313901097e-05,-0.000182472269471,9.99419045225e-06,1793243039015404800
+101,1.683333333,BASELINE,765,744.382544577,715,679,659,635,879,788,805,652,630.382544577,652,0.400996265515,-0.01549594977,0.069840218155,0.999999981609,6.35455430406e-05,-0.000180657796146,1.02959206261e-05,1793243039032071168
+102,1.700000000,BASELINE,765,744,715,679,659,635,879,788,805,652,630.196570887,652,0.40099686072,-0.0154973994933,0.0698406248942,0.999999981883,6.25046439312e-05,-0.000179495507625,1.0437142204e-05,1793243039048737792
+103,1.716666667,BASELINE,765,744,715,679,659,635,879,788,805,652,630.770850832,652,0.400996111571,-0.0154982109696,0.0698407082773,0.999999981939,6.13579629735e-05,-0.000179586386104,1.02699480333e-05,1793243039065404416
+104,1.733333333,BASELINE,765,744.345859767,714.654140233,679,659,635,879,787.654140233,805,652,630.654140233,652,0.400996231639,-0.0154968999721,0.069841103548,0.999999981845,6.32182284383e-05,-0.000179473491072,1.01731262909e-05,1793243039082071296
+105,1.750000000,BASELINE,765,744.921352771,714.078647229,679,659,635,879,787.078647229,805,652,630.078647229,652,0.400996928823,-0.0154941797604,0.0698417058963,0.999999981638,6.70749527745e-05,-0.000179225300831,1.0123028233e-05,1793243039098738432
+106,1.766666667,BASELINE,765,745,714,679,659,635,879,787.510420583,805,652,630.510420583,652,0.400997462922,-0.015495011678,0.0698421587063,0.999999981977,6.49500706759e-05,-0.000178103394014,1.02932669497e-05,1793243039115404800
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,880,788,805,652,631,652,0.400997313399,-0.0154972117045,0.0698417050517,0.999999982234,6.09678289769e-05,-0.000178068815774,1.02744785117e-05,1793243039158021376
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.427888656,744.427888656,714.572111344,679,658.427888656,635,879.427888656,788,805,651.427888656,631,652,0.400997624237,-0.0154972787801,0.0698419354186,0.999999982243,6.04488815703e-05,-0.000178192771215,1.03606431091e-05,1793243039174688000
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.149320668,715,678.850679332,658.149320668,635,879.149320668,788,805.149320668,651.149320668,631.149320668,652,0.400997738619,-0.0154971871048,0.0698420414155,0.999999982232,6.01329562114e-05,-0.000178356328432,1.03997265095e-05,1793243039191354624
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.74165513,715,678.25834487,658.74165513,635,879.74165513,788,805.74165513,651.74165513,631.74165513,652,0.400997270143,-0.0154966244375,0.0698417784243,0.999999982166,6.04193691006e-05,-0.000178637378673,1.0299126522e-05,1793243039208020992
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.326483942,744.673516058,714.673516058,678.326483942,659,635,879.673516058,788,805.673516058,652,631.673516058,652,0.400996215908,-0.015496497731,0.0698414273583,0.999999981952,6.13690950798e-05,-0.000179516550767,1.02210923906e-05,1793243039224687872
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.90550701,744.09449299,714.09449299,678.90550701,659,635,879.09449299,788,805.09449299,652,631.09449299,652,0.400994708581,-0.0154967082453,0.0698410081653,0.99999998162,6.28319014316e-05,-0.000180858377055,1.01605132176e-05,1793243039241354752
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.517325186,744,714.482674814,679,659,635,879,788,805.482674814,652,631,652,0.400995685722,-0.0154952458403,0.069841484677,0.9999999817,6.35707590143e-05,-0.00018015072244,1.02023082272e-05,1793243039258021888
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744,715,679,659,635,879,787.940805476,805.940805476,652,631,652,0.400997057962,-0.015493713596,0.0698421099816,0.999999981787,6.39551068458e-05,-0.000179532319004,1.02075107983e-05,1793243039274689024
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744,715,679,659,635,879,787.366775614,805.366775614,652,631,652,0.400997652483,-0.0154944114651,0.0698425101365,0.999999981226,6.24840899484e-05,-0.000183166402323,9.72081369359e-06,1793243039291355136
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.213684627,744,714.786315373,679,659,635,879.213684627,787.213684627,805,652,631,652,0.401003842618,-0.015495165361,0.0698457620557,0.999999981189,6.22903186396e-05,-0.000183427906421,9.75812029777e-06,1793243039308021248
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.80552458,744,714.19447542,679,659,635,879.80552458,787.80552458,805,652,631,652,0.40101993525,-0.0154960184068,0.0698540607108,0.999999982079,6.43568749e-05,-0.000177720993935,1.07227505305e-05,1793243039324687616
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.223487963,744.388256018,714,678.611743982,659,635,879.611743982,788,805,652,631,652,0.401051718113,-0.0154980112212,0.069866731396,0.999999983983,6.50857642043e-05,-0.000166290833644,1.20267018313e-05,1793243039341354752
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.066940634,744.966529683,714,678.033470317,659,635,879.033470317,788,805,652,631,652,0.401091179985,-0.0155005618536,0.0698815418115,0.999999986225,6.51599817298e-05,-0.000152059639418,1.34967214486e-05,1793243039358021888
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.542615502,744.457384498,714,678.542615502,659,635,879.542615502,787.457384498,805,652,631,652.542615502,0.401149502383,-0.0155037878195,0.0698959849275,0.999999989333,6.38993406254e-05,-0.000130571084568,1.42048365013e-05,1793243039374688768
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744,714.121096741,678.878903259,659,635,880,787.121096741,805,652,630.878903259,652.878903259,0.401210365847,-0.0155069150558,0.0699085831928,0.999999991675,6.24279681759e-05,-0.000111989674491,1.45392955863e-05,1793243039391355392
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744,714.709337244,678.290662756,659,635,880,787.709337244,805,652,630.290662756,652.290662756,0.401276561921,-0.0155095013829,0.0699141517989,0.999999992425,6.04600305746e-05,-0.000106342837471,1.36129037588e-05,1793243039408021760
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.293325436,715,678.293325436,659,635,880,788,805,652,630.293325436,652,0.401351639171,-0.0155115243697,0.0699171540969,0.999999992511,6.11978779961e-05,-0.000105253348124,1.24330673947e-05,1793243039424688128
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.873160096,715,678.873160096,659,635,880,788,805,652,630.873160096,652,0.401435391215,-0.0155129971068,0.0699176497214,0.999999991956,6.45786343074e-05,-0.000108615304462,1.10056760205e-05,1793243039441354496
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.549498499,715,679,659,635,879.549498499,788,805,652,631,652,0.401540428846,-0.0155148791193,0.0699172735971,0.99999999159,6.64098855876e-05,-0.000111070092979,8.60820393542e-06,1793243039458021120
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.027015344,714.972984656,678.972984656,659,635,879.027015344,788,805,652,631,652,0.401652548105,-0.0155169668426,0.0699167233895,0.999999991297,6.75926313179e-05,-0.000113149067841,5.92853211041e-06,1793243039474687488
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.600908979,714.399091021,678.399091021,659,635,879.600908979,788,805,652,631,652,0.401787372215,-0.0155208989759,0.069917590391,0.999999991562,6.44303779806e-05,-0.00011276233648,3.03480334188e-06,1793243039491354112
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.180407596,745,714,678.180407596,659,635,879.819592404,788,805,652,631,652,0.40193126979,-0.0155239738938,0.0699192378486,0.999999991836,6.25858423413e-05,-0.000111407540316,-1.14542134609e-08,1793243039508020736
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.772702842,745,714,678.772702842,659,635,879.227297158,788,805,652,631,652,0.402095882924,-0.0155250917072,0.0699226671612,0.999999992147,6.37497815952e-05,-0.00010784256046,-3.40594905636e-06,1793243039524687360
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.642783394,744.642783394,714.357216606,679,659,635,879,788,805,652,630.642783394,652,0.40228156438,-0.0155259874378,0.0699244105124,0.999999992413,6.29678847368e-05,-0.000105615343005,-7.43344169836e-06,1793243039541353984
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.063115377,744.063115377,714.936884623,679,659,635,879,788,805,652,630.063115377,652,0.40248036584,-0.0155267448696,0.0699251039562,0.99999999264,6.09742470407e-05,-0.000104221197149,-1.18551247825e-05,1793243039558020608
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.511170416,715,679,659,635,879,788,805,652,630.511170416,652,0.402718684418,-0.0155250167079,0.069929540204,0.999999994257,3.74591119652e-05,-9.90336329943e-05,-1.65617962576e-05,1793243039574687488
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.914823047,714.914823047,679,659,635,879,787.914823047,804.914823047,652,631,652,0.402967564886,-0.0155222901683,0.0699352352128,0.999999995464,1.59190708879e-05,-9.14743843815e-05,-2.12530546956e-05,1793243039591354112
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.338635092,714.338635092,679,659,635,879,787.338635092,804.338635092,652,631,652,0.403249496565,-0.015515559112,0.0699455502256,0.999999996794,2.09233532056e-05,-7.29152249042e-05,-2.56547330072e-05,1793243039608020736
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.244168862,714.244168862,679,659,635,879,787,804.244168862,652,631,652,0.403538685925,-0.0155129509453,0.0699521941799,0.999999997394,2.25759237077e-05,-6.19723255607e-05,-2.9343204196e-05,1793243039624687360
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.836403984,714.836403984,679,659,635,879,787,804.836403984,652,631,652,0.403838221198,-0.0155162200181,0.0699536049866,0.999999997383,1.94505800197e-05,-6.18865168584e-05,-3.2014988014e-05,1793243039641353984
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714.582651797,679,659,635,879.417348203,787.417348203,805,652,630.582651797,652,0.404173726942,-0.01552035147,0.0699559079652,0.999999997586,1.18962955939e-05,-6.06965827578e-05,-3.16724831081e-05,1793243039658020864
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714.00601692,679,659,635,879.99398308,787.99398308,805,652,630.00601692,652,0.404522961303,-0.0155248120607,0.0699585514535,0.999999997796,2.65164516842e-06,-5.90852440298e-05,-3.01795334417e-05,1793243039674687488
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714.567704598,679.567704598,659.567704598,635,880,788,805,652,630.567704598,652,0.404920319979,-0.0155259666131,0.0699634035586,0.999999998255,-3.10837500758e-06,-4.93207102147e-05,-3.2357557811e-05,1793243039691354112
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714.854904679,679.854904679,659.854904679,635,879.854904679,787.854904679,805,651.854904679,630.854904679,652,0.405322811003,-0.0155270901058,0.0699681454433,0.9999999986,-6.61428742153e-06,-3.97030571419e-05,-3.43506641431e-05,1793243039708020992
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714.266202096,679.266202096,659.266202096,635,879.266202096,787.266202096,805,651.266202096,630.266202096,652,0.405739441887,-0.0155282252193,0.0699724791423,0.999999998884,-3.34094016982e-06,-3.07973181175e-05,-3.56600643335e-05,1793243039724687616
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.682703404,714.317296596,679,659,634.682703404,879.317296596,787.317296596,805,651.317296596,630.317296596,652,0.406164992314,-0.0155263993881,0.0699632178616,0.999999998188,-3.33687946493e-06,-4.68348938818e-05,-3.76709106096e-05,1793243039741353984
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.103500106,714.896499894,679,659,634.103500106,879.896499894,787.896499894,805,651.896499894,630.896499894,652,0.406597905261,-0.015522129499,0.0699427348529,0.999999995688,-6.03139149695e-06,-8.3461474001e-05,-4.02607529012e-05,1793243039758020864
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.474092736,715,679,659,634.474092736,880,788,805,652,631,652.474092736,0.407093623511,-0.0155196550094,0.0699326548256,0.999999994679,-2.49641772128e-06,-9.40556264588e-05,-4.23057360451e-05,1793243039774687744
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+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.362256112,714.362256112,679,659,634.362256112,879.362256112,787.362256112,805,651.362256112,631,652.362256112,0.408188512606,-0.0155223881186,0.0699437590532,0.999999997104,-2.1788700031e-07,-6.24794610927e-05,-4.34437320408e-05,1793243039808020992
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744,714.220965862,679,659,634.220965862,879,787.220965862,805,651.220965862,631,652,0.408773444293,-0.0155251987545,0.0699552082216,0.999999998347,-1.99568421697e-06,-3.73480789818e-05,-4.36653498971e-05,1793243039824687872
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,714.800234249,679,659,634.800234249,879,787.800234249,805,651.800234249,631,652,0.4093675253,-0.0155256699284,0.0699580826411,0.999999998657,-3.4146024544e-06,-2.51741940845e-05,-4.51652801776e-05,1793243039841355264
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744,714.620888011,679,659.379111989,635,879.379111989,788,805,652,631,652,0.409963324805,-0.0155244046554,0.0699523099257,0.999999998305,-4.96949522016e-06,-3.46713321323e-05,-4.65119512289e-05,1793243039858021632
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744,714.042215922,679,659.957784078,635,879.957784078,788,805,652,631,652,0.410560028889,-0.0155222253369,0.0699419854599,0.999999997293,-6.59596333505e-06,-5.55758426311e-05,-4.77779483593e-05,1793243039874687744
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+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714.890033924,679,659,635,880,787.109966076,805.109966076,652,631,652,0.411914553859,-0.0155302569696,0.0699646373066,0.999999998502,-1.96556151186e-05,-2.23886923721e-05,-4.59106571341e-05,1793243039908022272
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714.300389374,679,659,635,880,787.699610626,805.699610626,652,631,652,0.41265388917,-0.0155373369712,0.0699986777188,0.999999998315,-2.11497178101e-05,3.34252378939e-05,-4.2489135956e-05,1793243039924688640
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679.284143286,659.284143286,635,879.715856714,787.715856714,805.715856714,651.715856714,631,652,0.413392318228,-0.015542644377,0.0700203391387,0.999999996426,-2.93866782399e-05,6.80616488373e-05,-4.06441441883e-05,1793243039941355008
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679.863367358,659.863367358,635,879.136632642,787.136632642,805.136632642,651.136632642,631,652,0.414129806241,-0.0155461109555,0.070029145067,0.99999999493,-4.46260487942e-05,8.07053632086e-05,-4.04363666946e-05,1793243039958021632
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714.441422893,679.558577107,660,635,879.441422893,787.441422893,805,651.441422893,631,652,0.414826073392,-0.0155457244045,0.0699931118431,0.999999997951,-4.34954223348e-05,1.65814908922e-05,-4.39365124911e-05,1793243039974688256
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.018916758,745,714.981083242,679.018916758,659.981083242,635,879.981083242,787.981083242,805,652,631,652,0.415512713991,-0.0155442027775,0.0699442273146,0.999999995717,-3.75963097971e-05,-6.92828414905e-05,-4.85100494106e-05,1793243039991354880
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.590540928,745,714.409459072,679.590540928,659.409459072,635,879.409459072,787.409459072,805,652,631,652,0.416289895049,-0.0155442713517,0.0699242980324,0.999999993104,-4.00273455551e-05,-9.79240234799e-05,-5.10008393342e-05,1793243040008021504
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,744.831710794,714.168289206,680,659,635,879.168289206,787,805,651.831710794,630.831710794,652,0.417087503459,-0.0155450959817,0.069919411378,0.999999992265,-4.42537280696e-05,-0.000103944228579,-5.20385877114e-05,1793243040024688640
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,744.238499471,714.761500529,680,659,635,879.761500529,787,805,651.238499471,630.238499471,652,0.417936689897,-0.0155478296159,0.0699525066329,0.999999995978,-5.30132742647e-05,-5.28475581254e-05,-4.94074762326e-05,1793243040041355264
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.654132833,744.345867167,715,679.654132833,659.345867167,635,880,787,805.345867167,651,630.345867167,652,0.418785446219,-0.0155500672241,0.0699765127094,0.999999996886,-6.04906619338e-05,-1.67767927532e-05,-4.78264013774e-05,1793243040058021888
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.075713166,744.924286834,715,679.075713166,659.924286834,635,880,787,805.924286834,651,630.924286834,652,0.419633913308,-0.0155519713167,0.0699944074464,0.999999996604,-6.71059577092e-05,9.19092480427e-06,-4.69513452319e-05,1793243040074688256
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.499544357,715,679,660,635,880.500455643,787,806,651.500455643,631,652,0.420501125816,-0.0155564256157,0.0700132946781,0.999999995542,-7.33087937326e-05,3.77369897966e-05,-4.60127547613e-05,1793243040091354624
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744,715,679,660,635,880.922093874,787.077906126,805.922093874,651.922093874,631,652,0.421367712355,-0.015560427149,0.0700271525153,0.999999994163,-7.89851859149e-05,5.79228043443e-05,-4.56193485303e-05,1793243040108021504
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744,715,679,660,635,880.33403087,787.66596913,805.33403087,651.33403087,631,652,0.422211711674,-0.0155589486579,0.0700070972368,0.999999995259,-8.16210254103e-05,2.08198213787e-05,-4.88586631949e-05,1793243040124688640
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.250350001,714.749649999,679.250350001,660,635,880,788,805.250350001,651.250350001,631,652,0.423028247142,-0.0155558670218,0.0699609270879,0.999999993985,-8.00204121164e-05,-5.18628187941e-05,-5.42020632727e-05,1793243040141355264
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744.829889259,714.170110741,679.829889259,660,635,880,788,805.829889259,651.829889259,631,652,0.423808670067,-0.015550677384,0.0698804180716,0.999999980728,-7.28492183168e-05,-0.000171329729395,-6.23121592045e-05,1793243040158021632
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744.592202433,714.407797567,679.592202433,660,635,880,787.592202433,806,652,631,652,0.424683938142,-0.0155514325109,0.0698683015565,0.999999977702,-8.37463405638e-05,-0.000182369954353,-6.57565022141e-05,1793243040174688256
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744.014971793,714.985028207,679.014971793,660,635,880,787.014971793,806,652,631,652,0.425598612746,-0.0155546575884,0.0698846009875,0.999999981515,-0.000102150546749,-0.000148360697,-6.72623025464e-05,1793243040191354880
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744,714.43980627,679.56019373,660,635,880,787,805.43980627,651.43980627,631,652,0.426517601361,-0.0155577432261,0.0699411775253,0.999999992154,-8.51810366618e-05,-7.05106531014e-05,-5.8854135987e-05,1793243040208021248
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744.138117028,714,679.861882972,660.138117028,635,880,787.138117028,805.138117028,651,631,652,0.427438869638,-0.0155601140869,0.0699920610037,0.999999995898,-7.40943912284e-05,-4.33224927109e-07,-5.2097023368e-05,1793243040224688128
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.72518318,714,679.27481682,660.72518318,635,880,787.72518318,805.72518318,651,631,652,0.428367174504,-0.0155601736358,0.0700209530535,0.999999994218,-8.51917268054e-05,4.05847277345e-05,-5.15647538702e-05,1793243040241354752
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.309309098,745,714.309309098,679.309309098,660.690690902,635,880.309309098,787.690690902,806,651.309309098,631,652,0.429277078834,-0.0155612012708,0.070035529922,0.999999992354,-9.12042449008e-05,6.54461466738e-05,-5.18653657386e-05,1793243040258021376
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.890847226,745,714.890847226,679.890847226,660.109152774,635,880.890847226,787.109152774,806,651.890847226,631,652,0.430170788441,-0.0155630809375,0.0700375077159,0.999999991406,-9.27415144812e-05,7.6087879929e-05,-5.28990129866e-05,1793243040274688000
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.533197763,744.533197763,714.533197763,680,660,634.533197763,880.533197763,787,806,652,631,652,0.430959589961,-0.0155580626486,0.0699806748577,0.999999993821,-9.14580065366e-05,-2.57956534573e-05,-5.76924006882e-05,1793243040291354624
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744.041512036,714,680,660,634.041512036,880,787.041512036,806,651.958487964,631,652,0.431729293622,-0.0155517771409,0.0699137571578,0.999999983318,-8.94934045552e-05,-0.000146209312633,-6.30724295071e-05,1793243040308021248
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744.616798152,714,680,660,634.616798152,880,787.616798152,806,651.383201848,631,652,0.432565126292,-0.015549692092,0.0698918997891,0.999999979556,-8.71520113504e-05,-0.00017056140496,-6.48249877049e-05,1793243040324687616
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.197226169,635,880,788,806,651,631,652,0.433434401222,-0.0155490360614,0.0699009620319,0.999999983488,-8.63064864887e-05,-0.000146309933026,-6.45570923184e-05,1793243040341354240
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.787912217,635,880,788,806,651,631,652,0.43437039254,-0.0155512308761,0.0699717079038,0.999999993958,-8.84451698032e-05,-2.50959125229e-05,-6.02584565884e-05,1793243040358020608
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.62908861,635,880,787.62908861,806,651,631,652,0.435246121458,-0.0155544019878,0.0700098535257,0.999999993582,-9.12977598032e-05,3.66759685484e-05,-5.61805770188e-05,1793243040374687488
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.050395599,635,880,787.050395599,806,651,631,652,0.436088091801,-0.0155581200131,0.0700297367418,0.999999992044,-9.45502749774e-05,6.51488271494e-05,-5.22263638487e-05,1793243040391354112
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,880,787,806,651,631,652,0.436895696534,-0.0155597624994,0.070021277826,0.999999991519,-0.000100135629853,6.2672755482e-05,-5.48268884418e-05,1793243040408020992
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.897389533,660.102610467,635,880,787.102610467,806,651,631,652,0.437686286293,-0.0155605496288,0.0700049433493,0.999999991647,-0.000104906679834,4.84049554401e-05,-5.79392208701e-05,1793243040424687616
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.319425827,660.680574173,635,880,787.680574173,806,651,631,652,0.438413239146,-0.0155582914447,0.0699646493682,0.999999992646,-0.000104874463377,-6.81240232542e-06,-6.05259159135e-05,1793243040441354240
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,744.736464634,714,679.263535366,660.736464634,634.736464634,880,787.736464634,806,651,631,652,0.439117101016,-0.0155570335859,0.0699179018827,0.999999989175,-0.000105537799244,-8.0510093923e-05,-6.34881189656e-05,1793243040458021120
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,744.147329045,714,679.852670955,660.147329045,634.147329045,880,787.147329045,806,651,631,652,0.439792433723,-0.0155570116377,0.0698631810396,0.999999976359,-0.000107060495615,-0.00017704039321,-6.69142649703e-05,1793243040474687488
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,744.433286849,714.433286849,680,660,634.433286849,880,787,806,651,631,652,0.44053226327,-0.0155558417168,0.0698718559709,0.999999979821,-0.000103045560419,-0.000158957191196,-6.68727166044e-05,1793243040491354112
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,680.010558271,660,635,880.010558271,787.010558271,806,651.010558271,631,652,0.44129332643,-0.0155544127469,0.0699023886296,0.999999987909,-9.75209383797e-05,-0.000101823103939,-6.56016312945e-05,1793243040508020736
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,680.56203652,660,635,880.56203652,787.56203652,806,651.56203652,631,652,0.442040342677,-0.0155593244974,0.0699696628478,0.999999992194,-0.000109258659164,-2.1274360673e-06,-6.05821052184e-05,1793243040524687360
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,744.873120235,714.873120235,680.873120235,660.126879765,635,881,787.873120235,806,652,631,652,0.442764150972,-0.015563691286,0.0700239347337,0.999999988348,-0.000119561458415,7.62570467211e-05,-5.65107583758e-05,1793243040541354240
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,744.256711892,714.256711892,680.256711892,660.743288108,635,881,787.256711892,806,652,631,652,0.44339841837,-0.0155659554992,0.070028040931,0.999999988076,-0.000124328038564,7.24185646451e-05,-5.60976852944e-05,1793243040558021120
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,744.334759579,714,680.334759579,661,635,881,787.334759579,806.334759579,651.665240421,631,652,0.444010680291,-0.0155676175075,0.0700124435853,0.999999989103,-0.000129472050738,4.20408398931e-05,-5.71188969504e-05,1793243040574687488
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,744.90843381,714,680.90843381,661,635,881,787.90843381,806.90843381,651.09156619,631,652,0.444607237078,-0.0155688497279,0.0699827840125,0.999999989126,-0.000134885431937,-7.27768375047e-06,-5.91637435697e-05,1793243040591354112
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.488440529,745,714,680.511559471,660.511559471,635,880.511559471,788,807,651,631,652,0.445176056479,-0.0155685451241,0.0699618943131,0.999999989684,-0.000126478320673,-3.34306368354e-05,-5.93164124109e-05,1793243040608020992
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.929625015,745,714.070374985,680,660.070374985,634.929625015,880.070374985,787.929625015,806.929625015,651,631,652,0.445732822858,-0.0155679731924,0.0699443017679,0.999999989962,-0.000117269849357,-5.30128942044e-05,-5.92804951229e-05,1793243040624687616
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.342365514,745,714.657634486,680,660.657634486,634.342365514,880.657634486,787.342365514,806.342365514,651,631,652,0.446239756113,-0.0155675816404,0.0699386921538,0.99999998919,-0.000121454834821,-5.66505944109e-05,-6.04990037006e-05,1793243040641354240
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714.758099189,680.483801623,661,634,880.758099189,787,806,651,631,652,0.446728242775,-0.0155688991177,0.0699312723208,0.999999987557,-0.000126789159398,-7.0976635608e-05,-6.14302018844e-05,1793243040658020864
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714.178017417,681.643965167,661,634,880.178017417,787,806,651,631,652,0.44719094078,-0.0155726058435,0.069921321775,0.999999984114,-0.000133730276855,-0.00010024513739,-6.19597356911e-05,1793243040674687488
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681.201317445,660.600658723,634.399341277,880,787,806.399341277,651,630.600658723,652,0.44763417257,-0.0155735631151,0.0699044410148,0.999999980395,-0.000134734307564,-0.000130661287976,-6.31210908709e-05,1793243040691353856
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680.04901129,660.024505645,634.975494355,880,787,806.975494355,651,630.024505645,652,0.448068785565,-0.0155733030423,0.0698844918413,0.999999976002,-0.000133109642353,-0.000161585572444,-6.45621904325e-05,1793243040708020480
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680.550026587,660.550026587,634.449973413,880,787,806.449973413,651,630.550026587,652,0.448476487948,-0.0155776391244,0.0698872344912,0.999999976216,-0.000135354073956,-0.000158966491007,-6.30602162421e-05,1793243040724688384
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,681.128213837,660.871786163,634,879.871786163,786.871786163,806,651,630.871786163,652,0.448875835034,-0.0155816775208,0.0698925022178,0.999999976954,-0.000138369147567,-0.000152120616276,-6.16822387174e-05,1793243040741355776
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,681.719873039,660.280126961,634,879.280126961,786.280126961,806,651,630.280126961,652,0.449249302017,-0.0155839018841,0.0699032535017,0.999999978658,-0.000143548539977,-0.000135382558715,-6.12250360562e-05,1793243040758021632
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a8cec5db386782268ed62158088f9a75b99e5098
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2fd20321eb6bdde27ac8bf567c3f35591b37c17c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d475f5c8f454ef0cc192792f56f588832e1d5c2caa38e1a190625b4706106e79
+size 25693585
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bfa72a2f9c2b8221d97c62c93cc4cd7630e1fd3e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_02/franka_data.csv
@@ -0,0 +1,406 @@
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+14,0.233333333,BASELINE,764.125385152,744,714,678.874614848,659,635,879.125385152,787,804.125385152,651.125385152,631,652,0.400951703317,-0.0153600694556,0.0698173961058,0.999999927987,0.000237053651938,-0.0002962486615,8.29995593412e-06,1793243044502761984
+15,0.250000000,BASELINE,764.702061589,744,714,678.297938411,659,635,879.702061589,787,804.702061589,651.702061589,631,652,0.400953141916,-0.0153608534908,0.0698181014559,0.999999928755,0.00023582688394,-0.000294624883777,8.44218370811e-06,1793243044519428608
+16,0.266666667,BASELINE,765,744,714,678.277921655,659,635,879.722078345,787.277921655,805,652,631,652,0.400953582293,-0.0153600561515,0.0698182442803,0.999999928563,0.000236704685263,-0.000294576144378,8.33744408522e-06,1793243044536095232
+17,0.283333333,BASELINE,765,744,714,678.85290908,659,635,879.14709092,787.85290908,805,652,631,652,0.400952955687,-0.0153575685076,0.0698177858306,0.999999927338,0.000239832025312,-0.00029621093698,7.96872516818e-06,1793243044552762112
+18,0.300000000,BASELINE,765,744.437687164,714,679,659,635,879,787.562312836,805,652,631,652,0.400951349096,-0.0153578766987,0.0698169881,0.999999927268,0.00023845214021,-0.000297562148625,7.8913558711e-06,1793243044569428736
+19,0.316666667,BASELINE,765,744.974542861,714,679,659,635,879.025457139,787.025457139,804.974542861,652,631,652,0.400949555965,-0.0153591130658,0.069816144991,0.999999927586,0.000235669461392,-0.000298707315392,7.91973391756e-06,1793243044586095360
+20,0.333333333,BASELINE,765,744.394907376,714,679,659,635,879.605092624,787.605092624,804.394907376,652,631,652,0.400951035426,-0.0153596331876,0.0698168529382,0.999999927851,0.000236077707374,-0.000297489168197,8.06990760768e-06,1793243044602762240
+21,0.350000000,BASELINE,764.816320775,744,714,679,659,635,879.816320775,788,804.183679225,651.816320775,631,652,0.400952387784,-0.0153600491018,0.0698176887256,0.999999928207,0.000236222207599,-0.000296171976079,8.18421594476e-06,1793243044619428608
+22,0.366666667,BASELINE,764.239976529,744,714,679,659,635,879.239976529,788,804.760023471,651.239976529,631,652,0.400953468424,-0.0153602422435,0.0698187978063,0.999999928757,0.000235802878445,-0.00029464304827,8.22185217486e-06,1793243044636095232
+23,0.383333333,BASELINE,764.334700574,744,714,679,659,635,879,787.665299426,805,651.334700574,631,652,0.400954070754,-0.0153592331529,0.0698194780749,0.999999928734,0.000236884534331,-0.000293853445586,8.25631887682e-06,1793243044652762112
+24,0.400000000,BASELINE,764.908188338,744,714,679,659,635,879,787.091811662,805,651.908188338,631,652,0.400954331841,-0.0153573663474,0.0698198524138,0.999999928298,0.000239037045821,-0.000293591303353,8.28852432949e-06,1793243044669428736
+25,0.416666667,BASELINE,765,744,714,679,659,634.502198624,879,787,805,651.502198624,631,652,0.400954158183,-0.0153581438419,0.0698198174746,0.999999928244,0.000239692380461,-0.000293234111273,8.54870009318e-06,1793243044686095360
+26,0.433333333,BASELINE,765,744,714,678.911924544,659,634.088075456,879,787.088075456,805,651.088075456,631,652,0.400953638513,-0.0153592497311,0.0698194458426,0.999999928235,0.000239583067024,-0.000293351425431,8.70207224942e-06,1793243044702762240
+27,0.450000000,BASELINE,765,744,714,678.335039758,659,634.664960242,879,787.664960242,805,651.664960242,631,652,0.40095165842,-0.0153593808826,0.0698176385588,0.999999928059,0.00023681383931,-0.000296202747372,8.0215357703e-06,1793243044719428864
+28,0.466666667,BASELINE,765,744.240615979,714,678.240615979,659,635,879,787.759384021,805,652,631,652,0.400950866378,-0.015359095633,0.0698170388582,0.999999927891,0.000236536326906,-0.000297000694205,7.67551271539e-06,1793243044736095488
+29,0.483333333,BASELINE,765,744.814569023,714,678.814569023,659,635,879,787.185430977,805,652,631,652,0.4009517202,-0.0153582335229,0.0698181120815,0.99999992774,0.000239710709545,-0.000294954000077,7.79290748035e-06,1793243044752762368
+30,0.500000000,BASELINE,764.599188789,744.599188789,714,679,659,635,879,787,805,652,631,652,0.400953082933,-0.0153585549581,0.0698189078646,0.999999928335,0.000239008963838,-0.000293496831702,8.06343722324e-06,1793243044769428992
+31,0.516666667,BASELINE,764.007081344,744.007081344,714,679,659,635,879,787,805,652,631,652,0.400954688556,-0.0153594412672,0.0698195712332,0.999999929283,0.000236457247943,-0.000292321027911,8.40705410145e-06,1793243044786095872
+32,0.533333333,BASELINE,764.571897197,744,714,678.428102803,659,635,879.571897197,787,805,651.428102803,631,652,0.400954061959,-0.0153599247213,0.0698186898938,0.999999928943,0.000236955663931,-0.000293078160731,8.395536662e-06,1793243044802762496
+33,0.550000000,BASELINE,765,744,714,678.149771542,659,634.850228458,879.850228458,787,804.850228458,651.149771542,631,652,0.400953182811,-0.0153600181244,0.0698181026918,0.999999928578,0.000237616626135,-0.00029378766205,8.40548544652e-06,1793243044819428608
+34,0.566666667,BASELINE,765,744,714,678.724960771,659,634.275039229,879.275039229,787,804.275039229,651.724960771,631,652,0.400951663057,-0.0153590174605,0.0698184040804,0.999999928186,0.000238634423112,-0.00029429541107,8.48861794617e-06,1793243044836095232
+35,0.583333333,BASELINE,765,744,714,678.700058987,659,634.299941013,879,787,804.299941013,651.700058987,631,652,0.400951416445,-0.0153590165972,0.0698187701616,0.999999928193,0.000238324468569,-0.000294525162735,8.40702572934e-06,1793243044852762112
+36,0.600000000,BASELINE,765,744,714,678.125270182,659,634.874729818,879,787,804.874729818,651.125270182,631,652,0.400952336463,-0.0153599318903,0.0698191955231,0.999999928565,0.000236797843003,-0.000294500174504,8.17448976095e-06,1793243044869428992
+37,0.616666667,BASELINE,764.538459275,744.461540725,714.461540725,678.461540725,659,635,879,787,805,651,631,652,0.400953510812,-0.0153603007861,0.0698195130042,0.999999928901,0.000236525165492,-0.000293568436111,8.41115413491e-06,1793243044886095616
+38,0.633333333,BASELINE,764.05075055,744.94924945,714.94924945,678.94924945,659,635,879,787,805,651,631,652,0.400954634923,-0.0153603457235,0.0698198795403,0.999999929192,0.000236720083178,-0.000292409626824,8.72076990103e-06,1793243044902762240
+39,0.650000000,BASELINE,764.630052676,744.369947324,714.369947324,678.369947324,659,635,879,787,805,651,631,652,0.400954497652,-0.0153586025592,0.0698210700749,0.999999929117,0.000238145493212,-0.000291517629568,8.42837876524e-06,1793243044919428864
+40,0.666666667,BASELINE,765,744,714.208382864,678.208382864,659,635,879,787,805,651,631,652,0.400953786169,-0.0153580176309,0.0698208458486,0.999999928916,0.00023810105066,-0.000292248428554,8.19872474548e-06,1793243044936095744
+41,0.683333333,BASELINE,765,744,714.784995523,678.784995523,659,635,879,787,805,651,631,652,0.400952060007,-0.0153594794017,0.0698181216223,0.999999928484,0.000235459256663,-0.000295846843068,8.07993242757e-06,1793243044952762112
+42,0.700000000,BASELINE,764.639350067,744,714.639350067,679,659,635,879.360649933,787,805,651.360649933,631,652,0.400951974415,-0.0153594650784,0.0698178108665,0.999999928285,0.000235646259002,-0.000296370826674,8.07017037936e-06,1793243044969428480
+43,0.716666667,BASELINE,764.064265431,744,714.064265431,679,659,635,879.935734569,787,805,651.935734569,631,652,0.400952864272,-0.015358573101,0.0698189351085,0.999999928228,0.000237515202963,-0.000295066819586,8.12523539138e-06,1793243044986095360
+44,0.733333333,BASELINE,764.525854854,744,714,678.474145146,659,635,880,787.525854854,805,651.474145146,631,652,0.40095246238,-0.0153586294379,0.0698190205188,0.999999928511,0.000236838883603,-0.000294650931217,8.18260106575e-06,1793243045002761984
+45,0.750000000,BASELINE,765,744.11507762,714,678.11507762,659,635,879.88492238,787.88492238,805,651.11507762,631,652,0.400952020329,-0.0153587608809,0.0698188228897,0.999999928766,0.000235990018106,-0.000294466922097,8.1606156157e-06,1793243045019428608
+46,0.766666667,BASELINE,765,744.693080326,714,678.693080326,659,635,879.306919674,787.306919674,805,651.693080326,631,652,0.40095207047,-0.0153587145195,0.0698180124173,0.99999992874,0.000235735187144,-0.000294766228064,7.81825841651e-06,1793243045036095232
+47,0.783333333,BASELINE,765,745,714,679,659,635,879,787.268724969,805,651.731275031,630.731275031,652,0.400952801448,-0.0153590534063,0.0698183577071,0.999999928916,0.000236076568857,-0.00029389937973,7.64568339621e-06,1793243045052762368
+48,0.800000000,BASELINE,765,745,714,679,659,635,879,787.84169989,805,651.15830011,630.15830011,652,0.400954303268,-0.0153598284703,0.0698200115489,0.999999929316,0.000237092981514,-0.00029171221352,7.66533542568e-06,1793243045069429760
+49,0.816666667,BASELINE,764.572283414,745,714,679,659,635,879.427716586,788,805,651.427716586,630.427716586,652,0.400953430915,-0.0153598845013,0.0698194363865,0.999999928959,0.000236799953628,-0.00029317231215,7.66612816709e-06,1793243045086096384
+50,0.833333333,BASELINE,764.036618963,744.981690518,714,679,659,635,880,787.981690518,805,652,631,652,0.400951702295,-0.0153596917405,0.0698180521937,0.999999928328,0.000236036458729,-0.000295924153073,7.66736283105e-06,1793243045102762752
+51,0.850000000,BASELINE,765.193190891,744.403404554,714,679,659,635,880,787.403404554,805,652,631,652,0.400951504767,-0.0153602848553,0.069817948892,0.99999992839,0.000236172302121,-0.000295599758264,7.9023006924e-06,1793243045119429376
+52,0.866666667,BASELINE,765.651567258,744,714,679,659,635,879.825783629,787.174216371,804.825783629,651.825783629,631,652,0.400951821131,-0.0153607287455,0.0698183492539,0.999999928689,0.000236095377384,-0.000294646856617,8.06405628765e-06,1793243045136096000
+53,0.883333333,BASELINE,764.499393605,744,714,679,659,635,879.249696803,787.750303197,804.249696803,651.249696803,631,652,0.400953322909,-0.0153608284147,0.0698199114325,0.999999929528,0.000235527653611,-0.00029224415824,8.05700000366e-06,1793243045152762624
+54,0.900000000,BASELINE,764.326241286,744,714.326241286,679,659,635,879,787.673758714,804.326241286,651,630.673758714,652,0.400954403819,-0.0153617830469,0.0698204698151,0.999999929988,0.000235061183976,-0.000291037567788,8.23044911448e-06,1793243045169429248
+55,0.916666667,BASELINE,764.90206556,744,714.90206556,679,659,635,879,787.09793444,804.90206556,651,630.09793444,652,0.400955162756,-0.0153633917478,0.0698202602678,0.999999930161,0.000234672176392,-0.000290746030823,8.54198950269e-06,1793243045186095872
+56,0.933333333,BASELINE,765,744,714.508348257,679,659,635,879,787,805,651,630.491651743,652,0.40095456061,-0.0153612907235,0.0698196513333,0.999999929636,0.000235699683361,-0.000291733513097,8.02780648122e-06,1793243045202762240
+57,0.950000000,BASELINE,765,744,714,679,659,635,879,787,804.918163891,651.081836109,631,652,0.400953901127,-0.0153590595891,0.0698191866749,0.999999929193,0.000236451176261,-0.000292657426574,7.4987420901e-06,1793243045219429120
+58,0.966666667,BASELINE,765,744,714,679,659,635,879,787,804.341417848,651.658582152,631,652,0.400954581727,-0.0153606391985,0.0698200895122,0.999999930124,0.000233777916446,-0.000291611768699,7.90303005282e-06,1793243045236096256
+59,0.983333333,BASELINE,765,744,714,678.76479462,659,635,879,787.23520538,804,651.76479462,631,652,0.400954474168,-0.0153612941642,0.0698203757734,0.999999930324,0.000233127680135,-0.000291442116877,8.1132210393e-06,1793243045252762880
+60,1.000000000,BASELINE,765,744,714,678.188349488,659,635,879,787.811650512,804,651.188349488,631,652,0.400953223137,-0.0153606076421,0.0698197674962,0.999999929467,0.000235412478486,-0.000292543388576,8.04181306863e-06,1793243045269429504
+61,1.016666667,BASELINE,765,744,714,678,659,635,879,787.615146578,804.384853422,651,631,652,0.400954065905,-0.0153611622423,0.069820359106,0.999999929591,0.000236171102528,-0.0002915059471,8.14318262029e-06,1793243045286096128
+62,1.033333333,BASELINE,765,744,714,678,659,635,879,787.043517208,804.956482792,651,631,652,0.40095592483,-0.0153623191804,0.0698215330417,0.999999930188,0.000236189047935,-0.000289430551469,8.32840406317e-06,1793243045302762496
+63,1.050000000,BASELINE,765,744,714,678,659,635,879.550022415,787,805,651.550022415,631,652,0.4009544919,-0.0153609355681,0.0698206967151,0.999999930006,0.000235183100594,-0.000290889409099,7.79728046358e-06,1793243045319428864
+64,1.066666667,BASELINE,765,744,714,678.140789731,659,635,879.859210269,787,805,652,631,652,0.400953483837,-0.0153596701249,0.0698200687794,0.99999992989,0.000234447924457,-0.000291890559315,7.35296861004e-06,1793243045336095488
+65,1.083333333,BASELINE,765,744,714,678.71738685,659,635,879.28261315,787,805,652,631,652,0.400954630584,-0.0153594184851,0.0698205986639,0.999999930188,0.000234812070514,-0.000290573419557,7.36009583405e-06,1793243045352762112
+66,1.100000000,BASELINE,765,744,714,679,659.294025984,634.705974016,879,787,805,651.705974016,631,652,0.400954910456,-0.0153593206661,0.069820979798,0.999999930316,0.000234967578697,-0.000290005051173,7.45980726502e-06,1793243045369428992
+67,1.116666667,BASELINE,765,744,714,679,659.870705474,634.129294526,879,787,805,651.129294526,631,652,0.400954356983,-0.0153593707184,0.0698212179351,0.999999930281,0.00023492251878,-0.0002901564929,7.64852188654e-06,1793243045386095872
+68,1.133333333,BASELINE,765,744,714,679,659.544363217,634.455636783,879,787.455636783,805,651.455636783,631,652,0.400952555838,-0.0153605791966,0.0698197537204,0.999999929698,0.000234377038181,-0.000292599457338,7.60218077217e-06,1793243045402762496
+69,1.150000000,BASELINE,765,744.042504959,714,679,659,635,879,788,805,652,631,652,0.400950752875,-0.015361995482,0.0698180999324,0.999999929075,0.000233753329811,-0.000295215846569,7.52777666656e-06,1793243045419429376
+70,1.166666667,BASELINE,765,744.62369593,714,679,659,635,879,788,805,652,631,652,0.400953496654,-0.0153618025022,0.0698202787005,0.999999930071,0.000233971066999,-0.000291637094831,7.95864250585e-06,1793243045436095744
+71,1.183333333,BASELINE,765,745,714.20234117,678.79765883,658.79765883,635,879,788,805,651.79765883,631,652,0.400955135212,-0.0153613590754,0.0698214491763,0.999999930553,0.000234335639542,-0.000289681505051,8.08880342458e-06,1793243045452762112
+72,1.200000000,BASELINE,765,745,714.77631091,678.22368909,658.22368909,635,879,788,805,651.22368909,631,652,0.400954743873,-0.0153604556665,0.0698207677789,0.99999993011,0.000234969896311,-0.000290707084337,7.66667671391e-06,1793243045469428992
+73,1.216666667,BASELINE,765,744.650792712,714.650792712,678.349207288,658.349207288,635,879.349207288,787.650792712,805,651,631,652,0.400954980496,-0.0153597644302,0.0698209832154,0.999999929841,0.000236537120254,-0.00029036325269,7.59002652795e-06,1793243045486095872
+74,1.233333333,BASELINE,765,744.078581817,714.078581817,678.921418183,658.921418183,635,879.921418183,787.078581817,805,651,631,652,0.400955618134,-0.0153592086874,0.0698217713696,0.999999929679,0.000238700136546,-0.000289144915814,7.73399751026e-06,1793243045502762496
+75,1.250000000,BASELINE,765,744,714,679,659,635,879.4869797,787,805,651.5130203,631,652,0.400954755261,-0.0153606272885,0.069821065221,0.999999930117,0.000235624149104,-0.000290151808451,7.70608014986e-06,1793243045519429120
+76,1.266666667,BASELINE,765,744,714.104736832,679,659,635,879,787.104736832,805,652,631,652,0.400953881817,-0.0153620942816,0.0698202878929,0.999999930474,0.000232699719616,-0.000291278158051,7.7183391247e-06,1793243045536096000
+77,1.283333333,BASELINE,765,744,714.683013913,679,659,635,879,787.683013913,805,652,631,652,0.400954040562,-0.0153623590419,0.0698202642623,0.999999930095,0.000234231267898,-0.000291343002804,8.03596072929e-06,1793243045552762624
+78,1.300000000,BASELINE,765,744,714.740194729,679,659,635,879,787.740194729,805,652,631,652,0.400954159821,-0.0153620205666,0.0698201410111,0.999999929796,0.000235069185939,-0.000291692556497,8.10049068509e-06,1793243045569429248
+79,1.316666667,BASELINE,765,744,714.165205821,679,659,635,879,787.165205821,805,652,631,652,0.400954231177,-0.0153609502741,0.069819896905,0.999999929596,0.000235065624015,-0.000292387505792,7.85798163506e-06,1793243045586095872
+80,1.333333333,BASELINE,764.580089235,744,714,678.580089235,659,635,879.419910765,787.419910765,805,651.580089235,631,652,0.40095446624,-0.0153608225611,0.0698196859442,0.999999929621,0.000235083812714,-0.00029229126842,7.67932977614e-06,1793243045602762496
+81,1.350000000,BASELINE,764,744,714,678.008971403,659,635,879.991028597,788,804.991028597,651.008971403,631,652,0.400954750208,-0.0153610647628,0.0698194895642,0.999999929735,0.000235113467819,-0.000291883219584,7.52688829059e-06,1793243045619429120
+82,1.366666667,BASELINE,764,744,714,678.5891806,659,635,879.4108194,788,804.4108194,651.5891806,631,652,0.400953945819,-0.0153606644774,0.0698193707355,0.999999929674,0.0002353148842,-0.000291931000096,7.40412384692e-06,1793243045636095744
+83,1.383333333,BASELINE,764.168092446,744.168092446,714,679,659,635,879,787.831907554,804.168092446,652,631,652,0.400953639096,-0.0153608611027,0.0698195440593,0.999999929806,0.000235026546343,-0.000291710433366,7.41163902293e-06,1793243045652762368
+84,1.400000000,BASELINE,764.743857958,744.743857958,714,679,659,635,879,787.256142042,804.743857958,652,631,652,0.400954539358,-0.0153625054099,0.0698204259375,0.999999930404,0.000233550412073,-0.000290839046545,7.73512013833e-06,1793243045669429248
+85,1.416666667,BASELINE,765,744.674551036,714,678.674551036,659,635,879,787,804.674551036,652,631,652,0.40095497192,-0.0153621667102,0.0698209100016,0.999999930425,0.000234022510789,-0.000290384505723,7.81033068498e-06,1793243045686095872
+86,1.433333333,BASELINE,765,744.088291591,714,678.088291591,659,635,879,787,804.088291591,652,631,652,0.400955029674,-0.015360238855,0.0698210752625,0.999999929983,0.00023605589765,-0.000290264019805,7.68658047313e-06,1793243045702762496
+87,1.450000000,BASELINE,765,744,714,678,659,635,879,787,804.492187554,651.507812446,631,652,0.400954334705,-0.0153604744772,0.0698207850482,0.999999930243,0.000234230858515,-0.000290846238513,7.68508805132e-06,1793243045719429120
+88,1.466666667,BASELINE,765,744,714,678.071423429,659,635,879,787,805,651.071423429,631,652,0.400953750827,-0.0153610986206,0.069820538325,0.999999930584,0.000232197235909,-0.000291303433327,7.72284022141e-06,1793243045736095488
+89,1.483333333,BASELINE,765,744,714,678.649111242,659,635,879,787,805,651.649111242,631,652,0.400954900388,-0.0153617576984,0.0698211723033,0.999999930652,0.000233534271298,-0.000289991296482,7.8851168309e-06,1793243045752762112
+90,1.500000000,BASELINE,765,744,714.226087013,679,659,635,879,787.226087013,805,651.773912987,631,652,0.400955390924,-0.015361717799,0.0698212223704,0.999999930485,0.000234979416492,-0.000289400681889,7.89184182753e-06,1793243045769428992
+91,1.516666667,BASELINE,765,744,714.801961107,679,659,635,879,787.801961107,805,651.198038893,631,652,0.400954861857,-0.015360596488,0.0698203690483,0.999999929954,0.000236591822001,-0.000289926359589,7.65790749885e-06,1793243045786095616
+92,1.533333333,BASELINE,764.613567575,744,714.613567575,679,659,635,879,788,805,651.386432425,631,652,0.40095458823,-0.0153602508459,0.069819978792,0.999999929608,0.000236945619297,-0.000290835912616,7.48420114729e-06,1793243045802762240
+93,1.550000000,BASELINE,764.024590047,744,714.024590047,679,659,635,879,788,805,651.975409953,631,652,0.400954448489,-0.0153603117635,0.0698198312474,0.999999929357,0.000236639728484,-0.000291946670517,7.3420627306e-06,1793243045819428608
+94,1.566666667,BASELINE,764.554591805,744.554591805,714.554591805,679,659,635,879,787.445408195,805,652,631,652,0.400954281103,-0.0153612847305,0.0698200868491,0.999999929798,0.000235126259323,-0.000291653215994,7.63527725769e-06,1793243045836095232
+95,1.583333333,BASELINE,765,745,715,679,659,635,879,787,805,651.867180368,631,652,0.400954040214,-0.0153620361285,0.0698203786759,0.999999930122,0.00023413544239,-0.000291333317153,7.85341266585e-06,1793243045852762112
+96,1.600000000,BASELINE,765,745,715,679,659,635,879,787,805,651.290713464,631,652,0.400953557835,-0.0153619147049,0.069820732832,0.999999929964,0.00023506614126,-0.000291129445672,7.75740946668e-06,1793243045869428736
+97,1.616666667,BASELINE,764.715357632,744.715357632,714.715357632,678.715357632,659,635,879,787.284642368,805,651.284642368,631,652,0.400953655494,-0.0153610649411,0.0698210010687,0.999999929807,0.00023614661918,-0.0002907920547,7.76922855317e-06,1793243045886095360
+98,1.633333333,BASELINE,764.141132193,744.141132193,714.141132193,678.141132193,659,635,879,787.858867807,805,651.858867807,631,652,0.400954343259,-0.0153594741949,0.0698211818947,0.999999929652,0.000237379475897,-0.000290318826676,7.8907414658e-06,1793243045902761984
+99,1.650000000,BASELINE,764,744,714.446868299,678,658.553131701,634.553131701,879,787.553131701,805,652,631,652,0.400953729008,-0.0153593723377,0.0698205024778,0.999999929269,0.000237068554033,-0.000291891448818,7.6801819703e-06,1793243045919428608
+100,1.666666667,BASELINE,764.038413199,744.038413199,714.961586801,678.038413199,658.038413199,634,879,787,805,652,631,652.038413199,0.400952780088,-0.0153597825711,0.0698195967012,0.999999928863,0.000236257728358,-0.000293941764093,7.38347271579e-06,1793243045936095232
+101,1.683333333,BASELINE,764.616684661,744.616684661,714.383315339,678.616684661,658.616684661,634,879,787,805,652,631,652.616684661,0.400953090648,-0.0153605709408,0.0698194493857,0.999999929222,0.000235491420715,-0.000293336039335,7.39683280978e-06,1793243045952761856
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+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879,787,805,652,631,652,0.400954727265,-0.0153633512403,0.0698202968293,0.999999930196,0.000234395205728,-0.000290863802886,8.09175117802e-06,1793243046095383296
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+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.323487399,714,679,659,635,879.676512601,787.676512601,805,652,631.323487399,652,0.400954120927,-0.0153609398488,0.069821071786,0.999999929823,0.000236505629821,-0.000290439186775,8.00055003866e-06,1793243046145383168
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+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.518386426,714,679,659,635,879.481613574,787,805,651.518386426,631.518386426,651.518386426,0.400953354972,-0.015361377348,0.0698206309966,0.999999929825,0.000235759436505,-0.000291043706118,7.83827323118e-06,1793243046178716672
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744,714.056756424,679,659,635,879.943243576,787,805,651,631,651.056756424,0.400952975903,-0.0153615768747,0.069820554692,0.999999929866,0.000234848669827,-0.000291636106629,7.86910463541e-06,1793243046195383296
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+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744,714.790531824,679,659,635,879,787,805,651.209468176,631,652,0.400957763405,-0.0153614557229,0.0698227779312,0.999999931104,0.000234078812001,-0.000287983135077,8.05049015578e-06,1793243046228716544
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744,714.198146412,679,659,635,879,787,805,651.801853588,631,652,0.400967608133,-0.015360016905,0.0698268514526,0.999999932358,0.000236699640686,-0.000281403398244,8.27959040401e-06,1793243046245383168
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,714,678.614928728,659,635,879.385071272,787,805,651.614928728,631,652,0.400995284059,-0.0153614627619,0.0698391281831,0.999999937916,0.000236826100054,-0.000260754284732,9.39083057516e-06,1793243046262050048
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744,714,678.036318735,659,635,879.963681265,787,805,651.036318735,631,652,0.401031922034,-0.0153643584705,0.0698555278873,0.999999945011,0.000235698877194,-0.000233033832368,1.09454386362e-05,1793243046278716672
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,714,678,659,635,879.460561144,787,805,651.539438856,631,652,0.401090649601,-0.0153661172627,0.0698751368519,0.999999951815,0.000237447483854,-0.000199618190887,1.18765396211e-05,1793243046295383296
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.117513138,714,678,659,635,879,787.117513138,805,651.882486862,630.882486862,652,0.401151397912,-0.0153684960565,0.0698928255229,0.999999956969,0.000238059573637,-0.000170966641673,1.2622326519e-05,1793243046312050176
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.70563026,714,678,659,635,879,787.70563026,805,651.29436974,630.29436974,652,0.401214314151,-0.0153736626934,0.0699019632739,0.999999959421,0.0002333489517,-0.000162921287313,1.279321567e-05,1793243046328716544
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.7106534,714,678.2893466,659,635,879,788,805,651.2893466,630.2893466,651.7106534,0.401285349367,-0.015377079664,0.0699068878213,0.999999960774,0.000231591695201,-0.000157075288615,1.20056426872e-05,1793243046345383168
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.1313472,714,678.8686528,659,635,879,788,805,651.8686528,630.8686528,651.1313472,0.401364520757,-0.0153787432612,0.0699075902385,0.99999996108,0.000232794061322,-0.00015343330554,1.0257577e-05,1793243046362049792
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.443005144,714,678.556994856,659,635,879,788,805,652,631,651.443005144,0.401458556269,-0.0153832163948,0.0699090203358,0.999999961753,0.000230792921579,-0.00015217577338,8.41904057159e-06,1793243046378716416
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+127,2.116666667,POSE1_TO_POSE2_PRESS,764.405323058,744.405323058,714,678,659,635,879.594676942,788,805,651.405323058,631,652,0.40168611888,-0.0153931309308,0.0699123470072,0.999999963771,0.000225281810196,-0.000147287487512,3.46677166685e-06,1793243046412049920
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.177007586,744,714,678,659,635,879.822992414,787.822992414,805,651.177007586,631,652,0.401823674972,-0.0153989204552,0.0699146453184,0.999999965464,0.000221059678905,-0.000142143296123,5.05991642953e-07,1793243046428716544
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+136,2.266666667,POSE1_TO_POSE2_PRESS,764.834976939,744,714,678.165023061,659,635,879,787.834976939,804.165023061,652,631,652,0.403641950418,-0.015471979065,0.06995475615,0.999999995984,5.30362893165e-05,-6.49177489047e-05,-3.17144616317e-05,1793243046562049792
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.587065194,744,714,678,659,635,879,787.587065194,804.412934806,652,631,652,0.403962270123,-0.0154813263956,0.0699564549518,0.999999996654,3.75924073977e-05,-6.32102425991e-05,-3.58091120143e-05,1793243046578716416
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.009630331,744,714,678,659,635,879,787.009630331,804.990369669,652,631,652,0.404289098225,-0.0154904855299,0.0699552636047,0.999999996791,1.58349533097e-05,-6.75879495292e-05,-3.99999822916e-05,1793243046595383296
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,744,714,678.564160738,659,635,879,787.564160738,805,652,631,652,0.404660634758,-0.0154939512786,0.0699606656509,0.999999997293,3.3694805267e-05,-5.71945787946e-05,-3.17321506033e-05,1793243046612049920
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.142221985,744.142221985,714.142221985,679,659,635,879.142221985,788,805,652,631,652,0.40504257529,-0.0154930810873,0.0699652348858,0.999999997156,5.12706332105e-05,-4.85672152916e-05,-2.64761275536e-05,1793243046628716544
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.73397553,744.73397553,714.73397553,679,659,635,879.73397553,788,805,652,631,652,0.405455003678,-0.0154788111843,0.069966818328,0.999999996268,6.58248869014e-05,-4.6313663035e-05,-3.14076484499e-05,1793243046645383168
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.681808984,715,679,659,635,879.681808984,788,805,652,631,652,0.40587994644,-0.0154720737799,0.0699630414195,0.999999995811,6.56515413862e-05,-5.33040255953e-05,-3.50358977795e-05,1793243046662049792
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.103749805,715,679,659,635,879.103749805,788,805,652,631,652,0.406315109798,-0.0154714882024,0.0699548866865,0.999999995563,5.34500949158e-05,-6.78439384883e-05,-3.75997593583e-05,1793243046678716416
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744,714.531327676,679,659,635,879,788,805,651.531327676,631,652,0.406777940872,-0.0154802544938,0.0699395464569,0.99999999423,4.4992682807e-05,-8.91390217566e-05,-3.96201070948e-05,1793243046695383296
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879,787.959688802,804.959688802,651,630.959688802,652,0.407252700284,-0.0154911968957,0.0699245252807,0.999999992575,3.67368633506e-05,-0.00010861916193,-4.12505968217e-05,1793243046712049920
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879,787.382054072,804.382054072,651,630.382054072,652,0.407805788082,-0.0155038787256,0.0699347072886,0.999999995478,2.02518413341e-05,-8.42115158483e-05,-3.92692177538e-05,1793243046728716544
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879,787.200220922,804.200220922,651,630.200220922,652,0.408376836973,-0.0155160439034,0.0699454637791,0.999999997499,5.81815878149e-06,-5.96225062465e-05,-3.75895317857e-05,1793243046745383680
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879,787.791560335,804.791560335,651,630.791560335,652,0.408982971653,-0.0155271998343,0.0699573424831,0.999999998722,-4.60836512998e-06,-3.46792164041e-05,-3.64991837343e-05,1793243046762051584
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879,787.624611646,805.375388354,651,631,652,0.409574086205,-0.0155301268133,0.069953724772,0.999999998494,-9.36728609379e-06,-3.88953111108e-05,-3.75579028259e-05,1793243046778718208
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879,787.044872633,805.955127367,651,631,652,0.41015702421,-0.0155285741866,0.0699416712565,0.999999997408,-1.10409261511e-05,-5.89849396294e-05,-3.9786512493e-05,1793243046795384576
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879.528960096,787,805.471039904,651,631,652,0.410785379215,-0.0155260171613,0.0699375973628,0.999999996676,-8.07194664844e-06,-7.02482587714e-05,-4.05923686085e-05,1793243046812051200
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.105170394,714,679,659,635,879.894829606,787,805,651,631,652,0.411431705125,-0.0155245687998,0.0699400578002,0.999999996749,-6.57062744815e-06,-6.91896405843e-05,-4.08832148345e-05,1793243046828717312
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.694609932,714,679,659,635,879.305390068,787,805,651,631,652,0.412143235158,-0.0155286134127,0.0699695237534,0.999999999023,-1.36207834539e-05,-1.48028863833e-05,-3.9352254509e-05,1793243046845383936
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.720323519,714.279676481,679,659.279676481,635,879,787,805,651,631,652,0.412881670428,-0.0155316973852,0.069998296132,0.999999998587,-1.80711553776e-05,3.22905381914e-05,-3.81678193659e-05,1793243046862050304
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.139958428,714.860041572,679,659.860041572,635,879,787,805,651,631,652,0.41364903242,-0.0155337485448,0.0700263228312,0.999999996549,-1.9726422007e-05,7.15426910972e-05,-3.73559437473e-05,1793243046878716928
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,714.563009276,679,659.563009276,635,879.436990724,787,805.436990724,651,631,652,0.414360024518,-0.0155326096218,0.0700099977976,0.999999998293,-2.19113599574e-05,3.74468064271e-05,-3.91291941528e-05,1793243046895383808
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.987271338,744,714,679,659,635,879.987271338,787,805.987271338,651.012728662,631,652,0.415053862059,-0.0155304247579,0.0699792430567,0.999999998629,-2.42031627143e-05,-2.02359910369e-05,-4.18032895717e-05,1793243046912050432
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.417035233,744,714,679,659,635,879.417035233,787,805.417035233,651.582964767,631,652,0.4157809642,-0.0155268316043,0.0699338150292,0.999999994511,-2.38030049795e-05,-9.00677611981e-05,-4.79510570225e-05,1793243046928717056
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.160144294,744,714,679,659,635,879,787,805,651.839855706,631,652,0.416535729397,-0.015524650907,0.0699068027725,0.999999989679,-2.46734138325e-05,-0.000131630286361,-5.20222870765e-05,1793243046945383424
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.756224797,744,714,679,659,635,879,787,805,651.243775203,631,652,0.417365797434,-0.0155263151226,0.0699299209424,0.999999993676,-2.90024912009e-05,-9.6239785419e-05,-5.04408785248e-05,1793243046962050048
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.341499462,714,679,659,635,879.341499462,787,805,651,630.658500538,652,0.41821595228,-0.0155290070432,0.0699558737605,0.999999996628,-3.38299806934e-05,-5.67881818637e-05,-4.87303026241e-05,1793243046978716928
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.919297079,714,679,659,635,879.919297079,787,805,651,630.080702921,652,0.419080006017,-0.0155324100771,0.0699837879927,0.999999998033,-3.9002342745e-05,-1.45265283194e-05,-4.69303503099e-05,1793243046995383808
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679.495829113,659.495829113,635,880,787,805,651.495829113,630.495829113,652,0.419944751842,-0.0155398494498,0.0700026614386,0.99999999763,-4.89640433536e-05,1.56712057837e-05,-4.58011153969e-05,1793243047012050432
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.073731528,745,714,680,660,635,880,787,805.073731528,651.926268472,631,652,0.42080646334,-0.0155472442549,0.0700180729301,0.999999996415,-5.93823936518e-05,4.01259616717e-05,-4.50886359053e-05,1793243047028717312
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.662644521,745,714,680,660,635,880,787,805.662644521,651.337355479,631,652,0.421646187689,-0.0155497489244,0.0700195504861,0.999999995908,-6.75585578483e-05,3.81380372032e-05,-4.65272903108e-05,1793243047045383680
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.753472939,745,714,679.753472939,660,635,880,787,806,651,631,652,0.422463727085,-0.0155469607673,0.0699914574941,0.999999996412,-6.70709921132e-05,-1.10137421383e-05,-5.0551546498e-05,1793243047062050560
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.17633649,745,714,679.17633649,660,635,880,787,806,651,631,652,0.423251515084,-0.0155370745741,0.0699237084062,0.999999989189,-5.49647817159e-05,-0.000123415426898,-5.80432685267e-05,1793243047078717184
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.600556379,744.600556379,714,679.399443621,660,635,880,787,805.600556379,651,631,652,0.424104695305,-0.015535714441,0.0698784769712,0.999999979266,-6.55712455021e-05,-0.000181777634291,-6.42241725839e-05,1793243047095383552
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.025373041,744.025373041,714,679.974626959,660,635,880,787,805.025373041,651,631,652,0.424986645523,-0.0155381054447,0.0698431524353,0.999999970443,-8.6170406843e-05,-0.000216364558804,-6.98283672026e-05,1793243047112050176
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,744,714,680,660.55121703,635,880,787,805,651,631,652,0.425918725407,-0.0155423355227,0.0698996327791,0.999999985672,-7.50589141017e-05,-0.000138189538961,-6.26544996827e-05,1793243047128717056
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.131519194,744.131519194,714.131519194,680,660.868480806,635,880.131519194,787,805,651,631,652.131519194,0.426847584981,-0.0155464163705,0.0699554032387,0.999999994238,-6.69024343157e-05,-6.26692053183e-05,-5.58694765172e-05,1793243047145383936
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.724621547,744.724621547,714.724621547,680,660.275378453,635,880.724621547,787,805,651,631,652.724621547,0.427757023191,-0.0155496756109,0.0699938131144,0.999999995756,-7.4252954002e-05,-1.47292920683e-05,-5.25187486111e-05,1793243047162050560
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,635,880.69038082,787,805.30961918,651,631,652.69038082,0.428678458886,-0.0155529333069,0.0700225332963,0.999999994833,-8.2180441493e-05,3.10062882156e-05,-5.11723705281e-05,1793243047178717184
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,635,880.112407759,787,805.887592241,651,631,652.112407759,0.429610293022,-0.015556189664,0.0700428552015,0.999999991766,-9.06079995169e-05,7.48313211917e-05,-5.15632075219e-05,1793243047195383808
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714.53726223,680,660,635,880,787,805.53726223,651,631,652,0.430456777799,-0.0155529254884,0.0700073167855,0.999999994744,-8.59287912312e-05,1.34668071961e-05,-5.42903652524e-05,1793243047212050176
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.963051265,880,787,805.036948735,651,631,652,0.431279782163,-0.0155480181063,0.0699574843815,0.999999992539,-7.7998780378e-05,-7.41751893367e-05,-5.77618957604e-05,1793243047228717056
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.392478567,880,787,805.607521433,651,631,652,0.432061287818,-0.015542116155,0.0698959989695,0.999999980364,-6.88230256822e-05,-0.000174528325961,-6.38371264223e-05,1793243047245383680
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.186205962,745,714,680,660,634.186205962,880,787,806,651,631,652,0.432886912201,-0.0155396448512,0.0698705908647,0.999999973336,-6.75448790817e-05,-0.000210457499147,-6.68826137598e-05,1793243047262050304
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.782767221,745,714,680,660,634.782767221,880,787,806,651,631,652,0.43380976431,-0.015544733908,0.0699246888705,0.999999989048,-8.36712510714e-05,-0.00010441103217,-6.32512425541e-05,1793243047278716928
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.632052567,745,714,680.367947433,660,634.632052567,880,787,806,651,631,652,0.434706917568,-0.0155483305713,0.0699717825044,0.999999993989,-8.90578828576e-05,-2.52609780534e-05,-5.87610754406e-05,1793243047295383808
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.053390056,745,714,680.946609944,660,634.053390056,880,787,806,651,631,652,0.435589353627,-0.0155510725748,0.0700148648917,0.999999993915,-8.82941102411e-05,3.84861091116e-05,-5.37790958555e-05,1793243047312050688
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,744.478888919,714,680.478888919,660,634.521111081,880,787.521111081,806,651,631,652,0.436436879791,-0.0155530861915,0.0700169737191,0.999999993141,-9.24934034577e-05,4.59566128274e-05,-5.52291648788e-05,1793243047328717312
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,744.097843948,714,680,660,635,880,787.902156052,806,651,631,652,0.437265847386,-0.0155546704555,0.0700101252095,0.999999992746,-9.71894885525e-05,4.20546493782e-05,-5.73963244452e-05,1793243047345383680
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744.687932381,714,680,660,635,880,787.312067619,806,651,631,652,0.438019299754,-0.0155544671473,0.0699791651495,0.999999992973,-0.00010184700127,9.7161027047e-06,-5.98820434932e-05,1793243047362050048
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680.272557332,660,634.727442668,880,787,805.727442668,651,631,652,0.438739466843,-0.0155521233533,0.069936468664,0.999999991211,-0.000103381064387,-5.39444434402e-05,-6.30935020275e-05,1793243047378716672
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680.851049696,660,634.148950304,880,787,805.148950304,651,631,652,0.439422272446,-0.0155473769469,0.0698805984982,0.999999980937,-0.000101409175507,-0.000152762716712,-6.71195744272e-05,1793243047395383296
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.428465973,634,880.428465973,787,805.428465973,651,631,652,0.440155768813,-0.0155462689897,0.0698677179615,0.999999978407,-9.80093172906e-05,-0.000169964005615,-6.85030640021e-05,1793243047412050176
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,744.994515274,714,681,661,634,880.994515274,787,806,651,631,652.005484726,0.440907371802,-0.0155464878673,0.0698704460994,0.999999980728,-9.42003069268e-05,-0.000157870823156,-6.88993417493e-05,1793243047428717056
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,744.420029976,714,681,661,634,880.420029976,787,806,651,631,652.579970024,0.441713830017,-0.0155534652357,0.0699459353092,0.999999992233,-9.93150664447e-05,-4.28099861821e-05,-6.19448387016e-05,1793243047445383680
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,744,714,680.840705391,660.840705391,634,880.159294609,787,806,651,631,652.840705391,0.442483427644,-0.0155587434281,0.0700058735167,0.999999991831,-0.000104898611175,4.59417519888e-05,-5.67689862975e-05,1793243047462050560
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,744,714,680.248220582,660.248220582,634,880.751779418,787,806,651,631,652.248220582,0.443152785738,-0.0155594008353,0.0700235219121,0.999999990169,-0.000111756987707,6.31478181152e-05,-5.64300463918e-05,1793243047478716928
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,744.334110713,714,680.334110713,660,634.334110713,881,787,806,651,631,652,0.443787437381,-0.0155605759142,0.0700163388777,0.999999990165,-0.00011930136154,4.64048238558e-05,-5.7295695947e-05,1793243047495383296
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,744.90912111,714,680.90912111,660,634.90912111,881,787,806,651,631,652,0.444397065023,-0.0155621242434,0.0699912519459,0.999999990137,-0.000127340350903,5.18396054566e-06,-5.90298755809e-05,1793243047512049920
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714.485067973,681,660,634.514932027,880.514932027,787,806,651,631,652,0.444981197921,-0.0155623951517,0.0699674836256,0.999999990464,-0.000120678947061,-3.09719792368e-05,-5.95680480175e-05,1793243047528716544
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,744.937207511,714.937207511,681,660,634.062792489,880,787.062792489,806,651,631,652,0.445557975401,-0.0155623141777,0.0699455517368,0.99999998991,-0.000112370833073,-6.29196707448e-05,-5.99555860159e-05,1793243047545383424
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,744.346002954,714.346002954,681,660,634.653997046,880,787.653997046,806,651,631,652,0.446113128638,-0.0155612899352,0.069936990843,0.999999989434,-0.000113426986497,-6.74549418382e-05,-6.09647932821e-05,1793243047562050048
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.239160234,744.239160234,714,681,660,634.760839766,880,787.760839766,806,651,631,652,0.446640363572,-0.0155623515838,0.0699284022845,0.999999987913,-0.000117928147347,-8.03573945126e-05,-6.17238278652e-05,1793243047578716672
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+262,4.366666667,HOLD_POSE2,765,745,714,682,659,633,880.850526339,783,806.850526339,651,630,652,0.453042785995,-0.0156051695749,0.0697399602516,0.999999910218,-0.000166196745024,-0.00038475289459,-6.25185900179e-05,1793243048687968768
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,634,880,783,807,651,630,652,0.453044801682,-0.0156086904645,0.0697409454311,0.999999911181,-0.000167624543606,-0.000381876875321,-6.09036488691e-05,1793243048720595200
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.097205823,659.097205823,633,880,783.097205823,806.097205823,651,630,652.097205823,0.453043166522,-0.015607250899,0.0697393104286,0.999999909886,-0.000168385780415,-0.000384786480497,-6.17582841938e-05,1793243048803928576
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633.814430002,880,784.814430002,806,651.185569998,631,652,0.450012672087,-0.0154851776964,0.0696599398142,0.999999851344,-3.5161417746e-05,-0.000543750718416,-2.02906117193e-05,1793243049203927040
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.99437774,660,634,880,785,806,651,631,652,0.449313674659,-0.015474323231,0.0696786904479,0.999999866725,1.26786269231e-05,-0.000516044839899,-9.33479016494e-06,1793243049237260800
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,745,714,681,660,634,880,786.13022058,805.86977942,651,631,652,0.447107795158,-0.0154698991224,0.0697211950364,0.999999897933,5.08754581706e-05,-0.000448814993679,1.051903894e-05,1793243049320593920
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,744.050548966,714,681.050548966,660,634,880,786.101097931,806,651,631,652,0.44602066821,-0.0154421455582,0.0697169588075,0.999999902917,2.59743757225e-05,-0.000439871431816,-2.15449495662e-06,1793243049353927168
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,744.985501436,714,680,659.985501436,634,879.985501436,787,805,651.985501436,631,652,0.427165771872,-0.0153906014874,0.0698171193953,0.999999944277,0.000168776297505,-0.000287232074371,2.13974723038e-05,1793243049753927168
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e39ce6a82845df0725f623ebb160c834662d6d8f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_02/simulation_data.csv
@@ -0,0 +1,406 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c4f1604ec5b32746637961195589ef485c42abb1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbc2185f46df570e7f686f07ed5faef138a591532306e040b813ab920f55099f
+size 25694625
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e6156a402024b663ad14b917271399e9c55e2fea
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_03/franka_data.csv
@@ -0,0 +1,406 @@
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+4,0.066666667,BASELINE,764.688705819,744,714,678.688705819,659,634.688705819,879,787,805,651,631,652,0.400953562152,-0.0153563865173,0.0698195269617,0.999999927873,0.000241087632071,-0.000293388450481,7.3102684104e-06,1793243051285632000
+5,0.083333333,BASELINE,764.097630249,744,714,678.097630249,659,634.097630249,879,787,805,651,631,652,0.400952521631,-0.015355225347,0.0698188809046,0.999999927222,0.000241835504512,-0.000294993011894,7.15420188799e-06,1793243051302298624
+6,0.100000000,BASELINE,764,744,714,678.482078468,659,634.482078468,879,787,805,651.482078468,631,652,0.400953403763,-0.0153546727757,0.0698197629371,0.999999927319,0.000242840428709,-0.000293836677359,7.16391795893e-06,1793243051318965248
+7,0.116666667,BASELINE,764,744,714,678.940746506,659,635,879,787,805,651.940746506,631,652,0.400954365431,-0.0153542086022,0.0698206567549,0.999999927443,0.000243843036133,-0.000292579877858,7.18219879721e-06,1793243051335631616
+8,0.133333333,BASELINE,764,744,714,678.366048153,659,635,879,787,805,651.366048153,631,652,0.40095270984,-0.0153534659214,0.0698190230516,0.999999926542,0.000244383070626,-0.000295200995848,6.98965101174e-06,1793243051352298240
+9,0.150000000,BASELINE,764.208887394,744,714.208887394,678.208887394,659,635,878.791112606,787,805,651.208887394,631,652,0.400951931096,-0.0153538612128,0.0698181324186,0.99999992637,0.000243508565101,-0.000296506094256,6.91216947887e-06,1793243051368965120
+10,0.166666667,BASELINE,764.784239007,744,714.784239007,678.784239007,659,635,878.215760993,787,805,651.784239007,631,652,0.400952690659,-0.01535625292,0.0698185454004,0.999999927478,0.000240152443504,-0.000295502416935,7.03655588925e-06,1793243051385632000
+11,0.183333333,BASELINE,765.369355379,744,714.630644621,679,658.630644621,634.630644621,878.369355379,787,805,651.630644621,631,652,0.400952161962,-0.0153567474481,0.0698183531117,0.999999927456,0.00024000382688,-0.000295693523631,7.18580781287e-06,1793243051402298624
+12,0.200000000,BASELINE,765.960330844,744,714.039669156,679,658.039669156,634.039669156,878.960330844,787,805,651.039669156,631,652,0.400950860285,-0.0153561036336,0.0698177976494,0.999999926758,0.000241779772471,-0.000296601522824,7.34997951806e-06,1793243051418965248
+13,0.216666667,BASELINE,764.918088249,744,714,678.459044124,658.540955876,634.540955876,879,787.540955876,804.459044124,651.540955876,630.459044124,652,0.400952773951,-0.0153563776805,0.0698190983937,0.99999992763,0.000240737826145,-0.000294499420869,7.38635553315e-06,1793243051435632128
+14,0.233333333,BASELINE,764,744,714,678,659,634.880575968,879,787.880575968,804.119424032,651.880575968,630.119424032,652,0.400954156714,-0.0153565335192,0.0698200326036,0.999999928161,0.000240330846332,-0.000293025483602,7.41325117116e-06,1793243051452298752
+15,0.250000000,BASELINE,764,744,714,678,659,634.307472114,879,787.307472114,804.692527886,651.307472114,630.692527886,652,0.400952643723,-0.0153559893999,0.0698190669935,0.99999992698,0.000243106308119,-0.00029476068841,7.43906466722e-06,1793243051468965376
+16,0.266666667,BASELINE,764.273150259,744,714,678,659,634,879,787,805,651.273150259,631,652,0.400952022647,-0.0153555330484,0.069818789761,0.999999926368,0.000244692537587,-0.000295524428926,7.42729145682e-06,1793243051485631744
+17,0.283333333,BASELINE,764.862475379,744,714,678,659,634,879,787,805,651.862475379,631,652,0.400952433974,-0.0153551782893,0.0698193093343,0.999999926423,0.000244902215523,-0.000295163687201,7.37201115945e-06,1793243051502298368
+18,0.300000000,BASELINE,764.556734612,744,714,678.443265388,658.556734612,634.443265388,878.556734612,787,804.556734612,651.556734612,631,652,0.400953220527,-0.0153551521219,0.0698198628682,0.99999992697,0.000243778957276,-0.000294248026394,7.0587846338e-06,1793243051518965248
+19,0.316666667,BASELINE,764,744,714.021486536,679,658.021486536,635,878.021486536,787.021486536,804.021486536,651,631,652,0.400954029359,-0.0153553142967,0.0698203424691,0.999999927645,0.000242186294258,-0.000293277471534,6.69114519213e-06,1793243051535632128
+20,0.333333333,BASELINE,764,744,714.600464567,679,658.600464567,635,878.600464567,787.600464567,804.600464567,651,631,652,0.400952452808,-0.0153577680649,0.0698186355818,0.999999927839,0.000238941664651,-0.000295265264949,6.94890862604e-06,1793243051552299008
+21,0.350000000,BASELINE,764.177563199,744,714.822436801,679,659.177563199,635,879,788,805,651.177563199,631,652,0.400952083765,-0.0153589840387,0.0698180937121,0.999999928114,0.000237573277574,-0.000295431972091,7.16126110079e-06,1793243051568965632
+22,0.366666667,BASELINE,764.7504772,744,714.2495228,679,659.7504772,635,879,788,805,651.7504772,631,652,0.400954403281,-0.0153574440189,0.0698201457956,0.999999928583,0.000240382411934,-0.000291543965347,7.27250441884e-06,1793243051585632000
+23,0.383333333,BASELINE,764.666071654,744,714,678.666071654,659.666071654,635,879,787.666071654,805,652,631,652,0.400955157575,-0.0153558460321,0.0698210999491,0.999999928402,0.000242251412887,-0.000290618804165,7.15895602872e-06,1793243051602298624
+24,0.400000000,BASELINE,764.074490175,744,714,678.074490175,659.074490175,635,879,787.074490175,805,652,631,652,0.400954704173,-0.0153542033188,0.0698212069597,0.99999992773,0.000243395024035,-0.000291979721157,6.87196239342e-06,1793243051618965248
+25,0.416666667,BASELINE,764.505562048,744,714.505562048,678,659,635,879,787,805,651.494437952,631,652,0.400955381779,-0.0153558975782,0.0698216213896,0.99999992845,0.000241543539192,-0.000291048803255,6.9494808597e-06,1793243051635631872
+26,0.433333333,BASELINE,765,744,714.916647176,678.166705647,659,635,879,787,804.916647176,651,631,652,0.400956125274,-0.0153576766416,0.0698219811151,0.999999929181,0.00023972867513,-0.000290031008143,7.09535311067e-06,1793243051652298752
+27,0.450000000,BASELINE,765,744,714.342393291,679.315213418,659,635,879,787,804.342393291,651,631,652,0.400956297263,-0.0153571240354,0.0698217578442,0.999999928833,0.000240670553137,-0.000290445968844,7.33453515293e-06,1793243051668965376
+28,0.466666667,BASELINE,765,744.238063389,714,679.761936611,659,635,879,787.238063389,804.238063389,651.238063389,631,652,0.400956858824,-0.0153569527476,0.0698219665031,0.99999992876,0.00024147016994,-0.000290029035828,7.48626932882e-06,1793243051685632000
+29,0.483333333,BASELINE,765,744.827679825,714,679.172320175,659,635,879,787.827679825,804.827679825,651.827679825,631,652,0.400957995676,-0.0153573445607,0.0698228130016,0.999999929093,0.000242059706674,-0.000288383628419,7.50886744748e-06,1793243051702298880
+30,0.500000000,BASELINE,765,744.590458687,714.409541313,679,659,635,879,787.590458687,805,652,631,652,0.400956086414,-0.0153568369986,0.0698215690207,0.999999928105,0.000243705301619,-0.000290418693224,7.41727613689e-06,1793243051718965504
+31,0.516666667,BASELINE,765,744.011799577,714.988200423,679,659,635,879,787.011799577,805,652,631,652,0.400952919278,-0.0153559580445,0.0698194617878,0.999999926558,0.000245786989886,-0.000293973588505,7.27853093878e-06,1793243051735631872
+32,0.533333333,BASELINE,765,744,714.433825932,679,659,635,879,787,805,652,631,652,0.400953026053,-0.0153559385144,0.0698197774946,0.999999926861,0.00024473740433,-0.000293826807039,6.95362956782e-06,1793243051752298496
+33,0.550000000,BASELINE,764.858318858,744,714,678.858318858,659,635,879,787,805,651.858318858,631,652,0.400953032325,-0.0153560367794,0.0698200724934,0.999999927144,0.000243862331085,-0.000293593834662,6.81327074129e-06,1793243051768965376
+34,0.566666667,BASELINE,764.290193053,744,714,678.290193053,659,635,879,787,805,651.290193053,631,652,0.400952530969,-0.0153564357497,0.0698201533592,0.999999927255,0.000243708704497,-0.000293333358163,7.24002798341e-06,1793243051785632000
+35,0.583333333,BASELINE,764.292167737,744,714,678,659.292167737,635,879,787.292167737,805,651,631,652,0.400953182211,-0.0153566219874,0.0698206142821,0.9999999278,0.000242638842222,-0.000292356912333,7.33807170838e-06,1793243051802298624
+36,0.600000000,BASELINE,764.889391528,744,714,678,659.889391528,635,879,787.889391528,805,651,631,652,0.400955036895,-0.0153565861084,0.0698214720274,0.999999928794,0.000240612326585,-0.000290632913774,7.09290151838e-06,1793243051818965760
+37,0.616666667,BASELINE,765,744,714.471739426,678.471739426,659.528260574,635,879,787.528260574,805,651.471739426,631,652,0.400954869809,-0.0153565097242,0.0698211356213,0.999999928474,0.000241358882854,-0.000291114061386,7.08604066713e-06,1793243051835632384
+38,0.633333333,BASELINE,765,744,714.949715011,678.949715011,659,635,879.050284989,787,805,652,631,652,0.400954438296,-0.0153565183045,0.069820703627,0.999999928019,0.000242447738045,-0.000291770149428,7.12721388237e-06,1793243051852299008
+39,0.650000000,BASELINE,765,744,714.375555271,678.375555271,659,635,879.624444729,787,805,652,631,652,0.400956039607,-0.0153575079741,0.0698221035976,0.999999929278,0.000240535917557,-0.000289026880877,7.1044819743e-06,1793243051868965376
+40,0.666666667,BASELINE,765,744,714,678,659,634.796196378,879.796196378,787,805,652,631,652,0.400956776182,-0.01535788498,0.0698227515938,0.999999929667,0.000240474416933,-0.000287724070228,7.23691841908e-06,1793243051885632000
+41,0.683333333,BASELINE,765,744,714,678,659,634.207006072,879.207006072,787,805,652,631,652,0.400955877567,-0.0153571034566,0.0698219776282,0.999999928422,0.000243911817135,-0.000289145123486,7.66277367949e-06,1793243051902298880
+42,0.700000000,BASELINE,765,744,714,678,659,634,879,787,805,651.624523256,631,652,0.400954947238,-0.0153569217884,0.0698216767872,0.999999928171,0.000243530360863,-0.000290327777227,7.75507439464e-06,1793243051918965248
+43,0.716666667,BASELINE,765,744,714,678,659,634,879,787,805,651.045673502,631,652,0.400953999731,-0.0153570650255,0.0698216322092,0.999999928459,0.00024108046122,-0.000291381304344,7.66670880097e-06,1793243051935631872
+44,0.733333333,BASELINE,765,744,714,678.532283641,659,634.532283641,879,787,804.467716359,651,631,652,0.400955432633,-0.0153568928107,0.0698222976632,0.999999929177,0.000240310174575,-0.00028955532075,7.34566485788e-06,1793243051952298752
+45,0.750000000,BASELINE,765,744,714.109106096,678.890893904,659,635,879,787,804,651,631,652,0.400956467601,-0.0153567342479,0.0698226272955,0.999999929594,0.00023992220145,-0.000288444871787,7.04862470979e-06,1793243051968965376
+46,0.766666667,BASELINE,765,744,714.681435571,678.318564429,659,635,879,787,804,651,631,652,0.400954947349,-0.0153567483742,0.0698212729217,0.999999928582,0.000240546524143,-0.000291419571829,6.93811921898e-06,1793243051985632256
+47,0.783333333,BASELINE,765,744,714.737612232,678,659,635,879,787,804.524775535,651.262387768,631,652,0.400954565825,-0.0153572837236,0.0698212438137,0.999999928457,0.000240249429597,-0.000292092994445,6.96583307164e-06,1793243052002298880
+48,0.800000000,BASELINE,765,744,714.145835407,678,659,635,879,787,805.708329186,651.854164593,631,652,0.400955613805,-0.0153584733915,0.0698228783806,0.999999929448,0.00023879563199,-0.000289877503819,7.16706086455e-06,1793243052018965248
+49,0.816666667,BASELINE,764.562600017,744,714,678.437399983,659,635,879,787,805.562600017,651.562600017,631,652,0.400956346386,-0.0153579904291,0.0698230044892,0.999999929652,0.000239259057926,-0.000288794541665,7.01007079426e-06,1793243052035631872
+50,0.833333333,BASELINE,764,744,714,679,659,635,879,787,805,651.017685439,631,652,0.400956928915,-0.0153570061525,0.0698226505095,0.999999929587,0.000240321829249,-0.000288140586403,6.75194396567e-06,1793243052052298496
+51,0.850000000,BASELINE,764,744,714,679,659,635,879,787,805,651.593032722,631,652,0.400956032294,-0.0153574623637,0.0698227133907,0.999999929195,0.000240513028261,-0.000289335623965,6.9986661919e-06,1793243052068965120
+52,0.866666667,BASELINE,764,744,714,678.832703897,659,635,879,787,805,652,631,652,0.400955463197,-0.0153577356954,0.0698226235582,0.999999928879,0.000240736177863,-0.000290236805722,7.15001619844e-06,1793243052085631488
+53,0.883333333,BASELINE,764,744,714,678.261060292,659,635,879,787,805,652,631,652,0.400955685709,-0.0153575670154,0.0698221646237,0.999999928752,0.000241036550656,-0.000290427750541,7.07085562916e-06,1793243052102298368
+54,0.900000000,BASELINE,764.322823853,744,714.322823853,678.322823853,659,635,879,787.322823853,805,651.677176147,631,652,0.400955547494,-0.0153561669224,0.0698216160822,0.999999928454,0.000242018585011,-0.00029064109536,6.77129501092e-06,1793243052118965248
+55,0.916666667,BASELINE,764.916996736,744,714.916996736,678.916996736,659,635,879,787.916996736,805,651.083003264,631,652,0.40095510607,-0.0153537317673,0.0698209922216,0.999999928013,0.00024357358879,-0.00029087326845,6.28647751813e-06,1793243052135631872
+56,0.933333333,BASELINE,765,744,715,679,659.497960047,635,879,788,805,651,631,652,0.400954462956,-0.015355093152,0.0698215527766,0.999999928205,0.000243274954721,-0.000290456819045,6.47788578617e-06,1793243052152298496
+57,0.950000000,BASELINE,765,744,715,678.923853646,659.847707292,635,879,787.923853646,805,651.076146354,631,652,0.40095393446,-0.0153570944998,0.0698221967722,0.999999928532,0.000242504524547,-0.000289966802569,6.77622908889e-06,1793243052168965376
+58,0.966666667,BASELINE,765,744,715,678.34980044,658.699600879,635,879,787.34980044,805,651.65019956,631,652,0.400954369579,-0.0153592494066,0.0698221287976,0.999999929068,0.000240617238684,-0.000289684430754,7.05580652355e-06,1793243052185632256
+59,0.983333333,BASELINE,764.769744348,744.230255652,714.769744348,678,658.230255652,634.769744348,879.230255652,787.230255652,805,652,631,652,0.40095484519,-0.0153600368309,0.0698222118458,0.999999929498,0.000239201744924,-0.000289366779103,7.24697883021e-06,1793243052202298624
+60,1.000000000,BASELINE,764.180324572,744.819675428,714.180324572,678,658.819675428,634.180324572,879.819675428,787.819675428,805,652,631,652,0.400955383964,-0.0153586911885,0.0698225304669,0.999999929768,0.000238522175471,-0.000288994096183,7.30025250041e-06,1793243052218965248
+61,1.016666667,BASELINE,764,745,714,678,659,634.401098079,879.598901921,787.598901921,805,652,631,652,0.400954629415,-0.015357390491,0.0698223958965,0.999999928733,0.000241537530777,-0.000290063363475,7.51420638427e-06,1793243052235631872
+62,1.033333333,BASELINE,764,745,714,678,659,634.978995653,879.021004347,787.021004347,805,652,631,652,0.400953304784,-0.0153561096046,0.0698220615645,0.999999927103,0.000246181567137,-0.000291768226118,7.79898628459e-06,1793243052252298496
+63,1.050000000,BASELINE,764,744.443173465,714.556826535,678.556826535,659,635,879,787.556826535,805,652,631,652,0.400955676073,-0.0153562154747,0.0698229263629,0.999999928145,0.000245182694032,-0.000289028792039,7.54369810346e-06,1793243052268965376
+64,1.066666667,BASELINE,764.133884863,744,714.866115137,679,659,635,879.133884863,787.866115137,805,652,631,652.133884863,0.40095733096,-0.0153567632977,0.0698235519282,0.999999929179,0.000243454412748,-0.000286909698857,7.35525233924e-06,1793243052285632256
+65,1.083333333,BASELINE,764.708408821,744,714.291591179,679,659,635,879.708408821,787.291591179,805,652,631,652.708408821,0.400956169253,-0.0153585935239,0.0698232412818,0.999999929871,0.000240025992167,-0.000287383944843,7.45383748264e-06,1793243052302299136
+66,1.100000000,BASELINE,765,744,714,678.708657109,659,635,879.708657109,787,804.708657109,651.708657109,631,652.708657109,0.400955616727,-0.015358881243,0.0698230994342,0.999999930064,0.000238795666861,-0.000287740917627,7.32010166265e-06,1793243052318965760
+67,1.116666667,BASELINE,765,744,714,678.117055598,659,635,879.117055598,787,804.117055598,651.117055598,631,652.117055598,0.400955692025,-0.0153575792506,0.0698231315508,0.999999929751,0.000239830703574,-0.000287977028369,6.94693534306e-06,1793243052335632128
+68,1.133333333,BASELINE,764.536206668,744.463793332,714.463793332,678,659,635,879,787,804,651.463793332,631,652,0.400955462359,-0.0153577742963,0.0698230238361,0.999999929636,0.000239998490508,-0.000288234152193,7.10050740167e-06,1793243052352298496
+69,1.150000000,BASELINE,764.041826025,744.958173975,714.958173975,678.041826025,659,635,879.041826025,787.041826025,804.041826025,652,631,652,0.400955110332,-0.0153584178202,0.0698228410187,0.999999929572,0.000239875334972,-0.000288549737667,7.36134775831e-06,1793243052368965120
+70,1.166666667,BASELINE,764.617765013,744.382234987,714.382234987,678.617765013,659,635,879.617765013,787.617765013,804.617765013,652,631,652,0.400954156382,-0.015360072793,0.0698221396108,0.99999992955,0.000238768654949,-0.000289545680977,7.33280283175e-06,1793243052385631744
+71,1.183333333,BASELINE,765,744,714.197649135,678.802350865,659,635,879.802350865,787.802350865,805,652,631,652,0.400953689767,-0.0153604377428,0.0698216258056,0.999999929439,0.000238485389209,-0.000290164751832,7.10860789424e-06,1793243052402298624
+72,1.200000000,BASELINE,765,744,714.785318274,678.214681726,659,635,879.214681726,787.214681726,805,652,631,652,0.40095418481,-0.0153582570973,0.0698214821958,0.999999929159,0.000239826962363,-0.000290040142424,6.49833781045e-06,1793243052418965248
+73,1.216666667,BASELINE,764.632764206,744.367235794,714.632764206,678.367235794,659,635,878.265528412,787,805,651.632764206,631,652,0.400954440468,-0.0153570834144,0.0698219558031,0.999999929084,0.000240834732573,-0.000289463735904,6.4725892615e-06,1793243052435632128
+74,1.233333333,BASELINE,764.054157201,744.945842799,714.054157201,678.945842799,659,635,877.108314402,787,805,651.054157201,631,652,0.400954558342,-0.0153564893127,0.0698227846643,0.999999929127,0.000241650374558,-0.00028862728692,6.78327588666e-06,1793243052452298752
+75,1.250000000,BASELINE,764.522834351,744.477165649,714,678.477165649,658.477165649,635,878.045668701,787,804.477165649,651.522834351,631,652,0.400953911584,-0.0153576226655,0.0698225843063,0.999999928713,0.000242645830019,-0.000289215731208,7.22120988013e-06,1793243052468965120
+76,1.266666667,BASELINE,765,744,714,678,658.098990854,635,878.901009146,787.098990854,804.098990854,652,631,652,0.400953550165,-0.0153587703662,0.0698223538097,0.999999928524,0.000242864101735,-0.000289674299519,7.56987358162e-06,1793243052485632000
+77,1.283333333,BASELINE,765,744,714,678,658.671947875,635,878.328052125,787.671947875,804.671947875,652,631,652,0.400954933004,-0.0153591326596,0.0698224878863,0.999999929642,0.000239272328556,-0.000288806514754,7.42819807499e-06,1793243052502298624
+78,1.300000000,BASELINE,764.74656752,744,714,678.25343248,659,635,878.25343248,788,804.74656752,651.74656752,631,652,0.400955602456,-0.0153582406947,0.0698226752918,0.999999929929,0.00023857112081,-0.00028840212479,7.08552079499e-06,1793243052518965504
+79,1.316666667,BASELINE,764.153660195,744,714,678.846339805,659,635,878.846339805,788,804.153660195,651.153660195,631,652,0.40095531632,-0.0153556686408,0.0698229341319,0.999999929109,0.000241741849005,-0.000288618455957,6.47360003425e-06,1793243052535633152
+80,1.333333333,BASELINE,764.858225702,744.429112851,714,678.570887149,659,635,879,787.570887149,804.429112851,651.429112851,631,652,0.400955128724,-0.0153555602768,0.0698226955273,0.999999928952,0.000242187887713,-0.000288785076791,6.58843004175e-06,1793243052552299520
+81,1.350000000,BASELINE,765.983441624,744.991720812,714.008279188,678.008279188,659,635,879,787.008279188,805,652,631,652,0.400954983231,-0.0153563207268,0.0698222869126,0.999999929036,0.000241662572246,-0.000288927436583,6.9509189256e-06,1793243052568965632
+82,1.366666667,BASELINE,764.833530417,744.416765208,714.583234792,678.583234792,659,635,879,787.583234792,805,652,631,652,0.400955360128,-0.0153575569119,0.0698221527054,0.999999929557,0.000239892492267,-0.000288599499883,6.86319255166e-06,1793243052585632256
+83,1.383333333,BASELINE,764,744,714.838143571,679,659,635,879,787.838143571,804.838143571,651.838143571,631,652,0.400955439475,-0.0153581993075,0.0698220543726,0.999999929747,0.000239188774427,-0.000288526856811,6.79135308608e-06,1793243052602299136
+84,1.400000000,BASELINE,764,744,714.249863348,679,659,635,879,787.249863348,804.249863348,651.249863348,631,652,0.400954734903,-0.0153572773173,0.0698220505537,0.999999929068,0.000241294473123,-0.000289126805287,6.76136894065e-06,1793243052618966272
+85,1.416666667,BASELINE,764,744.332978339,714,679,659,635,879,787,804.332978339,651,631,652,0.400955291176,-0.0153567794518,0.0698225041047,0.999999928845,0.000242671386544,-0.000288745488505,6.86699196245e-06,1793243052635632640
+86,1.433333333,BASELINE,764,744.911804558,714,679,659,635,879,787,804.911804558,651,631,652,0.400956778368,-0.0153565947303,0.0698232953455,0.999999928958,0.000243510215846,-0.00028763967416,7.07273781873e-06,1793243052652298752
+87,1.450000000,BASELINE,764.491658442,745,714.491658442,678.508341558,659,635,879,787,805,651,631,652.491658442,0.400958295653,-0.0153575214828,0.0698243776811,0.999999929953,0.000242112051828,-0.000285346349178,7.25220421663e-06,1793243052668965376
+88,1.466666667,BASELINE,764.929275604,744.929275604,714.929275604,678,659,635,879,787,805,651.070724396,631,652.929275604,0.400959195487,-0.0153586272661,0.0698251087299,0.999999930851,0.000240373908295,-0.000283661279558,7.39690178927e-06,1793243052685632000
+89,1.483333333,BASELINE,764.357105942,744.357105942,714.357105942,678,659,635,879,787,805,651.642894058,631,652.357105942,0.400955679161,-0.015359585809,0.0698229781027,0.999999929979,0.000239076351365,-0.000287802322955,7.32857743897e-06,1793243052702298624
+90,1.500000000,BASELINE,764.216400675,744,714,678,659,635.216400675,879,787,805,652,631,652,0.400954195982,-0.0153599855114,0.0698219746102,0.999999929757,0.000237901656593,-0.000289543808495,7.24086342198e-06,1793243052718965248
+91,1.516666667,BASELINE,764.792127205,744,714,678,659,635.792127205,879,787,805,652,631,652,0.400956088775,-0.0153594572783,0.069822842686,0.999999930636,0.000236930970334,-0.000287300910606,7.12095353947e-06,1793243052735632128
+92,1.533333333,BASELINE,765,744,714,678.379847876,659,635.620152124,879,787.379847876,805,652,631,651.620152124,0.400955535438,-0.0153592230987,0.0698225849687,0.999999930095,0.000238386901437,-0.000287976311265,7.20794174702e-06,1793243052752298752
+93,1.550000000,BASELINE,765,744,714,678.974346448,659,635.025653552,879,787.974346448,805,652,631,651.025653552,0.400953599803,-0.0153591550876,0.0698216910697,0.999999928743,0.00024121410537,-0.000290300831942,7.4118473251e-06,1793243052768965376
+94,1.566666667,BASELINE,765,744,714.551327355,679,658.448672645,635,879,788,805,651.448672645,631,651.551327355,0.400953279056,-0.0153578994768,0.0698212110081,0.999999928465,0.000241610456133,-0.000290937454534,7.12247021653e-06,1793243052785632000
+95,1.583333333,BASELINE,765,744.12717184,714.87282816,679,658.12717184,635,879.12717184,787.87282816,804.87282816,651.12717184,631,652,0.400953770918,-0.015356872083,0.0698213163207,0.999999928455,0.000242027294967,-0.000290628967965,6.88791637895e-06,1793243052802298368
+96,1.600000000,BASELINE,765,744.701797607,714.298202393,679,658.701797607,635,879.701797607,787.298202393,804.298202393,651.701797607,631,652,0.400956865696,-0.0153568361132,0.0698234156054,0.999999929215,0.000242901938895,-0.000287262945101,6.92453011904e-06,1793243052818964992
+97,1.616666667,BASELINE,765,744.716198872,714,678.716198872,659,635,879.716198872,787,804.567602256,651.716198872,631,652,0.400958012273,-0.0153565122449,0.0698244893329,0.999999929607,0.000242996240716,-0.000285816315925,6.95852151928e-06,1793243052835631616
+98,1.633333333,BASELINE,765,744.126236351,714,678.126236351,659,635,879.126236351,787,805.747527299,651.126236351,631,652,0.400957057153,-0.015355877795,0.0698244567009,0.999999929609,0.000242248718393,-0.00028644030679,6.98968396732e-06,1793243052852298240
+99,1.650000000,BASELINE,765,744,714,678,659,635,879,787,805.545151291,651.454848709,631,652,0.400956380053,-0.0153571495285,0.0698238922931,0.999999929681,0.000240804876625,-0.000287406990666,7.00283974976e-06,1793243052868964864
+100,1.666666667,BASELINE,764.966638382,744,714,678,659,635,879.033361618,787,805,652,631,652,0.40095585535,-0.0153587962243,0.069823226427,0.999999929759,0.000239334459952,-0.000288359948311,7.01092401888e-06,1793243052885631488
+101,1.683333333,BASELINE,764.390654764,744,714,678,659,635,879.609345236,787,805,652,631,652,0.400956578377,-0.0153581017213,0.0698232648708,0.999999929703,0.000240514863575,-0.000287572326814,7.01624802571e-06,1793243052902299648
+102,1.700000000,BASELINE,764.188977346,744,714,678.188977346,659,635,879.811022654,787,804.811022654,651.811022654,631,652,0.400956630725,-0.0153577509777,0.0698229240616,0.999999929594,0.000241190374101,-0.000287383819477,7.00235711558e-06,1793243052918966528
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+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879,787,805,651,631,652,0.400955855545,-0.0153578786322,0.0698240810092,0.999999929834,0.000240262160107,-0.000287324304742,7.12846954921e-06,1793243053028536832
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658.410315896,634.589684104,879,787,805,651,631.589684104,652,0.400955793733,-0.0153586754322,0.069823692377,0.99999993,0.000238654322479,-0.000288083821344,7.20747422633e-06,1793243053045203456
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+111,1.850000000,POSE1_TO_POSE2_PRESS,764.668131507,744,714.331868493,678,659,635,879,787,804.668131507,651.331868493,631,652,0.400955471516,-0.0153572197297,0.0698232846192,0.999999929583,0.000240287970056,-0.000288176838998,7.02171059819e-06,1793243053095203840
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+124,2.066666667,POSE1_TO_POSE2_PRESS,764.874563152,744.874563152,714,679,659,635,879,788,805,651.125436848,631,652,0.401421446094,-0.0153792862077,0.0699079175726,0.999999960092,0.000236426427434,-0.000154431277317,8.35290517461e-06,1793243053311870976
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714.457792915,678.542207085,659,635,879,788,805.457792915,651,631,652,0.401523805749,-0.01538423216,0.0699094075875,0.999999961094,0.000233900151545,-0.000151861765038,6.44045530554e-06,1793243053328537600
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.956858315,714.956858315,678.043141685,659,635,879,787.956858315,805.913716631,651.043141685,631,652,0.401633531527,-0.0153892891025,0.0699111266987,0.999999962272,0.000230989009454,-0.000148600590597,4.23863955768e-06,1793243053345204224
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.377205473,714.377205473,678.622794527,659,635,879,787.377205473,804.754410947,651.622794527,631,652,0.401769915859,-0.0153949270549,0.0699134041506,0.999999963543,0.000227324814251,-0.00014572372437,1.02339549615e-06,1793243053361870592
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744,714,678.797850497,659,635,879,787.202149503,804.202149503,651.797850497,631,652,0.401918480579,-0.0154014420967,0.0699157467272,0.999999965425,0.000221332129546,-0.000141976855669,-2.36911192151e-06,1793243053378537216
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744,714,678.219050576,659,635,879,787.780949424,804.780949424,651.219050576,631,652,0.402089740112,-0.0154095913543,0.069918210646,0.99999996839,0.000211000940667,-0.000136608975158,-6.09190085552e-06,1793243053395203840
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.645681257,744.354318743,714,678.354318743,659,634.645681257,879,787.645681257,805,651,631,652,0.40227510686,-0.0154165049246,0.0699197682662,0.999999970687,0.000202609621404,-0.000132177437775,-1.02542688339e-05,1793243053411870208
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.075618564,744.924381436,714,678.924381436,659,634.075618564,879,787.075618564,805,651,631,652,0.40246906348,-0.0154226660882,0.0699207740434,0.999999972569,0.000195399483742,-0.000128316037267,-1.46842959427e-05,1793243053428536832
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.499806554,745,714,679,659,634.499806554,879,787.499806554,805,651,631,652.499806554,0.402700073661,-0.0154320854193,0.0699248758449,0.999999976255,0.000182179539368,-0.000117985256881,-1.95186533952e-05,1793243053445203456
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.921345539,714,678.921345539,659,634.921345539,879,787.921345539,805,651,631,652.921345539,0.402942412785,-0.0154423109845,0.0699303401218,0.999999981372,0.000159930589925,-0.000105317964042,-2.42279125255e-05,1793243053461870080
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.325379523,714,678.325379523,659,634.325379523,879,787.325379523,805,651,631,652.325379523,0.403221991738,-0.0154545618888,0.0699416512362,0.999999992549,8.43427922938e-05,-8.37907164948e-05,-2.7707698276e-05,1793243053478536960
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744,714,678,659,634.260004729,879,787.260004729,805,651.260004729,631,652,0.403516047761,-0.0154650167853,0.0699496083036,0.999999996145,4.22997712156e-05,-6.99896584085e-05,-3.19668067126e-05,1793243053495203584
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744,714,678,659,634.832664404,879,787.832664404,805,651.832664404,631,652,0.403827512401,-0.015473311987,0.0699535321381,0.999999996342,4.0594253508e-05,-6.54793229316e-05,-3.71630484148e-05,1793243053511870208
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744,714,678,659,635,879,788,805,651.592373432,631,652,0.404160593822,-0.0154802824676,0.0699549809699,0.999999996725,2.07941220013e-05,-6.58915359225e-05,-4.21477942985e-05,1793243053528536832
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744,714,678,659,635,879,788,805,651.016460714,631,652,0.404502599592,-0.0154867060451,0.0699554080116,0.999999996537,-6.47626078344e-06,-6.83359931925e-05,-4.70452252633e-05,1793243053545203712
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.42368895,744,714,678,659,635,879,788,805,651,631,652,0.404881426204,-0.0154828622864,0.0699575635091,0.999999996568,4.25626606075e-05,-6.24564863664e-05,-3.39496389646e-05,1793243053561870336
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.164923029,744,714.164923029,678.164923029,659,635,879,788,805,651,631,652,0.405272086316,-0.0154761515612,0.0699592703667,0.999999994714,8.10484885834e-05,-5.75970724243e-05,-2.61770556721e-05,1793243053578536704
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.741902437,744,714.741902437,678.741902437,659,635,879,788,805,651,631,652,0.405689605303,-0.0154630325647,0.0699597292442,0.999999994059,8.75579612734e-05,-5.58982536903e-05,-3.30265863713e-05,1793243053595203584
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744,714.682130777,679,659,635,879.317869223,787.682130777,805,651,631,652,0.40612489899,-0.0154652233308,0.0699515015865,0.999999994152,7.2922954679e-05,-7.0646064915e-05,-3.72388617874e-05,1793243053611870208
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744,714.106983529,679,659,635,879.893016471,787.106983529,805,651,631,652,0.406574579267,-0.0154798055611,0.0699362431928,0.999999993508,4.11739612922e-05,-9.87055026985e-05,-3.93165876414e-05,1793243053628537088
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.528443928,744,714.471556072,679,659,635,879.528443928,787,805,651,631,652,0.407071006733,-0.0154979027113,0.0699269708604,0.999999993267,2.40570339391e-05,-0.000106821335789,-3.84120948351e-05,1793243053645203712
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.051795918,744,714.948204082,679,659,635,879,787,805,651,631,652,0.407582378308,-0.0155160047736,0.0699208491421,0.999999993436,9.76554642227e-06,-0.000107998320225,-3.70114209121e-05,1793243053661870336
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.641645371,744,714.358354629,679,659,635,879,787,805,651,631,652,0.408138019192,-0.0155258140608,0.0699332459708,0.999999995682,-9.90941334517e-06,-8.44375498666e-05,-3.75357120154e-05,1793243053678536960
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879,787,805,651,631,652,0.408712147954,-0.0155301296035,0.0699440291187,0.999999997256,-1.65178966721e-05,-6.14211579113e-05,-3.7970275608e-05,1793243053695203584
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879,787,805,651,631,652,0.409314895964,-0.0155259408148,0.0699523142838,0.999999998493,-2.89943914939e-06,-3.92474666243e-05,-3.82659407744e-05,1793243053711870464
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879,787,805,651,631,652,0.409921783235,-0.0155216427071,0.0699459709229,0.999999998033,8.2246365539e-07,-4.86844751676e-05,-3.95292908318e-05,1793243053728537088
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879,787,805,651,631,652,0.410530794315,-0.0155172885086,0.0699321217568,0.999999996384,-5.33494212307e-07,-7.43407365107e-05,-4.12891539253e-05,1793243053745203968
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879,787,805,651.541886794,631,652,0.411176785007,-0.0155181100437,0.0699377993479,0.99999999671,-3.38259841208e-06,-6.96077574779e-05,-4.15010979089e-05,1793243053761870592
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879,787,805,651.871770705,631,652,0.411844611634,-0.0155204721274,0.069950070301,0.99999999772,-7.08151528811e-06,-5.29712608401e-05,-4.12783126733e-05,1793243053778536960
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879,787,805,651.288749719,631,652,0.41257889725,-0.0155267603918,0.0699799246401,0.999999999107,-1.33508590024e-05,-3.14502147155e-06,-3.99735518851e-05,1793243053795203584
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659.290628716,635,879,787,805.290628716,651.290628716,631,652,0.413318831992,-0.015531985332,0.0700033790892,0.999999998351,-2.26521523081e-05,3.55646024881e-05,-3.89837727038e-05,1793243053811870208
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659.866433017,635,879,787,805.866433017,651.866433017,631,652,0.414064309952,-0.0155361669002,0.0700205537345,0.999999996649,-3.49285068168e-05,6.33662004929e-05,-3.83030649503e-05,1793243053828536832
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,714.440364768,678.559635232,660,635,879,787,806,652,630.559635232,652,0.414772794842,-0.0155289938658,0.0699844622904,0.999999998745,-2.59434587755e-05,-2.66599273399e-06,-4.27683927001e-05,1793243053845204224
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.014206077,744.014206077,715,678.028412153,660,635,879.014206077,787,806,652,630.014206077,652,0.415471804436,-0.0155185888469,0.0699330463992,0.999999994195,-1.09471245469e-05,-9.54765924061e-05,-4.87201281899e-05,1793243053861871360
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.607413212,744.607413212,715,679.214826424,660,635,879.607413212,787,806,652,630.607413212,652,0.416240003578,-0.0155162291282,0.0699127393653,0.999999990806,-1.26694491312e-05,-0.000124632751059,-5.19074634998e-05,1793243053878537984
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.609965008,744.804982504,715,679.804982504,660,635,880,787,805.804982504,651.804982504,631,652,0.417030268052,-0.0155166611805,0.0699089209513,0.999999990124,-1.82088869415e-05,-0.000128821649486,-5.31622043594e-05,1793243053895204864
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.456684549,744.228342274,715,679.228342274,660,635,880,787,805.228342274,651.228342274,631,652,0.417863711336,-0.0155225563493,0.0699373685269,0.99999999469,-3.12178964171e-05,-8.41530113594e-05,-5.06351203566e-05,1793243053911871232
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.347441583,744.347441583,714.652558417,679,660,635,879.652558417,787,805,651,631,652,0.418709366805,-0.0155279264805,0.0699617365609,0.999999996836,-4.11718293607e-05,-4.71862685627e-05,-4.90448185917e-05,1793243053928537344
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.922663984,744.922663984,714.077336016,679,660,635,879.077336016,787,805,651,631,652,0.419563028484,-0.0155329523997,0.0699834300685,0.999999997522,-4.9122870177e-05,-1.5268848382e-05,-4.8068666291e-05,1793243053945203712
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714.508381404,679,660,635,879,787.508381404,805.508381404,651,631,652,0.420441496108,-0.0155370621846,0.0700034227238,0.999999997392,-5.28718271193e-05,1.44815747516e-05,-4.70295406371e-05,1793243053961870336
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714.905044921,679,660,635,879.094955079,787.905044921,806,651,631,652,0.421318735682,-0.0155402421578,0.0700168755184,0.999999996782,-5.60714913901e-05,3.34073637106e-05,-4.66381364287e-05,1793243053978536704
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714.322445945,679,660,635,879.677554055,787.322445945,806,651,631,652,0.422169880727,-0.0155393778548,0.0699980994672,0.999999996979,-5.98022257419e-05,-1.52840515976e-06,-4.96233539087e-05,1793243053995203584
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.743699144,714,679,660,635,879.743699144,787,805.743699144,651,631,652,0.422985145956,-0.0155367842787,0.0699506460552,0.999999993655,-6.04757610544e-05,-7.71759912622e-05,-5.54587707103e-05,1793243054011870464
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744.169726834,714,679,660,635,879.169726834,787,805.169726834,651,631,652,0.423755940152,-0.0155320473592,0.0698676485573,0.999999975592,-5.73600585247e-05,-0.00020328374168,-6.48268597862e-05,1793243054028537088
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744,714.406051349,679.406051349,660,635,879.406051349,787,805,651,631,652,0.424633741618,-0.0155330115633,0.0698550443826,0.999999972394,-6.74262869978e-05,-0.000214625988233,-6.78317005326e-05,1793243054045203712
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744,714.982587713,679.982587713,660,635,879.982587713,787,805,651,631,652,0.425556471189,-0.0155363694457,0.0698719956048,0.999999978427,-8.30270909667e-05,-0.000177782699972,-6.81648628443e-05,1793243054061870592
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744,714.428835972,679.428835972,660,635,880,787,805.571164028,651,631,652,0.426499043879,-0.015538393878,0.0699315369628,0.999999991524,-6.61399580419e-05,-9.48583580551e-05,-5.98317731261e-05,1793243054078537216
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.842700257,744,714,679,660,635,879.842700257,787,806,651,631,652,0.427440299509,-0.0155408356268,0.0699852304455,0.999999996748,-5.70649916312e-05,-1.98000869488e-05,-5.34445032848e-05,1793243054095203584
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.264105445,744,714,679,660,635,879.264105445,787,806,651,631,652,0.428376372546,-0.0155445062917,0.0700197092475,0.999999995571,-7.16230545762e-05,3.03470088812e-05,-5.2991545804e-05,1793243054111870208
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,744,714.312398246,679.312398246,660,634.687601754,879.312398246,787.312398246,806,651,631,652,0.429283982185,-0.0155469118266,0.0700315463527,0.999999994133,-7.88205107409e-05,5.1635930537e-05,-5.34253882435e-05,1793243054128537088
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,744,714.887145802,679.887145802,660,634.112854198,879.887145802,787.887145802,806,651,631,652,0.430167688463,-0.0155482549161,0.0700243691575,0.999999994137,-7.98365932051e-05,4.86900078761e-05,-5.46039575978e-05,1793243054145203712
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.473442646,744.473442646,714.526557354,680,660,634.473442646,880,787.526557354,806,651,631,652,0.43097184699,-0.0155421727696,0.0699640843548,0.999999993707,-7.41838825592e-05,-5.95158202748e-05,-5.95084364012e-05,1793243054161870336
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.061433873,635,880,787,806,651,631,652,0.431764851141,-0.0155349598448,0.0698966615505,0.999999979244,-6.75972629016e-05,-0.000180894866131,-6.49572895892e-05,1793243054178537472
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.639935374,635,880,787,806,651,631,652,0.432627557229,-0.0155334990879,0.0698783731665,0.999999976155,-6.68642230092e-05,-0.000196687859396,-6.73258585695e-05,1793243054195204096
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.781110391,714,680,660.781110391,634.781110391,880,787,806,651,631,652,0.43351784668,-0.015534954391,0.069891869481,0.999999981878,-6.96295317374e-05,-0.000164052317974,-6.69553620842e-05,1793243054211870720
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744.201409792,714,680,660.201409792,634.201409792,880,787,806,651,631,652,0.434453603844,-0.0155412164388,0.0699577587255,0.999999993688,-7.81614115256e-05,-5.15886499094e-05,-6.20698729754e-05,1793243054228537088
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744.375468881,714,680,660,634.375468881,880.375468881,787,805.624531119,651,631,652,0.435335709514,-0.0155444392009,0.069994654849,0.999999995049,-8.04290658273e-05,7.58480652345e-06,-5.80989838687e-05,1793243054245203968
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744.950845069,714,680,660,634.950845069,880.950845069,787,805.049154931,651,631,652,0.436189249977,-0.0155460437846,0.0700161144383,0.999999994623,-7.93615182367e-05,3.83854582495e-05,-5.46150470192e-05,1793243054261870592
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.538224893,635,880.461775107,787,805.538224893,651,631,652,0.437023264,-0.0155472926718,0.0700110150987,0.999999993606,-8.8446959217e-05,4.17154644545e-05,-5.67841530169e-05,1793243054278536960
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680.124755062,660.875244938,635,880.124755062,787.124755062,806,651,631,652,0.437835503995,-0.0155480124996,0.0699946105557,0.999999993235,-9.60195722331e-05,2.74498693113e-05,-5.96343188194e-05,1793243054295203584
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680.704103368,660.295896632,635,880.704103368,787.704103368,806,651,631,652,0.438575048275,-0.0155469255671,0.0699460512556,0.999999992672,-9.46237416714e-05,-4.1581647681e-05,-6.30420083995e-05,1793243054311870464
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.146938429,745,714.146938429,681.146938429,659.146938429,633,880,783,806,651,630,652,0.453540147038,-0.0156070599619,0.0697433661,0.999999910138,-0.000177156257971,-0.000380000515268,-6.27700156155e-05,1793243055703412992
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.104375073,682,659.104375073,633,880,783,806,651,630,652,0.453539939118,-0.0156042543994,0.0697427314369,0.999999910813,-0.000171423637799,-0.000380800112007,-6.30866000743e-05,1793243055753413376
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.048034351,660,635,880.048034351,787,806,651.048034351,631,652.951965649,0.443549681332,-0.0154063978427,0.0698262311942,0.999999959549,0.000105122068638,-0.000264166390739,8.24891530761e-06,1793243056386746880
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3a438c95e6af4614df82e7f286c71da7f38478c8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_03/simulation_data.csv
@@ -0,0 +1,406 @@
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+393,6.550000000,pose2_to_pose3_retreat,0.5807444563,-0.00999805118311,1.06004091608,0.551316174873,-0.00132322656861,1.05967870891
+394,6.566666667,pose2_to_pose3_retreat,0.580744385806,-0.00999803672099,1.06004090864,0.55131610437,-0.00132321214989,1.05967870115
+395,6.583333333,pose2_to_pose3_retreat,0.580744318606,-0.00999802293461,1.06004090154,0.551316037162,-0.00132319840488,1.05967869376
+396,6.600000000,pose2_to_pose3_retreat,0.58074428058,-0.0099980151335,1.06004089753,0.551315999131,-0.00132319062718,1.05967868957
+397,6.616666667,pose2_to_pose3_retreat,0.580744220058,-0.0099980027171,1.06004089114,0.551315938601,-0.00132317824804,1.05967868292
+398,6.633333333,pose2_to_pose3_retreat,0.580744170083,-0.00999799246458,1.06004088587,0.55131588862,-0.00132316802629,1.05967867742
+399,6.650000000,pose2_to_pose3_retreat,0.580744075423,-0.00999797304464,1.06004087588,0.551315793948,-0.00132314866462,1.059678667
+400,6.666666667,pose2_to_pose3_retreat,0.58074379995,-0.00999798195421,1.0600408575,0.55131551875,-0.00132315667147,1.05967864792
+401,6.683333333,pose2_to_pose3_retreat,0.5807435817,-0.00999806143389,1.06004085479,0.551315301061,-0.00132323424895,1.05967864522
+402,6.700000000,pose2_to_pose3_retreat,0.580743560104,-0.0099980692983,1.06004085452,0.55131527952,-0.00132324192514,1.05967864495
+403,6.716666667,pose2_to_pose3_retreat,0.580743515954,-0.00999808105279,1.06004077236,0.551315235327,-0.00132325380407,1.05967856331
+404,6.733333333,pose2_to_pose3_retreat,0.580743496637,-0.00999807969563,1.06004061372,0.551315215757,-0.00132325326685,1.05967840567
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ea1cdef6e744fbf2260151f5c37a9100a323a431
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37bbfa3d7e1a52da8bdad259c21422b379c8fdc73f46b7e5d9c8b1e0aea25434
+size 25878622
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..41f066416ab125290a1aaccbe01fc0297a5acd95
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_04/franka_data.csv
@@ -0,0 +1,409 @@
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+52,0.866666667,BASELINE,765,744,714,678.808559712,658.191440288,635,879.808559712,787,805,651.808559712,631,652,0.400953207119,-0.0153549528407,0.0698198412368,0.999999927377,0.000242804088289,-0.00029368842075,6.26962094715e-06,1793243059035424256
+53,0.883333333,BASELINE,765,744,714,678.229196825,658.770803175,635,879.229196825,787,805,651.229196825,631,652,0.400953107275,-0.0153545524503,0.069819918545,0.999999927603,0.000242496581289,-0.00029317182616,6.25709416033e-06,1793243059052090880
+54,0.900000000,BASELINE,765,744,714.349396307,678.349396307,659,635,879,787.349396307,805,651.349396307,631,652,0.400953086217,-0.0153541252024,0.0698200613932,0.999999927405,0.000243531375503,-0.000292992024345,6.20379566177e-06,1793243059068757504
+55,0.916666667,BASELINE,765,744,714.927485581,678.927485581,659,635,879,787.927485581,805,651.927485581,631,652,0.400953116726,-0.0153536803754,0.0698202471399,0.999999926926,0.000245444756144,-0.000293032666034,6.12381055138e-06,1793243059085424128
+56,0.933333333,BASELINE,765,744,714.498506136,678.498506136,659,635,879,787.498506136,805,651.498506136,631,652,0.400952898111,-0.0153545522105,0.0698197552329,0.999999927038,0.000244670248235,-0.000293292593021,6.29223249134e-06,1793243059102091776
+57,0.950000000,BASELINE,765,744,714,678,659,635,879,787,804.922878234,651,631,652,0.400952733095,-0.0153554726826,0.0698193410123,0.999999927224,0.000243647263251,-0.000293508508076,6.45714451156e-06,1793243059118759168
+58,0.966666667,BASELINE,765,744,714,678,659,635,879,787,804.332578553,651,631,652,0.400953162491,-0.0153554601703,0.0698200904788,0.999999927335,0.000243536198809,-0.000293222276444,6.36162159648e-06,1793243059135425792
+59,0.983333333,BASELINE,765,744,714,678,659,635,879.506343876,787,804.253171938,651.253171938,631,652,0.400952789052,-0.0153553992191,0.0698201341176,0.999999927217,0.000243275068644,-0.000293841835912,6.32777818784e-06,1793243059152092416
+60,1.000000000,BASELINE,765,744,714,678,659,635,880.666103928,787,804.833051964,651.833051964,631,652,0.400951379584,-0.0153552757596,0.0698192669144,0.9999999268,0.000242820284749,-0.00029563028191,6.37352966034e-06,1793243059168759040
+61,1.016666667,BASELINE,765,744,714,678.409739165,658.590260835,635,880.590260835,787,805,652,631,652,0.400952644745,-0.0153566241796,0.0698201418401,0.999999927341,0.000242291502264,-0.000294220189726,6.84786825055e-06,1793243059185425408
+62,1.033333333,BASELINE,765,744,714,678.985135476,658.014864524,635,880.014864524,787,805,652,631,652,0.400954991256,-0.015358567679,0.069821721107,0.999999928263,0.000241732802248,-0.000291516931561,7.4954841921e-06,1793243059202091520
+63,1.050000000,BASELINE,765,744.557454189,714,679,658.557454189,635,879.442545811,787,805,651.442545811,631,652,0.400955052834,-0.0153559763646,0.0698216073682,0.999999928203,0.000241881929121,-0.000291621527797,6.69952913565e-06,1793243059218758144
+64,1.066666667,BASELINE,765,744.865120416,714,678.865120416,659,635,879,787.134879584,805,651.134879584,631,652,0.400954546873,-0.0153541436592,0.0698211723734,0.99999992798,0.000242072189759,-0.000292238821244,6.09216061378e-06,1793243059235424768
+65,1.083333333,BASELINE,765,744.269991019,714,678.269991019,659,635,879,787.730008981,805,651.730008981,631,652,0.400952311058,-0.0153553099093,0.0698197943556,0.999999927295,0.0002423387603,-0.000294351510831,6.25893427002e-06,1793243059252091136
+66,1.100000000,BASELINE,765,744.314902869,714,678.314902869,659,635,879,787.685097131,805,651.685097131,631,652,0.400952595781,-0.0153556231083,0.0698201345523,0.999999927283,0.000242861133008,-0.00029396169333,6.30961025808e-06,1793243059268757760
+67,1.116666667,BASELINE,765,744.891297284,714,678.891297284,659,635,879,787.108702716,805,651.108702716,631,652,0.400954973526,-0.0153552279438,0.0698219015338,0.999999927827,0.000243595920736,-0.000291493824003,6.26388013357e-06,1793243059285424896
+68,1.133333333,BASELINE,765,744.532825589,714,678.532825589,659.467174411,635,879,787,805,651.467174411,631,652,0.400955339119,-0.0153557647245,0.0698226620582,0.999999928292,0.000242785277803,-0.000290571734249,6.30207616596e-06,1793243059302091520
+69,1.150000000,BASELINE,765,744,714,678.04399923,659.95600077,635,879,787,805,652,631,652.04399923,0.400955168559,-0.0153564063531,0.069823084813,0.999999928669,0.000241754110838,-0.000290133213376,6.33523257229e-06,1793243059318758144
+70,1.166666667,BASELINE,765,744,714,678.634077629,659.365922371,635,879,787,805,652,631,652.634077629,0.400954148079,-0.015355660936,0.0698222187377,0.999999928182,0.000242444004975,-0.000291237304369,6.06374503529e-06,1793243059335424768
+71,1.183333333,BASELINE,765,744,714.22033081,679,659,635,879,787.22033081,805,652,631,652.77966919,0.400953493463,-0.015355198548,0.0698214753582,0.99999992784,0.000242735324849,-0.000292171096611,5.95476560229e-06,1793243059352091136
+72,1.200000000,BASELINE,765,744,714.800339625,679,659,635,879,787.800339625,805,652,631,652.199660375,0.4009534361,-0.0153551981894,0.0698209322727,0.999999927734,0.000242375994132,-0.000292826885622,6.11107172542e-06,1793243059368757760
+73,1.216666667,BASELINE,765,744,714.624676458,679,659,635,879,787.624676458,805,651.624676458,631,652,0.400954173546,-0.0153553454599,0.0698212773705,0.999999927804,0.000242777383815,-0.000292253178701,6.22940222591e-06,1793243059385424384
+74,1.233333333,BASELINE,765,744,714.052330351,679,659,635,879,787.052330351,805,651.052330351,631,652,0.400955328219,-0.015355570227,0.0698220887117,0.999999927964,0.000243578106544,-0.000291034059404,6.32779777076e-06,1793243059402091008
+75,1.250000000,BASELINE,764.476012725,744,714,679,659,635,879,787.523987275,804.476012725,651.523987275,631,652,0.400953953852,-0.0153558225095,0.0698209178283,0.999999927602,0.000243330628461,-0.000292483456954,6.24628997722e-06,1793243059418757888
+76,1.266666667,BASELINE,764.103532748,744,714,678.896467252,659,635,878.896467252,787.896467252,804,652,631,652.103532748,0.400952711792,-0.015355950651,0.0698197842799,0.999999927354,0.00024279194359,-0.000293778287233,6.13007057531e-06,1793243059435424768
+77,1.283333333,BASELINE,764.696446534,744,714,678.303553466,659,635,878.303553466,787.303553466,804,652,631,652.696446534,0.400953298114,-0.0153554789114,0.0698197700941,0.999999927905,0.000241375374175,-0.000293073169549,5.93535030025e-06,1793243059452091392
+78,1.300000000,BASELINE,765,744,714,678,659,635,878.281834987,787,804.281834987,651.718165013,631,652.718165013,0.400953904278,-0.0153545967587,0.0698204820534,0.999999928093,0.000241923746511,-0.000291979175449,5.87836473594e-06,1793243059468758272
+79,1.316666667,BASELINE,765,744,714,678,659,635,878.859328952,787,804.859328952,651.140671048,631,652.140671048,0.400954531259,-0.015353284062,0.0698219557753,0.999999927895,0.000244533440984,-0.000290477230604,5.96586977553e-06,1793243059485424896
+80,1.333333333,BASELINE,765,744,714,678,659,635,879,787,805,651,631,652,0.400954183574,-0.0153555626768,0.0698216849657,0.99999992842,0.000242083327779,-0.000290713871667,6.34527125313e-06,1793243059502091264
+81,1.350000000,BASELINE,764.991273659,744,714,678.008726341,658.991273659,635,879,787.008726341,804.991273659,651,631,652,0.400953554965,-0.0153589220766,0.0698208860289,0.999999929149,0.000238104554912,-0.000291480775348,6.80860950257e-06,1793243059518757632
+82,1.366666667,BASELINE,764.404101515,744,714,678.595898485,658.404101515,635,879,787.595898485,804.404101515,651,631,652,0.40095511046,-0.0153572613198,0.0698223188692,0.999999928852,0.000240805004988,-0.00029028437479,6.6048772169e-06,1793243059535424256
+83,1.383333333,BASELINE,764.181566404,744,714.181566404,679,658.181566404,634.818433596,878.818433596,787.818433596,804.181566404,651,631,652,0.400955827354,-0.015356232059,0.0698229210435,0.999999928476,0.000242889140656,-0.000289845430599,6.51784053203e-06,1793243059552091136
+84,1.400000000,BASELINE,764.763914079,744,714.763914079,679,658.763914079,634.236085921,878.236085921,787.236085921,804.763914079,651,631,652,0.400954693162,-0.0153565967328,0.0698216896442,0.999999927941,0.000243612852971,-0.000291078460283,6.68839227184e-06,1793243059568757760
+85,1.416666667,BASELINE,764.657475489,744,714.657475489,678.657475489,659,634.342524511,878.342524511,787,805,651.342524511,631,652,0.400953777419,-0.0153560030277,0.0698207665307,0.999999927676,0.000243409499,-0.00029216228799,6.39288233453e-06,1793243059585424640
+86,1.433333333,BASELINE,764.081413194,744,714.081413194,678.081413194,659,634.918586806,878.918586806,787,805,651.918586806,631,652,0.400953010619,-0.015354755887,0.0698200536106,0.999999927595,0.000242574058816,-0.000293144387723,5.7796053148e-06,1793243059602091264
+87,1.450000000,BASELINE,764.493219633,744.493219633,714,678.493219633,659,635,879,787,805,651.506780367,631,652,0.400953383758,-0.0153553385851,0.0698208305345,0.999999927842,0.000242439809042,-0.000292403879181,6.17521629025e-06,1793243059618758144
+88,1.466666667,BASELINE,765,744.930611556,714,678.930611556,659,635,879,787,805,651.069388444,631,652,0.400953881527,-0.0153561678995,0.0698216850753,0.9999999281,0.000242369695055,-0.00029156783646,6.6434511349e-06,1793243059635424512
+89,1.483333333,BASELINE,765,744.341167447,714,678.341167447,659,635,879,787,805,651.658832553,631,652,0.400953907197,-0.0153565883492,0.0698212835315,0.999999928045,0.000241915308488,-0.000292140720354,6.41146686559e-06,1793243059652091136
+90,1.500000000,BASELINE,764.75585267,744.24414733,714,678.24414733,659,634.75585267,879,787,804.75585267,652,631,652,0.40095413335,-0.0153566998243,0.069821173938,0.999999928258,0.00024122543833,-0.00029198470878,6.22418711057e-06,1793243059668757760
+91,1.516666667,BASELINE,764.176212232,744.823787768,714,678.823787768,659,634.176212232,879,787,804.176212232,652,631,652,0.400954634997,-0.0153563867244,0.0698214655254,0.99999992884,0.000240211980312,-0.000290827091259,6.09833772683e-06,1793243059685424640
+92,1.533333333,BASELINE,764.400411563,744.599588437,714,679.400411563,659,634.400411563,879,787,804.400411563,652,631,652,0.400955461238,-0.0153563259339,0.0698220563743,0.999999929111,0.000240474497509,-0.000289675006694,6.15475074331e-06,1793243059702091264
+93,1.550000000,BASELINE,764.975717775,744.024282225,714,679.975717775,659,634.975717775,879,787,804.975717775,652,631,652,0.400956429256,-0.0153563753488,0.0698227779367,0.999999929245,0.000241294344275,-0.000288525338753,6.29077363451e-06,1793243059718758144
+94,1.566666667,BASELINE,765,744.562306737,714,679.437693263,659,635,879,787,805,652,631,652,0.400954758379,-0.0153564973559,0.0698217935671,0.999999928699,0.000241202700826,-0.000290489837642,6.30082556837e-06,1793243059735424512
+95,1.583333333,BASELINE,765,744.85247179,714,678.85247179,659,635,879.14752821,787.14752821,805,652,631,652,0.400954062136,-0.0153564465917,0.0698214525529,0.999999928466,0.000241253713456,-0.000291248320881,6.32455869351e-06,1793243059752091392
+96,1.600000000,BASELINE,765,744.272713377,714,678.272713377,659,635,879.727286623,787.727286623,805,652,631,652,0.400956562095,-0.0153558802678,0.0698232167016,0.999999929244,0.000241840363812,-0.000288071334827,6.40463920468e-06,1793243059768758016
+97,1.616666667,BASELINE,765,744,714.306924273,678,659,635,880,787.693075727,805,652,631,652,0.400956587771,-0.0153563037927,0.0698232895461,0.999999929332,0.000241328438144,-0.00028819475687,6.37752274192e-06,1793243059785424640
+98,1.633333333,BASELINE,765,744,714.886454629,678,659,635,880,787.113545371,805,652,631,652,0.400954415822,-0.0153576064883,0.0698218601964,0.999999928805,0.000239840771732,-0.000291249557962,6.25519533866e-06,1793243059802091264
+99,1.650000000,BASELINE,765,744,714.548532908,678,659,635,879.548532908,787,805,651.548532908,631,652,0.400953787519,-0.0153566799749,0.0698210792407,0.99999992823,0.00024161532042,-0.000291760959521,6.06833952399e-06,1793243059818758144
+100,1.666666667,BASELINE,765,744,714,678,659,635,879,787,805,651.013898152,631,652,0.400953550918,-0.0153552681553,0.0698204975627,0.999999927674,0.000244080773912,-0.000291620034803,5.87937044747e-06,1793243059835425024
+101,1.683333333,BASELINE,765,744,714,678,659,635,879,787,805,651.616854299,631,652,0.400953974083,-0.0153563094866,0.0698216657159,0.999999928586,0.000242138691781,-0.000290098131539,6.26725520635e-06,1793243059852091648
+102,1.700000000,BASELINE,765,744,714,678.211197085,659,635,879.211197085,787,805,652,631,652,0.400954825704,-0.0153569811328,0.0698224653515,0.99999992914,0.000241310230473,-0.000288872269382,6.52371815603e-06,1793243059868758272
+103,1.716666667,BASELINE,765,744,714,678.790526094,659,635,879.790526094,787,805,652,631,652,0.400956424152,-0.0153570083908,0.0698226226341,0.999999929075,0.00024242289168,-0.000288162428624,6.55110326696e-06,1793243059885425152
+104,1.733333333,BASELINE,765,744.366789803,714.366789803,679,659.366789803,635,879.633210197,787,805,651.633210197,631,652.366789803,0.4009562203,-0.0153574168389,0.069822702863,0.999999929225,0.000241662058164,-0.00028828163914,6.5847981388e-06,1793243059902091776
+105,1.750000000,BASELINE,765,744.94131748,714.94131748,679,659.94131748,635,879.05868252,787,805,651.05868252,631,652.94131748,0.400954995684,-0.0153580411806,0.0698227394513,0.999999929493,0.000239840137971,-0.000288870397399,6.6220666576e-06,1793243059918758144
+106,1.766666667,BASELINE,765,744.481807741,714.481807741,679,659.481807741,635,879,787,805,651.518192259,631,652.481807741,0.400954726508,-0.0153565004963,0.0698223714235,0.999999928852,0.000241942290648,-0.000289342637412,6.42036580278e-06,1793243059935424768
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,678,660,634,879,788,804,652,631,652,0.400956737436,-0.0153561896012,0.0698236154061,0.999999929734,0.000240592363769,-0.000287411296498,6.49817024291e-06,1793243059977694720
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,714,678.57968584,659.42031416,634.57968584,879,787.42031416,804,651.42031416,631,652,0.400956507635,-0.015357165594,0.0698229243277,0.999999929654,0.000240025391607,-0.00028816279428,6.54452740202e-06,1793243059994361600
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634.842054104,879,787,804.157945896,651.157945896,631,652,0.40095630723,-0.0153575961155,0.0698225997516,0.999999929459,0.000240314838551,-0.000288595868173,6.56880032181e-06,1793243060011028480
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634.267554173,879,787,804.732445827,651.732445827,631,652,0.400956184351,-0.0153565880544,0.0698232417594,0.999999928961,0.000242862937505,-0.000288189156201,6.5348300224e-06,1793243060027695360
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744,714,678.685733224,659.314266776,634.314266776,879,787,805,652,631,652,0.400956121532,-0.0153567850538,0.0698232298959,0.999999929064,0.000242409750822,-0.00028821358827,6.51116375123e-06,1793243060044361728
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744,714,678.097530831,659.902469169,634.902469169,879,787,805,652,631,652,0.400956111063,-0.0153580324635,0.0698226480751,0.999999929688,0.000239340445771,-0.000288613833902,6.49647915169e-06,1793243060061028096
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.486145839,714.486145839,678.486145839,659.513854161,635,878.513854161,787.486145839,805,652,631,652,0.400954695086,-0.0153574826727,0.0698215498335,0.999999928885,0.000240433582712,-0.000290486525672,6.26886237604e-06,1793243060077694720
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.067973802,744.932026198,714.932026198,679,659,635,878,787.932026198,805,652,631,652,0.400953478486,-0.0153566753556,0.0698206851889,0.999999927994,0.00024213294092,-0.000292143633219,6.05786197974e-06,1793243060094361600
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.642725565,744.357274435,714.357274435,679,659,635,878,787.357274435,805,652,631,652,0.400955831206,-0.015356611377,0.0698223274219,0.999999928601,0.000242183534819,-0.000290011395322,6.28629503793e-06,1793243060111027968
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.782980475,744,714.217019525,679,659,634.782980475,878.217019525,787,805,652,631,652,0.40096382306,-0.0153570796651,0.0698266186285,0.999999930484,0.00024192052417,-0.000283656153579,6.73467794522e-06,1793243060127694592
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.209438656,744,714.790561344,679,659,634.209438656,878.790561344,787,805,652,631,652,0.400981078953,-0.0153584223672,0.0698352616007,0.999999934349,0.000241142320153,-0.000270363310342,7.54439709486e-06,1793243060144361472
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,714.62498604,679,659,634.37501396,879,787,805,652,631,652,0.401014172804,-0.0153601321498,0.0698488652021,0.999999940575,0.000241300283166,-0.000246064563744,8.71862030014e-06,1793243060161028608
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744,714.034257282,679,659,634.965742718,879,787,805,652,631,652,0.401056376937,-0.015362053084,0.0698653222476,0.999999947462,0.000241996746105,-0.000215435021488,1.01025128867e-05,1793243060177695488
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879,787,805,651.452323726,631,652,0.401114854808,-0.0153647195227,0.0698815565793,0.999999952618,0.000241810998954,-0.00019018995659,1.09523234527e-05,1793243060194361856
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.872241709,744,714,678.872241709,659,634.872241709,879,787,805,651,631,652,0.401175467701,-0.0153674626901,0.069895695775,0.999999956582,0.000241029853705,-0.000169139062179,1.14918338923e-05,1793243060211028224
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.296750792,744,714,678.296750792,659,634.296750792,879,787,805,651,631,652,0.40124005189,-0.015370313918,0.0699025405596,0.999999958472,0.000238352450883,-0.000161625082108,1.10591140314e-05,1793243060227694848
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.283579241,744,714,678.283579241,659,634.283579241,879,787.283579241,804.716420759,651.283579241,631,652,0.401313220152,-0.0153739469705,0.0699070386475,0.999999959817,0.000236316672646,-0.000156266704666,1.00514347057e-05,1793243060244361216
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.869061032,744,714,678.869061032,659,634.869061032,879,787.869061032,804.130938968,651.869061032,631,652,0.40139552714,-0.0153784123645,0.0699090384081,0.999999960625,0.000234963977368,-0.000153203213336,8.43164526708e-06,1793243060261027840
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744,714.45010621,679,659,635,879,787.54989379,804.45010621,652,631,652,0.401498175169,-0.0153836177162,0.0699121579133,0.999999961884,0.000232566444971,-0.000148671905891,6.49361390267e-06,1793243060277694720
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744,714.970289689,679,659,635,879,787.029710311,805,651.970289689,631,652,0.40160779547,-0.0153889569888,0.0699154588649,0.999999963196,0.000229951280737,-0.000143915439401,4.41638607019e-06,1793243060294361600
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744,714.393686506,679,659,635,879,787.606313494,805,651.393686506,631,652,0.401737897501,-0.0153928377094,0.0699161622308,0.999999963613,0.000228870412763,-0.000142797601389,1.4644080317e-06,1793243060311027968
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.182848898,744,714,678.817151102,659.182848898,635,879,788,805,651.182848898,631,652,0.401878079487,-0.0153978782386,0.0699173100074,0.999999964711,0.000225731410509,-0.000140070841979,-1.59247478949e-06,1793243060327694592
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.75923835,744,714,678.24076165,659.75923835,635,879,788,805,651.75923835,631,652,0.402039956261,-0.0154054149906,0.0699194142767,0.999999967229,0.000218162743718,-0.000133881246323,-4.87514085e-06,1793243060344360960
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.6568002,744,714,678,659.6568002,635,879,788,805,651.6568002,631,652.3431998,0.402219064906,-0.015411985456,0.0699205725204,0.999999969178,0.000211123695992,-0.00013034745591,-8.99897374287e-06,1793243060361027840
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.067406938,744,714,678,659.067406938,635,879,788,805,651.067406938,631,652.932593062,0.402410534805,-0.015417862759,0.0699210521353,0.999999970719,0.000204464568312,-0.000128718799679,-1.37262157612e-05,1793243060377694464
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744,714,678,659,635,879,787.48641363,805,651,631,652.48641363,0.402637966528,-0.0154277581072,0.0699244994321,0.999999974309,0.000191096028646,-0.000120509711272,-1.84802711279e-05,1793243060394361088
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.092868126,714,678,658.907131874,635,879,787.092868126,805,651.092868126,631,652,0.402876652032,-0.015438101336,0.0699295888169,0.999999980078,0.000165479891302,-0.000109197296866,-2.31503796656e-05,1793243060411027712
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.668889024,714,678,658.331110976,635,879,787.668889024,805,651.668889024,631,652,0.403149725736,-0.0154480752303,0.0699412274835,0.999999992661,8.06524088246e-05,-8.61605843267e-05,-2.73657366219e-05,1793243060427694336
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.755935468,714,678.244064532,658.488129064,635,879,787.755935468,805,652,631,652,0.403433524721,-0.0154587082146,0.069949177514,0.999999996455,3.12880466181e-05,-7.14268894531e-05,-3.17636227581e-05,1793243060444361216
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.181902937,714,678.818097063,659.636194126,635,879,787.181902937,805,652,631,652,0.40373182395,-0.0154702322683,0.0699521406174,0.999999996585,2.98687753935e-05,-6.79186299201e-05,-3.64082829022e-05,1793243060461027840
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.5956583,744.4043417,714,679,659.5956583,635,879,787,805,652,631,652,0.404059449426,-0.0154793961966,0.0699539933108,0.999999996745,1.94561216323e-05,-6.6225044597e-05,-4.17705122046e-05,1793243060477694208
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.00374867,744.99625133,714,679,659.00374867,635,879,787,805,652,631,652,0.404400678891,-0.0154874652984,0.069955330902,0.999999996725,4.87157529209e-06,-6.53732589709e-05,-4.74656107274e-05,1793243060494361088
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.572880953,745,714.572880953,679,659,635,879.572880953,787.572880953,805.572880953,652,631,652,0.404781988832,-0.0154862885986,0.0699598231553,0.999999996867,4.26466844078e-05,-5.82396170337e-05,-3.24860012848e-05,1793243060511028480
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.850676086,715,679,659,635,879.850676086,787.850676086,805.850676086,651.850676086,631,652,0.405171366389,-0.0154838806166,0.0699634310531,0.999999995683,7.39197203058e-05,-5.17966202336e-05,-2.20464240339e-05,1793243060527695360
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.27448843,715,679,659,635,879.27448843,787.27448843,805.27448843,651.27448843,631,652,0.405583076061,-0.0154781212942,0.0699644534167,0.999999994895,8.5651667997e-05,-4.74423861719e-05,-2.49618668935e-05,1793243060544361472
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.306529815,715,679,659,635,879.306529815,787,805,651.306529815,631,652.306529815,0.406005925074,-0.0154864913727,0.0699580897277,0.999999995873,6.25931621384e-05,-5.94750681623e-05,-2.82592292798e-05,1793243060561027840
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.891943036,715,679,659,635,879.891943036,787,805,651.891943036,631,652.891943036,0.406438908803,-0.0155077164984,0.0699450061459,0.999999995726,7.88200983016e-06,-8.64167037162e-05,-3.19040655258e-05,1793243060577694720
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.523728964,714.523728964,679,659,635,879.523728964,787.476271036,805,651.523728964,631,652.523728964,0.40692346413,-0.015518238604,0.0699321392692,0.999999994269,-2.29385654867e-06,-0.000101253682208,-3.46917342638e-05,1793243060594361600
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.940531282,744,714,679,659,635,879,787.940531282,805,651.059468718,631,652,0.40742675049,-0.0155252595301,0.069921919131,0.999999993341,-2.70476571133e-06,-0.000109261414368,-3.70593990984e-05,1793243060611028224
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.365010099,744,714,679,659,635,879,787.365010099,805,651.634989901,631,652,0.407991275809,-0.0155229225416,0.0699342409404,0.999999995937,-5.86037271154e-06,-8.17845077287e-05,-3.74661556043e-05,1793243060627694848
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.208314126,744.208314126,714,679,658.791685874,635,879,787,805,652,631,652,0.408562292746,-0.0155196907778,0.069945348433,0.999999997659,-3.69690637285e-06,-5.68708827976e-05,-3.787566072e-05,1793243060644361472
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.777828962,744.777828962,714,679,658.222171038,635,879,787,805,652,631,652,0.409144565616,-0.0155149075423,0.0699543503926,0.999999998575,7.68942513183e-06,-3.640179335e-05,-3.82899317162e-05,1793243060661028096
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.725502851,635,879,787,805,651.637248575,631,652,0.40973996102,-0.015512691696,0.0699498897713,0.999999998289,7.38454556301e-06,-4.19778228236e-05,-4.00700849743e-05,1793243060677694720
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.915058052,635,879,787,805,651.042470974,631,652,0.410343749949,-0.0155121180254,0.0699368180983,0.999999997026,-3.98367052842e-07,-6.4213055218e-05,-4.27238955246e-05,1793243060694361344
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.462323941,635,879,787,805,651.537676059,631,652,0.410991717457,-0.0155154989094,0.0699366674892,0.999999996672,-4.53870452004e-06,-6.92422587558e-05,-4.29145147671e-05,1793243060711027968
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.115923094,635,879,787,805,651.884076906,631,652,0.411659397899,-0.0155193646698,0.0699442120583,0.999999997256,-8.53962492552e-06,-6.00680486716e-05,-4.24971992284e-05,1793243060727694848
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.691099877,635,879,787,805,651.308900123,631,652,0.412391716303,-0.0155239466317,0.0699783063496,0.999999999097,-1.3097908198e-05,1.34231636055e-07,-4.04218221979e-05,1793243060744361984
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.727526633,745,714,679,659.727526633,635,879.272473367,787,805,651.272473367,631,652,0.413120741527,-0.0155269176642,0.0700059897425,0.999999998125,-1.63179742643e-05,4.43612540605e-05,-3.89242875367e-05,1793243060761028864
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.13896444,745,714,679,659.13896444,635,879.86103556,787,805,651.86103556,631,652,0.413845946521,-0.0155280199025,0.0700262360339,0.999999996659,-1.79856121451e-05,7.00558289349e-05,-3.80970916882e-05,1793243060777695488
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,714.442312535,679,659,634.557687465,880,787.442312535,805,651.557687465,631,652.442312535,0.414558430953,-0.0155232334469,0.0699975058165,0.9999999989,-1.42056025557e-05,1.66483721932e-05,-4.14971003061e-05,1793243060794362368
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.021248382,745,714.978751618,679,659,634.021248382,879.978751618,787.978751618,805.021248382,651,631,652.978751618,0.415268783564,-0.0155168457285,0.069953980779,0.99999999708,-9.01513708633e-06,-6.02055006563e-05,-4.62029124292e-05,1793243060811029248
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.597849405,745,714.402150595,679,659,634.597849405,879.402150595,787.402150595,805.597849405,651,631,652.402150595,0.41602618066,-0.0155161779376,0.0699194240683,0.999999992502,-1.09686513211e-05,-0.000110846778781,-5.08886949918e-05,1793243060827695360
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.174593516,635,879.174593516,787,805.825406484,651.174593516,631,652,0.416809567824,-0.0155168405526,0.0699044193367,0.999999989702,-1.54108814589e-05,-0.000132304729658,-5.34284042869e-05,1793243060844361728
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.751667444,635,879.751667444,787,805.248332556,651.751667444,631,652,0.417652868356,-0.0155205700763,0.0699344866621,0.999999994631,-2.55902054485e-05,-8.64880285457e-05,-5.10208939538e-05,1793243060861028096
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.664654308,714,679,659.664654308,635,880,787,805.335345692,651.664654308,631,652,0.418490046281,-0.0155232983193,0.0699617950573,0.999999997166,-3.21297687207e-05,-4.69978128243e-05,-4.92588834456e-05,1793243060877694720
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.075987156,714,679,659.075987156,635,880,787,805.924012844,651.075987156,631,652,0.419322599126,-0.015525270191,0.0699870193443,0.999999998128,-3.59198419139e-05,-1.2286651268e-05,-4.79844861763e-05,1793243060894361088
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.505055838,714,679.505055838,659,635,880,787,805.494944162,651.505055838,631,652,0.420219500266,-0.0155305597509,0.0700074985454,0.999999997838,-4.11598763857e-05,2.04512849697e-05,-4.70188124624e-05,1793243060911027712
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714.084329622,679.915670378,659.168659245,635,880,787.084329622,805,651.915670378,631,652,0.421118462827,-0.015535623607,0.0700235396025,0.999999996744,-4.69331516429e-05,4.63302748712e-05,-4.64978308833e-05,1793243060927694592
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714.659879882,679.340120118,660.319759763,635,880,787.659879882,805,651.340120118,631,652,0.421973877283,-0.0155365083865,0.0700178251334,0.999999996768,-5.45607224031e-05,3.39594390038e-05,-4.83006461256e-05,1793243060944360960
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714.765841778,679.234158222,660.765841778,635,879.765841778,787.765841778,805,651,630.765841778,652,0.422794744918,-0.0155348753413,0.0699810869322,0.999999996675,-5.6236395648e-05,-2.65541333409e-05,-5.27452732189e-05,1793243060961027584
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714.193400865,679.806599135,660.193400865,635,879.193400865,787.193400865,805,651,630.193400865,652,0.423565703724,-0.015529604856,0.0698995294987,0.999999984659,-4.93135076463e-05,-0.000156618348954,-6.100646136e-05,1793243060977694208
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.606498563,660,635,879.393501437,787,805,651,630.393501437,652,0.424416278859,-0.0155287577689,0.0698670363945,0.999999976606,-5.77493076332e-05,-0.000197673790388,-6.61607260718e-05,1793243060994361088
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.012217539,660,635,879.987782461,787,805,651,630.987782461,652,0.425307477265,-0.0155301676701,0.0698595778054,0.999999976144,-7.40217023873e-05,-0.000193313520753,-6.97297186603e-05,1793243061011027712
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,880,787.566204517,805.566204517,651.566204517,631,652,0.42627657724,-0.0155342443581,0.0699221159951,0.999999990267,-6.5662383156e-05,-0.000106158092969,-6.23241996351e-05,1793243061027694592
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.143115843,745,714,679.143115843,660,635,880,787.856884157,806,651.856884157,631,652,0.427235728577,-0.0155379829761,0.0699783144126,0.999999996217,-6.00973430844e-05,-2.85776408063e-05,-5.60119156024e-05,1793243061044360960
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.716486124,745,714,679.716486124,660,635,880,787.283513876,806,651.283513876,631,652,0.428160055067,-0.0155405369586,0.070011036318,0.999999996368,-6.44871880444e-05,1.49925665888e-05,-5.36787921564e-05,1793243061061027584
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.702254714,744.702254714,714,680,660.297745286,634.702254714,880,787,806,651,631.297745286,652,0.429068008037,-0.0155435561882,0.0700312003603,0.999999994988,-7.05068701871e-05,4.73924426764e-05,-5.29867378864e-05,1793243061077694208
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.11327933,744.11327933,714,680,660.88672067,634.11327933,880,787,806,651,631.88672067,652,0.429959945715,-0.0155470304842,0.0700390813255,0.999999993125,-7.81207256369e-05,6.88664112702e-05,-5.38998435247e-05,1793243061094361088
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744.470181331,714,680,660.529818669,634,880,787.470181331,805.529818669,651,631.529818669,652,0.430784187466,-0.0155417558183,0.0699879013814,0.999999995372,-7.40576959375e-05,-2.06897823645e-05,-5.78272363161e-05,1793243061111027712
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.051591629,880,787.948408371,805.051591629,651,631,652,0.431597298311,-0.0155348802041,0.0699254336044,0.999999987251,-6.75022026494e-05,-0.000130586513716,-6.23581185585e-05,1793243061127694336
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.625538303,880,787.374461697,805.625538303,651,631,652,0.432460929145,-0.0155328895666,0.0698910780827,0.999999979829,-6.38646702939e-05,-0.000178726913481,-6.57315939732e-05,1793243061144361216
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.796259383,660,635,880,787,806,651,631,652,0.433344438749,-0.0155324993297,0.0698906785276,0.999999981252,-6.34987507022e-05,-0.000170449286329,-6.64125690399e-05,1793243061161027840
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.210068524,660,635,880,787,806,651,631,652,0.434265263796,-0.0155351132729,0.0699540191663,0.999999994093,-6.92741146415e-05,-5.62669711055e-05,-6.20393365843e-05,1793243061177694464
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744.628723199,714.371276801,679.371276801,660,635,880,787.371276801,805.628723199,651.371276801,631,652,0.435154397318,-0.0155383558546,0.0699951519056,0.999999995637,-7.23292847994e-05,1.0148982004e-05,-5.82412093631e-05,1793243061194361088
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744.050084194,714.949915806,679.949915806,660,635,880,787.949915806,805.050084194,651.949915806,631,652,0.436025830717,-0.0155419495377,0.0700238812832,0.999999994528,-7.38651965185e-05,4.98868859415e-05,-5.47642852706e-05,1793243061211027712
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,744.529188865,714.470811135,680,660,634.470811135,880,787.470811135,805,651.470811135,631,652,0.436874170146,-0.0155452402377,0.0700194031035,0.99999999333,-8.49053609688e-05,5.41819221542e-05,-5.65292257999e-05,1793243061227694336
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680.107918707,660,634.107918707,880,787,805,651,631,652.107918707,0.437706895045,-0.0155473238503,0.0700046053312,0.999999992886,-9.42766872339e-05,4.29878897299e-05,-5.90852706357e-05,1793243061244360704
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680.684031181,660,634.684031181,880,787,805,651,631,652.684031181,0.438481371699,-0.0155442951966,0.0699586884883,0.999999993525,-9.25008098541e-05,-2.08335137631e-05,-6.29185454741e-05,1793243061261027328
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680.734379903,660.265620097,634.734379903,880,787,805,651,631,652.734379903,0.439214199993,-0.0155411903286,0.0699100411161,0.999999989072,-8.99140575266e-05,-9.68166721296e-05,-6.63239592256e-05,1793243061277694208
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680.435756976,660.564243024,634.435756976,880,787,805.435756976,651,631,652,0.440667583973,-0.0155387847618,0.0698697098104,0.99999998038,-8.36831304198e-05,-0.000166038451709,-6.83305163349e-05,1793243061311027712
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.984522498,880,787.015477502,806,651,631,652,0.44146784424,-0.0155409496075,0.0699033043418,0.999999988825,-8.16428894409e-05,-0.000106342916874,-6.61439183312e-05,1793243061327694336
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.407658957,880,787.592341043,806,651,631,652,0.442258399958,-0.0155450833838,0.0699709858728,0.999999993909,-9.11176095535e-05,-8.7387886793e-06,-6.16757981309e-05,1793243061344360960
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.170865743,634,880,787.829134257,806,651,631.170865743,652,0.443015795483,-0.0155491502753,0.070019606398,0.999999991572,-0.000100185688644,5.85762715007e-05,-5.82037329761e-05,1793243061361027584
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.753392736,634,880,787.246607264,806,651,631.753392736,652,0.443693299402,-0.0155530560241,0.0700223038785,0.999999991106,-0.000108274064545,5.2916889516e-05,-5.71314310026e-05,1793243061377694208
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681.335499426,660.664500574,634.335499426,880,787,806,651,631.664500574,652,0.444346275349,-0.0155554277839,0.0700063946485,0.999999991707,-0.000112407572966,2.40787251098e-05,-5.8061917778e-05,1793243061394361344
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681.917297525,660.082702475,634.917297525,880,787,806,651,631.082702475,652,0.444981244644,-0.0155566734029,0.0699768257582,0.999999991478,-0.000113637711781,-2.17755734985e-05,-6.04627027522e-05,1793243061411029248
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681.504036426,660,635,880,787.495963574,806,651,631,652,0.445581906896,-0.0155552888152,0.0699542304549,0.999999991424,-0.000106422419393,-4.47746155866e-05,-6.18112756977e-05,1793243061427695616
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681.649449082,660.649449082,634.350550918,880,788,806.649449082,651,631,652,0.446720458677,-0.0155587241096,0.0699266633296,0.999999987982,-0.000114614857907,-8.25278225345e-05,-6.39380535556e-05,1793243061461028608
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660.77616948,634.22383052,880,788,806.77616948,651,631,652,0.447249818199,-0.0155615918009,0.0699128132741,0.999999984074,-0.000122245897218,-0.000112666328966,-6.49235742693e-05,1793243061477695232
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660.203775376,634.796224624,880,788,806.203775376,651,631,652,0.447747946165,-0.0155619927445,0.0698896463165,0.999999977697,-0.000120085382111,-0.000160746002917,-6.59212018145e-05,1793243061494361856
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,744.615563829,714,682,660.384436171,635,880.384436171,787.615563829,806,651.384436171,631,652,0.448237763754,-0.0155639598912,0.0698821329999,0.999999975206,-0.000119243894041,-0.000176442193267,-6.50872993878e-05,1793243061511028480
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765,744.707917413,714,681,660.584165174,634,880,786,806,651,631,652.292082587,0.450408071867,-0.015585621674,0.0698921981348,0.999999977076,-0.000128606087525,-0.000158994974528,-6.34794233477e-05,1793243061594361088
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714.382951622,682,660,633.617048378,881,785.382951622,806,651.382951622,630.382951622,652,0.451619523699,-0.0155898987124,0.0697983958014,0.999999939056,-0.000167788710509,-0.00029805959896,-6.99701447373e-05,1793243061661028096
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9fb18e45896df2503742fafb2c7724d57e3bf796
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_04/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+368,6.133333333,pose2_to_pose3_retreat,0.581697375605,-0.00999812604542,1.06004095557,0.552269094422,-0.00132330028373,1.05967875554
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+372,6.200000000,pose2_to_pose3_retreat,0.581205399098,-0.0099981924845,1.060040732,0.551777119247,-0.00132336270782,1.05967852078
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+379,6.316666667,pose2_to_pose3_retreat,0.580820191318,-0.0099981876644,1.06004096754,0.5513919122,-0.00132335549612,1.05967875358
+380,6.333333333,pose2_to_pose3_retreat,0.580798266722,-0.00999818433527,1.06004089608,0.551369987074,-0.00132335390537,1.05967868355
+381,6.350000000,pose2_to_pose3_retreat,0.580781886003,-0.00999823689459,1.06004085849,0.551353605365,-0.00132340982389,1.05967864597
+382,6.366666667,pose2_to_pose3_retreat,0.580770021946,-0.00999823211639,1.0600408497,0.551341740815,-0.00132340664231,1.05967863904
+383,6.383333333,pose2_to_pose3_retreat,0.580762147048,-0.00999813790277,1.06004084113,0.551333866358,-0.001323310714,1.05967863577
+384,6.400000000,pose2_to_pose3_retreat,0.580756563397,-0.00999814738895,1.0600408467,0.551328282819,-0.00132331989844,1.0596786394
+385,6.416666667,pose2_to_pose3_retreat,0.580752810315,-0.00999816425691,1.06004085204,0.551324529785,-0.00132333668929,1.05967864266
+386,6.433333333,pose2_to_pose3_retreat,0.580750281385,-0.00999816003528,1.06004084175,0.551322000782,-0.00132333264872,1.05967863401
+387,6.450000000,pose2_to_pose3_retreat,0.580748425793,-0.00999815686532,1.06004083414,0.551320145136,-0.00132332961269,1.05967862762
+388,6.466666667,pose2_to_pose3_retreat,0.580747089689,-0.0099981770531,1.06004082705,0.551318809353,-0.00132334864523,1.05967862218
+389,6.483333333,pose2_to_pose3_retreat,0.580746310476,-0.00999819796909,1.06004082226,0.551318030474,-0.00132336837821,1.05967861867
+390,6.500000000,pose2_to_pose3_retreat,0.580746154557,-0.00999820215434,1.0600408213,0.551317874621,-0.00132337232675,1.05967861797
+391,6.516666667,pose2_to_pose3_retreat,0.580746106844,-0.00999820343508,1.06004082101,0.551317826929,-0.00132337353504,1.05967861775
+392,6.533333333,pose2_to_pose3_retreat,0.58074598051,-0.00999820682619,1.06004082023,0.551317700649,-0.00132337673436,1.05967861718
+393,6.550000000,pose2_to_pose3_retreat,0.58074577182,-0.00999821242796,1.06004081894,0.551317492047,-0.00132338201929,1.05967861624
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+395,6.583333333,pose2_to_pose3_retreat,0.580745612755,-0.00999821669766,1.06004081797,0.551317333051,-0.00132338604749,1.05967861552
+396,6.600000000,pose2_to_pose3_retreat,0.580745448146,-0.00999822111617,1.06004081695,0.551317168512,-0.00132339021609,1.05967861478
+397,6.616666667,pose2_to_pose3_retreat,0.58074504934,-0.00999820000467,1.06004081595,0.551316769528,-0.00132336968802,1.05967861428
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..430101de85f6054fa748033df346125108f6f537
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11274c7dda071b6a47f968ee799c3061da4b576cd3e8bb3dedfba697024cfa95
+size 26003495
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b2e1d0687bb915347930cdd0492ec962ff6ceb8e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+32,0.533333333,BASELINE,764.567785262,744.567785262,714,678.567785262,659,635,878.567785262,787,805,651.432214738,631,652,0.400952799845,-0.0153542763961,0.0698175000579,0.999999926518,0.000243659887512,-0.000295908697777,5.60793511155e-06,1793243065679936000
+33,0.550000000,BASELINE,765,744.853140295,714.146859705,679,659,635,879,787,805,651.146859705,631,652,0.400953542689,-0.01535392217,0.0698179274885,0.999999926583,0.000244915058338,-0.000294651067914,5.56958615245e-06,1793243065696602368
+34,0.566666667,BASELINE,765,744.269257355,714.730742645,679,659,635,879,787,805,651.730742645,631,652,0.400954472106,-0.0153520417558,0.0698177845351,0.999999926495,0.000245762574207,-0.000294256268926,4.89316546243e-06,1793243065713268992
+35,0.583333333,BASELINE,765,744,715,679,659,635,879,787,805,651.687071233,631,652,0.400955006571,-0.0153523982733,0.0698181083523,0.999999926989,0.000244342206786,-0.000293759159553,4.9038863754e-06,1793243065729935616
+36,0.600000000,BASELINE,765,744,715,679,659,635,879,787,805,651.106337187,631,652,0.400955203036,-0.015354669163,0.0698188316331,0.999999927973,0.000240980978848,-0.00029317449263,5.50266484293e-06,1793243065746602240
+37,0.616666667,BASELINE,765,744,715,679,659,635,879,787,805,651.472613466,631,652,0.400955149713,-0.015354762247,0.0698189484969,0.999999927968,0.000240654747139,-0.000293463579154,5.37212975534e-06,1793243065763268864
+38,0.633333333,BASELINE,765,744,714.949004109,679,659,635,879,787,805,652,631,652,0.400955004989,-0.0153544147659,0.0698188910027,0.999999927721,0.000241121272951,-0.000293925625901,5.15241235928e-06,1793243065779935488
+39,0.650000000,BASELINE,765,744,714.372357899,679,659,635,879,787,805,652,631,652,0.400954495271,-0.0153545578806,0.0698184374018,0.999999927258,0.000242746960434,-0.000294151691659,5.69850595096e-06,1793243065796602368
+40,0.666666667,BASELINE,764.792098118,744,714,679,659,635,879,787,805,651.792098118,631,652,0.400953966141,-0.0153548711679,0.0698181323112,0.999999926851,0.000243796645695,-0.000294660030946,6.03640799976e-06,1793243065813268992
+41,0.683333333,BASELINE,764.205251884,744,714,679,659,635,879,787,805,651.205251884,631,652,0.40095340163,-0.0153554946297,0.0698180979113,0.999999926549,0.000243796447207,-0.000295682872339,5.99483769892e-06,1793243065829935872
+42,0.700000000,BASELINE,764.37682998,744,714,679,659,635,879,787.37682998,805,651,631,652.37682998,0.40095353753,-0.0153551874491,0.0698184166162,0.999999926763,0.000243370220336,-0.000295317330488,5.73543222482e-06,1793243065846602496
+43,0.716666667,BASELINE,764.956349167,744,714,679,659,635,879,787.956349167,805,651,631,652.956349167,0.400954050168,-0.015354379695,0.069818925249,0.999999927252,0.000242714841436,-0.000294205005396,5.35885762786e-06,1793243065863269120
+44,0.733333333,BASELINE,765,744,714,679,659,635,879,787.4668971,805,651.5331029,631,652.4668971,0.400952941764,-0.0153543183834,0.0698179300959,0.999999926444,0.000244120748334,-0.000295781974578,5.43873313842e-06,1793243065879935488
+45,0.750000000,BASELINE,765,744.10961173,714,678.89038827,659,635,879,787,805,652,631,652,0.400952332957,-0.0153543840419,0.0698172497444,0.999999925883,0.0002451407455,-0.000296832996118,5.52339456156e-06,1793243065896602368
+46,0.766666667,BASELINE,765,744.686036785,714,678.313963215,659,635,879,787,805,652,631,652,0.400954414186,-0.0153547314889,0.0698184317503,0.999999926838,0.000243802146828,-0.000294711165381,5.47008964841e-06,1793243065913269760
+47,0.783333333,BASELINE,765,745,714,678.268285526,659,635,879,787,805,652,631,652,0.4009547311,-0.0153550605854,0.069818433251,0.99999992727,0.000242310226848,-0.000294479501666,5.30038850849e-06,1793243065929937152
+48,0.800000000,BASELINE,765,745,714,678.85750078,659,635,879,787,805,652,631,652,0.4009529375,-0.0153553677307,0.0698170226024,0.999999927076,0.000240634899984,-0.000296508901833,4.99145133967e-06,1793243065946603776
+49,0.816666667,BASELINE,765,744.560804882,714,679,659,635,879.439195118,787,805,652,631,652,0.400952350613,-0.0153538745658,0.0698167915055,0.999999926529,0.000242221241929,-0.000297059542641,5.19929593024e-06,1793243065963269888
+50,0.833333333,BASELINE,764.981683392,744,714,678.981683392,659,635,879.981683392,787,805,652,631,652,0.400952181735,-0.0153519086297,0.0698169558253,0.999999925902,0.000244743694959,-0.000297094503546,5.55845906827e-06,1793243065979936000
+51,0.850000000,BASELINE,764.407830013,744,714,678.407830013,659,635,879.407830013,787,805,652,631,652,0.400953016054,-0.0153530216045,0.0698177009083,0.999999926444,0.000244101617134,-0.000295795982704,5.50722788991e-06,1793243065996603136
+52,0.866666667,BASELINE,764.167000676,744,714,678.167000676,659,635,879,787,804.832999324,652,631,652,0.400953484326,-0.0153538991812,0.0698179821992,0.999999926811,0.000243431270853,-0.000295109107992,5.3845408461e-06,1793243066013270272
+53,0.883333333,BASELINE,764.744232056,744,714,678.744232056,659,635,879,787,804.255767944,652,631,652,0.400953053419,-0.0153541985117,0.0698171242031,0.999999926752,0.000242691484242,-0.000295924718429,5.08632523445e-06,1793243066029936896
+54,0.900000000,BASELINE,765,744,714,679,659,635,879,787,804.329248098,651.670751902,631,652,0.400953212334,-0.0153544990943,0.0698175110384,0.99999992687,0.000243079704114,-0.000295206438392,5.08552718489e-06,1793243066046603520
+55,0.916666667,BASELINE,765,744,714,679,659,635,879,787,804.92045787,651.07954213,631,652,0.400953840531,-0.0153548006733,0.0698188883065,0.999999927126,0.000244365406708,-0.000293267739664,5.3213653013e-06,1793243066063269888
+56,0.933333333,BASELINE,764.501095947,744,714,679,659.498904053,635,879,787.498904053,805,651.498904053,631,652,0.400952813175,-0.0153541864699,0.0698176575035,0.99999992669,0.000244009710542,-0.000295048441471,5.08377380424e-06,1793243066079936256
+57,0.950000000,BASELINE,764,744,714,679,659.924801305,634.924801305,879,787.924801305,805,652,631,652,0.400951998884,-0.0153536474439,0.0698164708877,0.999999926395,0.000243223261219,-0.00029669707752,4.82037976163e-06,1793243066096602880
+58,0.966666667,BASELINE,764,744,714,679,659.349619659,634.349619659,879,787.349619659,805,652,631,652,0.400954312411,-0.0153545548167,0.0698182737793,0.999999927775,0.000241269366108,-0.000293623243355,4.87476796883e-06,1793243066113269248
+59,0.983333333,BASELINE,764.224956915,744,714,679,659,634.224956915,879,787,805,652,631,652,0.400954959119,-0.0153550318603,0.0698187190602,0.999999928197,0.00024056604945,-0.000292763227498,4.91989765851e-06,1793243066129935616
+60,1.000000000,BASELINE,764.798595718,744,714,679,659,634.798595718,879,787,805,652,631,652,0.400953022267,-0.0153548418966,0.0698170600527,0.999999927143,0.000241801121699,-0.000295334616459,4.95067670914e-06,1793243066146602496
+61,1.016666667,BASELINE,765,744,714,679,658.613108364,635,878.613108364,787,805,652,631,652,0.400952463707,-0.0153542885268,0.0698170735298,0.999999926647,0.000242867495171,-0.00029613804936,4.8860410958e-06,1793243066163269632
+62,1.033333333,BASELINE,765,744,714,679,658.016881984,635,878.016881984,787,805,652,631,652,0.400952650897,-0.0153535385296,0.0698179919353,0.999999926455,0.000243842591031,-0.000295984897378,4.76977964412e-06,1793243066179936768
+63,1.050000000,BASELINE,764.439550594,744,714,678.439550594,658,635,878.560449406,787.560449406,805,651.439550594,631,652,0.400954959317,-0.0153537512948,0.0698192518294,0.99999992761,0.000242462549998,-0.000293203579244,4.80916011417e-06,1793243066196603136
+64,1.066666667,BASELINE,764.136335323,744,714.136335323,678.136335323,658.136335323,635,879,787.863664677,805,651.136335323,631,652,0.400956145016,-0.0153541149238,0.0698197443465,0.99999992831,0.000241317308418,-0.000291757533494,4.89921949157e-06,1793243066213269504
+65,1.083333333,BASELINE,764.709354908,744,714.709354908,678.709354908,658.709354908,635,879,787.290645092,805,651.709354908,631,652,0.400953536632,-0.0153548719128,0.0698177470692,0.999999927448,0.000241143950745,-0.000294833687714,5.13707735069e-06,1793243066229935872
+66,1.100000000,BASELINE,765,744,714.708340903,679,659,635,879,787,805,652,631,652,0.400952169527,-0.0153552871674,0.0698170234697,0.999999926964,0.00024153617021,-0.000296149431872,5.32726593931e-06,1793243066246602496
+67,1.116666667,BASELINE,765,744,714.116480207,679,659,635,879,787,805,652,631,652,0.400952080054,-0.0153553506784,0.0698176108534,0.999999926874,0.000242510532206,-0.000295653204531,5.46838904125e-06,1793243066263269120
+68,1.133333333,BASELINE,765,744,714,679,659,635,879,787,805,652,631,652,0.400952462718,-0.0153543252835,0.0698178958397,0.999999926616,0.000244352119975,-0.000295014319024,5.13899495341e-06,1793243066279936000
+69,1.150000000,BASELINE,765,744,714,679,659,635,879,787,804.958194167,651.958194167,631,652,0.400952935684,-0.0153531781028,0.0698181208971,0.999999926368,0.000246106897272,-0.000294402305594,4.74163729824e-06,1793243066296602624
+70,1.166666667,BASELINE,765,744,714,679,659,635,879,787,804.380476503,651.380476503,631,652,0.400953083261,-0.0153538899927,0.0698185275508,0.999999926824,0.000244024891455,-0.000294582856387,4.95094258642e-06,1793243066313268992
+71,1.183333333,BASELINE,765,744,714,678.805208078,659,635,878.805208078,787.194791922,804.194791922,651.194791922,631,652,0.400952995693,-0.0153542084168,0.0698183884158,0.999999927061,0.000242566112634,-0.000294980486044,5.06816205209e-06,1793243066329935616
+72,1.200000000,BASELINE,765,744,714,678.234664112,659,635,878.234664112,787.765335888,804.765335888,651.765335888,631,652,0.40095245453,-0.015353767849,0.0698171964589,0.999999926883,0.000242309533291,-0.000295796859112,5.00774874678e-06,1793243066346602752
+73,1.216666667,BASELINE,765,744,714,678,659,635,878.701726462,787.649136769,805,651.649136769,631,652,0.400953251416,-0.0153540505292,0.0698177568491,0.999999927242,0.000242336547563,-0.000294556346146,5.07456951933e-06,1793243066363269632
+74,1.233333333,BASELINE,765,744,714,678,659,635,879.893717498,787.053141251,805,651.053141251,631,652,0.400954983136,-0.0153548385101,0.069819541525,0.999999927972,0.000242561695899,-0.000291878779792,5.23028299703e-06,1793243066379936000
+75,1.250000000,BASELINE,765,744,714,678.525559218,659,635,879.474440782,787,805,651,631,652,0.400954149226,-0.015354619615,0.0698186840885,0.99999992772,0.000242222871177,-0.000293020152641,5.18647464271e-06,1793243066396602624
+76,1.266666667,BASELINE,765,744,714,679,659.101962952,635,879,787,805,651.101962952,631,652,0.400953286044,-0.0153543967872,0.0698179462886,0.999999927486,0.000241906557738,-0.000294080795564,5.14992142228e-06,1793243066413269504
+77,1.283333333,BASELINE,765,744,714,679,659.675574219,635,879,787,805,651.675574219,631,652,0.400953449225,-0.0153546116999,0.0698189582879,0.999999927781,0.000241949751961,-0.000293038720076,5.23727538284e-06,1793243066429936128
+78,1.300000000,BASELINE,765,744.255905329,714,679,659.744094671,635,879,787.255905329,805,652,631,652,0.400953499039,-0.0153546668992,0.0698192237043,0.99999992779,0.000242082568597,-0.000292895280925,5.23473212556e-06,1793243066446603008
+79,1.316666667,BASELINE,765,744.844985258,714,679,659.155014742,635,879,787.844985258,805,652,631,652,0.400953401253,-0.0153545141604,0.0698185171109,0.999999927429,0.000242332068661,-0.000293921816721,5.11514765045e-06,1793243066463269888
+80,1.333333333,BASELINE,765,744.571960192,714,679,659,635,879,787.571960192,805,652,631,652,0.400953102866,-0.0153548535507,0.0698183862667,0.999999927387,0.000242226519611,-0.000294152288017,5.18163593517e-06,1793243066479936512
+81,1.350000000,BASELINE,765,744,714.008863128,679,659,635,879,787.008863128,805.008863128,652,631.008863128,652,0.400952743998,-0.0153553465983,0.0698184627424,0.999999927457,0.00024200317167,-0.000294094354894,5.31002728519e-06,1793243066496603392
+82,1.366666667,BASELINE,765,744,714.584603261,679,659,635,879,787.584603261,805.584603261,652,631.584603261,652,0.400953098818,-0.0153544265752,0.0698186483654,0.999999927467,0.000242355288561,-0.000293773465461,5.14754306525e-06,1793243066513269760
+83,1.383333333,BASELINE,765,744.159419009,714.840580991,679,659,635,879,787.840580991,805.840580991,651.840580991,632,652,0.400953431138,-0.0153540928931,0.0698186713965,0.999999927513,0.000242308448511,-0.000293655919144,5.09106980098e-06,1793243066529936128
+84,1.400000000,BASELINE,765,744.731840104,714.268159896,679,659,635,879,787.268159896,805.268159896,651.268159896,632,652,0.400953705166,-0.0153552782271,0.0698182732053,0.999999927653,0.000241228042645,-0.000294065167728,5.3092359334e-06,1793243066546602752
+85,1.416666667,BASELINE,765,744.68477941,714.31522059,679,659,635,879,787,805,651,631.68477941,652,0.400954390904,-0.01535530107,0.0698188410485,0.999999927965,0.000240979350119,-0.000293207157756,5.36770065024e-06,1793243066563269632
+86,1.433333333,BASELINE,765,744.091739926,714.908260074,679,659,635,879,787,805,651,631.091739926,652,0.400955439499,-0.0153542993541,0.0698202603038,0.999999928426,0.000241463686166,-0.000291232252543,5.28541290351e-06,1793243066579937280
+87,1.450000000,BASELINE,765,744.487612632,714.512387368,679,659,635,879,787,805,651.487612632,631,652.487612632,0.400954699361,-0.0153544481919,0.0698197940409,0.999999928182,0.000241310072042,-0.000292194442078,5.21602183205e-06,1793243066596603648
+88,1.466666667,BASELINE,765,744.935431681,714,679,659,635,879,787.064568319,805,652,631,652.935431681,0.400953896851,-0.0153547437757,0.0698191254994,0.999999927917,0.000240965784788,-0.000293384020613,5.13367074019e-06,1793243066613270272
+89,1.483333333,BASELINE,765,744.357618355,714,679,659,635,879,787.642381645,805,652,631,652.357618355,0.400955200588,-0.0153545321408,0.0698195918904,0.999999928516,0.000240033873004,-0.000292108562504,4.92954167673e-06,1793243066629936896
+90,1.500000000,BASELINE,765,744,714,679,659,635,879,788,805,651.776001306,631,652,0.400955800675,-0.0153542674126,0.0698198341521,0.999999928689,0.00024011256119,-0.000291453926496,4.82231469202e-06,1793243066646603264
+91,1.516666667,BASELINE,765,744,714,679,659,635,879,788,805,651.188206694,631,652,0.400955257965,-0.0153539164558,0.0698197124057,0.999999928171,0.000241832563246,-0.000291807566787,4.87246623689e-06,1793243066663269376
+92,1.533333333,BASELINE,765.394181613,744,714,679,658.605818387,635,879,787.605818387,805,651.394181613,631,652,0.400955551427,-0.0153538762055,0.0698199747055,0.999999928105,0.000242436330215,-0.000291529635351,5.07613116421e-06,1793243066679936000
+93,1.550000000,BASELINE,765.97402359,744,714,679,658.02597641,635,879,787.02597641,805,651.97402359,631,652,0.400956238729,-0.0153539822984,0.0698204178918,0.999999928252,0.000242514348277,-0.000290954232345,5.35210122028e-06,1793243066696602624
+94,1.566666667,BASELINE,765.450527864,744,714,678.450527864,658.549472136,635,879,787,804.450527864,652,631,652,0.400955647392,-0.0153550316855,0.0698200278274,0.999999928408,0.000241465191038,-0.000291290136843,5.41502319777e-06,1793243066713268992
+95,1.583333333,BASELINE,765,744,714,678.124920611,659.124920611,635,879.124920611,787,804.124920611,651.875079389,631,652,0.400954853139,-0.0153557005528,0.0698194873492,0.999999928385,0.000240774221997,-0.000291940768679,5.37756381309e-06,1793243066729935616
+96,1.600000000,BASELINE,765,744,714,678.701113346,659.701113346,635,879.701113346,787,804.701113346,651.298886654,631,652,0.400953542492,-0.0153548349854,0.0698185446791,0.999999927717,0.000241568169651,-0.00029357394523,5.01357546018e-06,1793243066746602240
+97,1.616666667,BASELINE,765,744,714,678.715753573,659.715753573,634.715753573,879.715753573,787,804.715753573,651,631,652,0.400953581858,-0.0153549319566,0.0698184115584,0.999999927647,0.000241539245693,-0.000293835072778,5.00427929844e-06,1793243066763269120
+98,1.633333333,BASELINE,765,744,714,678.125140068,659.125140068,634.125140068,879.125140068,787,804.125140068,651,631,652,0.400955076298,-0.0153560663733,0.069819150988,0.999999928223,0.000240623412491,-0.00029261737551,5.37727823616e-06,1793243066779936000
+99,1.650000000,BASELINE,765,744,714,678.455875421,659,634.455875421,879,787,804.911750842,651,631,652,0.400956153609,-0.0153554750369,0.0698199035023,0.999999928098,0.000242527113141,-0.000291466782925,5.55569231228e-06,1793243066796602624
+100,1.666666667,BASELINE,765,744,714,679,659,635,879,787.034104561,805.965895439,651.034104561,631,652,0.400957028697,-0.0153545367709,0.0698206077265,0.999999927836,0.000244911139935,-0.000290368426122,5.65964643561e-06,1793243066813269248
+101,1.683333333,BASELINE,765,744,714,679,659,635,879,787.60906731,805.39093269,651.60906731,631,652,0.400956475224,-0.0153554544631,0.0698204903413,0.999999928492,0.000242891321179,-0.000289812362266,5.41237772227e-06,1793243066829935872
+102,1.700000000,BASELINE,765,744,714.187638919,679,659,635,879,787.812361081,805,651.812361081,631,652,0.400956052679,-0.0153558670256,0.0698202778745,0.999999928786,0.000241658331931,-0.000289831587008,5.25255420611e-06,1793243066846602496
+103,1.716666667,BASELINE,765,744,714.773876705,679,659,635,879,787.226123295,805,651.226123295,631,652,0.400955908261,-0.0153552065474,0.0698198634269,0.999999928319,0.000242096794442,-0.00029107288977,5.2784893952e-06,1793243066863269120
+104,1.733333333,BASELINE,765,744.358230845,714.641769155,678.641769155,659,635,879,787,805.358230845,651,631,652,0.400955770388,-0.0153545417027,0.0698197788708,0.999999928072,0.000242698945013,-0.000291419096827,5.22489232691e-06,1793243066879935744
+105,1.750000000,BASELINE,765,744.941402261,714.058597739,678.058597739,659,635,879,787,805.941402261,651,631,652,0.400955636625,-0.015353874116,0.0698199014606,0.999999927964,0.000243403878751,-0.000291203254863,5.12135530874e-06,1793243066896602368
+106,1.766666667,BASELINE,765,745,714,678,659,635,879,787,805.483574126,651,631,652,0.40095460114,-0.0153536945622,0.0698194390507,0.999999927417,0.000244174021512,-0.000292436066146,5.15771182161e-06,1793243066913269248
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744,714,679,659,635,878,787,805,651,631,652,0.40095466667,-0.0153541360127,0.0698192476561,0.999999926822,0.000246513146664,-0.000292507734912,5.09857424085e-06,1793243066955794176
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.15862161,744,714,679,659,635,878.579310805,787.579310805,805,651.579310805,631,652,0.400954501413,-0.0153550710077,0.0698193276693,0.999999927587,0.000243768641904,-0.000292190507179,5.2623018153e-06,1793243066972461568
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.840654075,744,714.159345925,679,659,635,879,787.840654075,805,652,631,652,0.400954550287,-0.0153557441307,0.069819471337,0.999999928238,0.000241501407211,-0.00029184298439,5.34745952664e-06,1793243066989128704
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.258697831,744,714.741302169,679,659,635,879,787.258697831,805,652,631,652,0.400955167069,-0.015355722728,0.0698197838263,0.999999928605,0.000240499966798,-0.000291415114309,5.22423770628e-06,1793243067005795072
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744,714.680895048,678.680895048,659,635,879,787,804.680895048,652,631,652,0.400953792903,-0.0153563314568,0.0698191409796,0.999999928449,0.000239198870643,-0.000293014746317,5.23781433623e-06,1793243067022461696
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744,714.10641624,678.10641624,659,635,879,787,804.10641624,652,631,652,0.400950825417,-0.0153574444683,0.069817733595,0.999999927867,0.000237657965538,-0.000296236951183,5.360868271e-06,1793243067039128064
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744,714,678.469038679,659,635,879,787,804.469038679,652,631,652,0.400952100006,-0.0153554528605,0.0698187366943,0.999999927443,0.000241565869071,-0.000294503448245,5.21454584382e-06,1793243067055794944
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.953893046,744,714.046106954,678.953893046,659,635,879,787,805,651.953893046,631,652,0.40095416765,-0.0153531577418,0.069820152208,0.999999927134,0.000245935766063,-0.000291928501344,5.03536310595e-06,1793243067072461824
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.360302549,744,714.639697451,678.360302549,659,635,879,787,805,651.360302549,631,652,0.400954200052,-0.0153556400788,0.0698199573361,0.999999928078,0.000241081553814,-0.00029274078675,5.19321406266e-06,1793243067089127936
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.226116567,744.226116567,714.773883433,678.226116567,659,635,879,787.226116567,805,651.226116567,631,652,0.400958701345,-0.0153571429483,0.0698219466102,0.999999929527,0.000238326521591,-0.000290029421798,5.40639546109e-06,1793243067105794304
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.801459758,744.801459758,714.198540242,678.801459758,659,635,879,787.801459758,805,651.801459758,631,652,0.400970104633,-0.0153571330753,0.0698273091972,0.999999931741,0.000238813576695,-0.000281875941051,5.70503216411e-06,1793243067122460928
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714.376471205,679,659.376471205,635,879,787.623528795,805,652,631,652,0.400998992598,-0.0153584859783,0.0698402359351,0.999999937827,0.000238800020323,-0.00025937367248,6.73128705388e-06,1793243067139127552
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714.951307906,679,659.951307906,635,879,787.048692094,805,652,631,652,0.401037093372,-0.0153605569383,0.0698571482811,0.999999945229,0.00023852268789,-0.000229310919286,8.14092943411e-06,1793243067155794432
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.46147909,715,678.46147909,659.46147909,635,879,787,805,652,631,652,0.401092268432,-0.0153628839744,0.069875244964,0.999999951336,0.000240915997572,-0.000197975222231,9.70053669875e-06,1793243067172461056
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.125020697,714.874979303,678.125020697,659,635,879,787,805,652,631.125020697,652,0.401150941902,-0.0153652288397,0.069891589101,0.999999955783,0.000242640247365,-0.000171585951577,1.08704776988e-05,1793243067189127936
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.704760697,714.295239303,678.704760697,659,635,879,787,805,652,631.704760697,652,0.401216592422,-0.0153675523581,0.0699011603185,0.999999957511,0.00024103208636,-0.000163616052058,1.05726653878e-05,1793243067205794560
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714.282610687,679,659.282610687,635,879,787,805,652,631.717389313,652,0.40128793065,-0.01537029518,0.0699069262353,0.999999958827,0.000239654643885,-0.000157536268954,9.71288486045e-06,1793243067222461184
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.858499292,679,659.858499292,635,879,787,805,652,631.141500708,652,0.401365171265,-0.0153734731319,0.0699087432185,0.999999959752,0.000238516628588,-0.000153417945799,8.26992446402e-06,1793243067239127552
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.565105537,714.565105537,679,660,635,879,787,805,651.565105537,631,652,0.401459543734,-0.0153779081987,0.0699101458239,0.999999960098,0.000237766246196,-0.000152415339806,6.3258595365e-06,1793243067255794176
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744,714,679,660,635,879.011714435,787,804.988285565,651.011714435,631,652,0.401559958198,-0.0153827761093,0.0699114222669,0.999999960292,0.000237038175519,-0.000152355444679,4.2082224334e-06,1793243067272460800
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744,714,679,660,635,879.601351356,787,804.398648644,651.601351356,631,652,0.401683132463,-0.0153887955845,0.0699131338408,0.999999962216,0.000231181384343,-0.000148732348422,1.58053172015e-06,1793243067289127680
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744,714.18730304,679,659.81269696,635,879.81269696,787,804.37460608,652,631,652,0.401818670095,-0.0153945629752,0.0699153769614,0.999999964163,0.000225752168796,-0.000143906459111,-1.27336075288e-06,1793243067305794304
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744,714.765562479,679,659.234437521,635,879.234437521,787,805.531124958,652,631,652,0.401980013683,-0.0153998041907,0.0699187295756,0.999999966196,0.000221215429786,-0.000136569988251,-4.59940233796e-06,1793243067322460928
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.341772621,714.658227379,679,659,635,879,787,805.658227379,652,631,652,0.402155445867,-0.0154066772032,0.0699222107173,0.999999968411,0.000214917786569,-0.000130079294118,-8.21183263725e-06,1793243067339127808
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.916585492,714.083414508,679,659,635,879,787,805.083414508,652,631,652,0.402340484484,-0.0154146628693,0.0699257794968,0.999999970708,0.000207419457016,-0.000124165298504,-1.20195395857e-05,1793243067355794432
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.496378702,714,679,659,635,879,787,805,651.496378702,631,652,0.402551915921,-0.01542434208,0.0699286706109,0.99999997377,0.000196308839495,-0.000116827164642,-1.65308729088e-05,1793243067372461312
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879,787,805,651,631,652,0.402774990031,-0.0154341530299,0.0699318623808,0.99999997791,0.000178859069939,-0.000108347083792,-2.12078739902e-05,1793243067389127936
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879,787,805,651,631,652,0.40303640398,-0.0154431303399,0.0699372792664,0.999999986592,0.000130759119892,-9.5048373353e-05,-2.61323261624e-05,1793243067405794560
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.24949343,714,678.75050657,659,635,879,787,805,651.24949343,631,652,0.403317449437,-0.0154532056946,0.069944598594,0.999999992781,8.32077005531e-05,-8.09976026865e-05,-3.08835932572e-05,1793243067422461184
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.826761117,714,678.173238883,659,635,879,787,805,651.826761117,631,652,0.403624285948,-0.015464723615,0.0699544172717,0.999999996536,3.637692144e-05,-6.59588069653e-05,-3.54073366083e-05,1793243067439127808
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,678.402042206,659,634.597957794,879,787.402042206,805,652,631.402042206,652,0.403942445637,-0.0154749342844,0.069957618946,0.999999997046,1.71975425573e-05,-6.29545182398e-05,-4.05962309206e-05,1793243067455794432
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,678.97647147,659,634.02352853,879,787.97647147,805,652,631.97647147,652,0.404265460454,-0.0154845844324,0.0699579833912,0.99999999677,9.87449101196e-06,-6.51103678857e-05,-4.60703275755e-05,1793243067472461056
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.436880153,714,679,659,634.563119847,879,787.436880153,805,651.436880153,631.436880153,652,0.404626119054,-0.0154859978914,0.0699621066806,0.999999997099,-1.40766495885e-05,-5.56789820447e-05,-5.00330279233e-05,1793243067489128192
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879,787,805,651,631,652.148933138,0.405001256281,-0.0154856929905,0.069966085364,0.999999997699,-1.23299669422e-05,-4.66783488015e-05,-4.76635854426e-05,1793243067505795072
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879,787,805,651,631,652.730801774,0.405413807985,-0.0154814155688,0.0699691770226,0.999999996629,6.61824348274e-05,-4.03684541572e-05,-2.70748040204e-05,1793243067522461440
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.691281492,744,714,678.691281492,659,635,879,787,805,651,631,652.691281492,0.405839022574,-0.0154888501484,0.0699642452845,0.999999995969,7.241817499e-05,-4.84489726485e-05,-2.16741808338e-05,1793243067539127808
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.116767143,744,714,678.116767143,659,635,879,787,805,651,631,652.116767143,0.406275139511,-0.0155063683511,0.0699524056827,0.999999997059,1.64262455806e-05,-6.89191330184e-05,-2.93500285654e-05,1793243067555794688
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.456190716,744,714.456190716,678.456190716,659,635,879,787,805,651.456190716,631,652,0.406736694689,-0.015516266281,0.069939194663,0.999999995461,1.20667777281e-06,-8.91930209068e-05,-3.34914686912e-05,1793243067572461312
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744,714.970048107,679,659,635,879,787,805,652,631,652,0.407208602262,-0.01552378023,0.0699266849146,0.999999993571,-3.5565081812e-06,-0.000107266383302,-3.6589392899e-05,1793243067589127680
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744,714.373582431,679,659,635,879,787,805,652,631,652,0.407753581911,-0.0155229697308,0.069934055927,0.999999995705,-7.26573463914e-06,-8.46657398556e-05,-3.70030148593e-05,1793243067605794560
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879.215164516,787,805,651.784835484,631,652,0.40831763032,-0.0155202432071,0.0699432853312,0.999999997429,-4.27439064535e-06,-6.09530326325e-05,-3.75251100922e-05,1793243067622461440
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879.790973795,787,805,651.209026205,631,652,0.40891364051,-0.0155143051678,0.0699556296502,0.999999998594,9.94801381999e-06,-3.53763578324e-05,-3.82290211468e-05,1793243067639128576
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+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879.056447196,787,805,651,631,652,0.410110485978,-0.0155147696922,0.0699448572865,0.999999997901,9.65360640079e-07,-5.02442679669e-05,-4.08871487901e-05,1793243067672461824
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879.532347491,787,805,651,631,652,0.410733695979,-0.0155165284195,0.0699422525382,0.999999997518,-4.97237653165e-06,-5.63981891909e-05,-4.19388242857e-05,1793243067689128192
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+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714.150338915,679,659.150338915,634.849661085,879,787,805.849661085,651,631,652,0.413565782934,-0.0155287308833,0.0700254191878,0.999999996263,-1.78392252724e-05,7.5202841935e-05,-3.87292623771e-05,1793243067755794688
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.575708564,745,714,679,659.424291436,635,879,787,805.575708564,651,631,652,0.414286450827,-0.0155254620612,0.0700119239095,0.999999998067,-1.56679661759e-05,4.4552287394e-05,-4.04537178167e-05,1793243067772461312
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.001012867,745,714,679,659.998987133,635,879,787,805.001012867,651,631,652,0.414999923185,-0.0155203908544,0.0699849993484,0.999999998961,-1.19595206947e-05,-9.20419249258e-06,-4.30042456916e-05,1793243067789127936
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.59379234,745,714,679,659.40620766,634.40620766,879,787,805,651,631,652,0.415713671961,-0.0155187038369,0.0699311628797,0.999999994164,-1.74291307565e-05,-9.44184543146e-05,-4.95288326054e-05,1793243067805794560
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.816891836,744.816891836,714,679,659.183108164,634,879,787,805.183108164,651,631,652,0.416467331458,-0.0155179994301,0.0699021822693,0.99999998848,-2.1287917736e-05,-0.000140501106406,-5.33543938116e-05,1793243067822460928
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.239473493,744.239473493,714,679,659.760526507,634,879,787,805.760526507,651,631,652,0.417306934707,-0.0155193981378,0.069926829273,0.999999993225,-2.16430188084e-05,-0.000102197062761,-5.13526893735e-05,1793243067839127552
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.336179785,744,714,679,660,634.336179785,879,787,805.663820215,651,631,652,0.418149914085,-0.0155207404298,0.0699526315274,0.999999996462,-2.66881874959e-05,-6.21755816837e-05,-4.99770659423e-05,1793243067855794176
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.910582282,744,714,679,660,634.910582282,879,787,805.089417718,651,631,652,0.41899528581,-0.0155220427445,0.069979252411,0.999999997964,-3.50568178221e-05,-2.09370968334e-05,-4.90450942119e-05,1793243067872460800
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744,714.495330735,679,660,635,879.495330735,787,805,651,631,652,0.419870860162,-0.0155278665073,0.0700030639542,0.999999998016,-3.80715026733e-05,1.5214263895e-05,-4.78234708083e-05,1793243067889127680
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.081128161,715,679,660,634.918871839,879.918871839,787,805.081128161,651,631,652,0.420751230831,-0.0155340513915,0.0700236598755,0.999999997009,-4.09574273732e-05,4.59263078845e-05,-4.68634683622e-05,1793243067905794816
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744.661640636,715,679,660,634.338359364,879.338359364,787,805.661640636,651,631,652,0.421626847786,-0.0155373277505,0.0700276503584,0.999999996452,-4.91269770693e-05,4.89300200917e-05,-4.78426008192e-05,1793243067922461440
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714.759908737,679.240091263,660,634,879,787.240091263,806,651,631,652,0.422467768041,-0.0155377351949,0.0700033881017,0.999999997164,-5.46458231404e-05,7.65779259051e-06,-5.12635320479e-05,1793243067939128320
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714.184339039,679.815660961,660,634,879,787.815660961,806,651,631,652,0.423260206881,-0.0155341339187,0.0699396484205,0.99999999216,-5.64608537958e-05,-9.54810050671e-05,-5.80963774288e-05,1793243067955794944
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744.609310497,714,680,660,634.390689503,879,787.609310497,805.609310497,651,631,652,0.424098000778,-0.0155316810532,0.0698910636993,0.999999982727,-6.48594562704e-05,-0.000161700371366,-6.47450466911e-05,1793243067972461312
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744.03453697,714,680,660,634.96546303,879,787.03453697,805.03453697,651,631,652,0.4249571649,-0.0155297692931,0.0698496196551,0.999999972382,-7.6360088259e-05,-0.000210524133742,-7.1306936002e-05,1793243067989127680
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744,714,679.443630238,660,635,878.443630238,787,805.556369762,651,631,652,0.425906743306,-0.0155325836859,0.0699027978068,0.999999986629,-6.59913191229e-05,-0.00013504805133,-6.44191070285e-05,1793243068005794304
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744.144765079,714,679.144765079,660,635,878.289530158,787,805.855234921,651,631,652,0.426857239701,-0.0155358716469,0.069956481666,0.999999994765,-5.82713745317e-05,-6.11049251877e-05,-5.7791349273e-05,1793243068022461184
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.722562861,714,679.722562861,660,635,879.445125722,787,805.277437139,651,631,652,0.427793192044,-0.0155396723975,0.0699935835857,0.999999996431,-6.26569005499e-05,-1.551722571e-05,-5.45135347504e-05,1793243068039127808
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.700497922,714,680,660,635,880,787,805.299502078,651,631,652,0.428731446681,-0.0155434310908,0.0700243553931,0.999999995659,-6.92640895397e-05,3.3188367673e-05,-5.27554505259e-05,1793243068055794688
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.124351775,714,680,660,635,880,787,805.875648225,651,631,652,0.429671827851,-0.0155471509365,0.0700492802008,0.999999991998,-7.79233838061e-05,8.47738945994e-05,-5.24011108734e-05,1793243068072461568
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744.447138556,714,679.552861444,660,634.552861444,880,787.447138556,806,651,631,652,0.430516103458,-0.0155443300115,0.0700169265815,0.999999995478,-7.2450279295e-05,2.81439603115e-05,-5.47910243953e-05,1793243068089128448
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,880,787.98177998,806,651,631,652,0.431334235067,-0.015539669899,0.069968297413,0.999999994588,-6.3224568473e-05,-5.8809659075e-05,-5.80348704687e-05,1793243068105795072
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,880,787.382890314,806,651,631,652,0.432162182964,-0.0155337698286,0.069903406808,0.999999982949,-5.83711776183e-05,-0.000162924584597,-6.44212465966e-05,1793243068122460928
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.792464741,714,679.207535259,660,634.207535259,879.792464741,787,805.792464741,651,631,652,0.433036958068,-0.0155317945352,0.0698838699484,0.999999978308,-5.97662988768e-05,-0.000187934262078,-6.70312577807e-05,1793243068139127552
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744.217042908,714,679.782957092,660,634.782957092,879.217042908,787,805.217042908,651,631,652,0.433994741376,-0.0155367764818,0.0699447292192,0.999999992766,-7.22378205464e-05,-7.27183457886e-05,-6.29471117302e-05,1793243068155794688
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744.358875763,714,680,660,634.641124237,879.358875763,787,805.358875763,651,631,652,0.434910199123,-0.0155413290989,0.0699927847649,0.999999995389,-7.6005053646e-05,7.64530811533e-06,-5.82044929846e-05,1793243068172461312
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744.935095297,714,680,660,634.064904703,879.935095297,787,805.935095297,651,631,652,0.435800023438,-0.0155456217036,0.0700330860639,0.999999993579,-7.4500760259e-05,6.69015888183e-05,-5.30630878011e-05,1793243068189127680
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879.479004422,787,806,651,631,652,0.436656879744,-0.0155472914242,0.0700314184554,0.999999992655,-8.17072618332e-05,7.08423481442e-05,-5.4722851737e-05,1793243068205794304
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.107099462,879,787.107099462,806,651,631,652.107099462,0.437497173763,-0.0155483588125,0.0700182615304,0.999999992605,-8.93001352146e-05,5.9221572824e-05,-5.75230713793e-05,1793243068222461184
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.688661398,879,787.688661398,806,651,631,652.688661398,0.438282634365,-0.0155482327657,0.0699778066397,0.999999993668,-9.37062115446e-05,9.76784804566e-06,-6.15510367046e-05,1793243068239127808
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.26711972,744.73288028,714,680,660,634.73288028,879.26711972,788,805.73288028,651,631,652.73288028,0.439024423525,-0.0155454045586,0.0699261787593,0.999999990994,-9.40561092751e-05,-6.98243245005e-05,-6.54972611215e-05,1793243068255794432
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.842002164,744.157997836,714,680,660,634.157997836,879.842002164,788,805.157997836,651,631,652.157997836,0.439715896459,-0.0155394630502,0.0698616778909,0.999999976615,-8.97326686101e-05,-0.000184140589154,-6.93493067644e-05,1793243068272460800
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.583440999,744.416559001,714,680.416559001,660,634.416559001,879.583440999,787.583440999,805.416559001,651,631,652.416559001,0.440495661519,-0.0155390911177,0.0698658957551,0.999999978756,-8.71184183809e-05,-0.000173383794204,-6.95411129247e-05,1793243068289127680
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.009007519,744.990992481,714,680.990992481,660,634.990992481,879.009007519,787.009007519,805.990992481,651,631,652.990992481,0.441308889058,-0.0155408300355,0.0698961577858,0.999999987401,-8.51519453244e-05,-0.000115224734112,-6.83457007993e-05,1793243068305794304
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.415426195,744.415426195,714,681,660.584573805,634.415426195,879.584573805,787.584573805,806,651,631,652.415426195,0.442131841998,-0.0155486158478,0.0699688978881,0.999999993465,-9.57647924347e-05,-8.04055648726e-06,-6.19190045047e-05,1793243068322460672
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.173761307,744.347522615,714,681,661,634.173761307,880,788,806.173761307,651,631,652,0.442918590286,-0.0155544906649,0.0700223818248,0.999999990611,-0.000104693097624,6.73971135643e-05,-5.72333326855e-05,1793243068339127552
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.752010755,745.504021511,714,681,661,634.752010755,880,788,806.752010755,651,631,652,0.44362069953,-0.0155556927557,0.070029465305,0.999999990169,-0.000109233580048,6.71160554046e-05,-5.67944785636e-05,1793243068355794688
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.345443688,714.327278156,681,661,635,880.327278156,787.672721844,806.672721844,651,631,652,0.444289773862,-0.0155560704561,0.0700158357761,0.999999991083,-0.000113286119056,4.05876108989e-05,-5.79071428791e-05,1793243068372461568
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,744.199387339,714.900306331,681,661,635,880.900306331,787.099693669,806.099693669,651,631,652,0.444934042554,-0.0155558291298,0.0699866530475,0.999999991332,-0.000116972265584,-5.64974358738e-06,-6.01848273938e-05,1793243068389127936
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,744.486364688,714.513635312,681,661,634.513635312,881,787.486364688,806.486364688,651,631,652,0.445544313528,-0.0155561399894,0.0699641742736,0.999999991615,-0.000109929704748,-3.00366205321e-05,-6.15074267789e-05,1793243068405794304
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,681,661,634,881,787.925867456,806.925867456,651,631,652,0.44614403836,-0.0155567155333,0.0699439342977,0.999999991418,-0.000103088665191,-5.10857576695e-05,-6.26664328931e-05,1793243068422460672
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681,661,634,881,787.345171404,806.345171404,651,631,652,0.446720629045,-0.0155583050093,0.0699293441015,0.999999988293,-0.000113065535115,-8.07748498746e-05,-6.40821401445e-05,1793243068439127552
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681,661,634,880.766740594,787,806,651,631.233259406,652,0.44726939767,-0.0155597528864,0.0699114499405,0.99999998389,-0.000119061436626,-0.000117283494814,-6.54953471534e-05,1793243068455794176
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681,661,634,880.191629644,787,806,651,631.808370356,652,0.447777391839,-0.0155609932441,0.0698887136804,0.999999977242,-0.000119223059331,-0.00016378648056,-6.69048898015e-05,1793243068472460800
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.863398098,634,880,786,806,651,631,652,0.449755112714,-0.0155773936969,0.0699166962363,0.99999998226,-0.000130688386871,-0.000120987004655,-6.13368815009e-05,1793243068539128064
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,744.206833498,714,679,659.206833498,634.793166502,879,787,805.793166502,651.793166502,631,652,0.419996046004,-0.0153662483111,0.0697213013713,0.999999876259,0.000191807234396,-0.000458892499852,1.04742767803e-05,1793243070826806272
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.513411147,659,635,879,787,805.486588853,651,631,652,0.408807419558,-0.0153551685595,0.0697912662563,0.999999912503,0.000237675183462,-0.00034383459112,1.68136558674e-05,1793243071076806400
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744,714,679.062621916,659,635,879,787,805.937378084,651.062621916,631,652,0.408186034515,-0.0153515089596,0.0697588861752,0.999999889827,0.000245653436828,-0.000399758573246,1.39094856757e-05,1793243071093473280
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.559129863,744,714,679,658.559129863,634.559129863,879,787,805,651.440870137,631,652,0.405248200151,-0.0153521860708,0.0698001398028,0.999999911996,0.000244099359697,-0.000340817187858,1.63726491033e-05,1793243071193473024
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744,714,678.909424321,659.090575679,634.909424321,878.090575679,787,805,651,631,652,0.401717640592,-0.0153499685241,0.069801322124,0.999999912169,0.000253100681175,-0.000333513947654,1.92264399263e-05,1793243071410139648
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744,714.419523068,679,659,634.419523068,879,787,805,651.419523068,631,652,0.401297437387,-0.0153491858636,0.0698016381365,0.999999913371,0.000256825911564,-0.000327480717086,7.39632316547e-06,1793243071476806400
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c0663b55a216d14b3eb23527835e7409b0ad9523
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_07/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..49299ad3b9f8dab16f1fa8f7f0c8619b3ecc7227
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:797b81f8b977ed2d04b4ea5b77571292b90c50a1126565cbae712eb3b71a1286
+size 25656318
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fc5ce18f30da297f751825021b047b1d78950c9c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_01/franka_data.csv
@@ -0,0 +1,406 @@
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+12,0.200000000,BASELINE,764,744.957981184,714.957981184,678.042018816,658.957981184,635,878,787,805,651,631,652,0.40102759898,-0.0154884722321,0.0798647420209,0.999999979816,0.000128481352229,-0.000148850509815,4.12842465658e-05,1793243073473488384
+13,0.216666667,BASELINE,764,745,714.457916079,678,658.457916079,635,878.542083921,787.542083921,805.542083921,651.542083921,631,652,0.40102699653,-0.0154888584373,0.0798644087833,0.999999979757,0.000127406105952,-0.000150146617068,4.1358153703e-05,1793243073490155008
+14,0.233333333,BASELINE,764,745,714,678.124210703,658.124210703,635,878.875789297,787.875789297,805.875789297,651.875789297,631,652,0.401026617472,-0.0154892766502,0.0798640517456,0.999999979734,0.000126184865276,-0.0001513139675,4.13949046957e-05,1793243073506822144
+15,0.250000000,BASELINE,764,745,714,678.699092591,658.699092591,635,878.300907409,787.300907409,805.300907409,651.300907409,631,652,0.401027195983,-0.0154897020745,0.0798637969508,0.999999979894,0.000124798681155,-0.000151458866744,4.12085786991e-05,1793243073523488512
+16,0.266666667,BASELINE,764,744.725828484,714,678.725828484,659,635,878.274171516,787,805,651,631,652,0.401027498937,-0.0154899799645,0.0798638966593,0.999999979893,0.000125001353826,-0.000151241576366,4.14042123056e-05,1793243073540155136
+17,0.283333333,BASELINE,764,744.150533188,714,678.150533188,659,635,878.849466812,787,805,651,631,652,0.401027499246,-0.0154900958167,0.0798643857206,0.999999979715,0.000126949074967,-0.000150626491527,4.20193538321e-05,1793243073556821760
+18,0.300000000,BASELINE,764,744,714,678,659,635,878.56612768,787.43387232,805,651.43387232,631,652,0.40102608378,-0.0154889660209,0.0798635178589,0.999999979337,0.000128357675475,-0.000152035974098,4.16596882841e-05,1793243073573488384
+19,0.316666667,BASELINE,764.021311055,744.021311055,714.021311055,678.021311055,658.978688945,635,878.021311055,787.978688945,805,651.978688945,630.978688945,652.021311055,0.401024270224,-0.0154874674266,0.0798622483345,0.999999978914,0.000129470146927,-0.000154041933419,4.09872065903e-05,1793243073590155264
+20,0.333333333,BASELINE,764.603607016,744.603607016,714.603607016,678.603607016,658.396392984,635,878.603607016,787.396392984,805,651.396392984,630.396392984,652.603607016,0.401025185147,-0.0154878812921,0.0798630642415,0.9999999793,0.000127816848104,-0.000152862257111,4.11741850748e-05,1793243073606821888
+21,0.350000000,BASELINE,764.815920067,744.815920067,715,679,658.184079933,634.815920067,879,787,804.815920067,651,630.184079933,652.815920067,0.401025793086,-0.0154882100655,0.0798637244706,0.999999979546,0.000126942923132,-0.000151959688341,4.12442591274e-05,1793243073623488512
+22,0.366666667,BASELINE,764.239334423,744.239334423,715,679,658.760665577,634.239334423,879,787,804.239334423,651,630.760665577,652.239334423,0.401025746457,-0.0154883574004,0.0798640527539,0.999999979501,0.000127730823657,-0.000151647984187,4.10650628724e-05,1793243073640155136
+23,0.383333333,BASELINE,764,744,714.665012665,679,659,634,878.665012665,787,804.334987335,651,630.665012665,652,0.401026076213,-0.0154878548002,0.079864133478,0.999999979418,0.000128822287577,-0.000151274864809,4.10548233325e-05,1793243073656821760
+24,0.400000000,BASELINE,764,744,714.092297443,679,659,634,878.092297443,787,804.907702557,651,630.092297443,652,0.401026673075,-0.0154868909655,0.0798640385186,0.999999979307,0.000130129179082,-0.00015085816133,4.11644859872e-05,1793243073673488384
+25,0.416666667,BASELINE,764,744,714,678.504661579,659,634.495338421,878.495338421,787.495338421,805,651,630.495338421,652,0.401025865007,-0.0154865698999,0.0798635601966,0.99999997916,0.000130246678419,-0.000151739793311,4.11080595646e-05,1793243073690155008
+26,0.433333333,BASELINE,764.084140686,744,714,678.084140686,659,635,879,787.915859314,804.915859314,651,631,652,0.401025141711,-0.0154865084748,0.0798631918464,0.999999979064,0.000130044518117,-0.000152573959262,4.10005361312e-05,1793243073706821632
+27,0.450000000,BASELINE,764.662948003,744,714,678.662948003,659,635,879,787.337051997,804.337051997,651,631,652,0.401026503634,-0.015487247495,0.0798639030238,0.999999979308,0.000129306455708,-0.000151662631605,4.07802048808e-05,1793243073723488256
+28,0.466666667,BASELINE,765,744.240839899,714,678.759160101,659,635,879,787.240839899,804.240839899,651.240839899,631,652,0.401026709379,-0.0154882131855,0.0798641912443,0.99999997954,0.000127849846544,-0.000151343067228,4.08586851267e-05,1793243073740155136
+29,0.483333333,BASELINE,765,744.81745549,714,678.18254451,659,635,879,787.81745549,804.81745549,651.81745549,631,652,0.401025303194,-0.0154894948966,0.0798638897842,0.999999979754,0.000125391449365,-0.000151848531176,4.13537642866e-05,1793243073756821760
+30,0.500000000,BASELINE,764.598898565,745,714,678,658.598898565,635,878.598898565,788,804.598898565,652,631,652.401101435,0.401026019219,-0.0154886443094,0.0798641848509,0.999999979662,0.000126808442211,-0.000151262073529,4.14146925724e-05,1793243073773488128
+31,0.516666667,BASELINE,764.011995983,745,714,678,658.011995983,635,878.011995983,788,804.011995983,652,631,652.988004017,0.401027718311,-0.0154868059833,0.0798647562451,0.99999997942,0.000130020621688,-0.000150169807945,4.12745102951e-05,1793243073790154496
+32,0.533333333,BASELINE,764.568002882,744.431997118,714,678,658,635,878.568002882,788,805.136005764,651.431997118,631,652.431997118,0.401026615982,-0.0154886955003,0.079864533364,0.999999979488,0.00012855755634,-0.000150890948844,4.15752246815e-05,1793243073806821376
+33,0.550000000,BASELINE,764.852841812,744,714,678,658.147158188,635,879,787.852841812,805.852841812,651.147158188,631,652.147158188,0.401025880085,-0.0154896199927,0.0798643663658,0.999999979512,0.000127744702066,-0.000151380807039,4.1715648925e-05,1793243073823488000
+34,0.566666667,BASELINE,764.275730363,744,714,678,658.724269637,635,879,787.275730363,805.275730363,651.724269637,631,652.724269637,0.40102638558,-0.0154874976992,0.0798644110636,0.999999979396,0.000129116597877,-0.000151084371555,4.13608731703e-05,1793243073840154624
+35,0.583333333,BASELINE,764,744,714,678,659,635,879,787,805,651.699435588,631,652.699435588,0.401026638391,-0.0154869401848,0.0798648435144,0.99999997944,0.000129443902543,-0.000150528270392,4.12942848408e-05,1793243073856821248
+36,0.600000000,BASELINE,764,744,714,678,659,635,879,787,805,651.123887912,631,652.123887912,0.401026660024,-0.0154878142705,0.0798656307165,0.999999979632,0.000128815521757,-0.000149734603756,4.14913561572e-05,1793243073873487872
+37,0.616666667,BASELINE,764.462218591,744,714,678.462218591,659,635,878.537781409,787,805,651,631,652.462218591,0.401025995825,-0.0154876651481,0.0798646509073,0.999999979486,0.000128582236967,-0.000150971908536,4.12552695909e-05,1793243073890154496
+38,0.633333333,BASELINE,764.949503082,744.050496918,714.050496918,679,658.949503082,635,878.050496918,787,805,651.050496918,631,653,0.401025301189,-0.0154872514775,0.0798633953504,0.999999979291,0.000128424218855,-0.000152482718444,4.09115656762e-05,1793243073906821376
+39,0.650000000,BASELINE,764.368830038,744.631169962,714.631169962,679,658.368830038,635,878.631169962,787,805,651.631169962,631,653,0.401026262093,-0.0154870069736,0.0798643334295,0.999999979588,0.000127918613943,-0.000151016175671,4.06854060603e-05,1793243073923488000
+40,0.666666667,BASELINE,764.209608432,744.790391568,715,678.790391568,658.209608432,635,879,787,805,651.790391568,631,652.790391568,0.401026658319,-0.0154871708365,0.0798648856636,0.999999979661,0.000128149713822,-0.000150319466828,4.07304200113e-05,1793243073940154624
+41,0.683333333,BASELINE,764.784156355,744.215843645,715,678.215843645,658.784156355,635,879,787,805,651.215843645,631,652.215843645,0.40102607141,-0.0154880456878,0.0798647661205,0.999999979348,0.000129663456176,-0.000150963080124,4.12475616608e-05,1793243073956821248
+42,0.700000000,BASELINE,764.641321071,744,714.641321071,678,658.641321071,635,879,787.358678929,805,651,631,652,0.401025986272,-0.0154874388213,0.0798644913469,0.999999978997,0.000131677544136,-0.000151512463299,4.13555489038e-05,1793243073973488640
+43,0.716666667,BASELINE,764.066813773,744,714.066813773,678,658.066813773,635,879,787.933186227,805,651,631,652,0.401026203066,-0.0154859403586,0.0798641231663,0.999999978621,0.000133992705696,-0.000152005145225,4.1217335079e-05,1793243073990156544
+44,0.733333333,BASELINE,764.526335681,744,714,678,658.526335681,635,879,787.473664319,805,651,631,652,0.401025670681,-0.0154857001329,0.0798640888118,0.999999978629,0.000133734292439,-0.00015221006996,4.10945765309e-05,1793243074006822912
+45,0.750000000,BASELINE,764.88203896,744,714,678.11796104,659,635,879.11796104,787,805,651.11796104,631,652,0.401024832752,-0.0154859063215,0.0798638094252,0.999999978703,0.000132653303558,-0.000152690351532,4.1030958583e-05,1793243074023489024
+46,0.766666667,BASELINE,764.305863972,744,714,678.694136028,659,635,879.694136028,787,805,651.694136028,631,652,0.401023190935,-0.015487203369,0.0798624075701,0.999999978824,0.000129692680912,-0.000154387345925,4.11891686664e-05,1793243074040155392
+47,0.783333333,BASELINE,764.269093759,744.269093759,714.269093759,679,659,635,879.730906241,787,805,652,631,652,0.401023179862,-0.01548770949,0.079862422721,0.999999978934,0.000128984710093,-0.000154236266884,4.13097447634e-05,1793243074056822016
+48,0.800000000,BASELINE,764.842674205,744.842674205,714.842674205,679,659,635,879.157325795,787,805,652,631,652,0.40102501402,-0.0154873206572,0.0798640412515,0.999999979035,0.000130825673878,-0.000151994044206,4.13877370323e-05,1793243074073488640
+49,0.816666667,BASELINE,765,744.572350453,714.572350453,679,659,635,879,787,805,651.572350453,631,652,0.401025163904,-0.0154871983659,0.0798642377205,0.999999979017,0.000130826916827,-0.000152190837929,4.11002441724e-05,1793243074090155520
+50,0.833333333,BASELINE,764.983343511,744.016656489,714.016656489,678.983343511,659,635,879,787.016656489,805,651.016656489,631,652.016656489,0.401024719273,-0.0154871597179,0.0798639272766,0.999999978961,0.000130165345739,-0.000153228306179,4.06884149942e-05,1793243074106822144
+51,0.850000000,BASELINE,764.403636903,744.596363097,714.596363097,678.403636903,659,635,879,787.596363097,805,651.596363097,631,652.596363097,0.401025696598,-0.0154865431083,0.0798646499789,0.999999979162,0.000130603028399,-0.000151522087216,4.07431039571e-05,1793243074123488256
+52,0.866666667,BASELINE,764,744.825139785,714.825139785,678,659,635,879,787.825139785,805,651.825139785,631,652.825139785,0.401026318976,-0.0154864661756,0.0798652146008,0.999999979269,0.000131141326692,-0.000150330880966,4.07913264115e-05,1793243074140154880
+53,0.883333333,BASELINE,764,744.249415438,714.249415438,678,659,635,879,787.249415438,805,651.249415438,631,652.249415438,0.401026127643,-0.0154876264431,0.0798654168259,0.999999979168,0.000131910284626,-0.000150320332897,4.08247245002e-05,1793243074156821504
+54,0.900000000,BASELINE,764.33239469,744.33239469,714,678.33239469,659,635,878.66760531,787,805,651,631,652,0.401025258687,-0.0154875210288,0.0798644449986,0.999999978929,0.000132297768394,-0.0001515731554,4.08026817275e-05,1793243074173488128
+55,0.916666667,BASELINE,764.91885648,744.91885648,714,678.91885648,659,635,878.08114352,787,805,651,631,652,0.401023871787,-0.0154864481857,0.0798625757802,0.99999997858,0.000132393670948,-0.000153791639837,4.07382625275e-05,1793243074190155008
+56,0.933333333,BASELINE,764.500303441,744.500303441,714,678.500303441,658.500303441,635,878.499696559,787.499696559,805,651,631,652,0.401024279321,-0.0154863401695,0.0798631296205,0.999999978828,0.000131291306391,-0.000153123054665,4.07434495231e-05,1793243074206821888
+57,0.950000000,BASELINE,764.079284191,744,714,678,658,635,878.920715809,787.920715809,805,651,631,652,0.401024933715,-0.0154865175286,0.0798639738666,0.999999979125,0.000130173058809,-0.000152127793694,4.07631249129e-05,1793243074223488512
+58,0.966666667,BASELINE,764.656674444,744,714,678,658,635,878.343325556,787.343325556,805,651,631,652,0.401025328712,-0.0154875144098,0.0798641981089,0.999999979145,0.000130163890807,-0.000151992782832,4.08036024036e-05,1793243074240155136
+59,0.983333333,BASELINE,764.766861061,744.233138939,714,678,658.233138939,635,878.233138939,787,805,651.233138939,631,652,0.401025933289,-0.0154879197787,0.0798645309723,0.999999979187,0.000130010459532,-0.0001518670814,4.07280583692e-05,1793243074256821760
+60,1.000000000,BASELINE,764.191754378,744.808245622,714,678,658.808245622,635,878.808245622,787,805,651.808245622,631,652,0.401026845277,-0.0154874575186,0.0798650231608,0.999999979262,0.000129645423167,-0.000151755035,4.04823341931e-05,1793243074273488384
+61,1.016666667,BASELINE,764,745,714.39317994,678.39317994,659,635,879,787,805,651.60682006,631,652,0.401027205319,-0.0154876707936,0.0798649671492,0.999999979345,0.000129536109958,-0.000151265388042,4.06066341589e-05,1793243074290155008
+62,1.033333333,BASELINE,764,745,714.983030047,678.983030047,659,635,879,787,805,651.016969953,631,652,0.401027289276,-0.015488221974,0.0798646369258,0.999999979433,0.00012955471051,-0.000150586863794,4.09160216833e-05,1793243074306821632
+63,1.050000000,BASELINE,764,744.436545096,714.436545096,678.436545096,659,635,879,787,805,651,631,652,0.401027436385,-0.015487367571,0.0798656377992,0.999999979549,0.000129983317972,-0.000149537068783,4.05698984647e-05,1793243074323488256
+64,1.066666667,BASELINE,764,744,714.14263145,678.14263145,659,635,879,787.14263145,804.85736855,651,631,652,0.401027379041,-0.0154867070823,0.0798661740218,0.999999979564,0.000130461197207,-0.000149067039865,4.03897956863e-05,1793243074340155136
+65,1.083333333,BASELINE,764,744,714.718861861,678.718861861,659,635,879,787.718861861,804.281138139,651,631,652,0.401026694471,-0.0154867626664,0.0798651778412,0.999999979272,0.000131051940741,-0.000150392930705,4.07734238832e-05,1793243074356822272
+66,1.100000000,BASELINE,764,744.293926018,715,678.706073982,659,635,879,787.706073982,804.293926018,651,631,652,0.401026475582,-0.0154866429319,0.0798647590378,0.99999997921,0.00013102475847,-0.000150786395058,4.09396795911e-05,1793243074373488896
+67,1.116666667,BASELINE,764,744.867879037,715,678.132120963,659,635,879,787.132120963,804.867879037,651,631,652,0.401026700355,-0.0154863561693,0.0798648903089,0.999999979367,0.000130408870507,-0.00015029152494,4.08988417835e-05,1793243074390155264
+68,1.133333333,BASELINE,764,744.544588624,714.544588624,678,659,635,879,787,805.455411376,651,631,652,0.401026083806,-0.0154862928078,0.0798648000956,0.999999979157,0.000131193854328,-0.000151055246857,4.0709928381e-05,1793243074406821632
+69,1.150000000,BASELINE,764,744.045881143,714,678,659,635,879,787,805.954118857,651,631,652,0.401025208517,-0.0154863361397,0.079864551113,0.999999978849,0.000132210020805,-0.000152256069158,4.05048609682e-05,1793243074423488256
+70,1.166666667,BASELINE,764,744.623337152,714,678,659,635,879,787,805.376662848,651,631,652,0.401024250274,-0.015486841631,0.0798632299824,0.999999978705,0.000131051281254,-0.000154160663016,4.06256476409e-05,1793243074440154624
+71,1.183333333,BASELINE,764,744.800019221,714.199980779,678,658.800019221,635,879,787,805,651,631,652,0.401023638591,-0.015486781802,0.0798628815176,0.999999978538,0.000131330120802,-0.000154964040086,4.07814367474e-05,1793243074456821504
+72,1.200000000,BASELINE,764,744.22489942,714.77510058,678,658.22489942,635,879,787,805,651,631,652,0.401023677012,-0.0154856615029,0.0798643576526,0.999999978328,0.00013430567939,-0.000153701672024,4.10028860782e-05,1793243074473488128
+73,1.216666667,BASELINE,764.349882335,744.349882335,715,678,658.349882335,635,879,787.349882335,805,651.349882335,631,652,0.401024726267,-0.0154860198308,0.0798653342631,0.99999997875,0.000133358710381,-0.000151753622677,4.10686203185e-05,1793243074490155008
+74,1.233333333,BASELINE,764.924446976,744.924446976,715,678,658.924446976,635,879,787.924446976,805,651.924446976,631,652,0.401026424644,-0.0154873276817,0.0798659900964,0.999999979567,0.000129892829967,-0.000149365252655,4.10343597124e-05,1793243074506821888
+75,1.250000000,BASELINE,765,745,715,678,659,635,879,788,805,652,631,652,0.401025965917,-0.0154873359188,0.0798648403981,0.999999979365,0.00012936475194,-0.000151212599574,4.0858105995e-05,1793243074523488512
+76,1.266666667,BASELINE,764.893449811,744.893449811,715,678.106550189,659,635,879,787.893449811,805,652,631,652.106550189,0.40102550166,-0.0154872962334,0.0798638733351,0.999999979105,0.000129474656598,-0.000152867969614,4.0726929827e-05,1793243074540155136
+77,1.283333333,BASELINE,764.318403981,744.318403981,715,678.681596019,659,635,879,787.318403981,805,652,631,652.681596019,0.401026449119,-0.0154879110164,0.0798649112906,0.999999979278,0.00013043398001,-0.000150859419762,4.08884851606e-05,1793243074556821760
+78,1.300000000,BASELINE,764.257134226,744,714.742865774,678.742865774,659,635,878.742865774,787,805,652,631,652.742865774,0.401026216155,-0.015487417991,0.0798651124655,0.999999979169,0.000131418762704,-0.000150766692561,4.07563781301e-05,1793243074573488384
+79,1.316666667,BASELINE,764.83328326,744,714.16671674,678.16671674,659,635,878.16671674,787,805,652,631,652.16671674,0.401024518692,-0.0154855505575,0.0798642754846,0.999999978708,0.000132435131505,-0.000153050840057,4.0259937469e-05,1793243074590154752
+80,1.333333333,BASELINE,765,744,714,678,659,635,878.418362205,787.418362205,805,652,631,652,0.40102453558,-0.0154859079759,0.0798640920177,0.999999978783,0.000131991904445,-0.000152903232715,4.04009451574e-05,1793243074606821376
+81,1.350000000,BASELINE,764.993020965,744,714,678,658.993020965,635,879,787.993020965,805,652,631,652,0.401025243202,-0.0154871755387,0.0798641751443,0.999999979075,0.00013094096277,-0.000151787516567,4.07950459083e-05,1793243074623488256
+82,1.366666667,BASELINE,764.412485438,744,714,678,658.412485438,635,879,787.412485438,805,652,631,652,0.401025348314,-0.0154887888327,0.079864298459,0.999999979254,0.000128790277874,-0.000152486195875,4.0657459398e-05,1793243074640155136
+83,1.383333333,BASELINE,764,744.16187094,714,678.16187094,658.16187094,635,879,787.16187094,805,651.83812906,631,652,0.401025178853,-0.0154895648996,0.0798641651539,0.999999979243,0.000128222394339,-0.000153054028764,4.05795719458e-05,1793243074656821760
+84,1.400000000,BASELINE,764,744.721060474,714,678.721060474,658.721060474,635,879,787.721060474,805,651.278939526,631,652,0.401024335444,-0.0154882859599,0.0798634019655,0.999999978772,0.000131539558613,-0.00015330069412,4.06482181536e-05,1793243074673488640
+85,1.416666667,BASELINE,764.289504023,744.710495977,714.289504023,678.710495977,659,635,879,787.710495977,805,651,631,652,0.4010252215,-0.0154872926907,0.0798641921584,0.999999978788,0.000132985807508,-0.000151888452634,4.08544852252e-05,1793243074690155264
+86,1.433333333,BASELINE,764.867158278,744.132841722,714.867158278,678.132841722,659,635,879,787.132841722,805,651,631,652,0.401027828932,-0.0154865837562,0.0798665284686,0.99999997929,0.000132569889678,-0.00014882506174,4.11977296083e-05,1793243074706821632
+87,1.450000000,BASELINE,764.532568448,744.467431552,714.532568448,678,659,634.532568448,878.532568448,787,804.532568448,651,631,652,0.401027007117,-0.015486655248,0.0798660080464,0.999999979393,0.000130708710131,-0.000149853440574,4.09118626156e-05,1793243074723488000
+88,1.466666667,BASELINE,764.070484265,744.929515735,714,678,659,634.070484265,878.070484265,787.070484265,804.070484265,651,631,652,0.401025457217,-0.0154869321296,0.0798647992845,0.999999979356,0.000128890495865,-0.000151768235445,4.050701869e-05,1793243074740154880
+89,1.483333333,BASELINE,764.645101499,744.354898501,714,678,659,634.645101499,878.645101499,787.645101499,804.645101499,651,631,652,0.401026024772,-0.0154870110206,0.0798647693377,0.999999979222,0.000130466731245,-0.000151282844639,4.05950121356e-05,1793243074756821504
+90,1.500000000,BASELINE,765,744,714,678,659,635,879,787.77988966,805.22011034,651,631,652,0.40102598087,-0.0154872887566,0.0798646533187,0.999999979203,0.000130630680401,-0.000151239031756,4.0692408591e-05,1793243074773488128
+91,1.516666667,BASELINE,765,744,714,678,659,635,879,787.204248336,805.795751664,651,631,652,0.401024949315,-0.015487887675,0.0798643982723,0.999999979372,0.000128513448476,-0.00015190847316,4.08049931534e-05,1793243074790155008
+92,1.533333333,BASELINE,764.618186747,744,714.381813253,678,659,635,878.618186747,787,805.618186747,651,631,652,0.401025289754,-0.0154872407813,0.0798649881126,0.999999979484,0.000128091736581,-0.000151582520009,4.05799355282e-05,1793243074806821632
+93,1.550000000,BASELINE,764.026394456,744,714.973605544,678,659,635,878.026394456,787,805.026394456,651,631,652,0.401026384723,-0.0154859087506,0.0798660426003,0.999999979567,0.000128602479458,-0.000150709147495,4.01691908494e-05,1793243074823488256
+94,1.566666667,BASELINE,764,744.553445275,715,678.553445275,659,635,878.553445275,787.553445275,805,651,631,652.553445275,0.401027428493,-0.0154868364221,0.0798662325249,0.999999979678,0.000129285554209,-0.000149294362409,4.0492341864e-05,1793243074840154880
+95,1.583333333,BASELINE,764,745,715,679,658.868040967,635,879.131959033,788,805,651.131959033,631,652.868040967,0.401027653122,-0.0154874833101,0.0798660348919,0.999999979565,0.000130466830047,-0.000148955415917,4.07549236337e-05,1793243074856821760
+96,1.600000000,BASELINE,764,745,715,679,658.292110935,635,879.707889065,788,805,651.707889065,631,652.292110935,0.401025129825,-0.0154868305973,0.0798646691276,0.999999978687,0.000133297217142,-0.000152321121788,4.06984547392e-05,1793243074873488384
+97,1.616666667,BASELINE,764.289199591,744.710800409,715,678.710800409,658,635,879.710800409,787.710800409,805,651.710800409,631,652,0.401024072103,-0.0154869339073,0.0798639539158,0.999999978481,0.000133123860036,-0.000153833719088,4.06345100539e-05,1793243074890155008
+98,1.633333333,BASELINE,764.876047766,744.123952234,715,678.123952234,658,635,879.123952234,787.123952234,805,651.123952234,631,652,0.401024522773,-0.0154878153275,0.0798639082626,0.999999978974,0.000129859003879,-0.000153439068869,4.05628711755e-05,1793243074906821632
+99,1.650000000,BASELINE,764.542530615,744.457469385,714.542530615,678,658.457469385,635,879,787.457469385,805,651.457469385,631,652,0.401023992263,-0.0154873587579,0.0798631665651,0.999999978688,0.000130582637939,-0.00015466816935,4.06166495309e-05,1793243074923488512
+100,1.666666667,BASELINE,764.037271556,744.962728444,714.037271556,678,659,635,879,787.962728444,805,651.962728444,631,652.037271556,0.401023335387,-0.0154865478031,0.0798623624903,0.999999978248,0.000132209484303,-0.000156105216535,4.06954983544e-05,1793243074940154880
+101,1.683333333,BASELINE,764.614663194,744.385336806,714.614663194,678,659,635,879,787.385336806,805,651.385336806,631,652.614663194,0.401024654703,-0.0154857933056,0.0798633554528,0.999999978637,0.000131448018542,-0.000154254811893,4.0650978228e-05,1793243074956821760
+102,1.700000000,BASELINE,765,744.191917465,714.808082535,678,659,635,879,787.191917465,805,651.191917465,631,652.808082535,0.401025482921,-0.0154855725422,0.0798642794915,0.999999978886,0.00013112823871,-0.000152895424649,4.06884496821e-05,1793243074973488640
+103,1.716666667,BASELINE,765,744.768896054,714.231103946,678,659,635,879,787.768896054,805,651.768896054,631,652.231103946,0.401025325802,-0.0154864226573,0.0798650652422,0.999999978861,0.000131694652841,-0.000152521209624,4.08904281615e-05,1793243074990155264
+104,1.733333333,BASELINE,764.658706745,744.658706745,714,678.341293255,659,635,879,788,805,651.658706745,631,652,0.401024829892,-0.0154874394641,0.0798647359802,0.999999978809,0.000131321888365,-0.000153171807564,4.092698365e-05,1793243075006821888
+105,1.750000000,BASELINE,764.089370644,744.089370644,714,678.910629356,659,635,879,788,805,651.089370644,631,652,0.401024107611,-0.0154885676499,0.0798636616972,0.999999978737,0.000130321590415,-0.000154507157538,4.08530080278e-05,1793243075023488256
+106,1.766666667,BASELINE,764.50429104,744.50429104,714,678.49570896,659,635,879,787.49570896,805,651.50429104,631,652,0.401024504356,-0.0154879973602,0.0798640653404,0.999999979115,0.000128503203797,-0.000153695806617,4.0419313645e-05,1793243075040154880
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,678,659,635,879,788,804,651,631,652,0.401026518119,-0.0154872344275,0.0798655925976,0.9999999788,0.000133825746921,-0.000151045425714,4.09441831769e-05,1793243075082910208
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.576279998,714,678,659,634.423720002,879,787.423720002,804.576279998,651,631,652.576279998,0.401026505064,-0.0154854999852,0.0798656326838,0.999999978699,0.000134481907776,-0.000151173934087,4.07832035101e-05,1793243075099577088
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.843809027,714.156190973,678,659,634.156190973,879,787,805,651.156190973,631,652.843809027,0.401026406432,-0.015484536314,0.0798656892528,0.999999978736,0.000134226206332,-0.000151210015735,4.05890406978e-05,1793243075116243712
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.253813243,714.746186757,678,659,634.746186757,879,787,805,651.746186757,631,652.253813243,0.401026070121,-0.0154857133819,0.0798657916013,0.999999979151,0.000131437898676,-0.000150989391428,4.03027149801e-05,1793243075132910080
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.669837508,744.330162492,715,678.330162492,659,635,879,787,805,651.669837508,631,652,0.401025748777,-0.0154862230089,0.0798654834875,0.99999997926,0.000129939872403,-0.000151598159653,4.01593233984e-05,1793243075149576704
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.090406864,744.909593136,715,678.909593136,659,635,879,787,805,651.090406864,631,652,0.401025438733,-0.0154862287272,0.0798648654802,0.999999979142,0.000129415991046,-0.000152833107877,4.0123845146e-05,1793243075166243328
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.484495637,745,715,678.515504363,659,635,879,787,805,651,631,652,0.401025415156,-0.0154865664934,0.0798652490346,0.99999997918,0.000129730081005,-0.000152248080931,4.03793263401e-05,1793243075182909952
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.941356503,745,715,678.058643497,659,635,879,787,805,651.058643497,631,652,0.401025369169,-0.0154868909951,0.0798656733831,0.999999979168,0.00013034788075,-0.000151709700275,4.07057553541e-05,1793243075199576576
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.366482501,745,715,678.633517499,659,635,879,787,805,651.633517499,631,652,0.401024659714,-0.0154865583555,0.0798648268905,0.999999978462,0.000132275477884,-0.000154543774174,4.11832197174e-05,1793243075216243200
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.214846132,745,714.785153868,678.785153868,659,635,879,787,805,652,631,652,0.401025965156,-0.0154863191962,0.0798652009172,0.999999977891,0.000133587480114,-0.000157050387273,4.13224924234e-05,1793243075232910080
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.807525979,745,714.192474021,678.192474021,659,635,879,787,805,652,631,652,0.401030814048,-0.0154862444339,0.0798677213791,0.999999977574,0.000133816881735,-0.000158981119427,4.08670128767e-05,1793243075249576960
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.609857524,744.609857524,714,678.390142476,659,634.609857524,878.609857524,787.390142476,805,652,631,652,0.401051243244,-0.0154881233016,0.0798767135209,0.99999997898,0.00013171747305,-0.000151613489955,4.12683581655e-05,1793243075266243840
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.03208082,744.03208082,714,678.96791918,659,634.03208082,878.03208082,787.96791918,805,652,631,652,0.401079165597,-0.0154909417435,0.0798888181377,0.99999998109,0.000128498051673,-0.000139773927879,4.20817827835e-05,1793243075282910464
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+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744,714.222056743,678,659,635,879,787,804.777943257,651.222056743,631,652.222056743,0.402030002034,-0.0155157584509,0.0799614869436,0.999999991453,0.000122532678728,-4.0731935811e-05,2.05090338155e-05,1793243075449576448
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.356315143,714.356315143,678,659,634.643684857,879,787.356315143,805,651.356315143,631,652.356315143,0.402197812548,-0.0155174989652,0.0799627684462,0.999999992472,0.000114937219771,-4.03406941879e-05,1.47956144851e-05,1793243075466243072
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.933247177,714.933247177,678,659,634.066752823,879,787.933247177,805,651.933247177,631,652.933247177,0.402372052218,-0.0155183023989,0.0799610478799,0.999999993404,0.000104875446338,-4.60948888727e-05,8.23154335399e-06,1793243075482909696
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714.490874397,678,659,634,879,788,805,652,631,652.490874397,0.402570165197,-0.0155191411024,0.0799550986077,0.999999995545,7.36974932277e-05,-5.89767147293e-05,5.74475633644e-07,1793243075499576320
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.916027849,744.916027849,714.083972151,678,659,634.083972151,879,787.916027849,805,651.916027849,631,652,0.402778241933,-0.0155194007529,0.0799491767492,0.999999996489,4.32084600224e-05,-7.14307539784e-05,-7.31262248271e-06,1793243075516243200
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.346352188,744.346352188,714.653647812,678,659,634.653647812,879,787.346352188,805,651.346352188,631,652,0.403025882757,-0.0155162844092,0.0799466137499,0.999999996453,3.26849850506e-05,-7.60162250284e-05,-1.57030600112e-05,1793243075532910080
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,744,715,677.765613119,659,635,879,787.234386881,805,651,631,652,0.403292990747,-0.0155123147554,0.0799479607506,0.999999996669,2.51725443688e-05,-7.4354164585e-05,-2.23681295384e-05,1793243075549576704
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,744,715,677.167715857,659,635,879,787.832284143,805,651,631,652,0.403590290334,-0.0155070217037,0.0799553717668,0.999999997419,2.2329914418e-05,-6.30028134804e-05,-2.63573270418e-05,1793243075566243328
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,744.413644144,714.586355856,677.413644144,658.586355856,635,879,788,805,651,631,652,0.403910272933,-0.0155054825093,0.0799602744477,0.999999997912,1.89729542104e-05,-5.54027776923e-05,-2.73293925729e-05,1793243075582909952
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,744.988556711,714.011443289,677.988556711,658.011443289,635,879,788,805,651,631,652,0.404239099005,-0.0155054068402,0.0799641991978,0.9999999983,1.54154709145e-05,-4.92652763522e-05,-2.71251616266e-05,1793243075599576576
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,744.440963435,714,678,658.559036565,635,879,787.440963435,805,651,631,652,0.404609609701,-0.015512256068,0.0799626655167,0.999999998451,7.06266508216e-06,-4.63317134038e-05,-3.00383720272e-05,1793243075616243200
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.135129581,744,714.135129581,678,659,635,879,787,805,651,631,652,0.404989090135,-0.0155200282653,0.0799603051759,0.99999999843,-2.2112592582e-06,-4.58015234406e-05,-3.22053074959e-05,1793243075632909824
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.730653561,744,714.730653561,678,659,635,879,787,805,651,631,652,0.405396246645,-0.0155304659205,0.0799555060415,0.999999997981,-1.42916852584e-05,-5.3238077488e-05,-3.16139357752e-05,1793243075649576448
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.682467177,744.317532823,714.682467177,678.317532823,659,634.682467177,878.682467177,787,805,651,631,652,0.40582731401,-0.0155428043057,0.0799500855136,0.999999996967,-3.27374315475e-05,-6.26217852303e-05,-3.27493745599e-05,1793243075666243328
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.10272637,744.89727363,714.10272637,678.89727363,659,634.10272637,878.10272637,787,805,651,631,652,0.406278126204,-0.0155567122512,0.0799441518593,0.999999995074,-5.64394477438e-05,-7.36133881569e-05,-3.53107556262e-05,1793243075682910208
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,744.526417104,714,678.526417104,659,634,878,787,805,651.473582896,631,652.473582896,0.406744201098,-0.0155543364722,0.079939087658,0.999999994937,-4.25571605822e-05,-8.45757961906e-05,-3.40822579055e-05,1793243075699576832
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,744.050152795,714.050152795,678,659.050152795,634.050152795,878.050152795,787.050152795,805,651.949847205,631,653,0.407217115671,-0.0155483802338,0.0799338110944,0.99999999459,-2.27299928143e-05,-9.61516712704e-05,-3.25327679452e-05,1793243075716243712
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,744.637428802,714.637428802,678,659.637428802,634.637428802,878.637428802,787.637428802,805,651.362571198,631,653,0.407728080278,-0.0155416345289,0.0799242549016,0.999999992466,-2.59180595556e-05,-0.000114364959101,-3.62864016512e-05,1793243075732910080
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,744.778251964,714.778251964,678,659.778251964,635,879,787.778251964,805,651,631,652.778251964,0.40826575759,-0.0155383304131,0.0799203233118,0.999999991415,-2.85065859861e-05,-0.000121955759439,-3.85148001505e-05,1793243075749576704
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,744.198703652,714.198703652,678,659.198703652,635,879,787.198703652,805,651,631,652.198703652,0.408846537002,-0.0155405794543,0.0799254672687,0.999999992496,-3.01277273934e-05,-0.000112406704732,-3.82821638863e-05,1793243075766243840
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,744,714,678,659,634.620880116,879,787,805,651,631,652,0.409476918355,-0.0155430066136,0.0799508252195,0.99999999617,-3.32288070522e-05,-7.16041221457e-05,-3.77901612393e-05,1793243075782910464
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,744,714,678,659,634.043956491,879,787,805,651,631,652,0.410133179233,-0.015545526705,0.0799867297119,0.999999998516,-3.71020363231e-05,-1.44951810977e-05,-3.71628354952e-05,1793243075799576576
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,744,714.527406512,678.527406512,659,634.527406512,879,787,805,651,631,652.527406512,0.410778243756,-0.0155464389431,0.0800005216927,0.999999998641,-3.61623448314e-05,6.78244373347e-06,-3.69333728081e-05,1793243075816243712
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.10238509,744.10238509,715,679,659,634.89761491,879,787,805,651,630.89761491,652.89761491,0.41142355126,-0.0155465797406,0.080004415339,0.999999998609,-3.5035737841e-05,1.22976955369e-05,-3.74571705977e-05,1793243075832910336
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.696948644,744.696948644,715,679,659,634.303051356,879,787,805,651,630.303051356,652.303051356,0.412074465603,-0.0155436495851,0.0799694933085,0.999999997574,-3.49187746171e-05,-4.37528571029e-05,-4.14442495249e-05,1793243075849576960
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.71584349,744.71584349,714.71584349,679,659,634.28415651,879,787,805,651,630.28415651,652,0.412748474431,-0.015539915488,0.0799384310764,0.999999994573,-3.67337122046e-05,-8.58098098953e-05,-4.62743892128e-05,1793243075866243584
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.136282407,744.136282407,714.136282407,679,659,634.863717593,879,787,805,651,630.863717593,652,0.413446491996,-0.0155353456258,0.079911381425,0.999999991406,-4.05570230979e-05,-0.000113319246535,-5.19809619797e-05,1793243075882910208
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,744,714,679,659,635,879,787,805.441548941,651,630.558451059,652,0.414202909667,-0.0155369271798,0.0799250763611,0.999999994029,-4.01224066684e-05,-8.75400449188e-05,-5.16642759884e-05,1793243075899577088
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.019102087,744.019102087,714.019102087,679,659.019102087,635,879,787,805.980897913,651,630.019102087,652,0.414976380213,-0.0155402969487,0.079950834516,0.999999996948,-3.86587112828e-05,-4.64253776525e-05,-4.95461495686e-05,1793243075916243968
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.604169836,744.604169836,714.604169836,679,659.604169836,635,879,787,805.395830164,651,630.604169836,652,0.415723134386,-0.0155406153517,0.0799628637269,0.999999997108,-4.54905718988e-05,-3.63521114707e-05,-4.89201483128e-05,1793243075932910336
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.812631109,714.812631109,679,659.812631109,634.812631109,878.812631109,787.187368891,805,651,631,652,0.41648881779,-0.0155401181144,0.0799666021397,0.999999996929,-4.99579032538e-05,-3.46529499191e-05,-4.94566385945e-05,1793243075949576960
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.233340857,714.233340857,679,659.233340857,634.233340857,878.233340857,787.766659143,805,651,631,652,0.41729409561,-0.0155379147943,0.0799529986074,0.999999996128,-4.94793249647e-05,-5.04699864409e-05,-5.24247239623e-05,1793243075966243584
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.654157758,744,714,679,659.345842242,634.345842242,878.345842242,787.654157758,805,651,631,652,0.41814173135,-0.0155395209167,0.0799655815762,0.999999997078,-5.10440837423e-05,-2.13510213561e-05,-5.27503435281e-05,1793243075982910464
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.075046956,744,714,679,659.924953044,634.924953044,878.924953044,787.075046956,805,651,631,652,0.419017937227,-0.0155436964858,0.0799958271868,0.999999996502,-5.39870612442e-05,3.80770134291e-05,-5.12936351775e-05,1793243075999577344
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,744,714,679,660,634.498661781,879.501338219,787,805,651,631,652,0.419843298038,-0.0155446546268,0.0799872673116,0.999999996656,-5.7775249639e-05,2.49628336748e-05,-5.22129910683e-05,1793243076016243968
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,744.078903794,714,679,659.921096206,634.078903794,879.921096206,787,805,651,630.921096206,652,0.420662689225,-0.0155449536624,0.0799737953854,0.999999996731,-6.05113711684e-05,2.68433538521e-06,-5.35597159746e-05,1793243076032910336
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,744.66669936,714,679,659.33330064,634.66669936,879.33330064,787,805,651,630.33330064,652,0.421492401756,-0.0155440912511,0.0799659052584,0.999999996877,-5.56505659582e-05,-9.04244918054e-06,-5.53811992074e-05,1793243076049576704
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,714,679.250879511,659,634.749120489,879.250879511,787,805,651,630,652,0.422361886386,-0.0155444884016,0.0799742457616,0.99999999719,-5.13388100928e-05,1.69848472637e-06,-5.46030444955e-05,1793243076066243072
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679.830324796,659,634.169675204,879.830324796,787,805,651,630,652,0.423283458887,-0.015546535144,0.0800038428007,0.999999996713,-4.77461190875e-05,4.18643918577e-05,-5.0420259411e-05,1793243076082909952
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,744.592985978,714,679.592985978,659.407014022,634,879.592985978,787,805,651,630.407014022,652,0.424138160608,-0.0155439929121,0.0799954039479,0.999999997819,-4.00684867193e-05,1.40682652227e-05,-5.0582566637e-05,1793243076099576832
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,744.017437999,714,679.017437999,659.982562001,634,879.017437999,787,805,651,630.982562001,652,0.424965172817,-0.0155395505048,0.0799712154164,0.999999997272,-3.06993861313e-05,-4.18691805775e-05,-5.25440641056e-05,1793243076116243456
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,744.556669068,714,679.556669068,659.443330932,634,879,787,805,651,630.443330932,652.556669068,0.42583092446,-0.0155396089677,0.0799380416884,0.999999994718,-3.94955152412e-05,-7.58293487936e-05,-5.70515933978e-05,1793243076132910336
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.134975671,745,714.134975671,680,659.134975671,634.134975671,879,787,805.134975671,651,630.134975671,652.865024329,0.426698056613,-0.0155407698499,0.0799117497946,0.99999999175,-4.8534481155e-05,-0.00010226244224,-6.07128901217e-05,1793243076149576960
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.727676243,745,714.727676243,680,659.727676243,634.727676243,879,787,805.727676243,651,630.727676243,652.272323757,0.427565765577,-0.0155451923239,0.0799097473805,0.999999990966,-5.64722299336e-05,-0.000105498600787,-6.12347041438e-05,1793243076166243328
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.698060614,714.698060614,680,660,634.698060614,879,787.301939386,805.698060614,651,631,652,0.428446361052,-0.0155459939543,0.0799174645824,0.999999991482,-5.8098006878e-05,-9.98663387906e-05,-6.07230229897e-05,1793243076182909696
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.139469515,714.139469515,680,660,634.139469515,879,787.860530485,805.139469515,651,631,652,0.429337910155,-0.0155437178286,0.0799334435622,0.999999993004,-5.43585397064e-05,-8.66958241139e-05,-5.9332859827e-05,1793243076199576576
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.553495215,744.446504785,714,680,660,634,879,788,805,651,630.553495215,652,0.430270136117,-0.015545865679,0.0799741829279,0.999999996604,-5.35677174359e-05,-2.6624580987e-05,-5.66901438007e-05,1793243076216243200
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,745,714,680,660,634,879.041213997,787.958786003,805,651,630.041213997,652,0.431208500583,-0.0155493576159,0.0800202726028,0.999999996167,-5.2948668436e-05,4.44286312604e-05,-5.37413004237e-05,1793243076232909824
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,745,714,680,660,634,879.630901607,787.369098393,805,651,630.630901607,652,0.43204842009,-0.0155511452871,0.0800279140915,0.999999996316,-4.15576900453e-05,5.39323824508e-05,-5.22653866951e-05,1793243076249576704
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,745,714,680,660,634,880,787,805.216257204,651,631,652,0.432862219077,-0.0155507678957,0.080003524359,0.999999997645,-3.94078561279e-05,1.58962220858e-05,-5.38956701299e-05,1793243076266243584
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745,714,680,660,634,880,787,805.794364405,651,631,652,0.433632312322,-0.0155467678375,0.079925538738,0.999999991597,-5.2720663755e-05,-0.0001016855732,-6.07233632022e-05,1793243076282910464
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.372507837,745,714,680,660,634,879.627492163,787,806,651,631,652,0.43447110047,-0.0155445729314,0.079900718158,0.999999987355,-6.02661468145e-05,-0.000132477503229,-6.4095352093e-05,1793243076299577344
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.950671236,745,714,680,660,634,879.049328764,787,806,651,631,652,0.435347813918,-0.015543374621,0.0799052491434,0.999999989109,-6.46275825871e-05,-0.000115354143613,-6.55595024067e-05,1793243076316243712
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.474593198,744.474593198,714.525406802,680.525406802,660,634,879.525406802,787,806,651,631,652,0.436181472187,-0.0155442934447,0.0799427925945,0.9999999937,-6.26941940356e-05,-6.94967273864e-05,-6.19573181807e-05,1793243076332910336
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,744.099860061,714.900139939,680.900139939,660,634,879.900139939,787,805.900139939,651,631,652,0.437009093028,-0.0155463587136,0.0799804404791,0.999999996138,-6.18111180025e-05,-2.24040695938e-05,-5.83249033714e-05,1793243076349576704
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+185,3.083333333,POSE1_TO_POSE2_PRESS,764,745,714,680.258270972,660,634,879.516541945,787,805,651,630.741729028,652,0.438618050688,-0.0155575001615,0.0800169728091,0.999999994953,-7.28890495991e-05,3.99763388807e-05,-5.64221324475e-05,1793243076382910464
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f4c3bc427ed5808efb5293f7aaa8438622939dae
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_01/simulation_data.csv
@@ -0,0 +1,406 @@
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+398,6.633333333,pose2_to_pose3_retreat,0.580743717921,-0.00999823559344,1.07004065186,0.55131543983,-0.00132339898478,1.06967846094
+399,6.650000000,pose2_to_pose3_retreat,0.58074370885,-0.00999823147722,1.07004066522,0.55131543065,-0.00132339527488,1.06967847345
+400,6.666666667,pose2_to_pose3_retreat,0.580743618257,-0.00999819036617,1.07004079868,0.551315338965,-0.00132335822194,1.0696785984
+401,6.683333333,pose2_to_pose3_retreat,0.580743555016,-0.00999816166796,1.07004089185,0.551315274963,-0.00132333235656,1.06967868563
+402,6.700000000,pose2_to_pose3_retreat,0.580743514106,-0.00999814310283,1.07004095211,0.551315233559,-0.00132331562401,1.06967874205
+403,6.716666667,pose2_to_pose3_retreat,0.580743496679,-0.00999813757941,1.07004088875,0.551315215897,-0.00132331091215,1.06967867834
+404,6.733333333,pose2_to_pose3_retreat,0.580743496217,-0.00999814541441,1.07004058913,0.551315215347,-0.00132331887197,1.06967838298
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..17f42664101640d63f2a56b387c104459c06859d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc55bdc77b80977e29b7d23fa12e72577bb57deb999b6660a2ec477b99bc43bc
+size 25656475
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..97140d11d87dd30ebda6710127a81958a26e6ee4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_02/franka_data.csv
@@ -0,0 +1,406 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,744,714,678,659,635,879,787,804,651,631,652,0.400972416639,-0.0153523305533,0.0798332680153,0.999999916858,0.000288496634646,-0.00028589812107,3.62758400649e-05,1793243080194245376
+1,0.016666667,BASELINE,764,744,714,678.578278379,659,635,879,787,804,651,631.578278379,652.578278379,0.400974052221,-0.0153529549216,0.0798341110439,0.999999917981,0.000286309595763,-0.000284214068602,3.58695555902e-05,1793243080210912768
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+21,0.350000000,BASELINE,764.177984703,744,714,678.822015297,659,635,879,787,805,651,631,652,0.400972701355,-0.0153543036212,0.0798349689183,0.999999918293,0.000286319183037,-0.000283093933357,3.59486951476e-05,1793243080544245760
+22,0.366666667,BASELINE,764.752463783,744,714,678.247536217,659,635,879,787,805,651,631,652,0.400971691026,-0.0153550532395,0.0798340384643,0.999999918335,0.000284019819436,-0.000285257814279,3.59141787743e-05,1793243080560912384
+23,0.383333333,BASELINE,765,744,714,678,659,635,879,787.335827314,804.664172686,651.335827314,631,652,0.400971370131,-0.0153553703657,0.0798333184454,0.999999918314,0.000283404642356,-0.000285966855757,3.57358727748e-05,1793243080577579264
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+25,0.416666667,BASELINE,764.494134264,744,714.505865736,678,659,635,878.494134264,787.494134264,804.505865736,651.494134264,631,652.505865736,0.400972227812,-0.0153545264347,0.079834166126,0.999999918291,0.000285082484116,-0.000284366577968,3.58065308633e-05,1793243080610912256
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+27,0.450000000,BASELINE,764.662047051,744,714.337952949,678.662047051,659,635,878.662047051,787,805,651.662047051,631,652.337952949,0.400972193373,-0.0153540080666,0.0798345901101,0.99999991812,0.000286795254774,-0.000283244594099,3.57994245767e-05,1793243080644246016
+28,0.466666667,BASELINE,764.761360141,744,714,678.761360141,659,635,879,787,805,651.761360141,631,652,0.400972891696,-0.0153544113752,0.079834915071,0.99999991845,0.000286819615447,-0.00028206002818,3.57423544717e-05,1793243080660912640
+29,0.483333333,BASELINE,764.186456295,744,714,678.186456295,659,635,879,787,805,651.186456295,631,652,0.400975374766,-0.0153550206432,0.0798369528828,0.999999919506,0.000285895199568,-0.000279194374218,3.60867548755e-05,1793243080677579264
+30,0.500000000,BASELINE,764,744,714,678.3992464,659,634.6007536,879,787,804.6007536,651,631,652,0.400975806805,-0.015354693275,0.0798371166752,0.99999991947,0.000286127166036,-0.000279080647253,3.61149085195e-05,1793243080694246400
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+38,0.633333333,BASELINE,764.053449125,744.053449125,714.946550875,678.946550875,659,634.946550875,878.946550875,787,805,651,631,652,0.400971482993,-0.0153552189351,0.0798345028739,0.999999918961,0.000282840098578,-0.000284275937144,3.56018296461e-05,1793243080827578880
+39,0.650000000,BASELINE,764.628036341,744.628036341,714.371963659,678.371963659,659,634.371963659,878.371963659,787,805,651,631,652,0.400971978266,-0.0153545601385,0.0798341250198,0.999999917919,0.000286806472354,-0.000283951344559,3.57054775208e-05,1793243080844245760
+40,0.666666667,BASELINE,764.797033195,744.797033195,714,678,659,634.202966805,878.202966805,787.202966805,804.797033195,651,631,652,0.40097271787,-0.0153542018878,0.0798344904086,0.999999917514,0.000289187075941,-0.000282965116744,3.56997795384e-05,1793243080860912384
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+52,0.866666667,BASELINE,764.833371097,744,714.833371097,678.166628903,659,635,879,787.166628903,805,651,631,652,0.400974038575,-0.0153535007892,0.0798359434972,0.999999918484,0.000287843078085,-0.000280939581336,3.53692062922e-05,1793243081060912384
+53,0.883333333,BASELINE,764.257351986,744,714.257351986,678.742648014,659,635,879,787.742648014,805,651,631,652,0.400972962913,-0.0153543062157,0.0798357379374,0.999999918585,0.000287029899833,-0.000281373608236,3.56685423121e-05,1793243081077579008
+54,0.900000000,BASELINE,764,744,714,678.673424315,659.326575685,634.673424315,879,787.673424315,805,651,631,652,0.400973515429,-0.0153550498236,0.079836221775,0.999999919105,0.000286217090215,-0.000280331715425,3.58312236285e-05,1793243081094245376
+55,0.916666667,BASELINE,764,744,714,678.083109811,659.916890189,634.083109811,879,787.083109811,805,651,631,652,0.400975382844,-0.0153557435075,0.0798372623622,0.999999919959,0.000285404578338,-0.000278097886566,3.58835441409e-05,1793243081110912256
+56,0.933333333,BASELINE,764,744,714,678.496643589,659.503356411,634.496643589,879.496643589,787,805,651,631,652,0.400974434509,-0.0153554367625,0.0798363981876,0.999999919236,0.000286301300948,-0.000279814798986,3.55538058973e-05,1793243081127578880
+57,0.950000000,BASELINE,764,744,714,678.925410437,659,634.925410437,879.925410437,787,804.925410437,651,631,652,0.400973304011,-0.0153549229064,0.0798355030814,0.999999918394,0.000287436985744,-0.000281690022005,3.52507317797e-05,1793243081144245760
+58,0.966666667,BASELINE,764,744,714,678.347983137,659,634.347983137,879.347983137,787,804.347983137,651,631,652,0.400974055855,-0.015354117942,0.0798365035208,0.999999918536,0.00028829552821,-0.000280268350851,3.55494467715e-05,1793243081160912384
+59,0.983333333,BASELINE,764,744,714,678.228215605,659,634.228215605,879,787,804.228215605,651,631,652,0.400974305375,-0.0153541494468,0.0798369631346,0.999999918887,0.000287573637378,-0.000279745483568,3.56294943006e-05,1793243081177579008
+60,1.000000000,BASELINE,764,744,714,678.802551159,659,634.802551159,879,787,804.802551159,651,631,652,0.400973793056,-0.0153554495707,0.0798366025133,0.999999919553,0.000284454805011,-0.000280585774168,3.53779029798e-05,1793243081194245632
+61,1.016666667,BASELINE,764,744.388581985,714,679,659,635,878.611418015,787,804.611418015,651,631,651.611418015,0.400973505012,-0.015355485297,0.0798361781147,0.999999919505,0.000284108489167,-0.000281117751102,3.52744588189e-05,1793243081210912512
+62,1.033333333,BASELINE,764,744.980739863,714,679,659,635,878.019260137,787,804.019260137,651,631,651.019260137,0.400973334464,-0.0153548586125,0.0798357203036,0.999999919087,0.000285214679149,-0.000281488204208,3.52486281277e-05,1793243081227579136
+63,1.050000000,BASELINE,764,744.439341178,714,679,659,635,878.560658822,787,804.560658822,651,631,651.560658822,0.400973579819,-0.015354702038,0.0798358236037,0.999999919467,0.000284661321669,-0.000280699824238,3.52417471072e-05,1793243081244246016
+64,1.066666667,BASELINE,764,744,714,678.860943353,659,635,878.860943353,787,805,651,631,652,0.400973928908,-0.0153546848751,0.0798361431589,0.999999919829,0.000284136674422,-0.000279931206419,3.53180428653e-05,1793243081260912640
+65,1.083333333,BASELINE,764,744,714,678.286023762,659,635,878.286023762,787,805,651,631,652,0.400974559321,-0.0153550551494,0.0798370814222,0.999999920054,0.000283876893317,-0.000279346644511,3.56530533524e-05,1793243081277579520
+66,1.100000000,BASELINE,764,744,714.289231274,678.289231274,659,635,878.289231274,787.289231274,805,651,631,652,0.40097467297,-0.0153550330876,0.0798372720754,0.999999919863,0.000284681661159,-0.00027919567574,3.57690516259e-05,1793243081294246144
+67,1.116666667,BASELINE,764,744,714.864818385,678.864818385,659,635,878.864818385,787.864818385,805,651,631,652,0.400974274994,-0.0153546225903,0.0798367225511,0.999999919258,0.000286540394588,-0.000279473989506,3.56682150097e-05,1793243081310912768
+68,1.133333333,BASELINE,764.451058827,744,714.548941173,678.548941173,659,635,879,787.548941173,805,651,631,652,0.400973232049,-0.0153555002894,0.0798362250284,0.999999919315,0.000285081885396,-0.000280787237335,3.54610487384e-05,1793243081327579136
+69,1.150000000,BASELINE,764.960174865,744,714,678,659,635,879,787,804.960174865,651,631,652,0.400972120555,-0.0153565578051,0.0798357708114,0.999999919501,0.000282995801146,-0.000282259983569,3.52320696454e-05,1793243081344245504
+70,1.166666667,BASELINE,764.381478262,744,714,678,659,635,879,787,804.381478262,651,631,652,0.400972760265,-0.0153546981456,0.0798356865814,0.999999918781,0.00028619552861,-0.0002815925043,3.51495613316e-05,1793243081360912384
+71,1.183333333,BASELINE,764,744.196396063,714,678,659,635,879,787,804.196396063,651,631,652,0.400973551454,-0.0153540086935,0.0798359905121,0.999999918662,0.000287438024503,-0.000280738565348,3.52225421145e-05,1793243081377579008
+72,1.200000000,BASELINE,764,744.772679967,714,678,659,635,879,787,804.772679967,651,631,652,0.400974635649,-0.015355582767,0.0798370452597,0.999999919717,0.00028489465856,-0.000279523958326,3.55962845988e-05,1793243081394245632
+73,1.216666667,BASELINE,764,744.644645421,714,678,659,635,879,787,805,651,631,652,0.400975219449,-0.0153564914088,0.0798376094505,0.999999920392,0.000283258425948,-0.000278745247926,3.58047663008e-05,1793243081410912256
+74,1.233333333,BASELINE,764,744.057807846,714,678,659,635,879,787,805,651,631,652,0.400975477284,-0.0153569665789,0.0798378540856,0.999999920822,0.000282213112969,-0.000278250486823,3.59055947702e-05,1793243081427579136
+75,1.250000000,BASELINE,764.523636774,744.523636774,714,678,659,634.476363226,879,787,805,651,631,652,0.400975001076,-0.0153565876126,0.0798376202523,0.999999920269,0.000283772628543,-0.000278665355326,3.57807456037e-05,1793243081444245504
+76,1.266666667,BASELINE,765,744.896434413,714,678,659,634.103565587,879,787,805,651,631,652,0.400974551938,-0.0153561053095,0.0798373519052,0.999999919835,0.000285007683192,-0.000278984397788,3.56064238317e-05,1793243081460912384
+77,1.283333333,BASELINE,765,744.320729435,714,678,659,634.679270565,879,787,805,651,631,652,0.400974591872,-0.0153555773989,0.0798371645643,0.999999920443,0.000283465971611,-0.000278413450848,3.53189858177e-05,1793243081477579008
+78,1.300000000,BASELINE,764.746486369,744,714.253513631,678.253513631,659,634.746486369,879,787,805,651,631,652,0.400974949254,-0.0153555061335,0.0798372052831,0.999999920591,0.000283114292847,-0.000278244810742,3.52599691035e-05,1793243081494246144
+79,1.316666667,BASELINE,764.174082259,744,714.825917741,678.825917741,659,634.174082259,879,787,805,651,631,652,0.400975705949,-0.0153560092746,0.0798375328742,0.999999920165,0.000284259536211,-0.000278582225594,3.54882796737e-05,1793243081510913024
+80,1.333333333,BASELINE,764.413657718,744,714.586342282,678.586342282,659,634.413657718,879.413657718,787,804.586342282,651,631,652,0.400974375524,-0.0153553420985,0.0798366082334,0.999999919165,0.000285985230989,-0.000280392802006,3.55182769328e-05,1793243081527579136
+81,1.350000000,BASELINE,764.992108297,744,714,678.007891703,659.007891703,635,879.992108297,787,804.007891703,651,631,652,0.400972172692,-0.0153541952174,0.0798351654992,0.999999917945,0.000287887322322,-0.00028279654646,3.54602613684e-05,1793243081544245504
+82,1.366666667,BASELINE,764.412961071,744,714,678.587038929,659.587038929,635,879.412961071,787,804.587038929,651,631,652,0.400972847062,-0.0153553480351,0.0798358350938,0.999999919363,0.000284195095409,-0.000281533064642,3.53050932905e-05,1793243081560912640
+83,1.383333333,BASELINE,764,744,714,678.835151676,659.835151676,634.835151676,879,787,805,651,631,652,0.400973236648,-0.0153560163538,0.0798361749201,0.999999920166,0.000282070622947,-0.000280829129859,3.51925995096e-05,1793243081577579776
+84,1.400000000,BASELINE,764,744,714,678.260666577,659.260666577,634.260666577,879,787,805,651,631,652,0.400972918563,-0.0153554807258,0.0798356952951,0.999999919472,0.000283841911984,-0.000281515630814,3.51861483979e-05,1793243081594246400
+85,1.416666667,BASELINE,764.321796561,744,714,678,659,634.321796561,879,787,805,651,631,652,0.400973505884,-0.0153560024532,0.0798361851754,0.999999919404,0.000284713539592,-0.00028085955548,3.53384627153e-05,1793243081610912768
+86,1.433333333,BASELINE,764.910886449,744,714,678,659,634.910886449,879,787,805,651,631,652,0.400974845261,-0.0153574024497,0.0798374803543,0.999999919854,0.000284837882863,-0.000279088298263,3.56226520896e-05,1793243081627579136
+87,1.450000000,BASELINE,764.507871614,744,714,678,659,635,879,787,805,651,631,652,0.400974488079,-0.0153556453335,0.0798373629821,0.999999919569,0.000285580086958,-0.00027936499273,3.55264000898e-05,1793243081644245760
+88,1.466666667,BASELINE,764,744,714,678,659,634.928675271,879,787.071324729,805,651,631,652,0.400973815355,-0.0153538333844,0.0798369637768,0.999999919232,0.000286099250016,-0.000280057709251,3.53818054515e-05,1793243081660912384
+89,1.483333333,BASELINE,764,744,714,678,659,634.354043178,879,787.645956822,805,651,631,652,0.400973049802,-0.0153556052989,0.0798363524073,0.999999919459,0.000284267408045,-0.00028111034066,3.5374570559e-05,1793243081677579264
+90,1.500000000,BASELINE,764,744,714,678.220752481,659,634.220752481,879,787.779247519,805,651,631,652,0.400972188483,-0.0153562197213,0.0798357656052,0.999999919476,0.000283347967222,-0.000281995522241,3.52273491688e-05,1793243081694246144
+91,1.516666667,BASELINE,764,744,714,678.795810607,659,634.795810607,879,787.204189393,805,651,631,652,0.400971173458,-0.0153549763794,0.0798352182339,0.99999991916,0.000283892921801,-0.000282611948327,3.48554507743e-05,1793243081710912768
+92,1.533333333,BASELINE,764,744,714,678.617945101,659.382054899,635,879,787.382054899,805,651,631,652,0.400971662743,-0.0153551790416,0.0798356443357,0.999999919412,0.000283605017257,-0.000282004805788,3.48827624933e-05,1793243081727579392
+93,1.550000000,BASELINE,764,744,714,678.025541981,659.974458019,635,879,787.974458019,805,651,631,652,0.400972980256,-0.0153561778309,0.0798366064031,0.999999919975,0.000282858564959,-0.000280724002309,3.51298675564e-05,1793243081744246272
+94,1.566666667,BASELINE,764.552020451,744.552020451,714,678,659.447979549,634.447979549,879,787.447979549,805,651,631,652,0.400973305617,-0.0153561522692,0.0798365161793,0.99999991998,0.000282990431178,-0.000280554587394,3.52908984995e-05,1793243081760913152
+95,1.583333333,BASELINE,764.871263866,744.871263866,714,678.128736134,659,634.128736134,879,787,805,651,631,652.128736134,0.400973655695,-0.0153562087169,0.0798366014445,0.999999919936,0.000283409513476,-0.0002802708983,3.5436306664e-05,1793243081777580032
+96,1.600000000,BASELINE,764.29516675,744.29516675,714,678.70483325,659,634.70483325,879,787,805,651,631,652.70483325,0.400974247015,-0.0153567105415,0.0798374613054,0.999999919808,0.000284689151333,-0.000279416082899,3.55409028233e-05,1793243081794245888
+97,1.616666667,BASELINE,764,744,714,678.723002394,659,635,879,787,805,651,631,652.723002394,0.400974432987,-0.0153572729058,0.079837703343,0.999999920112,0.000284163016252,-0.000278855056801,3.56099302715e-05,1793243081810912256
+98,1.633333333,BASELINE,764,744,714,678.154970126,659,635,879,787,805,651,631,652.154970126,0.40097419307,-0.0153578988777,0.0798372962485,0.999999920867,0.000281739599301,-0.000278602708042,3.5641586532e-05,1793243081827578880
+99,1.650000000,BASELINE,764,744,714,678,659,634.564945452,879,787,805,651,631,652,0.400973981829,-0.015357579495,0.0798373003016,0.999999921067,0.000281188108626,-0.000278425330994,3.57675117143e-05,1793243081844245504
+100,1.666666667,BASELINE,764,744.032209809,714,678,659,634.032209809,879,787,805,651,631,652.032209809,0.400973820174,-0.0153569170414,0.0798374491156,0.999999921044,0.000281375503572,-0.000278299331118,3.59064999853e-05,1793243081860912128
+101,1.683333333,BASELINE,764,744.610374672,714,678,659,634.610374672,879,787,805,651,631,652.610374672,0.400974316648,-0.0153564512325,0.0798374370557,0.99999992075,0.000282183059994,-0.000278567413485,3.56674338221e-05,1793243081877579008
+102,1.700000000,BASELINE,764,744.812332856,714,678,659,634.812332856,879,787,805,651,631,653,0.400973791736,-0.0153559550595,0.0798368244903,0.999999920362,0.000282394347366,-0.000279785957959,3.53352312967e-05,1793243081894245888
+103,1.716666667,BASELINE,764,744.23684329,714,678,659,634.23684329,879,787,805,651,631,653,0.400971156084,-0.0153553961377,0.0798349709538,0.999999919773,0.000281373418365,-0.000282968674224,3.4810558404e-05,1793243081910912512
+104,1.733333333,BASELINE,764,744.346767965,714,678.346767965,659,634.346767965,879,787,805,651,631,652.653232035,0.400970702139,-0.0153558711761,0.079834706898,0.99999991955,0.000281513573421,-0.000283623132373,3.47578394934e-05,1793243081927579392
+105,1.750000000,BASELINE,764,744.936059448,714,678.936059448,659,634.936059448,879,787,805,651,631,652.063940552,0.400971774042,-0.0153570693483,0.0798355544973,0.999999919587,0.000282465770485,-0.000282509370847,3.50351969827e-05,1793243081944246016
+106,1.766666667,BASELINE,764.516473483,744.483526517,714,679,659,635,879,787.516473483,805,651.516473483,631,652,0.400972500246,-0.0153553956759,0.079836400953,0.999999919211,0.000284832703017,-0.000281428018936,3.5296454302e-05,1793243081960912640
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,678,659,635,879,788,805,651,631,652,0.400972356042,-0.0153561659112,0.0798363261694,0.999999918837,0.000285987416803,-0.000281568166178,3.54605632394e-05,1793243082003740416
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.432064035,744.432064035,714,678.567935965,659,635,878.432064035,787.432064035,805,651,631,652,0.400972607422,-0.0153550160769,0.0798364213563,0.999999919572,0.000283981617627,-0.000281061597645,3.48643028957e-05,1793243082020407296
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,744,714,679,659,635,878.143230436,787,805,651,631,652,0.400972753087,-0.0153544352356,0.0798365556461,0.999999920114,0.000282573165575,-0.000280588997251,3.45564758978e-05,1793243082037074176
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,744,714,679,659,635,878.741924633,787,805,651,631,652,0.400972562585,-0.0153556637562,0.0798368142808,0.999999920056,0.000283064239251,-0.000280224413272,3.51658486198e-05,1793243082053740800
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.328524945,744,714,678.671475055,659,635,879,787,805,651,631,652,0.400972213996,-0.0153562076023,0.0798367625258,0.999999919825,0.000283652047594,-0.000280436522155,3.53154805454e-05,1793243082070407424
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.905962093,744,714,678.094037907,659,635,879,787,805,651,631,652,0.400971745629,-0.0153562326938,0.0798364755992,0.999999919462,0.000284313148482,-0.000281085571673,3.51167824324e-05,1793243082087073792
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.519032658,744,714.480967342,678,659,635,878.519032658,787,804.519032658,651,631,652,0.400972570798,-0.0153561786001,0.0798362358332,0.999999919444,0.000284323079733,-0.000281134045785,3.51570932978e-05,1793243082103740160
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,744.056890889,715,678.056890889,659,635,878.056890889,787,804.056890889,651,631,652,0.400973601546,-0.0153561231977,0.0798360935036,0.999999919543,0.00028406598932,-0.000281034187244,3.52217459098e-05,1793243082120406784
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,744.645826758,715,678.645826758,659,635,878.645826758,787,804.645826758,651,631,652,0.400974201544,-0.0153561996174,0.0798367766027,0.999999920103,0.000282496374082,-0.000280639740679,3.50792158009e-05,1793243082137073664
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,744.768755745,714.768755745,678.768755745,659.231244255,635,879,787,805,651,631,652.231244255,0.400980214082,-0.0153567156811,0.0798398715311,0.999999921612,0.000281511715698,-0.000276196492156,3.52378759204e-05,1793243082153740544
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,744.188646272,714.188646272,678.188646272,659.811353728,635,879,787,805,651,631,652.811353728,0.400994392214,-0.0153578950108,0.0798466050506,0.999999924478,0.000281409548985,-0.000265645043542,3.58509248305e-05,1793243082170407424
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744.389016538,714,678,659.610983462,635,879,787,805,651.389016538,631,653,0.401027746889,-0.0153598325772,0.0798607847868,0.999999930983,0.000281036431686,-0.000240191927907,3.6894800106e-05,1793243082187074048
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,744.96550035,714,678,659.03449965,635,879,787,805,651.96550035,631,653,0.401070342752,-0.0153621355383,0.0798785528593,0.999999938383,0.000280532742905,-0.00020755768994,3.81462908569e-05,1793243082203740672
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.541064624,744.458935376,714.541064624,678.541064624,659.541064624,635,878.458935376,787,805,651.458935376,631,652.458935376,0.401134014594,-0.0153637387342,0.079898659211,0.999999945035,0.000282202288614,-0.000169603169757,3.90730611609e-05,1793243082220407552
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.119642784,714.880357216,678.880357216,659.880357216,635,878,787,805,651,631,652,0.401200570927,-0.015365893487,0.0799170811389,0.999999949912,0.000282881064737,-0.000136318361387,3.96390723126e-05,1793243082237073920
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.710317172,714.289682828,678.289682828,659.289682828,635,878,787,805,651,631,652,0.401273201702,-0.0153703950761,0.079928285538,0.999999952758,0.000279114573949,-0.000122751413509,3.88661582036e-05,1793243082253740544
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.705194292,714,678,659,635,878,787,805.294805708,651,631,652,0.401354419533,-0.0153738790189,0.0799365485968,0.999999954907,0.000276992946299,-0.000109867749412,3.72777670341e-05,1793243082270406912
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.12665923,714,678,659,635,878,787,805.87334077,651,631,652,0.401443901783,-0.0153763835498,0.0799419808259,0.99999995641,0.000276454381698,-9.76416977732e-05,3.49045377205e-05,1793243082287073536
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.55030362,744,714,678,659,635,878.44969638,787,805.10060724,651.44969638,631,652,0.401546580605,-0.0153786021343,0.079944791157,0.999999956898,0.000276986564809,-9.21043586744e-05,3.16099254732e-05,1793243082303740416
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,744,714,678,659.025933771,635,879,787.025933771,804.025933771,651.974066229,631,652,0.401654074211,-0.015380897511,0.0799469819195,0.999999957207,0.000277514417054,-8.82333171757e-05,2.80587746916e-05,1793243082320407296
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,744,714,678,659.612828133,635,879,787.612828133,804.612828133,651.387171867,631,652,0.401785703865,-0.015386587623,0.0799516675522,0.999999959666,0.000271456694591,-7.98517657617e-05,2.4544868604e-05,1793243082337074176
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.197468875,744,714,678,659.802531125,635,879,788,805,651,631,652.197468875,0.401928988148,-0.0153920426041,0.0799556491941,0.999999961905,0.000265621135335,-7.221588118e-05,2.0487911225e-05,1793243082353741056
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.777740795,744,714,678,659.222259205,635,879,788,805,651,631,652.777740795,0.402094865484,-0.0153970417718,0.079958266115,0.999999963846,0.00026021625103,-6.60255091085e-05,1.53782228421e-05,1793243082370407168
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744,714,678,659,635,879,788,805,651.355450634,631,653,0.402268785613,-0.0154024826468,0.0799563446202,0.999999966279,0.000250043876538,-6.95601131714e-05,9.00753275668e-06,1793243082387073536
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744,714,678,659,635,879,788,805,651.931569954,631,653,0.402447698835,-0.0154081977403,0.0799516056142,0.999999968804,0.000236911777408,-7.91321167403e-05,1.8539948186e-06,1793243082403740160
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744,714,678.506490017,659,635,879,788,804.493509983,651.493509983,631,652.493509983,0.402655394674,-0.015416489551,0.0799480630443,0.999999980307,0.000178464104673,-8.66188628588e-05,-5.82468747664e-06,1793243082420406784
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.916422626,744,714,678.916422626,659,635,879,787.916422626,804,651,631,652,0.402873242575,-0.0154250857805,0.0799452237945,0.999999988381,0.000120887277672,-9.18587751013e-05,-1.36420256895e-05,1793243082437073664
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.32518884,744,714,678.32518884,659,635,879,787.32518884,804,651,631,652,0.403129190485,-0.0154334214973,0.0799456770384,0.999999990549,0.000105700326686,-8.51584440174e-05,-2.18716348734e-05,1793243082453740544
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,744,714,678,659,634.73957172,879,787.26042828,804,651,631,652,0.403410883118,-0.0154427919165,0.079949039084,0.999999992206,9.41257970913e-05,-7.75861112055e-05,-2.66313436269e-05,1793243082470407168
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,744,714,678,659,634.160819931,879,787.839180069,804,651,631,652,0.40372404371,-0.0154534270599,0.0799559565807,0.999999993473,8.69667591552e-05,-6.89479243315e-05,-2.71497656475e-05,1793243082487073792
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.414274053,744.414274053,714,678.414274053,659,634.414274053,879,788,804.414274053,651,631,652,0.404055328707,-0.0154598156215,0.0799598112651,0.99999999456,7.96610718095e-05,-6.19540825537e-05,-2.63788569523e-05,1793243082503740672
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.987960502,744.987960502,714,678.987960502,659,634.987960502,879,788,804.987960502,651,631,652,0.404393587957,-0.0154645701009,0.0799624873812,0.999999995526,7.2298954024e-05,-5.55929839345e-05,-2.51118145924e-05,1793243082520407040
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.436852475,745,714,678.436852475,659,635,879,787.436852475,805,651,631.563147525,652.563147525,0.404776525842,-0.015474484402,0.0799619934222,0.999999996353,6.15796255549e-05,-5.19826727321e-05,-2.82916637963e-05,1793243082537073664
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.143084993,744.856915007,714.143084993,678.143084993,659.143084993,635,879,787.143084993,805,651,631.856915007,653,0.405164118556,-0.0154841656589,0.0799589339222,0.999999996825,4.97186129312e-05,-5.39248568771e-05,-3.11337501511e-05,1793243082553740288
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.737918932,744.262081068,714.737918932,678.737918932,659.737918932,635,879,787.737918932,805,651,631.262081068,653,0.405563383689,-0.0154927619382,0.079947989023,0.999999996194,3.4480278746e-05,-7.32112510135e-05,-3.26084915374e-05,1793243082570406912
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.677146506,744,714.677146506,679,660,635,879,787.677146506,805,651,631,652.677146506,0.405999887141,-0.0155019655353,0.0799399869284,0.999999995377,2.45379654159e-05,-8.72379054021e-05,-3.21493688842e-05,1793243082587073536
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.100008778,744,714.100008778,679,660,635,879,787.100008778,805,651,631,652.100008778,0.406465720094,-0.0155116474659,0.0799343026295,0.999999994653,1.87668756028e-05,-9.71219122754e-05,-3.01671061892e-05,1793243082603740416
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,744.472749012,714,679,659.527250988,635,878.527250988,787,805,651,631,652,0.406951819768,-0.0155074326257,0.0799355461043,0.999999994705,2.39888868566e-05,-9.5139997719e-05,-3.10295684775e-05,1793243082620407552
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.044999131,744.955000869,714,679,659,634.955000869,878.089998261,787,805,651,631,652,0.407444045664,-0.0155013485682,0.079937186397,0.99999999471,3.02718510441e-05,-9.27742422328e-05,-3.24906853349e-05,1793243082637074432
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.622102406,744.377897594,714,679,659,634.377897594,879.244204813,787,805,651,631,652,0.407958481299,-0.0155076050663,0.0799263482484,0.999999992539,2.18535659631e-05,-0.000115279743617,-3.39800054711e-05,1793243082653741056
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.795278713,744,714,678.795278713,659,634.204721287,879.590557426,787,805,651,631,652.204721287,0.408496888285,-0.015512594684,0.0799219196511,0.999999991433,1.26819918001e-05,-0.000125360439794,-3.54605236756e-05,1793243082670407424
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.202196643,744,714,678.202196643,659,634.797803357,878.404393286,787,805,651,631,652.797803357,0.40908076942,-0.0155151810013,0.0799296501141,0.999999993059,2.08141220602e-06,-0.000111871006015,-3.69243443566e-05,1793243082687074048
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,744.379695454,714.379695454,678.379695454,659.379695454,635,878.379695454,787,805.379695454,651,631.379695454,652.620304546,0.409730844461,-0.0155164540015,0.0799574878792,0.999999997139,1.66754911713e-06,-6.64238642144e-05,-3.61577035867e-05,1793243082703740416
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,744.955799201,714.955799201,678.955799201,659.955799201,635,878.955799201,787,805.955799201,651,631.955799201,652.044200799,0.410415160169,-0.0155170476511,0.0799957267189,0.999999999383,6.52305572591e-06,-4.44568753663e-06,-3.42372929184e-05,1793243082720407296
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,744.469897183,714.469897183,679,659.469897183,635,879,787,806,651,631.469897183,652,0.411054587356,-0.0155174976587,0.0799949014125,0.999999999318,1.29905879909e-06,-9.14186719585e-06,-3.57653399117e-05,1793243082737073664
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.10753723,744.10753723,714.10753723,679,659.10753723,635,879,787,805.89246277,651,631,652,0.41169022291,-0.0155168540866,0.0799848591147,0.999999998891,-3.452766635e-06,-2.73075684709e-05,-3.822379339e-05,1793243082753740288
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.699756541,744.699756541,714.699756541,679,659.699756541,635,879,787,805.300243459,651,631,652,0.412325581428,-0.0155113354306,0.0799479058331,0.99999999575,-2.30130492753e-06,-8.1209799902e-05,-4.35841119969e-05,1793243082770407168
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.714508404,744.714508404,714.714508404,679,660,635,879,787,805,651.285491596,630.714508404,652,0.413006672157,-0.0155097411577,0.0799226629405,0.99999999266,-2.37289676735e-06,-0.00011130537583,-4.78160365171e-05,1793243082787074048
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.135441143,744.135441143,714.135441143,679,660,635,879,787,805,651.864558857,630.135441143,652,0.413734790144,-0.0155121823912,0.0799094620274,0.999999991863,-3.70217438154e-06,-0.000116920186397,-5.08876157471e-05,1793243082803740672
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,744.441761114,714,679,660,635,879,787,805,651.558238886,630.441761114,652,0.414512993103,-0.0155159510477,0.0799276251601,0.999999994959,-1.04130709492e-05,-8.64752310091e-05,-4.99531201502e-05,1793243082820407040
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.018731859,744.981268141,714,679,659.981268141,635,879,787,805,651,631,652,0.41530478918,-0.0155200099889,0.0799545239958,0.99999999759,-1.8539131493e-05,-4.67473565888e-05,-4.78587031747e-05,1793243082837073664
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.605958103,744.394041897,714,679,659.394041897,635,879,787,805,651,631,652,0.416045052227,-0.0155205792854,0.0799559330693,0.999999996903,-1.97495783166e-05,-5.94109150872e-05,-4.76808924638e-05,1793243082853740288
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.816984039,744.183015961,714,679.183015961,659.183015961,635,879,787,805,651,631,652,0.416810371114,-0.0155206512704,0.0799562024566,0.999999996607,-2.0602259737e-05,-6.34663592918e-05,-4.83164461196e-05,1793243082870407168
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.26066687,744.73933313,714,679.73933313,659.73933313,635,879,787,805,651,631,652,0.417626796839,-0.0155197088795,0.0799541472039,0.999999997256,-2.07252000512e-05,-4.99636649604e-05,-5.06110348773e-05,1793243082887073792
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,744.681486743,714,679.681486743,660,634.681486743,879,787.318513257,805,651,630.681486743,652,0.418469692613,-0.0155209822044,0.0799668587943,0.999999998239,-2.34572799637e-05,-1.86728284093e-05,-5.12253375574e-05,1793243082903740416
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,744.082148994,714,679.082148994,660,634.082148994,879,787.917851006,805,651,630.082148994,652,0.419335926269,-0.0155242090658,0.0799925899093,0.999999997926,-2.84897673771e-05,2.83013294991e-05,-5.0358177421e-05,1793243082920407296
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,744.505368498,714,679,660,634,879,787.494631502,805,651,630.505368498,652,0.420158446178,-0.01552514315,0.0799772210399,0.999999998118,-3.28021378782e-05,3.20974620309e-06,-5.17371863799e-05,1793243082937073920
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659.909515778,634.090484222,879,787,805,651,631,652.090484222,0.420977797988,-0.0155256965203,0.0799596019494,0.999999997625,-3.53360750523e-05,-2.60704968402e-05,-5.31212741616e-05,1793243082953740288
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659.327249666,634.672750334,879,787,805,651,631,652.672750334,0.421817668163,-0.0155261600243,0.079965233803,0.999999998075,-2.88258870472e-05,-1.59030174816e-05,-5.25938868716e-05,1793243082970407424
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.25296818,744.74703182,714,679.25296818,659.25296818,635,879,787,805,650.74703182,631,653,0.422699893115,-0.015527703413,0.0799824661473,0.999999998401,-2.37735385723e-05,8.21800537271e-06,-5.06506876403e-05,1793243082987074560
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.830557669,744.169442331,714,679.830557669,659.830557669,635,879,787,805,650.169442331,631,653,0.42363646993,-0.0155306325635,0.0800145848174,0.999999997426,-2.05919611284e-05,5.02449083144e-05,-4.68906482131e-05,1793243083003741440
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.593848722,744.406151278,714.406151278,680,660,635,879.406151278,787,805,650.406151278,631,652.593848722,0.424488676864,-0.0155286487985,0.0799929630687,0.999999998635,-1.71646541947e-05,4.57960017626e-08,-4.93426860458e-05,1793243083020408064
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.019083739,744.980916261,714.980916261,680,660,635,879.980916261,787,805,650.980916261,631,652.019083739,0.425305857586,-0.0155246254364,0.0799490309827,0.999999994518,-1.36353327458e-05,-8.84409497798e-05,-5.43736677191e-05,1793243083037074432
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.570476782,745,714.429523218,679.429523218,659.429523218,634.429523218,880,787,805,651,631.570476782,652,0.426209787092,-0.0155297802835,0.0799287386192,0.999999994099,-2.494837467e-05,-8.89029903845e-05,-5.72322063808e-05,1793243083053741056
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.157673739,659.315347478,634,880,787,805,651,632,652,0.427107097386,-0.0155334550524,0.0799136923326,0.999999993375,-3.43426587816e-05,-9.24700088408e-05,-5.93331340221e-05,1793243083070407680
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.601656733,745,714.601656733,679,659,635,879,787.398343267,805,652,631,652.398343267,0.405315245707,-0.0153549640322,0.0797945802383,0.999999907668,0.000274404292493,-0.000328516610395,3.79881320433e-05,1793243086178794496
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.021494858,745,714.021494858,679,659,635,879,787.978505142,805,652,631,652.978505142,0.404898570477,-0.0153546297225,0.0798092575586,0.99999991498,0.000277059445746,-0.000302895514721,3.91467451483e-05,1793243086195460864
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.126412991,659,634.126412991,879,787,804.126412991,651,631,652,0.404160859138,-0.0153496113548,0.0798248569993,0.999999915284,0.000288528965491,-0.000290610245343,4.15844161793e-05,1793243086228794112
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.392401225,744.392401225,715,679,659,635,878.392401225,787,805,651,631.392401225,652,0.402458324234,-0.015336906505,0.0798297098513,0.999999908122,0.000302373500906,-0.000301120606355,4.06505150608e-05,1793243086328794624
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.186397651,744,714.813602349,678.813602349,659.186397651,635,878.186397651,787,805,651,631,652.186397651,0.402253195065,-0.0153422762685,0.0798293709354,0.999999908916,0.000298523066376,-0.000302279131632,4.09850107888e-05,1793243086345460992
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,744,714,678.939626663,659.060373337,635,879,787,805,651,631,652.060373337,0.40178119589,-0.0153630259942,0.0798404904092,0.99999992399,0.000270212564538,-0.000277799033403,4.28085978533e-05,1793243086395461120
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,744,714,678.613068657,659,635,879.386931343,787,805,651,631.386931343,652,0.400973937751,-0.0153498276467,0.0798289293405,0.999999914378,0.000289115470107,-0.000293885310632,3.5886911636e-05,1793243086695460864
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.30620442,745,714.69379558,678.69379558,659.69379558,635,879,787,805,651.69379558,631,652,0.400972807791,-0.0153509626484,0.0798312182086,0.999999915712,0.000287610653119,-0.000290756400987,3.62819349052e-05,1793243086762127872
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.278496437,745,715,678.721503563,659.721503563,635,879,787,805,652,631,652,0.400971058721,-0.0153519698359,0.0798310070682,0.999999916002,0.000285661116235,-0.000291690150021,3.62121012829e-05,1793243086778794496
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.870186727,745,715,678.129813273,659.129813273,635,879,787,805,652,631,652,0.400969383687,-0.0153515459186,0.0798302686648,0.999999915582,0.000286308260324,-0.000292498907195,3.61656098944e-05,1793243086795461376
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.548942059,745,715,678,659,635,879,787.451057941,805,651.548942059,631,652,0.400970279229,-0.015352693587,0.0798310610079,0.999999915754,0.000286989080237,-0.000291238021653,3.61859172085e-05,1793243086812127744
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,744.971422629,714.971422629,678,659,635,879,787.971422629,805,651,631,652.028577371,0.400971863268,-0.0153541937778,0.0798322585043,0.999999916115,0.000287560592889,-0.000289427250759,3.62107046332e-05,1793243086828794368
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,744.399812555,714.399812555,678,659,635,879,787.399812555,805,651,631,652.600187445,0.400972801654,-0.0153539993378,0.0798329795754,0.999999916955,0.000285875177001,-0.000288220747389,3.59638736118e-05,1793243086845460992
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,744,714,678.17842751,659,634.82157249,879,787.17842751,805,651,631,652.82157249,0.400973106946,-0.0153532566282,0.0798331229,0.999999917261,0.000285182106563,-0.000287874390761,3.57378523885e-05,1793243086862127872
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,744,714,678.772097064,659,634.227902936,879,787.772097064,805,651,631,652.227902936,0.400971938887,-0.015351237969,0.0798319216751,0.999999916327,0.000286798453381,-0.000289529794424,3.55602603882e-05,1793243086878794752
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,743.492132439,714.492132439,679,659.492132439,635,878.492132439,787,805.507867561,651,631,652.492132439,0.400971003064,-0.0153520021003,0.0798319328079,0.999999916251,0.00028711196816,-0.00028948236733,3.55633014792e-05,1793243086928794880
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,743.658640447,714,679,659,635,878.658640447,787.658640447,805.341359553,651,631,652,0.400971208918,-0.0153538452443,0.0798329803315,0.999999917662,0.000283297791415,-0.000288382295529,3.5397932988e-05,1793243086962127872
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.758762598,744,714,679,659,635,879,787.758762598,805,651,631,652.241237402,0.40097158088,-0.0153539925849,0.0798334781162,0.999999917971,0.000282931146313,-0.000287669483801,3.54158740893e-05,1793243086978794496
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.164325834,744,714,679,659,635,879,787.164325834,805,651,631,652.835674166,0.400971743219,-0.0153534554033,0.0798336896815,0.999999917767,0.000284322230124,-0.000286993695179,3.55083593245e-05,1793243086995460864
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0d27d7a262407fd69215756243ebfd68dc1479d0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_02/simulation_data.csv
@@ -0,0 +1,406 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.580743466415,-0.00999813796383,1.07004058913,0.551315185545,-0.00132331142142,1.06967838298
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+4,0.066666667,pose1_baseline,0.580743466415,-0.00999813796383,1.07004058913,0.551315185545,-0.00132331142142,1.06967838298
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+6,0.100000000,pose1_baseline,0.580743466415,-0.00999813796383,1.07004058913,0.551315185545,-0.00132331142142,1.06967838298
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+369,6.150000000,pose2_to_pose3_retreat,0.581317412822,-0.00999813102249,1.07004096372,0.551889131815,-0.00132330503823,1.06967875475
+370,6.166666667,pose2_to_pose3_retreat,0.581220752845,-0.00999824339847,1.07004087272,0.551792473254,-0.0013234127257,1.06967866176
+371,6.183333333,pose2_to_pose3_retreat,0.581134539036,-0.00999817443759,1.07004076978,0.551706258501,-0.00132334701913,1.06967855772
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+376,6.266666667,pose2_to_pose3_retreat,0.58085528092,-0.00999791988033,1.0700408855,0.551426996511,-0.00132310480834,1.06967869204
+377,6.283333333,pose2_to_pose3_retreat,0.580825015997,-0.00999821990723,1.0700408403,0.551396734997,-0.00132339364377,1.06967863783
+378,6.300000000,pose2_to_pose3_retreat,0.580801925663,-0.00999821624085,1.07004110814,0.551373645191,-0.00132338881978,1.06967889048
+379,6.316666667,pose2_to_pose3_retreat,0.580783725394,-0.00999814366475,1.07004097494,0.551355444081,-0.00132331886343,1.06967876297
+380,6.333333333,pose2_to_pose3_retreat,0.580770244138,-0.00999812182274,1.07004075414,0.551341962468,-0.00132329780056,1.06967855251
+381,6.350000000,pose2_to_pose3_retreat,0.580761125124,-0.00999812174912,1.07004095482,0.551332843994,-0.00132329618332,1.06967874628
+382,6.366666667,pose2_to_pose3_retreat,0.580755100471,-0.00999820878345,1.07004084597,0.551326820715,-0.00132337832201,1.06967864306
+383,6.383333333,pose2_to_pose3_retreat,0.580751173319,-0.00999812370777,1.07004086264,0.551322891864,-0.00132329907914,1.0696786581
+384,6.400000000,pose2_to_pose3_retreat,0.58074874438,-0.00999796716403,1.07004093715,0.551320459973,-0.00132315275623,1.06967872773
+385,6.416666667,pose2_to_pose3_retreat,0.580747578728,-0.00999795444885,1.0700409308,0.551319294162,-0.00132314053921,1.06967872227
+386,6.433333333,pose2_to_pose3_retreat,0.580746956888,-0.00999799991486,1.07004089216,0.551318673293,-0.00132318258163,1.06967868682
+387,6.450000000,pose2_to_pose3_retreat,0.580746716913,-0.00999801746069,1.07004087724,0.551318433692,-0.00132319880626,1.06967867314
+388,6.466666667,pose2_to_pose3_retreat,0.580746512589,-0.00999803239993,1.07004086454,0.551318229687,-0.00132321262057,1.06967866149
+389,6.483333333,pose2_to_pose3_retreat,0.580746136245,-0.00999805991642,1.07004084116,0.55131785393,-0.00132323806508,1.06967864003
+390,6.500000000,pose2_to_pose3_retreat,0.58074549175,-0.00999810703893,1.0700408011,0.55131721044,-0.00132328163926,1.06967860329
+391,6.516666667,pose2_to_pose3_retreat,0.580744961117,-0.00999817328427,1.07004076158,0.551316680624,-0.00132334510959,1.06967856382
+392,6.533333333,pose2_to_pose3_retreat,0.580744644984,-0.00999822330138,1.07004073551,0.551316364975,-0.00132339352973,1.06967853675
+393,6.550000000,pose2_to_pose3_retreat,0.580744644281,-0.00999822341262,1.07004073546,0.551316364272,-0.00132339363742,1.06967853669
+394,6.566666667,pose2_to_pose3_retreat,0.580744409627,-0.00999826053854,1.07004071611,0.551316129977,-0.00132342957797,1.06967851661
+395,6.583333333,pose2_to_pose3_retreat,0.580744116892,-0.00999830685384,1.07004069198,0.551315837689,-0.00132347441449,1.06967849155
+396,6.600000000,pose2_to_pose3_retreat,0.580743986439,-0.00999832112023,1.07004068811,0.551315707386,-0.00132348820404,1.06967848684
+397,6.616666667,pose2_to_pose3_retreat,0.580743947639,-0.00999830862652,1.07004070505,0.551315668504,-0.00132347604688,1.06967850239
+398,6.633333333,pose2_to_pose3_retreat,0.580743794929,-0.00999825945356,1.07004077172,0.551315515471,-0.00132342819851,1.06967856359
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+400,6.666666667,pose2_to_pose3_retreat,0.580743551313,-0.00999816478144,1.07004087397,0.55131527099,-0.00132333680177,1.06967865778
+401,6.683333333,pose2_to_pose3_retreat,0.580743549666,-0.00999815814237,1.07004087314,0.551315269208,-0.00132333061454,1.06967865713
+402,6.700000000,pose2_to_pose3_retreat,0.580743545136,-0.00999813988116,1.07004087086,0.551315264305,-0.00132331359612,1.06967865537
+403,6.716666667,pose2_to_pose3_retreat,0.580743535185,-0.00999809976574,1.07004086586,0.551315253535,-0.00132327621082,1.06967865149
+404,6.733333333,pose2_to_pose3_retreat,0.580743496217,-0.00999814541441,1.07004058913,0.551315215347,-0.00132331887195,1.06967838298
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d4e87011fba54307c454ddca9327b03de79ed4b4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:242b225fe6cc33459d5e6163bf0ef407a3b8aed2de8f416c3e15d7f27904ff31
+size 25790179
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9d92d7987e509e544496e56fbbcbfb106335e117
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+36,0.600000000,BASELINE,764.102629406,744,714.102629406,678,659,635,879,787,805,651,631,652,0.400970879605,-0.0153539873458,0.0798345176818,0.99999991844,0.00028390503526,-0.000285133587774,3.48720643703e-05,1793243087743931648
+37,0.616666667,BASELINE,764,744,714,678,659,635,879,787,804.527205481,651,631,652,0.400971434794,-0.0153538905592,0.0798346673777,0.999999918099,0.000285387440619,-0.00028486261604,3.47622029295e-05,1793243087760598272
+38,0.633333333,BASELINE,764,744,714.047054514,678.047054514,659,635,879,787,804,651,631,652,0.400972208611,-0.015353904183,0.0798349864825,0.999999917848,0.000286922700147,-0.000284212936283,3.46650459345e-05,1793243087777265408
+39,0.650000000,BASELINE,764,744,714.611154255,678.611154255,659,635,879,787,804,651,631,652,0.400972347161,-0.0153540266771,0.0798356857342,0.999999918551,0.000285353210794,-0.00028330030982,3.48245996948e-05,1793243087793931776
+40,0.666666667,BASELINE,764.18789643,744.18789643,715,679,659,635,879,787.18789643,804.18789643,651,631,652,0.400971884206,-0.0153539166616,0.0798356812199,0.999999918745,0.000284431426519,-0.0002835370924,3.48584600791e-05,1793243087810598400
+41,0.683333333,BASELINE,764.792689037,744.792689037,715,679,659,635,879,787.792689037,804.792689037,651,631,652,0.400970086659,-0.0153532907642,0.0798341152212,0.999999917813,0.000284946741331,-0.000286324132291,3.46134376261e-05,1793243087827265024
+42,0.700000000,BASELINE,765,744.622610008,715,679,659,635,879,788,805.377389992,651,631,652.377389992,0.40097063013,-0.0153531645528,0.0798339394012,0.999999917883,0.000284791504842,-0.000286246884186,3.4514479642e-05,1793243087843931648
+43,0.716666667,BASELINE,765,744.048388095,715,679,659,635,879,788,805.951611905,651,631,652.951611905,0.400972394583,-0.0153532989581,0.0798344886442,0.999999918476,0.000284286534896,-0.000284675734934,3.44917032038e-05,1793243087860598272
+44,0.733333333,BASELINE,764.471853673,744,714.471853673,679,659,635,879,787.471853673,805.471853673,651,631,652.471853673,0.40097255521,-0.0153545826685,0.0798349617795,0.999999919026,0.00028274649626,-0.000284245287378,3.47284267694e-05,1793243087877264896
+45,0.750000000,BASELINE,764.107446462,744,714,679,659,635,879,787,805,651,631,652,0.400972562689,-0.0153557136176,0.0798353418914,0.999999919414,0.000281615764702,-0.000283981095027,3.49268302851e-05,1793243087893931776
+46,0.766666667,BASELINE,764.698230459,744,714,679,659,635,879,787,805,651,631,652,0.400972545151,-0.0153556816291,0.0798353350506,0.999999919092,0.000282754729192,-0.000283992591715,3.4845434524e-05,1793243087910598400
+47,0.783333333,BASELINE,765,744.283309969,714,678.716690031,659,635,878.716690031,787,804.716690031,651,631,652.283309969,0.400971496221,-0.0153546895512,0.0798347357259,0.999999918394,0.000284318378553,-0.000284897776356,3.47515562903e-05,1793243087927265280
+48,0.800000000,BASELINE,765,744.862433308,714,678.137566692,659,635,878.137566692,787,804.137566692,651,631,652.862433308,0.400969370381,-0.0153526950119,0.079833517769,0.9999999173,0.000286325455664,-0.000286736090337,3.46446446815e-05,1793243087943932672
+49,0.816666667,BASELINE,764.560879099,745,714,678.439120901,659,635,878.878241802,787.439120901,804.439120901,651,631,653,0.400970735146,-0.0153542782292,0.0798341689538,0.999999918144,0.000285030577492,-0.000285047458606,3.49047876607e-05,1793243087960599296
+50,0.833333333,BASELINE,764,745,714,679,659,635,879.985139876,787.985139876,805.014860124,651.014860124,631.014860124,652.985139876,0.400973130241,-0.0153568892058,0.0798353684791,0.999999919544,0.000282764698518,-0.000282334537989,3.52592552361e-05,1793243087977265408
+51,0.850000000,BASELINE,764,745,714,679,659,635,879.416462341,787.416462341,805.583537659,651.583537659,631.583537659,652.416462341,0.400973394792,-0.0153562619712,0.0798353012624,0.999999919572,0.000282650010631,-0.000282399202465,3.48671934416e-05,1793243087993932032
+52,0.866666667,BASELINE,764.160280575,745,714,678.839719425,659,635,879,787,805.839719425,652,631.839719425,652,0.400973188365,-0.0153552603818,0.0798350311382,0.999999919199,0.000283456797244,-0.000282945143781,3.45751511365e-05,1793243088010598656
+53,0.883333333,BASELINE,764.759090419,745,714,678.240909581,659,635,879,787,805.240909581,652,631.240909581,652,0.400971693342,-0.0153532345543,0.0798342058568,0.999999917722,0.000286784747376,-0.000284807863374,3.45567631855e-05,1793243088027265280
+54,0.900000000,BASELINE,764.655966081,745,714.344033919,678,659.344033919,635,879,787,805,651.655966081,631,652,0.400970353595,-0.0153538128969,0.0798334913576,0.999999917591,0.000285937311812,-0.000286124935688,3.44989077424e-05,1793243088043931904
+55,0.916666667,BASELINE,764.080356308,745,714.919643692,678,659.919643692,635,879,787,805,651.080356308,631,652,0.400969118367,-0.0153561441566,0.0798328514281,0.999999918361,0.000282279343615,-0.000287074722237,3.44144859711e-05,1793243088060598528
+56,0.933333333,BASELINE,764,744.503502428,715,678.496497572,660,635,879,787,805,651.496497572,631.496497572,652.496497572,0.400969867298,-0.015355190545,0.0798331945586,0.999999918326,0.000283501906203,-0.000285985110091,3.44456521208e-05,1793243088077265152
+57,0.950000000,BASELINE,764.07292987,744.07292987,714.92707013,679,659.92707013,635,879,787,805,651.92707013,631.92707013,652.92707013,0.40097064175,-0.015353828502,0.0798336392294,0.999999918126,0.000285262823953,-0.000284925802886,3.4504756322e-05,1793243088093931776
+58,0.966666667,BASELINE,764.645094184,744.645094184,714.354905816,679,659.354905816,635,879,787,805,651.354905816,631.354905816,652.354905816,0.400969387118,-0.0153533190433,0.0798336871128,0.999999917711,0.000285288259033,-0.000286339078869,3.4626725795e-05,1793243088110598400
+59,0.983333333,BASELINE,764.773358884,744.773358884,714,679,659,635,879,787.226641116,805,651,631,652.226641116,0.400968826783,-0.0153537683342,0.0798338594574,0.99999991772,0.000284603152071,-0.000286982614188,3.46733456064e-05,1793243088127265024
+60,1.000000000,BASELINE,764.176484745,744.176484745,714,679,659,635,879,787.823515255,805,651,631,652.823515255,0.400969400627,-0.0153557838052,0.0798342351173,0.999999918422,0.000282757328413,-0.000286368728226,3.45968768576e-05,1793243088143931648
+61,1.016666667,BASELINE,764,744.405910626,714,678.594089374,659,635,879,787.594089374,805,651,631,652.594089374,0.40096973645,-0.0153556922606,0.0798341702571,0.999999918202,0.000283601973011,-0.000286302884818,3.45861029422e-05,1793243088160598272
+62,1.033333333,BASELINE,764,744.982227594,714,678.017772406,659,635,879,787.017772406,805,651,631,652.017772406,0.400969972348,-0.0153547161645,0.0798339204611,0.999999917593,0.000285576109836,-0.000286467116543,3.46029085414e-05,1793243088177264896
+63,1.050000000,BASELINE,764.557239387,744.442760613,714,678.557239387,659,634.442760613,879,787.557239387,805,651.557239387,631,652,0.400969678301,-0.0153546338161,0.0798338520692,0.999999917883,0.000284549772552,-0.000286484739461,3.45130259587e-05,1793243088193932288
+64,1.066666667,BASELINE,765,744,714.135425612,678.864574388,659,634.135425612,879,787.864574388,805,652,631,652.135425612,0.400969765387,-0.0153544719807,0.0798340763042,0.999999918142,0.000283938991533,-0.00028618825029,3.4518109769e-05,1793243088210599680
+65,1.083333333,BASELINE,765,744,714.724381834,678.275618166,659,634.724381834,879,787.275618166,805,652,631,652.724381834,0.40097118533,-0.0153539487113,0.0798352611947,0.999999918198,0.000285039609054,-0.000284855445016,3.48525978788e-05,1793243088227266048
+66,1.100000000,BASELINE,764.690875756,744.309124244,714.690875756,678.309124244,659,634.690875756,879,787.309124244,805,652,631,652.690875756,0.40097172911,-0.0153534082863,0.0798356436418,0.999999918436,0.000285210974739,-0.000283855178622,3.4769031023e-05,1793243088243932672
+67,1.116666667,BASELINE,764.109839929,744.890160071,714.109839929,678.890160071,659,634.109839929,879,787.890160071,805,652,631,652.109839929,0.400971502201,-0.015352852771,0.0798353202441,0.999999918836,0.000284564952718,-0.000283147419844,3.43177350239e-05,1793243088260599296
+68,1.133333333,BASELINE,764.46586625,744.53413375,714.46586625,678.53413375,659,634.46586625,879,787.53413375,805,652,630.53413375,652,0.400971165875,-0.0153540364493,0.0798351763151,0.999999919086,0.000283630103241,-0.000283173146167,3.45776135949e-05,1793243088277265664
+69,1.150000000,BASELINE,764.959519272,744,715,678,659,635,879,787.040480728,805,651.959519272,630.040480728,652,0.400970857036,-0.0153554645128,0.0798350750442,0.999999919238,0.00028280161321,-0.000283414850281,3.49662094574e-05,1793243088293932288
+70,1.166666667,BASELINE,764.382909651,744,715,678,659,635,879,787.617090349,805,651.382909651,630.617090349,652,0.400971250032,-0.0153547598038,0.0798349846641,0.999999918587,0.00028427345296,-0.000284252482717,3.48639301594e-05,1793243088310598656
+71,1.183333333,BASELINE,764,744,714.800661197,678.199338803,659,635,879,788,805,651,631,652,0.400971108162,-0.0153540598549,0.0798348365259,0.999999917937,0.000285649445387,-0.000285171140358,3.47607353797e-05,1793243088327265024
+72,1.200000000,BASELINE,764,744,714.207265689,678.792734311,659,635,879,788,805,651,631,652,0.400969908959,-0.0153533693153,0.0798345742101,0.999999917293,0.000286835965288,-0.000286249970303,3.46557308403e-05,1793243088343931648
+73,1.216666667,BASELINE,764,744,714.373256196,679,659,635,879,787.626743804,805,651,631,652,0.400970167251,-0.0153543749507,0.0798348180028,0.999999918297,0.000284010121578,-0.000285577443962,3.44915436112e-05,1793243088360598784
+74,1.233333333,BASELINE,764,744,714.946867779,679,659,635,879,787.053132221,805,651,631,652,0.400971207895,-0.0153562910541,0.0798353334632,0.999999920165,0.0002790305328,-0.000283964829564,3.42955884739e-05,1793243088377266176
+75,1.250000000,BASELINE,764.523069355,744,714.476930645,678.476930645,659,635,878.476930645,787,805,651,631,652,0.400971603012,-0.0153568574985,0.079835245163,0.999999919818,0.000280456173426,-0.00028374472201,3.45928525058e-05,1793243088393932544
+76,1.266666667,BASELINE,765,744,714,678.101743853,659,635,878.101743853,787.101743853,804.898256147,651.101743853,631,652,0.400971877014,-0.0153569161021,0.0798351674661,0.999999919382,0.000282187165419,-0.000283534738913,3.48495342582e-05,1793243088410598656
+77,1.283333333,BASELINE,765,744,714,678.691000652,659,635,878.691000652,787.691000652,804.308999348,651.691000652,631,652,0.400971886435,-0.0153552015215,0.0798354358982,0.99999991961,0.000282248221779,-0.000282692138266,3.46705102986e-05,1793243088427265024
+78,1.300000000,BASELINE,765,744,714,678.724496979,659,635,879,788,804,651.724496979,631,652,0.400972346654,-0.0153547548635,0.0798359407626,0.999999920088,0.000281570914669,-0.000281686575726,3.45644564783e-05,1793243088443931392
+79,1.316666667,BASELINE,765,744,714,678.145236671,659,635,879,788,804,651.145236671,631,652,0.400973303904,-0.0153557061601,0.0798367063067,0.999999920841,0.000280079521072,-0.00028050133876,3.4538856276e-05,1793243088460598272
+80,1.333333333,BASELINE,765,744,714,678,659,635,879,787.568878985,804.431121015,651,631,652,0.400972766979,-0.0153552658552,0.0798363145084,0.999999919825,0.000282755554648,-0.00028141004778,3.47399696989e-05,1793243088477265664
+81,1.350000000,BASELINE,765,744,714,678.006506048,659,634.993493952,879,787,805,651,631,652,0.400971736555,-0.0153543762822,0.0798355414351,0.999999918231,0.000286743971152,-0.000283001557337,3.50119103242e-05,1793243088493933312
+82,1.366666667,BASELINE,765,744,714,678.581768754,659,634.418231246,879,787,805,651,631,652,0.400971273923,-0.0153549205059,0.0798352933038,0.99999991914,0.000283550229373,-0.000283028817996,3.48434607028e-05,1793243088510599168
+83,1.383333333,BASELINE,765,744.161667705,714,679,659,634,879,787,804.838332295,651,631,652,0.400971425525,-0.0153549608613,0.0798353782382,0.999999919675,0.000281983566689,-0.000282722145895,3.46866409902e-05,1793243088527265280
+84,1.400000000,BASELINE,765,744.753914774,714,679,659,634,879,787,804.246085226,651,631,652,0.40097321305,-0.015353659234,0.0798363502463,0.999999919233,0.000284750401351,-0.000281526090511,3.456079588e-05,1793243088543931904
+85,1.416666667,BASELINE,764.662674948,745,714,678.662674948,659,634.337325052,879,787.337325052,804.337325052,651,631,652,0.400972596709,-0.0153536140946,0.0798356424303,0.999999918985,0.000284779667534,-0.00028238118453,3.45133614947e-05,1793243088560598528
+86,1.433333333,BASELINE,764.085546747,745,714,678.085546747,659,634.914453253,879,787.914453253,804.914453253,651,631,652,0.400970271469,-0.0153544621879,0.0798337404334,0.999999918873,0.000282862806112,-0.000284694433245,3.45216690151e-05,1793243088577265152
+87,1.450000000,BASELINE,764.490803473,744.509196527,714,678.490803473,659.490803473,635,878.509196527,787.509196527,805,651,631,652,0.400970982957,-0.0153544069993,0.0798345896818,0.999999919157,0.000282870005399,-0.000283665827492,3.47005880256e-05,1793243088593931520
+88,1.466666667,BASELINE,764.931546612,744,714,679,659.931546612,635,878.068453388,787,804.931546612,651,631,652,0.400972100629,-0.015354209266,0.0798358007828,0.999999919393,0.000283480605231,-0.000282196850026,3.48812491571e-05,1793243088610598144
+89,1.483333333,BASELINE,764.342993121,744,714,679,659.342993121,635,878.657006879,787,804.342993121,651,631,652,0.400972289254,-0.0153541228244,0.0798361234718,0.999999918751,0.000286131755616,-0.000281800613438,3.4849562713e-05,1793243088627265024
+90,1.500000000,BASELINE,764,744,714,678.7600836,659,635,878.7600836,787,804,651,631,652,0.400972327271,-0.0153547516601,0.0798361699596,0.999999918853,0.000285925028661,-0.000281659536935,3.4756721669e-05,1793243088643931648
+91,1.516666667,BASELINE,764,744,714,678.185057496,659,635,878.185057496,787,804,651,631,652,0.400972154924,-0.0153563795786,0.0798358306558,0.999999919991,0.000281726484207,-0.000281874862195,3.45784612901e-05,1793243088660598272
+92,1.533333333,BASELINE,764,744,714,678.392999383,659,635,878.392999383,787.392999383,804,651,631,652.392999383,0.400972375273,-0.0153564208624,0.0798358736639,0.99999991992,0.000281916139774,-0.000281904038531,3.48202304316e-05,1793243088677264896
+93,1.550000000,BASELINE,764,744,714,678.972494552,659,635,878.972494552,787.972494552,804,651,631,652.972494552,0.400972781975,-0.0153557092173,0.0798360980962,0.999999919279,0.000284188192158,-0.000281844878895,3.52613223522e-05,1793243088693931520
+94,1.566666667,BASELINE,764,744.548210246,714,678.451789754,659,635,878.451789754,787.451789754,804.548210246,651,631,652.451789754,0.400972208799,-0.0153554034794,0.079835848336,0.999999919136,0.000284081265313,-0.000282476300579,3.51031479508e-05,1793243088710598400
+95,1.583333333,BASELINE,764,745,714,678.127315567,659,634.872684433,878,787,804.872684433,651,631,652,0.40097130392,-0.0153551135049,0.0798352774749,0.999999918825,0.000284292966361,-0.00028338960172,3.48926713496e-05,1793243088727265024
+96,1.600000000,BASELINE,764,745,714,678.719484862,659,634.280515138,878,787,804.280515138,651,631,652,0.400969366203,-0.0153548072358,0.0798336204856,0.999999917803,0.000286100865173,-0.000285206456662,3.46002583581e-05,1793243088743931648
+97,1.616666667,BASELINE,764,744.695793855,714,678.695793855,659,634.304206145,878,787,804.304206145,651,631,652,0.400969300256,-0.0153547391115,0.079833599098,0.999999917872,0.000286111248252,-0.000284965809122,3.45070406996e-05,1793243088760598528
+98,1.633333333,BASELINE,764,744.11777645,714,678.11777645,659,634.88222355,878,787,804.88222355,651,631,652,0.400970919061,-0.0153548853379,0.0798350498904,0.999999918922,0.000284503715028,-0.000282873235214,3.45931157064e-05,1793243088777264896
+99,1.650000000,BASELINE,764,744,714,678,659,635,878,787,805,651,631,652.456981819,0.400970399486,-0.0153552448584,0.0798346349595,0.999999918638,0.000284876249125,-0.000283491407763,3.46595373383e-05,1793243088793931520
+100,1.666666667,BASELINE,764.031620868,744.031620868,714.031620868,678.031620868,659.031620868,635,878.031620868,787,805,651,631,652.968379132,0.400969499272,-0.0153557038128,0.0798338644244,0.999999918135,0.000285501634185,-0.000284630799557,3.47109416938e-05,1793243088810598400
+101,1.683333333,BASELINE,764.618819023,744.618819023,714.618819023,678.618819023,659.618819023,635,878.618819023,787,805,651,631,652.381180977,0.400971525764,-0.0153569508052,0.0798352345695,0.999999919763,0.000281666856797,-0.000282739981653,3.4586858315e-05,1793243088827265024
+102,1.700000000,BASELINE,764.796668097,744.796668097,714.796668097,679,659.796668097,635,879,787.203331903,805,651.203331903,631,652,0.400972339333,-0.0153569437349,0.0798358598318,0.999999920253,0.000280692478657,-0.000281990654154,3.44590908383e-05,1793243088843931648
+103,1.716666667,BASELINE,764.21712368,744.21712368,714.21712368,679,659.21712368,635,879,787.78287632,805,651.78287632,631,652,0.400970908705,-0.0153546163497,0.0798351068828,0.999999918651,0.000285010521752,-0.000283353356361,3.43245069161e-05,1793243088860598272
+104,1.733333333,BASELINE,764,744,714,679,659,635,879,787.637794544,805,651.637794544,631,652,0.400971058764,-0.0153540441125,0.0798353415943,0.999999918569,0.000285581042712,-0.00028306788007,3.4314118738e-05,1793243088877264896
+105,1.750000000,BASELINE,764,744,714,679,659,635,879,787.058594326,805,651.058594326,631,652,0.4009721558,-0.0153545233721,0.0798361680061,0.999999919403,0.000283906449712,-0.000281794991667,3.43781353513e-05,1793243088893931264
+106,1.766666667,BASELINE,764,744.51489496,714,679,659,635,879,787,805,651,631,652,0.400972884854,-0.0153547730381,0.0798365599792,0.999999919447,0.000284442400112,-0.000281053778633,3.47392393424e-05,1793243088910597888
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,678,659,635,879,787,805,651,631,653,0.400972565373,-0.0153558280195,0.0798366878236,0.999999919718,0.000283679595058,-0.000280826115061,3.50229403255e-05,1793243088952944384
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,744.421521108,714,678,659,635,879,787,805,651,631,652.421521108,0.400972407911,-0.0153547690706,0.0798364372641,0.999999919347,0.00028449945726,-0.000281316327793,3.50242150452e-05,1793243088969611008
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.156659678,744.156659678,714.156659678,678,659,635,879,787.156659678,805,651,631,652,0.400972323634,-0.0153541543177,0.0798364287162,0.999999919167,0.000285035404872,-0.000281414491774,3.50212812955e-05,1793243088986277888
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.73404001,744.73404001,714.73404001,678,659,635,879,787.73404001,805,651,631,652,0.4009724359,-0.0153547324845,0.0798370701075,0.9999999195,0.000284808879935,-0.000280459781201,3.50070454036e-05,1793243089002944512
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.683864037,714.683864037,678,659,635,878.683864037,787.683864037,805,651,631,652,0.400972863946,-0.015355278147,0.079837385969,0.999999920049,0.000283446180555,-0.000279897153325,3.4904850628e-05,1793243089019611136
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.097740871,714.097740871,678,659,635,878.097740871,787.097740871,805,651,631,652,0.400973561676,-0.0153557960501,0.0798374238206,0.999999920777,0.000281113162734,-0.00027966937292,3.47275369938e-05,1793243089036277760
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.516584071,744,714,678.483415929,659,635,878.483415929,787,805,651.483415929,631,652,0.400973568243,-0.0153565483122,0.0798375093938,0.999999921354,0.00027927015454,-0.000279474095715,3.45670478757e-05,1793243089052944640
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.063285844,744,714,679,659.063285844,635,879,787,805,651.936714156,631,652,0.400973549017,-0.015357090379,0.0798375648127,0.999999921629,0.000278343205897,-0.000279428252831,3.44397681882e-05,1793243089069611264
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.640775473,744,714,679,659.640775473,635,879,787,805,651.359224527,631,652,0.400974444117,-0.0153555434987,0.0798372976241,0.999999919705,0.000284062531807,-0.000280543725498,3.45549602224e-05,1793243089086278144
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.783004564,744.216995436,714,678.783004564,659.783004564,635,878.783004564,787,805,651.216995436,631,652,0.400981233709,-0.0153550272031,0.0798401114166,0.999999920373,0.000286098085467,-0.000276031377645,3.47561061727e-05,1793243089102945280
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.208874295,744.791125705,714,678.208874295,659.208874295,635,878.208874295,787,805,651.791125705,631,652,0.400997724558,-0.0153562070616,0.079847995941,0.999999925213,0.000282070822597,-0.000262256665523,3.50987165463e-05,1793243089119612928
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744.624252335,714.375747665,678.375747665,659,635,878.375747665,787,805.375747665,651.624252335,631,652.375747665,0.401031774796,-0.0153581274932,0.0798621797125,0.999999931798,0.000280949529589,-0.00023698358331,3.61828205587e-05,1793243089136279552
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,744.03363057,714.96636943,678.96636943,659,635,878.96636943,787,805.96636943,651.03363057,631,652.96636943,0.401075866503,-0.015360471427,0.0798799657563,0.999999938631,0.000281490036492,-0.000205135071068,3.76909532348e-05,1793243089152945152
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.525825117,744.525825117,714.474174883,679,659,635,879,787,805.474174883,651,631,652.474174883,0.401140944585,-0.0153636430756,0.0798993565447,0.999999946194,0.000279350180545,-0.000167664660981,3.82702004734e-05,1793243089169612032
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.910427981,714,678.910427981,659.089572019,635,879,787,805,651,631,652,0.401208279447,-0.0153667098757,0.0799175655976,0.999999951784,0.000277621658006,-0.000133679284795,3.85700717522e-05,1793243089186278912
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.311583568,714,678.311583568,659.688416432,635,879,787,805,651,631,652,0.401281241065,-0.0153688964005,0.0799285048646,0.999999952957,0.000279151968714,-0.000121438422722,3.76003971152e-05,1793243089202945280
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.733104782,744,714,678.266895218,659.733104782,635,879,787.266895218,805,651.266895218,631,652,0.401360919778,-0.0153712962274,0.0799356677209,0.999999954164,0.000279269237716,-0.000111350656358,3.57971736067e-05,1793243089219611648
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.176716038,744,714,678.823283962,659.176716038,635,879,787.823283962,805,651.823283962,631,652,0.401447884323,-0.0153739274169,0.079938734413,0.999999955485,0.000277853821163,-0.000103598291404,3.30898237981e-05,1793243089236278272
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,744,714,678.581916778,659,635,879,787.581916778,805,652,631,652,0.401551099796,-0.0153772695724,0.0799419398663,0.999999956481,0.000276953145616,-9.70126263118e-05,3.0393577684e-05,1793243089252944640
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.028910657,744.028910657,714.028910657,678.028910657,659,635,879,787.028910657,805,651.971089343,631.028910657,652,0.401662991128,-0.0153810987677,0.0799452224413,0.999999957415,0.000275916281389,-9.09711553837e-05,2.76312872501e-05,1793243089269611520
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.60474558,744.60474558,714.60474558,678.60474558,659,635,879,787.60474558,805,651.39525442,631.60474558,652,0.401795918594,-0.0153878815113,0.0799487421784,0.999999960264,0.000267770673088,-8.49516597564e-05,2.352181688e-05,1793243089286278144
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.818969793,715,679,659,635,879,787.818969793,805,651.181030207,631.818969793,652,0.4019396132,-0.0153935507373,0.0799528838653,0.999999962664,0.000261375841201,-7.73834277704e-05,1.91652479627e-05,1793243089302944768
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.241700932,715,679,659,635,879,787.241700932,805,651.758299068,631.241700932,652,0.40210687489,-0.0153967826964,0.0799583868746,0.9999999642,0.000258813107298,-6.64253246826e-05,1.42678306452e-05,1793243089319611392
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.657595976,744.342404024,715,679,659,635,878.657595976,787.342404024,805,651.657595976,631,652,0.402282000634,-0.0154024127401,0.0799580164143,0.999999966289,0.000250426117667,-6.81308889336e-05,8.12367557181e-06,1793243089336278016
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.068567095,744.931432905,715,679,659,635,878.068567095,787.931432905,805,651.068567095,631,652,0.402462790672,-0.0154097700631,0.0799534154447,0.999999968597,0.000237844065384,-7.89577675264e-05,1.0815266935e-06,1793243089352944640
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.511871048,744.488128952,714.488128952,678.488128952,659,634.488128952,878.511871048,787.488128952,805,651,631,652,0.402673599223,-0.0154165196565,0.0799487689279,0.999999979384,0.000184295354247,-8.49885807547e-05,-6.67338456233e-06,1793243089369611264
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.909359508,744.090640492,714,678,659,634,879,787,804.909359508,651,631,652.090640492,0.402895336608,-0.0154236776081,0.0799450689813,0.999999987467,0.00013019716122,-8.89003388811e-05,-1.45078194554e-05,1793243089386277888
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.333464361,744.666535639,714,678,659,634,879,787,804.333464361,651,631,652.666535639,0.403154410803,-0.0154334503882,0.079946468734,0.999999990945,0.000102051048071,-8.48501555341e-05,-2.22652848399e-05,1793243089402944512
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.242251092,745,714,678,659,634.242251092,879,787,804.242251092,651,631,652.757748908,0.403434233524,-0.0154431021027,0.0799499358575,0.999999993108,8.31166484878e-05,-7.79719772116e-05,-2.82184786486e-05,1793243089419611136
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.817719343,745,714,678,659,634.817719343,879,787,804.817719343,651,631,652.182280657,0.403742595892,-0.0154525872904,0.0799562466561,0.999999994287,7.68529923526e-05,-6.72038830054e-05,-3.16898906477e-05,1793243089436277760
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.59613707,714,678,659,634.59613707,879,787,805,651,631,652.40386293,0.404073555196,-0.0154594702757,0.0799588513264,0.999999994806,7.51527727548e-05,-6.23894593569e-05,-2.91074365242e-05,1793243089452944384
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.005044443,714,678,659,634.005044443,879,787,805,651,631,652.994955557,0.404414990364,-0.0154651468871,0.0799597378461,0.999999995043,7.5568149436e-05,-6.03351406211e-05,-2.37184273166e-05,1793243089469611008
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.574501884,714,678.574501884,659,634.574501884,879,787.574501884,805,651,631,653,0.40479964765,-0.0154763726562,0.0799575485191,0.999999995719,6.3617420381e-05,-6.12855327221e-05,-2.7547650699e-05,1793243089486277888
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.847327034,744.847327034,714,678.847327034,659,634.847327034,879,787.847327034,805,651,631.152672966,652.847327034,0.405191650472,-0.0154864564222,0.079954684526,0.999999996214,5.08541762713e-05,-6.35110319367e-05,-3.08433778628e-05,1793243089502944512
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.272682385,744.272682385,714,678.272682385,659,634.272682385,879,787.272682385,805,651,631.727317615,652.272682385,0.405602927232,-0.0154932517962,0.0799500290041,0.999999996427,3.61394240098e-05,-6.9189306954e-05,-3.24452730111e-05,1793243089519611392
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,744,714,678.302080017,659,634.302080017,879,787,805.302080017,651.302080017,631.697919983,652.302080017,0.406036261562,-0.0154986680607,0.0799437142829,0.999999995843,2.99882335381e-05,-7.99838629151e-05,-3.18951995055e-05,1793243089536278272
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,744,714,678.876948818,659,634.876948818,879,787,805.876948818,651.876948818,631.123051182,652.876948818,0.406489514695,-0.0155028389422,0.0799359012463,0.999999994519,3.15702361838e-05,-9.53985995537e-05,-2.94018234763e-05,1793243089552944896
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.465529304,744,714.465529304,679,659,635,879,787,805.534470696,651.534470696,631,652.534470696,0.406976178142,-0.0155031481572,0.0799348440592,0.999999994251,3.01098305838e-05,-9.83450837072e-05,-3.0315562159e-05,1793243089569611520
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.944009307,744.055990693,714.944009307,679,659,635,879,787.055990693,805,651,631,652,0.407474244467,-0.0155029625197,0.0799348038389,0.999999994157,2.73523680906e-05,-9.95063530455e-05,-3.2200988164e-05,1793243089586278144
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+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.726425656,714,679,660,635,879,787.726425656,805,651.273574344,631,652,0.413068707444,-0.0155107100981,0.0799201161694,0.999999992198,-4.84118434055e-06,-0.000115384441202,-4.7618879064e-05,1793243089736278016
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.140047761,714,679,660,635,879,787.140047761,805,651.859952239,631,652,0.413782720898,-0.0155130650481,0.0799133593752,0.999999992626,-8.0062344436e-06,-0.000110475776778,-4.97837313291e-05,1793243089752944896
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.442133664,714.442133664,679,659.557866336,635,879,787,805.442133664,651.557866336,631,652,0.41456264957,-0.0155157375486,0.0799324680086,0.999999995762,-8.73267431253e-06,-7.77002884667e-05,-4.86030499626e-05,1793243089769611520
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659.022880002,635,879,787,805.977119998,651,631,652,0.41536138599,-0.0155183855992,0.0799584514218,0.999999998131,-8.8965001635e-06,-3.87276799801e-05,-4.6467025487e-05,1793243089786278144
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659.600756792,635,879,787,805.399243208,651,631,652,0.416114644995,-0.0155180236274,0.0799543278759,0.999999996922,-1.39738852041e-05,-6.15329674787e-05,-4.66209825487e-05,1793243089802944768
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.822821561,714.822821561,679,660,635,879,787,804.822821561,651,631,652,0.416888829288,-0.0155177251516,0.0799523217117,0.999999996283,-1.68039944857e-05,-7.00614324243e-05,-4.73570517925e-05,1793243089819611392
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.249652169,714.249652169,679,660,635,879,787,804.249652169,651,631,652,0.417709781217,-0.0155175685884,0.0799550478621,0.999999997584,-1.46114784037e-05,-4.6681427952e-05,-4.93941323937e-05,1793243089836278016
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.666263334,744.333736666,714,679.333736666,660,634.666263334,879,787,804.333736666,651,631,652,0.418549640957,-0.0155198191602,0.0799701852643,0.999999998501,-1.85844092273e-05,-1.16034423651e-05,-5.01801846467e-05,1793243089852944640
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.074988374,744.925011626,714,679.925011626,660,634.074988374,879,787,804.925011626,651,631,652,0.419404091462,-0.0155239272727,0.0799949001955,0.999999997849,-2.73150992958e-05,3.25016536902e-05,-5.00008417455e-05,1793243089869611520
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.506255207,744.493744793,714,679.493744793,660,634.506255207,879,787.506255207,805,651,631,652,0.420251444801,-0.0155252310118,0.0799793763817,0.999999998164,-3.1406562713e-05,7.44145220715e-06,-5.1290588456e-05,1793243089886277888
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.914005113,744.085994887,714.085994887,679.085994887,660,635,879,787.914005113,805,651,631,652.085994887,0.421097834147,-0.0155263046968,0.0799628040538,0.999999997866,-3.35933550436e-05,-2.00449795688e-05,-5.23251209908e-05,1793243089902944768
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.334534726,744.665465274,714.665465274,679.665465274,660,635,879,787.334534726,805,651,631,652.665465274,0.42194460672,-0.0155283956269,0.0799737531676,0.999999998297,-2.87170380482e-05,-3.80613734716e-06,-5.06706656393e-05,1793243089919611392
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.241107608,745,714.758892392,680,660,634.758892392,879.241107608,787.241107608,805.241107608,651,631,652.758892392,0.422822493182,-0.0155291741642,0.0799900267857,0.999999998357,-2.33037310703e-05,1.83272615665e-05,-4.90556847123e-05,1793243089936278016
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.811521642,745,714.188478358,680,660,634.188478358,879.811521642,787.811521642,805.811521642,651,631,652.188478358,0.423742875327,-0.0155281602265,0.0800135726497,0.999999997548,-1.71569987842e-05,4.85114888106e-05,-4.74946179729e-05,1793243089952944896
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.606174416,660,634,879.606174416,787.606174416,805.606174416,651,631,652,0.424579126445,-0.0155265447742,0.0799887373022,0.999999998665,-1.35656641288e-05,-5.7402984824e-06,-4.95209272057e-05,1793243089969611264
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.018003056,660,634,879.018003056,787.018003056,805.018003056,651,631,652,0.425373860373,-0.0155246324853,0.0799400267035,0.999999993348,-1.12353720857e-05,-0.000101659728001,-5.33175410893e-05,1793243089986277888
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744.43545592,714,679.56454408,660,634.56454408,879.56454408,787,805,651,631,652,0.42630675477,-0.0155293585566,0.0799210908701,0.999999992976,-2.29298279874e-05,-0.000101467686419,-5.68017739989e-05,1793243090002944768
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.855830416,744.144169584,714,680,660,635,880,787.144169584,805.144169584,651,631,652.144169584,0.427225621682,-0.0155327330172,0.0799080847764,0.999999992472,-3.1368432144e-05,-0.000102730869699,-5.93193755586e-05,1793243090019611136
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.28433837,744.71566163,714,680,660,635,880,787.71566163,805.71566163,651,631,652.71566163,0.428089980394,-0.0155314799897,0.0799098679958,0.999999990964,-2.88440415208e-05,-0.000117302363259,-5.90010914753e-05,1793243090036277760
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.295568237,745,714,680,660,635,879.704431763,787.704431763,805.704431763,651,631,652.704431763,0.428968750601,-0.0155311900307,0.0799238638366,0.999999992272,-3.11457175637e-05,-0.000105239405175,-5.84016806326e-05,1793243090052944640
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.883806872,745,714,680,660,635,879.116193128,787.116193128,805.116193128,651,631,652.116193128,0.429861790957,-0.0155318536979,0.0799499525625,0.999999995384,-3.82261441836e-05,-6.68031266482e-05,-5.75238992429e-05,1793243090069611520
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.534331646,745,714,680,660,634.534331646,879.465668354,787,805,651,631,652.465668354,0.43079341651,-0.0155358680288,0.0799894766945,0.999999997739,-3.92968145495e-05,-4.86007342916e-06,-5.43611216766e-05,1793243090086278144
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,745,714,680,660,634.045763718,880,787,805,651,631,653,0.431726359546,-0.0155402146451,0.0800262972971,0.999999996545,-3.94695188499e-05,5.23690879589e-05,-5.10848106596e-05,1793243090102944512
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,745,714,680,660,634.623575316,880,787,805,651,631,653,0.432564199052,-0.0155388357623,0.0799932384279,0.99999999744,-4.64006876503e-05,-1.24750329279e-05,-5.3027569998e-05,1793243090119611392
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.200796244,745,714,680,660.200796244,635,880,787,805,651,631,653,0.433395719798,-0.0155369618736,0.079953411679,0.999999994234,-4.89181537515e-05,-7.69129596035e-05,-5.6766771645e-05,1793243090136278016
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.776913214,745,714,680,660.776913214,635,880,787,805,651,631,653,0.434215429903,-0.0155341627384,0.0799009346602,0.999999987145,-4.31856954936e-05,-0.000140591654595,-6.38638156678e-05,1793243090152944640
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.639237645,745,714,680.360762355,661,635,880,787,805.360762355,651,631,652.639237645,0.435054750692,-0.0155347515253,0.0799020141454,0.999999988205,-4.58491595082e-05,-0.000131459892512,-6.4848975997e-05,1793243090169611264
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.050502427,745,714,680.949497573,661,635,880,787,805.949497573,651,631,652.050502427,0.435906463809,-0.0155374812074,0.0799369370472,0.999999993719,-5.38181730521e-05,-7.63177596809e-05,-6.19719157538e-05,1793243090186277888
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745,714,680.470341096,660.470341096,634.470341096,880,787.529658904,806,651,631,652,0.436762368338,-0.0155419861364,0.0799700630457,0.999999995969,-5.78110526844e-05,-3.59372312607e-05,-5.85442949042e-05,1793243090202944256
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.108225214,745,714,680.108225214,660,634.108225214,880,787.891774786,805.891774786,651,631,652.108225214,0.437616991185,-0.0155463918568,0.080000714972,0.999999996603,-6.06448485378e-05,3.54114973502e-06,-5.57041214977e-05,1793243090219611136
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+185,3.083333333,POSE1_TO_POSE2_PRESS,765,744.741914297,714,681.258085703,660.258085703,634.741914297,880,787.258085703,805.258085703,651,631,652.741914297,0.439261742276,-0.0155518527343,0.0800210400021,0.999999995281,-6.15274950197e-05,4.97635502878e-05,-5.63571980402e-05,1793243090252944640
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,744.167761381,714,681.832238619,660.832238619,634.167761381,880,787.832238619,805.832238619,651,631,652.167761381,0.439997813174,-0.0155527598944,0.079994837641,0.99999999613,-6.54135963851e-05,9.23214052354e-06,-5.80956433284e-05,1793243090269611264
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,744.420095908,714,681.579904092,660.579904092,634.420095908,880,787.579904092,806,651,631,652.420095908,0.440658030464,-0.0155496061935,0.0799295388717,0.999999991557,-6.61873379837e-05,-9.25993180493e-05,-6.26928120714e-05,1793243090286277888
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.013188249,635,880,787.013188249,806,651,631,652.986811751,0.441288939608,-0.015544834071,0.0798498161539,0.999999972,-6.57737137271e-05,-0.000216785173396,-6.84024360964e-05,1793243090302944512
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.588289197,635,880,787.588289197,806,651,631,652.411710803,0.442005264069,-0.0155425302495,0.0798431790567,0.999999971881,-6.9511714554e-05,-0.000215249540183,-7.12298530171e-05,1793243090319611136
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.835678619,745,714.164321381,681,661,635,880,787.835678619,806,651,631,652,0.442737096104,-0.015542726913,0.0798607667475,0.999999978629,-7.04271285713e-05,-0.000180848031287,-7.12417711203e-05,1793243090336278016
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.25729978,745,714.74270022,681,661,635,880,787.25729978,806,651,631,652,0.443508004317,-0.0155492243049,0.0799393961227,0.999999993855,-6.42301808925e-05,-6.36309980211e-05,-6.41591876671e-05,1793243090352944640
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745,714.673138871,681,660.673138871,634.673138871,880,787,806,651,631,652,0.444209082571,-0.0155557785079,0.0799886674785,0.99999999581,-6.84772502705e-05,9.9327523157e-06,-5.9939880216e-05,1793243090369611264
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,745,714.084344482,681,660.084344482,634.084344482,880,787,806,651,631,652,0.44485420188,-0.0155623782365,0.0800144125027,0.999999993852,-8.10937324251e-05,4.85145236274e-05,-5.80150869541e-05,1793243090386277888
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.496028348,745,714,681.496028348,660.496028348,634,880.496028348,787,806,651,631,652,0.44543581718,-0.0155661894559,0.0800030792515,0.999999994447,-8.46658854551e-05,2.42010793827e-05,-5.79026189583e-05,1793243090402944512
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,681.925506675,661,634,880.925506675,787,806,651,631,652,0.446001579823,-0.0155692049685,0.0799841971078,0.999999994423,-8.71914305322e-05,-1.09715315746e-05,-5.85695033617e-05,1793243090419611136
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681.350400205,661,634,880.350400205,787,806,651,631,652,0.446532163822,-0.0155700063937,0.0799562468635,0.999999992567,-9.28460016791e-05,-4.84493849932e-05,-6.24374405624e-05,1793243090436277760
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681.22411036,661,634,880,787,806,651,631,652,0.44705001011,-0.0155711498347,0.0799280364413,0.999999989357,-9.89579339141e-05,-8.47110871777e-05,-6.57003940827e-05,1793243090452944640
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681.797691636,661,634,880,787,806,651,631,652,0.447547993545,-0.0155728266046,0.0798994203081,0.999999985002,-0.000105783060754,-0.000119076356444,-6.80199540497e-05,1793243090469611264
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681.615200625,660.615200625,634,880,786.615200625,806,651,631,652,0.448001357084,-0.0155763774796,0.0798733995304,0.999999978302,-0.00011371447284,-0.000159917792894,-6.99402723395e-05,1793243090486277888
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,745,714,681.866268426,660,633.866268426,880.133731574,785.866268426,806,651,630.866268426,652,0.449248515529,-0.0155904236324,0.0798155976314,0.999999956636,-0.000140874290343,-0.000247778382011,-7.40895639075e-05,1793243090536277760
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dd5ff6587dac3086cc51a400075063d8a15e958e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..39b1d02332b4e0d3e7a1296f2177fd282ce75f09
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8068efac5da103dd063c045f879968d2f42fa114ac6eccb565940ef71c6c2ace
+size 25848871
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4ed444a7df1d180d228c6367239b914e0802ab36
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_04/franka_data.csv
@@ -0,0 +1,409 @@
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+13,0.216666667,BASELINE,764.455508801,744,714.544491199,678,659,634.455508801,879,787,805,651,631,652.455508801,0.400972317519,-0.0153541513081,0.0798343992447,0.999999918816,0.000282431860436,-0.000285288114703,3.48122303864e-05,1793243094338717696
+14,0.233333333,BASELINE,764.123364854,744,715,678,659,634,879,787,805,651,631,652,0.400971965372,-0.0153528375722,0.0798339851402,0.999999918293,0.000283996514429,-0.000285587476463,3.46447528911e-05,1793243094355384576
+15,0.250000000,BASELINE,764.699279821,744,715,678,659,634,879,787,805,651,631,652,0.400972626513,-0.0153546811394,0.0798346070013,0.99999991898,0.000282631889338,-0.000284514055248,3.48129843143e-05,1793243094372051200
+16,0.266666667,BASELINE,764.719607338,744.280392662,714.719607338,678,659,634.280392662,878.719607338,787,805,651,631,652.280392662,0.400972163875,-0.0153555559204,0.0798343173191,0.99999991906,0.000281556926039,-0.000285306112864,3.47340013783e-05,1793243094388718080
+17,0.283333333,BASELINE,764.132814536,744.867185464,714.132814536,678,659,634.867185464,878.132814536,787,805,651,631,652.867185464,0.400970473224,-0.0153553720566,0.0798330315444,0.999999918474,0.000280798491843,-0.000288136679592,3.43848740066e-05,1793243094405384704
+18,0.300000000,BASELINE,764,744.551748067,714,678.448251933,659,635,878.448251933,787,805,651,631,653,0.400971012044,-0.015356048524,0.0798333629311,0.99999991867,0.000280895554549,-0.00028734994811,3.44608905115e-05,1793243094422051072
+19,0.316666667,BASELINE,764.027557816,744,714,678.972442184,659,635,879,787,805,651,631,652.972442184,0.400972030993,-0.0153568903243,0.0798340425079,0.999999919037,0.000281224207465,-0.000285725961394,3.46438430946e-05,1793243094438717696
+20,0.333333333,BASELINE,764.605161182,744,714,678.394838818,659,635,879,787,805,651,631,652.394838818,0.400969614525,-0.0153560083425,0.0798322286872,0.999999918255,0.000281179785316,-0.00028851328204,3.44786437238e-05,1793243094455384320
+21,0.350000000,BASELINE,764.817987535,744,714,678.182012465,659,635,879.182012465,787,805,651,631,652,0.40096894434,-0.0153550228621,0.0798316696585,0.999999917812,0.000281910725552,-0.000289350343906,3.43229237601e-05,1793243094472050944
+22,0.366666667,BASELINE,764.242761103,744,714,678.757238897,659,635,879.757238897,787,805,651,631,652,0.400972046769,-0.0153538137869,0.079833821443,0.999999918107,0.000284316734143,-0.000285974128092,3.41876828287e-05,1793243094488717824
+23,0.383333333,BASELINE,764,744,714,679,659,635,880,787,805,651,631,652,0.400973165789,-0.0153544631126,0.0798350293042,0.999999918686,0.000284235201684,-0.000283969318755,3.46350613237e-05,1793243094505384704
+24,0.400000000,BASELINE,764,744,714,679,659,635,880,787,805,651,631,652,0.400972836554,-0.0153564694144,0.0798355479271,0.999999919478,0.000282337304558,-0.000282965889375,3.55078597137e-05,1793243094522051584
+25,0.416666667,BASELINE,764.510210919,744,714,679,659,635,879.489789081,787,805,651.510210919,631,652.510210919,0.400972962743,-0.0153562490939,0.0798352067786,0.999999919354,0.00028271450269,-0.000283055606954,3.52690100168e-05,1793243094538718208
+26,0.433333333,BASELINE,765,744.088697759,714,678.911302241,659,635,879,787.088697759,805,651.911302241,631,652.911302241,0.400973045069,-0.0153555812854,0.0798347872977,0.999999919035,0.000283487085288,-0.000283456845905,3.48765829399e-05,1793243094555385088
+27,0.450000000,BASELINE,765,744.661595888,714,678.338404112,659,635,879,787.661595888,805,651.338404112,631,652.338404112,0.400972550268,-0.0153541216192,0.0798345776955,0.999999918329,0.000284731151472,-0.000284748140795,3.44700329264e-05,1793243094572051456
+28,0.466666667,BASELINE,764.76324043,745,714,678,659,635,879,787.76324043,804.76324043,651,631,652,0.400972265926,-0.01535346858,0.079834692382,0.999999918056,0.000285242148783,-0.000285213743603,3.43201518821e-05,1793243094588717824
+29,0.483333333,BASELINE,764.184807308,745,714,678,659,635,879,787.184807308,804.184807308,651,631,652,0.400972285302,-0.0153539796043,0.0798352750573,0.999999918411,0.000284695236313,-0.000284487769803,3.45406761582e-05,1793243094605384448
+30,0.500000000,BASELINE,764.401825605,744.598174395,714,678.401825605,659,635,879,787,804.401825605,651,631.401825605,652.401825605,0.400972519748,-0.0153538497274,0.079835557554,0.999999918757,0.000284216764376,-0.000283755039181,3.44964433215e-05,1793243094622051328
+31,0.516666667,BASELINE,764.992308302,744.007691698,714,678.992308302,659,635,879,787,804.992308302,651,631.992308302,652.992308302,0.400972855168,-0.0153534189474,0.0798356991169,0.999999919098,0.00028377042528,-0.000283019136254,3.43279070334e-05,1793243094638718208
+32,0.533333333,BASELINE,765,744,714,679,659,635,879,787,805,651.57191202,631.42808798,652.42808798,0.400972129307,-0.0153532909943,0.0798347680584,0.999999918238,0.000285281082064,-0.000284535053327,3.43172421818e-05,1793243094655385088
+33,0.550000000,BASELINE,764.850238561,744,714,679,659,635,879,787,804.850238561,651.850238561,631,652,0.400971649248,-0.0153533391752,0.0798341873545,0.999999917707,0.000286139683371,-0.000285538058445,3.43292145134e-05,1793243094672051456
+34,0.566666667,BASELINE,764.276944434,744,714,679,659,635,879,787,804.276944434,651.276944434,631,652,0.400971903942,-0.0153538741689,0.0798346375059,0.999999918158,0.000285081195282,-0.000285006474641,3.43993134062e-05,1793243094688718080
+35,0.583333333,BASELINE,764.304732699,744.304732699,714,678.695267301,659,635,879,787,804.304732699,651,631,652,0.400972000181,-0.0153549092543,0.0798348519967,0.999999918791,0.000283104122995,-0.000284743486282,3.45102688554e-05,1793243094705384704
+36,0.600000000,BASELINE,764.894243978,744.894243978,714,678.105756022,659,635,879,787,804.894243978,651,631,652,0.400971948341,-0.0153564116852,0.079834846258,0.999999919588,0.00028026861595,-0.00028473150548,3.4659405552e-05,1793243094722051072
+37,0.616666667,BASELINE,765,744.524621852,714.475378148,678.475378148,659,635,878.524621852,787,805,651,631,652,0.400971456318,-0.0153550789299,0.0798345804879,0.9999999186,0.000283317844267,-0.000285205430057,3.44871881628e-05,1793243094738717952
+38,0.633333333,BASELINE,764.945647833,744,714.945647833,679,659,635,878.054352167,787,804.945647833,651,631,652,0.400971029542,-0.0153532882544,0.079834342198,0.999999917341,0.000287306360759,-0.000285653680698,3.42792125344e-05,1793243094755384576
+39,0.650000000,BASELINE,764.369827956,744,714.369827956,679,659,635,878.630172044,787,804.369827956,651,631,652,0.400972152033,-0.0153530508197,0.0798349129612,0.999999917381,0.000287963744478,-0.000284836451468,3.44021852127e-05,1793243094772051456
+40,0.666666667,BASELINE,764,744,714,679,659,635,878.793961652,787,804.206038348,651,631,652,0.400973180512,-0.0153531755128,0.0798357389597,0.999999917769,0.000287764354172,-0.000283657558562,3.45257305852e-05,1793243094788718080
+41,0.683333333,BASELINE,764,744,714,679,659,635,878.21801203,787,804.78198797,651,631,652,0.400974040207,-0.0153539503528,0.0798370231954,0.99999991878,0.000286026753228,-0.000281829352256,3.46503041373e-05,1793243094805385216
+42,0.700000000,BASELINE,764.367086527,744,714,678.632913473,659.367086527,635,878.367086527,787,805,651,631,652.367086527,0.400973744748,-0.0153550636564,0.0798366561961,0.99999991912,0.000284619891411,-0.000282029291993,3.47869269417e-05,1793243094822051584
+43,0.716666667,BASELINE,764.957757482,744,714,678.042242518,659.957757482,635,878.957757482,787,805,651,631,652.957757482,0.400972745709,-0.0153563831107,0.0798352834654,0.999999919052,0.000283414475673,-0.000283464531482,3.49308886791e-05,1793243094838717696
+44,0.733333333,BASELINE,765,744,714,678.537195977,659.462804023,635,879,787,805,651,631,653,0.400973801209,-0.0153561294687,0.0798362386054,0.999999919736,0.000282329104196,-0.000282169610991,3.46348370727e-05,1793243094855384320
+45,0.750000000,BASELINE,764.884877522,744,714,679,659,635,879,787.115122478,805,651,631,652.884877522,0.400974294789,-0.0153557246486,0.0798368043913,0.999999920125,0.000281585674945,-0.000281565246736,3.43627045058e-05,1793243094872051200
+46,0.766666667,BASELINE,764.309536912,744,714,679,659,635,879,787.690463088,805,651,631,652.309536912,0.400971909391,-0.0153551998561,0.0798350968897,0.999999919113,0.000282172243975,-0.000284562139766,3.43216792276e-05,1793243094888717824
+47,0.783333333,BASELINE,764,744,714,678.734902122,659,634.734902122,879,787.734902122,805,651,631,652.265097878,0.400971557536,-0.0153547024987,0.0798347462919,0.999999918674,0.000283362576809,-0.000284901425466,3.44788441241e-05,1793243094905384448
+48,0.800000000,BASELINE,764,744,714,678.161089205,659,634.161089205,879,787.161089205,805,651,631,652.838910795,0.400973573806,-0.0153542370903,0.0798359758524,0.999999918904,0.000285256012164,-0.000282145842015,3.48668078726e-05,1793243094922051328
+49,0.816666667,BASELINE,764.427411355,744,714,678,659,634.427411355,878.572588645,787.427411355,805,651.427411355,631,653,0.400973061452,-0.0153553174193,0.0798356373628,0.999999919262,0.000283061180015,-0.000283118402765,3.45742810148e-05,1793243094938717952
+50,0.833333333,BASELINE,764.978996373,744,714,678.021003627,659,635,878.021003627,787.978996373,805,651.978996373,631,652.978996373,0.400971642657,-0.0153568977351,0.0798347334301,0.999999919629,0.000279482807251,-0.000285430913494,3.40551889837e-05,1793243094955384320
+51,0.850000000,BASELINE,764.40235986,744,714,678.59764014,659,635,878.59764014,787.40235986,805,651.40235986,631,652.40235986,0.400972353375,-0.0153557446413,0.079835061696,0.999999919251,0.000281516443989,-0.000284696623779,3.45687463298e-05,1793243094972051200
+52,0.866666667,BASELINE,764,744,714,678.825708862,659,635,879,787,805,651,631,652,0.400972613133,-0.0153548915779,0.0798353352915,0.999999918995,0.000282856661663,-0.000284236729517,3.48024762622e-05,1793243094988717824
+53,0.883333333,BASELINE,764,744,714,678.249024458,659,635,879,787,805,651,631,652,0.400971831739,-0.0153547312073,0.0798354826674,0.999999919034,0.000282595953525,-0.000284410343603,3.43901568707e-05,1793243095005384704
+54,0.900000000,BASELINE,764,744,714.332494354,678,659,635,878.667505646,787,805,651.332494354,631,652,0.40097157886,-0.0153551879723,0.0798353064609,0.99999991907,0.000282212068666,-0.000284668952122,3.43460521614e-05,1793243095022051328
+55,0.916666667,BASELINE,764,744,714.917687331,678,659,635,878.082312669,787,805,651.917687331,631,652,0.400971727656,-0.0153561137657,0.079834884329,0.999999919105,0.00028173456843,-0.000284992157145,3.45817938566e-05,1793243095038717696
+56,0.933333333,BASELINE,764.501004836,744,715,678.501004836,659,635,878.501004836,787,805,651.498995164,631,652,0.400971749651,-0.0153552988608,0.0798355478271,0.999999919037,0.00028275276166,-0.000284222640138,3.45507851297e-05,1793243095055384576
+57,0.950000000,BASELINE,764.917110518,744,714.917110518,678.917110518,659,635,879,787.082889482,805,651,631,652,0.400972026197,-0.0153544146718,0.0798362844267,0.999999919065,0.0002835901481,-0.000283302314128,3.44585649805e-05,1793243095072051456
+58,0.966666667,BASELINE,764.34191307,744,714.34191307,678.34191307,659,635,879,787.65808693,805,651,631,652,0.400973937871,-0.0153548112273,0.0798363997886,0.999999919763,0.000281899603692,-0.000282548589025,3.42621151746e-05,1793243095088718080
+59,0.983333333,BASELINE,764,744,714,678.232505058,659,635,879,787.767494942,804.767494942,651,631,652,0.400974716546,-0.0153555001722,0.0798363839998,0.999999920007,0.000281367455767,-0.000282204121308,3.43266344512e-05,1793243095105384704
+60,1.000000000,BASELINE,764,744,714,678.805781064,659,635,879,787.194218936,804.194218936,651,631,652,0.400973834641,-0.0153566176579,0.0798361759899,0.999999919591,0.000282533110943,-0.000282459481406,3.47736429315e-05,1793243095122052096
+61,1.016666667,BASELINE,764.390100169,744.390100169,714,679,659,635,879,787,804.390100169,651,631,652.390100169,0.400972791219,-0.0153568694561,0.0798358272002,0.999999919913,0.000281298136723,-0.000282565355613,3.46787123981e-05,1793243095138718720
+62,1.033333333,BASELINE,764.980077435,744.980077435,714,679,659,635,879,787,804.980077435,651,631,652.980077435,0.400971665041,-0.0153566776987,0.0798354062787,0.999999920608,0.00027883314289,-0.000282594637152,3.43061064998e-05,1793243095155385344
+63,1.050000000,BASELINE,764.439636842,745,714,678.439636842,659,635,879,787,804.439636842,651,631,653,0.400971586637,-0.0153557149653,0.0798356060284,0.999999919985,0.000280394440382,-0.000283218603651,3.45750276545e-05,1793243095172051456
+64,1.066666667,BASELINE,764,744.860627008,714.139372992,678.139372992,659,635,879,787,804.139372992,651,631,653,0.400971821832,-0.0153551182604,0.0798358366037,0.999999919488,0.000281784857443,-0.000283572916037,3.47655184509e-05,1793243095188718080
+65,1.083333333,BASELINE,764,744.284553702,714.715446298,678.715446298,659,635,879,787,804.715446298,651,631,653,0.400972924897,-0.0153557528657,0.0798360957989,0.999999919533,0.00028219895249,-0.000283017194589,3.46400113831e-05,1793243095205384704
+66,1.100000000,BASELINE,764.29148765,744.29148765,714.70851235,679,659,635,879,787,805,651,631,652.70851235,0.400973600565,-0.015355320454,0.0798362250154,0.999999919149,0.00028407433763,-0.000282508863185,3.45283544941e-05,1793243095222051328
+67,1.116666667,BASELINE,764.867497778,744.867497778,714.132502222,679,659,635,879,787,805,651,631,652.132502222,0.400973859051,-0.0153538465219,0.0798362273591,0.99999991834,0.000287376094934,-0.000282046789456,3.44302168372e-05,1793243095238717952
+68,1.133333333,BASELINE,765,744.54302301,714,679,659,635,879,787,805,651,631,652.45697699,0.400972716728,-0.0153538393535,0.0798353978247,0.999999918567,0.000285747639676,-0.00028290623937,3.43207953043e-05,1793243095255384320
+69,1.150000000,BASELINE,765,744.04902372,714,678.95097628,659,635,878.95097628,787,805,651,631,652.95097628,0.400971347611,-0.0153542506291,0.0798344770001,0.999999919038,0.00028300086711,-0.000284015753055,3.42080593941e-05,1793243095272051200
+70,1.166666667,BASELINE,765,744.625402188,714,678.374597812,659,635,878.374597812,787,805,651,631,652.374597812,0.400972040759,-0.0153544492813,0.079835247643,0.999999918866,0.000284068908146,-0.000283568127064,3.40959344629e-05,1793243095288717824
+71,1.183333333,BASELINE,765,744.799232243,714,678.200767757,659,635,878.200767757,787,805,651,631,652,0.400972315015,-0.015354808941,0.0798355349732,0.999999918822,0.000284113970058,-0.000283667819618,3.41599773323e-05,1793243095305384448
+72,1.200000000,BASELINE,765,744.225746985,714,678.774253015,659,635,878.774253015,787,805,651,631,652,0.400971811617,-0.0153554675051,0.0798349250526,0.999999919017,0.000282259911346,-0.0002847835876,3.45510688255e-05,1793243095322051072
+73,1.216666667,BASELINE,764.640958672,744.359041328,714,678.640958672,659,635,878.640958672,787,805,651,631,652,0.40097212954,-0.0153554247328,0.0798351384943,0.999999919095,0.00028253441054,-0.000284225521983,3.46492037845e-05,1793243095338717696
+74,1.233333333,BASELINE,764.048832603,744.951167397,714,678.048832603,659,635,878.048832603,787,805,651,631,652,0.400972980655,-0.0153549266626,0.0798358864516,0.999999919095,0.000284190740644,-0.000282580826324,3.45571553285e-05,1793243095355384320
+75,1.250000000,BASELINE,764,744.470669101,714,678,659,635,878,787.529330899,805,651,631,652,0.400973445128,-0.0153557154154,0.0798361256423,0.999999919298,0.000283830532097,-0.000282198585867,3.47712749944e-05,1793243095372050944
+76,1.266666667,BASELINE,764,744,714.106030504,678,659,635,878.106030504,787.893969496,805,651,631,652,0.400973605862,-0.0153562138428,0.0798361315999,0.999999919286,0.000283796254898,-0.00028225608907,3.49290566711e-05,1793243095388717824
+77,1.283333333,BASELINE,764,744,714.681804574,678,659,635,878.681804574,787.318195426,805,651,631,652,0.400972574913,-0.0153549136336,0.0798353068652,0.999999918237,0.000286008934368,-0.000283759060156,3.47153286242e-05,1793243095405384448
+78,1.300000000,BASELINE,764.257243777,744.257243777,714.742756223,678.257243777,659.257243777,634.742756223,879,787,805,651.257243777,631.257243777,652,0.400971797079,-0.0153551916603,0.0798346651817,0.999999917979,0.000285918054447,-0.000284763870727,3.46668625305e-05,1793243095422051584
+79,1.316666667,BASELINE,764.832269266,744.832269266,714.167730734,678.832269266,659.832269266,634.167730734,879,787,805,651.832269266,631.832269266,652,0.400971331925,-0.0153574193338,0.0798342496275,0.999999918698,0.000282981511562,-0.000285153287095,3.48225499874e-05,1793243095438719232
+80,1.333333333,BASELINE,765,745,714,679,659.579539486,634.420460514,879,787,804.579539486,651.579539486,631.579539486,652,0.400972469705,-0.0153571597984,0.0798348142681,0.999999919243,0.000282271945698,-0.000283938227027,3.48750743427e-05,1793243095455385600
+81,1.350000000,BASELINE,765,745,714,679,659,634.986335804,879,787,804,651,631,652.013664196,0.400974192051,-0.0153558927208,0.0798357584362,0.999999919693,0.000282503052258,-0.000282116648547,3.48757916955e-05,1793243095472051456
+82,1.366666667,BASELINE,765,745,714,679,659,634.409994648,879,787,804,651,631,652.590005352,0.400972803367,-0.0153553146432,0.0798357088301,0.99999991925,0.000283704595505,-0.000282528275502,3.44926091162e-05,1793243095488717824
+83,1.383333333,BASELINE,764.834401603,744.834401603,714,679,659,634.165598397,879,787,804.165598397,651,631,653,0.400971750931,-0.0153551023568,0.079835520326,0.999999919036,0.000284015101656,-0.000283012049941,3.41775651478e-05,1793243095505384448
+84,1.400000000,BASELINE,764.260652312,744.260652312,714,679,659,634.739347688,879,787,804.739347688,651,631,653,0.400971527244,-0.015355791637,0.0798349894797,0.999999919387,0.000282129466104,-0.000283673646598,3.40304625492e-05,1793243095522051072
+85,1.416666667,BASELINE,764.321057824,744.321057824,714,678.678942176,659,635,879,787,805,651,631,653,0.400972383751,-0.0153561622788,0.079835560677,0.999999919892,0.000281070653539,-0.000282954079059,3.39555598715e-05,1793243095538717952
+86,1.433333333,BASELINE,764.909395306,744.909395306,714,678.090604694,659,635,879,787,805,651,631,653,0.400974139516,-0.0153562676552,0.0798370493221,0.999999920523,0.000280700168698,-0.000281084696507,3.39407634163e-05,1793243095555384576
+87,1.450000000,BASELINE,764.508217711,744.508217711,714,678.491782289,659.491782289,635,879,787.491782289,805,651,631,653,0.400972674032,-0.0153553319447,0.0798361852165,0.999999919646,0.00028274172945,-0.000282093121782,3.4470427867e-05,1793243095572051200
+88,1.466666667,BASELINE,764,744,714,679,659.927544675,634.927544675,879,787.927544675,804.927544675,651,631,652.927544675,0.40097102962,-0.015354481578,0.0798351315243,0.999999918791,0.000284537607887,-0.000283255073496,3.49782614168e-05,1793243095588717824
+89,1.483333333,BASELINE,764,744,714,679,659.351257658,634.351257658,879,787.351257658,804.351257658,651,631,652.351257658,0.400972218501,-0.0153555424868,0.0798357376499,0.999999920041,0.00028157188917,-0.000281841833003,3.46451039135e-05,1793243095605384704
+90,1.500000000,BASELINE,764,744,714,678.77581452,659,634.22418548,878.77581452,787,804,651.22418548,631,652,0.400972833513,-0.015355814641,0.0798359310091,0.999999920483,0.000280535493487,-0.000281337175355,3.43959595245e-05,1793243095622051072
+91,1.516666667,BASELINE,764,744,714,678.201688681,659,634.798311319,878.201688681,787,804,651.798311319,631,652,0.400972552749,-0.0153548555957,0.0798354800642,0.999999919674,0.000282510657956,-0.00028225076227,3.42779547012e-05,1793243095638717696
+92,1.533333333,BASELINE,764,744,714.382838932,678,659,635,878.382838932,787,804.382838932,651.617161068,631,652.382838932,0.400972490457,-0.0153547388908,0.0798351743347,0.999999919293,0.000283248173828,-0.00028287189603,3.41702375834e-05,1793243095655384576
+93,1.550000000,BASELINE,764,744,714.97299955,678,659,635,878.97299955,787,804.97299955,651.02700045,631,652.97299955,0.400972546475,-0.015355078345,0.0798349472449,0.999999919147,0.0002833154566,-0.00028333465549,3.40680916344e-05,1793243095672051456
+94,1.566666667,BASELINE,764,744,714.44729204,678,659.55270796,635,879,787,805.55270796,651,631,652.44729204,0.40097332062,-0.015355099314,0.0798361432823,0.999999919572,0.000283333020858,-0.000281816240999,3.40298653198e-05,1793243095688718080
+95,1.583333333,BASELINE,764,744,714.131378859,678.131378859,659.868621141,635,879,787,805.868621141,651,631,652.131378859,0.40097395255,-0.0153552582559,0.0798371223128,0.999999919873,0.000283558760018,-0.00028050519705,3.41340859026e-05,1793243095705384704
+96,1.600000000,BASELINE,764,744,714.708231158,678.708231158,659.291768842,635,879,787,805.291768842,651,631,652.708231158,0.40097398552,-0.0153559368053,0.0798371341713,0.999999919666,0.000284498451799,-0.000280219370997,3.47109176231e-05,1793243095722051072
+97,1.616666667,BASELINE,764.283770201,744,714.716229799,679,659,635,879,787,805,651,631,652.716229799,0.400973859719,-0.0153564906675,0.0798370752448,0.999999919697,0.000284289141042,-0.000280294792577,3.49317253947e-05,1793243095738717952
+98,1.633333333,BASELINE,764.857965155,744,714.142034845,679,659,635,879,787,805,651,631,652.142034845,0.400973571424,-0.0153569169185,0.0798369438735,0.99999991997,0.000282903883008,-0.000280739933243,3.47881602438e-05,1793243095755384576
+99,1.650000000,BASELINE,765,744,714,679,659,635,879,787.44453992,805,651,631,652,0.400973094285,-0.0153562878816,0.0798369153158,0.999999919681,0.000283589509651,-0.000281080304307,3.47588092391e-05,1793243095772051200
+100,1.666666667,BASELINE,765,744,714,679,659,634.965654604,879,787.965654604,805,651,631,652,0.400972638917,-0.0153553514278,0.0798369328131,0.999999919253,0.000284862196065,-0.00028131625507,3.47538059468e-05,1793243095788717824
+101,1.683333333,BASELINE,765,744,714,679,659,634.389080025,879,787.389080025,805,651,631,652,0.400973507156,-0.0153550372677,0.0798371439278,0.999999919563,0.000284657761868,-0.000280447292216,3.45405618871e-05,1793243095805384448
+102,1.700000000,BASELINE,765,744,714,679,659,634.18728217,879,787,805,651,631,652,0.400974429634,-0.0153552514934,0.0798373475052,0.999999919991,0.000283994657287,-0.000279610097753,3.43957692144e-05,1793243095822051072
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+104,1.733333333,BASELINE,764.65290462,744,714,678.65290462,659,635,879,787,805,651,631,652,0.400974919901,-0.0153566414306,0.0798367752274,0.999999920254,0.00028283995571,-0.000279847422909,3.43308787909e-05,1793243095855384320
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+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,714,678,659,635,879,788,804,651,631,652,0.400971668786,-0.0153535454606,0.0798360486529,0.999999919237,0.000283755839343,-0.000282608940561,3.37736774888e-05,1793243095902820864
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.578086528,744.421913472,714,678,659.578086528,635,879,787.421913472,804.578086528,651,631,652,0.400974,-0.0153544181817,0.0798368730376,0.999999919971,0.000283506644654,-0.00028023739444,3.39075937323e-05,1793243095919487744
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,714,678,659.843942415,635,878.843942415,787,805.156057585,651,631,652,0.400975331936,-0.0153552980401,0.0798373719581,0.999999920404,0.000283333147351,-0.000278840387372,3.40799747139e-05,1793243095936154624
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+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744,714,678,659,635,878.318377135,787,805.363245731,651,631,652,0.400973748905,-0.0153564380165,0.0798368695846,0.999999920066,0.000282920750718,-0.000280425481309,3.44439721942e-05,1793243095969488640
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744,714,678,659,635,878.909024609,787,804.181950781,651,631,652,0.400974519031,-0.0153561158828,0.079836968467,0.999999920422,0.000282071645168,-0.000280016691621,3.43703897517e-05,1793243095986154752
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.491133987,714,678,659,634.508866013,879,787.491133987,804.491133987,651,631,652,0.400973838652,-0.0153562802454,0.0798367717072,0.999999920522,0.000281062459988,-0.000280684178486,3.43105591953e-05,1793243096002821632
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.929264187,744.929264187,714,678,659.070735813,634.070735813,878.929264187,787.929264187,805,651,631,652,0.400973202564,-0.0153565374027,0.0798367161061,0.999999920616,0.000280239847242,-0.00028117158745,3.42887245198e-05,1793243096019488256
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.356427134,744.356427134,714,678,659.643572866,634.643572866,878.356427134,787.356427134,805,651,631,652,0.400974755467,-0.0153568245017,0.0798380445684,0.999999921021,0.000280948458234,-0.000278989796456,3.45188218271e-05,1793243096036154624
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.222350352,744,714,678.222350352,659.777649648,635,878.222350352,787.222350352,805,651,631,652,0.400977081197,-0.0153567873276,0.0798393980796,0.999999921427,0.000281322162177,-0.000277135552192,3.46271744014e-05,1793243096052821248
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.810911672,744,714,678.810911672,659.189088328,635,878.810911672,787.810911672,805,651,631,652,0.400980679775,-0.0153562160759,0.0798407928461,0.999999921844,0.000281144274235,-0.000275820777519,3.45350134118e-05,1793243096069488128
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.605239251,744,714.394760749,678.605239251,659,635,879,787.605239251,805,651,631,652,0.400996383572,-0.0153565208191,0.0798474627556,0.999999924969,0.000281195186675,-0.000264139403857,3.49612277899e-05,1793243096086154752
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.023620637,744,714.976379363,678.023620637,659,635,879,787.023620637,805,651,631,652,0.401017817309,-0.0153572402098,0.0798566296257,0.999999929144,0.000281354400459,-0.000247551056479,3.56328123272e-05,1793243096102821120
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.550329476,744,714.449670524,678.550329476,659,634.449670524,879,787,805,651,631,652,0.401066209283,-0.0153584718743,0.0798746962233,0.999999936078,0.00028392619798,-0.000214200018254,3.67074510646e-05,1793243096119488000
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.875612353,744,714,679,659.124387647,634.124387647,879.124387647,787.124387647,805,651.124387647,631,652,0.401120170893,-0.0153606752727,0.0798930346136,0.999999942516,0.000284699042259,-0.000180268064542,3.76659687745e-05,1793243096136154624
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.29998441,744,714,679,659.70001559,634.70001559,879.70001559,787.70001559,805,651.70001559,631,652,0.401190197638,-0.015366325158,0.0799109923115,0.999999949695,0.000278575350435,-0.000146802865425,3.81413407232e-05,1793243096152821248
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+123,2.050000000,POSE1_TO_POSE2_PRESS,764,744,714.874432021,678.125567979,659.125567979,634.125567979,878.251135958,787.125567979,805,651.125567979,631,652.874432021,0.40133870655,-0.0153710553748,0.0799328065354,0.999999954229,0.000276956315404,-0.000116270958693,3.63137653577e-05,1793243096186154496
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.455611541,744,714.544388459,678,659,634.455611541,878,787,805,651,631,652.544388459,0.401428375863,-0.0153735736804,0.079937525313,0.999999954941,0.000278353968405,-0.000107182152775,3.3910620268e-05,1793243096202821120
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744,714,678,659,634.966093695,878.033906305,787,805,651,631,652,0.40152306122,-0.0153765789959,0.0799411197169,0.999999955635,0.000279423207884,-9.83865322715e-05,3.11744763894e-05,1793243096219487744
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744,714,678,659,634.390340072,878.609659928,787,805,651,631,652,0.401637907371,-0.015381719463,0.0799427042288,0.999999957599,0.000273802984694,-9.52938993996e-05,2.74247419509e-05,1793243096236154368
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+133,2.216666667,POSE1_TO_POSE2_PRESS,764.333185291,744.333185291,714,678,659.333185291,634,879,787,804.333185291,651,630.333185291,652,0.402845470789,-0.0154241941466,0.0799491249935,0.999999987747,0.000132386726034,-8.25903489155e-05,-1.25700588887e-05,1793243096352821248
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,744,714,678,659,634,879,787,804.248585532,651,630.248585532,652,0.403089844394,-0.0154336512188,0.0799490555881,0.999999993153,8.14692329554e-05,-8.16184522958e-05,-1.98945818332e-05,1793243096369487872
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,744,714,678,659,634,879,787,804.840812005,651,630.840812005,652,0.403358449992,-0.0154421889666,0.0799516248597,0.999999993754,7.6456142136e-05,-7.6902045138e-05,-2.70543124418e-05,1793243096386154752
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,744,714.420430144,678.420430144,659,634.420430144,879,787,805,651,631,652,0.403664433728,-0.0154517307516,0.0799552900273,0.999999993239,8.78472868419e-05,-7.20719639288e-05,-2.47187586202e-05,1793243096402821376
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,744,714.995413359,678.995413359,659,634.995413359,879,787,805,651,631,652,0.403984157925,-0.0154616416275,0.0799593580538,0.999999992023,0.000105268743673,-6.72000954241e-05,-1.88926714763e-05,1793243096419488000
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,744,715,678.426652337,659,635,879,787,805,651,631,652,0.404332408645,-0.0154644464879,0.0799569612647,0.99999999374,8.6799128026e-05,-6.67752762354e-05,-2.29380055982e-05,1793243096436154624
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.150202096,744,714.849797904,678.150202096,659,634.849797904,879,787,805,651,631,652,0.404693544574,-0.0154691263493,0.079955495412,0.99999999509,7.01973324448e-05,-6.4581084798e-05,-2.68484594089e-05,1793243096452821248
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.723944494,744,714.276055506,678.723944494,659,634.276055506,879,787,805,651,631,652,0.405090367365,-0.0154792544681,0.0799568012032,0.999999996123,5.96762345112e-05,-5.72967781839e-05,-3.01547476859e-05,1793243096469487616
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744,714,678.69094392,659,634.30905608,879,787,805,651,631,652.30905608,0.40549670367,-0.0154871428495,0.0799534154345,0.999999996369,4.84293388625e-05,-6.20176970311e-05,-3.27200155086e-05,1793243096486154240
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744,714,678.095289216,659,634.904710784,879,787,805,651,631,652.904710784,0.405911862239,-0.0154929542444,0.0799456790169,0.999999995703,3.65093841219e-05,-7.7871484798e-05,-3.45981092564e-05,1793243096502820864
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.484702436,714,678,659,635,879,787,805,651,631,652.515297564,0.406376614015,-0.0154936965426,0.0799387837766,0.999999994623,3.98163336785e-05,-9.01612785487e-05,-3.22275971198e-05,1793243096519487488
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.938456992,744.938456992,714,678.061543008,659,635,879,787.061543008,805,651,631,652,0.406853157765,-0.0154942158102,0.0799326149951,0.999999993502,4.38610504514e-05,-0.000100949135486,-2.9680399277e-05,1793243096536154368
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.363020756,744.363020756,714,678.636979244,659,635,879,787.636979244,805,651,631,652,0.407349303609,-0.0155009335952,0.079931174611,0.999999993531,2.98524779882e-05,-0.000104863052294,-3.24139628205e-05,1793243096552821248
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,744.216544601,714,679,659,635,879,787.783455399,804.783455399,651,631,652,0.40785425795,-0.0155069551085,0.0799276233796,0.999999992904,1.91513287382e-05,-0.000112372882097,-3.46180641574e-05,1793243096569488128
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,744.80316664,714,679,659,635,879,787.19683336,804.19683336,651,631,652,0.408374266094,-0.0155117866843,0.0799204646834,0.999999991314,1.4102608093e-05,-0.000126028172096,-3.59173077829e-05,1793243096586154752
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,635,879,787,804.385930126,651,631,652.385930126,0.408961913004,-0.0155150218331,0.0799298947045,0.999999992953,6.85426534207e-06,-0.000112925112686,-3.59860490617e-05,1793243096602821376
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,635,879,787,804.966745124,651,631,652.966745124,0.409583715751,-0.0155174508267,0.079947701605,0.999999995646,-1.50483032727e-06,-8.63097687522e-05,-3.54334179764e-05,1793243096619488000
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.539470413,744.460529587,714.539470413,679,659,634.460529587,879,787,805,651,631,652.460529587,0.410262653738,-0.0155159273528,0.0799785610569,0.999999998868,6.15401930081e-06,-3.24288626595e-05,-3.42853343474e-05,1793243096636154368
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.112418249,715,679,659,634.112418249,879,787,805,651.112418249,631,652,0.410934874955,-0.0155140430918,0.0800003754625,0.999999999338,1.22918463443e-05,4.7317574033e-06,-3.39249251974e-05,1793243096652820992
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.688308998,715,679,659,634.688308998,879,787,805,651.688308998,631,652,0.411565098535,-0.0155116610401,0.0799816312014,0.99999999871,8.14819801459e-06,-3.38681462608e-05,-3.69609960288e-05,1793243096669487872
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.726461677,714.726461677,679,659.273538323,634.726461677,879,787,805,651.726461677,631,652,0.412208487684,-0.0155110258835,0.0799551830184,0.99999999631,1.71200837651e-06,-7.53048365648e-05,-4.13033596987e-05,1793243096686154752
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.13021504,714.13021504,679,659.86978496,634.13021504,879,787,805,651.13021504,631,652,0.412867409069,-0.0155124516355,0.0799196460895,0.999999991649,-7.42881978751e-06,-0.000120088246229,-4.71868297859e-05,1793243096702821632
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.549299496,744,714,679,659.549299496,634.450700504,879,787,805,651,631,652,0.413595986714,-0.015515333564,0.0799144028636,0.999999991716,-1.00994431192e-05,-0.000118663131571,-4.88333436778e-05,1793243096719488000
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,744.027235054,714.027235054,679,659,634.972764946,879,787,805,651,631,652,0.414346567332,-0.0155184803925,0.0799187858011,0.999999993434,-1.09044962784e-05,-0.000102926360779,-4.91830828041e-05,1793243096736154880
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,744.601814981,714.601814981,679,659,634.398185019,879,787,805,651,631,652,0.415148198372,-0.0155187739673,0.0799465160177,0.999999997084,-1.05496628011e-05,-5.90452634644e-05,-4.72635337141e-05,1793243096752821248
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,715,679.180508379,659.180508379,634,879,787,804.819491621,651,631,652.180508379,0.415928745686,-0.0155178906799,0.0799613657884,0.99999999811,-9.36710400692e-06,-3.95072057105e-05,-4.61744542271e-05,1793243096769487872
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,715,679.768487283,659.768487283,634,879,787,804.231512717,651,631,652.768487283,0.416661699608,-0.0155143508029,0.0799471398873,0.999999996071,-6.31607980448e-06,-7.49199027581e-05,-4.69600352643e-05,1793243096786154496
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,744.647005998,714.647005998,679.647005998,659.647005998,634,879.352994002,787,804.352994002,651,631,652.647005998,0.417469565635,-0.0155164350934,0.0799515858765,0.999999996931,-9.39480603822e-06,-6.11898210397e-05,-4.80073370416e-05,1793243096802821120
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,744.064754368,714.064754368,679.064754368,659.064754368,634,879.935245632,787,804.935245632,651,631,652.064754368,0.418326084505,-0.0155221720901,0.0799681586256,0.999999998532,-1.64545972918e-05,-1.55431705886e-05,-4.92246174732e-05,1793243096819487744
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,744.510156004,714,679,659.510156004,634,879.489843996,787,805,651,631,652.510156004,0.419179738765,-0.0155243627595,0.0799806952363,0.999999998515,-2.14076765659e-05,7.56387814195e-06,-4.95346544996e-05,1793243096836154880
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,714,679,660,634.084461655,879,787,805,651,631,652.915538345,0.420033135229,-0.0155256658389,0.0799881263772,0.999999998205,-2.60060124063e-05,2.0183641559e-05,-5.00578194163e-05,1793243096852822016
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,714,679,660,634.660594298,879,787,805,651,631,652.339405702,0.420887117278,-0.0155243852295,0.0799687773472,0.999999998101,-3.00738526408e-05,-1.18274609721e-05,-5.24824967908e-05,1793243096869488896
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.242189697,745,714,679.242189697,660,635,879,787,805,651,631,652.242189697,0.421753058953,-0.0155255328607,0.0799679105972,0.999999998066,-3.07918917884e-05,-1.36460757929e-05,-5.2286085954e-05,1793243096886155264
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.831617374,745,714,679.831617374,660,635,879,787,805,651,631,652.831617374,0.422636147794,-0.0155301619668,0.0799935426987,0.999999998088,-2.67071749586e-05,2.78235970433e-05,-4.83317064733e-05,1793243096902821376
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.587404571,745,714,679.587404571,660,635,879.412595429,787,805,651,631,652.587404571,0.423510671401,-0.0155299988143,0.0800056907993,0.999999997955,-1.91709943797e-05,3.85829232344e-05,-4.72633968046e-05,1793243096919488000
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.009805689,745,714,679.009805689,660,635,879.990194311,787,805,651,631,652.009805689,0.424381769583,-0.0155279191613,0.0800124464327,0.99999999814,-1.02545189836e-05,3.70606924542e-05,-4.73492724638e-05,1793243096936154624
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,744.434729042,714,679.565270958,660,635,880,787,805,651,631,652.565270958,0.425209763433,-0.0155273485703,0.0799584285069,0.999999996936,-1.10853799624e-05,-5.70113291368e-05,-5.24830315424e-05,1793243096952821248
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.143843333,744,714,680,660,635,879.856156667,787,805,651,631,653,0.426060331139,-0.0155280524725,0.0799154867189,0.999999990461,-1.50031031584e-05,-0.000124968010762,-5.68914675261e-05,1793243096969487872
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.733382081,744,714,680,660,635,879.266617919,787,805,651,631,653,0.426983149919,-0.0155326246139,0.0799101161077,0.999999992151,-2.79638198131e-05,-0.000107054524912,-5.87823936814e-05,1793243096986154752
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.317528801,714,680,660,635,879.317528801,787,805.317528801,651,631,653,0.427883587901,-0.0155342968768,0.0799104477947,0.999999992092,-3.20995836603e-05,-0.000106312718442,-5.90237666024e-05,1793243097002821376
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.897223594,714,680,660,635,879.897223594,787,805.897223594,651,631,653,0.428765547248,-0.01553357487,0.0799154875547,0.999999990735,-2.89490708413e-05,-0.000119748619948,-5.79031944567e-05,1793243097019488000
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.525797414,745,714,680,660,634.525797414,879.525797414,787,805.525797414,651,631,653,0.429688718542,-0.0155350093101,0.0799465094344,0.999999995177,-3.22580732314e-05,-7.39757487463e-05,-5.59800370481e-05,1793243097036154624
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.050561627,745,714,680,660,634.050561627,879.050561627,787,805.050561627,651,631,652.949438373,0.43061999136,-0.015537146259,0.0799829391813,0.999999997756,-3.66143052804e-05,-1.59977220529e-05,-5.37761638284e-05,1793243097052821248
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.626559692,745,714,680,660,634.626559692,879.626559692,787,805.626559692,651,631,652.373440308,0.431543160895,-0.0155417543429,0.0800173808431,0.999999997372,-3.73873464415e-05,3.62189707141e-05,-5.04524742015e-05,1793243097069487872
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714.207441177,680,660,635,880.207441177,787,805.792558823,651,631,652,0.432421808975,-0.0155426330456,0.0800174470689,0.999999997412,-3.9493627831e-05,3.32187127846e-05,-5.01343755026e-05,1793243097086154496
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714.797325953,680,660,635,880.797325953,787,805.202674047,651,631,652,0.433218376373,-0.0155366361713,0.0799541379108,0.999999994935,-4.40579033409e-05,-7.15808499975e-05,-5.53574566287e-05,1793243097102820864
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714.619752429,680.380247571,660,635,880.619752429,787,805.380247571,651,631,652,0.434059082416,-0.0155344560066,0.0799170317539,0.999999989793,-4.58702065692e-05,-0.000121206782074,-6.01525615417e-05,1793243097119487744
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714.040475505,680.959524495,660,635,880.040475505,787,805.959524495,651,631,652,0.434922891481,-0.015534273586,0.0798936407874,0.999999986761,-4.62420711353e-05,-0.000141953702054,-6.47236548421e-05,1793243097136154880
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,635,878.413260606,787,806,651,631,652,0.435772205953,-0.0155378033756,0.0799272676679,0.999999991869,-5.34231617185e-05,-9.77959932348e-05,-6.19948525171e-05,1793243097152822016
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.099406812,634.900593188,877.298220436,787,805.900593188,651,631,652.099406812,0.436624274903,-0.0155419752318,0.0799644294456,0.999999995278,-6.04339061892e-05,-4.82937447345e-05,-5.88252448378e-05,1793243097169488896
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.678823336,634.321176664,879.036470007,787,805.321176664,651,631,652.678823336,0.437494902281,-0.0155479008879,0.0799979775754,0.999999996358,-6.41521037336e-05,3.47228459007e-06,-5.61750793132e-05,1793243097186155008
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,681,661,634,880,787,805.265177007,651,631,652.734822993,0.438345445305,-0.0155525007996,0.0800201368863,0.999999995538,-6.57011425568e-05,3.98326247218e-05,-5.49669498515e-05,1793243097202821376
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+188,3.133333333,POSE1_TO_POSE2_PRESS,764.570978236,745,714,681,661,634,880,787.429021764,805.429021764,651,631,652,0.441264983148,-0.0155468511658,0.0798655465718,0.999999976941,-6.8822950101e-05,-0.000191053374389,-6.98511993862e-05,1793243097269488128
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.833546503,745,714,681,661,634,880,787.166453497,805,651,631,652,0.441954153505,-0.0155445959013,0.079824648751,0.999999963458,-7.15540936568e-05,-0.000249987355363,-7.39642483018e-05,1793243097286154752
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.238517399,745,714,681,661,634,880,787.761482601,805,651,631,652,0.442733016619,-0.0155444422481,0.0798648799155,0.999999978719,-7.95647255189e-05,-0.000176361005632,-7.16143003769e-05,1793243097302821376
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,745,714,681,661,634,880,788,805.345916171,651,631.345916171,652.345916171,0.443482744032,-0.0155476025865,0.0799202303259,0.999999990346,-7.99668154139e-05,-9.19584116924e-05,-6.67658020395e-05,1793243097319488000
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9e1e2a932e594ff90f327c256d9391e18435dd88
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_04/simulation_data.csv
@@ -0,0 +1,409 @@
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+394,6.566666667,pose2_to_pose3_retreat,0.580745497155,-0.00999816987535,1.07004080813,0.551317216303,-0.00132334311792,1.06967860562
+395,6.583333333,pose2_to_pose3_retreat,0.580745491266,-0.00999816961682,1.07004080815,0.551317210414,-0.00132334285805,1.06967860565
+396,6.600000000,pose2_to_pose3_retreat,0.580745459947,-0.00999816824206,1.0700408083,0.551317179097,-0.0013233414762,1.0696786058
+397,6.616666667,pose2_to_pose3_retreat,0.580745267976,-0.00999815981531,1.07004080918,0.551316987138,-0.001323333006,1.06967860673
+398,6.633333333,pose2_to_pose3_retreat,0.580744877779,-0.00999814268722,1.07004081097,0.551316596966,-0.00132331578959,1.06967860862
+399,6.650000000,pose2_to_pose3_retreat,0.58074462993,-0.00999813180767,1.0700408121,0.551316349133,-0.00132330485394,1.06967860982
+400,6.666666667,pose2_to_pose3_retreat,0.580744547407,-0.00999812818522,1.07004081248,0.551316266615,-0.00132330121281,1.06967861022
+401,6.683333333,pose2_to_pose3_retreat,0.580744357937,-0.00999812000027,1.07004081344,0.551316077161,-0.00132329297316,1.06967861121
+402,6.700000000,pose2_to_pose3_retreat,0.580744119982,-0.00999812425625,1.07004082455,0.551315839641,-0.00132329586063,1.06967861968
+403,6.716666667,pose2_to_pose3_retreat,0.580744015658,-0.00999812612215,1.07004082941,0.551315735509,-0.00132329712654,1.06967862339
+404,6.733333333,pose2_to_pose3_retreat,0.580743838029,-0.00999812929915,1.0700408377,0.551315558205,-0.00132329928198,1.06967862971
+405,6.750000000,pose2_to_pose3_retreat,0.580743589596,-0.00999810132375,1.0700408542,0.551315308848,-0.00132327460003,1.06967864242
+406,6.766666667,pose2_to_pose3_retreat,0.580743532836,-0.00999806835977,1.07004086199,0.551315250747,-0.00132324625913,1.06967864849
+407,6.783333333,pose2_to_pose3_retreat,0.580743496217,-0.00999814541441,1.07004058913,0.551315215347,-0.00132331887198,1.06967838298
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a1a113a61770240a772502bde4568bdf352f3c20
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bda6f560aeb3cf4362de02d531b0ec982f1b635542ac4e8c2456ac7a177b399d
+size 25988538
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fcc31b2a0457e5751124a7079f2c48361a0135fd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+22,0.366666667,BASELINE,765,744.212391986,714,678,660,635,878.212391986,787,805,651.212391986,631,652.212391986,0.400972775597,-0.0153537125741,0.0798346746958,0.999999918522,0.000282672711701,-0.000286198294783,3.38085642517e-05,1793243101467466240
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+29,0.483333333,BASELINE,765,745,714.156242126,679,659.156242126,635,879,787.843757874,805,651,631,653,0.400970151072,-0.0153570831918,0.079833593681,0.999999918949,0.000280033732402,-0.000287331367525,3.35344283126e-05,1793243101584133376
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+48,0.800000000,BASELINE,765,744.869792049,714.869792049,678,660,635,879,788,805,652,631,652.869792049,0.400970551059,-0.015354398225,0.079834195731,0.999999918823,0.000281701503487,-0.000286178514628,3.31595370508e-05,1793243101900799744
+49,0.816666667,BASELINE,765,744.556293233,714.556293233,678.443706767,659.556293233,635,878.556293233,787.556293233,805,651.556293233,631,653,0.400971361838,-0.0153538832003,0.0798342869358,0.999999918778,0.000282274679754,-0.000285769061563,3.3171569897e-05,1793243101917466880
+50,0.833333333,BASELINE,764.982560067,744.017439933,714,678.982560067,659.017439933,635,878.017439933,787,805,651,631,652.982560067,0.400972768097,-0.0153535437513,0.0798346778432,0.999999919105,0.000282100639612,-0.000284802253742,3.31227483342e-05,1793243101934134272
+51,0.850000000,BASELINE,764.3904538,744.6095462,714,678.3904538,659.6095462,635,878.6095462,787,805,651,631,652.3904538,0.40097215725,-0.0153546603341,0.0798344256744,0.999999918957,0.000282439476458,-0.000284974633524,3.32305470124e-05,1793243101950800640
+52,0.866666667,BASELINE,764.197314274,744.802685726,714.197314274,678.197314274,659.802685726,635,878.802685726,787,805,651,631,652,0.400971998815,-0.0153553666004,0.079834474508,0.999999919043,0.000282263193333,-0.000284833023239,3.33281601315e-05,1793243101967467008
+53,0.883333333,BASELINE,764.776682397,744.223317603,714.776682397,678.776682397,659.223317603,635,878.223317603,787,805,651,631,652,0.400972716371,-0.0153552783827,0.0798351061638,0.999999919585,0.000281089498472,-0.000284083443168,3.34060512446e-05,1793243101984133632
+54,0.900000000,BASELINE,765,744.353414789,714.646585211,679,659,634.646585211,878.353414789,787.353414789,805,651.353414789,631,652,0.400973868498,-0.0153560144265,0.0798359639451,0.999999920161,0.000280301227207,-0.000282820343328,3.34917149386e-05,1793243102000800000
+55,0.916666667,BASELINE,765,744.928494007,714.071505993,679,659,634.071505993,878.928494007,787.928494007,805,651.928494007,631,652,0.40097529319,-0.0153572674533,0.0798369635539,0.999999920758,0.000279754696583,-0.000281235160029,3.35822536512e-05,1793243102017466624
+56,0.933333333,BASELINE,765,744.485107258,714.514892742,679,659.514892742,634.514892742,879,788,805,651.485107258,631,652,0.40097374894,-0.0153564966798,0.0798356893801,0.999999920405,0.000279172632512,-0.000283080739001,3.34282303074e-05,1793243102034133248
+57,0.950000000,BASELINE,765,744,714.898591094,679,659.898591094,635,879,787.898591094,805,651.101408906,631,652.101408906,0.40097223486,-0.0153556009787,0.079834573592,0.999999920034,0.000278850090988,-0.000284719347061,3.33086998806e-05,1793243102050799872
+58,0.966666667,BASELINE,765,744,714.319099169,679,659.319099169,635,879,787.319099169,805,651.680900831,631,652.680900831,0.400972850514,-0.0153554711166,0.0798357266442,0.999999920233,0.000279774832245,-0.000283085543912,3.35155010978e-05,1793243102067466496
+59,0.983333333,BASELINE,765,744,714,679,659,634.741154968,879,787.258845032,805,651.741154968,631,652.741154968,0.400973044433,-0.0153558919723,0.07983630904,0.999999920381,0.00027981431277,-0.000282494860679,3.37555843291e-05,1793243102084133120
+60,1.000000000,BASELINE,765,744,714,679,659,634.165107352,879,787.834892648,805,651.165107352,631,652.165107352,0.400972721535,-0.015356987707,0.0798361921229,0.999999920469,0.000278768947444,-0.000283182472313,3.40364531531e-05,1793243102100799744
+61,1.016666667,BASELINE,765,744,714,679,659,634.411199225,879,787.588800775,805,651,631,652,0.400973510454,-0.0153570048819,0.0798362098416,0.999999920442,0.000279011007292,-0.000283064752533,3.38041054761e-05,1793243102117466624
+62,1.033333333,BASELINE,765,744,714,679,659,634.987609812,879,787.012390188,805,651,631,652,0.400974746078,-0.0153565887137,0.0798362816543,0.99999992037,0.000279770328068,-0.000282623467169,3.33655579833e-05,1793243102134133504
+63,1.050000000,BASELINE,765,744,714.576778283,679,659.576778283,635,879,787.576778283,805,651,631,652.576778283,0.400973448136,-0.0153563765898,0.0798356261768,0.999999920434,0.000278219421572,-0.000283949559676,3.31379740381e-05,1793243102150800128
+64,1.066666667,BASELINE,765,744,714.836632911,679,660,635,879,787.836632911,805,651,631,652.836632911,0.400972364259,-0.0153562756856,0.0798350848158,0.999999920368,0.000277440667699,-0.000284953473346,3.30388134025e-05,1793243102167466752
+65,1.083333333,BASELINE,765,744,714.257325645,679,660,635,879,787.257325645,805,651,631,652.257325645,0.400971967106,-0.0153564465392,0.0798348746785,0.999999919971,0.000278757062651,-0.000285038254206,3.32548251605e-05,1793243102184133376
+66,1.100000000,BASELINE,764.681557867,744,714.318442133,679,660,635,879,787.318442133,805,651.318442133,631.318442133,652.318442133,0.40097258835,-0.0153568244366,0.0798352753399,0.999999920209,0.000278758000047,-0.000284177554887,3.3444434243e-05,1793243102200800256
+67,1.116666667,BASELINE,764.108618853,744,714.891381147,679,660,635,879,787.891381147,805,651.891381147,631.891381147,652.891381147,0.400974023491,-0.0153573678021,0.0798361641475,0.999999920954,0.000277707632259,-0.000282561233957,3.36129424683e-05,1793243102217467136
+68,1.133333333,BASELINE,764.477722066,744.477722066,715,679,659.522277934,635,879,787.522277934,805,651.522277934,631.522277934,653,0.400973693051,-0.0153577336448,0.0798361744031,0.999999921043,0.000277298611364,-0.000282639806263,3.3676405181e-05,1793243102234133760
+69,1.150000000,BASELINE,765,744.933931952,715,679,659.066068048,635,879,787,805,651,631,653,0.400973000472,-0.015357858953,0.0798359083451,0.999999920961,0.000277067434188,-0.000283161771094,3.36347537529e-05,1793243102250800128
+70,1.166666667,BASELINE,765,744.354369357,715,679,659.645630643,635,879,787,805,651,631,653,0.400972703385,-0.015356437542,0.079835092068,0.999999920736,0.000277052424276,-0.000284048287524,3.296712296e-05,1793243102267466752
+71,1.183333333,BASELINE,765,744.224599692,714.775400308,679,659.775400308,635,879,787,805,651,631,653,0.400972596058,-0.0153549436798,0.0798347405344,0.999999920191,0.0002785692442,-0.000284509389158,3.27258562286e-05,1793243102284133376
+72,1.200000000,BASELINE,765,744.802634814,714.197365186,679,659.197365186,635,879,787,805,651,631,653,0.400972787346,-0.0153533358065,0.079835120332,0.999999919135,0.000282496588056,-0.000284301048064,3.3155526044e-05,1793243102300800000
+73,1.216666667,BASELINE,765,744.623676229,714.376323771,679,659,635,879,787,805,651.376323771,631,653,0.400972651245,-0.0153539057936,0.0798349679177,0.999999918992,0.000282719096287,-0.000284571645481,3.32484554736e-05,1793243102317466624
+74,1.233333333,BASELINE,765,744.052240654,714.947759346,679,659,635,879,787,805,651.947759346,631,653,0.400972345404,-0.0153556049315,0.0798345395688,0.999999919325,0.000281020765838,-0.000285090557169,3.3166795788e-05,1793243102334133504
+75,1.250000000,BASELINE,765,744.538723275,714.461276725,679,659.538723275,635,879,787,805,651.461276725,631.538723275,652.461276725,0.400973949319,-0.0153557599772,0.0798361920667,0.999999919795,0.00028188004017,-0.000282526709939,3.36518938633e-05,1793243102350799872
+76,1.266666667,BASELINE,765,745,714.128687899,679,660,635,879,787.128687899,805,651,631.871312101,652.128687899,0.400975297319,-0.0153558740677,0.0798375964877,0.999999920303,0.000282180612458,-0.000280386400267,3.39352434967e-05,1793243102367466496
+77,1.283333333,BASELINE,765,745,714.708266602,679,660,635,879,787.708266602,805,651,631.291733398,652.708266602,0.400975075385,-0.0153563890195,0.0798373981199,0.999999920922,0.000279621964774,-0.000280816866779,3.33119097343e-05,1793243102384133120
+78,1.300000000,BASELINE,765,745,715,679.285816622,660,635,879,787.714183378,804.714183378,651,631,653,0.400974885991,-0.0153573429962,0.0798370820824,0.999999921225,0.000278252219516,-0.000281095796743,3.33320651665e-05,1793243102400800000
+79,1.316666667,BASELINE,765,745,715,679.86131052,660,635,879,787.13868948,804.13868948,651,631,653,0.400974729578,-0.0153587419279,0.0798366467859,0.999999921213,0.000278087435886,-0.000281221143262,3.40044017316e-05,1793243102417466624
+80,1.333333333,BASELINE,765,744.554341361,715,679.554341361,659.554341361,635,879,787.445658639,804.445658639,651,631,652.554341361,0.400974022613,-0.0153572586304,0.0798366083166,0.999999920795,0.000279093767049,-0.000281712206342,3.39894576127e-05,1793243102434133248
+81,1.350000000,BASELINE,765,744.03238529,714.96761471,679,659,635,879,788,805,651,631,652.03238529,0.400973115357,-0.0153550458712,0.0798366506516,0.999999920287,0.00028028772986,-0.000282356615632,3.37496057104e-05,1793243102450799872
+82,1.366666667,BASELINE,765,744.611801143,714.388198857,679,659,635,879,788,805,651,631,652.611801143,0.400971777598,-0.0153559693785,0.0798359296336,0.999999920474,0.000278370169082,-0.000283629850917,3.33967553498e-05,1793243102467466496
+83,1.383333333,BASELINE,765,745,714.190665182,679.190665182,659,635,879,787.809334818,805,651,631,652.809334818,0.400971659867,-0.0153563235011,0.0798357821154,0.999999920533,0.000277970928708,-0.000283846180274,3.3142998355e-05,1793243102484133120
+84,1.400000000,BASELINE,765,745,714.76840906,679.76840906,659,635,879,787.23159094,805,651,631,652.23159094,0.400974018975,-0.0153555216884,0.0798367988871,0.999999920331,0.000280654104382,-0.000281916833532,3.30904155769e-05,1793243102500799744
+85,1.416666667,BASELINE,765,745,714.656824206,679.656824206,659.343175794,635,879,787,805,651,631,652.343175794,0.400973544463,-0.0153559838007,0.0798360496361,0.999999920406,0.000279508986844,-0.000282763987321,3.32625918483e-05,1793243102517466368
+86,1.433333333,BASELINE,765,745,714.084049342,679.084049342,659.915950658,635,879,787,805,651,631,652.915950658,0.400971174138,-0.0153572915321,0.0798341188414,0.999999920656,0.000275802579629,-0.000285468737099,3.35851413999e-05,1793243102534133248
+87,1.450000000,BASELINE,765,744.509484468,714,679,659.509484468,635,879,787.490515532,805,651,631,652.509484468,0.400971995105,-0.0153584133706,0.0798349334333,0.999999920884,0.000276646420407,-0.000283817296888,3.38579024332e-05,1793243102550799872
+88,1.466666667,BASELINE,765,744,714.067911481,678.932088519,659,635,878.932088519,787.932088519,804.932088519,651,631,652,0.400973076012,-0.0153593147742,0.0798360048205,0.999999921053,0.000277996133274,-0.000281871765903,3.4064110109e-05,1793243102567466496
+89,1.483333333,BASELINE,765,744,714.664967695,678.335032305,659,635,878.335032305,787.335032305,804.335032305,651,631,652,0.400971905993,-0.0153587477133,0.0798353982929,0.999999920833,0.000277190168144,-0.000283472010596,3.38184710926e-05,1793243102584133120
+90,1.500000000,BASELINE,765,744,714.747693295,678.252306705,659,635,878.252306705,787,804.252306705,651,631,652.252306705,0.40097161883,-0.0153582658242,0.0798354248219,0.9999999206,0.000277418523186,-0.00028408198153,3.37132348986e-05,1793243102600799744
+91,1.516666667,BASELINE,765,744,714.172779063,678.827220937,659,635,878.827220937,787,804.827220937,651,631,652.827220937,0.400972460517,-0.0153578928385,0.0798362607976,0.999999920352,0.000278969393565,-0.000283425756235,3.37875223201e-05,1793243102617466368
+92,1.533333333,BASELINE,765,744,714,679,659,635,879,787,805,651.403296954,631,653,0.400973331855,-0.0153572237022,0.0798365556005,0.99999992035,0.00028012535389,-0.000282316949667,3.35834159405e-05,1793243102634132992
+93,1.550000000,BASELINE,765,744,714,679,659,635,879,787,805,651.979872186,631,653,0.400974215933,-0.0153564273234,0.0798366178862,0.999999920451,0.000281111639537,-0.000281013689544,3.32596964683e-05,1793243102650799616
+94,1.566666667,BASELINE,765,744.566307417,714,679,659,635,879,787,805,651.433692583,631,652.433692583,0.400972679346,-0.0153571200199,0.0798356654405,0.999999920102,0.000280589461747,-0.000282759488091,3.3364919442e-05,1793243102667466496
+95,1.583333333,BASELINE,765,744.849447916,714,679,659,635,878.849447916,787,804.849447916,651,631,652,0.400971879857,-0.0153575117934,0.0798353664191,0.999999919967,0.000280051115233,-0.000283753949384,3.34732994224e-05,1793243102684133120
+96,1.600000000,BASELINE,765,744.272418768,714,679,659,635,878.272418768,787,804.272418768,651,631,652,0.400973416418,-0.0153568985458,0.0798370223636,0.999999920494,0.000279621533357,-0.000282307631249,3.35466702755e-05,1793243102700799744
+97,1.616666667,BASELINE,764.694620386,744,714,679,659,634.694620386,878.305379614,787,804.305379614,651,631,652,0.400974259212,-0.0153563664513,0.0798373452125,0.999999920768,0.000279268252113,-0.000281701927298,3.34179195161e-05,1793243102717466112
+98,1.633333333,BASELINE,764.1161341,744,714,679,659,634.1161341,878.8838659,787,804.8838659,651,631,652,0.400974481557,-0.0153559069335,0.0798364758491,0.999999920817,0.000278983207972,-0.000281848000346,3.31084076324e-05,1793243102734132992
+99,1.650000000,BASELINE,764,744,714,679,659,634.46047564,879,787,805,651,631,652,0.400973573715,-0.0153569305673,0.0798358350995,0.999999920542,0.000279201610492,-0.000282581932109,3.33018641383e-05,1793243102750799616
+100,1.666666667,BASELINE,764.037533983,744,714,679,659,635,878.962466017,787,805,651,631,652,0.400972428671,-0.015358140295,0.0798353008571,0.999999920205,0.000279495216299,-0.000283450983028,3.35994662985e-05,1793243102767465984
+101,1.683333333,BASELINE,764.628148366,744,714,679,659,635,878.371851634,787,805,651,631,652,0.400971971461,-0.0153566026622,0.0798354898877,0.99999992014,0.000279033586287,-0.000284135254351,3.35700818504e-05,1793243102784132864
+102,1.700000000,BASELINE,765,744.214381239,714,678.785618761,659.214381239,635,878.428762477,787,805,651,631,652,0.40097213151,-0.0153558680742,0.0798358284849,0.999999920224,0.000278837959517,-0.000284032164081,3.3573216562e-05,1793243102800799488
+103,1.716666667,BASELINE,765,744.793166386,714,678.206833614,659.793166386,635,879.586332772,787,805,651,631,652,0.400973340773,-0.015356498497,0.0798364213142,0.999999920559,0.000279094483466,-0.000282590721357,3.36316271437e-05,1793243102817466368
+104,1.733333333,BASELINE,765,744.630964574,714.369035426,678,660,635,879.630964574,787,804.630964574,651,631,652.369035426,0.400973286758,-0.0153560232347,0.0798363139531,0.999999920758,0.000278884487117,-0.000282127725762,3.33271008116e-05,1793243102834132992
+105,1.750000000,BASELINE,765,744.056717059,714.943282941,678,660,635,879.056717059,787,804.056717059,651,631,652.943282941,0.400972530265,-0.0153549331265,0.0798358172322,0.999999920883,0.000278415069614,-0.000282208821913,3.28207536382e-05,1793243102850799616
+106,1.766666667,BASELINE,764.466674876,744,714.466674876,678.533325124,660,635,879,787,804.533325124,651,631,652.466674876,0.400972501862,-0.0153562157063,0.0798359167311,0.999999920717,0.000278282477497,-0.000282884921211,3.31933912697e-05,1793243102867466240
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,679,660,635,879,788,805,652,631,652,0.400973745661,-0.0153575208698,0.0798352269256,0.999999921286,0.000275898516765,-0.000283241846418,3.29021146198e-05,1793243102909382144
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.573628596,714,679,660,635,879,787.426371404,805,651.426371404,631,652,0.400973432761,-0.0153564690711,0.0798358249979,0.999999920375,0.000280171075737,-0.000282216921699,3.32719076927e-05,1793243102926048512
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.852438759,714,679,659.852438759,635,879,787,805,651,631,652,0.400973321116,-0.0153556487212,0.0798364730989,0.999999919892,0.000282749334965,-0.000281323424737,3.35609330931e-05,1793243102942715136
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.27762563,714,679,659.27762563,635,879,787,805,651,631,652,0.400973792186,-0.015355498513,0.079837266054,0.99999992069,0.000280421884471,-0.000280810466207,3.36161021823e-05,1793243102959382016
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659.306874041,635,879,787,805,651,631,652,0.400973563118,-0.0153555097998,0.0798372035676,0.999999920896,0.000279192210147,-0.000281290161118,3.36930836233e-05,1793243102976049408
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659.900422618,635,879,787,805,651,631,652,0.400972679996,-0.0153556719516,0.0798363419477,0.999999920553,0.000278988052731,-0.000282697169642,3.37904416491e-05,1793243102992716800
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.47820089,714.47820089,679,660,635,878.52179911,787,805,651,631,652,0.400972931481,-0.0153555412834,0.0798368329936,0.999999920197,0.000280448991415,-0.000282534158188,3.36051545483e-05,1793243103009383168
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.946992901,744.946992901,714.946992901,679,660,635,878.053007099,787,805,651,631,652.053007099,0.400973581192,-0.0153554451201,0.0798376174695,0.999999920002,0.000281837640053,-0.000281867400226,3.33839461366e-05,1793243103026049024
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.370140976,744.370140976,714.370140976,679,660,635,878.629859024,787,805,651,631,652.629859024,0.400975906049,-0.0153562733031,0.0798386070306,0.99999992145,0.000279194714968,-0.000279350102809,3.33708227167e-05,1793243103042715648
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,744,714,679,659.789428612,635,879,787,805,651,631,652.789428612,0.400982111626,-0.0153571889105,0.0798414203662,0.999999923141,0.00027794759023,-0.000274472583534,3.3592738016e-05,1793243103059382272
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,744,714,679,659.201803731,635,879,787,805,651,631,652.201803731,0.400995266103,-0.0153582610619,0.0798474993904,0.999999925227,0.000279199814809,-0.000265368802319,3.42355185196e-05,1793243103076048896
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744,714,678.617318992,659,635,879,787,805,651.382681008,631,652,0.401026230181,-0.0153591854107,0.0798599783093,0.999999930767,0.000279649553981,-0.000242967738485,3.50675960479e-05,1793243103092715520
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,744,714,678.034476651,659,635,879,787,805,651.965523349,631,652,0.401066509574,-0.0153600324515,0.0798758046942,0.999999937427,0.000279679553016,-0.000213611528876,3.59986854353e-05,1793243103109382400
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.54029945,744,714,679.0805989,659.54029945,635,879,787,805,651.45970055,631,652.54029945,0.401129070041,-0.0153630322077,0.0798949409188,0.999999944669,0.000279591513034,-0.000176501786776,3.65838939719e-05,1793243103126049024
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.114714562,714,679.770570875,659.885285438,635,879,787.114714562,805,651,631,653,0.401195205331,-0.0153662317831,0.0799130018905,0.999999950092,0.000279207077644,-0.000143155709207,3.69599341662e-05,1793243103142715904
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.689716265,714,678.62056747,659.310283735,635,879,787.689716265,805,651,631,653,0.401270063624,-0.0153696900603,0.0799259134909,0.999999952735,0.000277663147647,-0.000126867140978,3.65839511768e-05,1793243103159382528
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.72878802,714,678.27121198,659,635,879,787.72878802,804.72878802,651,631,652.72878802,0.401350770679,-0.0153732541692,0.0799354088081,0.999999955211,0.000275075875532,-0.000112515997984,3.53628685614e-05,1793243103176049152
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.139680517,714,678.860319483,659,635,879,787.139680517,804.139680517,651,631,652.139680517,0.401438333233,-0.0153769423263,0.0799408997984,0.999999957614,0.000271265671621,-0.000100435768977,3.31512198934e-05,1793243103192715776
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.442152661,744,714,679,659.442152661,635,879,787.442152661,804.442152661,651,631,652.442152661,0.401537229391,-0.0153800910727,0.0799432552796,0.999999958476,0.000270017026661,-9.60869822603e-05,3.00998025009e-05,1793243103209382656
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.978530596,744,714,679,660,635,879,787.978530596,804.978530596,651,631,652.978530596,0.40164080989,-0.0153831610707,0.0799447043417,0.999999958946,0.000269378484042,-9.39513576707e-05,2.67689893255e-05,1793243103226049280
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.405776754,744,714,679,660,635,879,787.405776754,804.405776754,651,631,652.405776754,0.401774225093,-0.0153885137811,0.0799479017345,0.999999961118,0.000263963321517,-8.69434899093e-05,2.29657501057e-05,1793243103242715648
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.167758304,714,679,659.832241696,635,879,787,804.167758304,651,631,652,0.401917242708,-0.0153934079613,0.0799520400008,0.999999963246,0.00025889295473,-7.82863316373e-05,1.88196304678e-05,1793243103259382272
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.743191739,714,679,659.256808261,635,879,787,804.743191739,651,631,652,0.402083595449,-0.015397187851,0.0799584647147,0.999999965325,0.000254660488538,-6.5621177719e-05,1.38402660807e-05,1793243103276049152
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,651,631,652,0.402253562068,-0.0154023108712,0.0799584795168,0.999999967126,0.000247365452502,-6.70403977993e-05,8.01769984856e-06,1793243103292715776
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,651,631,652,0.402426441449,-0.01540851644,0.0799533280023,0.999999968587,0.000237602018976,-7.98114642424e-05,1.51552183032e-06,1793243103309382400
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.496691257,714,679,659,635,879,787,804.496691257,651,631,652,0.402629344436,-0.0154161457048,0.0799486140206,0.999999972471,0.0002176549303,-8.74338669917e-05,-6.3071726049e-06,1793243103326049024
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.918132114,744,714.081867886,679,659.081867886,635,879,787,804.081867886,651,631,652.081867886,0.402844395706,-0.0154241845645,0.0799450183138,0.999999977835,0.000188851597324,-9.19912432943e-05,-1.42098061328e-05,1793243103342715648
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.343272077,744,714.656727923,679,659.656727923,635,879,787,804.656727923,651,631,652.656727923,0.403105349832,-0.0154333976682,0.0799477594955,0.999999989623,0.000115961191267,-8.27649710189e-05,-2.13952165499e-05,1793243103359382016
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,744,715,679,660,635,879.236933246,787,805,651,631,652.763066754,0.403382891479,-0.0154423617792,0.0799517652178,0.999999994438,6.99727529719e-05,-7.37830803039e-05,-2.79914990745e-05,1793243103376048896
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,744,715,679,660,635,879.825061602,787,805,651,631,652.174938398,0.403685020021,-0.0154509568195,0.0799576453096,0.999999995269,6.38598529506e-05,-6.51634260594e-05,-3.37145444871e-05,1793243103392715520
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.408051551,744,714.591948449,679,659.591948449,634.591948449,879.591948449,787,805,651,630.591948449,652,0.404009044123,-0.0154570500825,0.0799583455928,0.999999994666,7.60509777393e-05,-6.37759563629e-05,-2.85782325642e-05,1793243103409382144
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.988865962,744,714.011134038,679,659.011134038,634.011134038,879.011134038,787,805,651,630.011134038,652,0.404342338466,-0.0154620841306,0.0799568528233,0.999999993073,9.59917501227e-05,-6.54504844957e-05,-1.88442327111e-05,1793243103426048512
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.562796688,714,679,659.562796688,634.562796688,879,787,805,651,630.562796688,652,0.4047198998,-0.01547207747,0.0799579591096,0.999999995123,7.51802162444e-05,-5.89106347271e-05,-2.51416557214e-05,1793243103442716672
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.863307387,714.136692613,679,659.863307387,634.863307387,879,787,804.863307387,651,631,652,0.405104776061,-0.0154816153801,0.0799573226928,0.999999996423,5.50681368392e-05,-5.64336045652e-05,-3.05918785921e-05,1793243103459384064
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.289092339,714.710907661,679,659.289092339,634.289092339,879,787,804.289092339,651,631,652,0.405510296475,-0.0154893853226,0.0799509456842,0.999999996411,3.97442055894e-05,-6.74746190755e-05,-3.23275227527e-05,1793243103476049664
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.294433278,714.705566722,679,659,634.294433278,878.705566722,787,804,651,631,652,0.405939815146,-0.0154952196775,0.0799435325675,0.999999995645,3.39456726157e-05,-8.08496153926e-05,-3.19689963806e-05,1793243103492715776
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.887399161,714.112600839,679,659,634.887399161,878.112600839,787,804,651,631,652,0.406393666247,-0.0154990914971,0.0799350689163,0.999999994186,3.78051560131e-05,-9.65910903495e-05,-2.94871430303e-05,1793243103509382400
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.531847987,744.531847987,714,679,659.468152013,635,878.936304026,787,804.468152013,651,631,652,0.406874487925,-0.0155021711226,0.0799338238039,0.999999994029,3.3786702763e-05,-9.94899429908e-05,-3.00467083545e-05,1793243103526049024
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.045853949,744.045853949,714,679,660,635,880,787,805,651,631,652,0.407363532759,-0.0155052355223,0.0799336853732,0.999999994066,2.77552686969e-05,-0.000100566770739,-3.13568635966e-05,1793243103542715648
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.621383539,744.621383539,714,679,660,635,880,787,805,651,631,652,0.407874537893,-0.0155102690837,0.0799267848545,0.999999992601,1.98023903229e-05,-0.000115370930126,-3.31020517625e-05,1793243103559382272
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.798604359,744.798604359,714.201395641,679,659.798604359,635,879.798604359,787,805,651,631,652,0.408413658148,-0.0155141899076,0.0799244838125,0.999999991976,1.24761699379e-05,-0.000121257595947,-3.44754857648e-05,1793243103576049152
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.2099735,744.2099735,714.7900265,679,659.2099735,635,879.2099735,787,805,651,631,652,0.409006836964,-0.0155159712056,0.0799310264545,0.999999993313,6.35486212177e-06,-0.000109998072807,-3.51341261305e-05,1793243103592715776
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.374437091,744,714.625562909,679,659.374437091,635,879,787,805,651,631,652.374437091,0.409646650857,-0.0155152985124,0.0799553205657,0.999999996909,8.32491698446e-06,-7.00194206829e-05,-3.4799050613e-05,1793243103609382400
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.956507437,744,714.043492563,679,659.956507437,635,879,787,805,651,631,652.956507437,0.410312324862,-0.0155132650295,0.0799894582402,0.999999999216,1.47818030666e-05,-1.4115406808e-05,-3.39129385967e-05,1793243103626049024
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744,714,679.531555794,660,635,879,787,805,651,631,652.468444206,0.410958582671,-0.015514105253,0.0799945897307,0.999999999296,1.28832766089e-05,-8.28382107716e-06,-3.42541027544e-05,1793243103642715648
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744,714,680,660,635,879,787,805,651.106360454,631,652,0.411602658497,-0.015514795241,0.079990216654,0.999999999183,9.32498101786e-06,-1.66742529699e-05,-3.56292005109e-05,1793243103659382016
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744,714,680,660,635,879,787,805,651.68259347,631,652,0.412244021476,-0.0155137963267,0.0799542029098,0.999999996701,1.41507236807e-06,-7.00303842399e-05,-4.11341119683e-05,1793243103676048640
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.264505156,714,679.735494844,660.264505156,634.735494844,879,787.264505156,805,651.735494844,631,652.264505156,0.412923266913,-0.0155131315227,0.0799268371714,0.999999993356,-3.35482820237e-06,-0.00010578355814,-4.56809799338e-05,1793243103692715520
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.85338084,714,679.14661916,660.85338084,634.14661916,879,787.85338084,805,651.14661916,631,652.85338084,0.41364896882,-0.0155128764479,0.0799100767347,0.999999991594,-4.27404467403e-06,-0.000119949710005,-4.90529715611e-05,1793243103709382144
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.434098214,879,787.565901786,805,651,631,652.565901786,0.414412472376,-0.0155144089969,0.0799259659005,0.999999994705,-5.35820492171e-06,-9.06590836151e-05,-4.84040888016e-05,1793243103726049024
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679.012041222,660.987958778,635,879.012041222,787,805,651,631,652,0.415188159775,-0.0155164863314,0.0799521571469,0.999999997741,-6.5275474494e-06,-4.81403936747e-05,-4.64631026713e-05,1793243103742715648
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679.586729919,660.413270081,635,879.586729919,787,805,651,631,652,0.41594757193,-0.0155163274835,0.0799539531857,0.999999997037,-9.12202616736e-06,-6.07101785122e-05,-4.64340623978e-05,1793243103759382272
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.83954122,745,714,679.83954122,659.83954122,634.83954122,879.83954122,787,805,651,631,652.16045878,0.416718175984,-0.0155161754057,0.0799543962925,0.999999996638,-1.10446154385e-05,-6.63505970611e-05,-4.68937247628e-05,1793243103776048896
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.268269801,745,714,679.268269801,659.268269801,634.268269801,879.268269801,787,805,651,631,652.731730199,0.417517433917,-0.0155160406608,0.079951375572,0.999999997284,-1.12470077716e-05,-5.42501891048e-05,-4.86045821288e-05,1793243103792715520
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.317013847,745,714,679,659.317013847,634.317013847,879.317013847,787,805.317013847,651,631,653,0.418371059589,-0.0155190592385,0.079966372629,0.999999998513,-1.49390292696e-05,-1.90527331212e-05,-4.88657161137e-05,1793243103809382144
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.914703528,745,714,679,659.914703528,634.914703528,879.914703528,787,805.914703528,651,631,653,0.419272821004,-0.0155248696861,0.0799973221588,0.99999999795,-2.17206778277e-05,3.65942492107e-05,-4.78433024348e-05,1793243103826049024
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.504918071,714,679.495081929,660,634.504918071,879.504918071,787,806,651,631,652.504918071,0.420105057689,-0.0155248897827,0.0799831441833,0.999999998354,-2.59111073196e-05,1.24848654219e-05,-4.96465191028e-05,1793243103842716160
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.072357273,714,680,660,634.072357273,879.072357273,787,805.927642727,651,631,652.072357273,0.420932872299,-0.0155243855117,0.0799651489876,0.999999998092,-2.86338817423e-05,-1.86044452907e-05,-5.14737924144e-05,1793243103859383040
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744.648092772,714,680,660,634.648092772,879.648092772,787,805.351907228,651,631,652.648092772,0.421810438291,-0.0155269390091,0.0799728594268,0.999999998431,-2.41472563356e-05,-5.88745201792e-06,-5.01961068838e-05,1793243103876049408
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.771020223,714,680,660.228979777,635,880,787,805,651,631,653,0.422692132547,-0.0155293458084,0.079988433279,0.999999998449,-2.16012427095e-05,1.64984649492e-05,-4.86156608825e-05,1793243103892715520
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744.182033828,714,680,660.817966172,635,880,787,805,651,631,653,0.423580317479,-0.0155315219663,0.0800163701488,0.999999997209,-2.21062973131e-05,5.40860604999e-05,-4.65592085356e-05,1793243103909382144
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744.399699383,714,680,660.600300617,634.600300617,879.600300617,787,805,651,631,653,0.424438292965,-0.0155296878847,0.07999243231,0.999999998665,-1.72285149972e-05,-1.03405422418e-07,-4.87091695024e-05,1793243103926049536
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744.978188138,714,680,660.021811862,634.021811862,879.021811862,787,805,651,631,653,0.425282755423,-0.0155260599843,0.0799452904141,0.999999994014,-9.94293786206e-06,-9.53456348237e-05,-5.27406993193e-05,1793243103942716928
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.554131582,634.554131582,879.554131582,787.554131582,805.554131582,651,631,652.445868418,0.426186325904,-0.01553044514,0.0799229534438,0.999999993196,-2.11220507841e-05,-0.000100320500825,-5.56580790589e-05,1793243103959382784
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714.128175961,680,660.871824039,635,880,787.871824039,805.871824039,651,631,652,0.427084371944,-0.0155336559684,0.0799067239542,0.999999992442,-3.00209550743e-05,-0.000104176564396,-5.79868101251e-05,1793243103976049152
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714.69604786,680,660.30395214,635,880,787.30395214,805.30395214,651,631,652,0.427955522073,-0.0155317613297,0.0799081115618,0.999999991117,-2.86159502999e-05,-0.000116327621376,-5.84459897085e-05,1793243103992715520
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714.72189421,680,660.27810579,634.72189421,880,787,805,651,631,652,0.428848324073,-0.0155312043999,0.0799205521737,0.999999991989,-3.1045916494e-05,-0.000108047870688,-5.81780136887e-05,1793243104009382144
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714.123498497,680,660.876501503,634.123498497,880,787,805,651,631,652,0.42976606212,-0.0155321880881,0.079945722351,0.999999994747,-3.78925565554e-05,-7.62382896648e-05,-5.70725842993e-05,1793243104026049024
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,880,787,805,651,631,652,0.430730425184,-0.0155370707502,0.079990205665,0.99999999787,-3.64564494669e-05,-7.45236140894e-06,-5.36217601244e-05,1793243104042715904
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744.962414907,714,680.037585093,661,634,880,787,805,651,631,652,0.431697046615,-0.015542466779,0.0800343231011,0.999999996288,-3.34427495309e-05,6.17520869869e-05,-4.99308818783e-05,1793243104059383040
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744.386764975,714,680.613235025,661,634,880,787,805,651,631,652,0.432522417432,-0.0155406966349,0.0800013017861,0.999999997924,-3.86801928343e-05,-7.11188884159e-07,-5.15350826381e-05,1793243104076049152
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.806772624,744.193227376,714,681,661,634.193227376,880,787,805,651,631,652,0.433342455274,-0.0155381115967,0.0799603911716,0.999999995408,-4.21730554193e-05,-6.59796809216e-05,-5.52412065675e-05,1793243104092715520
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.217888534,744.782111466,714,681,661,634.782111466,880,787,805,651,631,652,0.434151573351,-0.015533857963,0.0799033262443,0.99999998773,-4.2093676433e-05,-0.000136992207884,-6.3251276035e-05,1793243104109382400
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.365042227,745,714.365042227,681,661,634.634957773,879.634957773,787,805,651,631,652,0.435012948276,-0.0155353990515,0.0798999910715,0.999999987667,-4.88455665298e-05,-0.000134295007427,-6.51507065323e-05,1793243104126049280
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.944476518,745,714.944476518,681,661,634.055523482,879.055523482,787,805,651,631,652,0.435905013997,-0.0155403434245,0.0799282117938,0.999999992311,-5.96095126809e-05,-8.83075218383e-05,-6.34613120363e-05,1793243104142715904
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,634.521617219,880.043234438,787,805,651,631,652,0.436795964031,-0.0155447008488,0.0799645550734,0.999999995446,-6.04282882675e-05,-4.45041501209e-05,-5.89539553916e-05,1793243104159382784
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.901660967,745,714.901660967,681,661,635,880.901660967,787,805.098339033,651,631,652,0.437679174311,-0.0155489833704,0.0799990953845,0.999999996643,-6.07544047114e-05,-8.29801306907e-07,-5.49762977844e-05,1793243104176049408
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.325792917,745,714.325792917,681,661,635,880.325792917,787,805.674207083,651,631,652,0.438525374905,-0.0155532042282,0.0800207004845,0.999999995511,-6.38062558013e-05,4.33420232389e-05,-5.5021031939e-05,1793243104192716032
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.255726565,745,714,681,661,634.744273435,880,787,805.744273435,651,631,652,0.439326242999,-0.0155555644545,0.0800222302669,0.999999994915,-6.67697102665e-05,5.113708038e-05,-5.56416124937e-05,1793243104209382656
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.844608574,745,714,681,661,634.155391426,880,787,805.155391426,651,631,652,0.440068052755,-0.0155555006871,0.0799976063264,0.999999995885,-6.96180031956e-05,1.15412106122e-05,-5.70123942407e-05,1793243104226048768
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681.426897891,661,634.426897891,880.426897891,787,805.426897891,651,631,652,0.440755616114,-0.015551453111,0.0799266037197,0.999999990483,-7.25221224778e-05,-9.8810999236e-05,-6.3332218482e-05,1793243104242715392
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,681.993251233,661,635,880.993251233,787,806,651,631,652,0.441424878186,-0.0155460364376,0.0798400690728,0.99999996754,-7.54692348024e-05,-0.000232667934109,-7.13395312218e-05,1793243104259382272
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,681.419718808,661,635,880.419718808,787,806,651,631,652,0.442190227331,-0.0155455715064,0.0798453381883,0.999999972041,-8.03464604343e-05,-0.000210400581135,-7.20762227505e-05,1793243104276048896
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,681.157868049,661,634.842131951,880,787,806,651,631,652,0.442951482952,-0.0155463158936,0.0798687004762,0.999999980411,-8.12296299797e-05,-0.000165989866807,-7.08994012514e-05,1793243104292715520
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681.746518568,661,634.253481432,880,787,806,651,631,652,0.443701568536,-0.0155503602087,0.0799414345132,0.999999993514,-7.12140187381e-05,-6.11554443779e-05,-6.45010804148e-05,1793243104309382400
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,682,661,634.329968531,880,787,806,651,630.670031469,652,0.444410297444,-0.0155566862903,0.0799862162692,0.999999995554,-7.23021566929e-05,2.97156952446e-06,-6.04645002612e-05,1793243104326049024
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,682,661,634.909485386,880,787,806,651,630.090514614,652,0.445087749112,-0.0155647380241,0.080009858293,0.999999994302,-8.17878297502e-05,3.63124120646e-05,-5.82140560807e-05,1793243104342715904
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,744.512941059,714,682,661,634.512941059,880,787,806,651,630.487058941,652,0.445706919825,-0.0155677640605,0.0799991087641,0.99999999454,-8.51818070983e-05,1.57786285129e-05,-5.84431426562e-05,1793243104359382272
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,744.063748979,714,682,661,634,880,787,805.936251021,651,631,652,0.446310622139,-0.0155697609501,0.0799807602273,0.999999994269,-8.77750595573e-05,-1.49849952984e-05,-5.94411848588e-05,1793243104376048896
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,744.636258661,714,682,661,634,880,787,805.363741339,651,631,652,0.446876970392,-0.0155709686531,0.0799525706202,0.999999992556,-9.29768139849e-05,-4.78045572425e-05,-6.29131845107e-05,1793243104392715776
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660.784503463,634,880,786.784503463,805.215496537,651,631,652,0.447415664469,-0.0155728122413,0.0799221390424,0.999999988942,-0.000101250130751,-8.64519547946e-05,-6.6262518971e-05,1793243104409382144
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660.193542982,634,880,786.193542982,805.806457018,651,631,652,0.447906176059,-0.0155757637453,0.079887801237,0.999999981847,-0.000114875091731,-0.000135253303945,-6.93981310269e-05,1793243104426048768
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,806,651,631,652.389867146,0.448368757498,-0.0155772148804,0.0798539711226,0.999999971793,-0.000121756180096,-0.000190749101423,-7.2138575384e-05,1793243104442715648
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,806,651,631,652.96960029,0.448817736948,-0.0155779353334,0.0798203882516,0.999999958228,-0.000125352991385,-0.000249505111163,-7.46865724937e-05,1793243104459382528
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660.544694669,633.455305331,880,786,806,651.544694669,630.455305331,653,0.449281965903,-0.01558794497,0.0798156684383,0.999999956421,-0.00013982662432,-0.000249065424061,-7.46565089108e-05,1793243104476049152
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,682.122529199,660.877470801,633.122529199,880,785.877470801,806,651.877470801,630.122529199,653,0.449742575765,-0.0155973922221,0.079817146434,0.999999956594,-0.000151908424314,-0.000241358955475,-7.40412586619e-05,1793243104492716032
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,682.711779096,660.288220904,633.711779096,880,785.288220904,806,651.288220904,630.711779096,653,0.450186185986,-0.0156027392522,0.0798361481803,0.999999961925,-0.000152586870908,-0.000218450787048,-7.17404295181e-05,1793243104509382656
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,682.703973717,660,633.703973717,879.703973717,785,806,651,631,652.703973717,0.450606500066,-0.0156080012486,0.0798513009977,0.999999965362,-0.000157822215428,-0.000198578480906,-7.02459690984e-05,1793243104526048768
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,682.12451642,660,633.12451642,879.12451642,785,806,651,631,652.12451642,0.451004509179,-0.0156131818291,0.0798627686485,0.999999967077,-0.000167420571824,-0.000181612869157,-6.9523568325e-05,1793243104542715392
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,633,879.453914613,784.546085387,806,651,630.546085387,652,0.451330153386,-0.01561590312,0.0798481145375,0.999999960686,-0.000170657861197,-0.000210696756644,-7.14909725672e-05,1793243104559382272
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,633,880.031912902,784.031912902,806,651,630.031912902,652,0.4516338964,-0.0156178712245,0.0798258933022,0.999999950563,-0.000172208253252,-0.000252464826357,-7.40248308928e-05,1793243104576049152
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,633,880.607325085,784.607325085,806,651,630.607325085,652,0.451901959126,-0.0156184754462,0.0797965591921,0.999999938339,-0.00017468025214,-0.000295604311771,-7.36678952467e-05,1793243104592715776
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.186915622,714,682.186915622,660,633,881,784.813084378,806,651.186915622,630.813084378,652.186915622,0.452165654798,-0.0156200042531,0.0797725286073,0.999999926674,-0.000177778730092,-0.000331118608067,-7.35272368195e-05,1793243104609382400
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.775484736,714,682.775484736,660,633,881,784.224515264,806,651.775484736,630.224515264,652.775484736,0.452419966291,-0.0156235198539,0.0797598945029,0.999999919334,-0.000182223417337,-0.000350247517809,-7.38513258075e-05,1793243104626049280
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.641376861,714,682.641376861,660,633,880.641376861,783.641376861,805.641376861,651.641376861,630.358623139,652.641376861,0.452661405566,-0.0156249511904,0.0797527794656,0.999999915897,-0.000185242588826,-0.000358095098013,-7.52227996253e-05,1793243104642715904
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+215,3.583333333,POSE1_TO_POSE2_PRESS,764.335824563,745,714,683,660,632.335824563,880,783.335824563,806.664175437,651,630,653,0.453447444982,-0.0156343243653,0.07973763237,0.99999990118,-0.000211937962168,-0.000382838335032,-7.84708260711e-05,1793243104709382144
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,745,714,682.753478158,660,632.246521842,880.246521842,783,806.753478158,651,630,652.753478158,0.453597206602,-0.0156372828984,0.079732701758,0.999999897453,-0.000214510906585,-0.000391170870746,-7.78729243528e-05,1793243104726048768
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.337854463,745,714,682,659.337854463,632.337854463,879.337854463,782.337854463,806,651,630,652,0.452141629228,-0.0155439974107,0.0795737355004,0.999999777109,-0.000112007129357,-0.000657611192043,-2.79999809586e-05,1793243106030148608
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744.248222283,714,679.248222283,660,634.751777717,879.248222283,787,805,651,631,652,0.410499641684,-0.0153602366553,0.0797871633152,0.999999901912,0.000263288002777,-0.000354107982084,3.82392512724e-05,1793243106980148224
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,659.664157152,635,879,787,805,651,631,652,0.409860306074,-0.0153597079448,0.0797936550998,0.999999905407,0.000265392788317,-0.000342437854026,3.85953506101e-05,1793243106996814848
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.508787956,744,714,679,659.491212044,634.508787956,879,787,805,651,631,652,0.40868904581,-0.0153589097967,0.0798327538535,0.999999924647,0.000269782790046,-0.000275931863287,4.22498390112e-05,1793243107030148608
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.06618217,744,714,679.06618217,659.93381783,634.06618217,878.93381783,787,805,650.93381783,631,652,0.408121838847,-0.0153584987588,0.0798450478572,0.999999929057,0.000271605277946,-0.000257265556172,4.39400354149e-05,1793243107046815488
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744,714.22119177,679.77880823,659.22119177,634.77880823,878.22119177,787,804.77880823,650.22119177,631,652,0.406984600099,-0.0153499243584,0.0797956319984,0.999999899668,0.000283448249497,-0.00034464350161,3.92742187651e-05,1793243107080148992
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744,714.057450227,679,659.057450227,634,879,787,804.942549773,651,631,652,0.405587358601,-0.015357584099,0.0797882522865,0.999999905918,0.000268375080708,-0.000338902082972,3.5844286519e-05,1793243107130148864
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634.5316987,879,787,805,651,631,652,0.405179303777,-0.0153572216767,0.0798047521514,0.999999914738,0.000269288423154,-0.000310844740731,3.7203609861e-05,1793243107146815232
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744.699008302,714,679,659,635,879,787.699008302,804.300991698,651,631,652,0.404403128062,-0.0153507044831,0.0798265911845,0.999999919032,0.000283096876519,-0.000283048285875,4.09406616009e-05,1793243107180148224
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.715723217,745,714,679,659.284276783,635,879,787.715723217,804.284276783,651,631,652,0.404042108234,-0.0153454621473,0.0798305068501,0.999999916852,0.000289979687103,-0.000283741976707,4.12144794671e-05,1793243107196815104
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.455364788,744.544635212,714,679,659.544635212,635,879,787,804.544635212,651,631,652,0.403392332997,-0.0153382228973,0.0798318924658,0.999999913165,0.000293116320446,-0.000293584694367,3.95143906285e-05,1793243107230148608
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,635,879,787,804,651,631,652,0.403100323025,-0.0153376964336,0.0798328996434,0.999999912863,0.000292058759534,-0.000295600916099,3.99382797748e-05,1793243107246815488
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,635,879,787,804,651,631,652,0.4028519505,-0.015337320447,0.0798356741639,0.999999912704,0.000296544397757,-0.000291615681959,4.01749726478e-05,1793243107263482112
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,635,879,787,804.182726399,651,631,652,0.402613396049,-0.0153382188646,0.0798376601886,0.999999912526,0.000299715953372,-0.000288935384166,4.04394954907e-05,1793243107280148736
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,635,879,787,804.760564681,651,631,652,0.40239607139,-0.0153418729447,0.0798379412372,0.999999912373,0.000300046048963,-0.000289076769282,4.07641954445e-05,1793243107296815360
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,635,879,787.935199344,805,651,631,652,0.402015423987,-0.0153612562194,0.0798320500983,0.999999919604,0.000267151675779,-0.000296269344902,4.05855233606e-05,1793243107330148352
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.483159801,744,714.516840199,679,659,635,879,787.483159801,804.483159801,651,631,652,0.401869406467,-0.0153617977805,0.0798337241113,0.999999920768,0.000268500063112,-0.000290870190704,4.20286207818e-05,1793243107346814976
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.668592521,744,714.331407479,679,659.668592521,635,879,787,804.668592521,651,630.331407479,652,0.401616374571,-0.0153583907013,0.0798412812117,0.999999921004,0.000280442391136,-0.000278027734072,4.52167381928e-05,1793243107380148736
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,659.751400704,635,879,787,804.751400704,651,630.248599296,652,0.401507056174,-0.0153565885663,0.0798433217694,0.999999921479,0.000281456861315,-0.00027561855261,4.31131919344e-05,1793243107396815360
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,659.161055059,635,879,787,804.161055059,651,630.838944941,652,0.401406781156,-0.0153555529454,0.0798415722202,0.999999923077,0.000273811022175,-0.00027852909601,3.5977080225e-05,1793243107413482240
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.578688716,744,714,679.421311284,659,635,879,787,804.421311284,651,631,652,0.401321863943,-0.0153557274413,0.0798381540928,0.999999920783,0.000276539001236,-0.000284438135935,3.24780522347e-05,1793243107430148608
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+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.57715364,744,714,679.42284636,659,635,878.42284636,787,805,651,631,652,0.401186452564,-0.0153554957728,0.0798329018504,0.999999917243,0.000280748316778,-0.000292774534593,3.12731352966e-05,1793243107463481856
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744,714,678.847742511,659,634.847742511,878.304514979,787,805,651,631,652,0.401134935731,-0.0153544778453,0.0798318577577,0.999999917284,0.000279519567119,-0.000293715041048,3.21283597424e-05,1793243107480148224
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744,714,678.276407274,659,634.276407274,879.447185452,787,805,651,631,652,0.401096537141,-0.0153530208386,0.0798312743495,0.999999916725,0.000281514361972,-0.000293640785366,3.27888101535e-05,1793243107496814848
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.692808235,744,714,678.307191765,659.307191765,634,879.692808235,787,805,651,631,652,0.401062921772,-0.0153518662816,0.0798303974368,0.99999991595,0.00028269668359,-0.000295075059125,3.33641515237e-05,1793243107513481984
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.097715458,744,714,678.902284542,659.902284542,634,879.097715458,787,805,651,631,652,0.401033789246,-0.0153509951812,0.0798292454506,0.99999991497,0.000283117553171,-0.000297923131037,3.3859728531e-05,1793243107530149376
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.483838571,744,714,679,659.516161429,634.483838571,879,787.483838571,805,651,631,652,0.401014811075,-0.015351348091,0.0798285715062,0.999999914794,0.000282647477838,-0.000298941274545,3.39991061286e-05,1793243107546816256
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634.937588853,879,787.937588853,804.937588853,651,631,652,0.400998645572,-0.015351830727,0.0798280003177,0.999999914697,0.0002822988957,-0.000299589137269,3.40500404791e-05,1793243107563482880
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634.361662164,879,787.361662164,804.361662164,651,631,652,0.4009892083,-0.0153514021633,0.0798275018577,0.99999991394,0.000284390141949,-0.000300148381771,3.39490556966e-05,1793243107580149248
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634,879,787,804.218388131,651,631,652,0.400982443824,-0.0153513723632,0.0798279147988,0.999999914063,0.000284982858386,-0.000299161866676,3.40703019713e-05,1793243107596815616
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634,879,787,804.805398725,651,631,652,0.400980190824,-0.0153520156456,0.0798298661153,0.999999915665,0.000283046170979,-0.00029556622757,3.456665728e-05,1793243107613481728
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634.387424144,879,787,804.612575856,651,630.612575856,652,0.400979506534,-0.0153517895841,0.0798317843461,0.999999916155,0.000284359415076,-0.000292633524045,3.45700782889e-05,1793243107630148352
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634.966977327,879,787,804.033022673,651,630.033022673,652,0.400979600189,-0.0153511324028,0.0798336861692,0.999999916086,0.000287284345617,-0.000290029579632,3.43290462841e-05,1793243107646815232
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.455202138,744.544797862,714,679,659,635,879,787,804.544797862,651,630.544797862,652.544797862,0.400978387655,-0.0153516767621,0.0798342969473,0.999999917097,0.000284824596402,-0.000288966337355,3.43349093408e-05,1793243107663482112
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.120688624,744.879311376,714,679,659.120688624,635,879,787,805,651,631,652.879311376,0.400977259015,-0.0153523909902,0.0798346195539,0.999999918018,0.000282223386754,-0.000288337642174,3.42854359847e-05,1793243107680148992
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+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,659.728930927,634.728930927,879,787,804.728930927,651,631,652,0.400976465026,-0.015354153355,0.0798340580467,0.999999918727,0.000279431784368,-0.000288633211293,3.39955278676e-05,1793243107713481984
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,659.133089041,634.133089041,879,787,804.133089041,651,631,652,0.400976498332,-0.0153543741397,0.0798343801475,0.999999919045,0.000279809305609,-0.000287109368009,3.44128236393e-05,1793243107730148352
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634.449651515,879,787,804.449651515,651,631,652,0.400975542166,-0.015353726003,0.0798345643074,0.999999918612,0.000281543379318,-0.000286948511408,3.42014465242e-05,1793243107746814976
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.971627024,744,714.028372976,679,659,634.971627024,878.971627024,787.028372976,805,651,631,652.028372976,0.400974438941,-0.015352889161,0.0798347551892,0.999999918015,0.000283581476423,-0.000287065069004,3.38369466971e-05,1793243107763481856
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.645936761,744,714,679.354063239,659,634,879,787,804.645936761,651,631,652,0.400976483214,-0.015354339607,0.0798366696206,0.999999919238,0.000282161633243,-0.000284118335995,3.44193905088e-05,1793243107830148608
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..84018cd0ea2e9675f6ab7f80d0994109a910b667
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_08/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
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+348,5.800000000,pose2_to_pose3_retreat,0.589736572348,-0.00999819874863,1.07004082407,0.560308293318,-0.0013233658837,1.06967861823
+349,5.816666667,pose2_to_pose3_retreat,0.589142009127,-0.00999818840697,1.07004080616,0.559713730802,-0.00132335303361,1.06967860317
+350,5.833333333,pose2_to_pose3_retreat,0.588574697605,-0.00999816370813,1.07004085687,0.559146418092,-0.00132333278711,1.06967864379
+351,5.850000000,pose2_to_pose3_retreat,0.588033739162,-0.00999808063634,1.07004085637,0.5586054577,-0.00132325616769,1.06967864715
+352,5.866666667,pose2_to_pose3_retreat,0.587513042789,-0.0099982476837,1.07004102835,0.558084764135,-0.00132341341712,1.06967882565
+353,5.883333333,pose2_to_pose3_retreat,0.587006545393,-0.00999825840216,1.07004077768,0.557578266501,-0.00132342522948,1.06967856822
+354,5.900000000,pose2_to_pose3_retreat,0.586512861132,-0.00999818382575,1.07004096059,0.557084579961,-0.00132335820198,1.06967875555
+355,5.916666667,pose2_to_pose3_retreat,0.58604022999,-0.0099981829544,1.07004090586,0.556611949819,-0.00132335392596,1.06967870115
+356,5.933333333,pose2_to_pose3_retreat,0.585594072833,-0.00999820543462,1.0700408166,0.556165793121,-0.00132337483851,1.06967861216
+357,5.950000000,pose2_to_pose3_retreat,0.585177885441,-0.0099982048044,1.07004086667,0.55574960544,-0.00132337513818,1.06967866346
+358,5.966666667,pose2_to_pose3_retreat,0.584789691762,-0.00999818212713,1.07004091161,0.555361411389,-0.00132335382565,1.06967870598
+359,5.983333333,pose2_to_pose3_retreat,0.584428343711,-0.00999816202338,1.07004085502,0.55500006205,-0.00132333832265,1.06967864396
+360,6.000000000,pose2_to_pose3_retreat,0.584083259682,-0.00999822972426,1.07004095526,0.554654979328,-0.00132340146162,1.06967874732
+361,6.016666667,pose2_to_pose3_retreat,0.58375091003,-0.00999822143481,1.07004112062,0.554322631402,-0.00132338779515,1.06967890121
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+363,6.050000000,pose2_to_pose3_retreat,0.583141825805,-0.00999810217359,1.07004096313,0.553713544521,-0.00132327715087,1.06967875313
+364,6.066666667,pose2_to_pose3_retreat,0.582869419479,-0.0099981713595,1.07004098079,0.55344113912,-0.0013233433271,1.06967876772
+365,6.083333333,pose2_to_pose3_retreat,0.582618604227,-0.0099981000163,1.07004088067,0.553190323551,-0.00132327273201,1.06967867557
+366,6.100000000,pose2_to_pose3_retreat,0.582390332561,-0.00999809944423,1.07004069642,0.552962052022,-0.00132327143803,1.06967849742
+367,6.116666667,pose2_to_pose3_retreat,0.582181030518,-0.00999823449882,1.07004063951,0.552752751395,-0.00132340185091,1.06967843673
+368,6.133333333,pose2_to_pose3_retreat,0.581990980856,-0.00999823238259,1.0700408631,0.552562701676,-0.00132340041262,1.06967864904
+369,6.150000000,pose2_to_pose3_retreat,0.58181892306,-0.00999824201201,1.07004087144,0.552390645223,-0.00132340552124,1.06967865648
+370,6.166666667,pose2_to_pose3_retreat,0.581664735412,-0.00999825045563,1.07004089877,0.552236455252,-0.00132342120965,1.06967869916
+371,6.183333333,pose2_to_pose3_retreat,0.581528601471,-0.00999817614854,1.07004104631,0.552100320792,-0.00132334904537,1.06967883747
+372,6.200000000,pose2_to_pose3_retreat,0.581407819043,-0.00999812127216,1.07004083635,0.551979537545,-0.00132329679051,1.06967863132
+373,6.216666667,pose2_to_pose3_retreat,0.581301734401,-0.0099981734504,1.07004074595,0.551873453531,-0.00132334676308,1.0696785427
+374,6.233333333,pose2_to_pose3_retreat,0.581206501871,-0.0099982298871,1.07004082291,0.551778221954,-0.00132340009216,1.06967861687
+375,6.250000000,pose2_to_pose3_retreat,0.581121442433,-0.00999816587738,1.07004079693,0.551693161855,-0.00132333829378,1.06967859219
+376,6.266666667,pose2_to_pose3_retreat,0.581047063916,-0.00999817923871,1.07004070062,0.551618783857,-0.0013233498007,1.06967849805
+377,6.283333333,pose2_to_pose3_retreat,0.580982782591,-0.00999817972865,1.07004096388,0.551554501999,-0.00132335262268,1.0696787486
+378,6.300000000,pose2_to_pose3_retreat,0.580929384668,-0.00999820100156,1.07004084031,0.551501104832,-0.0013233708811,1.06967863568
+379,6.316666667,pose2_to_pose3_retreat,0.580884994093,-0.00999814503615,1.07004082873,0.551456713003,-0.00132331921347,1.06967862305
+380,6.333333333,pose2_to_pose3_retreat,0.580849358389,-0.00999809433284,1.07004090773,0.551421076743,-0.00132327051999,1.06967869908
+381,6.350000000,pose2_to_pose3_retreat,0.58082027775,-0.00999819222352,1.07004082958,0.551391997528,-0.00132336340715,1.06967862501
+382,6.366666667,pose2_to_pose3_retreat,0.580797431579,-0.00999822936137,1.07004068526,0.551369151995,-0.00132339823635,1.0696784842
+383,6.383333333,pose2_to_pose3_retreat,0.580779703395,-0.00999806350224,1.07004076179,0.551351422409,-0.00132323739791,1.06967855432
+384,6.400000000,pose2_to_pose3_retreat,0.580766562741,-0.00999816823257,1.07004097203,0.551338283725,-0.00132333562577,1.06967876033
+385,6.416666667,pose2_to_pose3_retreat,0.580758074118,-0.00999808925408,1.07004097244,0.551329793532,-0.00132326198533,1.06967876051
+386,6.433333333,pose2_to_pose3_retreat,0.580752601619,-0.00999807348368,1.07004085913,0.551324320253,-0.00132324854223,1.06967865477
+387,6.450000000,pose2_to_pose3_retreat,0.580749711414,-0.00999809832937,1.07004078172,0.551321430354,-0.00132327218794,1.06967858133
+388,6.466666667,pose2_to_pose3_retreat,0.580748145106,-0.00999815714926,1.07004072957,0.551319865267,-0.00132332682433,1.06967853015
+389,6.483333333,pose2_to_pose3_retreat,0.580747394595,-0.00999818533334,1.07004070458,0.551319115341,-0.00132335300384,1.06967850563
+390,6.500000000,pose2_to_pose3_retreat,0.580746894404,-0.00999820411709,1.07004068793,0.551318615541,-0.00132337045162,1.06967848929
+391,6.516666667,pose2_to_pose3_retreat,0.580746467126,-0.00999821340712,1.07004067694,0.551318188449,-0.00132337911325,1.06967847822
+392,6.533333333,pose2_to_pose3_retreat,0.580746092825,-0.00999818860303,1.07004068309,0.551317813594,-0.00132335625933,1.06967848267
+393,6.550000000,pose2_to_pose3_retreat,0.580745749461,-0.00999816584898,1.07004068873,0.551317469721,-0.00132333529428,1.06967848676
+394,6.566666667,pose2_to_pose3_retreat,0.580745409163,-0.00999814329817,1.07004069432,0.55131712892,-0.00132331451648,1.0696784908
+395,6.583333333,pose2_to_pose3_retreat,0.580745317981,-0.00999813725572,1.07004069582,0.551317037603,-0.00132330894911,1.06967849189
+396,6.600000000,pose2_to_pose3_retreat,0.58074524306,-0.0099981322909,1.07004069705,0.551316962571,-0.00132330437464,1.06967849278
+397,6.616666667,pose2_to_pose3_retreat,0.58074515706,-0.00999812659184,1.07004069847,0.551316876444,-0.00132329912365,1.0696784938
+398,6.633333333,pose2_to_pose3_retreat,0.580745043504,-0.00999811906672,1.07004070033,0.551316762719,-0.00132329219018,1.06967849515
+399,6.650000000,pose2_to_pose3_retreat,0.58074495023,-0.00999811288569,1.07004070187,0.551316669308,-0.00132328649513,1.06967849626
+400,6.666666667,pose2_to_pose3_retreat,0.58074486063,-0.00999810694805,1.07004070334,0.551316579575,-0.00132328102432,1.06967849732
+401,6.683333333,pose2_to_pose3_retreat,0.580744715996,-0.00999809736349,1.07004070572,0.551316434727,-0.00132327219333,1.06967849904
+402,6.700000000,pose2_to_pose3_retreat,0.580744601913,-0.00999809912561,1.07004071498,0.551316320738,-0.00132327366108,1.06967850771
+403,6.716666667,pose2_to_pose3_retreat,0.580744439633,-0.00999811483415,1.07004073862,0.551316158964,-0.00132328769225,1.06967853038
+404,6.733333333,pose2_to_pose3_retreat,0.580744204675,-0.00999813757774,1.07004077285,0.55131592474,-0.00132330800725,1.06967856321
+405,6.750000000,pose2_to_pose3_retreat,0.580744098043,-0.00999814789962,1.07004078838,0.55131581844,-0.00132331722696,1.06967857811
+406,6.766666667,pose2_to_pose3_retreat,0.580743636658,-0.00999818505415,1.07004085517,0.551315358284,-0.00132335032785,1.06967864216
+407,6.783333333,pose2_to_pose3_retreat,0.580743568386,-0.00999809771761,1.07004085981,0.551315287586,-0.00132327123797,1.06967864643
+408,6.800000000,pose2_to_pose3_retreat,0.580743515455,-0.00999808702,1.07004075119,0.55131523379,-0.00132326335873,1.06967854063
+409,6.816666667,pose2_to_pose3_retreat,0.580743496217,-0.00999814541441,1.07004058913,0.551315215347,-0.001323318872,1.06967838298
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a66ded7c701080a62aa3483229594a19017c455c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee2a120a7bd82a492ce3ffb1c792a45204f9a9278634b859125b9c24e9e6bfc3
+size 25525453
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1eb3fdcc06bcf51c650191c07a2ad5ea01fcfbf1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_01/franka_data.csv
@@ -0,0 +1,404 @@
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+22,0.366666667,BASELINE,764.767218574,745.767218574,714,679,662,634.767218574,878.232781426,786.232781426,804.232781426,652.767218574,631,652,0.400922791616,0.00440870557128,0.0599307506894,0.999999970288,-0.000117306089973,-0.000211115474546,-3.30639418406e-05,1793243110082036992
+23,0.383333333,BASELINE,764.649683691,745.649683691,713.649683691,679.350316309,662,635,878,786,804.350316309,653,631,652,0.400922926619,0.00440963038407,0.0599308893379,0.999999970496,-0.000115776710517,-0.000210939706851,-3.32752317331e-05,1793243110098703360
+24,0.400000000,BASELINE,764.070190859,745.070190859,713.070190859,679.929809141,662,635,878,786,804.929809141,653,631,652,0.400923117767,0.00441005077384,0.0599320126083,0.999999970873,-0.000114830140794,-0.000209660287792,-3.33264590368e-05,1793243110115369984
+25,0.416666667,BASELINE,764,745,713.503471473,679.496528527,662,635,878.503471473,786,805,653,631,652,0.400924800155,0.00440842439012,0.0599323248233,0.999999970656,-0.000118668345152,-0.000208590213908,-3.31066405603e-05,1793243110132036864
+26,0.433333333,BASELINE,764,745,713.922887917,679,662.077112083,635,879,786,804.922887917,653,631,652,0.400926177592,0.00440694298558,0.0599324044564,0.999999970397,-0.000122129172864,-0.000207870317465,-3.28696158524e-05,1793243110148703488
+27,0.450000000,BASELINE,764,745,713.344161274,679,662.655838726,635,879,786,804.344161274,653,631,652,0.40092423442,0.00440823961405,0.0599316982593,0.99999997051,-0.000118845589567,-0.000209240647843,-3.27636583949e-05,1793243110165370112
+28,0.466666667,BASELINE,764,745,713.237936325,679.237936325,662.762063675,634.762063675,879,786,804.237936325,652.762063675,631,652,0.400923198256,0.00440912514079,0.0599313267906,0.999999970667,-0.000116913745109,-0.000209575621261,-3.27868201383e-05,1793243110182036736
+29,0.483333333,BASELINE,764,745,713.824979856,679.824979856,662.175020144,634.175020144,879,786,804.824979856,652.175020144,631,652,0.400923492878,0.00440940748686,0.0599314464455,0.999999970902,-0.000116965212004,-0.000208391488283,-3.29994293938e-05,1793243110198703104
+30,0.500000000,BASELINE,764,745.409278914,714,680,662,634.409278914,878.590721086,786,804.590721086,652.409278914,631,652,0.400923541884,0.00440852198789,0.0599315517508,0.999999970681,-0.000118270993173,-0.000208745591491,-3.27770532586e-05,1793243110215369728
+31,0.516666667,BASELINE,764,745.992412154,714,680,662,634.992412154,878.007587846,786,804.007587846,652.992412154,631,652,0.400923486558,0.00440714040935,0.0599316509606,0.999999970265,-0.000120109584498,-0.00020975310981,-3.23699031425e-05,1793243110232036352
+32,0.533333333,BASELINE,764.563973102,745.436026898,714,679.436026898,662.563973102,635,878.563973102,786,804.563973102,653,631,652,0.400924009721,0.00440705341156,0.0599317598542,0.999999970456,-0.000119853858683,-0.000209002948381,-3.22580442384e-05,1793243110248703488
+33,0.550000000,BASELINE,764.863459182,745,714,679,662.863459182,635,878.863459182,786,804.863459182,653,631,652,0.400924293944,0.00440710740824,0.0599317922499,0.999999970567,-0.000119611693538,-0.000208617654763,-3.22154981459e-05,1793243110265370624
+34,0.566666667,BASELINE,764.287157684,745,714,679,662.287157684,635,878.287157684,786,804.287157684,653,631,652,0.400923784042,0.00440756054006,0.0599315778557,0.999999970394,-0.000119502130997,-0.000209482134149,-3.23836512744e-05,1793243110282037248
+35,0.583333333,BASELINE,764,745,714,679,662,634.701964088,878.298035912,786.298035912,804,653,631,652,0.40092388419,0.00440756903694,0.0599316105995,0.99999997049,-0.000118562557793,-0.000209542705992,-3.24889202206e-05,1793243110298703616
+36,0.600000000,BASELINE,764,745,714,679,662,634.107939403,878.892060597,786.892060597,804,653,631,652,0.400924590197,0.00440713595302,0.0599318887838,0.99999997085,-0.000116798675065,-0.00020880489225,-3.25317369418e-05,1793243110315370496
+37,0.616666667,BASELINE,764,745,714,679,662.474130242,634.474130242,878.525869758,787,804.474130242,653,631,652,0.400923706368,0.00440685204448,0.0599312818546,0.999999970508,-0.000118007576848,-0.000209762353487,-3.25178690806e-05,1793243110332037120
+38,0.633333333,BASELINE,764.052902035,745.052902035,714,679,662.947097965,635,878.052902035,786.947097965,805,653,631,652,0.400922593714,0.00440674026379,0.0599305569696,0.999999970077,-0.000119610712828,-0.000210909754094,-3.2502868089e-05,1793243110348703744
+39,0.650000000,BASELINE,764.625357951,745.625357951,714,679,662.374642049,635,878.625357951,786.374642049,805,653,631,652,0.400922700969,0.00440799363115,0.059930603933,0.999999970338,-0.000118602449874,-0.000210225420797,-3.26003591034e-05,1793243110365370368
+40,0.666666667,BASELINE,764.795906013,745.795906013,714,679,662.204093987,635,879,786,804.795906013,653,631,652,0.400923126886,0.00440876295054,0.0599308945217,0.99999997052,-0.000117997272509,-0.000209687543307,-3.26896315911e-05,1793243110382036992
+41,0.683333333,BASELINE,764.205276015,745.205276015,714,679,662.794723985,635,879,786,804.205276015,653,631,652,0.400924156319,0.00440861552569,0.0599316465155,0.999999970553,-0.000118155503756,-0.000209427040242,-3.2763338908e-05,1793243110398703616
+42,0.700000000,BASELINE,764,745,713.622124038,679.377875962,662.622124038,635,878.622124038,786.377875962,804,653,631,652,0.400922578161,0.00440720547068,0.0599308510602,0.999999969831,-0.000120933170668,-0.000211309944414,-3.25882102529e-05,1793243110415370496
+43,0.716666667,BASELINE,764,745,713.04295558,679.95704442,662.04295558,635,878.04295558,786.95704442,804,653,631,652,0.400919610952,0.00440512281938,0.0599292312869,0.999999968684,-0.000125106196882,-0.000214334630112,-3.22805280092e-05,1793243110432037632
+44,0.733333333,BASELINE,764,745,713.533775943,679.466224057,662,634.466224057,878,786.466224057,804,652.466224057,631,652,0.400921630898,0.00440741427907,0.0599303760972,0.999999969754,-0.000121508318309,-0.000211362035257,-3.2475152716e-05,1793243110448704000
+45,0.750000000,BASELINE,764.109490335,745,714,679,662.109490335,634.109490335,878,786,804.109490335,652.109490335,631,652,0.400923446125,0.00440939617458,0.0599312811669,0.999999970635,-0.00011830209098,-0.000208964466377,-3.26812655772e-05,1793243110465370624
+46,0.766666667,BASELINE,764.681730852,745,714,679,662.681730852,634.681730852,878,786,804.681730852,652.681730852,631,652,0.400922707604,0.00440858876799,0.0599302369809,0.999999970071,-0.00011938216408,-0.000211027710631,-3.27658640381e-05,1793243110482037504
+47,0.783333333,BASELINE,765,745,714,679,663,634.736508411,878,786.263491589,804.736508411,652.736508411,631,652,0.400922602446,0.00440832470027,0.0599300050958,0.999999969953,-0.000119086821525,-0.000211771302921,-3.26484750764e-05,1793243110498704384
+48,0.800000000,BASELINE,765,745,714,679,663,634.142817145,878,786.857182855,804.142817145,652.142817145,631,652,0.400923291001,0.00440874152825,0.0599307911612,0.999999970395,-0.000117067849888,-0.000210861147629,-3.22779616081e-05,1793243110515370752
+49,0.816666667,BASELINE,764.561745379,745,714,678.561745379,663,634,878,787,804,652.438254621,631,652,0.400923795524,0.00440873087137,0.0599311175256,0.999999970565,-0.000116837782501,-0.000210149816371,-3.24855119606e-05,1793243110532037120
+50,0.833333333,BASELINE,764,745,713.984693097,678.015306903,662.984693097,634.015306903,878,786.984693097,804.015306903,652.984693097,631,652,0.400924250688,0.00440856660011,0.0599313027267,0.999999970643,-0.000117221902335,-0.000209506535009,-3.28557562112e-05,1793243110548703744
+51,0.850000000,BASELINE,764,745,713.408452291,678.591547709,662.408452291,634.591547709,878,786.408452291,804.591547709,652.408452291,631,652,0.4009250333,0.00440773515752,0.0599316509988,0.9999999705,-0.00011934819493,-0.0002090490891,-3.24780102876e-05,1793243110565370368
+52,0.866666667,BASELINE,764,745,713.170522137,679,662,635,878,786,804.829477863,652.170522137,631,652,0.400925572545,0.00440699488912,0.0599318578919,0.999999970418,-0.00012077229424,-0.000208672105397,-3.21534647861e-05,1793243110582036992
+53,0.883333333,BASELINE,764,745,713.756151063,679,662,635,878,786,804.243848937,652.756151063,631,652,0.400925519356,0.00440647656862,0.0599317206219,0.999999970497,-0.00012048702475,-0.000208490993111,-3.19584265765e-05,1793243110598703616
+54,0.900000000,BASELINE,764,745,714,679,662,635,878,786,804,653,631,652,0.400925459659,0.00440711216215,0.0599314275292,0.999999970713,-0.000118580791978,-0.000208546603397,-3.19659934285e-05,1793243110615370496
+55,0.916666667,BASELINE,764,745,714,679,662,635,878,786,804,653,631,652,0.40092539532,0.00440857103585,0.059931023262,0.999999971019,-0.000115518054606,-0.000208771107548,-3.2118112414e-05,1793243110632037376
+56,0.933333333,BASELINE,764,745,714,679,662.498371888,635,878.498371888,786,804.498371888,653,631,652,0.400925391629,0.00440917328063,0.0599312273791,0.999999970834,-0.000116566334719,-0.000209044454877,-3.23114368049e-05,1793243110648704512
+57,0.950000000,BASELINE,764,745,714,679,663,635,878.926825981,786,804.926825981,653,631,652,0.40092530394,0.00440948860638,0.0599314226557,0.999999970593,-0.000117993471815,-0.000209370997359,-3.24778345449e-05,1793243110665371392
+58,0.966666667,BASELINE,764,745,714,679,663,635,878.350382524,786,804.350382524,653,631,652,0.400924574768,0.00440873130678,0.0599309174322,0.999999970495,-0.000117703662928,-0.000210012043237,-3.241571233e-05,1793243110682037504
+59,0.983333333,BASELINE,764,745,713.7693331,679,662.7693331,634.7693331,878,786,804,653,631,652,0.400923663227,0.00440855003017,0.0599303916274,0.999999970342,-0.000117649361028,-0.000210771044151,-3.24039167252e-05,1793243110698703616
+60,1.000000000,BASELINE,764,745,713.18114458,679,662.18114458,634.18114458,878,786,804,653,631,652,0.400922469024,0.00440926155892,0.0599298339229,0.999999970104,-0.00011796008259,-0.000211712869299,-3.24701247223e-05,1793243110715370240
+61,1.016666667,BASELINE,764,745.400816428,713.400816428,679,662,634.400816428,878,786,804,653,631,652,0.400922197651,0.00440928312601,0.0599301646733,0.999999970183,-0.000118027869358,-0.000211304670405,-3.24526855716e-05,1793243110732036864
+62,1.033333333,BASELINE,764,745.980006004,713.980006004,679,662,634.980006004,878,786,804,653,631,652,0.400922336961,0.00440899764318,0.0599308908081,0.999999970403,-0.000117987544163,-0.000210295677621,-3.23980213829e-05,1793243110748703488
+63,1.050000000,BASELINE,764,745.443038726,714,679,662.556961274,634.443038726,878,786.556961274,804,653,631,652,0.400925668886,0.0044085473977,0.0599313823784,0.999999970613,-0.000119036773088,-0.00020867175606,-3.25641115803e-05,1793243110765370112
+64,1.066666667,BASELINE,764.135945887,745,714,678.864054113,662.864054113,634.135945887,878.135945887,786.864054113,804.135945887,653,631,652,0.400927929132,0.00440833012241,0.0599317267976,0.999999970797,-0.000119503135386,-0.000207510580105,-3.26368451044e-05,1793243110782036736
+65,1.083333333,BASELINE,764.721912646,745,714,678.278087354,662.278087354,634.721912646,878.721912646,786.278087354,804.721912646,653,631,652,0.40092626393,0.00440890354824,0.0599316118665,0.999999970902,-0.000117911078772,-0.000207954010845,-3.23744122352e-05,1793243110798703616
+66,1.100000000,BASELINE,764.695529126,745.304470874,714,678.304470874,662,635,879,786.304470874,804.695529126,652.695529126,631,652,0.400925165101,0.0044083906925,0.0599314425558,0.999999970892,-0.00011762905902,-0.000208183874903,-3.22451475716e-05,1793243110815370240
+67,1.116666667,BASELINE,764.116049632,745.883950368,714,678.883950368,662,635,879,786.883950368,804.116049632,652.116049632,631,652,0.40092457784,0.00440689666967,0.0599312241276,0.999999970778,-0.000118530309939,-0.000208220838128,-3.22361650491e-05,1793243110832036864
+68,1.133333333,BASELINE,764,745.537214742,714,679,662.462785258,635,879,786.537214742,804,652.462785258,631,652,0.400924688828,0.00440765689795,0.0599309883007,0.999999970649,-0.000118230630903,-0.000208997978243,-3.22979329174e-05,1793243110848704000
+69,1.150000000,BASELINE,764.041277551,745,714,679,663,635,878.958722449,786,804,653,631,652,0.400924973306,0.00440892454009,0.0599308159685,0.999999970565,-0.000117498785842,-0.00020980396578,-3.23499804537e-05,1793243110865371392
+70,1.166666667,BASELINE,764.617421586,745,714,679,663,635,878.382578414,786,804,653,631,652,0.400925240137,0.00440945250184,0.0599315228446,0.999999971113,-0.00011506382496,-0.000208582007489,-3.20465011327e-05,1793243110882037504
+71,1.183333333,BASELINE,764.802812887,745,714,679,662.802812887,635,878,786.197187113,804.197187113,653,631,652,0.400925131765,0.00440969985278,0.0599316624849,0.999999971255,-0.000114288042863,-0.000208347475045,-3.19228588208e-05,1793243110898704128
+72,1.200000000,BASELINE,764.215889452,745,714,679,662.215889452,635,878,786.784110548,804.784110548,653,631,652,0.400924281811,0.00440939258228,0.0599306809952,0.999999970599,-0.000116791593487,-0.000210064569504,-3.21546606489e-05,1793243110915371008
+73,1.216666667,BASELINE,764,745.366644603,714,679,662,635,878.366644603,787,805,653,631,652,0.400924187773,0.00440948156523,0.0599302170464,0.99999997032,-0.000118113607078,-0.000210623120878,-3.23672275876e-05,1793243110932037376
+74,1.233333333,BASELINE,764,745.946624622,714,679,662,635,878.946624622,787,805,653,631,652,0.400924533572,0.00440980111178,0.0599300542334,0.999999970262,-0.000118748132713,-0.000210507563574,-3.25686025215e-05,1793243110948703744
+75,1.250000000,BASELINE,764.525021224,745.474978776,714,679,662.525021224,634.474978776,879.525021224,786.474978776,805,653,631,652,0.400923332395,0.00440837788181,0.0599299902651,0.999999970168,-0.000119877789925,-0.000210326576457,-3.24887684313e-05,1793243110965370368
+76,1.266666667,BASELINE,764.897546718,745,714,679.102453282,662.897546718,634,879.897546718,786,804.897546718,653,631,652,0.400922519749,0.00440714419022,0.0599300418155,0.999999970153,-0.000120703774578,-0.000209940944562,-3.23902490555e-05,1793243110982036992
+77,1.283333333,BASELINE,764.323813282,745,714,679.676186718,662.323813282,634,879.323813282,786,804.323813282,653,631,652,0.400924215594,0.00440759491821,0.0599305786606,0.999999970523,-0.000119902029909,-0.000208644462564,-3.23368891742e-05,1793243110998703616
+78,1.300000000,BASELINE,764.257116668,745,714,679.742883332,662.257116668,634.257116668,878.742883332,786,804,653,631,652.257116668,0.400925111108,0.00440868363722,0.0599309724439,0.999999970775,-0.000118677082284,-0.000208128040235,-3.2376771425e-05,1793243111015370240
+79,1.316666667,BASELINE,764.847370859,745,714,679.152629141,662.847370859,634.847370859,878.152629141,786,804,653,631,652.847370859,0.400924969659,0.00441059897994,0.0599311808668,0.999999970876,-0.000116903804713,-0.000208622315397,-3.25374644122e-05,1793243111032036864
+80,1.333333333,BASELINE,764.570852394,745,714,679,662.570852394,635,878,786,804,653,631,652.570852394,0.400924412424,0.00440948699197,0.0599307219858,0.999999970664,-0.000117950566673,-0.000209078920849,-3.23413227162e-05,1793243111048703488
+81,1.350000000,BASELINE,764.007929994,745,714,679,662.007929994,635,878.007929994,786.007929994,804,653,631,652.007929994,0.400923730596,0.00440736866869,0.0599300414743,0.999999970349,-0.000119922211923,-0.000209509030948,-3.2029357455e-05,1793243111065370112
+82,1.366666667,BASELINE,764.584007456,745,714,679,662.584007456,635,878.584007456,786.584007456,804,653,631,652.584007456,0.400924511677,0.00440879662458,0.0599301564461,0.999999970715,-0.000117691613161,-0.000208982142137,-3.2335591186e-05,1793243111082036736
+83,1.383333333,BASELINE,765,745,713.836726153,679,662.836726153,635,879,786.836726153,804.163273847,653,631,652.836726153,0.400924802215,0.00441009390987,0.0599302101197,0.99999997097,-0.000115675280443,-0.000208857606588,-3.25244220283e-05,1793243111098703616
+84,1.400000000,BASELINE,765,745,713.249172969,679,662.249172969,635,879,786.249172969,804.750827031,653,631,652.249172969,0.400923818035,0.00441105163806,0.059930104505,0.999999970949,-0.000114215733631,-0.000209778616059,-3.24081727242e-05,1793243111115370240
+85,1.416666667,BASELINE,764.666125768,745,713.333874232,679,662.333874232,634.666125768,878.666125768,786,805,652.666125768,631,652.333874232,0.400924224461,0.00441086262203,0.0599305693256,0.999999970929,-0.00011468456745,-0.000209622537046,-3.23680510899e-05,1793243111132036608
+86,1.433333333,BASELINE,764.086396671,745,713.913603329,679,662.913603329,634.086396671,878.086396671,786,805,652.086396671,631,652.913603329,0.400925654886,0.00440982917823,0.0599314541975,0.999999970909,-0.000116573402399,-0.000208673322667,-3.23839875711e-05,1793243111148702976
+87,1.450000000,BASELINE,764.490636448,745,714,679,663,634.490636448,878.490636448,786,804.509363552,652.490636448,631,652.509363552,0.400925399261,0.00441017779989,0.0599307053514,0.999999970865,-0.000116365189052,-0.000208974874205,-3.25446700946e-05,1793243111165369856
+88,1.466666667,BASELINE,764.933431334,745,713.933431334,679,662.933431334,635,878.933431334,786,804,652.933431334,631,652,0.400924889999,0.00441064695333,0.0599298438083,0.999999970828,-0.000115828825408,-0.000209424366329,-3.26964224856e-05,1793243111182036736
+89,1.483333333,BASELINE,764.362265163,745,713.362265163,679,662.362265163,635,878.362265163,786,804,652.362265163,631,652,0.400924696364,0.00441019506676,0.0599302967613,0.999999970878,-0.000115588867117,-0.00020933487934,-3.2588334019e-05,1793243111198703104
+90,1.500000000,BASELINE,764,745,713,679,662,635,878,786.217397666,804,652,631,652,0.400924577363,0.00441013411181,0.0599303375933,0.999999970842,-0.000115694193949,-0.000209452508237,-3.25624429987e-05,1793243111215369984
+91,1.516666667,BASELINE,764,745,713,679,662,635,878,786.811794893,804,652,631,652,0.400924587787,0.0044107510899,0.0599296637466,0.999999970657,-0.000116398296047,-0.000209929306585,-3.26790944628e-05,1793243111232036864
+92,1.533333333,BASELINE,764,745,713.395890265,679,662.395890265,635,878.395890265,787,804,652.395890265,631,652,0.40092460385,0.00440996556983,0.0599298991359,0.9999999707,-0.0001168192837,-0.000209490599978,-3.26547168018e-05,1793243111248703488
+93,1.550000000,BASELINE,764,745,713.975212427,679,662.975212427,635,878.975212427,787,804,652.975212427,631,652,0.400924622527,0.00440853021594,0.0599305558109,0.99999997085,-0.000117109093096,-0.000208627703114,-3.25649946803e-05,1793243111265369856
+94,1.566666667,BASELINE,764,745,713.451145336,679,662.451145336,635,878.451145336,786.451145336,804,653,631,652,0.400924811781,0.00440867859202,0.0599306533805,0.99999997089,-0.000117183801731,-0.000208445804595,-3.22357814054e-05,1793243111282036480
+95,1.583333333,BASELINE,764,745,713.125598729,679,662,634.874401271,878.125598729,786.125598729,804.125598729,653,631,652,0.400924670792,0.0044092237313,0.0599305828814,0.999999970929,-0.000116602469756,-0.000208622033748,-3.19687594508e-05,1793243111298703360
+96,1.600000000,BASELINE,764,745,713.714727445,679,662,634.285272555,878.714727445,786.714727445,804.714727445,653,631,652,0.400923282887,0.0044109718864,0.0599299843482,0.999999970981,-0.000113635463362,-0.000210007613014,-3.19707665866e-05,1793243111315369984
+97,1.616666667,BASELINE,764,745.298870757,714,679,662.298870757,634.298870757,878.701129243,786.701129243,804.701129243,653,631,652,0.400923794275,0.00441097298378,0.0599303840357,0.999999971047,-0.000114046430622,-0.000209478640715,-3.18947318627e-05,1793243111332036608
+98,1.633333333,BASELINE,764,745.878333534,714,679,662.878333534,634.878333534,878.121666466,786.121666466,804.121666466,653,631,652,0.400926088795,0.00440933387221,0.0599317208935,0.999999971122,-0.000117628777091,-0.000207152209469,-3.17454282668e-05,1793243111348703488
+99,1.650000000,BASELINE,764,746,714,679,662.544550334,635,878,786.455449666,804.455449666,653,631,652,0.400925717419,0.00440863139681,0.0599313645614,0.999999970938,-0.000118334547904,-0.000207630482478,-3.17837902294e-05,1793243111365370112
+100,1.666666667,BASELINE,764.031957169,746,714,679.031957169,662,635,878.031957169,786.968042831,805,653,631,652,0.400924734893,0.00440829883281,0.0599306029034,0.999999970731,-0.000118110570242,-0.000208739507946,-3.18842987508e-05,1793243111382036736
+101,1.683333333,BASELINE,764.608720981,746,714,679.608720981,662,635,878.608720981,786.391279019,805,653,631,652,0.400925412044,0.00441002883809,0.0599306027048,0.999999971251,-0.000115069339759,-0.000207894127913,-3.21940126054e-05,1793243111398703360
+102,1.700000000,BASELINE,764.811646208,745.811646208,714,679.811646208,662,635,878.811646208,786,804.811646208,652.811646208,630.811646208,652,0.4009256522,0.00441120401642,0.0599305934899,0.999999971533,-0.000113124352983,-0.000207571687921,-3.24230375923e-05,1793243111415369984
+103,1.716666667,BASELINE,764.225961332,745.225961332,714,679.225961332,662,635,878.225961332,786,804.225961332,652.225961332,630.225961332,652,0.400924970517,0.00441120879072,0.059930565255,0.999999971327,-0.000113491885468,-0.000208352386607,-3.24818499065e-05,1793243111432036608
+104,1.733333333,BASELINE,764,745,714,679,662,635,878,786,804,652.356227507,630.356227507,652,0.400924642968,0.00441065837632,0.0599308356915,0.999999971219,-0.000114342748648,-0.000208424596115,-3.23552460519e-05,1793243111448703232
+105,1.750000000,BASELINE,764,745,714,679,662,635,878,786,804,652.936220357,630.936220357,652,0.40092453787,0.00440975921851,0.0599312937394,0.999999971172,-0.000115497217445,-0.000208051766164,-3.2112172498e-05,1793243111465369856
+106,1.766666667,BASELINE,764,745,714,678.486389361,662,634.486389361,878,786,804,652.486389361,631,652,0.400925160378,0.00440954202494,0.0599312012239,0.999999971171,-0.000116963388919,-0.000207207335663,-3.22757431277e-05,1793243111482036480
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,713,679,662,635,879,786,804,653,631,652,0.400925938859,0.00441234159126,0.0599322405153,0.999999971821,-0.000112365097446,-0.000206519274903,-3.29052208987e-05,1793243111525105152
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713.591198427,679,662.591198427,635,879,786,804,653,630.408801573,652,0.40092440962,0.00441102906488,0.0599305762586,0.999999971074,-0.000115190092574,-0.000208634658523,-3.24881504526e-05,1793243111541771776
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714,679,663,635,879,786.178775395,804,653,630.178775395,652,0.400923197325,0.00440985710527,0.0599292535055,0.999999970528,-0.000116775268196,-0.000210419798561,-3.21230067602e-05,1793243111558438400
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,679,663,635,879,786.758235789,804,653,630.758235789,652,0.40092269539,0.00440900019433,0.059928696156,0.999999970454,-0.000115581666689,-0.000211464772006,-3.18742451723e-05,1793243111575105024
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.334898615,745,713.665101385,679.334898615,663,635,879,786.665101385,804.334898615,653,631,652,0.400923909691,0.00440822310565,0.0599293454807,0.99999997059,-0.000116763207,-0.00021017304666,-3.18492445101e-05,1793243111591771648
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.909558565,745,713.090441435,679.909558565,663,635,879,786.090441435,804.909558565,653,631,652,0.400926352684,0.00440750316354,0.0599308586901,0.999999970863,-0.000119645164006,-0.000207208426836,-3.19844392641e-05,1793243111608438272
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.505546554,745,713,679.505546554,662.505546554,635,878.505546554,786.494453446,804.505546554,653,631,652,0.400934380622,0.00440919552766,0.0599342121582,0.999999972419,-0.000117756461499,-0.000200650468914,-3.21762213169e-05,1793243111625104896
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.080329654,745.080329654,713.080329654,679,662,635,878.080329654,786.919670346,804.080329654,653,631,652,0.400944249667,0.00441107697098,0.0599378511999,0.999999974176,-0.000115171239597,-0.000193224766488,-3.23687935718e-05,1793243111641771776
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.660417932,745.660417932,713.660417932,679,662,635,878.660417932,786.339582068,804.660417932,653,631,652,0.400959083104,0.00441133161383,0.0599411284919,0.999999975963,-0.000113796290649,-0.000184576025128,-3.25005268625e-05,1793243111658438400
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.758586827,745.758586827,713.758586827,679,662,634.758586827,878.758586827,786,804.758586827,653,631,652,0.400980003386,0.0044111902683,0.0599453297886,0.99999997815,-0.000114050652217,-0.000172076914192,-3.29055212963e-05,1793243111675105024
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.176311052,745.176311052,713.176311052,679,662,634.176311052,878.176311052,786,804.176311052,653,631,652,0.401009517967,0.00441048980813,0.0599508357307,0.999999980754,-0.00011660551395,-0.000154141286264,-3.36963459599e-05,1793243111691771648
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713.397290397,679.397290397,662,634.397290397,878,786,804,653,631,652,0.401050252336,0.00441005776803,0.0599557501952,0.999999983459,-0.000117703429598,-0.000134292894455,-3.45434266015e-05,1793243111708438272
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713.967124623,679.967124623,662,634.967124623,878,786,804,653,631,652,0.401095859478,0.00440974230312,0.0599604077807,0.999999985937,-0.000118168591517,-0.00011361378478,-3.5414939359e-05,1793243111725104896
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.55561354,745.55561354,714,679.44438646,662,634.44438646,878.55561354,786.55561354,804.55561354,652.44438646,631,652,0.401143819009,0.00441032013394,0.0599604056078,0.999999986623,-0.000117133631338,-0.000108363277106,-3.59211027363e-05,1793243111741772288
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.857400996,746,714,679,662.142599004,634,878.857400996,786.857400996,805,652.142599004,631,652.142599004,0.401196143143,0.00441066564068,0.0599602637113,0.999999986971,-0.00011732796831,-0.000104678672198,-3.65423694642e-05,1793243111758439424
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.278509764,746,714,679,662.721490236,634,878.278509764,786.278509764,805,652.721490236,631,652.721490236,0.401261380459,0.00441013300014,0.0599605671992,0.999999986611,-0.000121564437941,-0.000102894932419,-3.75842418292e-05,1793243111775106048
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745.701308574,713.701308574,679,662.701308574,634.298691426,878.298691426,786.298691426,804.701308574,652.701308574,631,652.701308574,0.401339870508,0.00441109950458,0.0599607077961,0.999999986881,-0.000121697893179,-9.96641365156e-05,-3.86643852506e-05,1793243111791772672
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745.125674403,713.125674403,679,662.125674403,634.874325597,878.874325597,786.874325597,804.125674403,652.125674403,631,652.125674403,0.401430648313,0.00441345599648,0.0599606973626,0.999999987722,-0.0001180270874,-9.50916493902e-05,-3.97800130271e-05,1793243111808439296
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,713,679,662,634.540362749,879,786.540362749,804.459637251,652.459637251,631,652,0.401541946704,0.00441255661164,0.0599649006465,0.999999988065,-0.000122026000506,-8.55499131814e-05,-4.07657354541e-05,1793243111825105664
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,713.046983549,679,662,634.046983549,878.953016451,786.046983549,805,652.953016451,631,652,0.40166090716,0.00441103003014,0.0599701023648,0.999999988227,-0.000127386143989,-7.47001064933e-05,-4.16998907875e-05,1793243111841772032
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,713.626751627,679,662,634.626751627,878.373248373,786.626751627,805,652.373248373,631,652,0.401801760663,0.00441270325182,0.059973280349,0.999999989327,-0.000123890656283,-6.47557580141e-05,-4.24607247294e-05,1793243111858438656
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,679,662.204904419,634.795095581,878.204904419,787,804.795095581,652.204904419,631,652.204904419,0.40194966173,0.00441341103263,0.0599742302062,0.999999989842,-0.000122531429796,-5.84507225392e-05,-4.34301033261e-05,1793243111875105280
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,679,662.780137799,634.219862201,878.780137799,787,804.219862201,652.780137799,631,652.780137799,0.402110300024,0.00441237394744,0.0599711531126,0.999999989457,-0.00012503312287,-5.87231109881e-05,-4.47763898987e-05,1793243111891771904
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.354507907,745,714,679.354507907,662.645492093,634.354507907,879,787,804,653,631,652.645492093,0.402299900188,0.00441238301864,0.0599712456392,0.999999989552,-0.000126545537118,-5.25737698064e-05,-4.60247811905e-05,1793243111908438528
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.928343978,745,714,679.928343978,662.071656022,634.928343978,879,787,804,653,631,652.071656022,0.402507418596,0.00441303932934,0.059973299157,0.999999989863,-0.000127445901191,-4.24514109972e-05,-4.72126064223e-05,1793243111925105152
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.481040512,745,714,679.481040512,662.518959488,635,879,787,804,653,631.518959488,652,0.402738769776,0.00441345952969,0.0599740022339,0.999999990276,-0.000126221969163,-3.49278462743e-05,-4.79181054659e-05,1793243111941772032
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+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713.591204958,679.591204958,662.408795042,635,879.591204958,786,804.591204958,653,631,652,0.404843086671,0.00442207464271,0.0599305753977,0.999999989316,-0.000103234746474,-8.92111692117e-05,-5.24521886715e-05,1793243112058438912
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.171655603,745.171655603,714,679.828344397,662.171655603,635,879.828344397,786.171655603,804.828344397,653,631,652,0.40522866341,0.00442212710499,0.0599239421406,0.999999988682,-9.8213832468e-05,-0.000101227471705,-5.23761324047e-05,1793243112075105536
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.749439218,745.749439218,714,679.250560782,662.749439218,635,879.250560782,786.749439218,804.250560782,653,631,652,0.405656310828,0.0044219171291,0.0599293363512,0.99999998944,-9.46517764206e-05,-9.74005150679e-05,-5.17204886013e-05,1793243112091772672
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.674568359,714,679,663,635,878.674568359,787,804.325431641,653,631,652,0.40612606759,0.00442240413449,0.0599468762427,0.999999992029,-9.24168112458e-05,-6.86813584814e-05,-5.18005889716e-05,1793243112108439296
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.099947426,714,679,663,635,878.099947426,787,804.900052574,653,631,652,0.406628068336,0.00442342483191,0.0599737163172,0.999999994248,-9.11980246443e-05,-2.09017630366e-05,-5.2444062706e-05,1793243112125106176
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.512813163,745.487186837,714,679,663,635,878.487186837,787,804.512813163,653,631,652,0.407162719565,0.00442415391057,0.05999820466,0.999999994527,-8.84427228109e-05,1.98228351711e-05,-5.22641158563e-05,1793243112141772544
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.075513262,745.924486738,714,679,662.924486738,635,879,787,804.075513262,653,631,652,0.407701487129,0.00442494899388,0.0600180425557,0.999999993687,-8.57695837651e-05,5.07068926249e-05,-5.19536406224e-05,1793243112158438656
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.654226542,745.345773458,714,679,662.345773458,635,879,787,804.654226542,653,631,652,0.408221872616,0.00442659309008,0.0600101908932,0.999999994635,-8.5799865922e-05,2.59152477847e-05,-5.1928715422e-05,1793243112175105792
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.767527061,745,714,679,662,635,879,786.767527061,805,653,630.767527061,652,0.408759170977,0.00442759558875,0.0600001903734,0.999999993748,-9.88425434406e-05,8.54733180727e-07,-5.22910585928e-05,1793243112191772928
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.189973734,745,714,679,662,635,879,786.189973734,805,653,630.189973734,652,0.409321574598,0.0044276457067,0.059987000113,0.999999989674,-0.000131200683792,-2.46048873806e-05,-5.322825884e-05,1793243112208439040
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745.385490747,714,679.385490747,662.385490747,635,879,786,805,653,630.385490747,652,0.409933316908,0.00442763909994,0.0599851306044,0.999999988335,-0.000139994452528,-2.79954293355e-05,-5.42857515822e-05,1793243112225105664
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745.959931355,714,679.959931355,662.959931355,635,879,786,805,653,630.959931355,652,0.410569242761,0.00442760468932,0.0599888100086,0.999999988837,-0.000137238047606,-2.05687217407e-05,-5.54022061804e-05,1793243112241772544
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,746,714,679.457232134,663,635,879,786.542767866,805,652.457232134,631,652,0.411243326844,0.00442872506434,0.0599978573233,0.999999990089,-0.000129238927289,1.55248959357e-06,-5.5836024011e-05,1793243112258439168
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.126597609,745.873402391,714,679.126597609,663,635,879.126597609,786.873402391,805,652.126597609,631,652,0.411918778836,0.00443042602624,0.0600007637577,0.999999991146,-0.000120177315275,1.13127839815e-05,-5.60170685848e-05,1793243112275105536
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.711744523,745.288255477,714,679.711744523,663,635,879.711744523,786.288255477,805,652.711744523,631,652,0.412588821802,0.00443391629821,0.0599799694054,0.999999992171,-0.000108691147763,-2.76903661493e-05,-5.54679435219e-05,1793243112291771904
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679.707715473,662.707715473,635,879.707715473,786.292284527,805,653,631,652,0.413256046019,0.00443586286058,0.0599533207976,0.999999990117,-0.000100837263752,-8.07876660612e-05,-5.54163835414e-05,1793243112308438784
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679.131648305,662.131648305,635,879.131648305,786.868351695,805,653,631,652,0.413920533557,0.00443631061674,0.0599209882188,0.999999982895,-9.65100068632e-05,-0.000147569153668,-5.58479154301e-05,1793243112325105408
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679,662.43987522,635,879.43987522,786.56012478,805,652.56012478,631,652,0.414694279738,0.00443696115851,0.0599364589832,0.999999987338,-9.31869044866e-05,-0.000115912498001,-5.66017611572e-05,1793243112341772032
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.989460886,745.010539114,714,679.010539114,663,635,879.989460886,786.010539114,804.989460886,652,631,652,0.415501027611,0.00443765532127,0.0599663113001,0.999999992774,-9.01681229904e-05,-5.49907415456e-05,-5.74219002126e-05,1793243112358438400
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.391698406,745.608301594,714,679.608301594,663,635,879.391698406,786.608301594,804.391698406,652,631,652,0.41634324137,0.00443743295492,0.0600084759469,0.999999994497,-8.75318214526e-05,1.17922017085e-05,-5.66159436373e-05,1793243112375105280
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.19868083,746,714,680,663,634.80131917,879.19868083,786.80131917,804.19868083,652,631,652,0.417169289867,0.00443715342303,0.0600325888083,0.999999993504,-8.59387115074e-05,4.95918596859e-05,-5.60916361364e-05,1793243112391771904
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.77502554,746,714,680,663,634.22497446,879.77502554,786.22497446,804.77502554,652,631,652,0.417964610461,0.00443676522763,0.0600223878013,0.999999994178,-8.63285605347e-05,3.2298428151e-05,-5.61027037325e-05,1793243112408438784
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.648751885,714,680,662.648751885,634,879.648751885,786.351248115,805,652,631,652,0.418767179823,0.00443735884344,0.0600045711259,0.999999994392,-8.88271240952e-05,4.89695921996e-06,-5.7454262655e-05,1793243112425105408
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.072607531,714,680,662.072607531,634,879.072607531,786.927392469,805,652,631,652,0.419574390378,0.00443858109083,0.0599818783103,0.999999993506,-9.267584988e-05,-2.89764572047e-05,-5.96641078652e-05,1793243112441771776
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.484474581,745,714,680,662.515525419,634,879,787,805,652.515525419,631,652,0.420395831948,0.00444061624618,0.0599544311479,0.999999991768,-9.08832897652e-05,-6.70372884453e-05,-6.09127334304e-05,1793243112458438400
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.099740548,745.099740548,714,679.900259452,663,634.099740548,879,786.900259452,805,652.900259452,631,652,0.421216890174,0.00444208756353,0.0599260740174,0.999999988096,-8.87273574717e-05,-0.000110226291264,-6.15293727323e-05,1793243112475105024
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.657997912,745.657997912,714,679.342002088,663,634.657997912,879,786.342002088,805,652.342002088,631,652,0.422026752438,0.00444042800382,0.0598966852406,0.999999979103,-8.86404569843e-05,-0.000174214228903,-5.98778825558e-05,1793243112491771904
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.76877358,714,679.23122642,663,634.76877358,879,786.23122642,805.23122642,652.23122642,631,652,0.422889383258,0.00443905251666,0.0598986846321,0.999999978964,-8.94830697667e-05,-0.000174720489934,-5.94718576738e-05,1793243112508438528
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.171868509,714,679.828131491,663,634.171868509,879,786.828131491,805.828131491,652.828131491,631,652,0.423835466321,0.0044381262827,0.0599503236022,0.999999991124,-9.17956837768e-05,-7.48321172374e-05,-6.10355038541e-05,1793243112525104896
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,663.409562425,634,879,787,805.590437575,653,631,652,0.424755685603,0.00443778651999,0.0599948926253,0.999999993635,-9.47016467662e-05,-3.19224614344e-06,-6.12414676171e-05,1793243112541771776
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,663.984736176,634,879,787,805.015263824,653,631,652,0.425665446509,0.00443768390379,0.0600366028301,0.999999991733,-9.78475371189e-05,5.70250089636e-05,-6.08984365921e-05,1793243112558438400
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.42345089,745,714,680,662.84690178,634,879.57654911,787,805.57654911,652.42345089,631,652,0.426569364309,0.00443544556793,0.0600288905687,0.999999991605,-9.79877405104e-05,5.80105095087e-05,-6.18288990159e-05,1793243112575105024
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.164871146,745.164871146,714,680,662.164871146,634,880,787,805.835128854,652,631,652,0.42745985372,0.00443409507897,0.0600147712347,0.999999992206,-9.77551432763e-05,4.55209593539e-05,-6.29218645797e-05,1793243112591771904
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.743298908,745.743298908,714,680,662.743298908,634,880,787,805.256701092,652,631,652,0.42831705937,0.00443511767478,0.0599879601977,0.999999993241,-9.6792958665e-05,3.28142286829e-06,-6.43353640461e-05,1793243112608439040
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.681031291,714,679.681031291,663,634.318968709,880,786.681031291,805,652,631,652,0.429150800247,0.00443694597457,0.0599611577507,0.999999992489,-9.51733554503e-05,-4.14009523481e-05,-6.51969749751e-05,1793243112625105664
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.107562055,714,679.107562055,663,634.892437945,880,786.107562055,805,652,631,652,0.42996581888,0.00443941713388,0.0599343621588,0.999999989645,-9.30292074102e-05,-8.8032431238e-05,-6.56182418992e-05,1793243112641772032
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,662.533954065,634.533954065,879.533954065,786.466045935,805.466045935,652,631,652,0.430828799269,0.00443717636233,0.059930301497,0.999999989535,-9.47598159812e-05,-8.76749136344e-05,-6.52916739537e-05,1793243112658438656
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.041264909,662.041264909,634.041264909,879.041264909,787,806,651.958735091,631,652,0.431707826595,0.00443380462064,0.0599350235474,0.999999990592,-9.75370126321e-05,-7.14325381055e-05,-6.48086493489e-05,1793243112675105536
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.637727234,662.637727234,634.637727234,879.637727234,787,806,651.362272766,631,652,0.432653778344,0.0044298523725,0.0599872935982,0.999999992599,-0.000102359811584,1.25759951425e-05,-6.4543491297e-05,1793243112691772160
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,663,634.773818167,880,787,806,651,631,652,0.433552544947,0.00442750230842,0.0600159771183,0.999999990745,-0.000105921794169,5.59755015695e-05,-6.4473689464e-05,1793243112708438784
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,663,634.1977508,880,787,806,651,631,652,0.434378319977,0.00442763069665,0.0600081741354,0.999999991457,-0.000107533394453,3.6556045313e-05,-6.47060888715e-05,1793243112725105408
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662.623074895,634,880,787,806,651.376925105,631,652,0.435181035354,0.00442685996779,0.0599825569284,0.999999991822,-0.000109485166295,-6.86826559866e-06,-6.57345439139e-05,1793243112741772032
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,662.049126358,634,880,787,806,651.950873642,631,652,0.435971697115,0.00442561925925,0.0599476280057,0.99999998954,-0.000111614749668,-6.28402108563e-05,-6.71791069427e-05,1793243112758438656
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680.538391213,663.076782426,634,880.538391213,787,805.461608787,652,631,652,0.436737944713,0.004424469502,0.059935245487,0.999999987972,-0.00011044870447,-8.60694733766e-05,-6.67059689266e-05,1793243112775105280
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680.874831336,663.874831336,634,880.874831336,787,805.125168664,652,631,652,0.437500684905,0.00442329821365,0.0599240954517,0.999999985752,-0.000109477582483,-0.000110293530029,-6.59269962477e-05,1793243112791771904
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680.295350346,663.295350346,634,880.295350346,787,805.704649654,652,631,652,0.438258989328,0.00442201787521,0.0599097586665,0.999999980683,-0.000110333648557,-0.000149252665024,-6.46895074031e-05,1793243112808438272
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,663,634,880.282283702,787,806,652,631,652,0.439035285654,0.00441913576291,0.0599167558809,0.999999981149,-0.000114215538134,-0.000143275336683,-6.42528593261e-05,1793243112825105408
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,663,634,880.857997842,787,806,652,631,652,0.439830284296,0.00441458862645,0.0599459295265,0.999999986457,-0.000121242733875,-9.05871046931e-05,-6.46486753987e-05,1793243112841772800
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,663.433388779,634,880.566611221,787,806,652,631,652,0.440600877237,0.00441413585869,0.0599866641921,0.999999990301,-0.00012034940737,-2.89630585681e-05,-6.38370826772e-05,1793243112858439424
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,663.99108649,634.00891351,880,787,806,652,631,652,0.441361764589,0.00441495278495,0.0600301817161,0.999999990612,-0.000116981736509,3.41380771723e-05,-6.26525184176e-05,1793243112875106304
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,663.399912367,634.600087633,880,787,806,652,631,652,0.442010625663,0.00441114166718,0.0600082221872,0.99999999065,-0.000121382579077,2.61169053031e-06,-6.29277949662e-05,1793243112891772672
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680.186718639,663,634.813281361,880,787,806,652,631.186718639,652,0.442657204796,0.0044088895534,0.059984216492,0.999999989728,-0.000124736109869,-3.07485003105e-05,-6.3564098642e-05,1793243112908439040
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680.763850471,663,634.236149529,880,787,806,652,631.763850471,652,0.443299012701,0.00440989718699,0.0599559324288,0.999999987657,-0.000125899799477,-6.7943029536e-05,-6.49552802166e-05,1793243112925105920
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680.65991425,663,634,880.34008575,787,806,652,631.65991425,652,0.443925243685,0.00441033061273,0.0599480883259,0.999999986902,-0.000125735872033,-7.8210285788e-05,-6.53371551284e-05,1793243112941772544
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680.084299919,663,634,880.915700081,787,806,652,631.084299919,652,0.444540686734,0.00441036636705,0.059954400051,0.999999987679,-0.000124652494842,-6.98288832456e-05,-6.50200281567e-05,1793243112958438912
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.502837008,714,680.502837008,663,634,880.497162992,787,806,652,631,652,0.445117447032,0.00440941692683,0.0599664343167,0.999999988782,-0.000123540922255,-5.48472058407e-05,-6.45461125607e-05,1793243112975105536
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.909510943,713.909510943,681,663,634,880.090489057,787,806,651.909510943,631,652,0.445677731646,0.00440806705712,0.0599741795006,0.99999998928,-0.000122805941045,-4.75197182533e-05,-6.40299325368e-05,1793243112991772160
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.329763294,713.329763294,681,663,634,880.670236706,787,806,651.329763294,631,652,0.4461848213,0.00440546610501,0.059953425533,0.999999986438,-0.000124133280952,-8.77002137615e-05,-6.3430689764e-05,1793243113008438784
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.248325254,713.248325254,681,662.751674746,634,880.751674746,787,806,651,631,652,0.446691573571,0.00440352180732,0.0599399825692,0.999999984078,-0.000125776700834,-0.000109652559511,-6.32571892352e-05,1793243113025105408
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.824225177,713.824225177,681,662.175774823,634,880.175774823,787,806,651,631,652,0.447197880749,0.00440244372599,0.0599361838118,0.999999984019,-0.000127837073145,-0.000107559502074,-6.36453005845e-05,1793243113041772032
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,746,714,680.601680668,662.398319332,634,880,786.601680668,806,651.398319332,631,651.601680668,0.447680275941,0.00440254089112,0.0599474402375,0.999999986007,-0.000128721319226,-8.55236317702e-05,-6.40565535373e-05,1793243113058438656
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,746,714,680.028379737,662.971620263,634,880,786.028379737,806,651.971620263,631,651.028379737,0.448152166647,0.00440315434167,0.0599653104017,0.999999988092,-0.000129088893374,-5.47268876684e-05,-6.44779725741e-05,1793243113075105280
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,745,713.152233147,681,661.847766853,634,880.847766853,787,806,652,631,652,0.44893738766,0.00440424182866,0.0599596978993,0.999999987867,-0.000125426487339,-6.71629979296e-05,-6.34225611816e-05,1793243113108438528
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,745,713.730931799,681,661.269068201,634,880.269068201,787,806,652,631,652,0.449257191125,0.00440348869653,0.0599259434927,0.999999982882,-0.00012253301063,-0.000123846796059,-6.23217935928e-05,1793243113125105408
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+205,3.416666667,POSE1_TO_POSE2_PRESS,764.882554058,745,714,680.117445942,660.117445942,634,880,787,806,652,631,652,0.44986345264,0.00440697044209,0.0598590790802,0.999999965169,-0.000118492099516,-0.000227317208132,-6.28371539074e-05,1793243113158438912
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+207,3.450000000,POSE1_TO_POSE2_PRESS,764.942885361,745,714,681,660,633.942885361,880,786.057114639,806,652,631,652,0.450417635718,0.00441112180532,0.0598367783311,0.99999995811,-0.000110711686267,-0.000259796352257,-6.34714494581e-05,1793243113191771904
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.363369392,745,714,681,660,633.363369392,880,786.636630608,806,652,631,652,0.4506891052,0.00440698646605,0.0598470837324,0.99999996323,-0.000114189234922,-0.000237820493643,-6.27814672414e-05,1793243113208438528
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.215358991,745,714,680.784641009,660,633,880.215358991,786.784641009,806.215358991,652,631,652,0.450942087148,0.00440491379347,0.0598554443317,0.999999966642,-0.000115993527694,-0.000222255313981,-6.21625397559e-05,1793243113225104896
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.792763286,745,714,680.207236714,660,633,880.792763286,786.207236714,806.792763286,652,631,652,0.451163989219,0.0044063087211,0.0598605354754,0.999999967842,-0.000114984868513,-0.000217467286983,-6.16630642398e-05,1793243113241771776
+211,3.516666667,POSE1_TO_POSE2_PRESS,764.633545733,745.366454267,714,680.366454267,659.633545733,633.366454267,880.633545733,786.366454267,806.633545733,652,631,652,0.451359268982,0.00440808528206,0.0598580340728,0.999999967019,-0.000112796762489,-0.00022236535013,-6.15777986126e-05,1793243113258438400
+212,3.533333333,POSE1_TO_POSE2_PRESS,764.061933581,745.938066419,714,680.938066419,659.061933581,633.938066419,880.061933581,786.938066419,806.061933581,652,631,652,0.451539644378,0.00441007549897,0.0598512820155,0.999999964979,-0.000109948347991,-0.000232686129769,-6.1724426603e-05,1793243113275105024
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.5292474,745.4707526,714,681,659,633.4707526,880,786.4707526,806,652,631,652,0.45169026066,0.00441053348069,0.0598448083992,0.999999963304,-0.000107848080392,-0.000240856478026,-6.12264506472e-05,1793243113291771648
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.119711295,714,681.119711295,659,633,880,786,806,652,631,652,0.451834648915,0.0044108131048,0.0598405357028,0.999999962383,-0.000106020199429,-0.000245559806389,-6.07789820773e-05,1793243113308438272
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.698311344,714,681.698311344,659,633,880,786,806,652,631,652,0.451969025223,0.00441112275108,0.0598445700822,0.999999964333,-0.000104887967408,-0.000237974702679,-6.08253814086e-05,1793243113325104896
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.724230328,745.724230328,713.724230328,681.724230328,659,632.724230328,880,786,806,651.724230328,631,652,0.452089552356,0.00441163343254,0.0598482090488,0.99999996573,-0.000104577177038,-0.000232225567315,-6.06254845578e-05,1793243113341771520
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.148015913,745.148015913,713.148015913,681.148015913,659,632.148015913,880,786,806,651.148015913,631,652,0.452194991123,0.00441236313721,0.0598514172219,0.99999996656,-0.000105161328605,-0.000228476677876,-6.01572536574e-05,1793243113358438144
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,745,713.42590385,681,659,632.42590385,880,786,806.42590385,651,631,652,0.452279207867,0.00441624417314,0.0598493722513,0.999999966275,-0.000100544463674,-0.00023167945276,-6.05444668327e-05,1793243113375104768
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,745,713.999030407,681,659,632.999030407,880,786,806.999030407,651,631,652,0.452356088765,0.00442121453359,0.05984551142,0.999999965543,-9.41297569678e-05,-0.000237285218045,-6.12273824176e-05,1793243113391771648
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.593578983,745.593578983,714,681,658.406421017,633,880,786,806.406421017,651.593578983,631,652.593578983,0.452412967423,0.00442123600141,0.0598410842248,0.999999964263,-9.52345792012e-05,-0.000242092571173,-6.16159886901e-05,1793243113408438272
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.81756336,714,681,658,633,880,786,806,652,631,652.81756336,0.452465038941,0.00442228833427,0.0598377741636,0.999999963317,-9.49925840272e-05,-0.00024595176057,-6.2057390216e-05,1793243113425104640
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+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,633,880,786.908798069,806,652,631,652,0.452567125032,0.0044357233057,0.0598341858056,0.999999962966,-7.84754481691e-05,-0.000252532637262,-6.43136480093e-05,1793243113475106304
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764,745.081343137,714,680,658,632.081343137,880,786.918656863,806,651.918656863,631,652,0.452606177221,0.00445210633886,0.0598288016355,0.999999962662,-6.49291338057e-05,-0.00025635212797,-6.88766906306e-05,1793243113508438528
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+233,3.883333333,POSE1_TO_POSE2_PRESS,764.856015639,745,714,680.856015639,658,633,880,786.856015639,807,652,631,652,0.452636532308,0.00446054968885,0.0598214460615,0.99999995966,-5.59853354724e-05,-0.000269360514612,-7.06450661031e-05,1793243113625105152
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764,745,714,681,657,632,880,786,806,652,631,652,0.452638157982,0.00446257383164,0.0598175222384,0.99999995867,-5.45539669049e-05,-0.000273574529183,-6.95775218861e-05,1793243113758438912
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+245,4.083333333,HOLD_POSE2,764,745,714,681,658,633,880,786,806,652,631,651,0.452635957605,0.00446165920757,0.0598153772274,0.999999957529,-5.41048171277e-05,-0.000277915672943,-6.91254648295e-05,1793243113850854144
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+256,4.266666667,HOLD_POSE2,765,745,714,681,657.608694278,632,880,786,806,651.608694278,631.608694278,652,0.452636623732,0.00446434685252,0.0598138222155,0.999999957134,-5.01238627514e-05,-0.00028027635625,-6.83046385633e-05,1793243114034187264
+257,4.283333333,HOLD_POSE2,765,745,714,681,657.03003119,632,880,786,806,651.03003119,631.03003119,652,0.452637410703,0.00446213102749,0.0598144368376,0.999999957019,-5.57581740968e-05,-0.00027956091491,-6.85469385659e-05,1793243114050853632
+258,4.300000000,HOLD_POSE2,765,745,714,681,657,632.543970006,880,786,806,651.543970006,631,652,0.452636132666,0.00446150155586,0.0598133676703,0.999999956556,-5.65680328197e-05,-0.000281061169131,-6.84964008917e-05,1793243114067520512
+259,4.316666667,HOLD_POSE2,764.882387156,745.117612844,713.882387156,681,657,632.882387156,880,786,806,652,631,652,0.452634917511,0.00446140199613,0.0598123200351,0.999999956155,-5.65651471034e-05,-0.000282501397213,-6.84420062135e-05,1793243114084187136
+260,4.333333333,HOLD_POSE2,764.309143842,745.690856158,713.309143842,681,657,632.309143842,880,786,806,652,631,652,0.452634383857,0.00446301891244,0.0598117128711,0.999999956064,-5.4436752869e-05,-0.000283239234986,-6.84347673709e-05,1793243114100854016
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,745,713,681,658,633,880,786,806,652,631,652,0.452634609276,0.00446292090143,0.059812252153,0.999999955955,-5.2075482473e-05,-0.000284139735357,-6.8134763304e-05,1793243114137984000
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,745,713,680.423423851,657.423423851,632.423423851,880.576576149,786.576576149,806,652,631,651.423423851,0.452635837814,0.00446232945253,0.0598121733872,0.999999955995,-5.38686874463e-05,-0.000283685300064,-6.80465780723e-05,1793243114154650624
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,745,713.152729427,680.152729427,657,632,880.847270573,786.847270573,806,652,631,651.152729427,0.452636141641,0.00446218688737,0.0598117886476,0.999999955875,-5.45674047196e-05,-0.000284008393792,-6.79163318887e-05,1793243114171317248
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,745,713.727713713,680.727713713,657,632,880.272286287,786.272286287,806,652,631,651.727713713,0.452633888896,0.0044632853622,0.0598105579746,0.99999995531,-5.22401649467e-05,-0.000286481141301,-6.76697987232e-05,1793243114187983872
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,745.293598072,714,681,657,632.293598072,880,786,806,652,631,651.706401928,0.452634595754,0.00446423511729,0.0598112632977,0.99999995575,-5.11867965507e-05,-0.000285061859495,-6.7974722546e-05,1793243114204650752
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,745.85129673,714,681,657,632.85129673,880,786,806,652,631,651.14870327,0.452637964866,0.00446505109432,0.0598137101095,0.999999957081,-5.12793151674e-05,-0.000280141576272,-6.87756990739e-05,1793243114221317120
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,745.547873979,713.547873979,681,657,633,880.452126021,786,806.452126021,652,631,651.452126021,0.452636500337,0.00446347160451,0.0598131023173,0.999999956607,-5.29849257513e-05,-0.000281634636276,-6.82645597066e-05,1793243114237984000
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,745,713.061569304,681,657,632.938430696,880.938430696,786,806.938430696,652,631,652,0.452633591571,0.00446169104227,0.0598114910673,0.999999955622,-5.4658204831e-05,-0.000284977074439,-6.74953964267e-05,1793243114254650880
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,745,713.614598178,681,657,632.385401822,880.385401822,786,806.385401822,652,631,652,0.452633182733,0.00446525757285,0.0598107350359,0.999999955874,-5.13919096702e-05,-0.000284468918729,-6.84746381175e-05,1793243114271317504
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,745,714,681,657.179835693,632.179835693,880,786,806,652,631,652,0.452628278659,0.00446714157624,0.059808143532,0.999999954997,-4.94661180271e-05,-0.000287757959857,-6.89563742027e-05,1793243114287984128
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745,714,681,657.773142776,632.773142776,880,786,806,652,631,652,0.452613039308,0.00446515717651,0.0598013319801,0.999999951453,-5.06223615799e-05,-0.000299777371709,-6.8294264165e-05,1793243114304650752
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,745,713.631797964,681,657.631797964,632.631797964,880,786.368202036,806,652,631,652,0.452585138732,0.00446505162436,0.0597900187928,0.999999945521,-5.02736570157e-05,-0.000318989616729,-6.83774421304e-05,1793243114321317120
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,745,713.035653931,681,657.035653931,632.035653931,880,786.964346069,806,652,631,652,0.452549399999,0.00446610920592,0.0597759187876,0.999999937719,-4.89932877332e-05,-0.00034265471368,-6.89220037553e-05,1793243114337983744
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.545812137,745,713.545812137,681,657,632,880.545812137,786.454187863,806,652,631,652,0.452491067467,0.00446609845032,0.0597566013931,0.999999928064,-4.82507513582e-05,-0.000369885338664,-6.87723074731e-05,1793243114354650368
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.874934261,745,714,681,657.125065739,632,880.874934261,786,806,652,631,652,0.452429110441,0.00446661079759,0.0597390951553,0.999999918935,-4.70033581627e-05,-0.000393951997586,-6.87179754996e-05,1793243114371316992
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.300277466,745,714,681,657.699722534,632,880.300277466,786,806,652,631,652,0.45235929057,0.00446924791688,0.0597292928139,0.999999914299,-4.38180974963e-05,-0.000405829372581,-6.91652223125e-05,1793243114387983616
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.273874664,745,713.726125336,681,658,632,880,786.273874664,806,652,631,652,0.452283211723,0.00447003783978,0.0597238096561,0.999999911659,-4.1763766853e-05,-0.000412530923659,-6.89709329401e-05,1793243114404650240
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.847474462,745,713.152525538,681,658,632,880,786.847474462,806,652,631,652,0.452200283132,0.00446880621308,0.0597230533612,0.999999911325,-4.09471125996e-05,-0.000413568114735,-6.80745540764e-05,1793243114421317120
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,713.437145911,681,657.562854089,632.437145911,880,786.562854089,806,652,631,652,0.452101324248,0.00446878942087,0.0597240014226,0.999999911493,-3.83080345264e-05,-0.000413615236228,-6.68485265387e-05,1793243114437984000
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.031610791,633,880,786,806,652,631,652,0.451994939438,0.00446923594193,0.0597255276898,0.999999911817,-3.52334241487e-05,-0.000413310769604,-6.5568238906e-05,1793243114454650880
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.608344785,633,880,786,806,652,631,652,0.45186063037,0.00447008365269,0.0597263786077,0.999999911874,-3.60320644484e-05,-0.000413127781495,-6.5411424835e-05,1793243114471317504
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.816402521,745,713.816402521,681,658,633,880,786,806.183597479,652,631,652,0.451714743201,0.00447121663089,0.0597269487684,0.999999911614,-3.42484268416e-05,-0.000414030235081,-6.46417378935e-05,1793243114487983872
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.244284559,745,713.244284559,681,658,633,880,786,806.755715441,652,631,652,0.451544355004,0.00447295327872,0.0597269248038,0.999999910637,-2.70002922068e-05,-0.000417229650127,-6.25751177815e-05,1793243114504650240
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.34041016,745,713.34041016,680.65958984,658.34041016,633,880,786.34041016,806.65958984,652,631,652,0.451354725296,0.00447433526063,0.0597224178769,0.999999906998,-2.18113567215e-05,-0.000426357655286,-6.12210465546e-05,1793243114521316864
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.934476493,745,713.934476493,680.065523507,658.934476493,633,880,786.934476493,806.065523507,652,631,652,0.451150757782,0.00447545296391,0.0597145704766,0.999999901254,-1.81568299464e-05,-0.000439903341664,-6.03979299456e-05,1793243114537983488
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.515051684,714,681.030103368,658.484948316,633,880.515051684,787,806,651.484948316,631,652,0.450916251134,0.00447543453102,0.0597069477444,0.999999895555,-1.45979252185e-05,-0.000453039907637,-5.85834764442e-05,1793243114554650112
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.907133805,745.907133805,714,681.907133805,658.092866195,633,880.907133805,786.907133805,806,651.092866195,631,652,0.450672842582,0.00447572651551,0.0597005149373,0.999999890677,-1.03173498306e-05,-0.000464037337811,-5.66403074042e-05,1793243114571316736
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.334935762,745.334935762,714,681.334935762,658.665064238,633,880.334935762,786.334935762,806,651.665064238,631,652,0.450403027735,0.00447834771508,0.0597000802049,0.999999890737,-2.25066066126e-06,-0.000464255341291,-5.46671006498e-05,1793243114587983616
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,745,714,681,659,633,880,786,806,652,631,652,0.450119046807,0.00448118863754,0.0596973240385,0.999999889849,5.83204646531e-06,-0.000466352874533,-5.27548458175e-05,1793243114604650496
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,745,714,681,659,633,880,786,806,652,631,652,0.44981506808,0.00448433973578,0.0596912907763,0.999999887637,1.3937365156e-05,-0.000471103681054,-5.09286350236e-05,1793243114621317120
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.418239981,745.418239981,714,681,659,633,880,786.418239981,806,652,631,652,0.449466794529,0.00448555117897,0.05969055698,0.999999887645,2.15143778342e-05,-0.000471067672869,-4.83991544128e-05,1793243114637983744
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.997853367,745.997853367,714,681,659,633,880,786.997853367,806,652,631,652,0.449101430303,0.00448601422702,0.0596918679258,0.999999888476,2.88875491219e-05,-0.000469184723505,-4.55983247356e-05,1793243114654650368
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,660.148045952,633,880,787,806,652,631,652,0.448719991527,0.00448957705584,0.0597000020247,0.999999893259,4.08328303607e-05,-0.000458256564885,-4.26054479573e-05,1793243114671316992
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.850158132,714,681,661,633.149841868,880.149841868,787,806,652,631,652,0.448333011563,0.00449259434494,0.0597120388911,0.999999901508,5.14920760555e-05,-0.000439045288033,-3.96434952589e-05,1793243114687983616
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.275297817,714,681,661,633.724702183,880.724702183,787,806,652,631,652,0.44793048387,0.00449403155509,0.0597350738045,0.999999919035,5.84553402896e-05,-0.000396434763518,-3.6771282496e-05,1793243114704650240
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.692047761,745,714,681,661.307952239,634,880.692047761,787,806.307952239,652,631,652,0.447502617453,0.00449568686251,0.0597632807695,0.999999935736,6.79400642363e-05,-0.000350476364044,-3.28420379181e-05,1793243114721316864
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.101087467,745,714,681,661.898912533,634,880.101087467,787,806.898912533,652,631,652,0.447051464706,0.00449754260142,0.0597962408519,0.999999950997,7.97420099673e-05,-0.000301441262953,-2.79413809365e-05,1793243114737983744
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.480519785,745,714,680.519480215,662.480519785,634,880,787,806.519480215,652,631,652,0.446537723632,0.00449956532071,0.0598111427434,0.999999954664,9.14527499983e-05,-0.000285927587033,-2.35151352606e-05,1793243114754650624
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,713.940289637,680.059710363,662.940289637,634,880,787,806,652,631,651.940289637,0.446003059634,0.00450191638801,0.0598181566225,0.999999954424,0.000103485476642,-0.000282968251514,-1.92598791552e-05,1793243114771317248
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,713.36529821,680.63470179,662.36529821,634,880,787,806,652,631,651.36529821,0.445399292864,0.00450680363922,0.0597892570502,0.999999938854,0.000118459266466,-0.000328654763896,-1.56353864188e-05,1793243114787983616
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764.792367128,745.207632872,713.207632872,680.792367128,661.792367128,634,880.207632872,787,806,652,631,651.207632872,0.444795961278,0.00451148805794,0.0597678212278,0.999999926432,0.000133279442608,-0.000359478653473,-1.21719333124e-05,1793243114804650240
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+303,5.050000000,POSE2_TO_POSE3_RETREAT,764.363893628,745.636106372,714,680,661.727787256,634,880.636106372,787,806,651.636106372,631,652,0.443575752998,0.00451913890802,0.0597732231647,0.999999930121,0.000162340970425,-0.000336726428757,-4.32754284605e-06,1793243114837984000
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,764.750736395,745,714,680,661,634,880,786.249263605,805.750736395,652,631,652,0.435201484744,0.00455632572732,0.0597468822059,0.999999895837,0.000235528796054,-0.000390396155593,2.10486077191e-05,1793243115021317120
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,713.077396871,680,662.845206257,634,880,786,806,652,631,652,0.433516296174,0.00456451812881,0.0597781147097,0.999999919601,0.000238695999707,-0.000321485541698,2.16407759318e-05,1793243115054650368
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745.08282131,714,680,662,634.08282131,879.91717869,787,805,652,631,652,0.431759864018,0.0045685860687,0.0598049512915,0.99999992323,0.000251176170732,-0.000299346022548,2.90231217551e-05,1793243115087983872
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745.659582801,714,680,662,634.659582801,879.340417199,787,805,652,631,652,0.430898071798,0.00456671757336,0.0598238470676,0.99999993584,0.000241401829111,-0.00026305162163,2.9126399484e-05,1793243115104650496
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745.759949507,714,680,662.240050493,634.759949507,879.240050493,787,805,652,631,652,0.430014242852,0.00456781204235,0.0598304684657,0.999999939084,0.000236232002384,-0.000255268188938,2.93982657673e-05,1793243115121316864
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.592894289,662.185788578,634.407105711,880.407105711,787,805,652,631,652,0.428151662765,0.00457478947365,0.0597864955021,0.99999991522,0.000232964029507,-0.000338275646428,2.92951782873e-05,1793243115154650368
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,745,713,680.433385303,662,634.283307348,879,786.716692652,806,652,631,652,0.424530387107,0.00457728576488,0.0598169339103,0.999999930012,0.000219253841072,-0.000301391587406,3.26718822934e-05,1793243115221317120
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.889467073,745.889467073,713,680.110532927,661.110532927,634,879,787,805.110532927,652,631,652,0.422792977993,0.00457572069547,0.0598430780028,0.999999946158,0.000205832842379,-0.000253299363609,3.40184766918e-05,1793243115254650112
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,746,713.471234153,680,661.942468306,634,879,787,805,652,631,652,0.421874609624,0.00457612236708,0.0598359280356,0.999999944363,0.000198891518279,-0.000265654325405,3.38125110643e-05,1793243115271316992
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,764.373434139,745.373434139,714,680,661.746868279,634,879,787,805,652,631,652,0.420005763459,0.00457786468618,0.059762952319,0.999999901497,0.000191435566479,-0.000398953935762,3.45572409355e-05,1793243115304650240
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764.201906364,745,714,680,661,634,879.201906364,787,805,652,631,652,0.419111571933,0.00457780961197,0.0597287934423,0.999999879747,0.000186501608495,-0.000452252044257,3.4520745992e-05,1793243115321317376
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661.722838215,634,879.638580893,787,805.361419107,652,631,652,0.417501660444,0.0045758959518,0.0597689514079,0.999999920057,0.000170200418108,-0.000360293539355,3.32627115216e-05,1793243115354651904
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,662.906755961,634,879.04662202,787,805.95337798,652,631,652,0.416721189042,0.00457669897388,0.0598120208728,0.999999938406,0.000168800394368,-0.000305735552717,3.49196546737e-05,1793243115371317760
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.467545049,661.935090097,634,879,787,804.935090097,652,631,652,0.41591301236,0.00457311126123,0.0598313383872,0.999999944597,0.000159811221512,-0.000289715295012,3.64799829694e-05,1793243115387984128
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745.82861155,714,679,662,634.17138845,878.17138845,787,804.17138845,652.82861155,631,652,0.412822272598,0.00457126092231,0.0598164905363,0.999999912718,0.000264854519597,-0.000321022880683,3.68864809316e-05,1793243115454650624
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,764.016362185,745,714,679.016362185,661.016362185,634.983637815,879,787,804.983637815,652.016362185,631,652,0.411319196606,0.00456610462552,0.05973564389,0.999999869112,0.00024035742199,-0.000450233640658,3.59825006212e-05,1793243115487984384
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.59169487,745,714,679.59169487,661.59169487,634.40830513,879,787,804.40830513,652.59169487,631,652,0.410676349749,0.00456587776917,0.0597596123903,0.999999892731,0.000227912218455,-0.000401669524554,3.5426276052e-05,1793243115504651008
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,713.833184529,680,662,634.166815471,879,787,804.166815471,652.833184529,631,652,0.410049545673,0.00456492370022,0.0597890513844,0.99999991473,0.000216732590067,-0.000349720301213,3.5536596434e-05,1793243115521317632
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,713.258582256,680,662,634.741417744,879,787,804.741417744,652.258582256,631,652,0.409461958657,0.00456219193219,0.0598318632149,0.999999935635,0.000208646706633,-0.000289496044919,3.72763114335e-05,1793243115537983744
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.676155575,745,713.323844425,679.676155575,661.676155575,635,879,787,805,652,631,652,0.408883213133,0.00455990500872,0.0598541298165,0.999999945821,0.000201502936633,-0.000257516123691,3.79461705595e-05,1793243115554650112
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.087326633,745,713.912673367,679.087326633,661.087326633,635,879,787,805,652,631,652,0.408311702164,0.00455798207787,0.0598595853573,0.999999949337,0.000195130048424,-0.000248647030522,3.77406240047e-05,1793243115571316992
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764.494536822,745,713.505463178,679,661.494536822,634.505463178,879,787,804.505463178,652,631,652,0.40773848874,0.00455599699272,0.0598450151505,0.99999994536,0.000189631297064,-0.000268196434814,3.72956510166e-05,1793243115587983360
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,713.073965865,679.073965865,662,634,879,787,804.073965865,652,631,652,0.40717360384,0.00455420382595,0.0598289653189,0.999999940517,0.000184350198423,-0.000289194519183,3.67003679322e-05,1793243115604649984
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,713.64518305,679.64518305,662,634,879,787,804.64518305,652,631,652,0.406666702144,0.00455377363082,0.0598264110656,0.999999942174,0.000179509029438,-0.000286664217301,3.53748722099e-05,1793243115621317120
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.781010597,745,714,679.781010597,662,634,879,787,804.781010597,652,631,652,0.406179176589,0.00455289385584,0.0598268607156,0.999999944018,0.000175818197879,-0.00028256530038,3.47708417793e-05,1793243115637984000
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.202959016,745,714,679.202959016,662,634,879,787,804.202959016,652,631,652,0.405723420837,0.0045512769351,0.0598322356636,0.999999946176,0.00017401349761,-0.000275894431267,3.53497495331e-05,1793243115654650880
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,661.616166105,634,879,787,804.383833895,652,631,652,0.405291407126,0.00454967611071,0.0598280681076,0.999999945869,0.000171019778668,-0.000278923144288,3.48712441547e-05,1793243115671317248
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,661.02464329,634,879,787,804.97535671,652,631,652,0.404872239969,0.00454808399575,0.0598187371927,0.999999944178,0.000167382692697,-0.000287200209614,3.38205824981e-05,1793243115687983360
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,662.13476597,634.86523403,879,787,804.86523403,652.86523403,631,652,0.4040605726,0.00454668560015,0.059774417903,0.999999918052,0.000169381958068,-0.000366338089007,3.16565543744e-05,1793243115721316864
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,662.708321763,634.291678237,879,787,804.291678237,652.291678237,631,652,0.403721163672,0.00454443564434,0.0597702565463,0.999999916424,0.00017355431895,-0.000368872917625,3.10515402857e-05,1793243115737983744
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.289214153,745.289214153,714,679,662.710785847,634,879,787,804.289214153,652,631,652,0.403422418194,0.00454204202806,0.059777740212,0.999999922075,0.000174092613808,-0.000352996340417,3.05886131778e-05,1793243115754650368
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.877698194,745.877698194,714,679,662.122301806,634,879,787,804.877698194,652,631,652,0.403165750019,0.0045394997565,0.0597972737881,0.99999993436,0.000170870488813,-0.000318068207794,3.02727133047e-05,1793243115771316992
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,662,635,879,787,804.705294837,653,631,652,0.401889444577,0.00453386609337,0.0598272035919,0.999999944602,0.000165262033968,-0.000287194867731,3.16672542338e-05,1793243115871316736
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,745,714,678.185780745,662.814219255,634.814219255,879,787,805.185780745,652,631,652.185780745,0.400963887596,0.00452037074545,0.0598428899132,0.99999995526,0.000132252559694,-0.000266904993593,2.74222251669e-05,1793243116487983872
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e31bbf502b6f11f3f26ebebe9aa1a4b7ac62042d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_01/simulation_data.csv
@@ -0,0 +1,404 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d805db78656cff9512624d0915eb02c8283682db
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0509cf70647e51e504d7b145a9ea3b87b94d357b5c580f6eacf10fb7a37968a
+size 25644247
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aca69dd9711bb4eaccaff18b5d97f94c5f0c63d5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_02/franka_data.csv
@@ -0,0 +1,406 @@
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+3,0.050000000,BASELINE,765,745.275822557,714,679.275822557,662.724177443,634.724177443,879,787,804.275822557,653,631,652,0.400962190531,0.0045168705763,0.059843303446,0.999999955641,0.000128496885035,-0.000267286310852,2.766744627e-05,1793243116686391808
+4,0.066666667,BASELINE,765,745,714,679,662.690133102,635,879,787,804,652.690133102,631,652,0.40096264734,0.00451743482952,0.0598434753005,0.999999955642,0.00012855535057,-0.00026726657651,2.75314106045e-05,1793243116703058688
+5,0.083333333,BASELINE,765,745,714,679,662.093680568,635,879,787,804,652.093680568,631,652,0.400963360288,0.00451963101798,0.0598439836318,0.999999955567,0.000130875549511,-0.000266457517979,2.71608794604e-05,1793243116719725312
+6,0.100000000,BASELINE,764.515072616,745,714,679,662,635,878.515072616,787,804.484927384,652,631,652,0.400963490402,0.00451877175389,0.0598441086729,0.999999955904,0.000129126903502,-0.0002660463819,2.71683295302e-05,1793243116736391936
+7,0.116666667,BASELINE,764,745,714,679,662,635,878,787,804.939684777,652,631,652,0.400963523661,0.00451761382427,0.0598441801209,0.999999956278,0.000126978872409,-0.000265669641603,2.72125915476e-05,1793243116753058304
+8,0.133333333,BASELINE,764,745,714,679,662,635,878,787,804.363400111,652,631,652,0.400963657372,0.00451877119381,0.0598444040495,0.999999956357,0.000127899830092,-0.00026495287198,2.6969278842e-05,1793243116769724928
+9,0.150000000,BASELINE,764,745,714,679,662.217142164,635,878.217142164,787,804.217142164,652.217142164,631,652,0.400963737171,0.00451911991569,0.0598445958974,0.999999956343,0.000128584138816,-0.000264676936402,2.6939501428e-05,1793243116786391552
+10,0.166666667,BASELINE,764,745,714,679,662.804952241,635,878.804952241,787,804.804952241,652.804952241,631,652,0.400963724943,0.00451808825267,0.0598447329824,0.999999956172,0.000128864480875,-0.000265153517284,2.72742349176e-05,1793243116803058432
+11,0.183333333,BASELINE,764.38879641,745,714,679,662.61120359,634.61120359,879,787,805,653,631,652,0.400963734328,0.00451723680885,0.0598449984294,0.999999956341,0.000127649095485,-0.00026510571374,2.7252042113e-05,1793243116819725056
+12,0.200000000,BASELINE,764.97067114,745,714,679,662.02932886,634.02932886,879,787,805,653,631,652,0.400963754445,0.00451647486275,0.0598453276216,0.999999956676,0.000125690924084,-0.000264797498203,2.70525978829e-05,1793243116836391680
+13,0.216666667,BASELINE,765,745,714,679,662,634.545337576,879,787,805,652.454662424,631,652,0.400963417401,0.00451906943746,0.0598447266167,0.999999956095,0.000129550559016,-0.000265148432961,2.69022272959e-05,1793243116853058304
+14,0.233333333,BASELINE,765,745,714,679,662,635,879,787,805,652,631,652,0.40096306659,0.00452131966414,0.0598441981952,0.999999955567,0.000132799473163,-0.000265540375155,2.68059857514e-05,1793243116869725184
+15,0.250000000,BASELINE,765,745,714,679,662,635,879,787,805,652,631,652,0.400962735511,0.00452158390938,0.0598441333164,0.999999955487,0.000132553407264,-0.000265955198826,2.69055798895e-05,1793243116886391808
+16,0.266666667,BASELINE,765,745,714,679,662,635,879,787,805,652,631,652,0.400962334981,0.00452114314889,0.0598438247076,0.999999955598,0.000131208912128,-0.00026621734204,2.67698204474e-05,1793243116903058688
+17,0.283333333,BASELINE,765,745,714,679,662,635,879,787,805,652,631,652,0.400961855967,0.00451990569606,0.0598432406715,0.999999955921,0.000128623136106,-0.000266306948547,2.63680994842e-05,1793243116919725312
+18,0.300000000,BASELINE,764.551114498,745,714,679,662,635,879,787,805,652.448885502,631.448885502,652,0.400963006442,0.00452024196452,0.0598441601089,0.999999955993,0.000130122164402,-0.000265298770421,2.6427270607e-05,1793243116936391936
+19,0.316666667,BASELINE,764.027430598,745.027430598,714,679,662,635,879,787,805,653,631.972569402,652,0.400964524448,0.00452091974026,0.0598454367334,0.999999955991,0.000132581661258,-0.000264067010172,2.66320317328e-05,1793243116953058304
+20,0.333333333,BASELINE,764.604427549,745.604427549,714,679,662,635,879,787,805,653,631.395572451,652,0.400963970356,0.00451932698126,0.0598451637311,0.999999956065,0.00013063107093,-0.000264712500858,2.70848834862e-05,1793243116969724928
+21,0.350000000,BASELINE,765,745.819280557,714,679,662,635,879,787,805,652.819280557,631,652,0.400963819536,0.0045182337951,0.0598451157351,0.999999956216,0.000129057934896,-0.000264890060922,2.73111365112e-05,1793243116986392064
+22,0.366666667,BASELINE,765,745.244526024,714,679,662,635,879,787,805,652.244526024,631,652,0.400964547999,0.0045182298623,0.0598455583359,0.999999956542,0.0001283077888,-0.000264047359438,2.70433206121e-05,1793243117003058432
+23,0.383333333,BASELINE,764.660396955,745,714,679,662,635,878.660396955,787,805,652,631,652,0.400964122875,0.00451905826802,0.0598452040619,0.999999956284,0.000129053693135,-0.000264683097238,2.68279104463e-05,1793243117019725056
+24,0.400000000,BASELINE,764.069326213,745,714,679,662,635,878.069326213,787,805,652,631,652,0.400962843548,0.00452050299993,0.0598442597216,0.999999955588,0.000130907385916,-0.000266413582851,2.66513054079e-05,1793243117036391680
+25,0.416666667,BASELINE,764.508795172,745,714,679,662,634.491204828,878.508795172,787,804.491204828,652.508795172,631,652,0.400963772681,0.00452088164443,0.0598451101354,0.999999956,0.000131134215436,-0.000264748223532,2.66798491064e-05,1793243117053058304
+26,0.433333333,BASELINE,764.915205505,745,713.915205505,679,662,634.084794495,879,787,804.084794495,652.915205505,631,652,0.400964601603,0.00452085566095,0.059845873404,0.99999995644,0.000130998242955,-0.000263140207072,2.67581952477e-05,1793243117069725184
+27,0.450000000,BASELINE,764.341520439,745,713.341520439,679,662,634.658479561,879,787,804.658479561,652.341520439,631,652,0.40096316086,0.00451931348325,0.0598447592742,0.999999956214,0.000130016836224,-0.000264464350879,2.69665182766e-05,1793243117086392576
+28,0.466666667,BASELINE,764,745,713.239393404,679,662,635,879,787,804.760606596,652,631,652,0.400962755823,0.00451832254636,0.0598446145215,0.999999956303,0.000128788586554,-0.000264703719823,2.72089477069e-05,1793243117103059456
+29,0.483333333,BASELINE,764,745,713.830940938,679,662,635,879,787,804.169059062,652,631,652,0.400963874338,0.00451814249961,0.0598458957487,0.999999956856,0.000127197224345,-0.000263347355723,2.75015485574e-05,1793243117119725824
+30,0.500000000,BASELINE,764,745,714,679,662,635,879,787,804.414222287,652.414222287,631,652,0.400962698773,0.00451808381878,0.0598449787067,0.999999956297,0.000128471483699,-0.000264870561969,2.72978873355e-05,1793243117136391936
+31,0.516666667,BASELINE,764,745,714,679,662,635,879,787,804.994195903,652.994195903,631,652,0.40096060523,0.00451807370262,0.0598431820257,0.999999955281,0.000130892423503,-0.000267546030271,2.68956465013e-05,1793243117153058560
+32,0.533333333,BASELINE,764,745,714,679,662.569643664,634.430356336,879,787,805,652.430356336,631,652,0.400962089415,0.00451881995973,0.0598448806861,0.999999955744,0.000131263840991,-0.000265597464225,2.72074859389e-05,1793243117169724928
+33,0.550000000,BASELINE,764,745,714,679,662.855583395,634.144416605,879,787,804.855583395,652,631,652.144416605,0.400963128351,0.00451925484461,0.0598459338792,0.999999956104,0.000131313945933,-0.000264193064422,2.73829978086e-05,1793243117186391552
+34,0.566666667,BASELINE,764,745,714,679,662.282677034,634.717322966,879,787,804.282677034,652,631,652.717322966,0.400962738913,0.00451874318984,0.0598449671095,0.999999956129,0.000130472174873,-0.000264541915668,2.71326030495e-05,1793243117203058432
+35,0.583333333,BASELINE,764.30092295,745,714,679,662,635,879,787,804.30092295,652,631,652.69907705,0.400962824228,0.00451877517733,0.0598445121866,0.999999956221,0.000129924995688,-0.000264473157691,2.70449690501e-05,1793243117219725568
+36,0.600000000,BASELINE,764.894938362,745,714,679,662,635,879,787,804.894938362,652,631,652.105061638,0.400963371943,0.00451933666059,0.0598445557914,0.999999956379,0.000129664742533,-0.000263997657382,2.71158604894e-05,1793243117236392448
+37,0.616666667,BASELINE,764.522928104,745.477071896,714,679,662,635,878.522928104,787,804.522928104,652,631,652,0.400963602087,0.00451978781957,0.0598452076797,0.999999956508,0.000130262050028,-0.000263233145889,2.6907796469e-05,1793243117253059072
+38,0.633333333,BASELINE,764.05591422,745.94408578,714,678.94408578,662,634.94408578,878.05591422,787,804.05591422,652,631,652,0.400963850565,0.00452012065859,0.0598459604094,0.99999995664,0.000130925056556,-0.000262423220928,2.66797770175e-05,1793243117269725952
+39,0.650000000,BASELINE,764.627943446,745.372056554,714,678.372056554,662,634.372056554,878.627943446,787,804.627943446,652,631,652,0.400964898127,0.00451958016025,0.0598464375111,0.999999956865,0.000130493649349,-0.000261767319353,2.68208270957e-05,1793243117286392064
+40,0.666666667,BASELINE,764.793561238,745,714,678.206438762,662,634.206438762,878.793561238,787,804.793561238,652,631,652,0.400965356891,0.00451891377163,0.0598468560083,0.999999956997,0.000130391436715,-0.000261289690173,2.7050455845e-05,1793243117303058432
+41,0.683333333,BASELINE,764.203035562,745,714,678.796964438,662,634.796964438,878.203035562,787,804.203035562,652,631,652,0.400964720173,0.00451801315955,0.0598471654698,0.999999956958,0.000130901702726,-0.000261143743386,2.74448884643e-05,1793243117319725056
+42,0.700000000,BASELINE,764,745.379933966,714,679,662,635,878.379933966,787,804,652,631,652,0.400964934353,0.00451833074468,0.0598471214866,0.99999995705,0.000130603870458,-0.000260941699155,2.74151556267e-05,1793243117336392448
+43,0.716666667,BASELINE,764,745.958944235,714,679,662,635,878.958944235,787,804,652,631,652,0.400965594382,0.00451928663601,0.0598468923067,0.999999957211,0.000129882614022,-0.00026071026121,2.71631702319e-05,1793243117353060096
+44,0.733333333,BASELINE,764.53571335,745.46428665,714,679,662,635,879,787,804.53571335,652.53571335,631,652,0.400964128731,0.00451858206261,0.0598461106333,0.999999956952,0.000129566228454,-0.000261887897243,2.69121704896e-05,1793243117369725952
+45,0.750000000,BASELINE,765,745,713.885751451,679.114248549,662,635,879,787,804.885751451,652.885751451,631,652,0.400962720372,0.00451804107255,0.0598452243181,0.999999956632,0.000129302627938,-0.000263255945778,2.6687693992e-05,1793243117386391808
+46,0.766666667,BASELINE,765,745,713.299208487,679.700791513,662,635,879,787,804.299208487,652.299208487,631,652,0.40096221949,0.00451870018941,0.0598440797305,0.999999956206,0.000129129502482,-0.000264966590121,2.65725515791e-05,1793243117403058432
+47,0.783333333,BASELINE,764.716130021,745,713.283869979,679.716130021,662,634.716130021,879,787,804.283869979,652,631,652,0.40096230478,0.00451889650438,0.0598440255427,0.999999956233,0.00012847394621,-0.00026518208042,2.65836927453e-05,1793243117419725056
+48,0.800000000,BASELINE,764.136659151,745,713.863340849,679.136659151,662,634.136659151,879,787,804.863340849,652,631,652,0.400963000464,0.00451861089227,0.0598451068151,0.999999956732,0.000127316022671,-0.000263840629718,2.67263361389e-05,1793243117436391680
+49,0.816666667,BASELINE,764,745,713.557942711,679,662.442057289,634,879,787,804.557942711,652,631,652,0.400963573115,0.00451976874761,0.0598454757062,0.999999956795,0.000128174153962,-0.000263225534339,2.63392181689e-05,1793243117453058560
+50,0.833333333,BASELINE,764,745,713,679,662.979529661,634.020470339,879,787,804.020470339,652,631,652,0.400964125441,0.00452133892286,0.0598456453753,0.999999956731,0.000129671629444,-0.000262787266966,2.58154988751e-05,1793243117469725184
+51,0.850000000,BASELINE,764,745,713,679,662.403032249,634.596967751,879,787,804.596967751,652,631,652,0.400965157052,0.00452200843206,0.0598463754311,0.999999956921,0.000131635101319,-0.00026106319142,2.60222332259e-05,1793243117486391808
+52,0.866666667,BASELINE,764,745,713.176574847,679,662,634.823425153,879,787,804.823425153,652.176574847,631,652,0.400965363206,0.00452160445521,0.0598465663237,0.999999956918,0.000132488188967,-0.000260610054337,2.63206306503e-05,1793243117503058432
+53,0.883333333,BASELINE,764,745,713.763407009,679,662,634.236592991,879,787,804.236592991,652.763407009,631,652,0.400963651478,0.00451870632068,0.059845504514,0.999999956477,0.00013076138894,-0.000263109839654,2.68319997682e-05,1793243117519725312
+54,0.900000000,BASELINE,764,745,714,679,662.346195045,634.346195045,879,787,804.346195045,652.653804955,631,652,0.400963759659,0.00451846590766,0.059845901875,0.999999956548,0.000130894590289,-0.000262779335289,2.67976399454e-05,1793243117536391936
+55,0.916666667,BASELINE,764,745,714,679,662.926251178,634.926251178,879,787,804.926251178,652.073748822,631,652,0.400965097222,0.00452002083425,0.0598472849324,0.999999956962,0.000132284256669,-0.000260536918358,2.63946302182e-05,1793243117553058560
+56,0.933333333,BASELINE,764,745,714,679,662.497581162,635,879,786.497581162,805,652.502418838,631,652,0.400964385661,0.00452064048708,0.0598464066045,0.99999995647,0.000132609059795,-0.00026224371793,2.64974950986e-05,1793243117569725184
+57,0.950000000,BASELINE,764,745,714,679,662,635,878.920937702,786.079062298,805,652.920937702,631,652,0.400963266741,0.00452084339223,0.059845324029,0.999999955961,0.00013238003495,-0.000264280011725,2.66390310466e-05,1793243117586391808
+58,0.966666667,BASELINE,764,745,714,679,662,635,878.337647789,786.662352211,805,652.337647789,631,652,0.400961453405,0.00451925728166,0.059845039587,0.999999956202,0.000129608135262,-0.000264749013273,2.6557257035e-05,1793243117603058176
+59,0.983333333,BASELINE,764,745,714,679,662,635,878.245536291,787,805,652.245536291,631,652,0.40096079563,0.00451849955095,0.0598448454599,0.99999995633,0.000128265308263,-0.00026492285474,2.65252831667e-05,1793243117619724800
+60,1.000000000,BASELINE,764,745,714,679,662,635,878.82857498,787,805,652.82857498,631,652,0.400961726235,0.00451888047119,0.0598447754754,0.999999956311,0.000128886815584,-0.000264690983399,2.65617621732e-05,1793243117636391680
+61,1.016666667,BASELINE,764,745,714,678.592614461,662,634.592614461,879,787,805,652.592614461,631,652,0.400962184059,0.00451943958435,0.0598445859764,0.999999956384,0.0001283335185,-0.000264700002782,2.63759579376e-05,1793243117653059072
+62,1.033333333,BASELINE,764,745,714,678.01556483,662,634.01556483,879,787,805,652.01556483,631,652,0.400962444983,0.00452007290959,0.0598443467031,0.999999956496,0.0001272909499,-0.000264809346081,2.60975792678e-05,1793243117669726720
+63,1.050000000,BASELINE,764,745,713.434199513,678.565800487,662,634,879,787,805,652,631,652,0.400964951917,0.00451917133428,0.0598464608502,0.999999957077,0.000128864702353,-0.00026180710149,2.63956019521e-05,1793243117686392576
+64,1.066666667,BASELINE,764.146985939,745,713.146985939,679,662,634,879,786.853014061,805,652,631,652,0.400966445832,0.00451867262757,0.0598477164774,0.999999957373,0.000130157055186,-0.000260009095408,2.66138331924e-05,1793243117703058688
+65,1.083333333,BASELINE,764.727288433,745,713.727288433,679,662,634,879,786.272711567,805,652,631,652,0.400964769805,0.00451948701727,0.0598462488512,0.999999956819,0.00013040602856,-0.00026201548443,2.65497338177e-05,1793243117719725312
+66,1.100000000,BASELINE,764.692887841,745,713.692887841,679,662,634,878.692887841,786.307112159,804.692887841,652,631,652,0.400963903923,0.00451912633175,0.059845448362,0.99999995666,0.000129278525173,-0.000263168850557,2.66161998475e-05,1793243117736391936
+67,1.116666667,BASELINE,764.113488626,745,713.113488626,679,662,634,878.113488626,786.886511374,804.113488626,652,631,652,0.40096375632,0.00451772381907,0.0598452393597,0.999999956852,0.000126930631127,-0.000263565922545,2.67984257706e-05,1793243117753058304
+68,1.133333333,BASELINE,764,745,713.46577302,679,662,634,878.46577302,787,804,652,631,652,0.400963781158,0.00451880606373,0.0598456940306,0.999999956772,0.000128666528528,-0.000263054054193,2.65193311798e-05,1793243117769725184
+69,1.150000000,BASELINE,764,745,713.95554303,679,662,634,879,787,804.04445697,652,631,652,0.400963965112,0.0045203378923,0.0598463428652,0.999999956666,0.000131210045393,-0.000262234929147,2.61795926712e-05,1793243117786391808
+70,1.166666667,BASELINE,764,745,713.383319822,679,662,634,879,787,804.616680178,652,631,652,0.40096553936,0.00452002176332,0.0598473775556,0.999999957097,0.000131532076772,-0.000260396611539,2.6453921821e-05,1793243117803058688
+71,1.183333333,BASELINE,764,745.195304129,713,679,662,634.195304129,878.804695871,787,805,652,631,652,0.400965983596,0.00451963402688,0.0598476388716,0.999999957301,0.00013083390063,-0.000259949233443,2.65883063132e-05,1793243117819725312
+72,1.200000000,BASELINE,764,745.786916477,713,679,662,634.786916477,878.213083523,787,805,652,631,652,0.400964134829,0.0045191009856,0.0598463308676,0.999999957043,0.000128065534702,-0.000262324328668,2.64387172484e-05,1793243117836392192
+73,1.216666667,BASELINE,764,745.62919661,713.37080339,679,662,634.62919661,878,787,805,652,631,652,0.400964210517,0.00451899738641,0.0598464254565,0.999999956913,0.000129499315413,-0.000262120143771,2.64102875544e-05,1793243117853058816
+74,1.233333333,BASELINE,764,745.049658576,713.950341424,679,662,634.049658576,878,787,805,652,631,652,0.40096536953,0.00451913553112,0.0598473096005,0.999999956845,0.000133298591347,-0.000260464016445,2.64500615558e-05,1793243117869725440
+75,1.250000000,BASELINE,764,745,714,679,662,634.525742043,878.525742043,787,805,652.525742043,631,651.474257957,0.400963608968,0.00451958509542,0.0598463974291,0.999999956708,0.00013109730513,-0.000262106593755,2.6407345861e-05,1793243117886391808
+76,1.266666667,BASELINE,764,745,714,679,662,634.899393692,879,787,805,653,631,651.100606308,0.400962237916,0.004519892352,0.0598457400112,0.999999956664,0.000128910683246,-0.000263356037571,2.63975343053e-05,1793243117903058688
+77,1.283333333,BASELINE,764,745,714,679,662,634.325228963,879,787,805,653,631,651.674771037,0.400963988217,0.00451939238355,0.0598470741358,0.999999957131,0.00012944010865,-0.000261299830251,2.65789926072e-05,1793243117919725312
+78,1.300000000,BASELINE,764.257030958,745,713.742969042,679,662,634.257030958,879,787,805,652.742969042,631,652,0.400965280571,0.00451908201617,0.0598478317276,0.999999957517,0.000129520911499,-0.000259771712535,2.66190157054e-05,1793243117936391936
+79,1.316666667,BASELINE,764.849867021,745,713.150132979,679,662,634.849867021,879,787,805,652.150132979,631,652,0.400965974628,0.00451901935831,0.0598478360923,0.999999957804,0.000129015599136,-0.00025893353204,2.64742569106e-05,1793243117953058560
+80,1.333333333,BASELINE,764.567443188,745,713.432556812,679,662,634.567443188,879,786.567443188,805,652,631,652,0.400965249645,0.00451885133703,0.0598474472359,0.999999957607,0.000128648357471,-0.000259872133235,2.64927801451e-05,1793243117969725440
+81,1.350000000,BASELINE,764.011706222,745,714,679,662.011706222,634.011706222,878.988293778,786,805,652.011706222,631,652,0.400964092645,0.00451866483494,0.0598469405248,0.999999957254,0.000128350374536,-0.000261366077341,2.65664897739e-05,1793243117986392064
+82,1.366666667,BASELINE,764.58607111,745,714,679,662.58607111,634.58607111,878.41392889,786,805,652.58607111,631,652,0.400965301393,0.00451930749531,0.0598471787052,0.999999957354,0.000129130734189,-0.000260590708032,2.66312060938e-05,1793243118003058432
+83,1.383333333,BASELINE,765,745,714,679,662.835627489,634.835627489,878,786,804.835627489,653,631,652,0.400965927796,0.00451991329496,0.0598475747488,0.99999995736,0.000130316162807,-0.000259974639697,2.66765477096e-05,1793243118019725056
+84,1.400000000,BASELINE,765,745,714,679,662.247169656,634.247169656,878,786,804.247169656,653,631,652,0.400965051735,0.00452042399314,0.0598483780836,0.99999995712,0.000132546679978,-0.000259769571821,2.66719021026e-05,1793243118036391680
+85,1.416666667,BASELINE,764.663874329,745.336125671,714,679,662.336125671,634.336125671,878.336125671,786.336125671,804.336125671,652.663874329,631,652,0.400964626664,0.00452031277593,0.0598479279794,0.999999956938,0.000132466810383,-0.00026053130711,2.64529594352e-05,1793243118053058304
+86,1.433333333,BASELINE,764.084317855,745.915682145,714,679,662.915682145,634.915682145,878.915682145,786.915682145,804.915682145,652.084317855,631,652,0.400964528211,0.00451975115168,0.0598465701027,0.999999956797,0.000130713699503,-0.000261993225973,2.60788173599e-05,1793243118069724928
+87,1.450000000,BASELINE,764,745.507527367,714,679,662.507527367,635,878.507527367,787,805,652,631,652,0.400965293357,0.00451943768168,0.0598471093706,0.999999957253,0.000129913537934,-0.000260637936129,2.6168653433e-05,1793243118086391808
+88,1.466666667,BASELINE,764,745,714,679,662,634.931180138,878,786.931180138,804.931180138,652,631,652,0.400965966682,0.00451909179253,0.0598478157372,0.999999957722,0.000129203398198,-0.000259167697195,2.63491162436e-05,1793243118103058432
+89,1.483333333,BASELINE,764,745,714,679,662,634.354628755,878,786.354628755,804.354628755,652,631,652,0.400964877822,0.00451819501756,0.0598473718958,0.999999957558,0.000127960408695,-0.000260388104897,2.66153904088e-05,1793243118119725056
+90,1.500000000,BASELINE,764,745,714,679,662,634,878.22707503,786.22707503,804.22707503,652,631,652,0.400963707335,0.00451849457413,0.0598466882635,0.999999957033,0.000128998775132,-0.000261866752538,2.68027509182e-05,1793243118136391936
+91,1.516666667,BASELINE,764,745,714,679,662,634,878.817012214,786.817012214,804.817012214,652,631,652,0.40096240641,0.00452070584888,0.0598456214492,0.999999955919,0.000133682710877,-0.000263758063224,2.68640086802e-05,1793243118153058560
+92,1.533333333,BASELINE,764.399718545,745,714,679,662,634.399718545,878.600281455,787,805,652,631,652,0.400962317547,0.0045210433942,0.0598457211943,0.999999955903,0.000133709936947,-0.000263802017772,2.69050671933e-05,1793243118169725184
+93,1.550000000,BASELINE,764.979173519,745,714,679,662,634.979173519,878.020826481,787,805,652,631,652,0.400962773695,0.00452053840329,0.0598463454914,0.999999956384,0.000131643239131,-0.000263015294998,2.69370429686e-05,1793243118186391552
+94,1.566666667,BASELINE,764.447540122,745,713.447540122,679,662,635,878,787,805,652.552459878,631,652,0.400962494185,0.0045196825354,0.0598456885728,0.999999956436,0.000130631333953,-0.000263345264011,2.66945013522e-05,1793243118203058944
+95,1.583333333,BASELINE,764.129219072,745,713.129219072,679,662,634.870780928,878.129219072,787,804.870780928,652.870780928,631,652,0.400962690676,0.00451904854805,0.0598455353977,0.999999956588,0.000129996964814,-0.00026309936807,2.65087527649e-05,1793243118219725824
+96,1.600000000,BASELINE,764.719181149,745,713.719181149,679,662,634.280818851,878.719181149,787,804.280818851,652.280818851,631,652,0.400964682192,0.00451925233909,0.059847348681,0.999999957153,0.000130568522189,-0.000260651727975,2.65619968629e-05,1793243118236392192
+97,1.616666667,BASELINE,765,745,714,679,662.303696894,634.303696894,879,787,804,652,631,652,0.400965128638,0.00451948010522,0.0598478061405,0.999999957307,0.000130518709327,-0.000260084670434,2.65712737806e-05,1793243118253058816
+98,1.633333333,BASELINE,765,745,714,679,662.883265279,634.883265279,879,787,804,652,631,652,0.400964171578,0.00451972964977,0.0598470319998,0.999999957091,0.000129904457556,-0.000261225892321,2.65406118887e-05,1793243118269725184
+99,1.650000000,BASELINE,765,745,714,679,662.540920067,634.540920067,878.540920067,787,804,652.459079933,631,652,0.400964829014,0.00451931319589,0.059847479679,0.999999957553,0.000129007777539,-0.000259891856143,2.65789786674e-05,1793243118286391808
+100,1.666666667,BASELINE,764.965899394,745,714,679,662,634.034100606,878.034100606,787,804.034100606,653,631,652,0.400965747394,0.00451882104929,0.0598481478302,0.999999958099,0.000128201630917,-0.000258182798008,2.66146489385e-05,1793243118303058432
+101,1.683333333,BASELINE,764.38844432,745,714,679,662,634.61155568,878.61155568,787,804.61155568,653,631,652,0.400964335305,0.00451979933859,0.0598474187056,0.999999957291,0.000129973053307,-0.000260445754089,2.63299410966e-05,1793243118319725056
+102,1.700000000,BASELINE,764.192696878,745,714,679,662,635,879,787,805,653,631,652,0.40096357909,0.00452059423343,0.0598470525943,0.999999956734,0.000131689898642,-0.000261726958586,2.62338087471e-05,1793243118336391936
+103,1.716666667,BASELINE,764.781413519,745,714,679,662,635,879,787,805,653,631,652,0.400964170795,0.0045210122262,0.0598474325274,0.999999956706,0.00013329458007,-0.000260990522291,2.65252261547e-05,1793243118353058560
+104,1.733333333,BASELINE,764.63543792,745,714,679,662,635,879,787,805,652.63543792,631,652.36456208,0.400964837071,0.00451917965314,0.0598475843132,0.999999957146,0.000130921645341,-0.000260481449149,2.67810181189e-05,1793243118369725184
+105,1.750000000,BASELINE,764.055577625,745,714,679,662,635,879,787,805,652.055577625,631,652.944422375,0.400965547388,0.00451601797093,0.0598476013629,0.999999957844,0.000126199663219,-0.000260106649035,2.70157709109e-05,1793243118386392320
+106,1.766666667,BASELINE,764,745,714,679,662,635,879,787,805,652,631,652.483270138,0.40096462808,0.00451726773342,0.0598465251113,0.999999957159,0.000128726089754,-0.000261523811508,2.6771552751e-05,1793243118403058944
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,662,634,879,786,805,653,631,652,0.400963804646,0.0045190149623,0.0598468244343,0.999999956772,0.000130767812526,-0.000261988697459,2.677428565e-05,1793243118446049536
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.59451155,662,634.59451155,879,786,805,652.40548845,631,652,0.40096486396,0.00451909293504,0.0598468996646,0.99999995699,0.000130396544869,-0.000261353409255,2.66669347096e-05,1793243118462716160
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.816706864,745.183293136,714,679.816706864,662.183293136,634.816706864,879,786.183293136,805,652.183293136,631,652.183293136,0.400965618488,0.0045194227816,0.0598471798979,0.999999957129,0.000130600642928,-0.000260725638318,2.6590886599e-05,1793243118479382784
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.24021697,745.75978303,714,679.24021697,662.75978303,634.24021697,879,786.75978303,805,652.75978303,631,652.75978303,0.400965719199,0.00452029294284,0.0598478998995,0.9999999571,0.000132039003903,-0.000260113993149,2.65819886703e-05,1793243118496049408
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,746,714,679,662.665520213,634.334479787,878.665520213,787,805,652.665520213,631,652.665520213,0.400965776301,0.00451948377298,0.0598477626336,0.999999957333,0.000130505078765,-0.000259995654527,2.65291501217e-05,1793243118512716032
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,746,714,679,662.092104422,634.907895578,878.092104422,787,805,652.092104422,631,652.092104422,0.40096580225,0.00451747497104,0.0598470129777,0.999999957745,0.000126847897671,-0.000260229710012,2.6444922543e-05,1793243118529382912
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.497092141,745.502907859,713.502907859,679,662,635,878.497092141,787,804.502907859,652,631,652,0.400965221744,0.0045185131022,0.0598469930059,0.999999957618,0.000127994021326,-0.000260186694182,2.61436483733e-05,1793243118546049536
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,713.087408806,679,662.087408806,634.912591194,879,787,804.087408806,652.087408806,631,652,0.400965104674,0.00451981648317,0.0598472914125,0.999999957437,0.000130044290349,-0.000259888139289,2.59405069818e-05,1793243118562716416
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,713.667027862,679,662.667027862,634.332972138,879,787,804.667027862,652.667027862,631,652,0.400968250777,0.00451933020358,0.0598485963542,0.999999957537,0.000132009969703,-0.00025844917773,2.65238491376e-05,1793243118579382784
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.755504255,745,714,679,663,634,879,787,805,653,631,652.244495745,0.400976150065,0.00451864791389,0.0598521577763,0.999999959,0.000131750074676,-0.000252814904304,2.69567520996e-05,1793243118596049408
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.180940491,745,714,679,663,634,879,787,805,653,631,652.819059509,0.40099046613,0.00451770101159,0.0598587654354,0.999999962211,0.000128485665332,-0.000241516981187,2.71865628617e-05,1793243118612716032
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,679,662.607489754,634.392510246,879,787,804.607489754,653,631,652.607489754,0.401026626411,0.00451765381055,0.059873071129,0.999999968231,0.000127583543503,-0.000215682749877,2.72212622343e-05,1793243118629382912
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,714,679,662.034550602,634.965449398,879,787,804.034550602,653,631,652.034550602,0.401072828031,0.00451802018364,0.0598909154516,0.999999974694,0.000127767316374,-0.000183166474817,2.71662729023e-05,1793243118646049536
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.558822781,745,714,679,662,635,878.441177219,787,804,653,631,652,0.401136894923,0.00451730436683,0.0599085046088,0.999999979593,0.000126038726712,-0.000155521517629,2.72347786542e-05,1793243118662716160
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.85121869,745,714,679,662,635,878,787,804.14878131,653,631,652,0.401204837712,0.00451681568566,0.0599239096045,0.999999983324,0.000124071208878,-0.000131226511745,2.71568985964e-05,1793243118679383040
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.274843032,745,714,679,662,635,878,787,804.725156968,653,631,652,0.401280624778,0.00451717938109,0.0599330844316,0.999999985543,0.000121769722897,-0.000115660747596,2.66355320479e-05,1793243118696049664
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,679,662.300820541,635,878.300820541,787,805,652.699179459,631,652,0.401361713512,0.00451717806459,0.0599374761753,0.99999998656,0.000120940681282,-0.000107584119874,2.60537850944e-05,1793243118712716032
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,679,662.875835025,635,878.875835025,787,805,652.124164975,631,652,0.401447634642,0.00451684404454,0.0599375082014,0.999999986648,0.000121453753379,-0.000106333741852,2.54170022363e-05,1793243118729382656
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.463343266,745.463343266,714,679.463343266,662.536656734,635,878.536656734,787,804.536656734,652,631,652,0.401559158803,0.00451733263348,0.0599407300673,0.999999987559,0.000120348468531,-9.90466314179e-05,2.42689975326e-05,1793243118746049536
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.947012232,745.947012232,714.052987768,679.947012232,662,635,878,787,804.052987768,652,631,652,0.401679447487,0.00451791828422,0.0599446678522,0.999999988616,0.000118666038998,-9.03149090949e-05,2.30001068517e-05,1793243118762716160
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.370262591,745.370262591,714.629737409,679.370262591,662,635,878,787,804.629737409,652,631,652,0.401816672313,0.00451722401439,0.0599469986985,0.999999989562,0.000115684325564,-8.37372128709e-05,2.19279753243e-05,1793243118779382784
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714.793500811,679,662,635,878.206499189,787,805,652,631,652.206499189,0.401964726734,0.00451643023262,0.0599485757986,0.999999990468,0.000112522879485,-7.73129808025e-05,2.06421528033e-05,1793243118796049408
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714.216717324,679,662,635,878.783282676,787,805,652,631,652.783282676,0.402132200241,0.00451545801094,0.0599488013175,0.999999991343,0.000109039145899,-7.11639339011e-05,1.89731501071e-05,1793243118812716032
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,679,662,634.640850009,879,787,805,652,631,652.640850009,0.402319397158,0.00451594060079,0.0599498049653,0.999999992105,0.000106310668115,-6.48106304034e-05,1.69587329823e-05,1793243118829382656
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,679,662,634.065534065,879,787,805,652,631,652.065534065,0.402518465259,0.00451729881558,0.0599512769551,0.999999992778,0.000104036764943,-5.83343879234e-05,1.4736416934e-05,1793243118846049536
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,678.474550229,662,634.525449771,879,787,805,652.525449771,631,652,0.402752642562,0.00451725561668,0.0599506318689,0.999999993428,9.95673770142e-05,-5.54818590659e-05,1.23284683148e-05,1793243118862716160
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.11508789,745,714,678.11508789,662,635,879,787,805,652.88491211,631,652,0.402997999595,0.00451671897183,0.0599503679237,0.99999999415,9.43714983623e-05,-5.1929824951e-05,9.87263991808e-06,1793243118879382528
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.691265148,745,714,678.691265148,662,635,879,787,805,652.308734852,631,652,0.403270064764,0.00451492715928,0.0599527213572,0.999999995199,8.73957532697e-05,-4.37089391143e-05,7.32059232447e-06,1793243118896049152
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679,662.266999498,634.733000502,879,787,804.733000502,652,631,652,0.403553244861,0.00451434692931,0.0599511727049,0.999999995784,8.04127987042e-05,-4.41099693893e-05,4.39057755521e-06,1793243118912715776
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679,662.84222252,634.15777748,879,787,804.15777748,652,631,652,0.403849255985,0.00451516534721,0.0599451194947,0.999999995821,7.34215219597e-05,-5.44641176525e-05,1.02423861637e-06,1793243118929382400
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,662.58385159,634.41614841,879,787,804.41614841,652,630.58385159,652,0.404161707952,0.00451377009251,0.0599331281085,0.999999994988,6.672875102e-05,-7.46205914617e-05,-1.86004029059e-06,1793243118946049280
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,662.010415976,634.989584024,879,787,804.989584024,652,630.010415976,652,0.404480373884,0.00451153815942,0.059918892333,0.999999993331,6.01488032812e-05,-9.84819461004e-05,-4.56211999889e-06,1793243118962716160
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.417733721,745,713.417733721,679,662,635,879,787,804.417733721,652,631.164532559,652,0.404852700033,0.00451213005625,0.0599089747795,0.999999991708,5.27592033421e-05,-0.000117163525548,-8.54884993501e-06,1793243118979383040
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,713.171062137,679,662,635,879,787,804.171062137,652,631.828937863,652,0.405245493849,0.00451207659352,0.059904784649,0.99999999096,4.45290078645e-05,-0.000126262062025,-1.24193508974e-05,1793243118996049664
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,713.749748532,679,662,635,879,787,804.749748532,652,631.250251468,652,0.405684694485,0.00451036081613,0.0599140520408,0.999999992927,3.43314497932e-05,-0.000112753492455,-1.59562563364e-05,1793243119012716288
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,679,662.324073611,635,878.675926389,787,805,652,631,652,0.406156688604,0.00450771005826,0.0599346724413,0.999999996362,2.35255783199e-05,-7.9756390745e-05,-1.89930215877e-05,1793243119029382912
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,679,662.895075639,635,878.104924361,787,805,652,631,652,0.40665366982,0.0045043468903,0.0599639432863,0.999999999181,1.22562003341e-05,-3.19099685314e-05,-2.1648704547e-05,1793243119046049536
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.484065973,745,714,679,662.515934027,635,878.484065973,787,804.515934027,652,631,652,0.407179458579,0.0045038681454,0.0599892031711,0.999999999631,3.49373061095e-06,9.13696102685e-06,-2.53621864972e-05,1793243119062716416
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,662.075115259,634.924884741,879,787,804.075115259,652,630.924884741,652,0.407711741026,0.00450410574582,0.0600092887414,0.999999998765,-4.04356828154e-06,3.9997689936e-05,-2.92256456555e-05,1793243119079383040
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,662.652845138,634.347154862,879,787,804.652845138,652,630.347154862,652,0.408244080418,0.00450479164686,0.0600007936122,0.999999999363,-7.15922583746e-06,1.29424647434e-05,-3.24992288899e-05,1793243119096049664
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.770670436,745,714,679,662.770670436,634.229329564,879,787,804.770670436,652,630.229329564,652,0.408788057064,0.00450395412862,0.0599900356739,0.999999999168,-1.2909692459e-05,-1.52647087334e-05,-3.55621742578e-05,1793243119112716544
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.196061205,745,714,679,662.196061205,634.803938795,879,787,804.196061205,652,630.803938795,652,0.409349554785,0.00450082294313,0.05997587084,0.999999997988,-2.26271397724e-05,-4.52062593106e-05,-3.83079820756e-05,1793243119129383168
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.388633757,745,714,679,662,634.611366243,879,787,804.388633757,652,631,652,0.409956770187,0.00449735466049,0.0599783351523,0.999999997881,-3.03243405623e-05,-4.08824894469e-05,-4.05827176013e-05,1793243119146049792
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.978552399,745,714,679,662,634.021447601,879,787,804.978552399,652,631,652,0.410587664108,0.00449371178538,0.0599894121903,0.999999998232,-3.69751957855e-05,-1.88116985617e-05,-4.26134708033e-05,1793243119162716160
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.557810245,714,679,662,634,879,786.442189755,805,652,631,652,0.411268776502,0.00448448208241,0.0599959383193,0.999999999545,-2.87903275699e-06,1.82590357374e-07,-3.004191566e-05,1793243119179383040
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.863457078,713.863457078,679,662,634,879,786.136542922,805,652,631,652,0.411950798995,0.00447535001006,0.0599955818495,0.999999999569,2.01437391992e-05,4.74017494564e-06,-2.08184512506e-05,1793243119196049664
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.285122332,713.285122332,679,662,634,879,786.714877668,805,652,631,652,0.412629635711,0.00446721582831,0.059973511909,0.999999999018,2.36386131172e-06,-3.70374051106e-05,-2.42104581417e-05,1793243119212716288
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,713.292035032,679,662,634,879,787,804.707964968,652,631,652,0.413304415852,0.00446595050812,0.0599460321663,0.999999995472,-2.27790814367e-06,-9.1105873156e-05,-2.74127867297e-05,1793243119229382656
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,713.868047569,679,662,634,879,787,804.131952431,652,631,652,0.413975251423,0.00447136453,0.0599132918804,0.999999987176,5.85593565855e-06,-0.000157126116499,-3.04306707717e-05,1793243119246049536
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.453497481,714,679,662.453497481,634,879.453497481,786.546502519,804.453497481,652,631,652,0.41474003462,0.00447105353913,0.0599301354789,0.999999991863,7.59449608448e-06,-0.000123293963159,-3.18614814844e-05,1793243119262716160
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.958854068,745.958854068,714,679,663,634,879.958854068,786.041145932,805,652,631,652,0.415535653064,0.00446916818883,0.0599621795882,0.999999997641,7.83807504761e-06,-5.98737371917e-05,-3.27454765194e-05,1793243119279383040
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.379134334,745.379134334,714,679,663,634,879.379134334,786.620865666,805,652,631,652,0.416369476303,0.00446894293052,0.0600003320435,0.999999999375,1.33877727918e-05,2.45933198163e-06,-3.26449319424e-05,1793243119296049408
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,714,679,662.800539443,634.199460557,879,786.800539443,805,652,631,652,0.417196841033,0.00446934817396,0.0600212024914,0.999999998616,1.96570369803e-05,3.58180320446e-05,-3.31582268988e-05,1793243119312716032
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,679,662.2240707,634.7759293,879,786.2240707,805,652,631,652,0.418011998234,0.00447094515341,0.0600094075399,0.999999998917,2.72863815477e-05,1.44111419629e-05,-3.48317641211e-05,1793243119329382656
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.351056091,745,714,679,662,635,879,786.351056091,805,652,631,651.648943909,0.41882733987,0.00447041714677,0.0599935139075,0.99999999887,2.872000676e-05,-1.10339847109e-05,-3.62458200465e-05,1793243119346049536
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.925329585,745,714,679,662,635,879,786.925329585,805,652,631,651.074670415,0.419642798746,0.0044685379774,0.0599750141483,0.999999998191,2.6214111959e-05,-3.90468047611e-05,-3.74948859017e-05,1793243119362716416
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.514686612,714,679,662.514686612,635,879.514686612,787,805,652,631,651.514686612,0.420439982931,0.00446996823347,0.0599484666745,0.999999995975,2.59392720099e-05,-7.62805836525e-05,-3.94732244005e-05,1793243119379383040
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.89665599,714,679,662.89665599,634.89665599,880,786.89665599,805,652,631,652,0.421237008679,0.00447155241263,0.059920144923,0.999999991868,1.33722130657e-05,-0.000119973037883,-4.11196476438e-05,1793243119396049664
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.321485559,714,679,662.321485559,634.321485559,880,786.321485559,805,652,631,652,0.422045780939,0.00447158108588,0.0598892140794,0.999999980096,-5.68384899971e-05,-0.000186861033546,-4.07530467786e-05,1793243119412716288
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,662,634.255324818,879.744675182,786,805,652,631,652,0.422933582423,0.00447085147065,0.0598969057765,0.999999979028,-9.5669574907e-05,-0.000176286786892,-4.14087363008e-05,1793243119429383168
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,662,634.834213516,879.165786484,786,805,652,631,652,0.423921534888,0.00446916090394,0.0599535424141,0.999999992291,-9.47344173159e-05,-6.75474594472e-05,-4.33599373304e-05,1793243119446049792
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,662.839237908,634.580381046,879,786.419618954,805,652,631,652,0.424847150335,0.00446733172998,0.0600003940334,0.999999995064,-8.91269640857e-05,7.58601268571e-06,-4.32638998364e-05,1793243119462716160
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,663.984932471,634,879,787,805.007533764,652,631,652,0.425747582094,0.00446543816769,0.0600426052675,0.999999993429,-8.16938715219e-05,6.83528446413e-05,-4.23801191182e-05,1793243119479383040
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,662.825192352,634,879,787,805.587403824,652,631,652,0.426635365213,0.00446287892532,0.0600306159289,0.999999994047,-7.80174195956e-05,6.22733686955e-05,-4.40683611665e-05,1793243119496049664
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,662.165790266,634,879.165790266,786.834209734,806,651.834209734,631,652,0.427516271404,0.00446157095108,0.060014729052,0.999999995171,-7.3467783427e-05,4.64000153884e-05,-4.59022001003e-05,1793243119512716288
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,662.740517195,634,879.740517195,786.259482805,806,651.259482805,631,652,0.42838021498,0.00446334934285,0.0599892285456,0.999999996594,-6.67643596081e-05,6.36917930455e-06,-4.80951667581e-05,1793243119529382912
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.685621899,745,714,679.314378101,662.685621899,634,880,786.314378101,805.685621899,651.314378101,631,652,0.429228765031,0.00446393027478,0.0599607589302,0.999999996275,-5.80660941407e-05,-4.12590502831e-05,-4.87469995942e-05,1793243119546049536
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.112473858,745,714,679.887526142,662.112473858,634,880,786.887526142,805.112473858,651.887526142,631,652,0.430064644368,0.00446352555714,0.059929845392,0.999999993177,-4.77258409896e-05,-9.51408210643e-05,-4.81302989121e-05,1793243119562716416
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.477772127,745,714,679.522227873,662,634.477772127,880,787,805.477772127,651.522227873,631,652,0.430941264489,0.00446212751753,0.0599289991935,0.999999993663,-4.53685037649e-05,-9.04701503149e-05,-4.930928147e-05,1793243119579383040
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.92962655,745,714,679.07037345,662.140746901,634.92962655,880,787,805.92962655,651.07037345,631,652,0.431828721451,0.0044602601255,0.0599405455517,0.999999995606,-4.54318458765e-05,-6.43638604544e-05,-5.08036437636e-05,1793243119596049664
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.350184831,745,714,679.649815169,663.299630338,634.350184831,880,787,805.350184831,651.649815169,631,652,0.432722615712,0.0044567518723,0.0599886342202,0.999999997393,-4.89069859573e-05,1.33918900613e-05,-5.14079761331e-05,1793243119612716288
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.227232192,745,714,679.772767808,663.772767808,634,880.227232192,787,805.227232192,652,631,652,0.433605245622,0.00445320152908,0.0600145202638,0.999999995984,-5.12082705987e-05,5.23004182742e-05,-5.17156186325e-05,1793243119629382912
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.801556624,745,714,679.198443376,663.198443376,634,880.801556624,787,805.801556624,652,631,652,0.434470669616,0.00444958689371,0.0600064922871,0.999999996825,-5.17165174212e-05,3.18706697965e-05,-5.15700742556e-05,1793243119646049280
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.375542971,662.624457029,634,881,786.624457029,806.375542971,651.624457029,631,652,0.435304195555,0.0044480618937,0.0599809375881,0.999999997297,-5.00600151859e-05,-1.31577973689e-05,-5.22219123601e-05,1793243119662715904
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.949350796,662.050649204,634,881,786.050649204,806.949350796,651.050649204,631,652,0.436120881123,0.00444764009987,0.0599461297992,0.99999999493,-4.72606511523e-05,-7.11729564774e-05,-5.32947219222e-05,1793243119679382784
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662.542126929,634,880.457873071,786.542126929,806.457873071,651,631,651.457873071,0.43689888287,0.00444792312034,0.0599329447004,0.999999993257,-4.37651915833e-05,-9.31043111999e-05,-5.38791500974e-05,1793243119696049664
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.867517043,662.867517043,634,880.132482957,787,806,651,631,651.132482957,0.437665094155,0.0044475683041,0.0599205147974,0.999999990847,-4.12269419175e-05,-0.000116871265829,-5.42940482983e-05,1793243119712716288
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.291413988,662.291413988,634,880.708586012,787,806,651,631,651.708586012,0.438404365603,0.00444484919823,0.0599036039613,0.99999998508,-4.21195788043e-05,-0.00015848250004,-5.42995991648e-05,1793243119729382656
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745.283952974,713.716047026,679.283952974,662.283952974,634.283952974,880.716047026,787,805.716047026,651.283952974,631,652,0.439184174142,0.00444129049138,0.0599148177995,0.999999987069,-4.44446408288e-05,-0.000144575292602,-5.46345216184e-05,1793243119746049536
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745.858566419,713.141433581,679.858566419,662.858566419,634.858566419,880.141433581,787,805.141433581,651.858566419,631,652,0.440005477287,0.00443687235078,0.0599548206702,0.999999994581,-4.82359643742e-05,-7.38381917789e-05,-5.53065958961e-05,1793243119762716160
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.556765543,713.443234457,680,663.443234457,635,880,787,805.443234457,651.556765543,631,652,0.440784534267,0.00443336527968,0.0599942669829,0.999999997167,-4.96266671876e-05,-1.51992459933e-05,-5.451852464e-05,1793243119779382784
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.030767891,714,680,663.969232109,635,880,786.969232109,806,651.030767891,631,652,0.441544831735,0.00443028989752,0.0600300000584,0.999999996717,-5.01586383753e-05,3.46392063042e-05,-5.33871030931e-05,1793243119796049408
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+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.810507291,714,680,663,635,880,786.189492709,806,651.810507291,631,652,0.442876446852,0.00442826457164,0.0599772619211,0.999999996487,-5.12763360118e-05,-3.60703278846e-05,-5.56373759764e-05,1793243119829382912
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.234787145,714,680,663,635,880,786.765212855,806,651.234787145,631,652,0.443512674727,0.00442555819364,0.0599557034004,0.999999994631,-5.8762387984e-05,-6.42992017693e-05,-5.61285442694e-05,1793243119846049536
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.337055228,714,680,663,634.662944772,880,787,806,651.337055228,631,652,0.444141037407,0.00442352324375,0.0599510193282,0.999999991135,-9.78407239088e-05,-7.0888075593e-05,-5.59711470223e-05,1793243119862716160
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.906227098,714,680,663,634.093772902,880,787,806,651.906227098,631,652,0.444763983598,0.00442195068009,0.0599579560245,0.999999983921,-0.000158675419087,-6.2574332988e-05,-5.5367108093e-05,1793243119879382784
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.50130933,714,680,663.49869067,634,880,787,806,651.50130933,631,652,0.445360424952,0.00442090908133,0.0599644822813,0.999999982795,-0.000166566381355,-6.03661442423e-05,-5.49706118227e-05,1793243119896049664
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.671641702,714,680,662.656716596,634,880,786.328358298,806,651,631,652,0.446458330337,0.00441725210489,0.0599457939083,0.999999979356,-0.000167328697129,-0.000100834685513,-5.58733772272e-05,1793243119929382912
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.750772325,714,680,662.249227675,634,880,786.249227675,806,651,631,652,0.446972207608,0.00441405544517,0.0599354070864,0.999999977181,-0.000170713750644,-0.00011515415811,-5.68699695385e-05,1793243119946049280
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.174801869,714,680,662.825198131,634,880,786.825198131,806,651,631,652,0.447480190468,0.00440991091701,0.0599386319597,0.999999977813,-0.000175254222969,-0.000101571758709,-5.78158429213e-05,1793243119962715904
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.603319173,745.396680827,714,680,663,634,880,787,806,651,631,652,0.447970180106,0.00440938896656,0.0599514931983,0.999999979651,-0.000176249727783,-7.83813438044e-05,-5.90758687566e-05,1793243119979382528
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.033791887,745.966208113,714,680,663,634,880,787,806,651,631,652,0.448452329568,0.00441044548813,0.0599685533081,0.999999981435,-0.000175700577739,-5.10044095931e-05,-6.04727808592e-05,1793243119996049152
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.845451103,714,680,661.845451103,634,880,787,806.154548897,651.154548897,631,652,0.449238965205,0.00440581296806,0.0599373600209,0.999999977035,-0.000176376559077,-0.000105085829334,-6.14686866967e-05,1793243120029382912
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.268107893,714,680,661.268107893,634,880,787,806.731892107,651.731892107,631,652,0.449564650304,0.00440570034701,0.0598967308704,0.999999968181,-0.000176387639745,-0.000169053846055,-6.2813691683e-05,1793243120046049536
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.308929361,714,680,661,633.691070639,880,786.691070639,807,652,631,652,0.449883691977,0.0044056520923,0.0598664652898,0.999999960581,-0.00016820062259,-0.000216209067495,-6.16415150502e-05,1793243120062716160
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.885701316,714,680,661,633.114298684,880,786.114298684,807,652,631,652,0.450196973763,0.00440565964338,0.0598451849547,0.999999955664,-0.000152905832673,-0.00024878754626,-5.82869351471e-05,1793243120079382528
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,714,680.471077391,660.528922609,633,880,786.471077391,806.528922609,652,631,652,0.450506698098,0.00440940254453,0.059841109092,0.999999959404,-0.000127447899297,-0.000249345263501,-5.26880459766e-05,1793243120096049152
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.941908719,714,680.941908719,660,633,880,787,806,651.941908719,631,652,0.450811850598,0.004413302408,0.0598421463083,0.999999964465,-0.000102812538113,-0.000241406098419,-4.7149757007e-05,1793243120112716032
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.359306967,714,680.359306967,660,633,880,787,806,651.359306967,631,652,0.451083662143,0.00441028404508,0.0598509580331,0.999999966987,-0.000108283342523,-0.000228202434244,-4.71668181142e-05,1793243120129382912
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,880,786.780220471,806,651.219779529,631,652,0.45133827768,0.00440777838115,0.0598569811168,0.999999968671,-0.00011262009834,-0.000218386098783,-4.77717363406e-05,1793243120146049792
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+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.059271388,633,880,786.940728612,806,652,631,652,0.451951116983,0.00440967083658,0.0598512523869,0.999999965566,-0.000118957756474,-0.000228136368934,-5.16816087088e-05,1793243120196049408
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,633,880,786.879607659,806.879607659,652,631,652,0.452285297252,0.00441140442933,0.0598528000152,0.999999966797,-0.000118800180654,-0.00022240843018,-5.31714181212e-05,1793243120229382912
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,633,880,786.299550134,806.299550134,652,631,652,0.452418486884,0.00440987572143,0.0598514851525,0.99999996642,-0.000118775050015,-0.000224086825717,-5.32725450061e-05,1793243120246049536
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.724288309,745,714,680,658.724288309,632.724288309,880,786.551423382,806,651.724288309,631,652,0.452537254465,0.00441008698508,0.0598495643623,0.999999965969,-0.00011825335521,-0.00022632624114,-5.34315580993e-05,1793243120262716160
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.154147783,745,714,680,658.154147783,632.154147783,880,787.691704434,806,651.154147783,631,652,0.452640620924,0.00441215634122,0.0598469965104,0.999999965434,-0.000117201386162,-0.00022916476211,-5.36523870953e-05,1793243120279382784
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,745.432468612,714,680,658,632.432468612,880,787.135062776,806.432468612,651.432468612,631,652,0.452726400037,0.00441214408516,0.0598427602785,0.99999996359,-0.000120132324457,-0.000235506883532,-5.40763998333e-05,1793243120296049408
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764.218032651,745,714,680,657,632.781967349,880,786.218032651,806.218032651,652,631,652,0.453112486942,0.00446700029083,0.0598129971548,0.999999955051,-6.7720403411e-05,-0.000284517504729,-6.60476650535e-05,1793243120679382528
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.366172871,745.366172871,714,680.366172871,657,633,880,786.366172871,806,652,631,651.633827129,0.45311210109,0.00447389002381,0.0598121025201,0.999999955063,-6.09786310607e-05,-0.000285662244137,-6.74768719822e-05,1793243120696049408
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.955561402,745.955561402,714,680.955561402,657,633,880,786.955561402,806,652,631,651.044438598,0.453113773398,0.00447586586169,0.0598125926333,0.999999955527,-5.91588954684e-05,-0.000284376012695,-6.7650015351e-05,1793243120712716032
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.464052585,714,680.464052585,657,632.464052585,880,786.464052585,806,651.464052585,631,651.535947415,0.453113969894,0.00447216555203,0.0598130772796,0.999999955559,-6.14881939281e-05,-0.000284028636255,-6.65521432427e-05,1793243120729382656
+245,4.083333333,HOLD_POSE2,765,745,714,680,657,632,880,787,806,651,631,651,0.453111412557,0.00447601232739,0.0598121872243,0.999999954421,-6.01899114742e-05,-0.000287890966104,-6.82250014563e-05,1793243120771641856
+246,4.100000000,HOLD_POSE2,764.42770869,745,714,680.57229131,657,632,880,786.42770869,806,651,631,651.57229131,0.453111797601,0.00447299147928,0.0598113685469,0.999999954222,-6.21749018944e-05,-0.000288375427647,-6.73072414465e-05,1793243120788308736
+247,4.116666667,HOLD_POSE2,764.149911375,745.149911375,714,680.850088625,657,632,880,786,806,651.149911375,631,652,0.453112380694,0.00447098143639,0.0598109873924,0.999999954179,-6.36002980192e-05,-0.000288367504693,-6.66376737746e-05,1793243120804975616
+248,4.133333333,HOLD_POSE2,764.743295264,745.743295264,714,680.256704736,657,632,880,786,806,651.743295264,631,652,0.453113549662,0.00447196158837,0.0598119005315,0.999999954611,-6.33702852893e-05,-0.000286902994652,-6.67023162129e-05,1793243120821642240
+249,4.150000000,HOLD_POSE2,765,745.672148656,714,680,657,632,880.327851344,786.327851344,806,652,631,652,0.4531140098,0.00447189117853,0.0598122174451,0.999999954772,-6.30396894466e-05,-0.000286443199391,-6.65772147261e-05,1793243120838308608
+250,4.166666667,HOLD_POSE2,765,745.094323471,714,680,657,632,880.905676529,786.905676529,806,652,631,652,0.453113929481,0.00447101975629,0.0598120797601,0.999999954728,-6.26324029237e-05,-0.000286749459988,-6.63074409049e-05,1793243120854975232
+251,4.183333333,HOLD_POSE2,764.518423435,745.481576565,714,680.481576565,657,632,880.518423435,786.518423435,806,651.518423435,631,652,0.453113190892,0.00447244215198,0.0598110929722,0.999999954299,-6.13954524604e-05,-0.000288516929285,-6.62646872018e-05,1793243120871642112
+252,4.200000000,HOLD_POSE2,764.056965905,745.943034095,714,680.943034095,657,632,880,786,806,651,631,652,0.453112408023,0.00447433117376,0.0598100685305,0.999999953864,-6.0063001032e-05,-0.000290284111209,-6.63282097982e-05,1793243120888308736
+253,4.216666667,HOLD_POSE2,764.631128439,745.368871561,714,680.368871561,657,632,880,786,806,651,631,652,0.45311238904,0.00447639395781,0.0598102061417,0.999999954105,-5.93329742364e-05,-0.00028946062213,-6.69545275923e-05,1793243120904975616
+254,4.233333333,HOLD_POSE2,765,745.212700488,714,680,657,632,880,786,806,651.212700488,631,652,0.453112289864,0.00447644395959,0.0598101569033,0.999999954085,-5.99056910506e-05,-0.000289370268474,-6.71321221121e-05,1793243120921642240
+255,4.250000000,HOLD_POSE2,765,745.807586062,714,680,657,632,880,786,806,651.807586062,631,652,0.453112046593,0.0044728773481,0.0598097719293,0.999999953592,-6.28192073619e-05,-0.000290597229349,-6.65034403548e-05,1793243120938308864
+256,4.266666667,HOLD_POSE2,765,745.610314625,714,680,657,632.389685375,880,786.389685375,806,651.610314625,631,652,0.453112812017,0.00447239182352,0.0598094783147,0.999999953691,-6.30713325713e-05,-0.000290198401434,-6.6512494141e-05,1793243120954975232
+257,4.283333333,HOLD_POSE2,765,745.034328127,714,680,657,632.965671873,880,786.965671873,806,651.034328127,631,652,0.453114059679,0.00447337930734,0.0598092283773,0.999999954075,-6.20510978552e-05,-0.000289022315104,-6.68264370376e-05,1793243120971642112
+258,4.300000000,HOLD_POSE2,764.459573636,745,714,680.540426364,657,632.459573636,880,787,806.540426364,651.540426364,631,652,0.453113181738,0.00447536647439,0.0598095764588,0.999999954193,-5.89156532894e-05,-0.000289198998266,-6.7128440129e-05,1793243120988308480
+259,4.316666667,HOLD_POSE2,764,745,714,681,656.882236218,632,880,787,806.882236218,652,631,652,0.453112548323,0.00447656663776,0.0598099308941,0.999999954251,-5.71000370495e-05,-0.000289323035392,-6.73020471042e-05,1793243121004975360
+260,4.333333333,HOLD_POSE2,764,745,714,681,656.294273954,632,880,787,806.294273954,652,631,652,0.453113429108,0.0044743715492,0.0598101593739,0.999999954162,-6.10893710912e-05,-0.000288894562733,-6.6966024982e-05,1793243121021642752
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,745,714,681,657,632,880,787,807,652,631,652,0.453111387942,0.0044719497267,0.059808534161,0.99999995302,-6.30010924098e-05,-0.000292639489695,-6.59797261526e-05,1793243121058760448
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,745,714,680.422668749,657,632,880,787,806.422668749,652,631,652,0.453111929825,0.00447407520857,0.0598082498969,0.999999953329,-6.03706953465e-05,-0.000292030476421,-6.64478081231e-05,1793243121075427072
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,632,880,786.846289551,806,651.846289551,631,651.846289551,0.453112167523,0.00447535013759,0.0598080991983,0.999999953461,-5.90763927083e-05,-0.000291774409488,-6.6751659377e-05,1793243121092093696
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,632,880,786.272512034,806,651.272512034,631,651.272512034,0.45311157393,0.00447430063668,0.0598083135131,0.999999953122,-6.14334304894e-05,-0.000292482890598,-6.66066933935e-05,1793243121108760576
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.310675218,745,714,680,657,632,880,786,806,651.310675218,631,651.621350437,0.453110927937,0.00447386225486,0.0598078759265,0.999999952847,-6.21985547175e-05,-0.00029326704574,-6.65748160679e-05,1793243121125427200
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.902374085,745,714,680,657,632,880,786,806,651.902374085,631,652.804748171,0.453110234548,0.00447397666557,0.0598068486574,0.999999952633,-6.1523701206e-05,-0.000294119652363,-6.6645233963e-05,1793243121142093824
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.515719011,745,714,680.484280989,657,632,880,786,806,652,631,652.515719011,0.453110554264,0.00447408135501,0.0598072454695,0.999999952826,-6.09088084299e-05,-0.000293583671193,-6.66796624617e-05,1793243121158760704
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,745,714,681,657.063486293,632,880.063486293,786,806,652,631,652,0.453110898259,0.00447416413977,0.0598077386889,0.999999953038,-6.04454314008e-05,-0.000292961352777,-6.66661953648e-05,1793243121175427328
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,745,714,681,657.636537283,632,880.636537283,786,806,652,631,652,0.453109830376,0.00447408652695,0.059806747167,0.99999995276,-6.11030807349e-05,-0.000293848309973,-6.63253782285e-05,1793243121192093952
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.208476271,745,714,680.791523729,657.791523729,632,880.791523729,786.208476271,806,652,631,652,0.453106311804,0.00447425335211,0.0598047249821,0.999999951953,-6.14364936429e-05,-0.00029655481254,-6.6143749828e-05,1793243121208761088
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.778486791,745,714,680.221513209,657.221513209,632,880.221513209,786.778486791,806,652,631,652,0.453098543308,0.0044748440754,0.0598009154476,0.999999950205,-6.1207623912e-05,-0.000302416724342,-6.62381825209e-05,1793243121225429248
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.366110316,632,880,786.633889684,806,652,631,652,0.453075094643,0.00447592222478,0.0597902082005,0.999999944834,-5.99458342798e-05,-0.000319819025643,-6.67362691878e-05,1793243121242096384
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.964929146,632,880,786.035070854,806,652,631,652,0.453041679287,0.00447731019397,0.059775116601,0.999999936679,-5.80274958877e-05,-0.000344556676226,-6.74909279965e-05,1793243121258763264
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713.453844211,680,657.453844211,632,880,786,806,651.453844211,631,652,0.452989530898,0.00447744549544,0.0597567585941,0.999999926227,-5.64487322877e-05,-0.000373983906165,-6.70520190172e-05,1793243121275429376
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.875339852,745,713.124660148,680,657,632,880,786,806,651.124660148,631,652,0.452933610519,0.00447739829925,0.059739590169,0.999999916208,-5.57229633855e-05,-0.000400032190057,-6.67378868311e-05,1793243121292094976
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.302685455,745,713.697314545,680,657,632,880,786,806,651.697314545,631,652,0.452868322704,0.00447697531092,0.0597274270268,0.999999910826,-5.79867048334e-05,-0.00041288904992,-6.713900953e-05,1793243121308761344
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.278782692,745.278782692,714,680,657.278782692,632,880,786,806.278782692,652,631,652,0.452796878446,0.00447722194133,0.0597200251408,0.999999907378,-5.71939263275e-05,-0.000421265720956,-6.71470116501e-05,1793243121325427456
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.870132659,745.870132659,714,680,657.870132659,632,880,786,806.870132659,652,631,652,0.452718531673,0.00447821933898,0.0597179615097,0.999999906221,-5.29742200652e-05,-0.000424619265919,-6.67142524338e-05,1793243121342093824
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.549424259,745.549424259,714,680,657.549424259,632.450575741,880,786,806.098848517,651.549424259,631,652,0.45262784486,0.00447802847961,0.0597181037168,0.999999907053,-5.1371661285e-05,-0.000422938338076,-6.61739324764e-05,1793243121358760448
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.027832998,745,714,680,657,632.972167002,880,786.027832998,805.027832998,651,631,652,0.452532152229,0.00447766823543,0.0597188415542,0.999999908362,-5.0237334832e-05,-0.000420060870842,-6.55846988929e-05,1793243121375427584
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.602800587,745,714,680,657,632.397199413,880,786.602800587,805.602800587,651,631,652,0.452406320956,0.00448055165053,0.0597190855496,0.999999908115,-4.38294633239e-05,-0.000421512596179,-6.46289538526e-05,1793243121392093952
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.821701831,745,714,680.178298169,657.178298169,632,880,787,806,651.178298169,631,652,0.452270853908,0.00448263373733,0.0597185724915,0.999999907289,-3.86630753564e-05,-0.000424121412372,-6.36187657323e-05,1793243121408760320
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.245020126,745,714,680.754979874,657.754979874,632,880,787,806,651.754979874,631,652,0.452113857019,0.00448292536224,0.0597163678979,0.999999905234,-3.62706180381e-05,-0.000429315593954,-6.24869319254e-05,1793243121425426944
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,745.34124411,714,681,658,632.34124411,880,786.65875589,806,652,631,652,0.451936686903,0.0044833276201,0.0597161109007,0.999999904418,-3.2760048495e-05,-0.000431711112017,-6.09625523398e-05,1793243121442093824
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,745.93458765,714,681,658,632.93458765,880,786.06541235,806,652,631,652,0.451744613482,0.0044838116098,0.0597172927208,0.999999904518,-2.8423455785e-05,-0.000432039074117,-5.91481732942e-05,1793243121458760704
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,746,713.488364818,681,658,633,880,786,806,651.488364818,631,652,0.451523178783,0.00448393641751,0.0597166958961,0.999999903335,-2.52735896299e-05,-0.000435247945113,-5.70173589836e-05,1793243121475427072
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.086689984,745.913310016,713.086689984,681,658,633,880,786.086689984,806,651.086689984,631,652,0.451291660501,0.00448439551757,0.0597145779204,0.999999901207,-2.18286616004e-05,-0.000440550594922,-5.49939686947e-05,1793243121492093952
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.661893764,745.338106236,713.661893764,681,658,633,880,786.661893764,806,651.661893764,631,652,0.451023819858,0.00448698920277,0.0597051298628,0.999999894622,-1.58924126344e-05,-0.000455640570615,-5.37968718479e-05,1793243121508760576
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.242541957,714,681,658.242541957,633,879.757458043,786.757458043,806,652,631,652,0.450744825436,0.00448924488383,0.05969840418,0.999999889931,-9.54217903618e-06,-0.000466181991097,-5.21593383498e-05,1793243121525427200
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.830953966,714,681,658.830953966,633,879.169046034,786.169046034,806,652,631,652,0.4504499255,0.00449101856358,0.0596955606629,0.99999988819,-2.60159480038e-06,-0.000470237073136,-4.9893732791e-05,1793243121542093568
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.584727278,746,714,680.584727278,659.415272722,633,879.415272722,786.415272722,806,652,631.415272722,652,0.45011214048,0.0044932674849,0.0596909467593,0.999999885956,5.99435475432e-06,-0.000475169946057,-4.76019114422e-05,1793243121558760192
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.002058522,746,714,680.002058522,659.997941478,633,879.997941478,786.997941478,806,652,631.997941478,652,0.449757068532,0.0044957079756,0.0596856192147,0.999999883438,1.52575803049e-05,-0.000480456655498,-4.52995225844e-05,1793243121575427072
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.572328685,746,714,680,659.427671315,633.572328685,880,787,806,652,631.427671315,652,0.449379021788,0.00449747765403,0.0596855399937,0.99999988457,2.47748471226e-05,-0.000477937762039,-4.26774917977e-05,1793243121592093952
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.850506059,714,680.149493941,659.149493941,634,880,786.850506059,806,652,631,652,0.448995284554,0.00449896979395,0.0596879423648,0.999999886921,3.3787212994e-05,-0.000472683344966,-3.98389658891e-05,1793243121608760576
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.265155772,714,680.734844228,659.734844228,634,880,786.265155772,806,652,631,652,0.448595193996,0.00449965969165,0.0596975256785,0.999999892899,4.13248896572e-05,-0.000459534071396,-3.63725432381e-05,1793243121625427200
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.682962867,745,714,680.682962867,660,634,880.317037133,786,806,652,631,652,0.448175393329,0.00450103373285,0.0597157429179,0.999999906195,5.06735835242e-05,-0.000428934175782,-3.2521158896e-05,1793243121642093824
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.103384552,745,714,680.103384552,660,634,880.896615448,786,806,652,631,652,0.447739270508,0.00450297431927,0.0597411099864,0.999999924022,6.1521997095e-05,-0.00038388326757,-2.83509840296e-05,1793243121658760448
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.475444468,745,714,680.475444468,661.426333403,634,880.524555532,786.475444468,806,651.524555532,631,651.524555532,0.447261357788,0.00450502287984,0.0597772412568,0.999999942878,7.34504443336e-05,-0.000329067817882,-2.37163773233e-05,1793243121675427072
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,662.946296982,634,880,787,805.946296982,651,631,651.053703018,0.446768032136,0.00450731173746,0.0598128216647,0.999999957741,8.57649081227e-05,-0.000277125268236,-1.90543297013e-05,1793243121692093952
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,662.371991253,634,880,787,805.371991253,651,631,651.628008747,0.446213244655,0.00451170281353,0.0598204071134,0.999999957507,9.9548374938e-05,-0.000273583818963,-1.51037305386e-05,1793243121708760576
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764.792304632,745,714,680.792304632,661.792304632,634,880,787,805.207695368,651.207695368,631,652,0.445631949912,0.00451648720521,0.0598123203044,0.999999951121,0.000114355369386,-0.00029077814201,-1.1310908731e-05,1793243121725427200
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.202724321,745,714,680.202724321,661.202724321,634,880,787,805.797275679,651.797275679,631,652,0.445001916877,0.00452199477747,0.0597754172562,0.999999931491,0.000131044300734,-0.000346098877179,-7.80818891953e-06,1793243121742093824
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764.380283728,745,713.619716272,680,661.380283728,634,880,787,806,651.619716272,631,652,0.444373591869,0.00452511044634,0.0597654330627,0.999999925897,0.000145049005414,-0.000356586844697,-3.64390242997e-06,1793243121758760448
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.959847693,745,713.040152307,680,661.959847693,634,880,787,806,651.040152307,631,652,0.443746161939,0.00452697268493,0.0597695551687,0.999999928549,0.000157647093295,-0.000343581077279,8.67064999117e-07,1793243121775427328
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.463934853,745,713.536065147,680,662.536065147,634,880,787,806,651,631,651.463934853,0.443080133907,0.00453000448179,0.0597923353861,0.99999993716,0.000171950125945,-0.000309956779439,6.31513004009e-06,1793243121792093696
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764.111720768,745,714,679.888279232,662.888279232,634,880.111720768,787,806,651.111720768,631,651.111720768,0.442399454167,0.00453354800438,0.0598106410878,0.999999941624,0.000187143822214,-0.000285641194382,1.17174084828e-05,1793243121808760320
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.686081221,745,714,679.313918779,662.313918779,634,880.686081221,787,806,651.686081221,631,651.686081221,0.441669999118,0.00453885008758,0.0598046663434,0.999999931858,0.000205500240818,-0.000306228936212,1.66412238285e-05,1793243121825426944
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764.733105542,745,714,679.266894458,662,634,880.733105542,786.733105542,805.733105542,651.733105542,631,652,0.440926906651,0.00454327125688,0.0597934773223,0.999999919752,0.000221403244537,-0.000333190708188,2.14513785974e-05,1793243121842093568
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764.144514477,745,714,679.855485523,662,634,880.144514477,786.144514477,805.144514477,651.144514477,631,652,0.440167376464,0.00454663063261,0.0597760033625,0.999999904548,0.000234349069547,-0.000367835309455,2.61245352057e-05,1793243121858760448
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764.439760533,745,714,680,662,634,880,786.439760533,805,651.439760533,631,652,0.439405775409,0.00455092650149,0.0597879967908,0.999999909591,0.000247636806524,-0.000344359183418,3.0177327319e-05,1793243121875427328
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745.022324376,714,680,662.022324376,634,880,787,805.022324376,652,631,652,0.438640479128,0.00455552294711,0.0598088430368,0.999999919193,0.000261114158427,-0.000303764159755,3.40667593046e-05,1793243121892093952
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745.597298942,714,680,662.597298942,634,880,787,805.597298942,652,631,652,0.437800387734,0.00456001583957,0.0598114528651,0.999999913697,0.000276531069755,-0.000307608891408,3.89098573728e-05,1793243121908760832
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745.253384863,714,680,661.506769727,634,880,786.253384863,806,652,631,651.253384863,0.436082473304,0.00456404487533,0.0597576675392,0.999999876157,0.000299008564056,-0.000395025145325,4.72784926043e-05,1793243121942093824
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,661.659454404,634,880,786.329727202,806,652,631,651.329727202,0.435245600707,0.00456506665732,0.0597455130205,0.999999886719,0.000252489125271,-0.000402127205734,3.32327448869e-05,1793243121958760192
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,662.83928985,634,880,786.919644925,806,652,631,651.919644925,0.434434178182,0.00456635901686,0.0597575347305,0.999999920811,0.000162169018798,-0.000363390792675,5.08165128963e-06,1793243121975426816
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,663,634,879.497586439,787,805.497586439,652,631,652,0.433570868349,0.00456575622985,0.0597779141619,0.99999993211,0.000164450678241,-0.000329651125242,8.07070582466e-06,1793243121992093440
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.917418512,662.834837024,634.082581488,879,787,805,652,631,652,0.432695022621,0.00456562664231,0.059797578774,0.999999938329,0.000181396776348,-0.000300319968804,1.56261620389e-05,1793243122008760320
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.345972675,661.69194535,634.654027325,879,787,805,652,631,652,0.431793405089,0.00457006744062,0.0598052097433,0.999999937279,0.000198707983427,-0.000292421709513,2.11439133106e-05,1793243122025427968
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.228445114,661.228445114,634.771554886,879.228445114,787,805,652,631,652,0.430901256517,0.00457272999742,0.0598194594223,0.99999994074,0.000209034813306,-0.000272342584231,2.55700914312e-05,1793243122042094848
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.606272527,662,634,880,787,805,652,631,652,0.429090603492,0.00457509681912,0.0598202827178,0.999999937187,0.000208679057286,-0.000284997262615,2.92478045732e-05,1793243122075427584
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.016317106,662,634,880,787,805,652,631,652,0.428129951999,0.00457877507541,0.0597727838978,0.999999905024,0.000208925145679,-0.000381373258403,2.92648475966e-05,1793243122092093696
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.561967099,661.438032901,634,879.438032901,786.438032901,805,652,631,652,0.427228114752,0.00458090464115,0.0597591985499,0.999999908477,0.000204195888502,-0.000375015418162,2.66964754207e-05,1793243122108760320
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661.276925424,634,879.138462712,786.138462712,805,652,631,652,0.426325906248,0.00458240167662,0.0597577998675,0.999999915171,0.00020009807202,-0.000359121321614,2.55050745898e-05,1793243122125427200
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,662.420796462,634,879.710398231,786.710398231,805,652,631,652,0.425417298121,0.00458205641705,0.0597915328926,0.999999927888,0.000198420105016,-0.000322521371664,2.88546659584e-05,1793243122142093824
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,662.707467101,634,879.707467101,787,805.585065798,652,631,652,0.424519810168,0.0045824176104,0.0598157046758,0.999999935765,0.000197358378986,-0.000297544428348,3.14306694686e-05,1793243122158760704
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,662.114870767,634,879.114870767,787,806.770258465,652,631,652,0.423633728705,0.00458350344255,0.0598300690846,0.999999939591,0.000196928757815,-0.00028448969978,3.32131708339e-05,1793243122175427584
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764.532903234,745,714,680,662,634,879.467096766,786.532903234,806.065806467,652,631,651.532903234,0.422764645617,0.00458368138109,0.059842085863,0.999999947744,0.000190410822564,-0.000259198550334,3.2723973859e-05,1793243122192094208
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764.092340307,745,714,679.953829846,662.046170154,634,879.953829846,786.046170154,805,652,631,651.046170154,0.42189235475,0.00458386355059,0.0598491963512,0.999999953931,0.000183279221494,-0.000239853957345,3.19021155708e-05,1793243122208761088
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.242730875,745,714,679.378634563,662.621365437,634,879.378634563,786.621365437,805,652,631,651.621365437,0.420936476223,0.00458659558678,0.0598065578442,0.999999930203,0.000185890393715,-0.000322359235724,3.35274516989e-05,1793243122225427200
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.799977615,745,713.799977615,679.200022385,662.199910459,634,879,786.799977615,805,652,631,652,0.420005123352,0.00458719390645,0.0597652191753,0.999999905019,0.000184891286254,-0.000393207504339,3.41226368056e-05,1793243122242093568
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.214652367,745,713.214652367,679.785347633,659.858609468,634,879,786.214652367,805,652,631,652,0.419121014054,0.00458368205121,0.0597263843754,0.999999886305,0.000176937703879,-0.000441600907543,3.27334439238e-05,1793243122258760448
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745.367999828,713.367999828,679.632000172,660.103999484,634,879,786.367999828,805,652,631,652,0.418285912093,0.00458352127055,0.0597358724656,0.999999896766,0.000170699408224,-0.000419901192596,3.18225158034e-05,1793243122275427072
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745.949104054,713.949104054,679.050895946,661.847312162,634,879,786.949104054,805,652,631,652,0.417479189762,0.00458530105821,0.0597733437788,0.999999921883,0.000165454415152,-0.000357611368524,3.11885452273e-05,1793243122292093696
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745.473076206,714,679.526923794,662.526923794,634,879.526923794,787,805,652,631,652,0.416697166375,0.00458309591516,0.0598134945566,0.999999940349,0.000161619527257,-0.000303422789163,3.33992804837e-05,1793243122308760320
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764.895971367,745,714,679.895971367,662.791942733,634,879.895971367,787,805,652.104028633,631,652,0.415915481072,0.00458020666027,0.0598461479781,0.999999950447,0.000171589880795,-0.000261524647466,3.56031405885e-05,1793243122325427456
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764.320676865,745,714,679.320676865,661.641353731,634,879.320676865,787,805,652.679323135,631,652,0.415124586781,0.0045759511608,0.059843672017,0.999999932757,0.000243486924991,-0.000271781191753,3.65388056622e-05,1793243122342094336
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764.261008566,745,714,679,661.522017132,634.261008566,879,787.261008566,805,652.738991434,631,652,0.414344587188,0.00457492651357,0.0598414668378,0.999999920972,0.000282259251842,-0.000277529079602,3.69318874816e-05,1793243122358760704
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764.850742977,745,714,679,662.701485954,634.850742977,879,787.850742977,805,652.149257023,631,652,0.413578308926,0.00457797094625,0.059839602694,0.99999992179,0.000279312826239,-0.000277598564823,3.66416158383e-05,1793243122375427072
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764.56775649,745,714,679,662.56775649,634.56775649,879,788,805,652,631,652,0.412789019577,0.0045768775501,0.059806933647,0.999999906055,0.000269087019589,-0.000337838887879,3.66987159814e-05,1793243122392093696
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,661.978200803,634,879.010899599,787.989100401,804.989100401,652,631,652,0.4119941866,0.0045744339521,0.0597643348385,0.999999879457,0.000256466584203,-0.000417077422299,3.68390034141e-05,1793243122408760320
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,660.826529774,634,879.586735113,787.413264887,804.413264887,652,631,652,0.411316170519,0.00457468107674,0.0597480957452,0.999999878749,0.000247578642975,-0.000424226767652,3.51900658265e-05,1793243122425427200
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.165659739,745,714,679,660.496979217,634,879.834340261,787,804.165659739,652.165659739,631,652,0.410655779502,0.00457405051582,0.0597481314896,0.999999886252,0.000236803807874,-0.000412598751373,3.43745589506e-05,1793243122442093824
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764.752437207,745,714,679,662.25731162,634,879.247562793,787,804.752437207,652.752437207,631,652,0.410040192391,0.00457118882173,0.0597895389165,0.999999912503,0.000221232364585,-0.000353237472718,3.56776862136e-05,1793243122458760704
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745.334931905,714,679,662.665068095,634.334931905,879,787,805,652.665068095,631,652,0.409442122072,0.00456874500467,0.0598255997188,0.999999932884,0.000209949032606,-0.000298002275784,3.67081845378e-05,1793243122475427072
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745.914300955,714,679,662.085699045,634.914300955,879,787,805,652.085699045,631,652,0.408856835743,0.00456660615923,0.0598577584906,0.999999948731,0.000201795214317,-0.00024577834414,3.75397150482e-05,1793243122492093696
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,746,714,679,662,635,879,787,805,652,631,652,0.408291488975,0.0045652154431,0.0598544759364,0.999999949421,0.000194693981239,-0.000248769408467,3.69699632084e-05,1793243122508760576
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.962090947,745.962090947,714,679,662,634.962090947,879,787,805,652.037909053,631,652,0.407729846234,0.00456387968571,0.0598447224647,0.999999947418,0.000187651523279,-0.000261993676049,3.61933111183e-05,1793243122525427200
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.365961321,745.365961321,714,679,662,634.365961321,879,787,805,652.634038679,631,652,0.407171775825,0.00456144080959,0.0598302797065,0.999999942827,0.000178783879454,-0.00028476154944,3.59520176617e-05,1793243122542093824
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.227056387,745,714,679,662,634,879.227056387,787,805,653,631,652,0.406645603554,0.00455976527707,0.0598238150077,0.999999942005,0.000170093979468,-0.000292925731695,3.54011669205e-05,1793243122558760448
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.815126176,745,714,679,662,634,879.815126176,787,805,653,631,652,0.406170148495,0.00455930344009,0.0598300352053,0.999999947732,0.000161686688235,-0.000277870445277,3.4358128666e-05,1793243122575427328
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,662.397422435,634.397422435,879.602577565,787,805,652.602577565,631,652,0.405715566112,0.00455803000565,0.0598320563966,0.999999950497,0.000153778885209,-0.000272454773197,3.35743636436e-05,1793243122592093696
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,662.977071462,634.977071462,879.022928538,787,805,652.022928538,631,652,0.405270554251,0.00455638443657,0.0598321522552,0.999999951941,0.000146100107357,-0.000271459066836,3.29094807909e-05,1793243122608760320
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,746,714,678.12632641,661.12632641,634.12632641,879,787,805,652,631,652,0.404434610678,0.00455488274015,0.0597972855164,0.999999936442,0.000139925020088,-0.000326298011793,3.26442326537e-05,1793243122642094080
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,746,714,678.698979292,661.698979292,634.698979292,879,787,805,652,631,652,0.404053560975,0.00455315057231,0.0597736626539,0.999999921717,0.000138517509634,-0.000369145407691,3.33259882632e-05,1793243122658760448
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.717710059,745.717710059,714,679,662,635,879,787,804.717710059,652,631,652,0.403713986347,0.00455151730734,0.0597686049346,0.999999919772,0.000136404104725,-0.000375097402166,3.39420788095e-05,1793243122675427072
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.122588589,745.122588589,714,679,662,635,879,787,804.122588589,652,631,652,0.403420374098,0.0045499936459,0.0597841209648,0.999999932638,0.000133508433214,-0.000340162195929,3.4485399821e-05,1793243122692093952
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745.613092633,714,679,662.613092633,635,879,787,804.613092633,653,631.613092633,652.613092633,0.402694231642,0.00454812362365,0.0598374652065,0.999999958629,0.000134184955197,-0.000251908364412,3.57507733511e-05,1793243122742093568
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.219480062,745.219480062,714,679,662.219480062,635,879,787,805,653,631.219480062,652.219480062,0.402264331449,0.0045418659744,0.0598397960583,0.999999950769,0.000178552874841,-0.000257064854104,2.23347901503e-05,1793243122775426816
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.363365991,745,714,679,662.363365991,635,879,787,804.636634009,653,631,652,0.402069780275,0.00453885442124,0.0598350952702,0.999999944624,0.00019313966046,-0.000270276807378,1.99980512452e-05,1793243122792093440
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.942922157,745,714,679,662.942922157,635,879,787,804.057077843,653,631,652,0.401885715231,0.00453668021462,0.0598308455373,0.999999940604,0.00019667955085,-0.000282160522987,2.22422670193e-05,1793243122808760064
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.518577582,662.481422418,634.481422418,879,787,804.518577582,653,631,652,0.401742146181,0.00453701439201,0.0598296227794,0.999999939379,0.000196893807992,-0.000286243951829,2.32173441369e-05,1793243122825427968
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.9063912,662,634.0936088,879,787,805,652.9063912,631,652,0.40160824227,0.00453704435868,0.0598292174613,0.999999938941,0.000196246012229,-0.000288140169954,2.40955752069e-05,1793243122842095360
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.33237629,662,634.66762371,879,787,805,652.33237629,631,652,0.401501236351,0.00453410677418,0.0598313102241,0.999999940954,0.000193038621198,-0.000283184713182,2.51883281505e-05,1793243122858761216
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,662,635,879,787,805,652.154849254,631,652.845150746,0.401079825094,0.0045324644003,0.059829656159,0.999999940865,0.000187827069544,-0.000286898057919,2.6097931599e-05,1793243122958761472
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,662,635,879,787,805,652.7449133,631,652.2550867,0.401044895141,0.00453202688249,0.0598285649675,0.999999940173,0.000187011048428,-0.00028979281528,2.64884889353e-05,1793243122975428096
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745.329206931,714,679,662.329206931,635,879,787,805,653,631,652,0.401019536962,0.00453220730039,0.0598293246838,0.999999940453,0.000186538296028,-0.000289110111351,2.67084406461e-05,1793243122992094464
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+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745.060867159,714,678.939132841,662,635,879,787,805,652.060867159,631,652,0.400980227558,0.00453224894922,0.0598344865046,0.999999943333,0.000185648854531,-0.00027960852158,2.62253948392e-05,1793243123042093824
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745.635501882,714,678.364498118,662,635,879,787,805,652.635501882,631,652,0.400970849737,0.00453175489675,0.0598334704927,0.999999943052,0.000184071039688,-0.000281625614935,2.64828785101e-05,1793243123058760704
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745.569244013,714,678.215377994,662,635,878.784622006,787,805,652.784622006,631,652,0.400964633149,0.00453133990161,0.0598333321661,0.999999943074,0.000183420038424,-0.000281963627045,2.65705739503e-05,1793243123075427584
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,744.391308674,714,678.804345663,662,635,878.195654337,787,805,652.195654337,631,652,0.400963899963,0.00453106203749,0.059834716252,0.999999943626,0.000184376666606,-0.000279389143628,2.63637586459e-05,1793243123092094208
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.6122884,744.3877116,714,679,662.3877116,635,878.3877116,786.6122884,805,652,631,652,0.400962790441,0.00453017026171,0.0598362495952,0.999999944498,0.000182607321731,-0.000277432642898,2.62785621969e-05,1793243123108760576
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.031709071,744.968290929,714,679,662.968290929,635,878.968290929,786.031709071,805,652,631,652,0.400961493709,0.00452897309465,0.0598378571866,0.99999994552,0.00017948193735,-0.000275783558677,2.62538652397e-05,1793243123125427200
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.541487278,745,714,679,662.458512722,635,879,786.541487278,805,652.541487278,631,652.541487278,0.400962316819,0.004528346471,0.0598388172456,0.999999946309,0.000178228811307,-0.000273737406981,2.61511587462e-05,1793243123142093824
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.888811468,745,713.888811468,678.888811468,662,635,879,787,805,653,631,652.888811468,0.400962834585,0.00452803081687,0.0598395183726,0.999999946844,0.000177489874461,-0.00027226529648,2.60930093331e-05,1793243123158760448
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.331424495,745,713.331424495,678.331424495,662,635,879,787,805,653,631,652.331424495,0.400961635555,0.00452883080765,0.0598393305293,0.99999994643,0.000178380316017,-0.000273188862693,2.62317525153e-05,1793243123175427072
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.248658574,745,713.248658574,678,662,635,878.751341426,787,804.751341426,652.751341426,631,652,0.400961180836,0.00452912985276,0.0598394716635,0.999999946449,0.00017845959334,-0.000273072873939,2.6174037433e-05,1793243123192093696
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.862030631,745,713.862030631,678,662,635,878.137969369,787,804.137969369,652.137969369,631,652,0.400961817816,0.00452869414899,0.0598400953169,0.999999947102,0.000177349116788,-0.000271432145159,2.58281723303e-05,1793243123208760576
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,678.449136136,662,635,878.898272272,787,804.449136136,652,631.449136136,652,0.400963102252,0.00452901056943,0.0598410376049,0.999999947621,0.000177465180927,-0.000269462928127,2.55732649753e-05,1793243123225427456
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.971591787,745,714,679,662,635,879.971591787,787,805,652,631.971591787,652,0.400964383651,0.00452941996062,0.0598419481392,0.999999948063,0.000177733541183,-0.000267658927438,2.53796902859e-05,1793243123242094080
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.396370001,745,714,679,662,635,879.396370001,787,805,652,631.396370001,652,0.400961989767,0.00452741737791,0.059840467508,0.999999947828,0.000174081663041,-0.000270870080623,2.58585649069e-05,1793243123258760704
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,662,635,879,787,805,652,631,652,0.400960691803,0.0045265579841,0.0598398846163,0.999999947777,0.000172064824648,-0.000272327126287,2.60383459146e-05,1793243123275426816
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,662,635,879,787,805,652,631,652,0.400961822609,0.00452823211697,0.0598412912883,0.99999994817,0.000173671549137,-0.000269896732016,2.55552779029e-05,1793243123292093440
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,662,634.646668396,879,787,805,652,631,652,0.400961674581,0.00452943633504,0.0598412021951,0.999999947884,0.000175846763243,-0.000269559799555,2.54256342745e-05,1793243123308760064
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,662,634.067268999,879,787,805,652,631,652,0.400960708334,0.00453033989327,0.059840156085,0.999999947162,0.000178385706968,-0.000270562300977,2.55221178184e-05,1793243123325426944
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.508952469,745,714,679,662,634.508952469,879,787,805,652,630.491047531,652,0.400961728685,0.00452927546965,0.0598414759686,0.999999947732,0.00017764786192,-0.000268903853371,2.58519705089e-05,1793243123342093824
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.91541435,745,714,679,662,634.91541435,879,787,805,652,630.08458565,652,0.400962889452,0.00452817881608,0.0598428579708,0.999999948406,0.000176430540192,-0.000267164484667,2.61238838949e-05,1793243123358760704
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.340771306,745,714,679,662,634.340771306,879,787,805,652,630.659228694,652,0.400963351938,0.00452839306905,0.0598427993429,0.999999948725,0.00017492894794,-0.000266981272636,2.58825247114e-05,1793243123375427328
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,662.240817372,634.240817372,879,787,804.759182628,652,631,652,0.400963113608,0.00452853324077,0.059842668453,0.999999948778,0.000174300774886,-0.000267222774945,2.56144922879e-05,1793243123392093696
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,662.832526526,634.832526526,879,787,804.167473474,652,631,652,0.400961854129,0.00452856546973,0.0598424322714,0.999999948443,0.000174945249075,-0.00026808312283,2.53075946068e-05,1793243123408760576
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.415402472,745,714,679,662.584597528,635,879,787,804.415402472,652,631,652,0.400962025797,0.00452875006331,0.0598428040889,0.999999948542,0.00017537393771,-0.000267440579146,2.52187470828e-05,1793243123425426944
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.99479134,745,714,679,662.00520866,635,879,787,804.99479134,652,631,652,0.400962762433,0.00452899480511,0.0598434159233,0.999999948811,0.000175717441702,-0.000266204746278,2.52159781682e-05,1793243123442093568
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6f1a96f6d1061101ae4616f378fc7dfbfc95bcfe
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,406 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+2,0.033333333,pose1_baseline,0.580743495984,0.0100018422607,1.05004057111,0.551315214659,0.0186766675877,1.0496783728
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+389,6.483333333,pose2_to_pose3_retreat,0.580744904567,0.0100019238943,1.05004081778,0.551316622515,0.0186767466905,1.04967861776
+390,6.500000000,pose2_to_pose3_retreat,0.580744698293,0.0100019062842,1.05004081135,0.55131641644,0.0186767298134,1.04967861273
+391,6.516666667,pose2_to_pose3_retreat,0.580744651126,0.0100019022574,1.05004080988,0.551316369319,0.0186767259543,1.04967861158
+392,6.533333333,pose2_to_pose3_retreat,0.580744586006,0.010001896698,1.05004080785,0.551316304262,0.0186767206262,1.04967860999
+393,6.550000000,pose2_to_pose3_retreat,0.580744585368,0.0100018966435,1.05004080783,0.551316303624,0.018676720574,1.04967860997
+394,6.566666667,pose2_to_pose3_retreat,0.580744395259,0.0100018804134,1.0500408019,0.551316113699,0.0186767050195,1.04967860533
+395,6.583333333,pose2_to_pose3_retreat,0.580744026246,0.0100018408521,1.05004070133,0.551315745339,0.0186766677163,1.04967850581
+396,6.600000000,pose2_to_pose3_retreat,0.580744002951,0.0100018380956,1.05004069212,0.551315722095,0.0186766651328,1.04967849662
+397,6.616666667,pose2_to_pose3_retreat,0.580743806866,0.010001814893,1.05004061457,0.551315526437,0.0186766433864,1.04967841925
+398,6.633333333,pose2_to_pose3_retreat,0.580743671192,0.0100017994926,1.05004056173,0.551315391042,0.0186766289377,1.04967836649
+399,6.650000000,pose2_to_pose3_retreat,0.580743581554,0.0100018213731,1.05004056653,0.551315300803,0.0186766487114,1.04967836972
+400,6.666666667,pose2_to_pose3_retreat,0.580743510182,0.0100018387949,1.05004057035,0.551315228952,0.0186766644557,1.04967837229
+401,6.683333333,pose2_to_pose3_retreat,0.580743495984,0.0100018422607,1.05004057111,0.551315214659,0.0186766675877,1.0496783728
+402,6.700000000,pose2_to_pose3_retreat,0.580743495984,0.0100018422607,1.05004057111,0.551315214659,0.0186766675877,1.0496783728
+403,6.716666667,pose2_to_pose3_retreat,0.580743495984,0.0100018422607,1.05004057111,0.551315214659,0.0186766675877,1.0496783728
+404,6.733333333,pose2_to_pose3_retreat,0.580743495984,0.0100018422607,1.05004057111,0.551315214659,0.0186766675877,1.0496783728
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..21eddfa1bd0ec5838ae0ab4544ce4b111f1b2746
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f819e2ac9a912c6d42ecf2ec2cce72ee2eb5f188fbd9d4c5ecfacc9c3d05bc9
+size 25774387
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a446031a415c84e16b03bb0c7fdf3c9bff60b3b1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,745,714,679,662,635,879,786,805,653,631,652,0.400959875987,0.00453032596753,0.0598420845469,0.999999947854,0.000177697717897,-0.000268438596471,2.56041640552e-05,1793243123586210816
+1,0.016666667,BASELINE,764,745,714,679,662,635,878.410536717,786.589463283,805,652.410536717,631,652,0.400960601599,0.00452990359623,0.0598430028374,0.999999948297,0.000176239302589,-0.000267770421388,2.53999148255e-05,1793243123602877184
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+20,0.333333333,BASELINE,764.617045803,745,713.382954197,679,662.382954197,635,877.382954197,787,804.617045803,652,631,652,0.400960674649,0.00452918694996,0.0598430376337,0.999999948856,0.000174901507766,-0.000266587722209,2.50519474671e-05,1793243123919544064
+21,0.350000000,BASELINE,765,745,713.203666779,679,662.203666779,635,877.407333557,787,804.796333221,652,631,652,0.400961459751,0.00452893735972,0.0598436919466,0.999999949102,0.000175483317968,-0.000265268864521,2.51624278098e-05,1793243123936210688
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+27,0.450000000,BASELINE,764,745,714,679,662,635,879,787,804.679153926,652.320846074,631,652,0.400961414126,0.00452856079318,0.0598445428098,0.999999949718,0.000172486224671,-0.000264902967013,2.52859201119e-05,1793243124036210688
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+29,0.483333333,BASELINE,764.843084688,745,714,679,662,634.156915312,879,786.156915312,805,652,631,652,0.400962983745,0.00452766848553,0.0598450946814,0.999999949585,0.000174583572649,-0.000263988872343,2.57185832983e-05,1793243124069543936
+30,0.500000000,BASELINE,765,745,714,679,662,634,878.582046374,786.417953626,804.582046374,652.417953626,631,652.417953626,0.400962577861,0.00452872854121,0.0598445553981,0.999999949404,0.000174791337309,-0.000264547786607,2.55630238749e-05,1793243124086210560
+31,0.516666667,BASELINE,765,745,714,679,662,634,878.008073491,786.991926509,804.008073491,652.991926509,631,652.991926509,0.400961702655,0.0045303220086,0.0598437356388,0.999999949226,0.000174510121003,-0.000265432819377,2.52732956709e-05,1793243124102877184
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+38,0.633333333,BASELINE,764,745,713.949845455,679,662.949845455,635,879,787,805,652.949845455,631,652,0.400962209136,0.00452896252056,0.0598448628191,0.999999950117,0.000171309509051,-0.000264179282752,2.5075404208e-05,1793243124219544064
+39,0.650000000,BASELINE,764,745,713.355463046,679,662.355463046,635,879,787,805,652.355463046,631,652,0.400962968391,0.00452803991328,0.0598457633607,0.999999950578,0.000170305739407,-0.000263068456592,2.51801250008e-05,1793243124236210688
+40,0.666666667,BASELINE,764,745,713.231578392,679,662,635,878.768421608,787,805,652,631,652,0.40096299692,0.00452794089634,0.0598457385378,0.999999950604,0.000170486866255,-0.000262858592258,2.51296352575e-05,1793243124252877312
+41,0.683333333,BASELINE,764,745,713.807697937,679,662,635,878.192302063,787,805,652,631,652,0.400961938278,0.00452906721299,0.0598443369621,0.99999994998,0.000172430876123,-0.000263989174403,2.48482240631e-05,1793243124269544192
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+48,0.800000000,BASELINE,764.134343734,745,713.865656266,678.134343734,662,634,878,786.865656266,804.865656266,652,631,652,0.400963970673,0.00453028450625,0.0598469510106,0.99999995046,0.000174243926347,-0.00026094403762,2.50540308227e-05,1793243124386210560
+49,0.816666667,BASELINE,764,745,714,678.437921179,662.437921179,634.437921179,878.875842358,787,805,652,631,652,0.400962611699,0.00452995165276,0.0598459215448,0.999999950048,0.000174779087859,-0.000262143610447,2.52415187152e-05,1793243124402876928
+50,0.833333333,BASELINE,764,745,714,679,662.990033232,635,879.990033232,787,805,652,631,652,0.400960431261,0.00452961004552,0.0598442346478,0.999999949462,0.000174984385177,-0.000264217316214,2.54035434346e-05,1793243124419543808
+51,0.850000000,BASELINE,764,745,714,679,662.395996733,635,879.395996733,787,805,652,631,652,0.400961047165,0.00452862933485,0.0598446465769,0.99999995008,0.000172195440646,-0.000263736054459,2.51423292228e-05,1793243124436210688
+52,0.866666667,BASELINE,764,745,713.806802384,679,662,635,879,787,804.806802384,652,631,652,0.400961730486,0.00452810359097,0.0598451952234,0.999999950555,0.000170547023777,-0.000263019508152,2.49986163142e-05,1793243124452877312
+53,0.883333333,BASELINE,764,745,713.227290345,679,662,635,879,787,804.227290345,652,631,652,0.400962548614,0.00452848759043,0.0598460172476,0.999999950756,0.000171179185359,-0.000261832491181,2.50898568814e-05,1793243124469543936
+54,0.900000000,BASELINE,764,745,713,679,662.348695303,634.651304697,879,787,804,652,630.651304697,652,0.400962738585,0.00452891303442,0.0598460245524,0.999999950426,0.000172579391052,-0.000262179269006,2.50218154376e-05,1793243124486210816
+55,0.916666667,BASELINE,764,745,713,679,662.92240533,634.07759467,879,787,804,652,630.07759467,652,0.400962523202,0.00452936522275,0.0598455061148,0.99999994975,0.000174475219211,-0.000263515811902,2.48509885563e-05,1793243124502877184
+56,0.933333333,BASELINE,764.508926984,745.508926984,713.508926984,679,662.491073016,634,879,787,804.508926984,652,630.508926984,652,0.400962439139,0.00452960380075,0.0598451526291,0.999999949799,0.000174610526833,-0.000263231487525,2.49614052019e-05,1793243124519543808
+57,0.950000000,BASELINE,765,745.904102695,714,679,662,634.095897305,878.904102695,787,805,652.095897305,631,652,0.40096229168,0.00452973751374,0.0598448371362,0.999999949934,0.00017432815444,-0.000262895796158,2.50370522893e-05,1793243124536210688
+58,0.966666667,BASELINE,765,745.324969033,714,679,662,634.675030967,878.324969033,787,805,652.675030967,631,652,0.400961721267,0.00452951115557,0.0598445830883,0.999999949936,0.000173328583261,-0.000263578728969,2.4715833165e-05,1793243124552877312
+59,0.983333333,BASELINE,765,745,714,679,662,635,878.252553727,787,805,653,631,652,0.400961637875,0.00452886663569,0.0598443622027,0.99999995007,0.000172241596012,-0.000263791840757,2.46288355465e-05,1793243124569544448
+60,1.000000000,BASELINE,765,745,714,679,662,635,878.828016905,787,805,653,631,652,0.400962177177,0.00452768746373,0.0598441837176,0.999999950373,0.000171042840428,-0.000263404250164,2.4841308174e-05,1793243124586212096
+61,1.016666667,BASELINE,764.593916156,745,714,678.593916156,662,634.593916156,879,786.593916156,805,652.593916156,631,652,0.400962988445,0.00452741001237,0.059845322769,0.999999950915,0.000170059340418,-0.000261972394494,2.49163951113e-05,1793243124602878464
+62,1.033333333,BASELINE,764.0147394,745,714,678.0147394,662,634.0147394,879,786.0147394,805,652.0147394,631,652,0.400963915639,0.00452751691876,0.0598470234192,0.999999951556,0.000169167592995,-0.000260095421701,2.49329214961e-05,1793243124619544064
+63,1.050000000,BASELINE,764.572936342,745,714,678.572936342,662,634,878.427063658,786.572936342,805,652.572936342,631,652,0.400963448841,0.00452756626477,0.0598457789866,0.99999995136,0.000168217506472,-0.000261482782511,2.46841522554e-05,1793243124636210688
+64,1.066666667,BASELINE,765,745,714,678.84140002,662,634.15859998,878.15859998,786.84140002,804.84140002,652.84140002,631,652,0.400963104529,0.0045275396644,0.0598449585176,0.99999995122,0.000167750695517,-0.000262329064665,2.45469449485e-05,1793243124652877312
+65,1.083333333,BASELINE,765,745,714,678.261668483,662,634.738331517,878.738331517,786.261668483,804.261668483,652.261668483,631,652,0.400963182113,0.00452731539427,0.0598454680117,0.999999951292,0.000168571174551,-0.000261512270845,2.47243641649e-05,1793243124669544192
+66,1.100000000,BASELINE,764.684520515,745,714,678.630958969,662,634.684520515,879,786.315479485,804,652,631,652,0.400963130842,0.00452757150247,0.0598456614674,0.999999951108,0.000169908271901,-0.000261340094214,2.48108699116e-05,1793243124686211072
+67,1.116666667,BASELINE,764.109498062,745,714,679.781003876,662,634.109498062,879,786.890501938,804,652,631,652,0.400962973563,0.00452822281487,0.0598455949204,0.999999950714,0.00017167038782,-0.000261698240092,2.48225817152e-05,1793243124702877696
+68,1.133333333,BASELINE,764,745,714,679.524576484,662,634.475423516,879,787,804.475423516,652,631,652,0.400962571439,0.0045283861016,0.0598451862916,0.999999950495,0.000171752477507,-0.000262490745776,2.46938538341e-05,1793243124719544320
+69,1.150000000,BASELINE,764,745,713.938125677,679,662,635,878.938125677,787,805,652.061874323,631,652,0.400962353591,0.00452856018342,0.0598449093055,0.999999950389,0.000171556467736,-0.000263035789236,2.45573916837e-05,1793243124736210688
+70,1.166666667,BASELINE,764,745,713.358364421,679,662,635,878.358364421,787,805,652.641635579,631,652,0.400964160159,0.00452978541584,0.0598464076366,0.999999950876,0.000172340306616,-0.000260654436179,2.46326832438e-05,1793243124752877568
+71,1.183333333,BASELINE,764,745,713,679,662,634.78000583,878.21999417,787,805,653,631,652,0.400964989837,0.00453023490924,0.0598472143393,0.999999951194,0.000172525986538,-0.000259305156067,2.46396792779e-05,1793243124769543936
+72,1.200000000,BASELINE,764,745,713,679,662,634.203917575,878.796082425,787,805,653,631,652,0.400964238271,0.00452942875103,0.0598469015365,0.999999951248,0.000171743455173,-0.000259626442901,2.4536128609e-05,1793243124786210560
+73,1.216666667,BASELINE,764,745,713.371483177,679,662,634.371483177,879,787,805,652.628516823,631,652,0.400963087334,0.0045284869637,0.0598462282802,0.999999951184,0.000170261440504,-0.000260838395959,2.46138215491e-05,1793243124802877440
+74,1.233333333,BASELINE,764,745,713.946507203,679,662,634.946507203,879,787,805,652.053492797,631,652,0.400961717575,0.00452747086334,0.0598453575264,0.999999951051,0.000168396169158,-0.000262538357524,2.47908204132e-05,1793243124819544320
+75,1.250000000,BASELINE,764.535951549,745,714,679,662,635,879,787,805,652,631,652,0.400962154801,0.00452876473571,0.0598451524917,0.999999950721,0.000170884922875,-0.000262191343322,2.47557851826e-05,1793243124836210944
+76,1.266666667,BASELINE,765,745,714,679,662.123654784,635,878.876345216,787,805,652.123654784,631,652,0.400962429312,0.0045297520773,0.0598450579252,0.999999950404,0.000173115486995,-0.000261937086871,2.47330209625e-05,1793243124852877568
+77,1.283333333,BASELINE,765,745,714,679,662.699580085,635,878.300419915,787,805,652.699580085,631,652,0.400961430803,0.00452875169367,0.0598451176559,0.999999950238,0.00017276831331,-0.000262790012623,2.4834682391e-05,1793243124869544192
+78,1.300000000,BASELINE,765,745,713.724716993,679,662.724716993,635,878.275283007,787,805,652.724716993,631,652,0.400961887166,0.00452831512492,0.0598456173304,0.99999995045,0.000172869390694,-0.000261907613862,2.48976911209e-05,1793243124886210816
+79,1.316666667,BASELINE,765,745,713.149256596,679,662.149256596,635,878.850743404,787,805,652.149256596,631,652,0.400963929968,0.00452849335801,0.0598465967334,0.999999951071,0.000173459255392,-0.000259132961734,2.49185517064e-05,1793243124902877440
+80,1.333333333,BASELINE,764.562602797,745,713.437397203,679,662,634.562602797,878.562602797,786.562602797,804.562602797,652.437397203,631,652,0.400963153679,0.00452843011691,0.0598462695157,0.999999950949,0.000172319659966,-0.000260363882312,2.48809974986e-05,1793243124919544064
+81,1.350000000,BASELINE,764,745,714,678.972529985,662,634.027470015,878,786.027470015,804.027470015,653,631,652,0.400961455933,0.00452830697843,0.0598455015344,0.999999950563,0.000170718335992,-0.000262893065088,2.48263583204e-05,1793243124936210688
+82,1.366666667,BASELINE,764,745,714,678.392533461,662,634.607466539,878,786.607466539,804.607466539,653,631,652,0.400961081469,0.00452867998526,0.0598450717726,0.999999950229,0.000172011964358,-0.000263320560268,2.48395408455e-05,1793243124952877568
+83,1.383333333,BASELINE,764,745,714,678.371005194,662.185502597,635,878.185502597,786.814497403,805,653,631,652,0.400961036626,0.00452855961014,0.059844843841,0.999999950184,0.000172205610367,-0.00026335907401,2.48988735273e-05,1793243124969544448
+84,1.400000000,BASELINE,764,745,714,679.518867393,662.759433697,635,878.759433697,786.240566303,805,653,631,652,0.400961681985,0.00452740613033,0.0598450385265,0.999999950745,0.000170095976199,-0.000262583089926,2.50548411726e-05,1793243124986211328
+85,1.416666667,BASELINE,764.334530721,745,714,679.330938559,662.665469279,634.665469279,879,786.334530721,805,652.665469279,631,652,0.400963053773,0.00452758181917,0.0598459743079,0.999999951061,0.000170737181998,-0.000260948809423,2.51417780378e-05,1793243125002877696
+86,1.433333333,BASELINE,764.910469077,745,714,678.179061845,662.089530923,634.089530923,879,786.910469077,805,652.089530923,631,652,0.400964949773,0.00452871667699,0.0598474448867,0.999999951194,0.000173363478475,-0.000258695155927,2.51789001638e-05,1793243125019544064
+87,1.450000000,BASELINE,764.499149492,745,714,678,662,634.500850508,878.499149492,786.499149492,805,652,631,652,0.400964939831,0.0045281663658,0.0598475313695,0.99999995153,0.000171954879708,-0.00025835276766,2.49985577747e-05,1793243125036210944
+88,1.466666667,BASELINE,764,745,714,678.091357828,662,635,878.091357828,786.091357828,805,652.091357828,631,652,0.400964423444,0.00452753338245,0.0598471594198,0.999999951697,0.000170380631023,-0.000258771114866,2.47912364781e-05,1793243125052877312
+89,1.483333333,BASELINE,764,745,714,678.668401167,662,635,878.668401167,786.668401167,805,652.668401167,631,652,0.4009630797,0.00452810990838,0.0598457047111,0.99999995077,0.000171874077493,-0.000261363493932,2.46532867654e-05,1793243125069544192
+90,1.500000000,BASELINE,764.24415294,745,714,679,662.24415294,635,879,787,805,653,631,652,0.400962671454,0.00452788229506,0.0598451538856,0.99999995047,0.000172006315074,-0.000262424536428,2.46540791792e-05,1793243125086210816
+91,1.516666667,BASELINE,764.818159745,745,714,679,662.818159745,635,879,787,805,653,631,652,0.400963527079,0.00452656827887,0.0598458242183,0.999999951021,0.00017029954125,-0.000261416722671,2.48423140599e-05,1793243125102877440
+92,1.533333333,BASELINE,765,745,713.596117343,679,662.596117343,634.596117343,879,787,805,652.596117343,631,652,0.400963296363,0.00452583516915,0.0598459641509,0.999999951368,0.000168754355512,-0.000261086402969,2.49149776269e-05,1793243125119544320
+93,1.550000000,BASELINE,765,745,713.00496184,679,662.00496184,634.00496184,879,787,805,652.00496184,631,652,0.400962561932,0.00452537141481,0.0598458581469,0.999999951618,0.000167284095003,-0.00026107022452,2.49340529505e-05,1793243125136210944
+94,1.566666667,BASELINE,765,745,713.574789783,679.574789783,662,634.574789783,878.425210217,787,805,652,630.425210217,652,0.400963277875,0.00452838249903,0.0598462724912,0.999999951192,0.000170972668571,-0.000260329906862,2.47430490887e-05,1793243125152877824
+95,1.583333333,BASELINE,765,745,714,679.846576472,662.153423528,634.846576472,878.153423528,787,804.846576472,652,630.153423528,652,0.400964423482,0.00453038154154,0.0598468679765,0.999999951078,0.0001735051029,-0.000259105966423,2.45964647686e-05,1793243125169544448
+96,1.600000000,BASELINE,765,745,714,679.270754526,662.729245474,634.270754526,878.729245474,787,804.270754526,652,630.729245474,652,0.400966718217,0.00452951330131,0.0598479500445,0.999999951866,0.000172734288185,-0.000256567413796,2.45770698938e-05,1793243125186211584
+97,1.616666667,BASELINE,765,745,714,679,662.694509355,634.305490645,879,787,804.305490645,652,631,652,0.400966478652,0.00452831837163,0.059847854429,0.999999952019,0.00017137485858,-0.000256881297448,2.45801242923e-05,1793243125202878208
+98,1.633333333,BASELINE,765,745,714,679,662.117888596,634.882111404,879,787,804.882111404,652,631,652,0.400963989835,0.00452683349745,0.0598467135917,0.999999951604,0.000169493019498,-0.000259726785348,2.46031029482e-05,1793243125219544576
+99,1.650000000,BASELINE,764.543117083,745,714,679,662,635,879,786.543117083,805,652,631,652,0.400964330702,0.00452782379834,0.0598471642695,0.999999951726,0.000169328600229,-0.000259382034699,2.44132687418e-05,1793243125236211200
+100,1.666666667,BASELINE,764,745,713.967890309,679,662,635,879,786.032109691,805,652,631,652,0.40096523495,0.00452931323819,0.0598478939948,0.999999951915,0.000169733796274,-0.000258407709016,2.42123295852e-05,1793243125252877824
+101,1.683333333,BASELINE,764,745,713.376454913,679,662,635,879,786.623545087,805,652,631,652,0.400963285683,0.00452841709949,0.0598463600493,0.999999950842,0.000172373168603,-0.000260747869046,2.47706134626e-05,1793243125269544960
+102,1.700000000,BASELINE,764,745.210226581,713.420453163,679,662,635,879,787,805,652.210226581,631,652,0.400962292291,0.00452810293862,0.0598455288411,0.999999950206,0.000174061907289,-0.000262040846605,2.50033825102e-05,1793243125286211840
+103,1.716666667,BASELINE,764,745.788583403,714.577166806,679,662,635,879,787,805,652.788583403,631,652,0.400962972745,0.00452880788606,0.0598459282046,0.999999950352,0.000174085979943,-0.000261500090382,2.46661386513e-05,1793243125302878208
+104,1.733333333,BASELINE,764.365238653,745.634761347,714.634761347,679,662,635,878.634761347,787,805,652.634761347,631,652,0.400963448478,0.00452918631793,0.0598464366129,0.999999950614,0.000173835689486,-0.000260668240413,2.45888332231e-05,1793243125319544832
+105,1.750000000,BASELINE,764.940913579,745.059086421,714.059086421,679,662,635,878.059086421,787,805,652.059086421,631,652,0.400963806259,0.00452937662432,0.0598470078486,0.999999950943,0.000173427321703,-0.000259668673527,2.46612941525e-05,1793243125336211200
+106,1.766666667,BASELINE,765,745,714,679,662,634.471744562,878.528255438,787,805,652,631,652,0.400963056836,0.00452866590158,0.0598463489376,0.99999995093,0.000171973557811,-0.000260663339502,2.48905844849e-05,1793243125352877824
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,662,635,879,786,804,652,631,651,0.40096389005,0.00452921008161,0.0598462386113,0.999999950481,0.000174314138962,-0.000260854814925,2.46346882753e-05,1793243125394947328
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679,662,635,878.426801025,786.573198975,804.573198975,652,631,651.573198975,0.400964004115,0.00452706037027,0.0598469151665,0.999999951567,0.000169432067627,-0.00025987856222,2.4957491025e-05,1793243125411613952
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.147389352,745,714,679,662,635,878.147389352,787,805,652.147389352,631,652,0.400964103597,0.00452583251796,0.0598474035113,0.999999952216,0.000166591207106,-0.000259196844444,2.51372695614e-05,1793243125428280832
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.724470148,745,714,679,662,635,878.724470148,787,805,652.724470148,631,652,0.40096416056,0.00452729220622,0.0598473431577,0.999999951653,0.000169701187936,-0.00025937379865,2.49000826368e-05,1793243125444947200
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745.617695796,714,679,662.308847898,634.691152102,879,787,805,652.691152102,631,652,0.400963602931,0.00452785679453,0.059847003965,0.999999951259,0.000171032767143,-0.000260024668871,2.48211211578e-05,1793243125461613568
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,746.799785812,714,679,662.899892906,634.100107094,879,787,805,652.100107094,631,652,0.400962483742,0.00452760352184,0.0598464099946,0.999999951026,0.000170739404562,-0.000261108560419,2.488673171e-05,1793243125478279936
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.519547761,746.039095522,714,679.480452239,662.519547761,634.480452239,878.519547761,786.519547761,805,652,631,652,0.400963125162,0.00452785787555,0.0598463834258,0.999999951075,0.00017071585659,-0.000260955785203,2.46624362492e-05,1793243125494946560
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,679.941642039,662,635,878.058357961,786.058357961,804.941642039,652.058357961,631,652,0.400964015649,0.00452816083338,0.0598464968889,0.999999951178,0.000170651678241,-0.00026062228723,2.44439284383e-05,1793243125511613184
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,679.368285288,662,635,878.631714712,786.631714712,804.368285288,652.631714712,631,652,0.40096393596,0.00452797925594,0.0598468250867,0.999999951247,0.000169743420874,-0.0002609192861,2.47981725038e-05,1793243125528279808
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.212294878,745,714,679,662,635,879,787,804.212294878,652.787705122,631,652,0.400970484947,0.00452792482403,0.0598499011686,0.999999952491,0.00016954885973,-0.000256207627191,2.50819107335e-05,1793243125544946688
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.805847423,745,714,679,662,635,879,787,804.805847423,652.194152577,631,652,0.400988938289,0.00452809873115,0.0598579121407,0.99999995572,0.000170636016618,-0.000242500983513,2.52390283892e-05,1793243125561613568
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.610462866,745.389537134,714,679,662.389537134,635,879,787,804.610462866,652,631,652,0.401024844917,0.00452829750679,0.0598715899183,0.999999961545,0.000170678877267,-0.000217117660201,2.52702175766e-05,1793243125578280192
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.031567532,745.968432468,714,679,662.968432468,635,879,787,804.031567532,652,631,652,0.401069235777,0.00452850837129,0.0598880223919,0.999999967886,0.000170214094226,-0.00018605817567,2.52401915734e-05,1793243125594946560
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.542602132,745.457397868,714,679.542602132,662.457397868,634.457397868,879,787,804.542602132,652,631,652,0.401135152286,0.00452685125276,0.0599068185185,0.999999973125,0.000168614823731,-0.000157069265301,2.5445163607e-05,1793243125611613184
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.884102455,745.115897545,714,679.884102455,662,634.115897545,879,787,805,652,631,652,0.401203092376,0.00452548995332,0.0599236668491,0.999999977107,0.000167166785287,-0.000131101118068,2.55710983249e-05,1793243125628279808
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.31316924,745.68683076,714,679.31316924,662,634.68683076,879,787,805,652,631,652,0.401274103051,0.00452571309197,0.0599323325306,0.999999979017,0.00016656941237,-0.000116524176937,2.53335034057e-05,1793243125644946432
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745.730008406,714,679,662,635,879,787,805,652,631,652,0.401354355573,0.00452544207577,0.0599383066272,0.999999980391,0.000165429674599,-0.000105964975769,2.49343402053e-05,1793243125661613056
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745.131991714,714,679,662,635,879,787,805,652,631,652,0.401445836433,0.0045245706883,0.0599410105941,0.999999981288,0.000163630993102,-0.000100287110965,2.43388803524e-05,1793243125678279936
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.44885573,745,713.55114427,679,662,635,878.55114427,787,805,652,631,652,0.401556643691,0.00452568306807,0.0599441590443,0.999999982282,0.000162019542863,-9.30200634259e-05,2.30996528344e-05,1793243125694946816
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.974846216,745,713.025153784,679,662,635,878,787,805,652,631,652,0.401673825178,0.00452722029411,0.0599474201206,0.999999983265,0.0001603709329,-8.53309225498e-05,2.16966041479e-05,1793243125711613696
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.391593631,745,713.608406369,679,662,635,878,787,805,652,631,652,0.401810985095,0.0045257175308,0.0599503868967,0.999999984442,0.000156721256628,-7.82632291606e-05,2.07042983546e-05,1793243125728280064
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.190432374,745,714,679,662,635,878.190432374,787,805,652.190432374,631,652,0.401956130754,0.00452474498615,0.0599514165709,0.999999985352,0.000153380039772,-7.34472685714e-05,1.94171453661e-05,1793243125744946432
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.769952186,745,714,679,662,635,878.769952186,787,805,652.769952186,631,652,0.402117592698,0.00452485577336,0.0599484883987,0.999999985814,0.0001506690612,-7.3232002158e-05,1.75275668871e-05,1793243125761613312
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745.351259734,714,679.351259734,662,635,879,787,805,653,631,652,0.402303019007,0.00452586485662,0.0599484453253,0.999999986623,0.000147897334142,-6.81864042584e-05,1.51701985029e-05,1793243125778279680
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745.933744157,714,679.933744157,662,635,879,787,805,653,631,652,0.402504220421,0.00452746526365,0.0599503014333,0.999999987599,0.000145085617736,-5.99611310345e-05,1.25048966105e-05,1793243125794946560
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745.491598541,714,679.491598541,662.508401459,634.491598541,879,787,804.491598541,652.491598541,631,652,0.402735502998,0.00452559156498,0.0599498045028,0.999999988816,0.000138474903405,-5.55193676914e-05,1.05269691602e-05,1793243125811613184
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.917626333,745.082373667,714,678.917626333,662.917626333,634.082373667,879,787,804.082373667,652,631,652,0.40297709976,0.0045236207897,0.0599496153969,0.999999989956,0.000131992785582,-5.09206072107e-05,8.50928223011e-06,1793243125828279808
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.341739802,745.658260198,714,678.341739802,662.341739802,634.658260198,879,787,804.658260198,652,631,652,0.40325735983,0.00452373979047,0.0599530798582,0.999999990735,0.000129202305421,-4.24719614722e-05,5.72484015812e-06,1793243125844946688
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.239537972,745.760462028,714,678.239537972,662.239537972,634.760462028,878.760462028,787,805,652.239537972,631,652,0.403539434761,0.00452421848898,0.0599515041256,0.999999991228,0.000124978294536,-4.37779188151e-05,2.65466223599e-06,1793243125861613312
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.828684291,745.171315709,714,678.828684291,662.828684291,634.171315709,878.171315709,787,805,652.828684291,631,652,0.403824158485,0.00452522217036,0.0599425721736,0.9999999912,0.00011866202969,-5.93208289244e-05,-8.32550187376e-07,1793243125878279936
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,662.588125231,634.411874769,878.411874769,787,805,652.588125231,631,652,0.404138989454,0.00452478037633,0.0599328375879,0.999999990853,0.000111923966543,-7.58425293148e-05,-3.8463680193e-06,1793243125894946304
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,662.007376737,634.992623263,878.992623263,787,805,652.007376737,631,652,0.404466164756,0.00452374591956,0.0599227739127,0.999999990161,0.000105012961033,-9.27655453711e-05,-6.66608815399e-06,1793243125911612928
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,662.566341678,635,879,787,804.433658322,652.566341678,631,652,0.404824772997,0.00452625269068,0.0599101864667,0.99999998821,9.88624640507e-05,-0.000117008342541,-1.07684019293e-05,1793243125928279552
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,662.860126817,635,879,787,804.139873183,652.860126817,631,652,0.405205434502,0.00452737022165,0.0599028803569,0.999999986978,9.16568841087e-05,-0.000132015199099,-1.46697271586e-05,1793243125944946176
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,662.286894288,635,879,787,804.713105712,652.286894288,631,652,0.405653169103,0.00452404241134,0.0599120376445,0.999999989571,8.11521011972e-05,-0.000118115209834,-1.78972181033e-05,1793243125961613056
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.703505296,745,714,679,662,634.703505296,879,787,805,652,631,652,0.406124120193,0.00452198773152,0.05993133892,0.999999993469,7.10545293614e-05,-8.69832589298e-05,-2.11483350525e-05,1793243125978279936
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.109940046,745,714,679,662,634.109940046,879,787,805,652,631,652,0.406618332917,0.0045212086544,0.0599608038857,0.999999997074,6.13649580952e-05,-3.85858772714e-05,-2.44231242459e-05,1793243125994947072
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,679,662.470929767,634.470929767,879.470929767,787,805,652,631,652,0.407144361914,0.00452019477544,0.0599851023242,0.999999998311,5.09546308613e-05,6.77523681652e-07,-2.79539939106e-05,1793243126011613696
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745.048670522,714,679,663,634.951329478,879.951329478,787,805,652,631,652,0.407676687531,0.00451917014594,0.0600057474527,0.999999998146,4.04258397013e-05,3.28307459687e-05,-3.15436578704e-05,1793243126028280320
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745.623782543,714,679,663,634.376217457,879.376217457,787,805,652,631,652,0.408198889215,0.00451860657457,0.0599995804971,0.999999998865,3.03879112999e-05,1.05362547506e-05,-3.51396071737e-05,1793243126044946688
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745.796226717,714,679,662.796226717,634.203773283,879,787,804.796226717,652.203773283,630.796226717,652,0.408736152297,0.00451814838124,0.0599907331456,0.999999998911,2.18403046178e-05,-1.41619830215e-05,-3.87229871546e-05,1793243126061612800
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745.207007707,714,679,662.207007707,634.792992293,879,787,804.207007707,652.792992293,630.207007707,652,0.409301904615,0.00451788951492,0.0599768157132,0.999999998034,1.61117046974e-05,-4.34070070424e-05,-4.22825915299e-05,1793243126078279424
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745.37603932,714,679,662,634.62396068,879,787,804.37603932,652.62396068,630,652,0.409917820167,0.00451708109622,0.0599758654233,0.999999997905,6.63084718516e-06,-4.43025604746e-05,-4.6719544557e-05,1793243126094946560
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745.955743548,714,679,662,634.044256452,879,787,804.955743548,652.044256452,630,652,0.410560904375,0.00451597503701,0.0599819382076,0.99999999821,-4.88225293679e-06,-2.98438879302e-05,-5.16316741949e-05,1793243126111613440
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.531269127,745.468730873,714,679,662,634,879,787,805,652,630,652,0.411232951015,0.00451498155625,0.0599918709389,0.99999999828,-1.44198488108e-05,-9.32347234146e-06,-5.60732567087e-05,1793243126128280064
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679,662,634.106247487,879.106247487,787,805,652,630.106247487,652,0.411905206942,0.00451477927582,0.0599965545406,0.999999998429,-5.95917838061e-06,1.01810191477e-06,-5.57242227822e-05,1793243126144946944
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679,662,634.680336918,879.680336918,787,805,652,630.680336918,652,0.412567843399,0.00451801993306,0.0599767197066,0.999999995487,8.10346834003e-05,-3.56672130671e-05,-3.44518132999e-05,1793243126161613568
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.737369557,745,713.737369557,679,662,634.737369557,879.737369557,786.737369557,805,652,631,652,0.413235497643,0.00451478126019,0.0599489054696,0.999999988762,0.000118884945858,-8.81525448502e-05,-2.39196597981e-05,1793243126178279936
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.144768272,745,713.144768272,679,662,634.144768272,879.144768272,786.144768272,805,652,631,652,0.413909456361,0.00450340190919,0.0599110658485,0.999999982249,9.49908365865e-05,-0.000160489140372,-2.6881641132e-05,1793243126194946304
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745.437184079,713,679,662,634.437184079,879.437184079,786.437184079,805,652,631,652,0.414691918646,0.00448501807841,0.0599259013128,0.999999988975,6.63087864522e-05,-0.000129859460307,-2.80973727892e-05,1793243126211612928
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.015577036,745.984422964,713.015577036,679.015577036,662.015577036,635,880,786.984422964,805,652,630.984422964,652,0.415509466046,0.00446517670795,0.0599579705088,0.999999996714,3.72363153219e-05,-6.59966694012e-05,-2.8793438454e-05,1793243126228279296
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.589776239,745.410223761,713.589776239,679.589776239,662.589776239,635,880,786.410223761,805,652,630.410223761,652,0.416327367494,0.0044742671029,0.0599974192685,0.999999998275,4.96684751065e-05,-4.00483610844e-06,-3.10973264104e-05,1793243126244946432
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679.8317729,662.8317729,634.8317729,880,786,805,652,630.1682271,652,0.417142598194,0.00447950214467,0.0600226629049,0.999999997148,5.85424544628e-05,3.49844486693e-05,-3.24612678549e-05,1793243126261613568
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679.242685532,662.242685532,634.242685532,880,786,805,652,630.757314468,652,0.417951147332,0.00447509209916,0.0600123690308,0.999999997658,5.85147953701e-05,1.64273610387e-05,-3.14737087398e-05,1793243126278280448
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.659177231,745,714,679,662,634,879.659177231,786.340822769,805,652,631,652,0.418769261168,0.00447404135474,0.0599971705939,0.999999999411,7.2662425749e-06,-6.5096331596e-06,-3.29177410614e-05,1793243126294947072
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.079577592,745,714,679,662,634,879.079577592,786.920422408,805,652,631,652,0.4195940759,0.00447534410174,0.0599785360719,0.999999995632,-7.98671332139e-05,-3.25151433286e-05,-3.6065320767e-05,1793243126311613952
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.497413606,745.497413606,714,679,662,634,879,787,805,652,631,652,0.420411609635,0.00447738582062,0.0599532585032,0.99999999255,-9.47017668504e-05,-6.72623901947e-05,-3.75060272028e-05,1793243126328280064
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.926274211,714,679,662,634.073725789,879.073725789,787,805,652,631,652,0.421226021032,0.00447863574129,0.0599264291774,0.999999988754,-9.74736923171e-05,-0.000107260804953,-3.85429912233e-05,1793243126344946688
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.351754793,714,679,662,634.648245207,879.648245207,787,805,652,631,652,0.422027094119,0.00447370839449,0.0598962407046,0.999999979552,-9.64655322925e-05,-0.000173478408489,-3.86826680084e-05,1793243126361613312
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,713.770485521,679,662,634.770485521,880,787,805,652,631,652,0.422895616201,0.00447268965851,0.0598982864719,0.999999979728,-9.20805482523e-05,-0.000174551029695,-3.99582103368e-05,1793243126378279680
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,713.178557854,679,662,634.178557854,880,787,805,652,631,652,0.42387064326,0.00447784278558,0.0599512314794,0.999999993036,-8.23634142152e-05,-7.27569445847e-05,-4.30273329408e-05,1793243126394946560
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,713.404394445,679,662.404394445,634,880,787,805,652,631,652,0.424811937462,0.00447637989138,0.0599976158487,0.999999996241,-7.54569045361e-05,2.10103199889e-06,-4.26607744507e-05,1793243126411613184
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,713.983469739,679,662.983469739,634,880,787,805,652,631,652,0.425738660475,0.00447205916284,0.0600411663039,0.9999999946,-6.97644631503e-05,6.53237725559e-05,-4.08101506408e-05,1793243126428280064
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679.557305185,662.442694815,634,880,787,805.557305185,652,631,652,0.426624733765,0.00447121285084,0.0600283136615,0.999999995367,-6.450015848e-05,5.70972819712e-05,-4.29662482594e-05,1793243126444946688
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.865429247,662.134570753,634,879.865429247,787,805.865429247,651.865429247,631,652,0.427502010687,0.00447047408415,0.0600117940119,0.999999996394,-5.95257063215e-05,4.04791610736e-05,-4.50580684447e-05,1793243126461613568
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.276050568,662.723949432,634,879.276050568,787,805.276050568,651.276050568,631,652,0.428353595515,0.00446975373798,0.0599884824811,0.999999997374,-5.54883481944e-05,2.59563433171e-06,-4.65347367295e-05,1793243126478279936
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.308114103,663,634,879.308114103,786.691885897,805.308114103,651.308114103,631,652,0.429204074972,0.00446909863656,0.059960598447,0.999999996755,-4.822497863e-05,-4.42606018391e-05,-4.69612822094e-05,1793243126494946560
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.887685062,663,634,879.887685062,786.112314938,805.887685062,651.887685062,631,652,0.430053580523,0.00446850101758,0.0599286859152,0.999999993291,-3.81194059157e-05,-9.90220355283e-05,-4.64626409606e-05,1793243126511613184
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.536602503,662.536602503,634.463397497,879.536602503,786,805.536602503,651.536602503,631,652,0.430944987988,0.00446679414867,0.0599292543249,0.999999994073,-3.67208739587e-05,-9.06871503438e-05,-4.7766207916e-05,1793243126528279808
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,662.038267408,635,879,786,805,651,631,652,0.431848019204,0.00446473888112,0.0599401891917,0.999999996031,-3.75975030925e-05,-6.38984873744e-05,-4.94196374136e-05,1793243126544946432
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,662.614330654,635,879,786,805,651,631,652,0.432772856968,0.00446153449557,0.0599870868695,0.999999997872,-4.10352413147e-05,9.08770096156e-06,-4.99018837407e-05,1793243126561613312
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.804488572,745.195511428,714,679,663,634.804488572,879.195511428,786,805.195511428,651.195511428,631,652,0.43366598291,0.0044593114071,0.0600152755136,0.999999996549,-4.23215037767e-05,5.07638016867e-05,-5.03393167913e-05,1793243126578280192
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.212941423,745.787058577,714,679,663,634.212941423,879.787058577,786,805.787058577,651.787058577,631,652,0.434494872293,0.00445907607241,0.0600055664041,0.999999997524,-3.92496523898e-05,2.90169575758e-05,-5.06859748096e-05,1793243126594946816
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,745.630754506,714,679.369245494,662.630754506,634.369245494,880,786.369245494,805.630754506,651.630754506,631,652,0.435323621917,0.00445672960526,0.0599798046519,0.99999999789,-3.65055938816e-05,-1.71288711339e-05,-5.09233544068e-05,1793243126611613440
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,745.053832154,714,679.946167846,662.053832154,634.946167846,880,786.946167846,805.053832154,651.053832154,631,652,0.436152292887,0.0044531957618,0.0599450143206,0.999999995154,-3.39458978839e-05,-7.6997559243e-05,-5.1099271754e-05,1793243126628280064
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.521997143,745,714,679.478002857,662.521997143,635,879.478002857,787,805.521997143,651,631,652,0.436944778855,0.00445236985158,0.0599320442775,0.999999993435,-3.43442628718e-05,-9.58660728409e-05,-5.25337730167e-05,1793243126644946944
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.099416105,662.900583895,634.900583895,879.099416105,787,805.900583895,651,631,652,0.43772410403,0.0044513270745,0.0599204278247,0.999999991329,-3.50399333898e-05,-0.000115042033504,-5.36668819617e-05,1793243126661613568
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.68516175,662.31483825,634.31483825,879.68516175,787,805.31483825,651,631,652,0.438457265052,0.00444786016062,0.0599044479577,0.99999998575,-3.57008039033e-05,-0.000156362698367,-5.26920132931e-05,1793243126678280192
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662.267987394,634,880,787,805.267987394,651,631.267987394,652,0.439238795065,0.00444448432054,0.0599148425014,0.999999987384,-3.62083885398e-05,-0.000145493052964,-5.24739995472e-05,1793243126694946816
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662.847419484,634,880,787,805.847419484,651,631.847419484,652,0.440076537616,0.00444121432321,0.0599558883771,0.999999995185,-3.65378300683e-05,-7.39698226334e-05,-5.3135573586e-05,1793243126711613440
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.427431794,745,714,680,663,634,880,787,806,651,631.572568206,651.572568206,0.440880870167,0.0044399608289,0.0599935603702,0.999999997846,-3.49928585071e-05,-1.82808582461e-05,-5.24358647584e-05,1793243126728279808
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.992440071,745,714,679.992440071,662.992440071,634,879.992440071,787,806,651,631,651.007559929,0.441671643569,0.00443936646717,0.0600291509973,0.999999997679,-3.28853488935e-05,3.05320463639e-05,-5.12663737408e-05,1793243126744946688
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.419168364,745,714,679.419168364,662.419168364,634,879.419168364,787,806,651,631,651.580831636,0.442341444947,0.00443415673439,0.0599992385128,0.99999999786,-3.88207317274e-05,-1.16498718507e-05,-5.13552471819e-05,1793243126761613056
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.158332249,714,679.158332249,662,634,879.158332249,787,805.841667751,651,631,651.841667751,0.443002740861,0.00443063993557,0.0599720625001,0.999999996224,-4.99807037182e-05,-4.88332877789e-05,-5.16623063198e-05,1793243126778279680
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.747335816,714,679.747335816,662,634,879.747335816,787,805.252664184,651,631,651.252664184,0.443640901659,0.00443172799724,0.0599523298151,0.999999993157,-7.53518105376e-05,-7.24205469211e-05,-5.25628412295e-05,1793243126794946304
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.667234679,714.332765321,680,662.665530641,634.332765321,880,787,805.332765321,651,631.332765321,651.332765321,0.444289109761,0.00443006073974,0.0599521306186,0.999999989252,-0.000116762248942,-7.09002512472e-05,-5.32497276685e-05,1793243126811612928
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.08449011,714.91550989,680,663.831019779,634.91550989,880,787,805.91550989,651,631.91550989,651.91550989,0.44494486554,0.00442632363723,0.0599666053284,0.99999998279,-0.000170221717775,-5.05187106843e-05,-5.37761174063e-05,1793243126828279552
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714.508514397,680,663.508514397,634.508514397,880.491485603,787,806,651,631.508514397,652,0.445544393166,0.00442327920192,0.0599643904353,0.999999980363,-0.000179510188525,-6.43685519292e-05,-5.3920116427e-05,1793243126844946432
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,663,634.066063751,880.933936249,787,806,651.066063751,631,651.933936249,0.446127659287,0.00442063964552,0.059957848149,0.999999978576,-0.000181082962859,-8.43902806158e-05,-5.41760269407e-05,1793243126861613312
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,663,634.638726693,880.361273307,787,806,651.638726693,631,651.361273307,0.446659342254,0.00442020413662,0.059939824057,0.999999976328,-0.000180926353698,-0.000107227795311,-5.57873494598e-05,1793243126878280192
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662.781707054,635,880,787,806,651.781707054,631.218292946,651.218292946,0.447187944396,0.00441917246919,0.0599333446808,0.999999975488,-0.000182260242483,-0.000111777531855,-5.75473026958e-05,1793243126894947072
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662.190342826,635,880,787,806,651.190342826,631.809657174,651.809657174,0.447711281231,0.00441712194327,0.0599465956824,0.999999977283,-0.000186141451289,-8.5072729638e-05,-5.95612715552e-05,1793243126911613184
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.606944913,745,714,679.606944913,662,634.606944913,880,787,806.393055087,651,631.606944913,652,0.448216922622,0.00441698305403,0.0599612248092,0.999999978692,-0.000187177041124,-6.16591472698e-05,-6.14675923953e-05,1793243126928279808
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.02732812,745,714,679.02732812,662,634.02732812,880,787,806.97267188,651,631.02732812,652,0.448714165002,0.00441775151378,0.0599765080578,0.999999979744,-0.000186861971922,-3.98077241918e-05,-6.33228187885e-05,1793243126944946432
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,745,714,679.547826067,662,634,880,786.452173933,806.452173933,651,631,652,0.449108155013,0.00441325400544,0.0599476657713,0.999999975162,-0.000194216954215,-8.84270791459e-05,-6.43213101823e-05,1793243126961613312
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.125524408,745,714,680,661.748951184,633.874475592,880.125524408,786.125524408,806,651.125524408,631,652,0.449486266866,0.00440945352751,0.0599152223019,0.999999967867,-0.000200111573935,-0.000141204049302,-6.54367212374e-05,1793243126978280448
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.713407447,745,714,680,660.573185105,633.286592553,880.713407447,786.713407447,806,651.713407447,631,652,0.44982471187,0.00440918028336,0.0598775565446,0.999999958604,-0.000199229120718,-0.000196451167803,-6.71389463925e-05,1793243126994946816
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.296843299,633,880.703156701,787,806,651.703156701,631.296843299,652,0.45016007629,0.00440988250149,0.0598503283989,0.999999950264,-0.000198179082406,-0.000235534319721,-6.86997185691e-05,1793243127011613440
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.876048878,633,880.123951122,787,806,651.123951122,631.876048878,652,0.450492510387,0.00441151259558,0.0598330286849,0.999999944539,-0.000196969634769,-0.00025924203507,-7.01259383367e-05,1793243127028280320
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.453553828,714,680.453553828,660.546446172,633,879.546446172,787,806,651.453553828,631.546446172,652,0.450820203046,0.00441159857924,0.0598369557661,0.999999956917,-0.000147225315727,-0.00024815717586,-5.39373557843e-05,1793243127044946944
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.969614344,714,681,659.969614344,633,879.030385656,786.969614344,806,652,631,652,0.451144303326,0.00441150237007,0.0598465703793,0.999999969547,-8.76431053999e-05,-0.000228150166688,-3.42419383787e-05,1793243127061613568
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.396534743,714,681,659.396534743,633,879.603465257,786.396534743,806,652,631,652,0.451427299523,0.00441566079469,0.0598545447058,0.999999971632,-8.83674814415e-05,-0.000217979627847,-3.7570255416e-05,1793243127078279936
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680.817539702,659,633,880,786.182460298,806.182460298,651.817539702,631,652,0.451694890656,0.00441768491149,0.0598597186758,0.999999972662,-9.1083742532e-05,-0.000211554863393,-4.03098734199e-05,1793243127094946560
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680.225258159,659,633,880,786.774741841,806.774741841,651.225258159,631,652,0.451927880674,0.00441491519203,0.0598586028072,0.9999999715,-9.82739456589e-05,-0.000213543426112,-4.17272232124e-05,1793243127111613440
+211,3.516666667,POSE1_TO_POSE2_PRESS,764.641361543,745,714,680,659,632.641361543,880,787,807,651.358638457,631,652,0.452143885395,0.0044151661049,0.0598586369172,0.999999971269,-0.000102351940562,-0.00021236543388,-4.34504337456e-05,1793243127128279808
+212,3.533333333,POSE1_TO_POSE2_PRESS,764.062611066,745,714,680,659,632.062611066,880,787,807,651.937388934,631,652,0.452349465522,0.00441727091094,0.059859376819,0.999999971617,-0.000104519838599,-0.000209243989332,-4.53613644572e-05,1793243127144946432
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,632,879.487886729,787,806.487886729,652,631,651.487886729,0.452524991771,0.00441361835945,0.0598573824718,0.999999970563,-0.00011140031287,-0.000210483157961,-4.64827291142e-05,1793243127161613568
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.911355167,632.088644833,879.088644833,786.911355167,806,652,631,651.088644833,0.452691232814,0.00441027647929,0.0598544538601,0.999999969164,-0.000117542455121,-0.00021352188641,-4.75739863265e-05,1793243127178280448
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.32185275,632.67814725,879.67814725,786.32185275,806,652,631,651.67814725,0.452825609987,0.00441263604063,0.0598481205602,0.999999967007,-0.000116282899778,-0.000223739648686,-4.90363016209e-05,1793243127194946816
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.263148154,745,714,680,658,632.736851846,880,786.263148154,806,651.736851846,631,652,0.452947151879,0.00441430955795,0.059843139937,0.999999964891,-0.000115232392455,-0.000233357423188,-4.98318880106e-05,1793243127211613184
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.842735887,745,714,680,658,632.157264113,880,786.842735887,806,651.157264113,631,652,0.453053259143,0.00441515809697,0.0598397859279,0.999999962868,-0.00011443326857,-0.000242253702842,-4.98257228656e-05,1793243127228279552
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680.420994807,658,632,880,786.579005193,806,651.420994807,631,652,0.453145490786,0.00441447996366,0.0598360682626,0.999999961143,-0.000116085432975,-0.000248484554206,-4.99424467265e-05,1793243127244946432
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+220,3.666666667,POSE1_TO_POSE2_PRESS,764.428661515,745,714,680.428661515,658,632,880.571338485,786,806,652,631,652,0.453300702602,0.00441406039049,0.0598294833587,0.999999958513,-0.000118037110306,-0.00025780327896,-5.0781031953e-05,1793243127278279936
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,714,681,657,632,880.049182116,786,806,652,631,652,0.453541688984,0.00441704021601,0.0598205582311,0.999999954776,-0.000112678433659,-0.000274149325785,-5.09211856489e-05,1793243127378279680
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,714,681,657,632,880.598110741,786,806,652,631,652,0.453552377762,0.00441824270376,0.0598165727689,0.999999953086,-0.000111763852339,-0.000280619229044,-5.08923708134e-05,1793243127394946304
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,746,714,680.833571743,657,632,881,786.166428257,806,652,631,652,0.453562442046,0.00441936247154,0.0598135976757,0.999999951733,-0.000110512169931,-0.00028589287436,-5.08598332379e-05,1793243127411613184
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,746,714,680.212260385,657,632,881,786.787739615,806,652,631,652,0.453570799454,0.00442025614835,0.0598133841317,0.999999951398,-0.000108339120076,-0.000287896897114,-5.0817120645e-05,1793243127428280832
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,746,714,680.383148244,657,632,880.616851756,787,806.383148244,651.616851756,631,652,0.453575989444,0.00442073353041,0.0598123671681,0.999999950915,-0.000107118483184,-0.000290072919214,-5.05291123974e-05,1793243127444947456
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,746,714,680.965115685,657,632,880.034884315,787,806.965115685,651.034884315,631,652,0.45357953583,0.0044209948932,0.0598109333026,0.999999950354,-0.000106392062328,-0.000292338193314,-5.01138179478e-05,1793243127461613568
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.460050985,714,680.460050985,657.539949015,632,880,787,806.460050985,651.539949015,631,652,0.453582356231,0.00442094472576,0.0598102956653,0.999999950096,-0.000106749580588,-0.00029305207993,-5.03356338026e-05,1793243127478279936
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,657.770424715,632,880,786.885212358,806,652,631,651.885212358,0.453584376856,0.0044210778645,0.0598095740271,0.999999949838,-0.000106734886376,-0.000293895295675,-5.05613885781e-05,1793243127494946560
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,656.617044105,632,880,786.308522052,806,652,631,651.308522052,0.453583365474,0.00442202855702,0.0598083100709,0.999999949505,-0.000104944295062,-0.000295656992134,-5.06395201034e-05,1793243127511612928
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,656.275484323,632,880,786.275484323,806,651.724515677,631,651.275484323,0.453582974529,0.00442271702642,0.0598074502928,0.99999994922,-0.000104410279466,-0.000296825464366,-5.05328020975e-05,1793243127528279552
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,656.867907763,632,880,786.867907763,806,651.132092237,631,651.867907763,0.453583297382,0.00442310381356,0.0598070555132,0.999999948996,-0.000105321928474,-0.000297311444407,-5.02134184717e-05,1793243127544946176
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.552526895,745,714,680,657,632,880,786.552526895,806,651.447473105,631,652,0.453584265482,0.00442148878947,0.0598064919867,0.999999948753,-0.000106973458642,-0.000297584312832,-4.99509113643e-05,1793243127561613056
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.023259846,745,713.976740154,680,657,632,880,786,806,651.976740154,631,652,0.453585284363,0.0044194802213,0.0598058514762,0.999999948481,-0.000108647330485,-0.000297929398519,-4.97252274193e-05,1793243127578279680
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.596942168,745,713.403057832,680,657,632,880,786,806,651.403057832,631,652,0.453583123439,0.00442175192327,0.059804535073,0.999999947721,-0.00010582580104,-0.000301430554377,-4.9984713704e-05,1793243127594946560
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,713.176117513,680.176117513,657,632,880,786,806,651,631,651.823882487,0.453581959802,0.00442318851363,0.0598035153163,0.99999994725,-0.000104257450788,-0.000303484532343,-5.02714750258e-05,1793243127611613184
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,713.768268721,680.768268721,657,632,880,786,806,651,631,651.231731279,0.453583152002,0.00442265236097,0.0598031963132,0.9999999475,-0.000105649423975,-0.000302119913306,-5.06226668059e-05,1793243127628280064
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680.647957607,657,632,880.352042393,786,806,651.352042393,631,651.352042393,0.45358477477,0.00442299854091,0.0598037657556,0.999999948,-0.000104564850505,-0.000300839018031,-5.06104256919e-05,1793243127644946432
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680.069570277,657,632,880.930429723,786,806,651.930429723,631,651.930429723,0.453586674371,0.0044239120148,0.0598049064221,0.999999948657,-0.000101887986375,-0.000299611952829,-5.03645161285e-05,1793243127661612800
+244,4.066666667,POSE1_TO_POSE2_PRESS,764.494154656,745,714,680,657,632,880.494154656,786,806,652,631,652,0.453586460702,0.0044225664563,0.0598041832448,0.999999948166,-0.000103043785209,-0.000300952252951,-4.97779094717e-05,1793243127678279680
+245,4.083333333,HOLD_POSE2,765,745,714,680,656,632,880,786,806,652,631,652,0.453584050909,0.00442418840697,0.0598022302552,0.999999947222,-0.000102232411224,-0.000304296001515,-5.00904177277e-05,1793243127721814272
+246,4.100000000,HOLD_POSE2,764.400937951,745,713.400937951,680,656.599062049,632,880,786.599062049,806,651.400937951,631,652,0.453584220865,0.00442338719465,0.0598014698361,0.999999946861,-0.000103768682451,-0.000304965161224,-5.00609358512e-05,1793243127738481152
+247,4.116666667,HOLD_POSE2,764,745,713.190547988,680,657,632,880,787,806,651,631,652,0.453584233301,0.00442312206598,0.0598010294087,0.999999946682,-0.00010429030709,-0.00030538100918,-5.00290068071e-05,1793243127755147520
+248,4.133333333,HOLD_POSE2,764,745,713.766702479,680,657,632,880,787,806,651,631,652,0.453583926968,0.00442394179432,0.059801236539,0.999999946871,-0.000102758620775,-0.000305284237515,-4.99921254942e-05,1793243127771814144
+249,4.150000000,HOLD_POSE2,764,745.34116727,714,680,657,632,880,787,806,651.34116727,631,652,0.453584313711,0.00442382725659,0.0598013446542,0.999999946936,-0.000102704676187,-0.00030510666294,-4.9891359716e-05,1793243127788481024
+250,4.166666667,HOLD_POSE2,764,745.914482268,714,680,657,632,880,787,806,651.914482268,631,652,0.453585172059,0.00442307699621,0.0598013853945,0.999999946916,-0.000103656263033,-0.000304874105918,-4.97471236696e-05,1793243127805147392
+251,4.183333333,HOLD_POSE2,764,745.498759164,714,680.501240836,657,632,880,787,806,651.498759164,631,652,0.453585026004,0.00442287155604,0.0598014219136,0.999999946618,-0.000104679931988,-0.000305515498159,-4.96583773019e-05,1793243127821814016
+252,4.200000000,HOLD_POSE2,764,745,714,680.911124446,656.911124446,632,880,786.911124446,806,651,631,652,0.453584839894,0.00442287427987,0.0598014686041,0.999999946421,-0.000105077252125,-0.000306028663419,-4.96370795264e-05,1793243127838480896
+253,4.216666667,HOLD_POSE2,764,745,714,680.331663059,656.331663059,632,880,786.331663059,806,651,631,652,0.453585404663,0.00442349881894,0.0598015755241,0.999999947048,-0.000101947422468,-0.000304988288427,-4.99343940519e-05,1793243127855147520
+254,4.233333333,HOLD_POSE2,764,745,714,680.246461606,656,631.753538394,880,786,806,651,631,652,0.45358559821,0.00442376195618,0.059801580285,0.999999947288,-0.000100339450065,-0.000304747324579,-4.9847703616e-05,1793243127871814144
+255,4.250000000,HOLD_POSE2,764,745,714,680.822797102,656,631.177202898,880,786,806,651,631,652,0.4535852949,0.00442354137897,0.0598014483122,0.999999947022,-0.000100768391427,-0.000305576324083,-4.92470458372e-05,1793243127888481280
+256,4.266666667,HOLD_POSE2,764.398330073,745.398330073,713.601669927,680.601669927,656,631.398330073,880,786,806,651,631,652,0.453584492903,0.00442329937438,0.059800915584,0.99999994656,-0.000101629543515,-0.000306801113793,-4.92372526893e-05,1793243127905147904
+257,4.283333333,HOLD_POSE2,764.973506797,745.973506797,713.026493203,680.026493203,656,631.973506797,880,786,806,651,631,652,0.453583469504,0.00442304785665,0.0598002049324,0.999999946009,-0.000102682584288,-0.000308201622598,-4.94897857301e-05,1793243127921814784
+258,4.300000000,HOLD_POSE2,764.437163064,745.437163064,713.562836936,680,656,632,880,786,806,651.562836936,631,652,0.453583003806,0.00442564037475,0.0597996386564,0.999999945839,-0.000101466454718,-0.000309046504828,-5.01650323154e-05,1793243127938481152
+259,4.316666667,HOLD_POSE2,764,745,714,680,656.15058875,632,880,786,806,651.84941125,631,652,0.453583063485,0.00442754890902,0.0597994682948,0.999999945874,-0.000100334792686,-0.000309231435709,-5.05961790985e-05,1793243127955147520
+260,4.333333333,HOLD_POSE2,764,745,714,680,656.73187201,632,880,786,806,651.26812799,631,652,0.453584548761,0.00442710844419,0.059800410338,0.99999994645,-9.97580828101e-05,-0.000307605590354,-5.02708071268e-05,1793243127971814144
+261,4.350000000,HOLD_POSE2,764,745,714,680,657,632,880,786,806,651,631,652,0.453584754968,0.00442640677368,0.0598005012192,0.999999946502,-9.95036433423e-05,-0.000307596082254,-4.97921534739e-05,1793243127988480768
+262,4.366666667,HOLD_POSE2,764,745,714,680,657,632,880,786,806,651,631,652,0.453583866018,0.00442548145522,0.0597998633235,0.999999946107,-9.95251363727e-05,-0.00030897050498,-4.91822579056e-05,1793243128005147392
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,746,714,680,657,632,880,786,806,652,631,652,0.45358306157,0.00442691618055,0.0597987097148,0.999999945966,-9.78021672035e-05,-0.000309849309639,-4.99618856319e-05,1793243128036931072
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,745.420293816,714,680,657,632,880,786.579706184,806.579706184,652,631,652,0.453582828113,0.00442648963286,0.0597980896591,0.999999945668,-9.93241888538e-05,-0.00031031880138,-5.00152522706e-05,1793243128053597696
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.159108204,745,714,680.159108204,657,632,880,787,806.840891796,651.840891796,631,652,0.453582789912,0.00442603381638,0.0597976552754,0.999999945503,-0.000100189689097,-0.000310581544124,-4.9947637805e-05,1793243128070264320
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.737708414,745,714,680.737708414,657,632,880,787,806.262291586,651.262291586,631,652,0.453583266507,0.0044255008321,0.0597977104192,0.999999945696,-9.93242576689e-05,-0.000310299189051,-4.95610542169e-05,1793243128086930688
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,656.686577934,632,880,787,806,651.313422066,631,652,0.453583154176,0.00442585559998,0.0597975077433,0.999999945744,-9.81796354108e-05,-0.000310514391583,-4.95435389317e-05,1793243128103597824
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,656.113257927,632,880,787,806,651.886742073,631,652,0.453582553492,0.00442694651566,0.0597970912765,0.999999945668,-9.68035007183e-05,-0.000311142182174,-4.9832064954e-05,1793243128120265472
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.526796155,745.473203845,714,680.526796155,656,632,880,786.526796155,806,652,631,652,0.453581253988,0.0044271041391,0.0597967427543,0.999999945313,-9.6760589835e-05,-0.000312304702627,-4.97678572218e-05,1793243128136931840
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,745.938155467,714,680,656,632,880,786,806,651.938155467,631,652,0.453579305543,0.00442701637535,0.0597961031916,0.999999944777,-9.70755039019e-05,-0.000313938684274,-4.96488986759e-05,1793243128153597696
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745.358361431,714,680,656,632,880,786,806,651.358361431,631,652,0.453573363006,0.0044267977132,0.0597928860712,0.999999943298,-9.763842227e-05,-0.000318418680147,-4.97986533177e-05,1793243128170264576
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.219322716,745,714,680,656,632,880,786,806,651.219322716,631,652,0.453559817418,0.0044261013369,0.0597864750532,0.999999939916,-9.89890281127e-05,-0.000328457467706,-4.98428307575e-05,1793243128186931456
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.793592214,745,714,680,656,632,880,786,806,651.793592214,631,652,0.453533967227,0.00442463183914,0.059774895106,0.999999933226,-0.000101614408958,-0.00034749247387,-4.97161444846e-05,1793243128203598336
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,656,632,880,786,806,651.631892605,630.631892605,651.631892605,0.453491456718,0.00442540631099,0.0597577978482,0.999999923356,-9.98840922598e-05,-0.000375300086546,-4.96037104566e-05,1793243128220264704
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,656,632,880,786,806,651.057239515,630.057239515,651.057239515,0.453439598072,0.00442743987792,0.0597376048168,0.99999991095,-9.5709786334e-05,-0.000408030025353,-4.94992733386e-05,1793243128236931072
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.466088522,745,714,680.533911478,656,632,880,786,806,651.533911478,630.533911478,651.533911478,0.453380251962,0.00442888372774,0.0597235800596,0.99999990493,-9.37048635604e-05,-0.000422881181503,-5.03039355618e-05,1793243128253597696
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,745.123884867,714,680.876115133,656.123884867,632,880,786,806.123884867,652,631,652,0.45331746283,0.00443025332571,0.0597121530587,0.999999900065,-9.18956271755e-05,-0.000434536352816,-5.10228358627e-05,1793243128270264320
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,745.702828764,714,680.297171236,656.702828764,632,880,786,806.702828764,652,631,652,0.453245069213,0.0044315898147,0.0597077617199,0.999999897096,-8.99236499298e-05,-0.000441717069988,-5.10572934206e-05,1793243128286930944
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,745.721141966,714,680,656.721141966,632,880.278858034,786.278858034,806.721141966,652,631,652,0.453163703625,0.00443134871052,0.0597064913867,0.99999989633,-8.91198216541e-05,-0.000443714931723,-5.01556144572e-05,1793243128303597568
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,656.437722467,632,880.562277533,786.562277533,806,651.562277533,631,652,0.45296418025,0.00443107308145,0.0597094533177,0.999999898965,-8.55237783027e-05,-0.00043873220134,-4.76499783651e-05,1793243128336931328
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.027503289,745,714,680.027503289,657,632,880,786,806,651,631,652,0.45284795523,0.00443380099077,0.0597100139345,0.99999989981,-8.01386849457e-05,-0.000437843719492,-4.74474840175e-05,1793243128353597952
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.818810673,745.181189327,714,681,657,632,880,786,806,651.181189327,631,652,0.452552973414,0.0044338946736,0.059710804907,0.999999901312,-7.71176510601e-05,-0.000435127673031,-4.57405301788e-05,1793243128386930944
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.242005568,745.757994432,714,681,657,632,880,786,806,651.757994432,631,652,0.452376623104,0.00443395197628,0.0597106489484,0.99999990056,-7.57790641943e-05,-0.000437206601703,-4.45767335998e-05,1793243128403597824
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.333538305,745.666461695,714,680.666461695,657,632,880,786.333538305,806,652,631,651.666461695,0.452175062912,0.00443570964891,0.0597111585602,0.999999900087,-7.03273931065e-05,-0.00043934777198,-4.30472656126e-05,1793243128420264448
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.908170571,745.091829429,714,680.091829429,657,632,880,786.908170571,806,652,631,651.091829429,0.451955280055,0.00443869641256,0.0597121492711,0.999999899757,-6.19026307651e-05,-0.000441533933006,-4.12534765322e-05,1793243128436931328
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.50150319,745,714,680.49849681,657.49849681,632.49849681,880,786.50150319,806,651.50150319,631,651.49849681,0.451714618765,0.00444105948038,0.0597149040766,0.999999901015,-5.42635175291e-05,-0.00043987041288,-3.92323514814e-05,1793243128453597952
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,745,713.911048573,680.911048573,658,633,880.088951427,786.088951427,806,651.088951427,631,652,0.45146222763,0.00444299356579,0.0597162032032,0.999999901434,-4.69748968329e-05,-0.000439937796831,-3.71506819541e-05,1793243128470264576
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,745,713.336198112,680.336198112,658,633,880.663801888,786.663801888,806,651.663801888,631,652,0.451167454045,0.00444323233115,0.0597077178045,0.999999895744,-4.07845761289e-05,-0.000453460002945,-3.49744825986e-05,1793243128486931200
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.238965766,745.238965766,713.238965766,680.238965766,658.238965766,633,880.761034234,786.761034234,806,652,631,652,0.450856980465,0.00444486037698,0.0596996772758,0.999999891202,-3.32685025758e-05,-0.000464115750383,-3.29628632742e-05,1793243128503597824
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.81457113,745.81457113,713.81457113,680.81457113,658.81457113,633,880.18542887,786.18542887,806,652,631,652,0.45052438976,0.00444844555177,0.0596922634518,0.999999888434,-2.38847940654e-05,-0.000470733414484,-3.11830938471e-05,1793243128520264448
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.59858317,745.59858317,714,680.59858317,659,633,880,786.40141683,806,652,631,652,0.450156729051,0.00445114037429,0.0596841505985,0.999999883503,-1.56890147836e-05,-0.000481563169064,-2.90749701859e-05,1793243128536931072
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.00639559,745.00639559,714,680.00639559,659,633,880,786.99360441,806,652,631,652,0.44977240156,0.00445341206257,0.0596757055362,0.999999877395,-8.05779144204e-06,-0.000494394692114,-2.68107983473e-05,1793243128553597696
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764.573340263,745,713.426659737,680,659,633,880,786.426659737,806,652,631,652,0.449363385371,0.00445499962596,0.0596792085554,0.999999881009,7.25845654332e-07,-0.00048725438802,-2.37671477201e-05,1793243128570264064
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.848873271,745,713.151126729,680,659.151126729,633.151126729,880,786.151126729,806,651.848873271,631,652,0.448947245359,0.00445692716096,0.0596850932649,0.999999885614,9.88588145465e-06,-0.000477755787465,-2.05608386496e-05,1793243128586930688
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.276145887,745,713.723854113,680,659.723854113,633.723854113,880,786.723854113,806,651.276145887,631,652,0.448511983937,0.00445982395677,0.0596972583022,0.999999892801,2.00608613782e-05,-0.000462286506851,-1.69245003701e-05,1793243128603597824
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.298582422,745,714,680,660.298582422,634,880,786.701417578,806,651,631,652,0.448064263826,0.00446275097062,0.0597182767893,0.999999908636,3.18254616744e-05,-0.000426068971985,-1.34066787305e-05,1793243128620264448
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764.875173851,745,714,680,660.875173851,634,880,786.124826149,806,651,631,652,0.447604943426,0.00446570612071,0.0597475386926,0.999999930287,4.50701528243e-05,-0.00037053281036,-9.99920705014e-06,1793243128636931072
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764.535486577,745,714,680,661.464513423,634,880.464513423,786,806,651,631.464513423,652,0.447105211531,0.00446960387903,0.0597875616037,0.999999949285,5.83216758306e-05,-0.000313050627981,-5.28992327739e-06,1793243128653597952
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,662,634,880.944304153,786.055695847,806.055695847,651,631.944304153,652,0.446585462122,0.00447411439329,0.0598258804739,0.999999963045,7.21827545737e-05,-0.000262104170235,-3.5962494725e-07,1793243128670264576
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,662,634,880.368796722,786.631203278,806.631203278,651,631.368796722,652,0.445983100867,0.00448191299786,0.0598205451151,0.999999957376,9.17152332158e-05,-0.000277174242325,3.27631506841e-06,1793243128686930944
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764.206394731,745.206394731,714,680,661.793605269,634.206394731,880,787,806.793605269,651.206394731,631,652,0.445360130225,0.00449666271992,0.0598042461739,0.999999946791,0.000117124263127,-0.000304436311585,4.29908957017e-06,1793243128703597568
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.781022405,745.781022405,714,680,661.218977595,634.781022405,880,787,806.218977595,651.781022405,631,652,0.444700390001,0.0045238140685,0.0597683868876,0.999999925829,0.000153017763705,-0.000353450364146,6.59663268889e-07,1793243128720264448
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.643481313,714,680,661.356518687,634.643481313,880,787,806,652,631,652,0.444048971709,0.00453874288331,0.0597628739547,0.999999920963,0.000177639002191,-0.000355692430066,1.24028901046e-06,1793243128736931072
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.067450242,714,680,661.932549758,634.067450242,880,787,806,652,631,652,0.443402677344,0.00454614615185,0.0597760455989,0.99999992675,0.000195319786657,-0.000329136480055,4.41924624196e-06,1793243128753597696
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.523858472,714,680,662,634,880,787,806,652,631,652,0.44271000194,0.00454231400083,0.0597941215902,0.999999932244,0.000202824934142,-0.000306988161355,1.15217713892e-05,1793243128770264320
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.888698846,714,680,662,634,880,787,806,652,630.888698846,652,0.442001658649,0.00454047877953,0.0598073540673,0.999999933883,0.000212165180162,-0.000294767918614,1.82386042397e-05,1793243128786931200
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.325195649,714,680,662,634,880,787,806,652,630.325195649,652,0.441254650741,0.00455281086946,0.0597982653366,0.999999920929,0.0002344441868,-0.000320509167888,2.12742590748e-05,1793243128803597824
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,662,634,880,787,805.751488956,651.751488956,630.248511044,652,0.440487750735,0.00455826418059,0.0597905944911,0.999999910475,0.000250291037373,-0.000340222181628,2.55740836328e-05,1793243128820264704
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,713.571974179,680,662.428025821,634,880,787,805,651,631,652,0.438903822365,0.0045588461689,0.0598051305438,0.999999911413,0.000271955808138,-0.000319219324315,3.6246077646e-05,1793243128853597696
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,713.02095723,680,663,634,880,787,805.02095723,651,631,651.97904277,0.438112266488,0.00456660606433,0.0598331970883,0.999999919862,0.000289468546228,-0.000273597423819,4.03413163066e-05,1793243128870264320
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,713.598031013,680,663,634,880,787,805.598031013,651,631,651.401968987,0.437233629028,0.00457376781897,0.0598012413954,0.999999897166,0.000307180470095,-0.00033072403895,4.39304536451e-05,1793243128886930944
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.175265045,745,714,679.824734955,662.474204866,634,880,786.824734955,806,651,631,651.175265045,0.436361216425,0.00457781682986,0.0597715862347,0.999999877668,0.000317318793488,-0.000376579517049,4.64738324489e-05,1793243128903597568
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.75286691,745,714,679.24713309,660.741399271,634,880,786.24713309,806,651,631,651.75286691,0.4355030936,0.00457472025448,0.0597472121565,0.999999872211,0.00031007123048,-0.000396561075731,4.66165776852e-05,1793243128920264448
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.671092215,745,714,679,660.986723354,634,880,786.328907785,805.671092215,651.328907785,631,651.671092215,0.43465510027,0.00457330437465,0.0597481269053,0.999999894268,0.000257690618322,-0.000379505632616,3.21832309358e-05,1793243128936931584
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.096218714,745,714,679,662.711343857,634,880,786.903781286,805.096218714,651.903781286,631,651.096218714,0.433814682074,0.00457314536239,0.0597679532916,0.999999929231,0.000171558347358,-0.000334752961403,6.849506749e-06,1793243128953597952
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,713.506333975,679,662.506333975,634,880,787,805.493666025,652,631,651.493666025,0.432953752054,0.00457595851041,0.0597863151341,0.999999935008,0.00017573695565,-0.000314662810165,9.41144937286e-06,1793243128970264576
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,713.084219658,679.084219658,661.915780342,634,879.915780342,787,805.915780342,651.915780342,631,652,0.432082418516,0.00457921858666,0.0598043136736,0.99999993637,0.000197117194128,-0.00029683399188,1.71488038394e-05,1793243128986931200
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,713.661035902,679.661035902,661.338964098,634,879.338964098,787,805.338964098,651.338964098,631,652,0.431174352474,0.00458159820436,0.0598219092028,0.999999942435,0.000212925865255,-0.000263234639316,2.23585447441e-05,1793243129003598080
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661.237461455,634,879.237461455,787,805,651.237461455,631,652,0.430255080715,0.00458432198524,0.0598308917576,0.999999943376,0.000223001566806,-0.000250675904657,2.60565094553e-05,1793243129020264704
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,661.813330316,634,879.813330316,787,805,651.813330316,631,652,0.429319839504,0.00458753623499,0.0598275999261,0.999999938388,0.000224907189778,-0.000268102246311,2.76000357851e-05,1793243129036931840
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764.602181221,745,713.602181221,679.602181221,661.602181221,634,880,787,804.602181221,652,631,652,0.428378783273,0.0045904213961,0.0597945011498,0.999999921666,0.000220975937108,-0.000327278604731,2.69627361677e-05,1793243129053598720
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764.013558616,745,713.013558616,679.013558616,661.013558616,634,880,787,804.013558616,652,631,652,0.427434938069,0.00459314871788,0.0597471062182,0.999999894117,0.000214245171778,-0.00040647931162,2.52794577027e-05,1793243129070265600
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764.566530085,745,713.566530085,679,661.566530085,634,880,787,804.566530085,652,631,652,0.42652581087,0.00459002405221,0.0597634176449,0.999999911736,0.000204627276274,-0.000366088839897,2.51942126342e-05,1793243129086931712
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.145534521,662,634,880,787,805,652,631,652,0.425619664159,0.00458821691519,0.0597842103919,0.999999926608,0.000197998200386,-0.000326956304675,2.60798938832e-05,1793243129103598080
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.721924636,662,634,880,787,805,652,631,652,0.424719917875,0.00459071880541,0.0598138233053,0.999999934506,0.0002004190657,-0.000299895546592,2.97284617335e-05,1793243129120264704
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745.296809725,714,679.703190275,661.406380551,634.296809725,879.703190275,786.703190275,805,652,631,652,0.423830200451,0.00459164792895,0.0598337687688,0.999999942207,0.0001986917675,-0.000274046431827,3.17194684411e-05,1793243129136931584
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745.870291865,714,679.129708135,660.25941627,634.870291865,879.129708135,786.129708135,805,652,631,652,0.422949831521,0.00459111099135,0.0598447026771,0.999999949757,0.000193097741347,-0.000249326756936,3.21653724512e-05,1793243129153598464
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745.541989924,714,679.458010076,660.916020151,634.541989924,879.458010076,786.458010076,805,652,631,652,0.422069330355,0.00459244632201,0.0598450421069,0.999999951349,0.000188244426828,-0.000246676808907,3.18734210986e-05,1793243129170264832
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.95121991,661.95121991,634.04878009,880,787,805,652,631,652.04878009,0.421179973402,0.00459412253523,0.0598371806914,0.999999948841,0.000183785566831,-0.000259899101603,3.15017171455e-05,1793243129186931200
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.3725003,661.3725003,634.6274997,880,787,805,652,631,652.6274997,0.420194829151,0.00459355697108,0.0597738675146,0.99999991255,0.000181259998551,-0.000375476314779,3.2606528529e-05,1793243129203598080
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,713.795746647,679,661,634.795746647,879.795746647,787,805,652,631,652.795746647,0.419266476378,0.00459233702818,0.0597330400178,0.999999887211,0.000174823189924,-0.000440398325977,3.26246085477e-05,1793243129220264704
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,713.222544064,679,661,634.222544064,879.222544064,787,805,652,631,652.222544064,0.418440707662,0.00458993506035,0.0597328290985,0.999999900893,0.000161321388416,-0.000413820286205,3.0679692481e-05,1793243129236931584
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,713,679,661.706316913,634,879,787,805.353158457,652,631,652,0.41763634764,0.00459078236969,0.0597627864794,0.999999921208,0.000154779670885,-0.000364267533811,3.06147259586e-05,1793243129253597952
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,713,679,662.860895037,634,879,787,805.930447518,652,631,652,0.416845574608,0.00459369181996,0.0598118900517,0.999999942804,0.000152655143232,-0.000300133972246,3.17428619402e-05,1793243129270264576
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764.479022982,745,713.520977018,679,661.958045964,634,879,786.479022982,805.479022982,652,631,652,0.41606018483,0.00458758135964,0.0598317614813,0.999999949361,0.000143101394012,-0.000282191376126,3.41626999504e-05,1793243129286930944
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,661.687691891,634.687691891,879,786.687691891,804.312308109,652,631,652,0.414494232643,0.00458391900837,0.0598457329516,0.999999931527,0.000255971035115,-0.000265004854086,3.45918380258e-05,1793243129320264448
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764.26354424,745,714,679,662.26354424,634.73645576,879,787,804.26354424,652,631,652,0.413714904193,0.0045848460088,0.0598380542638,0.999999913665,0.000307966167291,-0.000276878431286,3.41298783426e-05,1793243129336931328
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764.83774008,745,714,679,662.83774008,634.16225992,879,787,804.83774008,652,631,652,0.412938534158,0.00458461139065,0.0598201964599,0.999999905869,0.000301112063205,-0.000310459232726,3.47766240426e-05,1793243129353597952
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745.414327114,713.585672886,679.414327114,661.757018657,634,879,787,804.585672886,652,631,652,0.412174648796,0.00458416830392,0.0597834821882,0.999999888289,0.00029029276792,-0.000371437688442,3.44334347587e-05,1793243129370264576
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.991856079,713.008143921,679.991856079,660.024431762,634,879,787,804.008143921,652,631,652,0.411415681034,0.00458364310221,0.0597393404252,0.999999862598,0.000277911597319,-0.000443207975641,3.37003138132e-05,1793243129386931200
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.828584454,745.828584454,713.171415546,679.828584454,662.171415546,635,879,787,805,652.171415546,631,652,0.410165496815,0.00458280090326,0.0597797552897,0.999999900742,0.000261290781021,-0.000359383565831,3.29601066773e-05,1793243129420264448
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.253239534,745.253239534,713.746760466,679.253239534,662.746760466,635,879,787,805,652.746760466,631,652,0.409565200929,0.0045769818444,0.0598289595678,0.999999928098,0.000243769673444,-0.000288381412724,3.48859322117e-05,1793243129436931072
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.895013834,745,714,679,662.104986166,635,879,787,805,653,631,652,0.40838481458,0.00457411081932,0.0598619579981,0.999999945036,0.000221835806844,-0.000243720508554,3.62811859659e-05,1793243129470264320
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,662,635,878.518351316,787,805,653,631,652,0.407824565251,0.00457328409035,0.0598494850508,0.999999942837,0.000213349124564,-0.000259900009027,3.55074094292e-05,1793243129486931200
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.353342302,745,714,679,661.353342302,634.353342302,878.646657698,787,805,652.353342302,631,652,0.406763701711,0.00456812511314,0.0598267782296,0.99999994162,0.000185790976274,-0.000284904208302,3.27423455575e-05,1793243129520265984
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.224485409,745,714,679,661.224485409,634.224485409,878.775514591,787,804.775514591,652,631,652,0.406269136275,0.00456607234007,0.0598252965219,0.999999944026,0.000174399024005,-0.00028375602088,3.18803076061e-05,1793243129536932864
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.022051151,745,713.022051151,679,662,634.022051151,878.977948849,787,804,652,631,652,0.404934774804,0.00456343911252,0.0598225395745,0.999999945252,0.000162363218229,-0.000286489093958,3.25205827508e-05,1793243129586931200
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.863620762,745,714,679,661.272758476,634,878.136379238,787,804,652,630.136379238,652,0.404133237704,0.00456004952651,0.0597809606061,0.999999923902,0.000159509222396,-0.000354459500485,3.33386528871e-05,1793243129620264192
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.288461228,745,714,679,662.423077544,634,878.711538772,787,804,652,630.711538772,652,0.403791591894,0.00455877790484,0.0597722349174,0.999999920537,0.000159882561361,-0.000363595547424,3.4090605611e-05,1793243129636931072
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,662.13893398,634.86106602,879,787,804.86106602,652,631,652,0.40321346497,0.00455681638914,0.0598003926099,0.999999937223,0.000160375664416,-0.000313872154414,3.63103967238e-05,1793243129670264832
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.448885843,745,714,679,662,634.551114157,878.551114157,787,805,652,631,652,0.402972493696,0.00455610261236,0.0598194819947,0.999999946541,0.000160894435054,-0.000282173597315,3.75498647259e-05,1793243129686931200
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.807962535,745.192037465,714,679,661.807962535,634.807962535,879,787,805,653,631,652,0.402311161916,0.00455166461533,0.0598427312245,0.999999954715,0.000161301638047,-0.000250649450903,4.15424347821e-05,1793243129736930816
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,745.646301681,714,679,661.353698319,634.353698319,879,786.646301681,805,652.646301681,631,652,0.401933316352,0.00454860721163,0.0598337629688,0.999999948986,0.000160470291898,-0.000274342150253,3.18321281626e-05,1793243129770264576
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,745,713.100870601,679,661,634.899129399,878,787,804.100870601,652.899129399,631,652,0.401524466286,0.00453447338731,0.0598327224857,0.999999943168,0.00018816728061,-0.000279157890782,1.81367134216e-05,1793243129820264704
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,745,713.678617983,679,661,634.321382017,878,787,804.678617983,652.321382017,631,652,0.401429096688,0.00454102043107,0.0598357481505,0.999999942541,0.000199654877437,-0.000273358212897,1.81835559523e-05,1793243129836931072
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,661.258661705,634.258661705,878.517323411,786.741338295,805,652,631,652,0.401342769483,0.00454219695419,0.0598383705779,0.999999943127,0.000202751814083,-0.000268840428839,1.9054419368e-05,1793243129853597696
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+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,745.423380681,714,679,662,634.576619319,879.576619319,786.423380681,805,652,631,652,0.401199426207,0.00453729150784,0.0598362829408,0.99999994261,0.00019772818404,-0.00027428139906,2.130243028e-05,1793243129886930944
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,745.995259279,714,679.004740721,662,634.004740721,879,787,805,652,630.995259279,652,0.40113373609,0.00454021055069,0.0598297602686,0.999999937916,0.000203713605118,-0.000286746821403,2.10718996084e-05,1793243129903597824
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,745.415886161,714,679.584113839,662,634.584113839,879,787,805,652,630.415886161,652,0.401090317238,0.00453735127051,0.0598281977011,0.999999938108,0.000200352409717,-0.000288393169918,2.17348957874e-05,1793243129920264704
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.161996041,745,714,680,661.838003959,635,878.838003959,787,805,652.161996041,630.161996041,652,0.40105206161,0.00453537738934,0.0598274164083,0.999999938351,0.000197874182844,-0.000289218781322,2.22795632484e-05,1793243129936931328
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.690195076,745,714,679.690195076,661.309804924,635,878,787,805,653,631,652,0.401008584355,0.00453648734945,0.0598309435054,0.999999939548,0.000199363951983,-0.000283984369544,2.25979697173e-05,1793243129970264832
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.116790417,745,714,679.116790417,661.883209583,635,878,787,805,653,631,652,0.400995984354,0.00453778946087,0.0598342129803,0.999999940632,0.000202748337479,-0.000277706378271,2.25290029981e-05,1793243129986931200
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.473911211,662,634.526088789,878.473911211,787,805,652.526088789,631,652,0.400985975362,0.00453576901402,0.0598358808651,0.999999941648,0.000200636697122,-0.000275525386322,2.3104757359e-05,1793243130003597824
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.066747569,745,714,679.933252431,662,634.066747569,879,787,805,652.066747569,631,652,0.400976996888,0.00453347190323,0.059836936254,0.999999942482,0.000197575536431,-0.000274663723437,2.36589793228e-05,1793243130020264448
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.642138113,745,714,679.357861887,662,634.642138113,879,787,805,652.642138113,631,652,0.40097082122,0.00453554251868,0.0598364458497,0.999999942088,0.000197990986344,-0.000275870387253,2.27924868383e-05,1793243130036931072
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,662,635,879,787,805,653,631,652,0.400966734678,0.00453639998453,0.0598365007301,0.999999942014,0.000198177754222,-0.000276028803566,2.24971677021e-05,1793243130053597696
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745.377431668,714,679,662,635,879,786.622568332,805,653,631,652,0.400965653834,0.00453538372993,0.0598381160394,0.999999942841,0.000197953977517,-0.000273131861309,2.30438598291e-05,1793243130086931200
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745.96354143,714,679,662,635,879,786.03645857,805,653,631,652,0.400965343456,0.0045362026434,0.0598386198571,0.99999994317,0.00019800540152,-0.000271931052827,2.25359902135e-05,1793243130103598336
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.45313474,745.45313474,714,679.54686526,662,634.45313474,879,786.54686526,805,653,631,652,0.400966181582,0.00453501484594,0.0598392461322,0.999999944349,0.000194383432119,-0.000270208165931,2.24776232232e-05,1793243130120264704
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,745.128020318,714,679.871979682,662,634.128020318,879,787,805,653,631,652,0.400966491019,0.00453393449677,0.0598395635614,0.999999945166,0.000191653495956,-0.000269127975735,2.25056434348e-05,1793243130136931328
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,745.702260018,714,679.297739982,662,634.702260018,879,787,805,653,631,652,0.400964692164,0.00453369260803,0.0598387761855,0.999999944579,0.000192882051426,-0.000270408631089,2.27308457157e-05,1793243130153597952
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,745.723598007,713.723598007,679,662,634.723598007,879,787,805,653,631,652.276401993,0.400964422489,0.00453405606723,0.0598392002184,0.999999944628,0.000193320057138,-0.000269918347412,2.26872612818e-05,1793243130170264576
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,745.149561191,713.149561191,679,662,634.149561191,879,787,805,653,631,652.850438809,0.400965799463,0.00453507137637,0.0598409287187,0.99999994536,0.000192906784276,-0.000267521083711,2.23542423275e-05,1793243130186931200
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.436149916,745.436149916,713.436149916,679,662,634.436149916,878.563850084,787,805,653,631,652.563850084,0.400966729736,0.00453444971359,0.0598419673715,0.99999994574,0.000192465788206,-0.00026641086834,2.24104732827e-05,1793243130203598080
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.974417319,745.974417319,714,679,662.025582681,635,878.025582681,787,805,652.974417319,631,652,0.400967362734,0.00453328913721,0.0598426590241,0.999999945953,0.000192059144234,-0.000265890403731,2.25931169609e-05,1793243130220264448
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5865b0f804a43ac0d5c83f9f46e8028e5a26e1c1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
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+351,5.850000000,pose2_to_pose3_retreat,0.586487573065,0.0100019081068,1.05004097018,0.557059292378,0.0186767352462,1.04967876212
+352,5.866666667,pose2_to_pose3_retreat,0.586017301782,0.010001914723,1.05004089228,0.556589020481,0.0186767398845,1.04967868681
+353,5.883333333,pose2_to_pose3_retreat,0.585568937841,0.0100019551887,1.05004089069,0.556140656216,0.0186767793314,1.04967868721
+354,5.900000000,pose2_to_pose3_retreat,0.585142967683,0.0100019301573,1.05004090711,0.555714686526,0.018676755867,1.04967870321
+355,5.916666667,pose2_to_pose3_retreat,0.584735817866,0.0100018647739,1.05004076217,0.555307536541,0.0186766898879,1.0496785576
+356,5.933333333,pose2_to_pose3_retreat,0.584347299246,0.0100018089725,1.05004067118,0.554919019802,0.0186766405924,1.04967846965
+357,5.950000000,pose2_to_pose3_retreat,0.583981752014,0.0100017960989,1.05004091304,0.554553472855,0.0186766287818,1.04967871389
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+359,5.983333333,pose2_to_pose3_retreat,0.583327669834,0.0100020393625,1.05004103109,0.553899388428,0.0186768645841,1.04967883597
+360,6.000000000,pose2_to_pose3_retreat,0.583045669364,0.0100018452686,1.05004080359,0.553617389029,0.0186766742522,1.04967861145
+361,6.016666667,pose2_to_pose3_retreat,0.582793099953,0.0100019035032,1.0500407393,0.553364820107,0.0186767336189,1.04967853466
+362,6.033333333,pose2_to_pose3_retreat,0.582562954727,0.0100018488263,1.05004073707,0.553134674986,0.0186766790942,1.04967852759
+363,6.050000000,pose2_to_pose3_retreat,0.582350053855,0.0100019256056,1.0500407986,0.552921773642,0.0186767542932,1.04967858961
+364,6.066666667,pose2_to_pose3_retreat,0.582150082917,0.0100019661354,1.05004089046,0.552721803042,0.0186767960566,1.04967868362
+365,6.083333333,pose2_to_pose3_retreat,0.581961787269,0.0100017936964,1.05004089927,0.55253350814,0.0186766262308,1.04967869437
+366,6.100000000,pose2_to_pose3_retreat,0.581786214664,0.0100018609042,1.05004075068,0.552357932483,0.0186766831158,1.0496785466
+367,6.116666667,pose2_to_pose3_retreat,0.581627200787,0.0100017886918,1.05004095149,0.552198921761,0.0186766214427,1.04967874349
+368,6.133333333,pose2_to_pose3_retreat,0.581485123966,0.0100019382494,1.05004072624,0.552056842314,0.0186767621854,1.04967852051
+369,6.150000000,pose2_to_pose3_retreat,0.581362236228,0.0100017991897,1.05004082223,0.551933957265,0.0186766322932,1.0496786177
+370,6.166666667,pose2_to_pose3_retreat,0.581255931169,0.0100018631701,1.05004075273,0.551827649326,0.0186766863941,1.04967854572
+371,6.183333333,pose2_to_pose3_retreat,0.58116521605,0.0100019126017,1.05004084985,0.551736934245,0.0186767362324,1.04967864993
+372,6.200000000,pose2_to_pose3_retreat,0.581085407545,0.0100018927733,1.05004093874,0.551657127742,0.0186767231441,1.04967873769
+373,6.216666667,pose2_to_pose3_retreat,0.581015486595,0.0100018314014,1.05004090955,0.551587207926,0.0186766654421,1.04967870414
+374,6.233333333,pose2_to_pose3_retreat,0.580955081803,0.010001815341,1.05004088282,0.551526801825,0.0186766449248,1.04967867695
+375,6.250000000,pose2_to_pose3_retreat,0.580903451835,0.010001877702,1.05004094171,0.551475170241,0.0186767016866,1.04967873302
+376,6.266666667,pose2_to_pose3_retreat,0.580860994994,0.0100018610391,1.05004087976,0.55143271529,0.0186766914582,1.0496786716
+377,6.283333333,pose2_to_pose3_retreat,0.580827497877,0.0100017515507,1.05004097663,0.551399219741,0.0186765874151,1.04967877143
+378,6.300000000,pose2_to_pose3_retreat,0.580803567765,0.0100018726498,1.05004109364,0.551375286774,0.0186766987158,1.04967888568
+379,6.316666667,pose2_to_pose3_retreat,0.580785577728,0.0100019585957,1.0500411076,0.551357296096,0.0186767824351,1.0496788984
+380,6.333333333,pose2_to_pose3_retreat,0.580772829761,0.0100018836308,1.05004088513,0.551344549396,0.0186767116901,1.0496786741
+381,6.350000000,pose2_to_pose3_retreat,0.580763429838,0.0100018212021,1.05004083582,0.551335150417,0.0186766524281,1.04967862395
+382,6.366666667,pose2_to_pose3_retreat,0.580756528015,0.0100018065233,1.05004096071,0.551328248825,0.018676638567,1.04967874967
+383,6.383333333,pose2_to_pose3_retreat,0.580751835401,0.0100018404482,1.05004075509,0.55132355606,0.0186766723388,1.04967855271
+384,6.400000000,pose2_to_pose3_retreat,0.580748746083,0.010001841215,1.05004064104,0.551320466175,0.0186766713188,1.04967844185
+385,6.416666667,pose2_to_pose3_retreat,0.580747024676,0.0100018304806,1.0500405885,0.551318744213,0.0186766587164,1.04967838982
+386,6.433333333,pose2_to_pose3_retreat,0.5807463498,0.0100018278905,1.05004060576,0.55131806923,0.018676655768,1.04967840714
+387,6.450000000,pose2_to_pose3_retreat,0.580746315735,0.0100018279758,1.05004061168,0.551318035174,0.0186766558852,1.04967841305
+388,6.466666667,pose2_to_pose3_retreat,0.580746121006,0.0100018284637,1.05004064555,0.551317840501,0.0186766565554,1.04967844684
+389,6.483333333,pose2_to_pose3_retreat,0.580745948857,0.010001828895,1.05004067549,0.5513176684,0.0186766571479,1.04967847671
+390,6.500000000,pose2_to_pose3_retreat,0.580745885104,0.0100018290547,1.05004068658,0.551317604665,0.0186766573673,1.04967848777
+391,6.516666667,pose2_to_pose3_retreat,0.580745808469,0.0100018292467,1.05004069991,0.551317528051,0.018676657631,1.04967850107
+392,6.533333333,pose2_to_pose3_retreat,0.580745686598,0.0100018295521,1.05004072111,0.551317406215,0.0186766580505,1.04967852222
+393,6.550000000,pose2_to_pose3_retreat,0.580745649266,0.0100018296456,1.0500407276,0.551317368894,0.0186766581789,1.0496785287
+394,6.566666667,pose2_to_pose3_retreat,0.580745507717,0.0100018300002,1.05004075222,0.551317227384,0.0186766586661,1.04967855326
+395,6.583333333,pose2_to_pose3_retreat,0.580745207822,0.0100018307516,1.05004080438,0.551316927574,0.0186766596982,1.0496786053
+396,6.600000000,pose2_to_pose3_retreat,0.580744882113,0.0100018315677,1.05004086103,0.551316601956,0.0186766608192,1.04967866181
+397,6.616666667,pose2_to_pose3_retreat,0.580744621921,0.0100018322196,1.05004090628,0.551316341837,0.0186766617146,1.04967870696
+398,6.633333333,pose2_to_pose3_retreat,0.580744612426,0.0100018322434,1.05004090794,0.551316332345,0.0186766617473,1.04967870861
+399,6.650000000,pose2_to_pose3_retreat,0.580744495047,0.0100018325374,1.05004092835,0.551316214999,0.0186766621513,1.04967872898
+400,6.666666667,pose2_to_pose3_retreat,0.580744344826,0.0100018251772,1.05004091655,0.551316064682,0.0186766544108,1.04967871585
+401,6.683333333,pose2_to_pose3_retreat,0.58074416131,0.0100018149547,1.0500408961,0.551315881027,0.0186766436411,1.04967869358
+402,6.700000000,pose2_to_pose3_retreat,0.580743939922,0.0100018026226,1.05004087144,0.551315659471,0.0186766306487,1.04967866672
+403,6.716666667,pose2_to_pose3_retreat,0.580743692197,0.0100018001969,1.05004079951,0.551315411463,0.0186766272412,1.04967859424
+404,6.733333333,pose2_to_pose3_retreat,0.580743523203,0.0100018364257,1.05004060279,0.551315241959,0.0186766619909,1.04967840352
+405,6.750000000,pose2_to_pose3_retreat,0.580743495984,0.0100018422607,1.05004057111,0.551315214659,0.0186766675878,1.0496783728
+406,6.766666667,pose2_to_pose3_retreat,0.580743495984,0.0100018422607,1.05004057111,0.551315214659,0.0186766675877,1.0496783728
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c15459d174efb1724b9c5c9079b92697bb76dd15
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c60c51d0b64a06db424ea9afae9f73f2e40a0fc3c78f261906cf4806870986ab
+size 25825590
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bb77009ae8379d3e78df7aecf4a7f89a40d540ee
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_04/franka_data.csv
@@ -0,0 +1,409 @@
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+27,0.450000000,BASELINE,764.343013556,745,714,679,662,634,879,787,805,652,631,652,0.40096647786,0.00453343588716,0.0598461491939,0.999999947619,0.000190832039783,-0.000260474762035,2.23294764913e-05,1793243130985290496
+28,0.466666667,BASELINE,764,745,714,679,662,634,878.763656387,787,804.763656387,652,631,652,0.400966597845,0.00453308185574,0.059845883204,0.999999947588,0.000190924043347,-0.000260508526241,2.25297631683e-05,1793243131001957376
+29,0.483333333,BASELINE,764,745,714,679,662,634,878.170989537,787,804.170989537,652,631,652,0.400968737029,0.00453173237366,0.059846550304,0.99999994846,0.000188925040875,-0.000258618949016,2.2430305681e-05,1793243131018623744
+30,0.500000000,BASELINE,764,745,714,678.587639903,662,634,878.412360097,786.587639903,804.412360097,652.412360097,631,652,0.40096804686,0.00453134695148,0.0598459981342,0.999999948435,0.00018754184619,-0.000259716762087,2.2494878083e-05,1793243131035290368
+31,0.516666667,BASELINE,764,745,714,678.0080684,662,634,878.9919316,786.0080684,804.9919316,652.9919316,631,652,0.400966209393,0.00453135245421,0.0598449515523,0.999999948041,0.000186408360693,-0.000262025957524,2.26259643635e-05,1793243131051956992
+32,0.533333333,BASELINE,764,745,714,678.56864624,662,634.56864624,879,786.56864624,805,652.43135376,631,652,0.400967496374,0.00453246032599,0.0598468292477,0.999999948595,0.000187322469348,-0.000259282040904,2.22219040436e-05,1793243131068623872
+33,0.550000000,BASELINE,764,745,714,679,662,634.855461838,878.855461838,787,805,652,631,652,0.400967919409,0.00453359256516,0.0598478068204,0.999999948724,0.000188506392495,-0.000257948842227,2.19150032982e-05,1793243131085290496
+34,0.566666667,BASELINE,764,745,714,679,662,634.281892366,878.281892366,787,805,652,631,652,0.400965647068,0.00453475093784,0.0598459900228,0.999999947568,0.000190405397073,-0.000261014820556,2.19189263142e-05,1793243131101957376
+35,0.583333333,BASELINE,764,745,713.699129756,679,662,634,878,787,805,652.300870244,631,652,0.40096447111,0.00453512457902,0.0598451281786,0.999999946943,0.000191453924994,-0.000262638170431,2.19334067171e-05,1793243131118624000
+36,0.600000000,BASELINE,764,745,713.107482336,679,662,634,878,787,805,652.892517664,631,652,0.400964354756,0.00453473981365,0.0598451892526,0.999999946839,0.000191680506782,-0.000262867286984,2.1958090347e-05,1793243131135290624
+37,0.616666667,BASELINE,764,745,713.474627177,679,661.525372823,634.474627177,878.474627177,786.525372823,805,652.525372823,631,651.525372823,0.400964322824,0.00453439578177,0.0598451852898,0.999999947259,0.000190229790844,-0.000262333395043,2.18160802942e-05,1793243131151956992
+38,0.633333333,BASELINE,764.054114401,745.054114401,713.945885599,679,661.054114401,634.945885599,878.945885599,786,804.945885599,652.054114401,631,651.054114401,0.400964375506,0.00453407875421,0.0598451611861,0.999999947731,0.000188650737406,-0.000261687313457,2.16589735418e-05,1793243131168623616
+39,0.650000000,BASELINE,764.62874526,745.62874526,713.37125474,679,661.62874526,634.37125474,878.37125474,786,804.37125474,652.62874526,631,651.62874526,0.400965061803,0.00453393449657,0.059845082225,0.99999994761,0.000189418814208,-0.000261591375709,2.17126005223e-05,1793243131185289984
+40,0.666666667,BASELINE,765,745.797057116,713.202942884,679,662,634.202942884,878.202942884,786,804.202942884,653,631,652,0.400965089297,0.00453350719074,0.059844601861,0.999999947438,0.000189629052845,-0.000262084860039,2.18470213545e-05,1793243131201956608
+41,0.683333333,BASELINE,765,745.22365038,713.77634962,679,662,634.77634962,878.77634962,786,804.77634962,653,631,652,0.400963914174,0.00453256319217,0.0598433887525,0.999999947172,0.000188820980906,-0.000263654310028,2.21289280228e-05,1793243131218623488
+42,0.700000000,BASELINE,765,745,714,679,662,635,879,786.362534612,804.637465388,653,631,652,0.400964970234,0.00453339009177,0.0598442392911,0.999999947485,0.000189244328792,-0.000262160911313,2.20830610088e-05,1793243131235290112
+43,0.716666667,BASELINE,765,745,714,679,662,635,879,786.956890589,804.043109411,653,631,652,0.400967453014,0.00453534938544,0.0598464094211,0.99999994816,0.00019045510338,-0.000258708985705,2.18276003627e-05,1793243131251956992
+44,0.733333333,BASELINE,765,745,714,679,662,635,878.464992025,787,804.535007975,653,631,652,0.400966478441,0.004535063769,0.0598457464243,0.999999947544,0.000191766861024,-0.000260109897356,2.19204074621e-05,1793243131268623616
+45,0.750000000,BASELINE,764.888256989,745,714,679,662,635,878.111743011,787,804.888256989,653,631,652,0.400965544566,0.00453454812727,0.0598450776722,0.999999947055,0.000192562755677,-0.000261391238372,2.20127466979e-05,1793243131285290240
+46,0.766666667,BASELINE,764.311989504,745,714,679,662,635,878.688010496,787,804.311989504,653,631,652,0.400965903858,0.00453380606847,0.0598453060389,0.999999947527,0.000191181337619,-0.000260597866285,2.19899197765e-05,1793243131301956864
+47,0.783333333,BASELINE,764,745,714,679,662,635,879,787,804.261964851,653,631,652,0.400966601071,0.00453368990252,0.0598458510593,0.999999947942,0.000190463710412,-0.000259528846632,2.2016544448e-05,1793243131318623744
+48,0.800000000,BASELINE,764,745,714,679,662,635,879,787,804.833188551,653,631,652,0.40096769721,0.00453431262532,0.0598467699005,0.999999948288,0.000190529711791,-0.000258134415099,2.21015484853e-05,1793243131335290368
+49,0.816666667,BASELINE,764,745.423037733,714,679,662,635,879,787,805,653,631,652.423037733,0.400966832758,0.00453486185308,0.0598462930535,0.999999948092,0.000190404227461,-0.00025899672266,2.19569077217e-05,1793243131351956992
+50,0.833333333,BASELINE,764,745.980184973,714,679,662,635,879,787,805,653,630.980184973,652.980184973,0.400965238744,0.00453531719413,0.0598453056384,0.999999947697,0.000190195786154,-0.00026069047365,2.17328870923e-05,1793243131368623872
+51,0.850000000,BASELINE,764,745.404570012,714,679,662,635,879,787,805,653,630.404570012,652.404570012,0.40096586459,0.00453398939054,0.0598461448987,0.999999948038,0.000189875898719,-0.000259595738921,2.1939248686e-05,1793243131385290496
+52,0.866666667,BASELINE,764.16988788,745.16988788,714,679,662,634.83011212,879,786.83011212,805,653,630.16988788,652,0.400966596678,0.00453303525808,0.059846783611,0.999999948212,0.00019023539849,-0.000258642525056,2.21273188551e-05,1793243131401957120
+53,0.883333333,BASELINE,764.741608941,745.741608941,714,679,662,634.258391059,879,786.258391059,805,653,630.741608941,652,0.400967580061,0.00453296496422,0.0598469479699,0.999999947993,0.000192201842349,-0.000258024048371,2.2272124588e-05,1793243131418623744
+54,0.900000000,BASELINE,764.675842299,745.675842299,714,679,662,634,879,786.324157701,805,652.675842299,631,652,0.400967079037,0.00453256674494,0.0598462613236,0.999999947847,0.000191661867689,-0.000258985240293,2.23379000584e-05,1793243131435290880
+55,0.916666667,BASELINE,764.084364386,745.084364386,714,679,662,634,879,786.915635614,805,652.084364386,631,652,0.400965353881,0.00453189809837,0.0598448728865,0.999999947754,0.000189054947345,-0.000261249123325,2.23385023465e-05,1793243131451958272
+56,0.933333333,BASELINE,764.49719559,745,714,679,661.50280441,634,878.50280441,787,805,652,631,652,0.400965325562,0.00453355349571,0.0598458104382,0.999999947518,0.000191620250808,-0.000260288118088,2.22829780235e-05,1793243131468624384
+57,0.950000000,BASELINE,764.923471162,745,714,679,661.076528838,634.076528838,878,786.923471162,804.923471162,652,631,652,0.40096561043,0.00453516615706,0.0598468714959,0.999999947352,0.000194171480661,-0.000259040015161,2.21868765933e-05,1793243131485290240
+58,0.966666667,BASELINE,764.347899217,745,714,679,661.652100783,634.652100783,878,786.347899217,804.347899217,652,631,652,0.40096609679,0.0045339789142,0.0598462146015,0.999999947867,0.000191019884425,-0.000259418251804,2.18870612086e-05,1793243131501956864
+59,0.983333333,BASELINE,764,745,714,679,661.773323911,634.773323911,878,786.226676089,804,652,631,652,0.400966315674,0.00453300200041,0.0598457688122,0.999999948329,0.000188510132858,-0.000259483798174,2.17854000877e-05,1793243131518623232
+60,1.000000000,BASELINE,764,745,714,679,661.200271448,634.200271448,878,786.799728552,804,652,631,652,0.400966125838,0.00453234648349,0.0598456456057,0.999999948718,0.000186981162821,-0.000259071532747,2.19865320202e-05,1793243131535289856
+61,1.016666667,BASELINE,764.385997438,745,713.614002562,679,661.385997438,634,878,786.614002562,804,652.385997438,631,652,0.400966244967,0.00453288078096,0.0598458990457,0.999999948529,0.000187950033572,-0.000259107193283,2.19207173594e-05,1793243131551956736
+62,1.033333333,BASELINE,764.97936663,745,713.02063337,679,661.97936663,634,878,786.02063337,804,652.97936663,631,652,0.400966530082,0.0045340542897,0.0598463548337,0.999999948025,0.000190260834623,-0.000259383495835,2.17114893433e-05,1793243131568623872
+63,1.050000000,BASELINE,765,745,713.558475172,679,662,634,878.558475172,786.558475172,804.558475172,652.441524828,631,652,0.400966988874,0.00453379558999,0.0598468294977,0.999999948563,0.0001887125182,-0.000258443151935,2.16344063725e-05,1793243131585290240
+64,1.066666667,BASELINE,764.863991094,745,714,679,662,634.136008906,879.136008906,787,805,652.136008906,631,652,0.40096721899,0.00453379589847,0.0598470760644,0.999999948764,0.000188412710245,-0.000257885664673,2.16094946862e-05,1793243131601957120
+65,1.083333333,BASELINE,764.289875217,745,714,679,662,634.710124783,879.710124783,787,805,652.710124783,631,652,0.40096669235,0.00453479671625,0.0598465857022,0.999999947756,0.000192582386269,-0.000258702607869,2.17373004093e-05,1793243131618623744
+66,1.100000000,BASELINE,764,745,714,679,662,635,879.707954847,787,805,653,631,652,0.400966902884,0.0045352839809,0.0598468675089,0.999999947656,0.000193586177041,-0.000258332345351,2.18564862181e-05,1793243131635290368
+67,1.116666667,BASELINE,764,745,714,679,662,635,879.118075311,787,805,653,631,652,0.400967865206,0.00453524751215,0.0598479367913,0.999999948489,0.000191361324745,-0.000256751343012,2.19668812318e-05,1793243131651956992
+68,1.133333333,BASELINE,764.463602287,745,714,679,662,635,879,787,805,653,631,652,0.400967751585,0.00453418900361,0.0598477543805,0.999999948593,0.000190378716894,-0.000257059302071,2.2137530719e-05,1793243131668623872
+69,1.150000000,BASELINE,765,745,713.95705151,679,662,635,879,787,805,653,631,652.04294849,0.400967328362,0.00453298410341,0.0598472209256,0.999999948494,0.000189751036772,-0.000257896734354,2.22744314813e-05,1793243131685290496
+70,1.166666667,BASELINE,765,745,713.381164801,679,662,635,879,787,805,653,631,652.618835199,0.400966404669,0.0045331365689,0.0598462185287,0.999999948121,0.000189669833092,-0.000259438182746,2.18054336899e-05,1793243131701957376
+71,1.183333333,BASELINE,764.805606677,745,713.194393323,679,662,634.805606677,878.805606677,787,805,653,631,652.805606677,0.40096643997,0.00453316074536,0.0598459306374,0.999999948255,0.000189004169727,-0.000259428177266,2.15507324675e-05,1793243131718624000
+72,1.200000000,BASELINE,764.230691652,745,713.769308348,679,662,634.230691652,878.230691652,787,805,653,631,652.230691652,0.400968352484,0.00453293379821,0.0598470413786,0.999999949378,0.000187194436219,-0.000256381226862,2.17155131374e-05,1793243131735290368
+73,1.216666667,BASELINE,764,745.353971067,714,679,662,634.353971067,878,786.646028933,805,652.646028933,631,652,0.400968124643,0.00453358406527,0.0598468933608,0.999999949119,0.000188004337127,-0.000256794045269,2.1748287592e-05,1793243131751956992
+74,1.233333333,BASELINE,764,745.94516646,714,679,662,634.94516646,878,786.05483354,805,652.05483354,631,652,0.400966462377,0.00453482222374,0.0598459017477,0.99999994793,0.000190569864713,-0.000259525531688,2.16925941122e-05,1793243131768623616
+75,1.250000000,BASELINE,764,745.475243961,714,678.475243961,662,635,878.524756039,786.524756039,804.475243961,652,631,652,0.400966427931,0.00453460942863,0.0598458415546,0.999999948007,0.000190193338552,-0.000259506687102,2.16389849884e-05,1793243131785290496
+76,1.266666667,BASELINE,764,745,714,678.102500009,662,635,878.897499991,787,804.102500009,652.102500009,631,652,0.400966638133,0.00453423688678,0.0598461310589,0.999999948243,0.000189701350357,-0.000258961213887,2.16211564216e-05,1793243131801956864
+77,1.283333333,BASELINE,764,745,714,678.677207457,662,635,878.322792543,787,804.677207457,652.677207457,631,652,0.400967208743,0.00453381176951,0.0598475929097,0.999999948603,0.00019006307205,-0.000257284950053,2.17671836785e-05,1793243131818623744
+78,1.300000000,BASELINE,764.25821897,745,713.74178103,679,662,635,878,787,805,653,631,652,0.400967713093,0.004533868193,0.05984815577,0.999999948723,0.000190372117765,-0.000256587872673,2.17972009468e-05,1793243131835290624
+79,1.316666667,BASELINE,764.847308185,745,713.152691815,679,662,635,878,787,805,653,631,652,0.400968132541,0.00453454164132,0.0598475667036,0.999999948536,0.000190613666807,-0.000257145481172,2.16785681898e-05,1793243131851957248
+80,1.333333333,BASELINE,765,745,713.429228815,679,662,634.570771185,878.429228815,787,805,652.570771185,631,652,0.40096791172,0.0045348173825,0.0598473508227,0.999999948379,0.000191091372764,-0.000257391661089,2.18117914975e-05,1793243131868624128
+81,1.350000000,BASELINE,764.991409001,745,714,679,662,634,879,787,805,652,631,652,0.400967458241,0.00453494368139,0.0598472567684,0.99999994823,0.000191641030039,-0.000257543282015,2.20291401406e-05,1793243131885290752
+82,1.366666667,BASELINE,764.41536696,745,714,679,662,634,879,787,805,652,631,652,0.400966434543,0.00453439044717,0.0598465848931,0.999999947976,0.00019148538174,-0.000258646528935,2.19824782365e-05,1793243131901957120
+83,1.383333333,BASELINE,764,745,714,679,661.840298939,634.159701061,879,786.840298939,804.840298939,652.159701061,631,652,0.400965842073,0.00453399141642,0.059846322988,0.999999947896,0.000191151745393,-0.000259208377599,2.19276602498e-05,1793243131918623488
+84,1.400000000,BASELINE,764,745,714,679,661.267748766,634.732251234,879,786.267748766,804.267748766,652.732251234,631,652,0.400966364388,0.00453399102265,0.0598471209117,0.999999948265,0.000190357985537,-0.000258370637882,2.18517576626e-05,1793243131935290112
+85,1.416666667,BASELINE,764,745,714,679,661.316381177,635,879,786,804.316381177,653,631,652,0.400965946677,0.00453323419177,0.0598469932615,0.999999948433,0.000188951795335,-0.000258756085522,2.18512699598e-05,1793243131951956992
+86,1.433333333,BASELINE,764,745,714,679,661.91068318,635,879,786,804.91068318,653,631,652,0.400964703212,0.00453181287882,0.0598460525533,0.999999948418,0.000187007623906,-0.000260216025831,2.1917029461e-05,1793243131968623616
+87,1.450000000,BASELINE,764,745,714,679.491756229,662,635,879,786,804.508243771,652.508243771,631,652,0.400964274367,0.0045329528378,0.0598456132216,0.999999947737,0.000189799062454,-0.000260809595294,2.19382493421e-05,1793243131985290240
+88,1.466666667,BASELINE,764,745.070005427,714,679.929994573,662,634.929994573,878.929994573,786,804.070005427,652.070005427,631,652,0.400964131388,0.0045343635434,0.0598453485529,0.999999947049,0.000193008521674,-0.000261089365117,2.19542784435e-05,1793243132001957120
+89,1.483333333,BASELINE,764,745.644764583,714,679.355235417,662,634.355235417,878.355235417,786,804.644764583,652.644764583,631,652,0.400965010695,0.0045344600731,0.0598457038499,0.999999947241,0.000193192811703,-0.000260211431625,2.19896810236e-05,1793243132018623744
+90,1.500000000,BASELINE,764,745.775196799,714,679,662,634.224803201,878.224803201,786.224803201,805,653,631,652,0.400965396426,0.00453398275962,0.0598457625303,0.999999947455,0.000192344815437,-0.000260010153533,2.2104290752e-05,1793243132035290368
+91,1.516666667,BASELINE,764,745.186614964,714,679,662,634.813385036,878.813385036,786.813385036,805,653,631,652,0.400964983449,0.00453257684775,0.0598453412227,0.999999947698,0.000189826363849,-0.000260903845603,2.23470742224e-05,1793243132051956992
+92,1.533333333,BASELINE,764,745,714,679,662,634.604244823,879,787,805,652.604244823,631,652,0.400964904574,0.0045320639322,0.0598456179514,0.999999947882,0.000189024916951,-0.000260788098744,2.22387375704e-05,1793243132068623616
+93,1.550000000,BASELINE,764,745,714,679,662,634.024758439,879,787,805,652.024758439,631,652,0.400964980808,0.00453196559428,0.0598462187467,0.999999948041,0.000189020597357,-0.00026020371518,2.19673917667e-05,1793243132085290496
+94,1.566666667,BASELINE,764,745,714,679,661.447406146,634.552593854,879.552593854,787,805,652.552593854,630.447406146,652,0.400966718834,0.00453316076894,0.0598467612616,0.999999948444,0.000188926397325,-0.000258747859839,2.16392601204e-05,1793243132101956864
+95,1.583333333,BASELINE,764,745.128946298,714,678.871053702,661.128946298,635,879.742107404,786.871053702,804.871053702,652.871053702,630.128946298,652,0.400967756647,0.00453418198577,0.059847089807,0.999999948658,0.000189056531945,-0.000257837468736,2.14811388254e-05,1793243132118623232
+96,1.600000000,BASELINE,764,745.702182061,714,678.297817939,661.702182061,635,878.595635878,786.297817939,804.297817939,652.297817939,630.702182061,652,0.400966126302,0.00453440490792,0.0598466900745,0.99999994819,0.000189973442098,-0.000258940510475,2.1917527229e-05,1793243132135290368
+97,1.616666667,BASELINE,764.284164628,745.715835372,714,678.284164628,662,635,878.284164628,786.284164628,804,652.284164628,630.715835372,652,0.400965039969,0.00453419773434,0.0598462351524,0.999999948074,0.000189410321807,-0.00025979035148,2.20250674912e-05,1793243132151957248
+98,1.633333333,BASELINE,764.875605354,745.124394646,714,678.875605354,662,635,878.875605354,786.875605354,804,652.875605354,630.124394646,652,0.400964541893,0.0045335254848,0.0598457205521,0.999999948337,0.000187246798259,-0.000260366398545,2.17770139491e-05,1793243132168623872
+99,1.650000000,BASELINE,764.542582915,745,714,679,662,635,879,787,804.457417085,653,630.457417085,652,0.400966065516,0.0045345075996,0.0598466672892,0.999999948188,0.000189821358492,-0.000259062553209,2.1869848734e-05,1793243132185290496
+100,1.666666667,BASELINE,764,745,714,679,662,635,878.963521856,787,805,652.963521856,631,652,0.400967933259,0.0045357233369,0.059847896616,0.999999947964,0.000193205160787,-0.000257406605111,2.204327702e-05,1793243132201956864
+101,1.683333333,BASELINE,764,745,714,679,662,635,878.387214015,787,805,652.387214015,631,652,0.400966924934,0.00453387564326,0.0598475479876,0.999999948459,0.000189889358166,-0.00025794966001,2.20657605356e-05,1793243132218623232
+102,1.700000000,BASELINE,764,745,714,679,662.188794932,635,878,787,804.811205068,652,631,652,0.40096549923,0.00453264304609,0.0598469756874,0.999999948592,0.000187776754224,-0.000258976227839,2.20932000673e-05,1793243132235289856
+103,1.716666667,BASELINE,764,745,714,679,662.764191754,635,878,787,804.235808246,652,631,652,0.400963218844,0.00453267000335,0.0598459453671,0.999999948,0.000188127982096,-0.000260992901701,2.21307882017e-05,1793243132251956480
+104,1.733333333,BASELINE,764.348337198,745,714,679,662.651662802,635,878.348337198,786.651662802,804,652.348337198,631,652,0.400963325008,0.00453344620815,0.0598459320741,0.999999947985,0.000188158577281,-0.000261054837758,2.18188995527e-05,1793243132268623360
+105,1.750000000,BASELINE,764.938557694,745,714,679,662.061442306,635,878.938557694,786.061442306,804,652.938557694,631,652,0.40096508838,0.00453474268604,0.0598466249989,0.999999948371,0.000187966527052,-0.000259759415614,2.12643362894e-05,1793243132285290496
+106,1.766666667,BASELINE,765,745,714,679,662,635,879,786.516548098,804.516548098,652.483451902,631,652,0.40096491328,0.00453339893912,0.0598460773059,0.999999948412,0.00018708083567,-0.000260216102382,2.1562901058e-05,1793243132301957120
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,662,635,878,787,805,652,631,652,0.400965873914,0.00453574115074,0.0598461145602,0.999999947995,0.000190203204185,-0.000259595763086,2.10339307129e-05,1793243132344863744
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.413284522,745,714,679,662,635,878.586715478,786.413284522,805,652.586715478,631,652,0.400966939837,0.0045343622137,0.0598472990796,0.999999948392,0.000190417867138,-0.000257863814734,2.15395316628e-05,1793243132361530112
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714,679,662,635,878.827714006,786,805,653,631,652,0.400967408399,0.00453329866719,0.0598478238601,0.999999948606,0.000190280386708,-0.000257103809198,2.19052729732e-05,1793243132378196736
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,679,662,635,878.244871808,786,805,653,631,652,0.400966453451,0.0045329866936,0.0598467764882,0.999999948389,0.000189303751339,-0.000258659935607,2.19377299363e-05,1793243132394863360
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679,662,634.667330141,878.332669859,786.332669859,805.332669859,652.667330141,631,652,0.400965836834,0.00453287041927,0.0598465254481,0.999999948336,0.000188900426587,-0.000259163482909,2.18687214495e-05,1793243132411529984
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,679,662,634.093628935,878.906371065,786.906371065,805.906371065,652.093628935,631,652,0.400965465349,0.00453289593616,0.0598468513793,0.999999948404,0.000188912486174,-0.000258904398481,2.17261975721e-05,1793243132428197120
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,679,662,634.481604443,879,787,805.518395557,652.481604443,631,652,0.400965272288,0.00453458140193,0.0598465552071,0.999999947959,0.000190972054111,-0.000259116358926,2.16982410638e-05,1793243132444863744
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,679,662,635,878.941101638,787,805,653,631,652,0.400965175542,0.00453622464573,0.059846185701,0.9999999475,0.000192849120404,-0.000259495911396,2.16937560426e-05,1793243132461530624
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,679,662,635,878.347823778,787,805,653,631,652,0.40096563693,0.00453454753767,0.0598462516551,0.999999947873,0.000189447304362,-0.000260562498244,2.16994989856e-05,1793243132478196992
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,713.761688316,679,662,635,878.238311684,787,805,652.761688316,631,652,0.400969976005,0.00453349116917,0.0598483839009,0.999999948914,0.000187529534308,-0.000257926302267,2.18617138098e-05,1793243132494863616
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,713.185674126,679,662,635,878.814325874,787,805,652.185674126,631,652,0.400979810002,0.00453331442743,0.0598534442106,0.999999950873,0.000187714750163,-0.000250043032233,2.22456590374e-05,1793243132511529984
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713.38986936,679,662,634.61013064,879,787,804.61013064,652,631,652,0.401006125102,0.00453319757288,0.0598641823119,0.999999955819,0.000186553544361,-0.00023036184722,2.21978392706e-05,1793243132528196608
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713.965188997,679,662,634.034811003,879,787,804.034811003,652,631,652,0.401040279814,0.00453310920504,0.059877621185,0.999999961666,0.000184751882225,-0.000205068713319,2.19446406326e-05,1793243132544863488
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.539882492,745,714,679.539882492,662,634.539882492,878.460117508,787,804.539882492,652,631,652,0.401099382145,0.0045338273115,0.0598969548454,0.999999967821,0.000186337923021,-0.000170761159629,2.18331454307e-05,1793243132561529856
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.881903451,662,634.881903451,878,787,804.881903451,652.118096549,631,652,0.401161924034,0.00453414129419,0.0599149940129,0.99999997241,0.000187295547957,-0.000140088266027,2.18300557816e-05,1793243132578196480
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.289384267,662,634.289384267,878,787,804.289384267,652.710615733,631,652,0.401231828862,0.0045326231565,0.0599263077512,0.999999974686,0.000184852183531,-0.000126348954175,2.22257951988e-05,1793243132594863104
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,662,634.294929522,878.294929522,787,804.294929522,652.705070478,631,652,0.401309485439,0.0045319701428,0.0599338160018,0.999999976371,0.000183572009955,-0.000114364163486,2.19082525574e-05,1793243132611529728
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,662,634.87141009,878.87141009,787,804.87141009,652.12858991,631,652,0.401394542127,0.00453214300974,0.0599376913872,0.99999997755,0.000183402263174,-0.000104054306891,2.09097834559e-05,1793243132628196352
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.552702888,745,714,679,662,634.552702888,879,786.552702888,805,652,631,652,0.401493177938,0.0045317419206,0.0599401071192,0.999999978393,0.000181407121969,-9.95055772814e-05,2.00842665874e-05,1793243132644862976
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.023563154,745,714,679.023563154,662,634.023563154,878.976436846,786.023563154,805,652,631,652,0.40159700256,0.00453117320115,0.0599422396782,0.999999979188,0.000178861397767,-9.62235529463e-05,1.93058967914e-05,1793243132661529600
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.613024546,745,714,679.613024546,662,634.613024546,878.386975454,786.613024546,805,652,631,652,0.40173181368,0.0045305361104,0.0599476359277,0.9999999809,0.000175678997232,-8.36395416043e-05,1.84673010184e-05,1793243132678196480
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662,635,878.199468638,787,805,652.199468638,631,652,0.401872376197,0.0045306381864,0.0599505409017,0.999999981894,0.000173830316948,-7.54784447963e-05,1.72768260057e-05,1793243132694862848
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662,635,878.780146234,787,805,652.780146234,631,652,0.402023930322,0.00453215290052,0.0599486847431,0.99999998178,0.000174530539557,-7.57700799365e-05,1.54138668415e-05,1793243132711529472
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679.641662957,662,634.641662957,879,787,804.641662957,653,631,652,0.402197393386,0.00453220005407,0.059948100257,0.999999982597,0.000171403761274,-7.24359966728e-05,1.34172904494e-05,1793243132728196352
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.064987318,662,634.064987318,879,787,804.064987318,653,631,652,0.402384205816,0.00453135300742,0.0599482906142,0.999999983929,0.000165945150437,-6.68927243947e-05,1.13392994695e-05,1793243132744863488
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.491085667,745,714,679,662,634,879,787,804.508914333,652.491085667,631,652,0.402603555962,0.00453161372012,0.0599503045351,0.99999998528,0.000161243057979,-5.79726089452e-05,8.91797461891e-06,1793243132761529856
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,679.084929875,662,634,878.915070125,786.915070125,805,652.084929875,631,652,0.402832850849,0.00453197532923,0.0599525639987,0.999999986544,0.000156456599643,-4.89080312931e-05,6.45161441695e-06,1793243132778196480
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,679.675632337,662,634,878.324367663,786.324367663,805,652.675632337,631,652,0.403096758909,0.00453209995035,0.0599549064767,0.99999998779,0.00015059553937,-4.15371980459e-05,3.9767372665e-06,1793243132794863104
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.260896698,745,714,679.739103302,662,634,878,786.260896698,804.739103302,652.739103302,631,652,0.403368222289,0.00453199090179,0.0599537851232,0.999999988607,0.000144958971437,-4.20812504641e-05,1.29021152699e-06,1793243132811529728
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.839537994,745,714,679.160462006,662,634,878,786.839537994,804.160462006,652.160462006,631,652,0.403648887234,0.00453159726826,0.0599484451891,0.999999988889,0.000139595811791,-5.22647973203e-05,-1.65407967038e-06,1793243132828196352
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.584496804,745,713.584496804,679,662,634.415503196,878.415503196,787,804.415503196,652,631,652,0.403957250726,0.00453104923059,0.0599404247008,0.999999989343,0.000131582296886,-6.30458993722e-05,-4.98357919361e-06,1793243132844862976
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.009558476,745,713.009558476,679,662,634.990441524,878.990441524,787,804.990441524,652,631,652,0.40427624258,0.00453044194563,0.0599313756416,0.999999989713,0.00012255179895,-7.40562925378e-05,-8.46088916143e-06,1793243132861529600
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713.578829674,679,662,634.421170326,878.421170326,787,804.421170326,652.578829674,631,652,0.404609398672,0.00453100124164,0.0599169838277,0.999999987927,0.000115461768797,-0.000103316942506,-1.1862436507e-05,1793243132878196480
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,714,679,662,634.164924,878.164924,787,804.164924,653,631,652,0.40496756984,0.00453170843939,0.0599066407134,0.999999986224,0.00010827768506,-0.000124867826662,-1.53471861391e-05,1793243132894863360
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,679,662,634.744676705,878.744676705,787,804.744676705,653,631,652,0.405388058361,0.00453273804258,0.059906708377,0.999999986771,0.000100774516,-0.000126250476585,-1.90444333712e-05,1793243132911529984
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,679,662,635,879,787,804.678139839,653,631,652,0.405839441306,0.00453212375137,0.0599196474907,0.999999989882,9.20019044772e-05,-0.000106150211766,-2.24665400071e-05,1793243132928196608
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,679,662,635,879,787,804.1029783,653,631,652,0.406315137962,0.00453021572851,0.059942716333,0.999999993899,8.22302509554e-05,-6.91430644865e-05,-2.56721135612e-05,1793243132944863232
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,679.482384688,662,634.517615312,879,787,804.482384688,652.517615312,631,652,0.406824382222,0.0045281733255,0.0599701208902,0.999999996821,7.10780465573e-05,-2.14278412041e-05,-2.91040280902e-05,1793243132961529856
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,679.931039508,662,634.068960492,879,787,805,652.068960492,631,652,0.407342189706,0.00452636765728,0.059995556887,0.999999997426,5.99296005332e-05,2.22143047969e-05,-3.26063885268e-05,1793243132978196224
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,679.351949692,662,634.648050308,879,787,805,652.648050308,631,652,0.407869220815,0.00452653000869,0.0599994358342,0.99999999787,5.10361945523e-05,1.84508989737e-05,-3.6264712863e-05,1793243132994863872
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.226744615,745,714,679,662,634.773255385,879,787,805,653,631,652,0.408407902692,0.00452657974179,0.0599958610709,0.999999998293,4.2518746397e-05,2.08982187057e-06,-4.00299767981e-05,1793243133011531008
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.804826055,745,714,679,662,634.195173945,879,787,805,653,631,652,0.408964637196,0.00452645497474,0.0599807369131,0.999999997865,3.45838388304e-05,-3.37911268609e-05,-4.39609415246e-05,1793243133028197632
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.619276214,745,714,679,662,634,879,787,804.619276214,652.619276214,630.619276214,652,0.40955678799,0.00452679689062,0.0599764349829,0.999999997449,2.60045601115e-05,-4.55498546264e-05,-4.84852906329e-05,1793243133044864512
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.044491572,745,714,679,662,634,879,787,804.044491572,652.044491572,630.044491572,652,0.410166991005,0.00452737668209,0.0599776493116,0.99999999742,1.70968356139e-05,-4.50131087738e-05,-5.33120969194e-05,1793243133061531136
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,679.5441498,662.5441498,634.5441498,879,787,804.5441498,652,630,652,0.410819172143,0.00452598331879,0.0599862118938,0.999999998081,7.76683974753e-06,-1.9755781295e-05,-5.82050109069e-05,1793243133078197504
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714,679.868511625,662.868511625,635,879,787,805,652,630.131488375,652,0.411480063541,0.00452461114662,0.0599920778057,0.999999998024,-8.17531840644e-07,-1.84031914321e-06,-6.28283977987e-05,1793243133094864128
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,714,679.289562963,662.289562963,635,879,787,805,652,630.710437037,652,0.412158610777,0.00452387445437,0.0599866688005,0.999999997638,-6.74394676807e-06,-1.59676265909e-05,-6.65156973267e-05,1793243133111530496
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.288838997,745,714,679,662,635,879,787,805,652,631,652,0.412834126563,0.00452700127113,0.0599652725669,0.999999995836,4.5590891546e-05,-5.64635850072e-05,-5.53266645641e-05,1793243133128196864
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.866693988,745,714,679,662,635,879,787,805,652,631,652,0.413506609122,0.00453399396435,0.0599278793074,0.999999979762,0.000156222683905,-0.000123344353941,-2.92521831325e-05,1793243133144863232
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.551783226,634.551783226,879,787,804.551783226,652,631,652,0.414225263569,0.00451857522204,0.0599197989683,0.999999978338,0.000153394530796,-0.000138628814455,-2.39909356406e-05,1793243133161530112
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.030803451,714,679,661.061606902,634.030803451,879,787,804.030803451,652,631,652,0.414964048766,0.0044965261784,0.0599233120952,0.999999983992,0.000116691853596,-0.000133323122002,-2.49864173667e-05,1793243133178196992
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.612747301,714,679,662.225494601,634.612747301,879,787,804.612747301,652,631,652,0.415815292005,0.00447609046361,0.0599769851737,0.999999995576,8.2645800918e-05,-3.64440526936e-05,-2.62593429756e-05,1793243133194863616
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.806489011,746,714,679.193510989,662.806489011,634.806489011,879.193510989,787,805,652,631,652,0.416651155168,0.00446771111342,0.0600142599704,0.999999996946,6.72381697878e-05,2.81358967333e-05,-2.82048011351e-05,1793243133211529984
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.228072772,746,714,679.771927228,662.228072772,634.228072772,879.771927228,787,805,652,631,652,0.417456426361,0.00448331261477,0.0600189175733,0.999999995147,8.89035082419e-05,2.8470904941e-05,-3.14879682531e-05,1793243133228196608
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745.651994524,714,679.651994524,662,634,879.651994524,786.651994524,805.348005476,652,631,652,0.418278705108,0.00448456968956,0.0600089393048,0.999999998133,4.96950503472e-05,1.35371693001e-05,-3.28879268796e-05,1793243133244863744
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745.077438327,714,679.077438327,662,634,879.077438327,786.077438327,805.922561673,652,631,652,0.4191120557,0.0044764885768,0.0599894331195,0.999999998965,-2.91421026472e-05,-1.1336481694e-05,-3.30619210393e-05,1793243133261530368
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.509439527,745,714,679,662.509439527,634,879,786.509439527,805.490560473,652,631,652,0.419915217061,0.00447840402337,0.0599642538894,0.999999994831,-7.89775648094e-05,-5.30283430692e-05,-3.59059729995e-05,1793243133278197248
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.903324511,745,714,679,662.903324511,634,879.096675489,787,805,652,631,652,0.420714056353,0.00448176269956,0.0599372023219,0.99999998781,-0.000113536137324,-9.99961677341e-05,-3.86024612931e-05,1793243133294863872
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.323885311,745,714,679,662.323885311,634,879.676114689,787,805,652,631,652,0.421514796185,0.00448455219726,0.0599052139335,0.99999998197,-9.43671804734e-05,-0.000160227684102,-3.8485072154e-05,1793243133311530752
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.254980298,745,714,679,662,634,880,787,805,652,631,652,0.422365752919,0.00448316064546,0.0598931826615,0.999999979422,-8.60774470275e-05,-0.000179474858378,-3.91913967996e-05,1793243133328197120
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.833119023,745,714,679,662,634,880,787,805,652,631,652,0.423280353953,0.00447647009098,0.0599064447526,0.999999984197,-9.1575885312e-05,-0.000146779065214,-4.09416847637e-05,1793243133344863488
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,662.408375927,634.408375927,879.591624073,787,805,652,631,652,0.424236931914,0.00447676905451,0.059955645371,0.999999993241,-8.49552985607e-05,-6.75730941153e-05,-4.16502479002e-05,1793243133361530112
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,662.982463406,634.982463406,879.017536594,787,805,652,631,652,0.425210543295,0.00447990423822,0.0600194291917,0.99999999596,-7.34170300334e-05,3.05058630077e-05,-4.19360975373e-05,1793243133378196736
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,663,635,879,787,805,652,630.428067109,652,0.426102830453,0.00447646798928,0.060028921398,0.999999995556,-6.82600779113e-05,4.98598046697e-05,-4.17386333058e-05,1793243133394863360
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,662.841180237,634.841180237,879,787,805,652,630.158819763,652,0.426991731796,0.00447348152889,0.0600285059298,0.99999999548,-6.42288689884e-05,5.58386041241e-05,-4.23856418145e-05,1793243133411529984
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,662.262404028,634.262404028,879,787,805,652,630.737595972,652,0.427878456002,0.00447223193459,0.0600064157439,0.999999996467,-6.26427075325e-05,3.30096407495e-05,-4.53059018047e-05,1793243133428196608
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.313735536,662.313735536,634.313735536,879.313735536,787,805,652,631,652,0.428738164225,0.00447252878513,0.0599805846867,0.99999999734,-5.57369842874e-05,-5.03850703695e-06,-4.67829695996e-05,1793243133444863744
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.887688199,662.887688199,634.887688199,879.887688199,787,805,652,631,652,0.429575464929,0.0044741082811,0.0599516508937,0.999999996354,-4.44191338582e-05,-5.57096815984e-05,-4.70630311464e-05,1793243133461531392
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744.536866474,714,680,662.536866474,634.536866474,880,786.536866474,805.463133526,652,631,652,0.430450957077,0.0044720942765,0.0599306158594,0.999999994079,-3.78541004736e-05,-9.05688430881e-05,-4.69675041099e-05,1793243133478197504
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744.040102015,714,680,662.040102015,634.040102015,880,786.040102015,806,651.959897985,631,652,0.431339977766,0.00446914721472,0.0599162692438,0.999999991955,-3.32506558441e-05,-0.000113049708974,-4.69400466873e-05,1793243133494863616
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744.633062202,714,680,662.633062202,634.633062202,880,786.633062202,806,651.366937798,631,652,0.43228741023,0.00446538951234,0.0599676383746,0.999999997844,-3.97491012921e-05,-1.79138992312e-05,-4.91107576746e-05,1793243133511529984
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.780222929,745,714,679.780222929,663,634.780222929,880,787,806,651.219777071,631,652,0.433199561103,0.00446332332593,0.0600010620442,0.999999997098,-4.09376590735e-05,3.98591635964e-05,-5.03942410937e-05,1793243133528196608
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.203646979,745,714,679.203646979,663,634.203646979,880,787,806,651.796353021,631,652,0.434054433938,0.00446400324432,0.0600053520166,0.999999997493,-3.35058379255e-05,3.69753851126e-05,-5.0237348611e-05,1793243133544863232
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.372372672,745,714,679.372372672,662.627627328,634.372372672,880,787,806,652,631,652,0.43489724784,0.00446121083042,0.0599896876846,0.999999998193,-3.21603953967e-05,7.41143820303e-06,-5.02540518819e-05,1793243133561529856
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.948088507,745,714,679.948088507,662.051911493,634.948088507,880,787,806,652,631,652,0.435733476617,0.00445652226489,0.0599631268185,0.999999997475,-3.41385684933e-05,-3.67218641021e-05,-5.03655512704e-05,1793243133578196480
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662.53370855,634.46629145,880,786.46629145,806,651.46629145,631,652,0.43653570189,0.00445726326848,0.0599405464346,0.999999995151,-3.034457142e-05,-7.81655191167e-05,-5.1648272814e-05,1793243133594863104
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,663,634,880,786.118897971,805.881102029,651,631,651.881102029,0.437329249676,0.00445781386681,0.0599196222278,0.999999991228,-2.67490040793e-05,-0.000118536978729,-5.2707332655e-05,1793243133611529728
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,663,634,880,786.698614142,805.301385858,651,631,651.301385858,0.438102226612,0.00445554097996,0.0599035880194,0.999999986148,-2.61396176533e-05,-0.000155785987463,-5.24496650625e-05,1793243133628196352
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662.722259386,634.277740614,879.722259386,786.722259386,805,651.277740614,631,651.277740614,0.438897925443,0.00445183271877,0.0599059354534,0.99999998587,-2.90079034598e-05,-0.000157059266001,-5.24512734284e-05,1793243133644863232
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662.143771499,634.856228501,879.143771499,786.143771499,805,651.856228501,631,651.856228501,0.43971822829,0.00444657018406,0.0599281871751,0.999999990849,-3.56419347151e-05,-0.000119376760278,-5.27336349114e-05,1793243133661529856
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,662.432272181,634.567727819,879.432272181,786.432272181,805.432272181,651.567727819,631,652,0.440535967451,0.00444500030278,0.0599733164137,0.999999996725,-3.50180249726e-05,-5.08278583471e-05,-5.23551992932e-05,1793243133678196480
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.992321302,745,714,680,663,634,880,787,806,651,631,652,0.441351407946,0.00444461043995,0.060025057144,0.999999997796,-3.2004125131e-05,2.65508146671e-05,-5.17602594136e-05,1793243133694863104
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.403972091,745,714,680,663,634,880,787,806,651,631,652,0.442057133287,0.00444110244841,0.0600046044274,0.99999999824,-2.97760441896e-05,-3.15420352335e-07,-5.13194392034e-05,1793243133711529728
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.181803119,745,714,680,663,634,880,787,806,651,631,652,0.442754544763,0.00443821941357,0.059983574955,0.999999997916,-2.79187912153e-05,-2.77802665035e-05,-5.11596708791e-05,1793243133728196352
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.761938783,745,714,680,663,634,880,787,806,651,631,652,0.443433740609,0.00443670566473,0.0599612818007,0.999999996707,-2.6874025809e-05,-5.65566810676e-05,-5.16156901454e-05,1793243133744863232
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680,663,634,880,786.659815491,806,651.340184509,631,652,0.444099722683,0.00443433943136,0.0599549064544,0.99999999605,-3.07084284429e-05,-6.47969830574e-05,-5.25255016592e-05,1793243133761529856
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680,663,634,880,786.08288507,806,651.91711493,631,652,0.444756508806,0.00443137992524,0.0599596088506,0.99999999611,-3.79384092938e-05,-5.874550768e-05,-5.37511225441e-05,1793243133778196736
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680.500500703,662.499499297,634,880,786.500500703,806,652,631,652,0.445377459546,0.00442911311821,0.0599628311073,0.999999989924,-0.000115445274756,-6.24087490178e-05,-5.41285522731e-05,1793243133794864128
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.084677036,714,680.915322964,662,634.084677036,880,787,806,652,631,652,0.445984446081,0.00442721240856,0.0599625018061,0.999999977541,-0.000191921955449,-7.14294000905e-05,-5.46026877038e-05,1793243133811531520
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.667134228,714,680.332865772,662,634.667134228,880,787,806,652,631,652,0.446544685202,0.00442678066355,0.0599427541808,0.999999974535,-0.000193032939041,-0.000102362963099,-5.64818345848e-05,1793243133828197888
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.753216527,714,680,662,634.753216527,880,787,806,652,631,652,0.447102883347,0.00442407354985,0.0599350306337,0.999999972639,-0.000197596516463,-0.000110847058522,-5.82369394257e-05,1793243133844864512
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.177312127,714,680,662,634.177312127,880,787,806,652,631,652,0.447658359516,0.00441833190782,0.0599433429098,0.999999972839,-0.000206764619764,-8.93915875884e-05,-5.98266164149e-05,1793243133861530368
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,662.398542841,634,880,787,806,652,631,652,0.448185411771,0.00441810602583,0.0599556956854,0.999999974075,-0.000208518057476,-6.7535755706e-05,-6.17188545446e-05,1793243133878197248
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662.974375868,634,880,787,806,652,631,652,0.44869981981,0.00442033380711,0.0599698458618,0.999999975514,-0.000206973111633,-4.55018229832e-05,-6.37456859081e-05,1793243133894864128
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.439504316,745,714,680.560495684,662.439504316,634,880,786.439504316,806,652,631,652,0.449115569426,0.00442006275635,0.0599445636772,0.99999997222,-0.000207235185742,-9.18439260078e-05,-6.46354199932e-05,1793243133911530752
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.145981828,745.145981828,714,680.854018172,661.708036344,633.854018172,880,786,806,652,631,652,0.449517316426,0.00441913073254,0.0599142231056,0.999999965794,-0.000208599227696,-0.00014343885276,-6.57480370634e-05,1793243133928197632
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.72814334,745.72814334,714,680.27185666,660.543713319,633.27185666,880,786,806,652,631,652,0.449890953526,0.00441657150109,0.0598742556287,0.99999995478,-0.000213004394981,-0.000201214090251,-6.76848364533e-05,1793243133944864000
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.695353953,745.695353953,714,680,660,633,880,786,806,652,631,652,0.450256464903,0.00441617486099,0.0598481444973,0.999999946564,-0.000213403831067,-0.000237710909773,-6.94637469917e-05,1793243133961530112
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.123808933,745.123808933,714,680,660,633,880,786,806,652,631,652,0.450614857347,0.00441767285717,0.0598341728475,0.999999942703,-0.000210293864992,-0.000255565804119,-7.11043318617e-05,1793243133978196480
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,745,714,680,660,633,880,786,806,652,631,652,0.450962298015,0.00441549937684,0.0598398470874,0.99999995009,-0.000189872212962,-0.000244281208031,-6.39963081138e-05,1793243133994863104
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,745,714,680,660,633,880,786,806,651.974666449,631,652,0.451305075765,0.00441274060061,0.0598506202297,0.999999959696,-0.000163913825706,-0.000225337592569,-5.44444985955e-05,1793243134011529984
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,745,714,680,660,633,880,786,806,651.38007262,631,652,0.451611125208,0.00441964302872,0.0598538967145,0.999999968495,-0.000121109869739,-0.000215352880345,-4.43398666402e-05,1793243134028196864
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,745.208869061,714,680,659.791130939,633,880,786,806,651.208869061,631,652,0.451903224862,0.0044233608707,0.0598582593757,0.999999973362,-9.58537018474e-05,-0.000206450356774,-3.82955473807e-05,1793243134044863488
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,745.787796629,714,680,659.212203371,633,880,786,806,651.787796629,631,652,0.452170609296,0.00442143650158,0.0598645464422,0.999999974159,-0.000101687391017,-0.000199465175411,-3.94449862178e-05,1793243134061530112
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,745.635750266,714,680,658.635750266,632.635750266,880.364249734,786,806,651.635750266,631,652,0.452408595245,0.00441963867411,0.0598642949671,0.999999973345,-0.000107290973359,-0.000200287230823,-4.1029552283e-05,1793243134078196992
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,745.060728944,714,680,658.060728944,632.060728944,880.939271056,786,806,651.060728944,631,652,0.452629569908,0.00441791406925,0.0598602599926,0.999999971582,-0.000112761405894,-0.000205626910565,-4.2865903012e-05,1793243134094863616
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.526001453,745,714,680,658.526001453,632,880.473998547,786.526001453,806,651.526001453,631,652,0.452809411956,0.00441952433362,0.0598513484049,0.999999968559,-0.000115445675852,-0.000217943236291,-4.53406004059e-05,1793243134111530240
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.887550935,632,880,786.887550935,806.112449065,651.887550935,631,652,0.452980748133,0.00442094879165,0.0598428376799,0.999999965432,-0.000117660390143,-0.000230299706343,-4.74832682898e-05,1793243134128196608
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.308020826,632,880,786.308020826,806.691979174,651.308020826,631,652,0.453136928184,0.00441996577484,0.0598383839058,0.99999996308,-0.000119291265485,-0.000239401017482,-4.79336851824e-05,1793243134144863232
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.728683891,745,714,680,658,632,880.271316109,786,806.728683891,651.271316109,631,652,0.453276843027,0.00441912122185,0.0598345422025,0.99999996078,-0.000121024814131,-0.000247876712451,-4.84861423244e-05,1793243134161530112
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.149566141,745,714,680,658,632,880.850433859,786,806.149566141,651.850433859,631,652,0.453398305371,0.00441843375281,0.0598313948791,0.999999958566,-0.000122874843093,-0.000255642660291,-4.91543616645e-05,1793243134178196736
+218,3.633333333,POSE1_TO_POSE2_PRESS,764.423233525,745,714,680.423233525,657.576766475,632,880.576766475,786,806,651.576766475,631,652,0.453509296267,0.00441910680905,0.0598306936899,0.999999957673,-0.000123127180132,-0.000258900790992,-4.96330887415e-05,1793243134194863616
+219,3.650000000,POSE1_TO_POSE2_PRESS,764.993833278,745,714,680.993833278,657.006166722,632,880.006166722,786,806,651.006166722,631,652,0.453616641095,0.00442025358835,0.0598308442233,0.999999957252,-0.00012282321472,-0.000260589338865,-5.00458362494e-05,1793243134211530496
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+221,3.683333333,POSE1_TO_POSE2_PRESS,764.824903325,745,714,680.824903325,657,632,880,786.824903325,806,651.824903325,631,652,0.453769108093,0.00441751851915,0.0598228120153,0.999999953322,-0.000126690639175,-0.000273534463296,-4.98428648834e-05,1793243134244863744
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+223,3.716666667,POSE1_TO_POSE2_PRESS,764,745,714,680,657,632,880,786,806,651.329506076,631,652,0.453882027393,0.0044198752147,0.0598167509205,0.999999950959,-0.000121904691275,-0.000284048756232,-5.03749206543e-05,1793243134278196736
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,745,714,680,657,632,880,786,806,651.903684805,631,652,0.453927226624,0.00441964021072,0.0598157624503,0.999999950112,-0.000123274859213,-0.00028635253811,-5.08171926615e-05,1793243134294863360
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764.945892446,745,714,681,656.945892446,632,880,786.054107554,806.945892446,652,631,652.054107554,0.453996912038,0.00442269791497,0.0598149842053,0.999999950959,-0.000116176082988,-0.000286422006427,-5.04811499089e-05,1793243134328196864
+227,3.783333333,POSE1_TO_POSE2_PRESS,764.351237802,745,714,681,656.351237802,632,880,786.648762198,806.351237802,652,631,652.648762198,0.454018789993,0.00442113806606,0.0598150386794,0.999999950599,-0.000117951127695,-0.000286957505883,-5.0446351874e-05,1793243134344863744
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+229,3.816666667,POSE1_TO_POSE2_PRESS,764.811031235,745,713.188968765,680.188968765,656.811031235,632,880,786.188968765,806,652,631,653,0.45404838746,0.00442084682243,0.0598136939513,0.999999949285,-0.000118585432318,-0.000291248651627,-5.04102332699e-05,1793243134378197248
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+232,3.866666667,POSE1_TO_POSE2_PRESS,764.44141316,744.55858684,714,680,656.55858684,632,880,786,806,651.55858684,631,652,0.454065686429,0.00442352848517,0.0598090192348,0.999999948031,-0.000113348848668,-0.000297508477563,-5.07878439499e-05,1793243134428196608
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+235,3.916666667,POSE1_TO_POSE2_PRESS,764,745,714,680.703016907,656.703016907,632,880,786.703016907,806.296983093,651,631,652,0.454071646599,0.00442273688288,0.0598078785735,0.99999994777,-0.000111358170428,-0.000299382609578,-4.92883883636e-05,1793243134478196480
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,745,714,680.128707971,656.128707971,632,880,786.128707971,806.871292029,651,631,652,0.454070282395,0.00442383218607,0.0598054960872,0.999999946723,-0.000111321087105,-0.000302827461478,-4.95693914592e-05,1793243134494863104
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.976934085,714,680.976934085,656.976934085,632,880.976934085,786.023065915,806,652,630.976934085,652,0.454072120297,0.00442260273431,0.0598046649128,0.999999946797,-0.000110508166982,-0.000302960003137,-4.90872663332e-05,1793243134528197376
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.385133431,714,680.385133431,656.385133431,632,880.385133431,786.614866569,806,652,630.385133431,652,0.454072408023,0.00442388446815,0.0598044687302,0.999999946794,-0.000109643624777,-0.000303200869316,-4.95860180394e-05,1793243134544863488
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764.221371663,745,713.221371663,680,656,632,880.778628337,786.221371663,806,651.221371663,630.778628337,652,0.454072443058,0.00442498465691,0.0598047037552,0.999999946489,-0.000108922151375,-0.000304503511989,-4.93610335136e-05,1793243134578196736
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.354048741,745,713.354048741,680,656,632,880.645951259,786,806.354048741,651.354048741,631,652,0.454071732073,0.00442643471185,0.0598040292644,0.999999946293,-0.000107537196378,-0.000305614925654,-4.94838267464e-05,1793243134594863360
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.928426277,745,713.928426277,680,656,632,880.071573723,786,806.928426277,651.928426277,631,652,0.454070648839,0.0044286644366,0.0598027677398,0.999999946112,-0.000105363632558,-0.000306889455472,-4.99365158445e-05,1793243134611529984
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.517120831,714,680.517120831,656.517120831,632,880,786,806.482879169,652,631,652,0.454070597521,0.00442704668521,0.0598014055015,0.999999945786,-0.000105556281906,-0.000307967236363,-4.94261972502e-05,1793243134628196864
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+247,4.116666667,HOLD_POSE2,765,745,714,680,656,632,880,787,806,651,631,653,0.454069127069,0.00442877991098,0.0597999877711,0.999999945519,-0.000101177280695,-0.000310309248449,-4.93264356624e-05,1793243134699599616
+248,4.133333333,HOLD_POSE2,765,745,714,680.576000951,656,632,880.576000951,786.423999049,806,651,631,652.423999049,0.454069813368,0.0044278077056,0.0597995981809,0.999999945108,-0.000104261168962,-0.000310598679428,-4.94219498338e-05,1793243134716266240
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+250,4.166666667,HOLD_POSE2,765,745,714,680.255464744,656,632,880.255464744,786,806,651.744535256,631,652,0.454071374471,0.00442568341794,0.0598002084845,0.999999944866,-0.000106653643591,-0.00031066135843,-4.8815659887e-05,1793243134749599744
+251,4.183333333,HOLD_POSE2,765,745.328457238,714,680,656.328457238,632,880,786.328457238,806,651.671542762,631,652,0.454071486333,0.0044256234375,0.0598001647473,0.999999944764,-0.000106640367033,-0.000310983601981,-4.88708463743e-05,1793243134766266368
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+254,4.233333333,HOLD_POSE2,764.060292597,746,714,681,656,632,880,786.060292597,806,652,631,652,0.45407057465,0.00442624619825,0.0597996573229,0.999999944728,-0.000104997659819,-0.000311631977718,-4.90310816382e-05,1793243134816267008
+255,4.250000000,HOLD_POSE2,764.633498615,746,714,681,656,632,880,786.633498615,806,652,631,652,0.454071539781,0.00442524493379,0.0597986727105,0.999999944327,-0.00010703340137,-0.000312266891415,-4.87732101398e-05,1793243134832933376
+256,4.266666667,HOLD_POSE2,765,746,714,680.786204123,656,632,880.213795877,787,806.213795877,652,631,652,0.454072272031,0.00442459907559,0.0597983082443,0.999999944214,-0.000107566526012,-0.000312479397064,-4.85511808317e-05,1793243134849599744
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+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,745.481933616,714,681,656,632,880,786.481933616,806,651.518066384,631,652,0.454069397037,0.00442548057617,0.0597970579401,0.999999943555,-0.000103230774317,-0.000316044511173,-4.84699204507e-05,1793243135086584320
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.352226375,714,680.647773625,656.352226375,632,880.352226375,786,806.647773625,651,631,652,0.452902909655,0.00443653983415,0.0597000300814,0.99999989334,-7.55841485235e-05,-0.000453543367237,-4.3657693088e-05,1793243135369917696
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.931827627,714,680.068172373,656.931827627,632,880.931827627,786,806.068172373,651,631,652,0.45271612849,0.00443781455745,0.0596995024883,0.999999893264,-7.00501486124e-05,-0.000454690824223,-4.26687432442e-05,1793243135386584576
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.490271911,714,680,657,632,880.490271911,786.509728089,806,651,631.509728089,652,0.452502764957,0.00443848798068,0.0597004074033,0.999999893498,-6.57172494305e-05,-0.000454978260492,-4.09924760667e-05,1793243135403250944
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,713.980446246,680,662.960892492,634,880,787,805,651.019553754,631,652,0.42922827766,0.00459117596393,0.0598416260597,0.999999944239,0.000219958158216,-0.000249631684293,2.87215020754e-05,1793243136019917312
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764.444390462,745,714,679.444390462,661.888780925,634,879.444390462,787,805,651.555609538,631,652,0.428251829193,0.00459305348075,0.0597919377204,0.999999920416,0.000213352777986,-0.000336047772276,2.68305751124e-05,1793243136036583936
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.705153306,745,714,679,661,634,879.705153306,787,804.294846694,652,631,652,0.426385537752,0.00458917530328,0.0597700645451,0.999999918581,0.000190521443071,-0.000354840386031,2.50511913099e-05,1793243136069917440
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.288837167,661.8665115,634,880,787,804.288837167,652,631,652,0.425485927757,0.00459062779508,0.0597920344925,0.999999930459,0.000188649239446,-0.000320620283614,2.63896738632e-05,1793243136086584064
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,745,713,679,661.983747251,634,879.008126374,787,805,652,631,652,0.412803692289,0.00458925905442,0.0598238512873,0.999999900794,0.000319903836716,-0.000308063883207,3.42006857262e-05,1793243136336583680
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.936662855,661.063337145,634,879,787,804,652,631,652,0.408282044548,0.00457725980816,0.0598618293561,0.999999941889,0.000235997590386,-0.000243492315477,3.51918199279e-05,1793243136453250816
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,661.7874393,634,879,787,804,652,631,652,0.4071817681,0.00457549821962,0.0598380620446,0.999999938879,0.000214960042449,-0.000273791738586,3.27399576794e-05,1793243136486583808
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,661.392537523,634.392537523,879,787,804.392537523,652,631,652,0.406177897416,0.0045696627405,0.0598300051488,0.999999941752,0.000195575807552,-0.000277847573068,3.23573014563e-05,1793243136519917056
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,661.968353402,634.968353402,879,787,804.968353402,652,631,652,0.40572068392,0.00456994663128,0.0598351622498,0.999999945067,0.000190194176143,-0.000269525767567,3.23829329778e-05,1793243136536583936
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.544758278,662,634.455241722,878.455241722,787,804.455241722,652,631,652,0.405289403475,0.00456716084384,0.0598319997757,0.999999946027,0.000182883457143,-0.000270954014007,3.29067164439e-05,1793243136553250816
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.876089097,661.876089097,634.123910903,878.123910903,786.876089097,804.123910903,652.123910903,631,652,0.404864520569,0.00456493701025,0.0598240576309,0.999999944229,0.000176976860933,-0.000281266109193,3.33323412825e-05,1793243136569917440
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.286743873,661.286743873,634.713256127,878.713256127,786.286743873,804.713256127,652.713256127,631,652,0.404458003049,0.00456549454324,0.0597999794472,0.999999931717,0.000176765829888,-0.0003228178816,3.32804439195e-05,1793243136586584320
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,745,713.122964507,679,661,634.122964507,879,786.877035493,804.122964507,653,631,652,0.403716901948,0.0045639929606,0.0597699713642,0.999999915696,0.000176484201195,-0.000369161993459,3.436151775e-05,1793243136619917312
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,745,713.45419107,679,661.45419107,634,879,786.54580893,804,652.54580893,631,652,0.403431879576,0.00456224285158,0.0597835607771,0.999999925092,0.000174744691416,-0.000343536992144,3.55467810839e-05,1793243136636583936
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,661.969592065,634.030407935,879,786.030407935,804.030407935,652.030407935,631,652,0.403168630376,0.00456049698131,0.0598041037884,0.999999937413,0.000172992939923,-0.000306414980244,3.6854683306e-05,1793243136653250560
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,661.398868721,634.601131279,879,786.601131279,804.601131279,652.601131279,631,652,0.402938267799,0.0045615961633,0.0598253179116,0.999999946768,0.000178783057676,-0.000270267207683,3.81676088269e-05,1793243136669917440
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,661,634.820846714,878.820846714,786.820846714,805,652.820846714,631,652,0.402710431812,0.00456112153096,0.0598416502365,0.999999952823,0.000181698072271,-0.000244491736553,3.95397171152e-05,1793243136686584064
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,661,634.225884839,878.225884839,786.225884839,805,652.225884839,631,652,0.402488459985,0.00455699412977,0.059846652073,0.999999953853,0.000177940071405,-0.00024279002453,4.10491864808e-05,1793243136703250688
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.359755552,745,714,679,661,634,878.359755552,786,804.640244448,652,631,652,0.402273929311,0.00455601833375,0.0598434826669,0.999999951277,0.000178589273839,-0.000252597238607,4.17875737003e-05,1793243136719917312
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.939691006,745,714,679,661,634,878.939691006,786,804.060308994,652,631,652,0.402063952796,0.00455697140298,0.059835312245,0.999999946264,0.000181935800724,-0.000269448219298,4.2054038411e-05,1793243136736583936
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.485976216,745,714,679,661,634.514023784,878.485976216,786.514023784,804,652,631,652,0.401899946305,0.00455665410656,0.0598323735503,0.999999943989,0.000182338211325,-0.000277467110086,4.22612182743e-05,1793243136753250560
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,661.087636134,634.912363866,878.175272269,787,804,652,630.912363866,652,0.401746286291,0.0045556344226,0.0598306120857,0.999999944371,0.00017164980576,-0.000283228844211,3.97083795889e-05,1793243136769916928
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,661.66085991,634.33914009,879.32171982,787,804,652,630.33914009,652,0.401620392447,0.00455153980864,0.0598320090971,0.999999954811,0.000101401063058,-0.000282163657118,2.19005354735e-05,1793243136786583808
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,745,713.756937932,679,661.756937932,634,879.756937932,787,804,652.243062068,630.243062068,652,0.401506561068,0.00454551417412,0.0598334085397,0.999999959149,5.66223311993e-05,-0.000279907844751,1.21529189719e-05,1793243136803250688
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,745,713.998052247,679,661,634.998052247,878.001947753,787,805.996104494,653,631,652,0.401246592872,0.00454413074362,0.0598381104011,0.999999960085,7.30432924272e-05,-0.000272553374172,1.44770765423e-05,1793243136853250816
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..abaf09b8f5e77955bb8f68f7aec44ca165a5ca61
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_04/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e1dba1262dbb5f6f76bb6e1e221a233f4fa32e0e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce549b639b9438fc6a0a96858a170a4d6c2bc1c9e48fa5fee6e4b1b0c189d79e
+size 25949651
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aea9e8d8e03672d145794f882a27334513e0138a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+7,0.116666667,BASELINE,764,745,714,679,661.94003496,635,878.94003496,787,804,652,630.94003496,652,0.400962240135,0.00453411985018,0.059841740314,0.999999945292,0.000194427254918,-0.000266909239152,1.93446305748e-05,1793243137630693888
+8,0.133333333,BASELINE,764,745,714,679,661.349818723,635,878.349818723,787,804,652,630.349818723,652,0.400963596522,0.00453595157532,0.059843028058,0.999999945701,0.00019565808575,-0.000264481962986,1.91149792694e-05,1793243137647360512
+9,0.150000000,BASELINE,764,745,714,679,661.235922422,635,878.235922422,787,804,652,630.235922422,652,0.400964104817,0.00453738987338,0.0598436387426,0.999999945658,0.000197156537456,-0.000263545876876,1.88980214316e-05,1793243137664027136
+10,0.166666667,BASELINE,764,745,714,679,661.815151507,635,878.815151507,787,804,652,630.815151507,652,0.400963378995,0.00453825566896,0.0598432641922,0.999999944962,0.000199044422279,-0.000264779722408,1.86995347363e-05,1793243137680694016
+11,0.183333333,BASELINE,764.39176392,745,714.39176392,679,662,634.60823608,879,786.60823608,804.39176392,652.39176392,631,652,0.400962388713,0.00453917655099,0.0598426343941,0.999999944384,0.000200154346182,-0.000266138753752,1.84481699375e-05,1793243137697360896
+12,0.200000000,BASELINE,764.967149936,745,714.967149936,679,662,634.032850064,879,786.032850064,804.967149936,652.967149936,631,652,0.400961274476,0.00454012325246,0.0598418849599,0.999999943861,0.000200899635313,-0.000267556460544,1.81720208375e-05,1793243137714027520
+13,0.216666667,BASELINE,764.45879721,745,714.45879721,679,662,634,878.45879721,786.54120279,805,653,631,652,0.400962909652,0.00453884164581,0.0598431455268,0.999999944587,0.000199647088729,-0.000265747274709,1.85792813515e-05,1793243137730693888
+14,0.233333333,BASELINE,764,745,714,679,662.119015855,634,878,787,804.880984145,653,630.880984145,652,0.400964482972,0.00453784870097,0.0598442915309,0.999999945318,0.000198394266501,-0.000263906757084,1.88706267166e-05,1793243137747360768
+15,0.250000000,BASELINE,764,745,714,679,662.712129387,634,878,787,804.287870613,653,630.287870613,652,0.400965146739,0.00453854309499,0.0598444963717,0.99999994579,0.000197622216491,-0.000262719743882,1.85353902561e-05,1793243137764027392
+16,0.266666667,BASELINE,764.29597655,745,714,679,662.70402345,634,878,787,804,653,630.29597655,652,0.400964779147,0.0045380759091,0.0598441910517,0.999999945844,0.00019701247318,-0.000262969724094,1.85666759471e-05,1793243137780694784
+17,0.283333333,BASELINE,764.871084687,745,714,679,662.128915313,634,878,787,804,653,630.871084687,652,0.400963438896,0.00453651325244,0.0598434046057,0.999999945504,0.000196555799224,-0.000264574913939,1.89436238719e-05,1793243137797362432
+18,0.300000000,BASELINE,764.546763822,745.453236178,714,679,661.546763822,634,878.453236178,786.546763822,804.453236178,652.546763822,631,652,0.400962854422,0.00453652160134,0.0598430948136,0.999999945436,0.000195941592926,-0.000265284492468,1.89518180467e-05,1793243137814028288
+19,0.316666667,BASELINE,764,746,714,679,661,634.037102534,879,786.037102534,805,652,631,652,0.400962506386,0.00453707691824,0.0598429396533,0.999999945399,0.000195561590799,-0.000265711147427,1.88382129937e-05,1793243137830694144
+20,0.333333333,BASELINE,764,746,714,679,661,634.616291869,879,786.616291869,805,652,631,652,0.400962422447,0.00453899201374,0.0598430316367,0.999999944654,0.000199268422717,-0.000265784798415,1.85016832434e-05,1793243137847360768
+21,0.350000000,BASELINE,764,745.803999182,714,679,661.196000818,635,879,787,805,652.196000818,631,652,0.400962298921,0.00453989133695,0.0598431743996,0.99999994423,0.000201386410124,-0.000265789409992,1.84281910807e-05,1793243137864027904
+22,0.366666667,BASELINE,764,745.223270356,714,679,661.776729644,635,879,787,805,652.776729644,631,652,0.40096209769,0.00453879681086,0.0598434168368,0.999999944458,0.0002003856704,-0.000265658504806,1.88710127567e-05,1793243137880694784
+23,0.383333333,BASELINE,764,745.355034391,714,679,662,634.644965609,879,786.644965609,805,653,631,652,0.400963240927,0.00453839903969,0.0598440631585,0.999999944955,0.000199414546386,-0.000264509833647,1.89120299858e-05,1793243137897361152
+24,0.400000000,BASELINE,764,745.931825104,714,679,662,634.068174896,879,786.068174896,805,653,631,652,0.400965223927,0.00453843646515,0.0598449617487,0.999999945619,0.000198461920397,-0.000262725460572,1.8702078117e-05,1793243137914027776
+25,0.416666667,BASELINE,764.504469569,745.495530431,714,679,661.495530431,634.504469569,879,786.504469569,805,652.495530431,631,652,0.400965360133,0.0045381167225,0.0598450293629,0.999999945751,0.000197709970127,-0.000262796995799,1.86357867678e-05,1793243137930694400
+26,0.433333333,BASELINE,764.920241541,745.079758459,714,679,661.079758459,635,879,787,805,652,631,652,0.400964995413,0.00453778292145,0.0598447678204,0.99999994572,0.000197107416719,-0.000263365702526,1.86132423777e-05,1793243137947360768
+27,0.450000000,BASELINE,764.324238869,745.675761131,714,679,661.675761131,635,879,787,805,652,631,652,0.400962990664,0.00453766800035,0.059843096724,0.999999945105,0.000197297744743,-0.000265542237212,1.87492163144e-05,1793243137964027392
+28,0.466666667,BASELINE,764,745.737518012,714,679,662,634.737518012,879.262481988,787,805,652.262481988,631,652,0.400962790436,0.00453736422185,0.059843038953,0.999999945337,0.000196430619543,-0.000265304012955,1.884919379e-05,1793243137980694272
+29,0.483333333,BASELINE,764,745.161871235,714,679,662,634.161871235,879.838128765,787,805,652.838128765,631,652,0.400964743168,0.0045368351194,0.0598449060252,0.999999946574,0.000194301856848,-0.000262184762417,1.89062242185e-05,1793243137997361152
+30,0.500000000,BASELINE,764,745.413755154,714,679,662,634,879.586244846,787,805,652.586244846,631,652,0.400964393147,0.00453732630687,0.0598448416872,0.999999946256,0.000195365520776,-0.00026260627938,1.89036632379e-05,1793243138014027776
+31,0.516666667,BASELINE,764,745.989373555,714,679,662,634,879.010626445,787,805,652.010626445,631,652,0.400963142277,0.00453821663727,0.0598440217711,0.999999945326,0.000197678079256,-0.000264412963746,1.88777897755e-05,1793243138030694656
+32,0.533333333,BASELINE,764.580405424,745.419594576,714,679,662,634.580405424,879,787,805,652,631,652,0.400965353227,0.00453739013796,0.0598449956482,0.999999946276,0.000196594119924,-0.000261636566336,1.85599511582e-05,1793243138047361024
+33,0.550000000,BASELINE,764.832329478,745,714,679,662,635,878.832329478,787,805,652,631.167670522,652,0.400966420457,0.00453650754936,0.0598455378961,0.999999946967,0.000195254062943,-0.00025999947458,1.84717276511e-05,1793243138064027904
+34,0.566666667,BASELINE,764.254976448,745,714,679,662,635,878.254976448,787,805,652,631.745023552,652,0.400964534057,0.00453556681113,0.059844943076,0.999999946956,0.000193444351002,-0.000261356755219,1.89579581334e-05,1793243138080695552
+35,0.583333333,BASELINE,764,745,714,679,661.67907878,635,878.32092122,787,805,652.32092122,631.67907878,652,0.400964006807,0.00453544889188,0.0598448771776,0.999999946885,0.000193238200577,-0.000261769733414,1.91073938715e-05,1793243138097362432
+36,0.600000000,BASELINE,764,745,714,679,661.104332136,635,878.895667864,787,805,652.895667864,631.104332136,652,0.400964554546,0.00453598176271,0.0598452296181,0.999999946769,0.000194300350889,-0.000261435836966,1.899044943e-05,1793243138114028800
+37,0.616666667,BASELINE,764,745,714,679,661.463113618,635,879,787,805,653,631,652,0.400965071151,0.00453765893561,0.059845216548,0.999999946139,0.000197301322388,-0.000261610685922,1.87975316442e-05,1793243138130695424
+38,0.633333333,BASELINE,764.030729198,745,714,679,662,635,879,787,805,652.969270802,631,652,0.400965487378,0.00453949218672,0.0598451105832,0.999999945402,0.00020063755304,-0.000261904105365,1.86008464209e-05,1793243138147362048
+39,0.650000000,BASELINE,764.631535708,745,714,679,662,635,879,787,805,652.368464292,631,652,0.400964169518,0.00453951268658,0.0598447851693,0.999999944979,0.000202216065904,-0.000262303956604,1.86468631581e-05,1793243138164028160
+40,0.666666667,BASELINE,765,745,714,679,662,635,879,787,804.776805651,652,631,652,0.400963633782,0.0045393003554,0.0598445016562,0.999999944885,0.000202389336856,-0.000262528879876,1.8649823354e-05,1793243138180694528
+41,0.683333333,BASELINE,765,745,714,679,662,635,879,787,804.199654367,652,631,652,0.400964338393,0.00453871878477,0.0598442845924,0.999999945314,0.000200334078529,-0.000262476390335,1.85845015256e-05,1793243138197360896
+42,0.700000000,BASELINE,765,745,714,679,662,634.623633667,879,787,804,652.376366333,631,652,0.400964655412,0.00453824766513,0.059844822346,0.999999945794,0.000198629742983,-0.000261937820313,1.86437462633e-05,1793243138214027520
+43,0.716666667,BASELINE,765,745,714,679,662,634.048210941,879,787,804,652.951789059,631,652,0.400964767439,0.00453783496192,0.0598457593152,0.9999999463,0.000197111007055,-0.000261142167179,1.87688730155e-05,1793243138230694144
+44,0.733333333,BASELINE,764.460262495,745,713.460262495,679,662,634.539737505,878.460262495,786.460262495,804,652.460262495,631,652,0.400964558693,0.00453777871669,0.0598448986378,0.999999945749,0.000198043068991,-0.000262532786335,1.8885611352e-05,1793243138247361024
+45,0.750000000,BASELINE,764,745,713,679,662,634.873337114,878,786.126662886,804.126662886,652,631,652,0.400964484874,0.00453764834964,0.0598442056959,0.999999945476,0.000198209361197,-0.000263440189983,1.89645015663e-05,1793243138264027904
+46,0.766666667,BASELINE,764,745,713,679,662,634.294158976,878,786.705841024,804.705841024,652,631,652,0.400964997883,0.00453713672178,0.0598446992898,0.999999946542,0.000194839200838,-0.000261907012455,1.8910916188e-05,1793243138280694272
+47,0.783333333,BASELINE,764,745,713.282571282,679,662.282571282,634,878.282571282,787,805,652.282571282,631,652,0.400964830323,0.00453712492362,0.0598449504929,0.999999946692,0.000194834742148,-0.000261338522163,1.89104113196e-05,1793243138297360640
+48,0.800000000,BASELINE,764,745,713.856775232,679,662.856775232,634,878.856775232,787,805,652.856775232,631,652,0.400963960367,0.00453762898344,0.0598449515324,0.999999945897,0.000198303914728,-0.000261765654137,1.89646891197e-05,1793243138314027264
+49,0.816666667,BASELINE,764,745,714,679,662.568375501,634.431624499,879,787,805,653,631,652,0.400965500281,0.00453736658376,0.0598460136118,0.999999946387,0.000198090482681,-0.000260046382604,1.90079489446e-05,1793243138330694144
+50,0.833333333,BASELINE,764.00687763,745,714,679,662,635,879,787,805,652.99312237,631,652,0.40096778082,0.0045368611005,0.0598473848392,0.99999994728,0.000196663904695,-0.000257684179794,1.90435205747e-05,1793243138347360512
+51,0.850000000,BASELINE,764.598230129,745,714,679,662,635,879,787,805,652.401769871,631,652,0.400964942638,0.00453734390312,0.0598450626557,0.999999946449,0.000196144274749,-0.000261302176731,1.87368990803e-05,1793243138364027392
+52,0.866666667,BASELINE,764.814432639,745,714,679,662,635,879,787,805,652.185567361,631,652,0.400963317049,0.00453781506337,0.0598436298135,0.999999945846,0.00019631843439,-0.000263481515666,1.85810427019e-05,1793243138380694016
+53,0.883333333,BASELINE,764.235604732,745,714,679,662,635,879,787,805,652.764395268,631,652,0.400964261227,0.0045382615507,0.0598440816932,0.999999945747,0.000197962896122,-0.000262612002314,1.87446928092e-05,1793243138397360640
+54,0.900000000,BASELINE,764,745,714,679,662,635,879,786.66044524,805,652.66044524,631,652,0.400965082123,0.00453782054979,0.0598448206928,0.999999946249,0.000196952240459,-0.000261456440366,1.87617233495e-05,1793243138414027264
+55,0.916666667,BASELINE,764,745,714,679,662,635,879,786.087803947,805,652.087803947,631,652,0.400965818392,0.00453677033475,0.0598457567851,0.999999947157,0.0001941189859,-0.000260104521095,1.86781072405e-05,1793243138430694144
+56,0.933333333,BASELINE,764.502690083,745,714,679,662,635,879,786,805,652,631,652,0.400965524233,0.00453755369942,0.0598459147675,0.999999946706,0.000196502240066,-0.000260055975749,1.86127180051e-05,1793243138447360512
+57,0.950000000,BASELINE,765,745,714,679,661.905892121,634.905892121,879,786.094107879,804.905892121,652,631,652,0.400964916938,0.00453850456943,0.0598458400319,0.999999946083,0.000199212365473,-0.000260390027869,1.8583336601e-05,1793243138464027392
+58,0.966666667,BASELINE,765,745,714,679,661.32638597,634.32638597,879,786.67361403,804.32638597,652,631,652,0.400963657031,0.0045386066791,0.0598452917882,0.999999945891,0.000198735750907,-0.000261480003596,1.87226541236e-05,1793243138480694016
+59,0.983333333,BASELINE,764.747893099,745,714,679,661,634,879,787,804.252106901,652.252106901,631,652,0.400963814869,0.00453797201057,0.0598454242085,0.999999946257,0.000197040934763,-0.000261360970951,1.87621834681e-05,1793243138497360896
+60,1.000000000,BASELINE,764.170706723,745,714,679,661,634,879,787,804.829293277,652.829293277,631,652,0.400965800822,0.0045363873027,0.0598464343113,0.999999947334,0.000193775307401,-0.000259682981491,1.86730408732e-05,1793243138514027520
+61,1.016666667,BASELINE,764.405961231,745,714,679,661.405961231,634.405961231,879,787,805,653,631,652,0.400965640985,0.00453738353387,0.0598460159753,0.999999946898,0.000195604594287,-0.000259985479627,1.87158622723e-05,1793243138530693888
+62,1.033333333,BASELINE,764.982411431,745,714,679,661.982411431,634.982411431,879,787,805,653,631,652,0.400964579996,0.00453946366578,0.0598449977469,0.999999945816,0.000199573560271,-0.000261119710706,1.88141037602e-05,1793243138547360512
+63,1.050000000,BASELINE,764.429744822,745,714,679,662,635,879,787,805,653,631,652,0.400965250571,0.00453955023433,0.0598459809234,0.999999946101,0.000199791587409,-0.000259872804201,1.86255440301e-05,1793243138564027392
+64,1.066666667,BASELINE,764,745,714,679,662,635,879,787,805,653,631,652,0.400965937734,0.00453900943348,0.0598466462517,0.999999946479,0.000199086463559,-0.000258969835423,1.84873581265e-05,1793243138580694016
+65,1.083333333,BASELINE,764,745,714,679,662,635,879,787,805,653,631,652,0.400966522089,0.00453693733364,0.0598462787314,0.999999946989,0.00019619786513,-0.00025920288295,1.85102682449e-05,1793243138597360640
+66,1.100000000,BASELINE,764,745,714,679,662,635,879,787,805,653,631,652,0.40096571905,0.00453706899223,0.059845899133,0.99999994677,0.000196340008195,-0.000259933008939,1.85812567214e-05,1793243138614027008
+67,1.116666667,BASELINE,764,745,714,679,662,635,879,787,805,653,631,652,0.400963741234,0.0045390666864,0.0598455093076,0.999999945933,0.000199048435908,-0.000261084036782,1.86929556121e-05,1793243138630693888
+68,1.133333333,BASELINE,764,745,714,679,661.530245216,635,879,787,805,653,630.530245216,652,0.400963580084,0.00453884431275,0.0598453129221,0.999999945835,0.0001994089889,-0.000261171656616,1.8856297237e-05,1793243138647360512
+69,1.150000000,BASELINE,764.059331846,745,714,679,661.059331846,634.940668154,878.940668154,787,805,652.940668154,630.059331846,652,0.400963876175,0.00453803930737,0.0598451552149,0.999999945958,0.000198955725336,-0.000261034614121,1.90036390985e-05,1793243138664027136
+70,1.166666667,BASELINE,764.636693876,745,714,679,661.636693876,634.363306124,878.363306124,787,805,652.363306124,630.636693876,652,0.400964071385,0.0045371492767,0.0598448993768,0.999999946331,0.000196686904494,-0.000261331963783,1.88949311468e-05,1793243138680693760
+71,1.183333333,BASELINE,765,745,714,679,661.786194908,634.213805092,878,787,804.786194908,652,631,652,0.400964154386,0.0045372639147,0.0598447535116,0.999999946347,0.000196306833564,-0.000261568889947,1.8770721003e-05,1793243138697360640
+72,1.200000000,BASELINE,765,745,714,679,661.209509292,634.790490708,878,787,804.209509292,652,631,652,0.400964046942,0.0045390837257,0.0598447942979,0.999999945755,0.000199132441568,-0.000261703262425,1.86201997584e-05,1793243138714027520
+73,1.216666667,BASELINE,764.63269483,745,714,679,661,634.63269483,878,786.63269483,804.36730517,652.36730517,631,652,0.400964323587,0.00453895557857,0.0598451232296,0.999999945828,0.000199257785432,-0.000261318623706,1.87919523728e-05,1793243138730694144
+74,1.233333333,BASELINE,764.055806884,745,714,679,661,634.055806884,878,786.055806884,804.944193116,652.944193116,631,652,0.400964819391,0.00453771593467,0.0598456165759,0.99999994628,0.000197842369831,-0.000260637839387,1.9147593097e-05,1793243138747360768
+75,1.250000000,BASELINE,764,745,713.466135056,679.533864944,661.533864944,634,878.533864944,786.533864944,805,652.466135056,631,652,0.400963831306,0.00453758895129,0.0598451848024,0.99999994614,0.00019759410937,-0.000261373620306,1.89792746003e-05,1793243138764027392
+76,1.266666667,BASELINE,764,745,713.12230392,679.87769608,662,634,878.87769608,787,805,652.12230392,631,652,0.4009632937,0.00453758480141,0.059845032102,0.999999946108,0.000197395214159,-0.000261656971574,1.88114102574e-05,1793243138780694016
+77,1.283333333,BASELINE,764,745,713.701032558,679.298967442,662,634,878.298967442,787,805,652.701032558,631,652,0.400965030311,0.00453759434566,0.0598462906224,0.999999946716,0.000196914057279,-0.000259685734032,1.88546562413e-05,1793243138797360384
+78,1.300000000,BASELINE,764.278226332,745.278226332,714,679,662,634.278226332,878,786.721773668,805.278226332,653,631,652,0.400966150466,0.00453708284769,0.0598468077775,0.999999947238,0.000195485205485,-0.000258759834602,1.87973666328e-05,1793243138814027264
+79,1.316666667,BASELINE,764.853779831,745.853779831,714,679,662,634.853779831,878,786.146220169,805.853779831,653,631,652,0.400966611845,0.00453601453682,0.0598465326707,0.999999947666,0.000193043597513,-0.00025895103812,1.86326394442e-05,1793243138830693888
+80,1.333333333,BASELINE,764.570962359,745.570962359,714,679,661.570962359,635,878,786.429037641,805.570962359,652.570962359,631,652,0.400965959716,0.00453724281131,0.0598464786175,0.99999994712,0.000194987397988,-0.000259604775792,1.8583815286e-05,1793243138847360512
+81,1.350000000,BASELINE,764.004318772,745,714,679,661.004318772,635,878.004318772,787,805,652.004318772,631,652,0.400964925272,0.00453923634585,0.0598464888301,0.999999946238,0.000198394624062,-0.000260420802488,1.85746893077e-05,1793243138864027136
+82,1.366666667,BASELINE,764.596474833,745,714,679,661.596474833,635,878.596474833,787,805,652.596474833,631,652,0.400963471392,0.00453892964971,0.05984499917,0.999999945993,0.000197700130104,-0.000261884916637,1.85961224626e-05,1793243138880693760
+83,1.383333333,BASELINE,765,745,714,679,661.815765875,634.815765875,879,787,805,653,631,652,0.400963188864,0.00453881421387,0.0598445011788,0.999999946065,0.000197052851181,-0.000262096877824,1.8581984649e-05,1793243138897360640
+84,1.400000000,BASELINE,765,745,714,679,661.237412184,634.237412184,879,787,805,653,631,652,0.400965412131,0.00453910792812,0.059846124597,0.999999946818,0.00019650657605,-0.000259630193399,1.84917522795e-05,1793243138914027264
+85,1.416666667,BASELINE,764.661504663,745,714,679,661.338495337,634.338495337,879,787,805,653,631,652,0.400966449997,0.00453895782449,0.0598470400769,0.999999947081,0.000196769057827,-0.000258410196429,1.85495402536e-05,1793243138930693888
+86,1.433333333,BASELINE,764.08730055,745,714,679,661.91269945,634.91269945,879,787,805,653,631,652,0.400966662417,0.00453849867148,0.0598474625891,0.999999947006,0.000197594711655,-0.000258058321389,1.87104011277e-05,1793243138947360768
+87,1.450000000,BASELINE,764.497316694,745,714,679.497316694,662.497316694,635,879,787,805,652.502683306,631,652,0.400966393848,0.00453849876569,0.0598469707788,0.999999946933,0.000197182231224,-0.000258659075323,1.8681041748e-05,1793243138964027392
+88,1.466666667,BASELINE,764.91988158,745,714,679.91988158,662.91988158,635,879,787,805,652.08011842,631,652,0.400965970546,0.00453853088852,0.0598462561904,0.999999946774,0.000196868727518,-0.000259512162187,1.86515037166e-05,1793243138980694016
+89,1.483333333,BASELINE,764.359169854,745,714,679.359169854,662.359169854,635,879,787,805,652.640830146,631,652,0.400965136389,0.00453826120574,0.0598451886326,0.999999946103,0.000198480580219,-0.0002608543039,1.88254801369e-05,1793243138997360640
+90,1.500000000,BASELINE,764,745,714,679,662,635,878.785506015,787,805,652.785506015,631,652,0.400964309696,0.00453711668234,0.0598447083933,0.999999946042,0.000197750935885,-0.000261628821691,1.89909465604e-05,1793243139014027264
+91,1.516666667,BASELINE,764,745,714,679,662,635,878.188760144,787,805,652.188760144,631,652,0.400963496303,0.00453441309671,0.0598452748203,0.999999947059,0.000192848485999,-0.000261391771042,1.91412472144e-05,1793243139030694144
+92,1.533333333,BASELINE,764,745,713.605117039,679,661.605117039,634.605117039,878,787,804.605117039,652,631,652.394882961,0.400963721137,0.00453491452515,0.0598452609373,0.999999947046,0.000193351117982,-0.000261068265916,1.91472146259e-05,1793243139047360768
+93,1.550000000,BASELINE,764,745,713.027536057,679,661.027536057,634.027536057,878,787,804.027536057,652,631,652.972463943,0.400964426323,0.0045368987971,0.0598449785661,0.999999946557,0.000196354484844,-0.000260704761421,1.9086404295e-05,1793243139064027392
+94,1.566666667,BASELINE,764.559483678,745,713.559483678,679,661.559483678,634.559483678,878.559483678,787,804.559483678,652.559483678,631,652.440516322,0.400964787044,0.00453739855341,0.0598453849339,0.999999946578,0.00019690253796,-0.000260220985914,1.89062724866e-05,1793243139080694016
+95,1.583333333,BASELINE,765,745,714,679,661.855090699,634.855090699,879,787,805,652.855090699,631,652,0.400964909244,0.00453779168095,0.0598457677025,0.999999946626,0.000197025661379,-0.000259955826143,1.87331736327e-05,1793243139097360640
+96,1.600000000,BASELINE,765,745,714,679,661.275859038,634.275859038,879,787,805,652.275859038,631,652,0.400964368236,0.00453808796383,0.0598459763982,0.999999946677,0.000196243590862,-0.000260363947623,1.85990574235e-05,1793243139114027520
+97,1.616666667,BASELINE,764.698543883,745.301456117,714,679,661.301456117,634.301456117,879,787,805,652,631,652,0.400963162189,0.00453793072856,0.0598452939755,0.999999946452,0.000195673404667,-0.000261652611025,1.86230617984e-05,1793243139130694144
+98,1.633333333,BASELINE,764.122971457,745.877028543,714,679,661.877028543,634.877028543,879,787,805,652,631,652,0.400961351417,0.00453736110582,0.0598438012521,0.999999945973,0.000195295886522,-0.000263741957782,1.87908464157e-05,1793243139147360768
+99,1.650000000,BASELINE,764,745.546947753,714,679,662,634.546947753,879,787,805,652,631,652,0.400963724433,0.00453763798814,0.0598456442776,0.99999994676,0.000194772582919,-0.000261136868743,1.8742798782e-05,1793243139164027648
+100,1.666666667,BASELINE,764.029926315,745,714,679,662,634.029926315,879,787,805,652.029926315,631,652,0.400966986405,0.00453811391217,0.0598481748562,0.999999947787,0.000194285859079,-0.000257548050037,1.86403941974e-05,1793243139180694016
+101,1.683333333,BASELINE,764.620432806,745,714,679,662,634.620432806,879,787,805,652.620432806,631,652,0.40096560703,0.0045380100188,0.0598466074642,0.99999994712,0.000195226319827,-0.000259424224324,1.86182481032e-05,1793243139197360640
+102,1.700000000,BASELINE,764.793441915,745,714,679,662,634.793441915,879,787,805,652.793441915,631,652,0.400965142572,0.00453786343035,0.0598459987012,0.999999946835,0.000195741098182,-0.000260126616241,1.8694448456e-05,1793243139214027264
+103,1.716666667,BASELINE,764.215200311,745,714,679,662,634.215200311,879,787,805,652.215200311,631,652,0.400966324431,0.0045376400158,0.0598471149087,0.999999947245,0.000195489897559,-0.000258716887479,1.89476147889e-05,1793243139230694144
+104,1.733333333,BASELINE,764.361571365,745.361571365,714,679,662,634.361571365,879,787,804.638428635,652,631,652,0.400965927477,0.00453801536938,0.0598469242481,0.999999947238,0.000195586882436,-0.000258674679642,1.88764388945e-05,1793243139247360768
+105,1.750000000,BASELINE,764.937471765,745.937471765,714,679,662,634.937471765,879,787,804.062528235,652,631,652,0.40096459465,0.00453874565536,0.0598459589141,0.999999946985,0.000195890261572,-0.000259443098474,1.86130023438e-05,1793243139264027392
+106,1.766666667,BASELINE,764.475688031,745.475688031,713.475688031,678.475688031,662,635,879,787,804.524311969,652,631,652,0.400964282652,0.00453830162359,0.0598454520944,0.99999994671,0.000195652986777,-0.000260679878628,1.85956198435e-05,1793243139280693760
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,662,635,878,787,805,652,631,652,0.40096274756,0.00453791151871,0.0598447504531,0.999999945949,0.00019783782143,-0.000261915043404,1.90327390587e-05,1793243139323048704
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.421148034,745,714,679,662,635,878.578851966,786.421148034,804.421148034,652.578851966,631,652,0.400963940822,0.00453724101468,0.059845543046,0.999999946384,0.000196752922269,-0.000261084385188,1.88685844766e-05,1793243139339715328
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714,679,662,635,878.843562668,786.156437332,804.312874663,652.843562668,631,652,0.40096446702,0.00453692261459,0.0598457600165,0.999999946544,0.000196157458638,-0.000260928332037,1.87007255888e-05,1793243139356381952
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,679,662,635,878.269359628,786.730640372,805.461280743,652.269359628,631,652,0.400963211822,0.00453754450752,0.0598444397884,0.999999945977,0.000196869031775,-0.00026257381073,1.85229743215e-05,1793243139373048576
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713.685843238,679,662,635,878.314156762,787,805.371686476,652.314156762,631,652,0.400963419992,0.00453832544888,0.0598444418381,0.999999946088,0.000196672353436,-0.00026231247427,1.83296122986e-05,1793243139389715456
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,713.094097607,679,662,635,878.905902393,787,804.188195214,652.905902393,631,652,0.400964921194,0.00453924692538,0.0598456122522,0.999999946796,0.00019567314418,-0.000260366276123,1.8122456625e-05,1793243139406382080
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.486463135,745,713.486463135,679,662,635,879,787,804.486463135,653,631,652,0.400963904534,0.00453815836443,0.0598457195124,0.999999946759,0.000195272947424,-0.00026078424397,1.8481893231e-05,1793243139423048448
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.064466012,662,635,878.935533988,786.935533988,805,652.935533988,631,652,0.400962656583,0.00453689300987,0.0598455887396,0.99999994661,0.000194883187853,-0.000261619170211,1.88821034064e-05,1793243139439715328
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.638964246,662,635,878.361035754,786.361035754,805,652.361035754,631,652,0.400963345398,0.00453723588424,0.0598451651826,0.999999946689,0.000193679898415,-0.000262216200223,1.87572941336e-05,1793243139456381952
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.781040993,745,714,679.781040993,662,634.781040993,878.218959007,786,805,652,631,652,0.400966622296,0.00453737947313,0.0598462609623,0.99999994725,0.000193240199882,-0.000260394357382,1.87682508568e-05,1793243139473048576
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.191749844,745,714,679.191749844,662,634.191749844,878.808250156,786,805,652,631,652,0.400974276499,0.00453718600426,0.0598499264436,0.999999948603,0.000194091986391,-0.000254481399986,1.90088328215e-05,1793243139489715456
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,679,662,634,879.391074035,786.391074035,804.608925965,652,630.608925965,652,0.400997038749,0.00453772038695,0.0598596987488,0.999999952575,0.000195371688838,-0.000237320605097,1.89560042694e-05,1793243139506382080
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,714,679,662,634,879.970778545,786.970778545,804.029221455,652,630.029221455,652,0.401027088208,0.00453860584121,0.0598724166172,0.999999957392,0.000196857792062,-0.000214734532651,1.87616522326e-05,1793243139523048448
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,679,662,634.547409217,878.905181567,786.452590783,804,652,630,652,0.401083686683,0.00453753597069,0.059892048712,0.999999964906,0.00019585189753,-0.000177404949106,1.88942973263e-05,1793243139539715072
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,713.877438848,679,662,634.877438848,878,786.122561152,804.122561152,652,630.122561152,652,0.401143520062,0.00453648447504,0.0599105162122,0.999999970483,0.000194536610948,-0.000144301478988,1.91312875429e-05,1793243139556381696
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,713.30709325,679,662,634.30709325,878,786.69290675,804.69290675,652,630.69290675,652,0.401210023377,0.00453587933425,0.0599233878367,0.999999972879,0.000192574248143,-0.000129497755608,1.96860901904e-05,1793243139573048320
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,713.274926241,679,662,634,878.549852481,786.725073759,805,652,631,652,0.401281072482,0.00453584075,0.0599318760639,0.999999974459,0.000191898372795,-0.000117766099056,1.96916280554e-05,1793243139589714944
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,713.870563708,679,662,634,879.741127417,786.129436292,805,652,631,652,0.40135742441,0.00453646307415,0.0599352509018,0.999999975239,0.000192723230916,-0.000109618118507,1.90564290081e-05,1793243139606381568
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,679,661.547400286,634.452599714,879.547400286,786.452599714,805,652,631,652,0.401451765674,0.00453612505058,0.0599381348719,0.999999976368,0.000190389629348,-0.000103388985933,1.80953859116e-05,1793243139623048448
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,679.030810714,661,635,879,787,805,652.030810714,631,652,0.4015527064,0.00453551495142,0.0599409813768,0.999999977577,0.000187197231773,-9.7526868966e-05,1.70512629664e-05,1793243139639715072
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,679.608158169,661,635,879,787,805,652.608158169,631,652,0.401682115619,0.00453480827915,0.0599455807928,0.999999978946,0.000184326257026,-8.87248705655e-05,1.61381854869e-05,1793243139656381952
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,679.81156545,661,634.81156545,878.81156545,787,804.81156545,652.81156545,631,652,0.401815931147,0.00453493939677,0.0599487094048,0.999999979975,0.000182073996264,-8.17301839163e-05,1.48374284151e-05,1793243139673048576
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,679.225102401,661,634.225102401,878.225102401,787,804.225102401,652.225102401,631,652,0.401959054066,0.00453684017007,0.059948731251,0.99999998043,0.000181128639523,-7.85530657315e-05,1.27177795641e-05,1793243139689715200
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.357075897,745,714,679,661.357075897,634.357075897,878.714151793,787,804.357075897,652.357075897,631,652,0.402124166462,0.00453744239749,0.0599486491668,0.999999981474,0.000177668056974,-7.32893589194e-05,1.0756573247e-05,1793243139706381824
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.93658515,745,714,679,661.93658515,634.93658515,879.8731703,787,804.93658515,652.93658515,631,652,0.402302976782,0.00453723572167,0.0599485023413,0.999999982832,0.000172640664228,-6.67258527398e-05,8.89406536098e-06,1793243139723048448
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,662,634.487508562,879.487508562,787,805,652.487508562,631,652,0.402514296368,0.00453624434258,0.0599499251434,0.999999984228,0.000166740931017,-6.08074976464e-05,6.63857180414e-06,1793243139739716096
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.912233777,745,714,679,661.912233777,634.087766223,879.087766223,787,805,652.087766223,631,652,0.402735474203,0.0045353344224,0.0599511973341,0.999999985509,0.000160990363752,-5.51813696307e-05,4.28532213822e-06,1793243139756383488
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.338005177,745,714,679,661.338005177,634.661994823,879.661994823,787,805,652.661994823,631,652,0.402989152824,0.00453541043247,0.0599505657247,0.99999998644,0.000156660691041,-5.07355832654e-05,1.65788396157e-06,1793243139773049600
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,679,661.243531462,635,879.756468538,787,805,652.756468538,631,652,0.403253234367,0.00453534085179,0.0599509350069,0.999999987408,0.000151523780805,-4.71560867083e-05,-9.24079111934e-07,1793243139789715712
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,679,661.835524923,635,879.164475077,787,805,652.164475077,631,652,0.403532201127,0.00453506294958,0.0599527364357,0.999999988444,0.000145231818424,-4.48161390022e-05,-3.44097304144e-06,1793243139806382592
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713.581791539,679,662,634.581791539,878.581791539,787,805,652,631,652,0.40382751101,0.00453558300884,0.059944154418,0.999999988448,0.000139917805245,-5.9026085037e-05,-6.47894230552e-06,1793243139823049216
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713.002689731,679,662,634.002689731,878.002689731,787,805,652,631,652,0.404129108419,0.0045364100602,0.0599315776762,0.999999987675,0.000134980029213,-7.96031136137e-05,-9.71737984441e-06,1793243139839716096
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713.571660106,679,661.428339894,634.571660106,878,787,804.428339894,652,631,652,0.404463052561,0.00453531348027,0.0599173770532,0.999999986589,0.000125007953787,-0.000104992133175,-1.31231230922e-05,1793243139856382208
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,714,679,661.149394812,635,878.298789624,787,804.149394812,652.149394812,631,652,0.404811839302,0.00453459342408,0.0599055754596,0.999999985237,0.000115595344848,-0.000126038137089,-1.66918897112e-05,1793243139873048576
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,679,661.737125955,635,879.474251911,787,804.737125955,652.737125955,631,652,0.405203732483,0.00453500445605,0.0599008350464,0.99999998495,0.00010789318392,-0.000134275498454,-2.07366887166e-05,1793243139889715456
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,679,662,635,879.679073516,787,805,653,631,652,0.405636235284,0.0045336342159,0.0599082620895,0.999999987251,9.825784743e-05,-0.000123533769512,-2.41397797964e-05,1793243139906382080
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,679,662,635,879.098453573,787,805,653,631,652,0.406101599401,0.00453082257178,0.059925535028,0.999999991099,8.70581859044e-05,-9.74341764497e-05,-2.70236017536e-05,1793243139923048704
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,679,661.521279143,635,879,787,805,653,631,652,0.406608437792,0.0045310190259,0.0599515802609,0.999999995167,7.84134064434e-05,-5.06813521089e-05,-3.08038398453e-05,1793243139939715840
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.054902074,745,714,679,661.054902074,634.945097926,879,787.054902074,805,653,631,652,0.407125171909,0.00453164279754,0.0599781239575,0.99999999693,7.01973146016e-05,-3.3000864191e-06,-3.4657067882e-05,1793243139956382464
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.628347711,745,714,679,661.628347711,634.371652289,879,787.628347711,805,653,631,652,0.407655385072,0.00453050126282,0.0599924577871,0.999999997379,6.11029032701e-05,1.01859600733e-05,-3.74708964246e-05,1793243139973049088
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,662,634.208686987,879.208686987,787.791313013,805,653,631,652,0.408187997514,0.00452988685202,0.0599973532475,0.999999997763,5.26762169847e-05,6.78146240858e-06,-4.06682976994e-05,1793243139989715712
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,662,634.801722567,879.801722567,787.198277433,805,653,631,652,0.408725028787,0.00453024327006,0.0599848656209,0.999999997588,4.54793116954e-05,-2.77311418661e-05,-4.45721426423e-05,1793243140006382336
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.614309769,745,714,679,662,634.614309769,880,787,805,652.614309769,631,652,0.409296028638,0.00452853983421,0.0599733551622,0.999999996766,3.49692275558e-05,-5.35483262222e-05,-4.87613367985e-05,1793243140023049216
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.034896715,745,714,679,662,634.034896715,880,787,805,652.034896715,631,652,0.409884090063,0.00452580178385,0.0599623355116,0.999999995518,2.27950144817e-05,-7.49980115994e-05,-5.30938548004e-05,1793243140039715584
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745.540255022,714,679,662,634,880,787,805,652,631,652,0.410542278439,0.00452535760583,0.0599731346747,0.999999997193,1.20935252472e-05,-4.5147215211e-05,-5.85664430942e-05,1793243140056382720
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.114691514,745.885308486,714,679,662,634,879.885308486,787,804.885308486,652,631,652,0.411207548802,0.00452472246065,0.059983266881,0.999999997796,2.01666483527e-06,-1.82881647221e-05,-6.37939145761e-05,1793243140073049600
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.687362301,745.312637699,714,679,662,634,879.312637699,787,804.312637699,652,631,652,0.411883152132,0.00452273773081,0.0599851521676,0.999999997551,-5.94284801857e-06,-1.65039170223e-05,-6.7750843135e-05,1793243140089716480
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679.270257551,662,634,879,787,804.270257551,652.270257551,631,652,0.412554025095,0.00451704705479,0.0599728796276,0.999999996974,3.86083937759e-05,-4.07089736592e-05,-5.38974220427e-05,1793243140106383104
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679.865445748,662,634,879,787,804.865445748,652.865445748,631,652,0.413219210827,0.00450690071953,0.0599435851336,0.999999984502,0.000146293312962,-9.61609694957e-05,-1.86306179552e-05,1793243140123049216
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.553683934,745.446316066,714,680,661.553683934,634,879,787,805,653,631,652,0.413924703071,0.00449624564265,0.0599198114476,0.999999978609,0.000153132473862,-0.000138379566789,-1.3561822899e-05,1793243140139715840
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745.977066856,714,679.977066856,661.045866288,634.022933144,879,786.977066856,805,652.977066856,631,652,0.414647033491,0.00448586348654,0.0599007336707,0.999999976635,0.000130827922339,-0.000171204895167,-1.74209200827e-05,1793243140156382464
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745.402155222,714,679.402155222,662.195689556,634.597844778,879,786.402155222,805,652.402155222,631,652,0.41549125957,0.00448562707364,0.0599558665526,0.999999990459,0.000116081179308,-7.09837956208e-05,-2.38518484389e-05,1793243140173049088
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.176548097,745,714,679,663,634.823451903,879.176548097,786.176548097,804.823451903,652,631,652,0.41632679445,0.00448549453149,0.0599995991679,0.999999993957,0.000105815420816,6.59313961989e-06,-2.90677209215e-05,1793243140189715456
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.764077944,745,714,679,663,634.235922056,879.764077944,786.764077944,804.235922056,652,631,652,0.417142097263,0.00448560378737,0.0600167933939,0.999999993395,0.000105980833621,3.14573026281e-05,-3.14550963325e-05,1793243140206382080
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.346962608,714,679,662.653037392,634,879.653037392,787,804.346962608,652,631,652,0.417953782243,0.00448374376039,0.0600117071682,0.999999993609,0.000105807592219,2.24375148307e-05,-3.29018098731e-05,1793243140223048704
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.926730418,714,679,662.073269582,634,879.073269582,787,804.926730418,652,631,652,0.418763039695,0.00448056238268,0.0599916711895,0.999999993833,0.000105407120329,-9.31775001835e-06,-3.37173573675e-05,1793243140239715328
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.494456613,714,679,662,634,880.011086774,787,805,652,631,652,0.419588064786,0.00448284775557,0.0599704200731,0.999999992951,0.000104010786053,-4.45664319252e-05,-3.59680231744e-05,1793243140256382208
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.916555191,745,714,679,662,634,880.833110382,787,805,652,631,652,0.420410442243,0.00448534066931,0.0599467163457,0.999999992288,8.35017955548e-05,-8.36339208386e-05,-3.81561742392e-05,1793243140273048832
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.343194856,745,714,679,662,634,879.686389711,787,805,652,631,652,0.421203883103,0.00448440910041,0.0599096450543,0.999999987975,-4.8374333385e-05,-0.000142155113054,-3.87584274199e-05,1793243140289715456
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.236906243,745,714,679.236906243,662,634,879,787,805,652,631,652,0.422035857409,0.00448386502868,0.0598877826975,0.999999975707,-0.000123929005299,-0.000177881714585,-3.98180681624e-05,1793243140306382080
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.82705844,745,714,679.82705844,662,634,879,787,805,652,631,652,0.422925288251,0.00448389874574,0.05988859806,0.999999976334,-0.000115503949899,-0.000179619790325,-4.15597110004e-05,1793243140323048704
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662.408133835,634,879.408133835,787,805,652,631,652,0.423870560836,0.00448414561695,0.0599356450966,0.999999988096,-0.000107265850123,-0.000102501359112,-4.23692185911e-05,1793243140339715328
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,662.985446693,634,879.985446693,787,805,652,631,652,0.424838980801,0.0044844808445,0.060001856017,0.999999994147,-9.91052463078e-05,7.30455379089e-06,-4.27923383413e-05,1793243140356381952
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.437786652,745,714,680,663,634,880,787,805,652,631,652,0.42575353486,0.00448079464403,0.0600215519777,0.999999993737,-9.51119673196e-05,4.10728609533e-05,-4.23455295914e-05,1793243140373049088
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.141667091,745,713.858332909,679.858332909,662.858332909,634,879.858332909,787,805,652,631,652,0.426658903353,0.00447811384955,0.0600309783315,0.999999993081,-9.09129723626e-05,6.12082351813e-05,-4.27282272424e-05,1793243140389716224
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.729630481,745,713.270369519,679.270369519,662.270369519,634,879.270369519,787,805,652,631,652,0.427539722759,0.00447892802552,0.0600118416966,0.999999994283,-8.57263988645e-05,4.45902607143e-05,-4.57950057513e-05,1793243140406382592
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,713.312892205,679.312892205,662.312892205,634,879.312892205,786.687107795,805.312892205,652,631,652,0.428419768987,0.00447838640359,0.0599879552748,0.999999995625,-7.97809280109e-05,1.17233240838e-05,-4.74154395536e-05,1793243140423049216
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,713.892151346,679.892151346,662.892151346,634,879.892151346,786.107848654,805.892151346,652,631,652,0.429299156961,0.00447669058305,0.0599600253331,0.999999995567,-7.31894036145e-05,-3.49764467061e-05,-4.78045915565e-05,1793243140439715584
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.470272525,714,680,662.059454949,634,879.529727475,786.470272525,805.529727475,651.529727475,631,652,0.430148570217,0.00447670015685,0.0599321423035,0.999999993,-6.13218830504e-05,-8.94956227979e-05,-4.72255887016e-05,1793243140456382208
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.952195391,714,679.952195391,661.047804609,634,879,787,805.047804609,651,631,652,0.431001291319,0.00447681152016,0.0599105774973,0.99999998879,-4.97463697656e-05,-0.000133288328289,-4.66810053446e-05,1793243140473048832
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.378281861,714,679.378281861,661.621718139,634,879,787,805.621718139,651,631,652,0.43196588627,0.00447374927406,0.0599584291844,0.999999996534,-5.46684340854e-05,-3.93441659218e-05,-4.89528453706e-05,1793243140489715200
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,662.201415799,634,879.201415799,787,806,651.201415799,631,652,0.432898424486,0.00447122515969,0.0599956109931,0.999999996704,-5.65566992592e-05,2.89922290739e-05,-5.05212579599e-05,1793243140506382080
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,662.792298007,634,879.792298007,787,806,651.792298007,631,652,0.433768976566,0.00446974159987,0.0600121610658,0.999999996188,-5.25786791734e-05,4.78123396711e-05,-5.07294935364e-05,1793243140523048960
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,662.624147967,634,880,787,805.624147967,651.624147967,631,652,0.434635122991,0.00446879499401,0.0599983738021,0.999999997172,-4.99646960268e-05,2.22548214809e-05,-5.16067732025e-05,1793243140539715584
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,662.0445662,634,880,787,805.0445662,651.0445662,631,652,0.435498881288,0.00446813944291,0.0599681422537,0.999999997073,-4.8090086124e-05,-2.73574899671e-05,-5.28467065756e-05,1793243140556382208
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.530724166,662.530724166,634,880.530724166,786.469275834,805,651,631,652,0.436309101917,0.00446301123682,0.05994127173,0.999999994589,-4.86468347335e-05,-7.5342089056e-05,-5.27136130637e-05,1793243140573048832
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662.894112934,634.105887066,880.894112934,786.105887066,805.105887066,651,631,652,0.437110876592,0.00445879935631,0.0599172881596,0.999999990272,-4.79591928562e-05,-0.000119955919076,-5.26019593601e-05,1793243140589715456
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,662.3179285,634.6820715,880.3179285,786.6820715,805.6820715,651,631,652,0.437894945974,0.0044603120927,0.0599048835075,0.999999986476,-4.08450568744e-05,-0.000150200686048,-5.30935124375e-05,1793243140606382080
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745.26515027,714,680,662.26515027,634.73484973,880,787,806,651,631,652,0.438692040514,0.00445870305247,0.0599048254582,0.999999985736,-3.94019892782e-05,-0.000155248789565,-5.3609950758e-05,1793243140623048704
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745.856716336,714,680,662.856716336,634.143283664,880,787,806,651,631,652,0.439505169742,0.00445325091892,0.0599199668144,0.999999989167,-4.49403456451e-05,-0.000129278295399,-5.41570242822e-05,1793243140639715328
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.562779781,714,680,663,634,880,787,806,651,631,652,0.440352705791,0.00445083062033,0.0599660894302,0.999999995801,-4.44022146202e-05,-5.92931572324e-05,-5.39422982653e-05,1793243140656381952
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,663,634,880,787,806,651.014131037,631,652,0.441207853604,0.00444937065413,0.0600204698198,0.999999997447,-4.1823570481e-05,2.23194022786e-05,-5.34621483608e-05,1793243140673048576
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,663,634,880,787,806,651.588768058,631,652,0.441928708368,0.00444756452401,0.0600096128719,0.999999997992,-3.53460113012e-05,7.11378703558e-06,-5.21121089879e-05,1793243140689715456
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680.167053708,663,634,880,787,806,652,631,652,0.442634994407,0.00444473830964,0.0599934125706,0.999999998087,-3.16205841682e-05,-1.37582220683e-05,-5.13433153909e-05,1793243140706382080
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680.754521774,663,634,880,787,806,652,631,652,0.443304616339,0.00443934490818,0.0599637649601,0.999999996845,-3.48212864179e-05,-4.88905184439e-05,-5.20373089576e-05,1793243140723048704
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680.321697765,663,634,880,787,806,651.660848883,631,652,0.443985008526,0.00443814193919,0.0599527610616,0.999999995934,-3.57367991329e-05,-6.31825956153e-05,-5.3501849592e-05,1793243140739715328
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679.156514383,663,634,880,787,806,651.078257191,631,652,0.444673131496,0.00443994683701,0.0599551395059,0.999999995892,-3.50120167695e-05,-6.25156903183e-05,-5.5519484135e-05,1793243140756381696
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679.497522062,663,634.497522062,880,787,806,651,631,651.502477938,0.445323819019,0.00443503991297,0.0599611519562,0.999999995624,-4.04745390892e-05,-6.35580438643e-05,-5.54472976215e-05,1793243140773048320
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,663,634.927613766,880,787,806.072386234,651.072386234,631,651,0.445959868207,0.0044296670215,0.0599646235325,0.999999995056,-4.64584867365e-05,-6.83855177028e-05,-5.52593824251e-05,1793243140789715200
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,663,634.351761951,880,787,806.648238049,651.648238049,631,651,0.446534505834,0.00442829689123,0.0599465006758,0.999999992411,-4.93914793234e-05,-9.76948071779e-05,-5.65219688031e-05,1793243140806381824
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662.770961573,634,880,787,806.770961573,651.770961573,631,651.229038427,0.447103358201,0.00442583729709,0.0599371146849,0.999999990982,-5.39623022527e-05,-0.000108440981013,-5.79993359972e-05,1793243140823048448
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662.18239331,634,880,787,806.18239331,651.18239331,631,651.81760669,0.447663129186,0.00442166753258,0.0599414432675,0.99999999229,-6.11040859864e-05,-9.00479636557e-05,-5.98138522707e-05,1793243140839715072
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,662.401173065,634,880.401173065,787,806,651.401173065,631,652,0.448215944996,0.0044213745276,0.0599566346376,0.999999993956,-6.46166272459e-05,-6.41991316498e-05,-6.15655396834e-05,1793243140856381952
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662.982493388,634,880.982493388,787,806,651.982493388,631,652,0.448765637626,0.00442282238588,0.0599767039562,0.999999995174,-6.64994532922e-05,-3.50022552728e-05,-6.32890138392e-05,1793243140873048576
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764.871816059,745,714,680,660.871816059,633.871816059,880,787,806,652,631,652,0.449623484231,0.00442045987655,0.0599085334766,0.999999984403,-7.01685325148e-05,-0.000148046250436,-6.59764525312e-05,1793243140906381824
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.299572084,745,714,680,660.299572084,633.299572084,880,787,806,652,631,652,0.450008076157,0.00441707667437,0.0598702944477,0.999999973779,-7.40494853227e-05,-0.000206065130723,-6.70569294509e-05,1793243140923048704
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,745,714,680,660,633,880,787,806.283672408,652,631,652,0.450391162503,0.00441656209837,0.0598447854468,0.999999965947,-7.33601712878e-05,-0.000241089173969,-6.78263889205e-05,1793243140939715328
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,745,714,680,660,633,880,787,806.879002628,652,631,652,0.450772594714,0.00441919915005,0.0598332623435,0.99999996392,-6.76497155131e-05,-0.000250849845823,-6.82541479597e-05,1793243140956381952
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,745.461018038,714,680.461018038,660,633,880,787,806.538981962,651.538981962,631,651.538981962,0.451144318447,0.00441892880837,0.0598403206584,0.999999969844,-2.94898850438e-05,-0.000237515964735,-5.50408004144e-05,1793243140973048576
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.039317398,745.960682602,714,680.960682602,659.960682602,633,879.960682602,786.960682602,806.039317398,651.039317398,631,651.039317398,0.451510937111,0.00441835717604,0.0598518255995,0.999999975175,1.46291324831e-05,-0.000218819287054,-3.94216906921e-05,1793243140989715456
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.613271192,745.386728808,714,680.386728808,659.386728808,633,879.386728808,786.386728808,806.613271192,651.613271192,631,651.613271192,0.451841813084,0.00442377347502,0.0598593422595,0.999999977404,2.72238612576e-05,-0.000207307550944,-3.84060018968e-05,1793243141006382336
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.807938116,745,713.807938116,680,659,633,879.192061884,786.192061884,806.807938116,652,631,652,0.452153906246,0.0044261054758,0.0598652298054,0.999999979097,3.24522498751e-05,-0.000198225469299,-3.8192011198e-05,1793243141023048960
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.219156483,745,713.219156483,680,659,633,879.780843517,786.780843517,806.219156483,652,631,652,0.452427201911,0.00442206660219,0.05986775228,0.999999980113,2.24648504278e-05,-0.000194162041971,-3.96339945482e-05,1793243141039715328
+211,3.516666667,POSE1_TO_POSE2_PRESS,764.364078111,745,713.364078111,680.364078111,659,632.635921889,880,787,806,652,631,652,0.452675689152,0.00441975281819,0.059863544554,0.999999979348,1.33468241252e-05,-0.00019843664872,-4.18167857201e-05,1793243141056381952
+212,3.533333333,POSE1_TO_POSE2_PRESS,764.944023837,745,713.944023837,680.944023837,659,632.055976163,880,787,806,652,631,652,0.452909467116,0.00441846186647,0.059855346387,0.999999977441,4.74426181952e-06,-0.000207655006046,-4.4438813585e-05,1793243141073048320
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.479611513,745,713.479611513,681,658.479611513,632,880,786.479611513,806,651.479611513,631,652,0.453109780274,0.00441842140591,0.0598478250062,0.99999997397,-3.66541964133e-05,-0.000220468445533,-4.59427161247e-05,1793243141089715200
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.096282103,745.096282103,713.096282103,680.903717897,657.903717897,632,880,786.096282103,806,651.096282103,631,652,0.453301378933,0.00441856718851,0.0598404412783,0.999999967989,-8.46494964082e-05,-0.000233725591032,-4.72118859884e-05,1793243141106381824
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.671735664,745.671735664,713.671735664,680.328264336,657.328264336,632,880,786.671735664,806,651.671735664,631,652,0.453467400076,0.00441897500672,0.0598333827846,0.999999957321,-0.000148039005459,-0.000247279555803,-4.79073261167e-05,1793243141123048448
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,714,680,657,632,880,787,806,651.746320136,631,652,0.453620299601,0.00441956056392,0.059826897035,0.99999994817,-0.000183875528254,-0.000259761280469,-4.8730562507e-05,1793243141139715072
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,746,714,680,657,632,880,787,806,651.155756481,631,652,0.453755773768,0.00442038215632,0.0598211718832,0.999999945325,-0.000183122015556,-0.000270819083507,-4.97235109512e-05,1793243141156381696
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,746,714,680,657,632,880.425851548,786.574148452,806.425851548,651.425851548,631,652,0.453879762463,0.00441957626864,0.0598189990328,0.999999943996,-0.000183140604372,-0.000275608264092,-5.00789285036e-05,1793243141173048320
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,746,714,680.004230188,657,632,880.995769812,786,807,652,631,652,0.453999508781,0.00441820115164,0.0598181332205,0.999999943254,-0.000183432822622,-0.00027807187406,-5.02067614298e-05,1793243141189715200
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,746,714,680.579733093,657,632,880.420266907,786,807,652,631,652,0.454101962092,0.00441868508797,0.059821931066,0.999999945547,-0.000183326314116,-0.000269728144144,-5.04414809802e-05,1793243141206383104
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.841395744,714,681,657,632,880,786,806.841395744,651.841395744,631,652,0.454196609698,0.00441945501934,0.0598250713963,0.999999947143,-0.000182890270223,-0.000263986651359,-5.07588288056e-05,1793243141223050496
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.253405872,714,681,657,632,880,786,806.253405872,651.253405872,631,652,0.454270125081,0.00442099921836,0.0598264316507,0.999999947012,-0.000181562082882,-0.000265290136102,-5.12998742099e-05,1793243141239717120
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764.057502902,745,714,681,656,632,880.942497098,786.057502902,807,652,631,652,0.454467701922,0.00442251424381,0.0598219096023,0.999999946254,-0.000175886486577,-0.000272018016466,-5.06201783197e-05,1793243141306382592
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+245,4.083333333,POSE1_TO_POSE2_PRESS,764.086991028,745,714,680.913008972,656,632,880,786.913008972,806,651.086991028,631,652,0.454565872776,0.00442814622678,0.0598036439637,0.999999940695,-0.000161524333633,-0.000300156958596,-4.92614002875e-05,1793243141623048448
+246,4.100000000,POSE1_TO_POSE2_PRESS,764.661201526,745,714,680.338798474,656,632,880,786.338798474,806,651.661201526,631,652,0.454565753921,0.00442815211649,0.0598029047578,0.999999940381,-0.00016246117988,-0.000300696787426,-4.92524800329e-05,1793243141639715072
+247,4.116666667,HOLD_POSE2,764,745,714,680,656,631,880,786,806,652,631,652,0.454565753354,0.0044234786254,0.0598027002411,0.999999939856,-0.000164505410231,-0.000301477741275,-4.83487510857e-05,1793243141677736960
+248,4.133333333,HOLD_POSE2,764.579504558,745,714,680.579504558,656,631.579504558,880,786,806,651.420495442,631,652,0.454566239445,0.00442630001473,0.0598019818936,0.999999940283,-0.000161024489635,-0.000301848653005,-4.89082829756e-05,1793243141694403840
+249,4.150000000,HOLD_POSE2,765,745,714,681,656,632,880,786.157667079,806,651,631,652,0.454566785024,0.00442787145298,0.0598015614902,0.999999940456,-0.000159400540517,-0.000302097141769,-4.91675458387e-05,1793243141711070464
+250,4.166666667,HOLD_POSE2,765,745,714,681,656,632,880,786.732280742,806,651,631,652,0.454567487914,0.004426137428,0.0598019289926,0.999999939975,-0.000162687304524,-0.000302021886198,-4.86327550144e-05,1793243141727737344
+251,4.183333333,HOLD_POSE2,765,745,714,681,655.685860489,632,879.685860489,786.685860489,806.314139511,651,631,652,0.454566149437,0.00442539709973,0.0598009303835,0.999999939416,-0.000163339771398,-0.000303560484662,-4.83644331473e-05,1793243141744403968
+252,4.200000000,HOLD_POSE2,765,745,714,681,655.09768149,632,879.09768149,786.09768149,806.90231851,651,631,652,0.454563030175,0.00442552362251,0.0597987400473,0.999999938786,-0.000161694209927,-0.00030650692811,-4.83285654105e-05,1793243141761070592
+253,4.216666667,HOLD_POSE2,764.516797412,745,714,681.483202588,655.966405176,632,879.966405176,786.483202588,806.516797412,651.483202588,631,652,0.4545640347,0.00442642717231,0.0597991542825,0.999999939242,-0.000160626110869,-0.000305564525992,-4.84239345687e-05,1793243141777737216
+254,4.233333333,HOLD_POSE2,764,745.062374584,714,681.937625416,656.937625416,632,880.937625416,787,806.062374584,652,631,652,0.454565683565,0.00442721407521,0.0598000000208,0.999999939792,-0.000159968873449,-0.000304092330114,-4.8506042466e-05,1793243141794403840
+255,4.250000000,HOLD_POSE2,764,745.639406975,714,681.360593025,656.360593025,632,880.360593025,787,806.639406975,652,631,652,0.454565872788,0.00442576171615,0.0598001263357,0.999999939351,-0.000161752811692,-0.000304638853803,-4.82630841668e-05,1793243141811070464
+256,4.266666667,HOLD_POSE2,764.214701438,745.785298562,714,680.785298562,655.785298562,632,880.214701438,786.785298562,806.785298562,651.785298562,631,652,0.454565948326,0.00442568078075,0.0598001952108,0.999999939274,-0.000161467674754,-0.00030506891196,-4.80992219118e-05,1793243141827737088
+257,4.283333333,HOLD_POSE2,764.787100417,745.212899583,714,680.212899583,655.212899583,632,880.787100417,786.212899583,806.212899583,651.212899583,631,652,0.454565834459,0.00442788466892,0.0598001683898,0.999999939799,-0.000157735410722,-0.000305304935806,-4.80671355127e-05,1793243141844403968
+258,4.300000000,HOLD_POSE2,764.627348509,745,713.627348509,680,655,632,880.627348509,786,806,651,631,652,0.454565700583,0.00442887112652,0.0598003028602,0.999999939958,-0.000156673307884,-0.000305294876399,-4.82928634765e-05,1793243141861070592
+259,4.316666667,HOLD_POSE2,764.03400856,745,713.03400856,680,655,632,880.03400856,786,806,651,631,652,0.454565554857,0.00442913660808,0.059800532849,0.999999939906,-0.000157192504568,-0.000305139083711,-4.86712720403e-05,1793243141877737472
+260,4.333333333,HOLD_POSE2,764,745,713.546361687,680.546361687,655,631.453638313,880,786,806,651.546361687,631,652,0.454565950429,0.00442804022493,0.059800596498,0.999999939784,-0.000158339619195,-0.000305014429649,-4.82330135828e-05,1793243141894404096
+261,4.350000000,HOLD_POSE2,764,745,714,680.875156112,655,631.124843888,880,786,806,651.875156112,631,652,0.454566082317,0.00442727486372,0.0598005218606,0.999999939644,-0.000158937453947,-0.000305212178853,-4.79217426359e-05,1793243141911070720
+262,4.366666667,HOLD_POSE2,764,745,714,680.300633921,655,631.699366079,880,786,806,651.300633921,631,652,0.454565145894,0.0044280000733,0.0597999855553,0.999999939455,-0.000157419307128,-0.000306564380851,-4.82467250503e-05,1793243141927737344
+263,4.383333333,HOLD_POSE2,764,745,714,680,655.280255359,632,880.280255359,786,806,651.280255359,631,652,0.45456511824,0.0044279309449,0.0597996188362,0.999999939364,-0.00015734682012,-0.000306887197184,-4.83090568847e-05,1793243141944403968
+264,4.400000000,HOLD_POSE2,764,745,714,680,655.868133448,632,880.868133448,786,806,651.868133448,631,652,0.454566088098,0.00442698991011,0.0597994382638,0.999999939383,-0.000158861163949,-0.00030608010666,-4.80830898816e-05,1793243141961070592
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,655,631,880,786,806,652,631,652,0.454567693705,0.00442849751248,0.05979983676,0.999999939717,-0.000157630361336,-0.000305602271972,-4.82376274487e-05,1793243141993580544
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,655,631.575039178,880,786,806,652,631,652,0.45456556222,0.00442829918212,0.0597983921924,0.999999939338,-0.0001569077679,-0.00030724371861,-4.80193116586e-05,1793243142010247168
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.150460637,745,714,680.150460637,655.150460637,631.849539363,880,786.150460637,805.849539363,651.849539363,631,652,0.454564053532,0.00442818003678,0.0597972647847,0.999999938924,-0.000156814110833,-0.000308639179541,-4.79831075074e-05,1793243142026913792
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.726964689,745,714,680.726964689,655.726964689,631.273035311,880,786.726964689,805.273035311,651.273035311,631,652,0.454564308351,0.00442828511119,0.059797035445,0.999999938419,-0.000158501345967,-0.000309338109233,-4.8462569506e-05,1793243142043580416
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,655.690382277,631,880,786.690382277,805.619235447,651.309617723,631,652,0.454564197537,0.00442848807638,0.059796992506,0.99999993846,-0.000157820746186,-0.00030954031833,-4.85435104604e-05,1793243142060247040
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,655.102196946,631,880,786.102196946,806.795606107,651.897803054,631,652,0.454563757759,0.00442877911533,0.0597971172743,0.999999938989,-0.0001550097705,-0.000309295620581,-4.82658961574e-05,1793243142076913664
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.519668613,745,714,681,655,631,880,786,806.519668613,651.519668613,631,652,0.454564151653,0.0044286848847,0.0597974542391,0.99999993905,-0.000155986008443,-0.000308645693558,-4.80307435377e-05,1793243142093580288
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,745,714,680.93910409,655,631.06089591,880,786,806,651.06089591,631,652,0.454563978046,0.00442846329909,0.0597974460078,0.999999938856,-0.000157478093055,-0.000308544421436,-4.783935802e-05,1793243142110247168
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,745,714,680.365063552,655,631.634936448,880,786,806,651.634936448,631,652,0.454557545071,0.00442785124335,0.0597941529403,0.999999937358,-0.000156606061964,-0.000313784503228,-4.79415376454e-05,1793243142126913792
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.210358343,745,714,680.210358343,655.210358343,632,880,786,806.210358343,651.789641657,631,652,0.45454682518,0.00442797877408,0.0597887650595,0.999999934872,-0.00015562968132,-0.000322057998985,-4.81018305337e-05,1793243142143580672
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.788193279,745,714,680.788193279,655.788193279,632,880,786,806.788193279,651.211806721,631,652,0.454528616444,0.00442939829411,0.0597797177337,0.999999930576,-0.000154471011724,-0.000335630588163,-4.83636419099e-05,1793243142160247296
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.625312009,745,714,680.625312009,656,631.625312009,880.374687991,786,806.625312009,651,631,652,0.454495069815,0.00442906272369,0.0597652349358,0.999999921895,-0.000155902161016,-0.000359947767945,-4.8393159608e-05,1793243142176913920
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.033806156,745,714,680.033806156,656,631.033806156,880.966193844,786,806.033806156,651,631,652,0.454452647721,0.0044277115485,0.0597476068335,0.999999909982,-0.00015883194097,-0.000390482439634,-4.82882576739e-05,1793243142193580544
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.544607341,745,714,680.544607341,656,631,881,786,806,651,631,652,0.454390320833,0.00442923069392,0.0597272065432,0.999999898434,-0.00015532187173,-0.000420331575987,-4.82465139885e-05,1793243142210247168
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.87851504,655.87851504,631,880.75703008,786,806,651.12148496,631,652,0.454324907746,0.00443039261243,0.0597092844438,0.999999887859,-0.000152087885498,-0.000445909576224,-4.81189964725e-05,1793243142226913792
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.304402748,655.304402748,631,879.608805495,786,806,651.695597252,631,652,0.454252491546,0.00442957532705,0.059701221645,0.999999883568,-0.000151336943958,-0.000455729059851,-4.76576398031e-05,1793243142243580416
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.268215289,714,680.268215289,655.536430578,631.268215289,879.268215289,786,806,652,631,652,0.454173250295,0.0044300798066,0.0596961892181,0.999999880816,-0.000149553575904,-0.000462332460251,-4.74380857412e-05,1793243142260247040
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.839146827,714,680.839146827,656.678293654,631.839146827,879.839146827,786,806,652,631,652,0.454086306082,0.00443207607186,0.0596945769654,0.999999879871,-0.000146604978722,-0.00046530608695,-4.74914377729e-05,1793243142276913920
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.570934336,714,681,656.570934336,632,880,786,806,652,631,652,0.453982568997,0.00443246705054,0.0596930881866,0.999999878046,-0.000145564489901,-0.000469602467116,-4.68143655285e-05,1793243142293580544
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,656,632,880,786,806,652,631,651.974451193,0.453870981089,0.00443236697651,0.0596916141576,0.999999875963,-0.000145002963309,-0.000474283092185,-4.58609661269e-05,1793243142310247168
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,656,632,880,786,806,652,631,651.397050434,0.453732094713,0.0044352610971,0.0596894125822,0.999999876059,-0.000138620412417,-0.000476056265022,-4.51274890097e-05,1793243142326913792
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.820497731,745,713.820497731,681,656,632,880,786,806,651.820497731,631,651.179502269,0.453582311175,0.00443715203127,0.0596867755208,0.999999875518,-0.000133518574609,-0.000478728456717,-4.42147499845e-05,1793243142343580416
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.245812146,745,713.245812146,681,656,632,880,786,806,651.245812146,631,651.754187854,0.453408537006,0.00443683439944,0.0596831797155,0.99999987364,-0.000131236292227,-0.000483379883658,-4.29073569096e-05,1793243142360246784
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.336981043,745,713.336981043,681,656,632,880,786.336981043,806,651.336981043,631,652,0.453223042126,0.00443760266683,0.0596814699977,0.999999872832,-0.00012704462835,-0.000486274398313,-4.16365414701e-05,1793243142376913408
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.925834215,745,713.925834215,681,656,632,880,786.925834215,806,651.925834215,631,652,0.453028786734,0.00443918257553,0.0596811700114,0.99999987281,-0.000121425821693,-0.000487855732048,-4.03930653742e-05,1793243142393580288
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,656,632,880,786.494186139,806,652,631,652,0.452813476232,0.00443987967664,0.0596882141749,0.999999879046,-0.000117181263889,-0.000476092031021,-3.88909178679e-05,1793243142410246912
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.083865761,714,680.916134239,656.083865761,632,880,786.083865761,806,651.916134239,631,652,0.452588030349,0.00444046341561,0.0596957490642,0.99999988539,-0.00011274049241,-0.000463819564362,-3.71516848202e-05,1793243142426913792
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.658122496,714,680.341877504,656.658122496,632,880,786.658122496,806,651.341877504,631,652,0.452321060321,0.00444112813625,0.0596999652654,0.999999888081,-0.000105994460364,-0.000459816603653,-3.42440879545e-05,1793243142443580416
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.761452847,746,714,680,657,632,880.238547153,786.761452847,806.238547153,651,631.238547153,652,0.452034940936,0.0044428390135,0.0597030991221,0.999999890327,-9.90108759774e-05,-0.000456654516437,-3.17636695576e-05,1793243142460247296
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.171953947,746,714,680,657,632,880.828046053,786.171953947,806.828046053,651,631.828046053,652,0.45172064894,0.00444608900149,0.0597046406281,0.999999891961,-9.16778038284e-05,-0.000454729526702,-2.99117184039e-05,1793243142476914176
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,745.589648094,713.589648094,680.410351906,657.410351906,632,880.589648094,786,806.589648094,651.410351906,631.589648094,652,0.451376346452,0.00444854640084,0.0597049435727,0.999999892769,-8.33000858321e-05,-0.000454704295518,-2.77037871602e-05,1793243142493580544
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,745.010304506,713.010304506,680.989695494,657.989695494,632,880.010304506,786,806.010304506,651.989695494,631.010304506,652,0.451019685011,0.00445067739518,0.0597047364513,0.999999893182,-7.4492160532e-05,-0.000455461425519,-2.53492557533e-05,1793243142510247168
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.565428119,745,713.565428119,681,658,632.565428119,880,786.565428119,806,651.434571881,631,652,0.450616987498,0.00445291483805,0.0596928798545,0.999999885973,-6.50666733778e-05,-0.000472558033388,-2.25514837673e-05,1793243142526913792
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.858738822,745,714,681,658.141261178,633,880,787,806,651,631,652,0.450202723062,0.00445510128449,0.0596821025844,0.999999879484,-5.53531556049e-05,-0.000487421234181,-1.97257754585e-05,1793243142543580416
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764.282395134,745,714,681,658.717604866,633,880,787,806,651,631,652,0.44975540036,0.00445712472513,0.0596752993686,0.999999876593,-4.4786953337e-05,-0.000494494246252,-1.68387456237e-05,1793243142560247040
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,745,714,681,659.890689627,633,880,787,806,651.890689627,631,652,0.448814060861,0.00446383284575,0.0596808193063,0.999999882466,-2.10713834466e-05,-0.000484278979061,-9.85569241418e-06,1793243142593580800
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.471591038,745.471591038,714,680.528408962,660,633,880,787,806,651.528408962,631,652,0.448316508979,0.00446458284526,0.0596972190366,0.999999894,-1.12701484392e-05,-0.000460267578502,-5.15550962034e-06,1793243142610247680
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.95006026,713.95006026,680,660.09987948,633.04993974,880.04993974,787,806,651.04993974,631.04993974,652,0.44781423913,0.00446482199992,0.0597185488216,0.99999990829,-1.57546801497e-06,-0.000428273596336,-2.45678220998e-07,1793243142626914304
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.3771229,713.3771229,680,661.245754199,633.6228771,880.6228771,787,806,651.6228771,631.6228771,652,0.447308551985,0.0044669433327,0.059766408191,0.999999939251,1.29008839808e-05,-0.000348299012549,4.44769034928e-06,1793243142643580928
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713.19726538,680.19726538,662,634,880.80273462,787,806,651.80273462,631.80273462,652,0.446768850739,0.00446972220982,0.0598055546915,0.999999958194,2.71367007046e-05,-0.000287729114706,9.36250979733e-06,1793243142660247552
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713.774447984,680.774447984,662,634,880.225552016,787,806,651.225552016,631.225552016,652,0.446163641103,0.00447376746419,0.0598279209059,0.999999964067,4.0909265151e-05,-0.000264531086316,1.47038255541e-05,1793243142676913920
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.361570581,714,681,662,634,880,787,806.361570581,651,631,652,0.445495642829,0.00447908800248,0.0598151717703,0.999999956404,5.77576812442e-05,-0.000288964603229,1.88331329602e-05,1793243142693580800
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.955069123,714,681,662,634,880,787,806.955069123,651,631,652,0.444787369065,0.00448522656623,0.0597798980373,0.999999937671,7.65790890476e-05,-0.000343951179026,2.21850023475e-05,1793243142710247680
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,661.224936228,634,880.775063772,786.112468114,806,651,631,652,0.443406918312,0.00449254909156,0.0597664414704,0.999999933675,0.000102655813179,-0.000348249765277,2.88874959763e-05,1793243142743581184
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,662.37536761,634,879.62463239,786.687683805,806,651,631,652,0.442709627978,0.00449865473627,0.0597926183895,0.999999943404,0.000119022702802,-0.000312950098713,3.29715696344e-05,1793243142760248064
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764.269324762,745,714,680,662.730675238,634,879.269324762,787,806,651,631.269324762,651.730675238,0.441969912063,0.00450305083217,0.0598050522192,0.99999994492,0.000134038664188,-0.000301301368902,3.7571184607e-05,1793243142776914688
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661.315494862,634,879.657747431,787,806,652,631,652,0.436175054242,0.00455144147084,0.0597604619483,0.999999905263,0.000191380521583,-0.000388952864564,3.95248118848e-05,1793243142893581056
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661.920722204,634,880,787,805,652,631,652,0.433545044778,0.00457926625145,0.0597749854392,0.999999938625,0.000128793975415,-0.000325736454585,7.66643670731e-06,1793243142943580416
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,661.345941527,634,880,787,805,652,631,652,0.432645655805,0.00458237803711,0.0597904435395,0.999999939418,0.000149011511905,-0.000314202027598,1.54059217442e-05,1793243142960247040
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745.821836308,714,680,661,634,880,787,805.821836308,651.178163692,631,652,0.430894799042,0.00459667802434,0.0598258339219,0.999999951236,0.000179616191013,-0.000254504889363,2.22091274487e-05,1793243142993580544
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745.596296816,714,680,661.807406368,634,879.596296816,787,805.596296816,651.403703184,631,652,0.429952676464,0.00459566211893,0.0598286033646,0.999999950613,0.00017772307338,-0.000257969663603,2.53182237493e-05,1793243143010247680
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,713.439203613,680,661.317610838,634,879,787,805,652,631,652,0.428013088702,0.00459352288406,0.0597801237808,0.999999925054,0.000163408131983,-0.000349968899967,2.6656229498e-05,1793243143043580928
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+330,5.500000000,POSE2_TO_POSE3_RETREAT,764.288842555,745,713,680,661.422314891,634,879,786.288842555,805,652,631,652,0.426178578495,0.00459618616331,0.0597692545516,0.999999925605,0.000151218252734,-0.00035400408717,2.45944648369e-05,1793243143076914176
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764.293623055,745,713.293623055,679.706376945,662,634,879.293623055,786,805,652,631,652,0.425287632029,0.00459691895944,0.0597934812075,0.999999937411,0.000149199128617,-0.000319744994787,2.60953814701e-05,1793243143093580800
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764.885086716,745,713.885086716,679.114913284,662,634,879.885086716,786,805,652,631,652,0.424394535921,0.00459835663172,0.0598228427527,0.999999945384,0.000151507074473,-0.000292279270669,2.91604816793e-05,1793243143110247168
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,764.954747745,745,713.045252255,680,661.045252255,634,879.045252255,786.954747745,805,652,631,652,0.422572634461,0.00459671993806,0.0598501928243,0.99999995906,0.000151303092735,-0.000240710588356,3.23443629009e-05,1793243143143580672
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764.378707098,745,713.621292902,680,661.621292902,634,879.621292902,786.378707098,805,652,631,652,0.421662121839,0.00459906130314,0.0598386524005,0.999999938432,0.000231315893931,-0.000262017797534,3.12296027082e-05,1793243143160247552
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764.189699084,745,714,679.810300916,661.810300916,634,879.810300916,786,805,652,631,651.810300916,0.42074020098,0.00459998910015,0.0598107309293,0.999999909133,0.000289760213669,-0.000311176396268,3.07039260927e-05,1793243143176914432
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764.743453896,745,714,679.256546104,661.256546104,634,879.256546104,786,805,652,631,651.256546104,0.419796386158,0.00459820408769,0.0597513722238,0.999999866834,0.000306811995996,-0.000413785220185,3.13087727821e-05,1793243143193581056
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,764.059254234,745,714,679,660.059254234,634,879.940745766,786,804.059254234,652,631,651.940745766,0.418121889439,0.00460033044964,0.0597407959091,0.999999877272,0.000298669736104,-0.000394259908746,2.84950747846e-05,1793243143226913536
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.526292047,661.578876141,634,879.473707953,786.526292047,804.526292047,652,631,652.526292047,0.417333228764,0.00460162218903,0.0597838087577,0.99999990174,0.000290085727448,-0.000333904880234,2.96109630134e-05,1793243143243580160
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764.107415478,745,713.892584522,679.892584522,662.785169045,634,879,787,805,652,631,652.892584522,0.416538920424,0.00460140073077,0.0598243630709,0.999999920462,0.000280186700027,-0.000282130579809,3.12204664306e-05,1793243143260247040
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764.681720441,745,713.318279559,679.318279559,661.636559118,634,879,787,805,652,631,652.318279559,0.415712396891,0.00459489554889,0.059839325565,0.999999926734,0.00026370769647,-0.000275438896833,3.35179142229e-05,1793243143276913664
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,713.256085188,679.256085188,661,634,879,787,804.743914812,652,631,652,0.414916344474,0.0045915606037,0.0598465795674,0.999999931808,0.000250282184735,-0.000269379159323,3.43222661893e-05,1793243143293580544
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,713.830524212,679.830524212,661,634,879,787,804.169475788,652,631,652,0.414158172469,0.00459216675776,0.0598442507112,0.999999935614,0.000240652640955,-0.000264105029169,3.32704669622e-05,1793243143310247168
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,661.831933558,634,879,787,804,652,630.584033221,652,0.413390782666,0.00459268958298,0.059830319038,0.99999993029,0.000234958354449,-0.000288277931209,3.33141863045e-05,1793243143326913792
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.994096657,745,714,679.994096657,662.982289971,634,879,787,804,652,630.005903343,652,0.412619524038,0.00459316616021,0.0598112614456,0.999999919928,0.000230875636502,-0.000325111887295,3.37986669392e-05,1793243143343580416
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.414938926,745,714,679.414938926,661.244816779,634,879,787,804,652,630.585061074,652,0.41184718355,0.00459253813003,0.0597659678791,0.99999989662,0.00022336280491,-0.00039472564941,3.25634213587e-05,1793243143360246784
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,745.736427108,714,679,660.736427108,634,879.736427108,787,804,652.736427108,631,652.736427108,0.410498314627,0.00458652937791,0.0597674306873,0.999999906021,0.00020393994934,-0.000381209352867,3.23367117419e-05,1793243143393580032
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,745.091623944,714,679,661.908376056,634,879.091623944,787,804.908376056,652.091623944,631,652.091623944,0.409330515874,0.00458103051982,0.0598455662434,0.999999946314,0.000193694178457,-0.000261974280967,3.49822726904e-05,1793243143426913536
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.490683409,661.509316591,634,879,787,805,652,631,652,0.408734951291,0.00458110623467,0.0598574052133,0.99999994827,0.000202321481469,-0.00024761249196,3.48397454846e-05,1793243143443579904
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.92909394,661.07090606,634.07090606,879,787,805,652,631,652,0.408138653723,0.00458118280089,0.059860945499,0.9999999469,0.000211978709504,-0.000245124043738,3.43507660375e-05,1793243143460246784
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,661.394298884,635,879,787,804.605701116,652.394298884,631,652,0.406074914303,0.00457322475472,0.05983185358,0.999999943208,0.000196907565353,-0.000271592012718,3.23822174873e-05,1793243143526913536
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,745,713.283353942,679.716646058,661,634,879,787,805,652,631,652,0.403970883085,0.00456993206082,0.0597752256996,0.999999915886,0.000186902278755,-0.000363533508129,3.37554647716e-05,1793243143610246912
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,745,713.873056621,679.126943379,661,634,879,787,805,652,631,652,0.403647128024,0.00456870817435,0.0597708892311,0.9999999145,0.000188806151448,-0.000366269481358,3.46190091095e-05,1793243143626913536
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,661.455155316,634,879,787,804.544844684,652.455155316,631,652,0.403373609901,0.00456743929753,0.0597876464384,0.999999925511,0.000187444715466,-0.000335523797153,3.55902002734e-05,1793243143643580160
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,745.03484528,714,679.03484528,662,634,879.03484528,787,804,652.96515472,631,652,0.403115867127,0.00456620189815,0.0598101769355,0.999999938428,0.000185335370624,-0.000295728263083,3.65990409029e-05,1793243143660246784
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,745.609534081,714,679.609534081,662,634,879.609534081,787,804,652.390465919,631,652,0.402889023218,0.00456564337019,0.059832504594,0.999999948793,0.000185516225562,-0.000258020879721,3.77336816998e-05,1793243143676913664
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,745.811721367,714,679.811721367,662,634,879.811721367,787,804.188278633,652.188278633,631,652,0.402663770717,0.00456404993046,0.0598482809396,0.999999955019,0.000184576338093,-0.00023317962841,3.8998200336e-05,1793243143693580544
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745.224380602,714,679.224380602,662,634,879.224380602,787,804.775619398,652.775619398,631,652,0.402441891283,0.00456026296472,0.0598501715809,0.999999954995,0.000181261004386,-0.000235608529963,4.05379988456e-05,1793243143710246912
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,661.641936598,634,879,787,804.641936598,652.641936598,631,652,0.402231655406,0.00455938114618,0.0598448104659,0.999999951662,0.00018088006355,-0.000249514918907,4.12324482118e-05,1793243143726913536
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,661.062519697,634,879,787,804.062519697,652.062519697,631,652,0.402028617512,0.00456029527874,0.0598349663416,0.999999945934,0.000182313153374,-0.000270516649139,4.1404305934e-05,1793243143743580160
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,745.516509578,714,679,661.516509578,634.516509578,879,786.483490422,804,652.516509578,630.483490422,652,0.401869158247,0.00455780886735,0.0598332994711,0.99999994507,0.000178269567742,-0.000276296980672,4.17203504913e-05,1793243143760246784
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.094793912,745.905206088,714,679,662,634.905206088,879,786.094793912,804.094793912,653,630.094793912,652,0.401720372143,0.0045553318678,0.0598329123896,0.999999946943,0.000163159817463,-0.000279244583315,3.89257733854e-05,1793243143776913920
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.669544084,745.330455916,714,679,662,634.330455916,879,786.669544084,804.669544084,653,630.669544084,652,0.401598938382,0.00455498500779,0.0598339973426,0.999999956834,9.53742651054e-05,-0.000277171198292,2.02933371505e-05,1793243143793580544
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745.838701397,714,679,662.838701397,634,879,787,804.161298603,652.161298603,631,652,0.401399278949,0.0045437787628,0.0598398849185,0.999999963364,4.62115308746e-05,-0.000266405002965,1.28343368407e-05,1793243143826913536
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745.579807849,713.579807849,679,662.579807849,634,879,787,804.420192151,652.420192151,631,652,0.401318852524,0.00454432304177,0.059841193857,0.999999963734,4.76199213015e-05,-0.000264750938039,1.30546498064e-05,1793243143843580160
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745.000979967,713.000979967,679,662.000979967,634,879,787,804.999020033,652.999020033,631,652,0.401242460708,0.00454798879593,0.0598416024492,0.999999963442,5.22593662454e-05,-0.000265008838013,1.24961143893e-05,1793243143860246784
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.152310275,745,713.847689725,679,662,634.847689725,879.69537945,787,804.847689725,652.847689725,631,652,0.401119907839,0.0045432913315,0.0598310028329,0.999999957729,5.34077397356e-05,-0.000285418845069,1.50164905334e-05,1793243143893580288
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.096435078,745,713.903564922,679,662,634,878.903564922,787,804.903564922,652.903564922,631,652,0.401021713652,0.00454539618044,0.0598319101795,0.999999958789,5.68208395529e-05,-0.000281025021853,1.47915163052e-05,1793243143943579904
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.482709944,745,714,679.482709944,662,634,879,787,805,652.517290056,631,652,0.40100738804,0.00454243254531,0.0598331764717,0.999999959733,5.5419685679e-05,-0.000277885326541,1.55816092974e-05,1793243143960246784
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.938823078,745.061176922,714,679.938823078,662,634,879,787,805,652.061176922,631,652,0.400995651792,0.00453901936183,0.0598345253512,0.999999960691,5.35682749844e-05,-0.00027472922719,1.6508783189e-05,1793243143976913664
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.365092629,745.634907371,714,679.365092629,662,634,879,787,805,652.634907371,631,652,0.400985271769,0.0045410565618,0.0598350095825,0.999999960553,5.57702899137e-05,-0.000274806654384,1.62890888304e-05,1793243143993581568
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,746,714,679.209136838,662,634,878.790863162,787,805,653,631,652,0.400977528117,0.00454164152557,0.059836041832,0.999999960766,5.58447442058e-05,-0.000274017846507,1.62645629927e-05,1793243144010248960
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,746,714,679.784239497,662,634,878.215760503,787,805,653,631,652,0.400974397813,0.00453968524009,0.0598380330513,0.999999961586,5.21962077959e-05,-0.000271713225181,1.65815600133e-05,1793243144026915328
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,745.629329623,714,679.629329623,662,634.370670377,878.370670377,787,805,653,631,652,0.400971063918,0.00453976652275,0.0598382964496,0.999999961487,5.36518581795e-05,-0.000271781438775,1.67937560623e-05,1793243144043581696
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,745.036096939,714,679.036096939,662,634.963903061,878.963903061,787,805,653,631,652,0.400967607781,0.00454107122632,0.0598375224089,0.999999960825,5.81722250996e-05,-0.000273274378149,1.69430262564e-05,1793243144060248064
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.5417418,745,714,679.5417418,661.4582582,635,879,787,805,652.4582582,631,652,0.400968622958,0.00454248698597,0.0598397422728,0.999999961748,5.9591526084e-05,-0.00026958138143,1.67201092116e-05,1793243144076914176
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.881848034,745,714,679.881848034,661,634.881848034,878.881848034,787,804.881848034,652.118151966,631,652,0.400969468685,0.0045436458596,0.0598416016646,0.999999962482,6.09838253537e-05,-0.000266534263188,1.66061013528e-05,1793243144093580800
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.307104342,745,714,679.307104342,661,634.307104342,878.307104342,787,804.307104342,652.692895658,631,652,0.400968540055,0.00454378420511,0.0598413184226,0.999999962148,6.30482168532e-05,-0.000267281552615,1.70061546217e-05,1793243144110247424
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.27531998,745,714,679,661.27531998,634.27531998,878.27531998,786.72468002,804.27531998,652.72468002,631,652,0.400968955588,0.00454383332331,0.0598418663238,0.999999962368,6.35294638088e-05,-0.000266340206569,1.7059338017e-05,1793243144126913792
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.866557562,745,714,679,661.866557562,634.866557562,878.866557562,786.133442438,804.866557562,652.133442438,631,652,0.400970913488,0.00454378005711,0.0598433679254,0.99999996322,6.21941220916e-05,-0.000263461225467,1.67145034952e-05,1793243144143580160
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.448392138,662,635,879,786.448392138,804.551607862,652.448392138,631,652.448392138,0.400970186225,0.0045425665564,0.0598433274897,0.999999963318,6.00968444207e-05,-0.000263571346902,1.68240892538e-05,1793243144160247040
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.972704475,745,714,679.972704475,662,635,878.972704475,787,804.027295525,652.972704475,631,652.972704475,0.400968758426,0.00454117784985,0.0598428639456,0.999999963197,5.8063575335e-05,-0.00026447008756,1.70381264255e-05,1793243144176913920
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.39761968,745,714,679.39761968,662,635,878.39761968,787,804.60238032,652.39761968,631,652.39761968,0.400968979485,0.00454306016496,0.0598429297982,0.999999963181,6.17720930744e-05,-0.000263709688645,1.66900903932e-05,1793243144193580544
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,661.818548405,635,878.181451595,787,805,652,630.818548405,652,0.400968525744,0.0045437684174,0.0598428534818,0.999999963063,6.31444616358e-05,-0.000263838910322,1.66033630987e-05,1793243144210247424
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,661.23054525,635,878.76945475,787,805,652,630.23054525,652,0.400966560081,0.0045418461224,0.0598424586286,0.999999962729,5.92825685073e-05,-0.000265961372394,1.71021113891e-05,1793243144226914048
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.352157521,661.352157521,634.647842479,879,787,805,652.352157521,630.352157521,652,0.400966020853,0.00454075144627,0.0598423681565,0.999999962641,5.87192509783e-05,-0.000266392223819,1.74492702256e-05,1793243144243580672
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.931441748,661.931441748,634.068558252,879,787,805,652.931441748,630.931441748,652,0.400966401616,0.00454019054937,0.0598424739972,0.99999996272,6.02833753302e-05,-0.000265732057851,1.76986602575e-05,1793243144260247040
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,662,634,879,787,805,652.491555766,631,652,0.400965725374,0.00453978310513,0.0598418534818,0.999999962613,5.92054545888e-05,-0.00026639303631,1.7446288199e-05,1793243144276913664
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.084752631,745,714,679.830494739,661.915247369,634,878.915247369,787,805,652,631,652,0.400965350706,0.00453956759585,0.0598414529888,0.999999962572,5.82434766312e-05,-0.000266771990379,1.71981581637e-05,1793243144293580544
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.658821873,745,714,678.682356254,661.341178127,634,878.341178127,787,805,652,631,652,0.400967536358,0.0045403412894,0.0598428857235,0.99999996307,5.99985085046e-05,-0.000264498782187,1.73633912042e-05,1793243144310247424
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764.759881427,745,714,678.480237145,661.240118573,634.240118573,878.240118573,787,805,652,631,652,0.400967701346,0.00454153656139,0.0598430600512,0.999999963093,6.1576454149e-05,-0.00026405185935,1.72851454497e-05,1793243144326914048
+406,6.766666667,POSE2_TO_POSE3_RETREAT,764.167996644,745,714,679.664006713,661.832003356,634.832003356,878.832003356,787,805,652,631,652,0.400964906126,0.00454334943274,0.0598413908522,0.999999962428,6.28949742572e-05,-0.000266280387198,1.68502108872e-05,1793243144343580928
+407,6.783333333,POSE2_TO_POSE3_RETREAT,764.41481985,745,714,679.58518015,661.58518015,635,879,787,805,652,631,652,0.40096620551,0.00454192734547,0.059842520414,0.999999962998,6.09771477881e-05,-0.000264581280563,1.68116501097e-05,1793243144360247552
+408,6.800000000,POSE2_TO_POSE3_RETREAT,764.994042337,745,714,679.005957663,661.005957663,635,879,787,805,652,631,652,0.40096912768,0.00453922316967,0.0598447591891,0.999999964042,5.77766827411e-05,-0.000261325562015,1.69301813948e-05,1793243144376913920
+409,6.816666667,POSE2_TO_POSE3_RETREAT,764.433336447,745,714,679.566663553,661,634.433336447,878.433336447,787,805,652.566663553,631,652,0.400968514161,0.00454090926974,0.0598445982457,0.999999963861,5.97174445828e-05,-0.000261602929009,1.66094175942e-05,1793243144393580800
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..39d39ffeff5161bed630a9810b64500177cdfba1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_09/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.580743495984,0.0100018422607,1.05004057111,0.551315214659,0.0186766675877,1.0496783728
+2,0.033333333,pose1_baseline,0.580743495984,0.0100018422607,1.05004057111,0.551315214659,0.0186766675877,1.0496783728
+3,0.050000000,pose1_baseline,0.580743495984,0.0100018422607,1.05004057111,0.551315214659,0.0186766675877,1.0496783728
+4,0.066666667,pose1_baseline,0.580743495984,0.0100018422607,1.05004057111,0.551315214659,0.0186766675877,1.0496783728
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+7,0.116666667,pose1_baseline,0.580743495984,0.0100018422607,1.05004057111,0.551315214659,0.0186766675877,1.0496783728
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+12,0.200000000,pose1_baseline,0.580743495984,0.0100018422607,1.05004057111,0.551315214659,0.0186766675877,1.0496783728
+13,0.216666667,pose1_baseline,0.580743495984,0.0100018422607,1.05004057111,0.551315214659,0.0186766675877,1.0496783728
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+384,6.400000000,pose2_to_pose3_retreat,0.580772183734,0.010001854121,1.05004083195,0.551343903788,0.0186766840402,1.04967863144
+385,6.416666667,pose2_to_pose3_retreat,0.580764113896,0.0100017506207,1.05004081791,0.551335835448,0.0186765856132,1.04967861727
+386,6.433333333,pose2_to_pose3_retreat,0.580757989458,0.0100017260406,1.05004079505,0.551329711279,0.0186765619746,1.04967859513
+387,6.450000000,pose2_to_pose3_retreat,0.580753392668,0.0100018620272,1.05004071866,0.551325112173,0.0186766901426,1.04967851976
+388,6.466666667,pose2_to_pose3_retreat,0.580750732811,0.0100018694981,1.05004073268,0.551322451968,0.0186766963958,1.04967853274
+389,6.483333333,pose2_to_pose3_retreat,0.580749482197,0.0100018339102,1.05004077125,0.551321201737,0.0186766620506,1.04967856992
+390,6.500000000,pose2_to_pose3_retreat,0.580748573226,0.0100018080442,1.05004079928,0.551320293043,0.0186766370878,1.04967859694
+391,6.516666667,pose2_to_pose3_retreat,0.580748246068,0.0100017987344,1.05004080937,0.551319965985,0.0186766281032,1.04967860667
+392,6.533333333,pose2_to_pose3_retreat,0.580747733108,0.0100017841375,1.05004082519,0.551319453182,0.018676614016,1.04967862192
+393,6.550000000,pose2_to_pose3_retreat,0.58074749053,0.0100017772346,1.05004083267,0.551319210678,0.0186766073541,1.04967862913
+394,6.566666667,pose2_to_pose3_retreat,0.58074738639,0.0100017786327,1.05004083857,0.551319106552,0.0186766087818,1.04967863464
+395,6.583333333,pose2_to_pose3_retreat,0.58074732352,0.0100017806622,1.05004084287,0.551319043685,0.0186766108091,1.04967863862
+396,6.600000000,pose2_to_pose3_retreat,0.580747262021,0.0100017826474,1.05004084708,0.551318982189,0.0186766127922,1.04967864251
+397,6.616666667,pose2_to_pose3_retreat,0.580746639168,0.0100018027535,1.05004088966,0.551318359369,0.0186766328765,1.04967868195
+398,6.633333333,pose2_to_pose3_retreat,0.580746043218,0.0100018219912,1.0500409304,0.551317763451,0.0186766520934,1.04967871969
+399,6.650000000,pose2_to_pose3_retreat,0.580745706023,0.0100018328761,1.05004095345,0.551317426274,0.0186766629665,1.04967874105
+400,6.666666667,pose2_to_pose3_retreat,0.580745240449,0.0100018479051,1.05004098528,0.551316960725,0.0186766779792,1.04967877053
+401,6.683333333,pose2_to_pose3_retreat,0.580744821205,0.0100018714547,1.05004097146,0.551316541235,0.0186767007445,1.04967875792
+402,6.700000000,pose2_to_pose3_retreat,0.58074470288,0.0100018813821,1.05004095365,0.551316422753,0.0186767101985,1.04967874153
+403,6.716666667,pose2_to_pose3_retreat,0.580744499203,0.0100018984705,1.05004092299,0.551316218806,0.0186767264719,1.04967871333
+404,6.733333333,pose2_to_pose3_retreat,0.580744317949,0.0100019136776,1.05004089571,0.551316037311,0.0186767409538,1.04967868823
+405,6.750000000,pose2_to_pose3_retreat,0.580744259757,0.0100019185599,1.05004088695,0.551315979041,0.0186767456033,1.04967868017
+406,6.766666667,pose2_to_pose3_retreat,0.580743835903,0.0100019286542,1.05004079589,0.55131555448,0.0186767535762,1.04967859579
+407,6.783333333,pose2_to_pose3_retreat,0.580743753391,0.010001908547,1.05004075456,0.551315471705,0.0186767326872,1.0496785571
+408,6.800000000,pose2_to_pose3_retreat,0.580743684802,0.0100018918326,1.05004072019,0.551315402897,0.0186767153229,1.04967852494
+409,6.816666667,pose2_to_pose3_retreat,0.580743495984,0.0100018422607,1.05004057111,0.551315214659,0.0186766675877,1.0496783728
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..001b3790f95013df87767f6e13aae30c9d9d9323
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:702bbd103c2f980684d849d7778130f0ede81962375bf383d798a4998a254464
+size 25639738
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7178b14b3cf1b357a280c7ad9adb6eef9ae60cde
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,745,713,679,663,635,879,787,805,653,631,652,0.400937995967,0.00456288470076,0.0499297980648,0.999999972428,9.40653635425e-05,-0.00021385706104,-2.36764552225e-05,1793243145640886528
+1,0.016666667,BASELINE,764.424159591,745.575840409,713.575840409,679,663.575840409,635,879,787.575840409,805,653,631,652,0.400938225722,0.00456207231323,0.0499289564233,0.999999972528,9.16768331555e-05,-0.00021444635395,-2.35125146614e-05,1793243145657553152
+2,0.033333333,BASELINE,764,745.844894619,713.844894619,679,664,635,879,787.844894619,805,653,631,652.155105381,0.400937707891,0.00456180323172,0.0499281208784,0.999999972415,9.05173571379e-05,-0.000215462907936,-2.34926020491e-05,1793243145674219776
+3,0.050000000,BASELINE,764,745.256053076,713.256053076,679,664,635,879,787.256053076,805,653,631,652.743946924,0.400935099512,0.00456305344917,0.0499273023823,0.999999971719,9.27948040336e-05,-0.000217674253483,-2.38754486652e-05,1793243145690886144
+4,0.066666667,BASELINE,764.327382101,745,713,679,663.672617899,635,879,787,805,653,630.672617899,652.672617899,0.400935535422,0.00456222698637,0.0499274492749,0.999999971847,9.21417078005e-05,-0.000217389687867,-2.36343117214e-05,1793243145707552512
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+6,0.100000000,BASELINE,764.51865619,745,713.48134381,679,663,635,879,787,804.51865619,653,630.48134381,652,0.400938334438,0.00456052240675,0.049928540761,0.999999972476,9.09744399747e-05,-0.000215022372978,-2.31736581087e-05,1793243145740885760
+7,0.116666667,BASELINE,764.05528461,745,714,679,663,635,878.94471539,787,804.05528461,653,631,652,0.400937930643,0.00456152873294,0.0499286258094,0.999999972246,9.29730062972e-05,-0.000215197677571,-2.35227392231e-05,1793243145757552640
+8,0.133333333,BASELINE,764.630504435,745,714,679,663,635,878.369495565,787,804.630504435,653,631,652,0.400938515297,0.00455955075266,0.049928855445,0.999999972695,8.89995241365e-05,-0.000214858493111,-2.29303705303e-05,1793243145774219264
+9,0.150000000,BASELINE,764.787824852,745.212175148,713.787824852,679,663.212175148,635,878.212175148,787,805,653,631,652,0.400938729683,0.00455844755158,0.0499289369387,0.999999972958,8.65765558265e-05,-0.000214646643054,-2.26966180613e-05,1793243145790886144
+10,0.166666667,BASELINE,764.194567948,745.805432052,713.194567948,679,663.805432052,635,878.805432052,787,805,653,631,652,0.400938279038,0.00455891551681,0.0499287523586,0.999999972914,8.69384218354e-05,-0.00021466349475,-2.31069660705e-05,1793243145807553024
+11,0.183333333,BASELINE,764.388007748,745.611992252,713,679,664,634.611992252,878.611992252,787,805,653,631,652.388007748,0.400937737236,0.00455985515963,0.0499285204277,0.999999972884,8.81470734362e-05,-0.000214289936852,-2.32922516211e-05,1793243145824219648
+12,0.200000000,BASELINE,764.965370858,745.034629142,713,679,664,634.034629142,878.034629142,787,805,653,631,652.965370858,0.400937150946,0.00456102499038,0.0499282653884,0.999999972858,8.97689729829e-05,-0.000213725851444,-2.33677023313e-05,1793243145840886272
+13,0.216666667,BASELINE,765,745,713,679,664,634.541714527,878,787,805,653,631,652.458285473,0.4009375387,0.00456034167844,0.0499283266236,0.999999973026,8.82695379705e-05,-0.000213548587952,-2.35394777476e-05,1793243145857552640
+14,0.233333333,BASELINE,765,745,713,679,663.879545045,635,878.120454955,787,804.879545045,653,631,652,0.400937977572,0.00455980152505,0.0499285058128,0.999999973162,8.73161520586e-05,-0.000213293472692,-2.36215343518e-05,1793243145874219008
+15,0.250000000,BASELINE,765,745,713,679,663.29124279,635,878.70875721,787,804.29124279,653,631,652,0.400938373597,0.00456027664306,0.0499290647566,0.999999973136,8.9257146776e-05,-0.000212640119234,-2.33312518824e-05,1793243145890885632
+16,0.266666667,BASELINE,764.707193042,745,713,679.292806958,663,634.707193042,879,787,804,653,631,652,0.400938756806,0.0045600855358,0.0499292588648,0.999999973039,9.01711602202e-05,-0.000212744695129,-2.30374031215e-05,1793243145907552512
+17,0.283333333,BASELINE,764.127312566,745,713,679.872687434,663,634.127312566,879,787,804,653,631,652,0.40093912745,0.00455924124856,0.0499290952812,0.999999972874,9.00783015527e-05,-0.000213592359435,-2.27400579177e-05,1793243145924219392
+18,0.300000000,BASELINE,764.448761748,745.448761748,713,679.551238252,663,634,878.551238252,787.448761748,804.448761748,653,630.551238252,652.448761748,0.400938248012,0.00455945080202,0.0499283372723,0.999999972698,9.01586988468e-05,-0.000214380326563,-2.27050360634e-05,1793243145940886016
+19,0.316666667,BASELINE,765,745.976234329,713,679.023765671,663.023765671,634.023765671,878.023765671,787.976234329,805,653,630.023765671,652.976234329,0.400937083458,0.00455995650538,0.0499274456631,0.99999997253,9.02622757391e-05,-0.000215115899611,-2.27493676227e-05,1793243145957552640
+20,0.333333333,BASELINE,765,745.401222643,713,679.598777357,663.598777357,634.598777357,878.598777357,787.401222643,805,653,630.598777357,652.401222643,0.400937462485,0.00456045507371,0.0499273338309,0.99999997259,8.97730033426e-05,-0.000215025715628,-2.29226366357e-05,1793243145974219264
+21,0.350000000,BASELINE,765,745.178979517,713.178979517,679.821020483,664,635,879,787,805,653,631,652.178979517,0.400937404495,0.00456057099096,0.0499271852498,0.999999972596,8.9365468794e-05,-0.000215149839015,-2.30606178659e-05,1793243145990885888
+22,0.366666667,BASELINE,765,745.771164719,713.771164719,679.228835281,664,635,879,787,805,653,631,652.771164719,0.400936337575,0.00455980349084,0.0499269518275,0.999999972481,8.9146640507e-05,-0.000215768728659,-2.31171310212e-05,1793243146007552768
+23,0.383333333,BASELINE,764.645630777,745.645630777,713.645630777,679,664,635,879,787,805,653,631,652.645630777,0.40093675627,0.0045593750922,0.0499273829504,0.999999972652,8.83589368755e-05,-0.000215304323953,-2.30874680334e-05,1793243146024219392
+24,0.400000000,BASELINE,764.068082199,745.068082199,713.068082199,679,664,635,879,787,805,653,631,652.068082199,0.400938110595,0.00455916025731,0.0499282325994,0.999999973001,8.72129593541e-05,-0.000214157667805,-2.30035318953e-05,1793243146040885760
+25,0.416666667,BASELINE,764,745.507324364,713,679,663.492675636,635,879,787,805,653,631,652,0.400937548954,0.00455886907327,0.049927536141,0.999999972823,8.79492641391e-05,-0.000214699279058,-2.28746362557e-05,1793243146057552384
+26,0.433333333,BASELINE,764,746,713,679,663.083850232,634.916149768,879,787,805,653,631,652,0.40093711472,0.00455876974463,0.0499268783487,0.999999972662,8.86884997638e-05,-0.000215153288047,-2.27794860066e-05,1793243146074219008
+27,0.450000000,BASELINE,764,746,713,679,663.668775686,634.331224314,879,787,805,653,631,652,0.400938971895,0.00455987788294,0.0499276863039,0.999999973029,8.7942102985e-05,-0.000213735589384,-2.29218962313e-05,1793243146090885632
+28,0.466666667,BASELINE,764,745.746529384,713.253470616,679,663.746529384,634.253470616,879,787,805,653,631,652,0.400939563073,0.00456029247185,0.0499280107673,0.999999973204,8.73713171616e-05,-0.000213129013583,-2.31216528031e-05,1793243146107552256
+29,0.483333333,BASELINE,764,745.162135451,713.837864549,679,663.162135451,634.837864549,879,787,805,653,631,652,0.400938501403,0.00455980158429,0.0499277039988,0.999999973131,8.70298035585e-05,-0.000213581414529,-2.33962789652e-05,1793243146124218880
+30,0.500000000,BASELINE,764.41386948,745,713.58613052,679,663.41386948,634.58613052,879,787,805,653,631,652,0.400937289211,0.00455934151484,0.049927306028,0.999999972961,8.67620803314e-05,-0.000214505322488,-2.3176588648e-05,1793243146140885760
+31,0.516666667,BASELINE,764.986653256,745,713.013346744,679,663.986653256,634.013346744,879,787,805,653,631,652,0.400936019222,0.00455889327869,0.0499268730382,0.999999972754,8.6522690551e-05,-0.000215610275934,-2.27670946321e-05,1793243146157552384
+32,0.533333333,BASELINE,765,745,713.564563276,679,663.435436724,634,879,787,805,653,631,652,0.400936170035,0.00455854446585,0.0499269293117,0.999999972688,8.80282568973e-05,-0.000215313213289,-2.2684995401e-05,1793243146174219008
+33,0.550000000,BASELINE,765,745,714,679.145093692,663,634.145093692,879,787,805,653,631,652,0.40093696525,0.00455852221961,0.0499273384348,0.999999972797,8.90183176106e-05,-0.000214395234664,-2.27060889209e-05,1793243146190885888
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+36,0.600000000,BASELINE,764.102058304,745,713.102058304,680,663,635,879.897941696,787,805,653,631,652,0.400937672972,0.00455887188579,0.0499266803929,0.999999972858,8.61695462939e-05,-0.000215215304526,-2.32436089902e-05,1793243146240885760
+37,0.616666667,BASELINE,764,745,713,679.527595432,663,635,879.055190865,787,805,653,631.472404568,652,0.400936816245,0.00455854957483,0.0499261709479,0.999999972712,8.57796092972e-05,-0.000216053964507,-2.31999269702e-05,1793243146257552384
+38,0.633333333,BASELINE,764,745,713.046767566,679,663.046767566,634.953232434,878.046767566,787,805,653,631.953232434,652,0.400936392563,0.00455828119013,0.0499260304288,0.999999972683,8.55885478239e-05,-0.000216274055276,-2.31194451906e-05,1793243146274219008
+39,0.650000000,BASELINE,764,745,713.635231154,679,663.635231154,634.364768846,878.635231154,787,805,653,631.364768846,652,0.400938057011,0.00455774535428,0.0499270018624,0.999999972978,8.57652802266e-05,-0.000214863650041,-2.28539861052e-05,1793243146290885632
+40,0.666666667,BASELINE,764.221074284,745,713.778925716,679.221074284,663.778925716,634,879.221074284,787,805,653,631,652,0.40093896639,0.00455764058871,0.0499274348665,0.999999973127,8.64211892102e-05,-0.000213919557244,-2.26896276825e-05,1793243146307552256
+41,0.683333333,BASELINE,764.802644318,745,713.197355682,679.802644318,663.197355682,634,879.802644318,787,805,653,631,652,0.400938644513,0.00455823874978,0.0499269898782,0.999999973042,8.78584695713e-05,-0.000213735858948,-2.26901295136e-05,1793243146324219136
+42,0.700000000,BASELINE,765,745,713.381627796,679.618372204,663,634.381627796,879.618372204,787,805,653,631,652,0.400937870886,0.00455788449875,0.0499269704356,0.999999972956,8.73115414538e-05,-0.000214365837072,-2.26249080583e-05,1793243146340885760
+43,0.716666667,BASELINE,765,745,713.959282647,679.040717353,663,634.959282647,879.040717353,787,805,653,631,652,0.400936865214,0.0045570410314,0.0499271695791,0.999999972869,8.57454041401e-05,-0.000215413768491,-2.25259271591e-05,1793243146357552384
+44,0.733333333,BASELINE,764.46679855,745,713.46679855,679,663,634.46679855,879,787,805,653,631,652,0.400937559793,0.00455730621889,0.0499274879871,0.999999973007,8.58931627524e-05,-0.000214707569091,-2.25567135105e-05,1793243146374219008
+45,0.750000000,BASELINE,764.110247491,745,713.110247491,679,663,634,879,787,805,653,631,652,0.400938429444,0.00455759494963,0.0499277943782,0.99999997321,8.60234294941e-05,-0.000213703177914,-2.25929659615e-05,1793243146390885632
+46,0.766666667,BASELINE,764.702194962,745,713.702194962,679,663,634,879,787,805,653,631,652,0.400939500679,0.0045576192137,0.0499280087476,0.999999973621,8.55094006217e-05,-0.000211977109626,-2.26101051363e-05,1793243146407552256
+47,0.783333333,BASELINE,765,745,714,679,663.28720494,634,879,787,805,653,631,652,0.400939659222,0.00455816096097,0.0499278676338,0.999999973596,8.65176977907e-05,-0.000211672048585,-2.27298246344e-05,1793243146424218880
+48,0.800000000,BASELINE,765,745,714,679,663.86519111,634,879,787,805,653,631,652,0.400938893707,0.00455922663517,0.0499273666102,0.999999973127,8.9067277014e-05,-0.000212805689031,-2.29534017929e-05,1793243146440885504
+49,0.816666667,BASELINE,764.560715229,745,714,679,663.560715229,634,879,787,805,653,631,652,0.400937497006,0.00455910841183,0.0499266930864,0.999999972907,8.7459882947e-05,-0.000214491853739,-2.30430905379e-05,1793243146457552128
+50,0.833333333,BASELINE,764,745,714,679,663.012264409,634.012264409,879,787,805,653,631,652,0.400935980755,0.00455865580929,0.0499259931216,0.999999972763,8.46891344336e-05,-0.000216262104101,-2.30913853918e-05,1793243146474219008
+51,0.850000000,BASELINE,764,745,714,679,663.58846565,634.58846565,879,787,805,653,631,652,0.400937795814,0.00455938710988,0.0499264901194,0.999999973051,8.6569135807e-05,-0.000214170588064,-2.31090226855e-05,1793243146490885632
+52,0.866666667,BASELINE,764,745,714,679.169730152,664,635,878.830269848,787,805,653.169730152,631,652.169730152,0.4009393651,0.00455990785328,0.0499271468107,0.999999973279,8.80876402312e-05,-0.000212480897295,-2.31245490049e-05,1793243146507552768
+53,0.883333333,BASELINE,764,745,714,679.763648685,664,635,878.236351315,787,805,653.763648685,631,652.763648685,0.400940320149,0.00455990237365,0.0499282026067,0.99999997337,8.87026939561e-05,-0.000211795445488,-2.31347995919e-05,1793243146524220160
+54,0.900000000,BASELINE,764,745,713.654087502,680,663.654087502,634.654087502,878,787,805,653.654087502,631.345912498,652.654087502,0.400939486964,0.00455928782545,0.0499277170256,0.99999997332,8.75974951776e-05,-0.000212501749607,-2.30284715612e-05,1793243146540886784
+55,0.916666667,BASELINE,764,745,713.079527462,680,663.079527462,634.079527462,878,787,805,653.079527462,631.920472538,652.079527462,0.400937471761,0.004558270684,0.049926212597,0.999999973171,8.53552125459e-05,-0.00021412800193,-2.28450852723e-05,1793243146557552896
+56,0.933333333,BASELINE,764,745,713,679.503520054,663.496479946,634.496479946,878.496479946,787.496479946,805,653,631.503520054,652,0.400937643473,0.00455722629766,0.0499261877652,0.999999973354,8.3871622173e-05,-0.000213864763733,-2.27761883716e-05,1793243146574219264
+57,0.950000000,BASELINE,764.074223177,745,713,679.074223177,664,635,879.074223177,787.925776823,805.074223177,653,631,652.074223177,0.400938092686,0.00455648476441,0.0499264184628,0.999999973539,8.2945684673e-05,-0.000213365805667,-2.27585451105e-05,1793243146590885632
+58,0.966666667,BASELINE,764.662375145,745,713,679.662375145,664,635,879.662375145,787.337624855,805.662375145,653,631,652.662375145,0.400938030696,0.00455787052332,0.0499267726225,0.999999973364,8.50370511504e-05,-0.000213336500022,-2.29684334385e-05,1793243146607552256
+59,0.983333333,BASELINE,765,745.246548831,713.246548831,679.753451169,664,635,879.753451169,787,805.753451169,653,631,652.753451169,0.40093800587,0.00455837860653,0.0499269425437,0.999999973261,8.6344230073e-05,-0.000213288514705,-2.30284531101e-05,1793243146624219136
+60,1.000000000,BASELINE,765,745.825361234,713.825361234,679.174638766,664,635,879.174638766,787,805.174638766,653,631,652.174638766,0.400938031128,0.00455770388301,0.0499268641746,0.999999973258,8.65945924442e-05,-0.000213215355573,-2.28865010765e-05,1793243146640885760
+61,1.016666667,BASELINE,765,745.597514059,714,679.402485941,664,635,879,787,805,653,631,652,0.400938486167,0.0045571195584,0.0499268392939,0.99999997326,8.62100881833e-05,-0.000213385077575,-2.26791446301e-05,1793243146657552384
+62,1.033333333,BASELINE,765,745.021118622,714,679.978881378,664,635,879,787,805,653,631,652,0.400939126909,0.00455657429415,0.049926837525,0.999999973263,8.55512654152e-05,-0.000213659745695,-2.24435277058e-05,1793243146674219008
+63,1.050000000,BASELINE,764.445233227,745.554766773,713.445233227,679.445233227,664,635,878.445233227,787,805,653,631,652,0.400938471156,0.00455644854303,0.0499268784357,0.999999973244,8.50851576682e-05,-0.000213948935187,-2.23168946986e-05,1793243146690885888
+64,1.066666667,BASELINE,764.133850186,745.866149814,713,679,663.866149814,634.866149814,878.133850186,787,804.866149814,653,631,652,0.400938345847,0.00455661868066,0.0499271418492,0.999999973324,8.49799229131e-05,-0.000213623710317,-2.22716147775e-05,1793243146707552512
+65,1.083333333,BASELINE,764.723899427,745.276100573,713,679,663.276100573,634.276100573,878.723899427,787,804.276100573,653,631,652,0.400940196499,0.00455774291061,0.0499281580823,0.999999973739,8.60796639338e-05,-0.000211202506254,-2.24894819197e-05,1793243146724219136
+66,1.100000000,BASELINE,764.691592379,745,713,679.308407621,663.308407621,634.308407621,878.691592379,787,804.308407621,653,631,652,0.400940869139,0.00455869125234,0.0499284463047,0.999999973769,8.73396533186e-05,-0.000210514260621,-2.27612734025e-05,1793243146740885760
+67,1.116666667,BASELINE,764.111957262,745,713,679.888042738,663.888042738,634.888042738,878.111957262,787,804.888042738,653,631,652,0.400940505783,0.00455948491001,0.0499280942819,0.999999973462,8.87405722447e-05,-0.000211350056489,-2.30804883576e-05,1793243146757552384
+68,1.133333333,BASELINE,764,745,713,679.536013374,663.536013374,635,878.463986626,787,805,653,631,652,0.400940396752,0.00455854965847,0.0499277317114,0.999999973659,8.7194428913e-05,-0.000211067491062,-2.30253939589e-05,1793243146774219008
+69,1.150000000,BASELINE,764,745.039889836,713.039889836,679,663.039889836,635,879,787,805,653,631,652,0.400940363013,0.00455736060754,0.0499274338323,0.999999973947,8.5121941583e-05,-0.000210560414202,-2.28963652059e-05,1793243146790885888
+70,1.166666667,BASELINE,764,745.627364176,713.627364176,679,663.627364176,635,879,787,805,653,631,652,0.400940527086,0.00455836909375,0.0499280586621,0.999999973894,8.55087561208e-05,-0.000210646537395,-2.29824651775e-05,1793243146807552512
+71,1.183333333,BASELINE,764,745.788175678,714,679,663.788175678,635,879,787,805,653,631,652.211824322,0.400940280814,0.00455843763907,0.0499280944685,0.999999973802,8.5481787042e-05,-0.000211097534388,-2.29448791035e-05,1793243146824219136
+72,1.200000000,BASELINE,764,745.208943534,714,679,663.208943534,635,879,787,805,653,631,652.791056466,0.400939322805,0.00455687586359,0.0499271086179,0.999999973642,8.47371132043e-05,-0.00021218140248,-2.26927604524e-05,1793243146840885760
+73,1.216666667,BASELINE,764.368934052,745.368934052,714,679.368934052,663.368934052,635,879,787,805,653,631,652.631065948,0.400939322265,0.00455696525732,0.0499269090346,0.999999973651,8.4911198948e-05,-0.000212063876942,-2.27348916651e-05,1793243146857552128
+74,1.233333333,BASELINE,764.946047265,745.946047265,714,679.946047265,663.946047265,635,879,787,805,653,631,652.053952735,0.400939861999,0.0045579863597,0.0499271531201,0.999999973756,8.56037150551e-05,-0.000211268438537,-2.29430598559e-05,1793243146874218752
+75,1.250000000,BASELINE,765,745.476913352,713.476913352,678.953826704,664,635,879,787,804.476913352,653,631,652,0.40093865516,0.00455906462715,0.0499268962159,0.999999973344,8.71393563374e-05,-0.000212583102646,-2.29545608723e-05,1793243146890885376
+76,1.266666667,BASELINE,764.897990025,745,713,678.102009975,664,634.897990025,878.897990025,787,804.102009975,653,631,652,0.400937774821,0.0045599199173,0.0499267558867,0.999999973003,8.8526674663e-05,-0.00021361370564,-2.29183859101e-05,1793243146907552512
+77,1.283333333,BASELINE,764.310056295,745,713,678.689943705,664,634.310056295,878.310056295,787,804.689943705,653,631,652,0.400939307771,0.00455968497433,0.0499274169736,0.999999973273,8.87932710039e-05,-0.000212254594227,-2.27517198549e-05,1793243146924219136
+78,1.300000000,BASELINE,764,745,713.275145021,679,663.724854979,634.275145021,878.275145021,787,805,653,631,652,0.400939678031,0.00455875593434,0.0499274370288,0.999999973438,8.7586966805e-05,-0.000211990429905,-2.26331170207e-05,1793243146940885504
+79,1.316666667,BASELINE,764,745,713.857297464,679,663.142702536,634.857297464,878.857297464,787,805,653,631,652,0.400938750959,0.0045570524194,0.0499267418193,0.999999973482,8.47371969087e-05,-0.000212948010056,-2.25681432459e-05,1793243146957552128
+80,1.333333333,BASELINE,764,745,713.567466061,679,663.432533939,635,879,787,805,653,631,652,0.400939025867,0.0045569116906,0.0499267886213,0.999999973621,8.35708034805e-05,-0.000212745523007,-2.2650238379e-05,1793243146974218752
+81,1.350000000,BASELINE,764,745,713,679,663.994445707,635,879,787,805,653,631,652,0.400939702534,0.00455726873136,0.0499270785776,0.999999973794,8.29574310752e-05,-0.000212157391899,-2.27776516031e-05,1793243146990885632
+82,1.366666667,BASELINE,764,745,713,679,663.418379395,635,879,787,805,653,631,652,0.400941554231,0.00455662800378,0.0499275945903,0.999999974112,8.29992144099e-05,-0.000210651448892,-2.26544805697e-05,1793243147007552256
+83,1.383333333,BASELINE,764.162608436,745.162608436,713,679,663.162608436,634.837391564,878.837391564,787,805,653,631,652.162608436,0.400941867796,0.00455609621772,0.0499276014793,0.999999974132,8.3358791336e-05,-0.000210429279528,-2.25072084245e-05,1793243147024218880
+84,1.400000000,BASELINE,764.756654315,745.756654315,713,679,663.756654315,634.243345685,878.243345685,787,805,653,631,652.756654315,0.400938100343,0.00455585347832,0.049926257547,0.999999973361,8.45615474878e-05,-0.00021361325547,-2.229599048e-05,1793243147040885248
+85,1.416666667,BASELINE,765,746,713.338990214,679,664,634.338990214,878.338990214,787,805,653,631,652.661009786,0.400936864895,0.00455646064099,0.0499258547992,0.99999997316,8.4084020398e-05,-0.000214723255932,-2.24530043492e-05,1793243147057552128
+86,1.433333333,BASELINE,765,746,713.913200698,679,664,634.913200698,878.913200698,787,805,653,631,652.086799302,0.400937386369,0.00455765753807,0.0499261051255,0.999999973358,8.24405696774e-05,-0.000214394155454,-2.28655288118e-05,1793243147074219008
+87,1.450000000,BASELINE,764.511466223,745.511466223,713.511466223,679.488533777,664,635,879,787,804.511466223,653,631,652.488533777,0.400937435654,0.00455757146493,0.0499260868033,0.999999973278,8.33671001061e-05,-0.000214408148302,-2.28920675548e-05,1793243147090885632
+88,1.466666667,BASELINE,764,745.065507633,713.065507633,679.934492367,664,635,879.065507633,787,804.065507633,653,631,652.934492367,0.400937403581,0.00455738467662,0.0499260329192,0.999999973152,8.48424858933e-05,-0.000214420100474,-2.28526779856e-05,1793243147107552256
+89,1.483333333,BASELINE,764,745.65398438,713.65398438,679.34601562,664,635,879.65398438,787,804.65398438,653,631,652.34601562,0.400937393307,0.00455821783154,0.0499260770678,0.999999973068,8.70458494198e-05,-0.000213927988956,-2.2835712883e-05,1793243147124218880
+90,1.500000000,BASELINE,764,745.76156696,713.76156696,679,664,635,879.76156696,787,805,653,631,652,0.400937969071,0.00455867256224,0.0499263537332,0.999999973135,8.7948719192e-05,-0.000213249378509,-2.28149036171e-05,1793243147140885248
+91,1.516666667,BASELINE,764,745.182866821,713.182866821,679,664,635,879.182866821,787,805,653,631,652,0.400939381165,0.00455858724475,0.0499269622226,0.99999997342,8.69956579214e-05,-0.00021230461603,-2.27886083581e-05,1793243147157552128
+92,1.533333333,BASELINE,764,745.395430002,713.395430002,679,664,635,879,787,805,653,631,652.395430002,0.40093959453,0.00455781014979,0.0499272095185,0.99999997355,8.6141872203e-05,-0.000212061152002,-2.25658028944e-05,1793243147174218752
+93,1.550000000,BASELINE,764,745.973540551,713.973540551,679,664,635,879,787,805,653,631,652.973540551,0.400939254105,0.00455671346784,0.0499272899505,0.999999973609,8.53339496694e-05,-0.000212141673389,-2.22522137453e-05,1793243147190885376
+94,1.566666667,BASELINE,764,746,714,679,664,635,878.454701246,787.545298754,805,653,630.454701246,653,0.400938570898,0.00455658650956,0.0499266554014,0.999999973527,8.42375826543e-05,-0.00021294042919,-2.25025609957e-05,1793243147207552768
+95,1.583333333,BASELINE,764,746,714,679,664,635,878.121129938,787.878870062,805,653,630.121129938,652.878870062,0.400938076988,0.00455648482326,0.0499261427149,0.999999973463,8.33069978454e-05,-0.000213583618953,-2.27052992898e-05,1793243147224220160
+96,1.600000000,BASELINE,764,746,714,679,664,635,878.714010477,787.285989523,805,653,630.714010477,652.285989523,0.400938384341,0.00455630041623,0.0499262381909,0.999999973505,8.30759467542e-05,-0.000213486777794,-2.2617277217e-05,1793243147240887296
+97,1.616666667,BASELINE,764,745.700071819,713.700071819,679,664,635,879,787,805,653,631,652.299928181,0.400938786788,0.00455673745722,0.0499263145196,0.999999973506,8.35686105677e-05,-0.000213282943475,-2.26812605883e-05,1793243147257553920
+98,1.633333333,BASELINE,764,745.120642766,713.120642766,679,664,635,879,787,805,653,631,652.879357234,0.400939277853,0.00455775362108,0.0499263730049,0.999999973468,8.47356990075e-05,-0.000212979403019,-2.28868967236e-05,1793243147274219776
+99,1.650000000,BASELINE,764,745,713,679,664,635,879,787,805,653,631,652.543041895,0.400940584842,0.00455691125199,0.0499270597015,0.999999973787,8.44666344564e-05,-0.000211614016168,-2.26060377651e-05,1793243147290886144
+100,1.666666667,BASELINE,764,745,713,679,663.965400733,634.965400733,879,787,805,653,631,652,0.400941891376,0.00455575579887,0.0499277961953,0.99999997414,8.39435022068e-05,-0.000210186014955,-2.22407155825e-05,1793243147307552256
+101,1.683333333,BASELINE,764,745,713,679,663.379456759,634.379456759,879,787,805,653,631,652,0.400939771664,0.00455739915031,0.0499266938073,0.999999973583,8.53897018246e-05,-0.000212209719871,-2.25680287253e-05,1793243147324219136
+102,1.700000000,BASELINE,764,745,713.204070777,679,663.204070777,634.204070777,878.795929223,787,805,653,631,652.204070777,0.400938152126,0.00455858386987,0.0499256572362,0.999999973137,8.61210375486e-05,-0.000213976470293,-2.28754017981e-05,1793243147340885760
+103,1.716666667,BASELINE,764,745,713.783157614,679,663.783157614,634.783157614,878.216842386,787,805,653,631,652.783157614,0.400937451744,0.00455892577225,0.0499247416155,0.999999972903,8.55386845686e-05,-0.000215271021275,-2.31461314377e-05,1793243147357552128
+104,1.733333333,BASELINE,764,745,714,679,664,635,878.361453114,787,805,653,631,652.638546886,0.4009387323,0.00455918551582,0.0499256477345,0.999999973231,8.60130270384e-05,-0.000213554366351,-2.3105263009e-05,1793243147374219008
+105,1.750000000,BASELINE,764,745,714,679,664,635,878.939274969,787,805,653,631,652.060725031,0.400941198661,0.00455939607849,0.0499276443613,0.999999973886,8.71199158446e-05,-0.00021003517948,-2.28778694967e-05,1793243147390885888
+106,1.766666667,BASELINE,764,745,713.485912511,679.514087489,663.485912511,635,879,787,805,653,631,652.514087489,0.400941417856,0.00455838931151,0.0499277572281,0.999999973941,8.68080573935e-05,-0.00020994555298,-2.24862878228e-05,1793243147407552768
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663,635,878,787,805,653,631,652,0.400940177871,0.00455750216371,0.0499275754174,0.999999973897,8.37561085968e-05,-0.00021136511149,-2.27135262022e-05,1793243147449873920
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634.421423049,878,787,805,653,631,652,0.400939830764,0.00455785066937,0.0499272593458,0.999999973864,8.35790971967e-05,-0.000211588821094,-2.27316393108e-05,1793243147466540544
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713.15621116,679,663.15621116,634.15621116,878,787,805,653,631,652,0.400939591688,0.00455822857649,0.0499268752246,0.999999973822,8.36624324925e-05,-0.000211749142411,-2.27712041267e-05,1793243147483207168
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713.731317446,679,663.731317446,634.731317446,878,787,805,653,631,652,0.400939642302,0.00455868532651,0.0499263086217,0.999999973756,8.44439122479e-05,-0.000211739482042,-2.28682937461e-05,1793243147499873792
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713.686597741,679.313402259,664,634.686597741,878.313402259,787,805,653,631,652,0.400940749683,0.00455875509564,0.049926859062,0.999999973832,8.54846676669e-05,-0.000210965355294,-2.28406520009e-05,1793243147516540416
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,713.098393957,679.901606043,664,634.098393957,878.901606043,787,805,653,631,652,0.40094278367,0.00455848554701,0.0499283889631,0.99999997403,8.67527645646e-05,-0.000209520918997,-2.27036416402e-05,1793243147533207296
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.48240887,745,713,680,663.51759113,634,879,787,805,653,631,652.48240887,0.400949310173,0.00455798700552,0.0499302778809,0.999999974991,8.65914689112e-05,-0.000204952398311,-2.26958716249e-05,1793243147549873664
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,713,679.938427034,663,634.061572966,878.938427034,787,805,653,631,652.938427034,0.400958046104,0.00455764885347,0.049932520682,0.999999976247,8.62378930753e-05,-0.000198871730887,-2.27751123035e-05,1793243147566540288
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,713,679.360537595,663,634.639462405,878.360537595,787,805,653,631,652.360537595,0.400977741494,0.00455904137238,0.0499371261931,0.999999978789,8.66797516855e-05,-0.000185373515617,-2.33662727525e-05,1793243147583206912
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.783818887,745,713.216181113,679,663.216181113,635,878.216181113,787,805,653,631,652,0.40100155314,0.00455980398374,0.0499415556931,0.999999981436,8.65716594666e-05,-0.000170482248169,-2.3868167062e-05,1793243147599873792
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.209042214,745,713.790957786,679,663.790957786,635,878.790957786,787,805,653,631,652,0.401032192722,0.00455952172084,0.04994569323,0.9999999843,8.55513231926e-05,-0.000153280223652,-2.42219889822e-05,1793243147616540416
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.375551223,745.375551223,713.624448777,679,663.624448777,634.624448777,879.375551223,787,804.624448777,653,631,652.375551223,0.401073615184,0.00455901936039,0.0499509906745,0.999999987593,8.37970982893e-05,-0.000131038811875,-2.49140395939e-05,1793243147633207040
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.965755666,745.965755666,713.034244334,679,663.034244334,634.034244334,879.965755666,787,804.034244334,653,631,652.965755666,0.401121200803,0.0045583911991,0.0499569510861,0.999999990727,8.16234056893e-05,-0.000105917043794,-2.57994110687e-05,1793243147649873408
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.455051671,746,713.544948329,679,663.544948329,634.544948329,878.910103343,787,804.544948329,653,631,652.455051671,0.401182073725,0.00455829534806,0.0499629012066,0.999999992816,8.13050851955e-05,-8.4117793303e-05,-2.61191739982e-05,1793243147666540288
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.123260135,745.876739865,714,679,663.876739865,635,878,787,804.876739865,653,631,652,0.401245211171,0.00455810306438,0.0499679526996,0.999999994113,8.10045125128e-05,-6.72661830363e-05,-2.62097222048e-05,1793243147683206912
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.700825425,745.299174575,714,679,663.299174575,635,878,787,804.299174575,653,631,652,0.401313678562,0.00455743450805,0.0499696944212,0.99999999414,8.03481413617e-05,-6.78960077634e-05,-2.5583850241e-05,1793243147699873536
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.7175306,745,713.7175306,679,663.2824694,635,878,787,804.2824694,653,631,652,0.401391808831,0.00455685569222,0.0499703163373,0.999999994228,7.9094801646e-05,-6.82813206627e-05,-2.50147358785e-05,1793243147716540416
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.131503473,745,713.131503473,679,663.868496527,635,878,787,804.868496527,653,631,652,0.401480323375,0.00455637331671,0.0499697348462,0.99999999438,7.71999255022e-05,-6.84038671683e-05,-2.4506616509e-05,1793243147733207040
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663.550975345,635,878.449024655,787,805,652.550975345,631,652.449024655,0.401586748477,0.00455461814879,0.0499699086825,0.999999994614,7.40733604137e-05,-6.87410175251e-05,-2.36448521299e-05,1793243147749873664
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.027922668,745,713.027922668,679,663,635,879,787,805,652.027922668,631,652.972077332,0.401699829256,0.00455249181493,0.0499703233656,0.999999994869,7.06192016199e-05,-6.90032225515e-05,-2.26743954674e-05,1793243147766540032
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.606049667,745,713.606049667,679,663,635,879,787,805,652.606049667,631,652.393950333,0.401841950032,0.004550307949,0.0499711777438,0.999999995258,6.77317534996e-05,-6.65652142562e-05,-2.15783184629e-05,1793243147783206656
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.816396343,745.183603657,714,679,663.183603657,634.816396343,879,787,805,653,631,652,0.401992474691,0.00454888520749,0.0499719498162,0.999999995505,6.58291047279e-05,-6.51190116975e-05,-2.03846883507e-05,1793243147799873536
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.240068081,745.759931919,714,679,663.759931919,634.240068081,879,787,805,653,631,652,0.402160975075,0.00454909049641,0.0499725458382,0.999999995475,6.60329227309e-05,-6.57942623815e-05,-1.89823942046e-05,1793243147816540160
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.334040113,746,714,679,664,634.334040113,879,787,805,653,631,652,0.402347410829,0.00454806853952,0.0499713187678,0.999999995459,6.45498296327e-05,-6.78203597816e-05,-1.77650594455e-05,1793243147833206784
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.90656338,746,714,679,664,634.90656338,879,787,805,653,631,652,0.402546651301,0.00454617040806,0.0499687901268,0.99999999544,6.18623905395e-05,-7.08108749119e-05,-1.66797736467e-05,1793243147849873664
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745.502931663,714,679,663.502931663,635,879,787,805,653,631,652.497068337,0.402778624179,0.00454290274661,0.0499688202637,0.999999995721,5.71265937547e-05,-7.12609916132e-05,-1.47050150286e-05,1793243147866540288
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.911808853,745,714,679.088191147,663.088191147,635,879,787,805,653,631,652.911808853,0.403024609794,0.00453950657335,0.0499703456691,0.999999996223,5.19088045449e-05,-6.85523629842e-05,-1.26484011123e-05,1793243147883206656
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.336639156,745,714,679.663360844,663.663360844,635,879,787,805,653,631,652.336639156,0.403312721227,0.00453687566472,0.0499773720998,0.999999997562,4.62354619764e-05,-5.11374409483e-05,-1.10976943126e-05,1793243147899873280
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,679.760595814,664,634.760595814,879,787,805,653,631,652.239404186,0.403615593901,0.00453434544662,0.0499843805176,0.999999998515,4.10422037314e-05,-3.46186552914e-05,-9.37049587775e-06,1793243147916540160
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,679.18331953,664,634.18331953,879,787,805,653,631,652.81668047,0.403939299155,0.00453195733363,0.0499913635135,0.999999999118,3.65264907906e-05,-1.93645915994e-05,-7.39421417741e-06,1793243147933206784
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713.598871594,679.401128406,663.598871594,634.401128406,879,787,805,653,631,652.598871594,0.404292102013,0.00452796758079,0.0499978322453,0.999999999481,3.12973814128e-05,-5.83662298355e-06,-4.9442159205e-06,1793243147949873408
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713.011086497,679.988913503,663.011086497,634.988913503,879,787,805,653,631,652.011086497,0.404658444822,0.0045232325385,0.0500040616749,0.999999999643,2.5736308089e-05,6.88814306495e-06,-2.27378365435e-06,1793243147966540288
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745.569704499,713.569704499,680,663.569704499,635,879,787,805,653,631,652.569704499,0.40506303719,0.00451826304427,0.0500092064484,0.999999999659,1.78911938687e-05,1.89989791525e-05,6.93952043371e-07,1793243147983206912
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.148843227,745.851156773,713.851156773,679.851156773,664,635,879,787,805,653,631,652.851156773,0.405466839348,0.00451389797133,0.0500078279658,0.999999999776,1.10481128673e-05,1.76679339858e-05,3.58170936212e-06,1793243147999873792
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.723638257,745.276361743,713.276361743,679.276361743,664,635,879,787,805,653,631,652.276361743,0.405866275777,0.00451127549893,0.0499878412394,0.999999999711,7.19825502633e-06,-2.20966145391e-05,6.22423220966e-06,1793243148016540160
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.701597283,745.298402717,713.298402717,679,664,635,879,787,805,652.701597283,631,652,0.406290502873,0.00450812362563,0.049969050316,0.999999998321,4.47910164063e-06,-5.70412416524e-05,9.17681540826e-06,1793243148033206784
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.126861063,745.873138937,713.873138937,679,664,635,879,787,805,652.126861063,631,652,0.40673768722,0.00450448150447,0.0499513667544,0.999999996089,2.80702782927e-06,-8.75224228408e-05,1.24165278765e-05,1793243148049873408
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,746,714,679,664,635,879,787,805,652.460800096,631,652,0.407235300316,0.00449887880221,0.0499432201398,0.999999994614,3.06835642898e-07,-0.000102532562601,1.61164950647e-05,1793243148066540032
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745.949076799,714,679.050923201,664,635,879,787,805,652.949076799,631,652,0.407754451888,0.00449277895382,0.0499403931268,0.999999994023,6.3357389201e-07,-0.000107514699424,1.98572463175e-05,1793243148083206656
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745.371357413,714,679.628642587,664,635,879,787,805,652.371357413,631,652,0.408348650828,0.00448728107506,0.0499646517071,0.999999997748,3.26312233475e-05,-5.40913595983e-05,2.26712662223e-05,1793243148099873280
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,679.794162007,664,635,879.205837993,787,805,652.205837993,631,652.205837993,0.408952354282,0.00448083312149,0.0499882083128,0.999999998571,4.66161886333e-05,-7.8546487249e-06,2.49846297428e-05,1793243148116540160
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,679.21790956,664,635,879.78209044,787,805,652.78209044,631,652.78209044,0.409573161489,0.00447267546718,0.050010501683,0.999999998931,2.8186540698e-05,2.54494061683e-05,2.63970401843e-05,1793243148133207040
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.365419003,745,714,679.365419003,664,635,880,787,805,653,631,652.634580997,0.410175587389,0.0044649232874,0.0500124424644,0.999999999394,4.26529434704e-06,2.21711946313e-05,2.65100776514e-05,1793243148149874176
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.953050555,745,714,679.953050555,664,635,880,787,805,653,631,652.046949445,0.410766835531,0.00445741767838,0.0500020067657,0.999999999396,-2.29954111718e-05,-3.35281990798e-06,2.58329618878e-05,1793243148166541824
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.46773565,745,713.46773565,679.46773565,663.46773565,635,880,787,805,653,631,652,0.411391412449,0.00444957397083,0.0499690371437,0.999999996357,-3.51633056993e-05,-7.2574098583e-05,2.79680455604e-05,1793243148183207936
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.11072972,745.11072972,713.11072972,679,663,635,879.88927028,787,805,652.88927028,631,652.11072972,0.412039998283,0.00444234023191,0.0499433609288,0.999999991018,-4.3492105032e-05,-0.000123229226044,2.97733435118e-05,1793243148199874048
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.689121104,745.689121104,713.689121104,679,663,635,879.310878896,787,805,652.310878896,631,652.689121104,0.412777761516,0.00443780666207,0.0499567521272,0.999999995573,-4.11417763312e-05,-7.94456332555e-05,2.91544664544e-05,1793243148216540928
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.735803613,713.735803613,679,663.264196387,635,879.264196387,787,805,652.264196387,631,652.735803613,0.41352293482,0.00443288159922,0.0499738865813,0.999999997921,-3.73316381321e-05,-4.32249416607e-05,2.99290362058e-05,1793243148233207552
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.16458193,713.16458193,679,663.83541807,635,879.83541807,787,805,652.83541807,631,652.16458193,0.414276719537,0.00442750157779,0.0499953711123,0.999999998846,-3.18250402726e-05,-1.57931685517e-05,3.2322944559e-05,1793243148249874176
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.577390569,745,713,679,664,635,879.577390569,787,805,652.577390569,631,652,0.415006061985,0.00443111861546,0.0499831522444,0.999999998326,-3.25027674144e-05,-3.47357659905e-05,3.29483864376e-05,1793243148266540544
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,713.015900943,679,664,634.984099057,879,787.015900943,805,652,631,652,0.415727734013,0.00443866440077,0.049957617712,0.999999996256,-3.51376355417e-05,-7.19599127321e-05,3.28030609776e-05,1793243148283207424
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,713.596294268,679,664,634.403705732,879,787.596294268,805,652,631,652,0.416528299059,0.00445640986302,0.0499436325087,0.99999999514,-1.83934385234e-05,-9.18652359306e-05,3.07050460891e-05,1793243148299874048
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.174954175,745.174954175,714,679,664,634.174954175,879.174954175,787.825045825,804.825045825,652,631,652,0.417340614871,0.00446629390536,0.049942499444,0.999999995412,-7.1929432297e-06,-9.0781659586e-05,2.97020264225e-05,1793243148316540672
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.749653439,745.749653439,714,679,664,634.749653439,879.749653439,787.250346561,804.250346561,652,631,652,0.418179779443,0.00445821573452,0.0499707316654,0.999999998605,-8.65900884046e-06,-4.17414699287e-05,3.12009132274e-05,1793243148333207296
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.676179455,713.676179455,679,664,634.676179455,879.676179455,787,804.323820545,652.323820545,631,652,0.418995685226,0.00444913636196,0.0499793422713,0.999999998762,-1.80157528581e-05,-3.28603374e-05,3.27447808618e-05,1793243148349873664
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.102423113,713.102423113,679,664,634.102423113,879.102423113,787,804.897576887,652.897576887,631,652,0.41979363904,0.00443928422796,0.0499728082406,0.99999999734,-3.34627928818e-05,-5.49753440232e-05,3.43233661967e-05,1793243148366540288
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.511742199,745,713.488257801,679,664,634,879.488257801,787,805,652.511742199,631,652,0.420637858054,0.00443814031556,0.0499687236094,0.999999997646,-3.58455381992e-05,-4.78908115918e-05,3.36118545519e-05,1793243148383206912
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,713.91991408,679,664,634,879.91991408,787,805,652,631,652,0.421502061979,0.00443835724162,0.0499693813146,0.999999998364,-3.6297263318e-05,-2.97903167572e-05,3.26705583104e-05,1793243148399874048
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,713.343761182,679,664,634,879.343761182,787,805,652,631,652,0.4224277815,0.00443528194284,0.0499961169693,0.999999998396,-4.23727981055e-05,1.72416834648e-05,3.33884687993e-05,1793243148416540672
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.231984307,745.231984307,713,679,664,634.231984307,879.231984307,787,805,652,631,652,0.423317784768,0.00443627103143,0.0500037477191,0.999999998104,-4.26775177716e-05,2.85325777821e-05,3.4003602115e-05,1793243148433207552
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.807127228,745.807127228,713,679,664,634.807127228,879.807127228,787,805,652,631,652,0.424154955551,0.00444327229147,0.0499831178858,0.999999998728,-3.44458638945e-05,-1.30459091515e-05,3.4466704299e-05,1793243148449874176
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,746,713.392955978,679,664,635,880,787,805.392955978,652,631,652,0.425018497574,0.0044454074426,0.0499807418612,0.999999998651,-3.37001202442e-05,-1.81281894364e-05,3.51281917579e-05,1793243148466540544
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,746,713.98417618,679,664,635,880,787,805.98417618,652,631,652,0.425895345042,0.00444508741927,0.0499875757174,0.99999999867,-3.67313604587e-05,-4.79646534503e-06,3.58897736299e-05,1793243148483207168
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,746,714,679,664,634.43756556,879.43756556,787,806,652,631,652,0.426791239903,0.00443962775059,0.0500032031226,0.999999998658,-3.36947144413e-05,9.45718248777e-06,3.81930777723e-05,1793243148499873792
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.860404271,714,679,664,634,879.139595729,787,806,652,631,652,0.427674421013,0.00443557609807,0.0500058059942,0.999999998689,-3.18168866346e-05,3.48827229322e-06,3.99648970524e-05,1793243148516540672
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.285551901,714,679,664,634,879.714448099,787,806,652,631,652,0.428516327604,0.00443635531929,0.0499670446168,0.999999996469,-3.40725318078e-05,-6.56132146549e-05,3.99473595163e-05,1793243148533207296
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,664,634.295514846,879.704485154,787,806,652,631.295514846,651.704485154,0.429384900395,0.00443656969075,0.0499523427131,0.999999995016,-3.50524411613e-05,-8.46947221786e-05,3.9581832599e-05,1793243148549873664
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,664,634.882715415,879.117284585,787,806,652,631.882715415,651.117284585,0.43027979381,0.00443622653143,0.0499613885355,0.99999999716,-3.47731449611e-05,-5.4404378515e-05,3.88728254753e-05,1793243148566540288
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.463899045,664.463899045,634.536100955,879.463899045,787,806,652,631.536100955,651.463899045,0.431137307954,0.00443515748496,0.049957944888,0.999999996556,-3.7706876108e-05,-6.26903463521e-05,3.91815983083e-05,1793243148583207168
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.043354754,745.043354754,713.956645246,680,664.956645246,634,880,787,806,652,631,651.956645246,0.431985446062,0.00443391014491,0.0499508709371,0.999999995105,-4.14698630897e-05,-8.05519342596e-05,3.97580658433e-05,1793243148599873792
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.62002768,745.62002768,713.37997232,680,664.37997232,634,880,787,806,652,631,651.37997232,0.432833009139,0.00443269820782,0.0499374851785,0.999999993362,-4.55690188809e-05,-9.77677106838e-05,4.0502700785e-05,1793243148616540160
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.803772599,745.803772599,713,679.803772599,664,634,880.196227401,787,806,652,631,651.196227401,0.433694235989,0.00443165802395,0.0499381165976,0.999999993655,-4.66118656159e-05,-9.39313203734e-05,4.11710759118e-05,1793243148633206784
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.22848688,745.22848688,713,679.22848688,664,634,880.77151312,787,806,652,631,651.77151312,0.434581857708,0.0044309496207,0.049965825414,0.999999997038,-4.17507497284e-05,-4.9427835025e-05,4.16921377776e-05,1793243148649873664
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.644049972,745,713,679.355950028,664.355950028,634,880.644049972,787,806,652,631,652,0.435404370019,0.0044311611523,0.049975765019,0.999999997462,-3.77587935443e-05,-4.27137949507e-05,4.27197834767e-05,1793243148666540544
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.053583879,745,713,679.946416121,664.946416121,634,880.053583879,787,806,652,631,652,0.436183985238,0.00443197877885,0.0499739974576,0.999999996585,-3.43394796162e-05,-6.08971626019e-05,4.40811896383e-05,1793243148683207168
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.526677762,745.526677762,713.526677762,680,664.473322238,634,879.473322238,787,806,652,631,652,0.43696220225,0.00443138298605,0.0499570081667,0.999999993888,-4.00794186406e-05,-9.27582055508e-05,4.48650136651e-05,1793243148699873792
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.894736704,713.894736704,679.894736704,664.105263296,634,879.105263296,787,806,652,631,652,0.437749479066,0.00443086558939,0.0499473281001,0.999999992136,-4.56182832934e-05,-0.000107694787945,4.52712794844e-05,1793243148716540160
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.319089967,713.319089967,679.319089967,664.680910033,634,879.680910033,787,806,652,631,652,0.438577864421,0.00443132889482,0.0499770991211,0.999999997119,-4.61736365186e-05,-4.09019240363e-05,4.42479737095e-05,1793243148733206784
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745.261754199,713.261754199,679.261754199,664.738245801,634,880,787,806,652,631.261754199,652,0.439358441497,0.00443123680935,0.0499872418097,0.99999999833,-3.42943518004e-05,-1.52202185535e-05,4.39491590782e-05,1793243148749873408
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745.849062573,713.849062573,679.849062573,664.150937427,634,880,787,806,652,631.849062573,652,0.44007955744,0.00443045396196,0.0499729719533,0.999999998156,-6.94961019589e-06,-4.06701116964e-05,4.45514233082e-05,1793243148766540032
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.569532226,714,680,664,634.430467774,880.430467774,787,806,652,631.569532226,652,0.44078357987,0.00442820585405,0.0499566243106,0.999999996716,-1.07997578242e-05,-6.67704468588e-05,4.46528918429e-05,1793243148783206656
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.009801411,714,680,664,634.990198589,881,787,806,652,631,652,0.441481850973,0.00442550251657,0.0499402777923,0.999999994468,-2.52528298096e-05,-9.18615492183e-05,4.45929062806e-05,1793243148799873280
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.587411678,714,680,664,634.412588322,881,787,806,652,631,652,0.442189456758,0.00442578804431,0.0499656312063,0.999999997528,-2.88638049192e-05,-4.54527547633e-05,4.52146214952e-05,1793243148816540160
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.835896471,714,680.164103529,664.328207058,634.164103529,880.835896471,787,806,652,631,652,0.442881028494,0.00442614013891,0.049987741808,0.999999998378,-3.31410621861e-05,-6.2294638577e-06,4.58908806217e-05,1793243148833206784
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.261500724,714,680.738499276,665.476998553,634.738499276,880.261500724,787,806,652,631,652,0.443532511995,0.00442665866427,0.0500017447246,0.999999998033,-3.9084161319e-05,1.50286154559e-05,4.6703510954e-05,1793243148849873408
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.321375898,745.321375898,714,680.678624102,665.357248204,634.678624102,880,787,806.321375898,652,631,652,0.444132793999,0.00442860400082,0.049988609932,0.999999998016,-4.06601183033e-05,-1.10054947176e-05,4.68386705587e-05,1793243148866540032
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.911340341,745.911340341,714,680.088659659,664.177319319,634.088659659,880,787,806.911340341,652,631,652,0.44469028453,0.00443174178874,0.0499527949133,0.999999995248,-3.85862542713e-05,-7.65638530185e-05,4.6407636684e-05,1793243148883206656
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.507591183,746,713.507591183,680.492408817,664.492408817,634,880,787,806.507591183,652,631.492408817,652,0.445240308831,0.00443068265341,0.049943457562,0.999999994919,-3.55215572011e-05,-8.25009733814e-05,4.57525845871e-05,1793243148899873536
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.928359606,713.071640394,680.928359606,665,634,880,787,806,652,631.928359606,652,0.445794255005,0.00442901257684,0.049942419521,0.999999995842,-3.24055134384e-05,-7.23152944703e-05,4.51301991756e-05,1793243148916540160
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.35098869,713.64901131,680.35098869,665,634,880,787,806,652,631.35098869,652,0.446385208362,0.00442826950785,0.0499669116132,0.999999998273,-3.01640442451e-05,-2.27506310308e-05,4.50181019877e-05,1793243148933207040
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,664.774299084,634,880,787,806,652,631,652,0.446929601012,0.00442829369136,0.0499794733299,0.999999998583,-2.87305092622e-05,1.89541209522e-06,4.47832319052e-05,1793243148949873920
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,664.198665853,634,880,787,806,652,631,652,0.447401804727,0.00442950744233,0.0499735378933,0.999999998536,-2.8549615879e-05,-1.20929984238e-05,4.43580118146e-05,1793243148966540544
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680.385794088,664,634,879.614205912,787,806,652,631.385794088,652,0.447836735128,0.0044284580248,0.0499513817116,0.999999997578,-3.15372227666e-05,-4.38245730075e-05,4.39226200409e-05,1793243148983207168
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680.974905854,664,634,879.025094146,787,806,652,631.974905854,652,0.448252022131,0.00442621589298,0.0499206770204,0.999999994795,-3.61946636706e-05,-8.49069890938e-05,4.34818675818e-05,1793243148999873536
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.447648938,745,714,680.447648938,664,634,879.552351062,787,806,652,631.447648938,652,0.448650193617,0.00442923853466,0.0499157447522,0.999999994346,-3.4395669784e-05,-9.10926160287e-05,4.27375117335e-05,1793243149016540160
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.129425766,745,714,680,664,634,880,787,806,652,631,652,0.449041125762,0.00443237656444,0.0499155592393,0.999999994407,-3.21221285733e-05,-9.14074976887e-05,4.24076662157e-05,1793243149033207040
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.707015055,745,714,680,664,634,880,787,806,652,631,652,0.449409627147,0.00443510304883,0.0499278397979,0.999999995678,-2.92000596018e-05,-7.67699779423e-05,4.35599221031e-05,1793243149049873664
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,664,633.710631514,880,787,806.289368486,652,631,652,0.449759654604,0.00443675236104,0.0499370020543,0.999999996519,-2.77326784298e-05,-6.51572279155e-05,4.41193120746e-05,1793243149066540544
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,664,633.123373689,880,787,806.876626311,652,631,652,0.450090664124,0.0044372927821,0.0499429541853,0.999999997039,-2.77628205188e-05,-5.66583169998e-05,4.40683783142e-05,1793243149083206912
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680.457497405,664,633.457497405,880,787,806.542502595,652,631,652,0.450378580053,0.00443617929398,0.0499409826258,0.999999996749,-2.54183457863e-05,-6.19216865235e-05,4.4960125e-05,1793243149099873536
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,681,663.963492061,633.963492061,880,787,806.036507939,652,631,652,0.450652467675,0.00443489501473,0.0499367904462,0.999999996162,-2.24556371703e-05,-7.11066555855e-05,4.59985231699e-05,1793243149116540160
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,681,663.386877467,633.386877467,880,787,806.613122533,652,631,652,0.45088837528,0.00443759155373,0.0499309227984,0.99999999523,-1.9689904535e-05,-8.41590020815e-05,4.54974063671e-05,1793243149133207040
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680.810476568,663.189523432,633,880.189523432,786.810476568,806.810476568,652,631,652,0.451113110121,0.00443975735813,0.0499261474358,0.999999994197,-1.72636469586e-05,-9.62141965615e-05,4.52877600722e-05,1793243149149873664
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680.234511466,663.765488534,633,880.765488534,786.234511466,806.234511466,652,631,652,0.451315063469,0.00444084098484,0.0499235992631,0.999999993193,-1.55295854428e-05,-0.000106236178665,4.56724274288e-05,1793243149166540544
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,663.650529429,633,880.650529429,786.349470571,806,652,631,652,0.451496905862,0.00444249467159,0.0499169682569,0.999999991715,-1.22379670344e-05,-0.000119610582378,4.59789892497e-05,1793243149183207168
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,663.061041273,633,880.061041273,786.938958727,806,652,631,652,0.451664936003,0.00444453987763,0.0499075331462,0.999999989749,-7.876613045e-06,-0.00013528744172,4.62319079529e-05,1793243149199873536
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680.518292763,663,632.481707237,880,787,806,652,631,652,0.451799676987,0.0044449071523,0.0498980628962,0.999999986629,-6.15621822702e-06,-0.000156657319838,4.64996867873e-05,1793243149216540416
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.096353672,713.903646328,680.903646328,663,632.096353672,880,787,806,652,631,652,0.451928992695,0.00444553418869,0.0498898193391,0.999999983529,-4.78367584216e-06,-0.000175343749491,4.66300293961e-05,1793243149233207040
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.673914278,713.326085722,680.326085722,663,632.673914278,880,787,806,652,631,652,0.452050417547,0.00444842648609,0.0498877223669,0.999999983207,-3.62485046967e-06,-0.000177344389224,4.60654193465e-05,1793243149249873664
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.249480562,746,713.249480562,680,663,633,880,787,806,652,631,652,0.452162213069,0.00444997748102,0.0498871874431,0.999999983143,-2.74211797133e-06,-0.000177811952583,4.57094080455e-05,1793243149266540288
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.822460787,746,713.822460787,680,663,633,880,787,806,652,631,652,0.4522615223,0.00444978921845,0.0498886780164,0.999999983417,-2.21739320076e-06,-0.000176291586636,4.5623885286e-05,1793243149283207168
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.59139723,745.59139723,714,680,663,633,880,787,806,652,631.40860277,652,0.45234504837,0.00445076321519,0.0498885866012,0.999999983317,-1.60537986433e-06,-0.000176963243158,4.52529479533e-05,1793243149299873536
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,713.999360991,680,663,633,880,787,806.000639009,652,631.999360991,652,0.452421464334,0.00445225747159,0.0498877836429,0.999999983045,-9.53590971204e-07,-0.000178620339704,4.47550669112e-05,1793243149316540160
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,713.420800022,680,663,633,880,787,806.579199978,652,631.420800022,652,0.452476160498,0.00445234613599,0.0498858181024,0.99999998251,2.28227611316e-07,-0.000181451787216,4.53401725734e-05,1793243149333206784
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.156334364,713.156334364,680,663,632.843665636,880,787,806.843665636,652,631,652,0.452526380639,0.00445309404226,0.0498835622831,0.999999981926,1.54109313148e-06,-0.000184583636366,4.55373629331e-05,1793243149349873408
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.729663497,713.729663497,680,663,632.270336503,880,787,806.270336503,652,631,652,0.452564661757,0.00445560036169,0.0498805321956,0.999999981227,3.20350341177e-06,-0.000188516754275,4.46998564933e-05,1793243149366540288
+223,3.716666667,POSE1_TO_POSE2_PRESS,764.688041815,746,714,680,663,632,880.311958185,787,806,652,631,652,0.452595537509,0.00445634118397,0.0498770594676,0.999999980522,4.6247742853e-06,-0.000192304553569,4.42093926313e-05,1793243149383206912
+224,3.733333333,POSE1_TO_POSE2_PRESS,764.097747799,746,714,680,663,632,880.902252201,787,806,652,631,652,0.452619806038,0.00445550679185,0.0498731918057,0.999999979813,5.83089556129e-06,-0.000195962696904,4.40285675566e-05,1793243149399873536
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,745.519643097,714,680,663,632,880.519643097,787,806.480356903,652,631,652,0.452635021366,0.00445635063777,0.0498694938352,0.999999978479,7.13746922791e-06,-0.000202605930099,4.4068269772e-05,1793243149416540672
+226,3.766666667,POSE1_TO_POSE2_PRESS,764.056298128,745.056298128,714,680.056298128,662.943701872,632,880,787,806.943701872,651.943701872,631.056298128,652,0.45264822356,0.0044573731351,0.0498662436403,0.999999977148,8.10794811528e-06,-0.00020903091297,4.40989343489e-05,1793243149433208320
+227,3.783333333,POSE1_TO_POSE2_PRESS,764.634609174,745.634609174,714,680.634609174,662.365390826,632,880,787,806.365390826,651.365390826,631.634609174,652,0.452659418398,0.00445696397438,0.0498668330974,0.999999977412,5.77721254482e-06,-0.000207939280646,4.3640001581e-05,1793243149449874944
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,746,714,680.78786368,662.21213632,632,880,787,806,651.21213632,631.78786368,652,0.452668074009,0.00445663597186,0.0498663214184,0.999999977389,4.07167228641e-06,-0.000208167123473,4.32679744538e-05,1793243149466541568
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,746,714,680.211681816,662.788318184,632,880,787,806,651.788318184,631.211681816,652,0.452672372069,0.00445644724434,0.0498639200879,0.999999976879,3.43902514774e-06,-0.000210659307768,4.30450854716e-05,1793243149483208192
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.626093243,714,680.373906757,663,632,880,787,806,652,631,652,0.452674079397,0.00445622156526,0.0498616925468,0.999999976078,2.7908275287e-06,-0.000214429094422,4.30911868215e-05,1793243149499874816
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.035041785,714,680.964958215,663,632,880,787,806,652,631,652,0.452674282169,0.00445597442673,0.0498595659333,0.999999975093,2.13359905877e-06,-0.000218940842924,4.32935031273e-05,1793243149516541440
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.45706642,745,714,680.45706642,663,632,880,786.45706642,806,652,631,652,0.452674477576,0.00445816529104,0.0498586782527,0.999999974806,4.20482177497e-06,-0.000220370968153,4.25028627838e-05,1793243149533208064
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.119566709,745,714,680,662.880433291,632,880.119566709,786,806.119566709,652,631.119566709,652,0.452674541381,0.00445948537614,0.0498578583184,0.999999974539,5.73442932288e-06,-0.000221642175608,4.1989660493e-05,1793243149549874432
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.694227586,745,714,680,662.305772414,632,880.694227586,786,806.694227586,652,631.694227586,652,0.452674106051,0.00445690627628,0.0498569990441,0.9999999742,4.54804146258e-06,-0.00022304773199,4.2770632532e-05,1793243149566541568
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,713.724177379,680,662.275822621,632,880.724177379,786.275822621,806.724177379,652,631.724177379,652,0.452675411768,0.00445692008796,0.0498575442554,0.999999974321,5.4481104565e-06,-0.000222447007263,4.29533956105e-05,1793243149583208704
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,713.134696938,680,662.865303062,632,880.134696938,786.865303062,806.134696938,652,631.134696938,652,0.452678697357,0.00445988248627,0.0498596866084,0.999999974956,8.72084006277e-06,-0.000219564795579,4.24558921798e-05,1793243149599875328
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,713.447743334,680,662.552256666,632,880,787,806.447743334,652,631,652,0.452677891023,0.00445949648552,0.0498582057973,0.999999974545,9.43369120074e-06,-0.000221353322486,4.26966953113e-05,1793243149616542208
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680.027899198,662.027899198,632,880,787,806.972100802,652,631,652,0.45267599804,0.0044582532008,0.0498558051692,0.999999973859,9.39556182666e-06,-0.000224353999617,4.31180486561e-05,1793243149633208832
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680.604139387,662.604139387,632,880,787,806.395860613,652,631,652,0.452676567556,0.00445965222121,0.0498564172581,0.999999973954,9.49893530784e-06,-0.000223989450514,4.2790177023e-05,1793243149649875456
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.82056234,745.17943766,714,681,662.82056234,632,880.17943766,786.82056234,806,651.82056234,631,652,0.452677018708,0.0044603156019,0.0498567087649,0.999999973962,9.41563483283e-06,-0.000224011956338,4.25085969354e-05,1793243149666542080
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.247331225,745.752668775,714,681,662.247331225,632,880.752668775,786.247331225,806,651.247331225,631,652,0.452677210098,0.00445936454937,0.049856296723,0.999999973778,8.92266013958e-06,-0.000224883891987,4.23286081813e-05,1793243149683208192
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.336805466,745.663194534,714,680.663194534,662,632,880.663194534,786.336805466,806,651.336805466,631,652,0.452677143214,0.00445993252838,0.0498554476981,0.999999973559,9.62643931463e-06,-0.000225851811805,4.21967044733e-05,1793243149699874560
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.929218567,745.070781433,714,680.070781433,662,632,880.070781433,786.929218567,806,651.929218567,631,652,0.45267688032,0.00446165332736,0.0498542670391,0.99999997331,1.12384562204e-05,-0.000226892575667,4.21012933665e-05,1793243149716541440
+244,4.066666667,HOLD_POSE2,765,745,714,680,662,632,880,787,806,652,631,651,0.45267724226,0.00446274371235,0.0498550057419,0.99999997345,1.08201911647e-05,-0.00022638459388,4.16374443009e-05,1793243149747432192
+245,4.083333333,HOLD_POSE2,765,745,714,680,662,632,880,787,806.57838181,652,631,651.57838181,0.452676511989,0.00446102300222,0.0498544219077,0.9999999732,1.07234471582e-05,-0.000227367807193,4.22999034477e-05,1793243149764099072
+246,4.100000000,HOLD_POSE2,764.840850439,745,714,680,662.159149561,632,880,787,807,652,631,652,0.452676002803,0.0044600105306,0.0498538942853,0.999999972975,1.0809017632e-05,-0.000228271053842,4.27279102726e-05,1793243149780765696
+247,4.116666667,HOLD_POSE2,764.253665531,745,714,680,662.746334469,632,880,787,807,652,631,652,0.452676088227,0.00446090287763,0.0498535178456,0.99999997282,1.13849258611e-05,-0.000228959229056,4.25253538894e-05,1793243149797432064
+248,4.133333333,HOLD_POSE2,764.328162848,745,714,680,663,632,880.328162848,787,806.671837152,651.671837152,631,651.671837152,0.452675891176,0.0044609963338,0.0498532441379,0.999999972698,1.11648862876e-05,-0.000229556307714,4.22213363104e-05,1793243149814098432
+249,4.150000000,HOLD_POSE2,764.905917166,745,714,680,663,632,880.905917166,787,806.094082834,651.094082834,631,651.094082834,0.452675479282,0.00446048217593,0.0498530485654,0.999999972602,1.0339471076e-05,-0.000230084100843,4.18401502001e-05,1793243149830765312
+250,4.166666667,HOLD_POSE2,765,745.48152585,714,680,662.51847415,632,880.51847415,787,806,651.48152585,631,651,0.452675567408,0.00446081821078,0.049853159102,0.999999972568,1.08963641554e-05,-0.000230215582139,4.17797183046e-05,1793243149847432192
+251,4.183333333,HOLD_POSE2,764.9431281,745.9431281,714,680,662.0568719,631.9431281,880,787,806,652,631,651.0568719,0.452675792888,0.00446131339404,0.0498532544123,0.99999997255,1.16348677277e-05,-0.000230259711403,4.17683685339e-05,1793243149864098816
+252,4.200000000,HOLD_POSE2,764.366367582,745.366367582,714,680,662.633632418,631.366367582,880,787,806,652,631,651.633632418,0.452676384871,0.00446175163159,0.0498526662195,0.999999972568,1.15755703427e-05,-0.000230210029577,4.16353434803e-05,1793243149880765184
+253,4.216666667,HOLD_POSE2,764,745,714,680,663,631.215842923,880,786.784157077,806,652,631,652,0.452676765787,0.00446154786692,0.049852551918,0.999999972622,1.11122019749e-05,-0.000230001262575,4.16171274642e-05,1793243149897431552
+254,4.233333333,HOLD_POSE2,764,745,714,680,663,631.807543695,880,786.192456305,806,652,631,652,0.452676779162,0.00446022615232,0.0498532628268,0.999999972738,9.94520502737e-06,-0.000229515472774,4.17988340604e-05,1793243149914097408
+255,4.250000000,HOLD_POSE2,764.390391129,745,714,680,662.609608871,632,880,786,806,652,631,651.609608871,0.452676818196,0.00446097099966,0.0498534687069,0.999999972784,1.08930706255e-05,-0.000229255752684,4.18927759506e-05,1793243149930764032
+256,4.266666667,HOLD_POSE2,764.968970851,745,714,680,662.031029149,632,880,786,806,652,631,651.031029149,0.452676869599,0.00446271203598,0.0498534311372,0.999999972793,1.28604085904e-05,-0.000229105009773,4.19444107568e-05,1793243149947430912
+257,4.283333333,HOLD_POSE2,765,745,714,680,662,632,880.544694509,786.544694509,806,652,631,651.544694509,0.452675637525,0.00446403347596,0.049852532478,0.999999972401,1.35401369893e-05,-0.000230844034068,4.15402633772e-05,1793243149964097280
+258,4.300000000,HOLD_POSE2,765,745,714,680,662.119580578,631.880419422,880.880419422,787,806,652,631,652,0.452675140202,0.00446508600548,0.0498520263315,0.999999972188,1.38927672627e-05,-0.000231807679055,4.11941372558e-05,1793243149980763904
+259,4.316666667,HOLD_POSE2,765,745,714,680,662.691908383,631.308091617,880.308091617,787,806,652,631,652,0.452677700119,0.00446521043327,0.0498531910396,0.999999972745,1.32832271729e-05,-0.000229430179236,4.11654776771e-05,1793243149997431296
+260,4.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,662,632,880,787,806,652,631,651,0.452672232556,0.00446412803455,0.0498499140077,0.999999971527,1.23595794616e-05,-0.000234721763341,4.12220205398e-05,1793243150034438912
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764.421255572,745,714,680,662,632,880,787,806,652,631,651.578744428,0.452673919442,0.00446444841057,0.0498507971371,0.999999971832,1.24475918721e-05,-0.000233428765085,4.11325996785e-05,1793243150051105280
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764.156233048,745,714,680,662,632,880.156233048,787,806.156233048,652,631.156233048,652,0.452675773749,0.00446413631497,0.0498516988383,0.999999972133,1.27049863829e-05,-0.00023211448935,4.11765779561e-05,1793243150067771648
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764.730362724,745,714,680,662,632,880.730362724,787,806.730362724,652,631.730362724,652,0.452678075881,0.00446213246627,0.0498526502162,0.999999972424,1.34154490003e-05,-0.000230743299724,4.15773760468e-05,1793243150084438016
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745.304759319,714,680,662,631.695240681,880.695240681,787,806.695240681,652,631.695240681,652,0.452677502839,0.00446186715382,0.0498522931165,0.999999972231,1.30760811927e-05,-0.000231623856468,4.1444924821e-05,1793243150101104640
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745.879392244,714,680,662,631.120607756,880.120607756,787,806.120607756,652,631.120607756,652,0.452674383745,0.00446314136799,0.04985077732,0.999999971602,1.18070567102e-05,-0.000234498402889,4.08402651534e-05,1793243150117771008
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745.530116633,714,680,662,631.469883367,880.469883367,787,806.469883367,652,631,652,0.452674634271,0.00446336684996,0.049851339192,0.999999971823,1.12250168862e-05,-0.00023359529396,4.07698646082e-05,1793243150134437632
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.062493149,662.062493149,632.062493149,880.937506851,787,806.937506851,652,631,651.937506851,0.452675400957,0.00446329568193,0.0498521316725,0.999999972157,1.10569574241e-05,-0.000232152113149,4.08481873219e-05,1793243150151104512
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.637916457,662.637916457,632.637916457,880.362083543,787,806.362083543,652,631,651.362083543,0.45267305731,0.00446307625183,0.049850286945,0.99999997158,1.27889091278e-05,-0.000234512654289,4.09823399175e-05,1793243150167771392
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,713.786845535,680.786845535,662.786845535,632.786845535,880,787,806,652,631,651,0.452667396516,0.0044635346571,0.0498471627547,0.999999970447,1.39854305595e-05,-0.000239242948537,4.09081918107e-05,1793243150184438016
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,713.211922082,680.211922082,662.211922082,632.211922082,880,787,806,652,631,651,0.452656105809,0.00446514349487,0.0498418670409,0.999999968328,1.42732114379e-05,-0.000247995223447,4.04805125783e-05,1793243150201105408
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.371343006,680,662,632.371343006,880.371343006,786.628656994,806,652,631,651,0.452630763035,0.00446553936859,0.0498305432323,0.9999999633,1.5000778118e-05,-0.000267520000726,4.00976395607e-05,1793243150217772032
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,713.959478038,680,662,632.959478038,880.959478038,786.040521962,806,652,631,651,0.452597216588,0.00446522710758,0.0498157001893,0.99999995606,1.59850941132e-05,-0.000293333823013,3.97409245888e-05,1793243150234438400
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.542350381,714,680,662.542350381,632.457649619,881,786.542350381,806,652,631.542350381,651.542350381,0.452537629568,0.00446681516729,0.0497925293194,0.999999943361,1.77749948367e-05,-0.000333745540063,3.9703003842e-05,1793243150251105024
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.876800873,714,680,662.876800873,632,881,787,806.123199127,652,631.876800873,652,0.452474604937,0.00446803964049,0.0497706424584,0.999999930468,1.90589130909e-05,-0.000370318615513,3.95608831641e-05,1793243150267771136
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.301942977,714,680,662.301942977,632,881,787,806.698057023,652,631.301942977,652,0.452406042017,0.00446741565318,0.0497557220613,0.999999923469,1.82693161101e-05,-0.000388858776245,3.89502737937e-05,1793243150284437760
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.729909977,745.270090023,714,680,662.270090023,632,881,787,806.729909977,652,631,652,0.452333049223,0.00446768100607,0.0497468712267,0.999999919021,1.86205326966e-05,-0.000400179831283,3.83016940096e-05,1793243150301104384
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.161002372,745.838997628,714,680,662.838997628,632,881,787,806.161002372,652,631,652,0.452255155384,0.00446893029198,0.0497447355317,0.999999917676,2.02339031484e-05,-0.000403513934569,3.76111052159e-05,1793243150317771008
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.429514521,745.570485479,713.570485479,680.429514521,662.570485479,632,880.570485479,787,806,652,631,651.570485479,0.452159943913,0.00446993138175,0.0497453912252,0.999999917254,2.19011913522e-05,-0.000404521619533,3.7086280309e-05,1793243150334437888
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.972526151,745,713.027473849,680.972526151,662.027473849,632,880,787,806,652,631,651.027473849,0.452056800763,0.00447086425164,0.049747104669,0.99999991722,2.3719172481e-05,-0.000404542714502,3.66420347488e-05,1793243150351105536
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.396276155,745,713.603723845,680.396276155,662.603723845,632,880,787,806,652,631,651.603723845,0.451931759192,0.0044723912521,0.0497479387248,0.999999917654,2.81220791429e-05,-0.000403198747385,3.65004316196e-05,1793243150367771904
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.179683116,745.179683116,714,680,663,632,880,787,806,652,631,652,0.451798632109,0.00447419577008,0.0497484336987,0.999999918249,3.23608746731e-05,-0.000401441426705,3.60535578964e-05,1793243150384438272
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.755002178,745.755002178,714,680,663,632,880,787,806,652,631,652,0.451647701928,0.00447661134087,0.0497481820634,0.999999919223,3.62383209104e-05,-0.000398773962118,3.49345229883e-05,1793243150401104640
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,663,632.338817587,880,787,806.338817587,652,631.338817587,652,0.451472886891,0.00447829253277,0.0497462229689,0.999999918435,3.90173749779e-05,-0.000400561700272,3.40383342318e-05,1793243150417771264
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,663,632.928934763,880,787,806.928934763,652,631.928934763,652,0.451280356539,0.00447942903917,0.049742997459,0.999999916328,4.0981756568e-05,-0.000405653843396,3.33074294173e-05,1793243150434437888
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.490075878,714,680,663,633,880,787,806.490075878,652,631.490075878,652,0.451070383549,0.00448314258097,0.0497461161335,0.999999919461,4.88113345784e-05,-0.000397094262612,3.18155422654e-05,1793243150451104256
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713.911101647,680,663.088898353,633,880,787,806,651.911101647,631,652,0.450854222311,0.00448689811759,0.0497518477714,0.999999924193,5.66113840605e-05,-0.000384043489914,3.03264218538e-05,1793243150467770880
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.336310682,680,663.663689318,633,880,787,806,651.336310682,631,652,0.450617290676,0.00448895471526,0.0497671135695,0.999999934172,5.98609419503e-05,-0.000356661151256,2.94218887087e-05,1793243150484437760
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,713.243751936,680,663.756248064,633,880,786.756248064,806,651.243751936,631,652,0.450359157108,0.00449186457478,0.0497767740933,0.99999994016,6.5082416526e-05,-0.000338585944221,2.83478977186e-05,1793243150501104640
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,713.83124873,680,663.16875127,633,880,786.16875127,806,651.83124873,631,652,0.450071124079,0.00449597772463,0.0497785299232,0.999999941307,7.30847354135e-05,-0.000333635880548,2.70349332667e-05,1793243150517771264
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,713.587679138,680,663.412320862,633,880,786.412320862,806,651.587679138,631.412320862,652,0.449733340532,0.00450098043971,0.0497750846805,0.999999939491,8.11005058514e-05,-0.00033735444992,2.51505690964e-05,1793243150534437888
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713.00919611,680,663.99080389,633,880,786.99080389,806,651.00919611,631.99080389,652,0.449375507912,0.00450634164271,0.0497695434451,0.9999999364,8.91216969617e-05,-0.000344566412452,2.30359352231e-05,1793243150551104512
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.56940667,680,664,633.56940667,880,787,806,651.56940667,631.43059333,652,0.448992047159,0.00450979752067,0.0497672835411,0.999999935261,9.65415702039e-05,-0.000345996939015,2.10548282729e-05,1793243150567771904
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,664,634,880,787,806,652,631,652,0.448598702785,0.00451333288866,0.0497661484798,0.999999935234,0.000104052891547,-0.000344011741466,1.89838858901e-05,1793243150584438784
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,664,634,880,787,806,652,631,652,0.448177809527,0.00451718904702,0.049768131596,0.999999938373,0.000111858509972,-0.00033236124799,1.66453205225e-05,1793243150601104896
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,664,633.695512567,880,787,806.304487433,652,631,652,0.447735501325,0.00452264706543,0.0497701857078,0.999999939337,0.000119932717837,-0.000326705551722,1.43322575971e-05,1793243150617771520
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,664,633.106181348,880,787,806.893818652,652,631,652,0.44727315969,0.00452960360224,0.0497723062352,0.99999993835,0.000128258188327,-0.000326657904084,1.20430515837e-05,1793243150634438656
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.525532106,745.474467894,714,680,664,633.474467894,880,787,806.525532106,652,631,652,0.446750081017,0.00453725080099,0.0497665907956,0.999999933792,0.000139930691372,-0.000335781472328,9.24629537692e-06,1793243150651105280
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.053009814,745.946990186,713.946990186,680,664,634,880,787,806.106019629,651.946990186,631,651.946990186,0.44621345498,0.00454487626345,0.0497611605515,0.999999929271,0.000151898643152,-0.00034401140876,6.3968567191e-06,1793243150667771904
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764.62958375,745.37041625,713.37041625,680,664,634,880,787,807.259167499,651.37041625,631,651.37041625,0.445674860654,0.00455078789592,0.049775555861,0.999999934939,0.00015951960195,-0.000323508136206,4.1287741991e-06,1793243150684438528
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,713.206100118,680,664,634,880,787,807.793899882,651.206100118,631,651.206100118,0.445115573361,0.00455686732031,0.0497906973913,0.999999939285,0.000168027035181,-0.000305274164078,1.92469378707e-06,1793243150701105408
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,713.782513018,680,664,634,880,787,807.217486982,651.782513018,631,651.782513018,0.444519105774,0.00456324822642,0.0498071797018,0.999999941761,0.000178127251272,-0.000291117585251,-1.64389955541e-07,1793243150717771520
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,664,634,879.632927774,787,806.632927774,652,631,652,0.443881906802,0.004569994866,0.0498009463446,0.999999934502,0.00018875533025,-0.000308803559501,-2.83723015775e-06,1793243150734438144
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,664,634,879.043432425,787,806.043432425,652,631,652,0.443220027146,0.00457696311728,0.0497809486936,0.999999920259,0.000199703260996,-0.000345784156526,-5.86379067981e-06,1793243150751104768
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713.463529244,680,664,634,879.536470756,787,806,652,631.536470756,652,0.442524853855,0.00458195141405,0.0497676624785,0.999999914799,0.000204993944591,-0.000358156633861,-1.01762366472e-05,1793243150767771648
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,664,634,880,787,806,652,631.885215118,652,0.441833363863,0.00458694762196,0.0497645483458,0.999999917773,0.00019568619743,-0.000354903445955,-1.43195121604e-05,1793243150784438784
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,664,634,880,787,806,652,631.310213376,652,0.441167259031,0.00459260694725,0.0498000777668,0.999999947385,0.000129651782811,-0.00029684836875,-1.73744530079e-05,1793243150801105664
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.26478201,713.26478201,680,664.26478201,634,880.26478201,787,806,651.73521799,631,652,0.44046406877,0.00459613663454,0.0498227705483,0.999999962344,8.25799078536e-05,-0.000260866190985,-2.10318822074e-05,1793243150817772288
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.839770025,713.839770025,680,664.839770025,634,880.839770025,787,806,651.160229975,631,652,0.439717430897,0.00459717134001,0.0498304245382,0.999999966575,5.77236343025e-05,-0.000250743566273,-2.5395158607e-05,1793243150834438656
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.57514883,713.57514883,680,664.57514883,634,881,787,806,651.42485117,631,652,0.438921285879,0.00458209403085,0.0498045741888,0.999999955378,4.20455973433e-05,-0.000294465349373,-2.76827986736e-05,1793243150851105024
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,713,680.013603606,664,634,880.986396394,787,806,652,631,652,0.43810569002,0.0045610967634,0.0497668360343,0.99999993523,3.01958112709e-05,-0.000357460551794,-2.91736665294e-05,1793243150867771136
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.592880806,664,634,880.407119194,787,806,652,631,652,0.437276570926,0.00455275970313,0.0497729942102,0.999999935373,3.00930971895e-05,-0.000356924515731,-3.0876233698e-05,1793243150884438016
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.171233494,745,713,681,664,634,880,787,806,652,631,652,0.436447625481,0.00455164036458,0.0497835423186,0.999999938357,3.72832619759e-05,-0.000347578005575,-3.29567434523e-05,1793243150901104896
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.747399862,745,713,681,664,634,880,787,806,652,631,652,0.435619090728,0.00456758949096,0.0498044717363,0.99999994708,6.17196227408e-05,-0.000317396490738,-3.59310114951e-05,1793243150917771520
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.676705777,745,713,680.676705777,664,634,880,787,806,652,631,652,0.434768468952,0.00457740844467,0.0498002950419,0.99999994216,0.000110722084327,-0.000320268030164,-2.91469386091e-05,1793243150934437888
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.101023793,745,713,680.101023793,664,634,880,787,806,652,631,652,0.433900604426,0.00458244172424,0.049776518629,0.999999923008,0.00017890268854,-0.000348943267565,-1.47447713237e-05,1793243150951104256
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,664,634,880,787,805.51100142,652,631,652,0.433058039402,0.00458438085194,0.0497903124904,0.99999992919,0.000172456862322,-0.000334132510675,-1.53009481814e-05,1793243150967770880
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.079673378,745,713.079673378,680,664,634,880,787,805,652,631,652,0.432211384497,0.0045843501954,0.0498091890599,0.999999940134,0.000147764430271,-0.000312301885245,-1.91070220706e-05,1793243150984437760
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.655406908,745,713.655406908,680,664,634,880,787,805,652,631,652,0.43130574013,0.00457615552646,0.0498099253275,0.999999947531,0.000108356434442,-0.000304389662777,-2.33255189539e-05,1793243151001104384
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.770072672,745,713.770072672,680,663.770072672,634,879.770072672,787,805,652,631,652,0.430389817962,0.0045690626491,0.0497970236976,0.999999944004,8.44776142843e-05,-0.00032271304103,-2.6694674684e-05,1793243151017771008
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.197360717,745,713.197360717,680,663.197360717,634,879.197360717,787,805,652,631,652,0.42945857311,0.00456361236435,0.0497637901584,0.999999923821,8.3750288868e-05,-0.000380149474556,-2.87976001212e-05,1793243151034437376
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745.389692371,713,680,663.389692371,634,879.389692371,787,805,652,631,652,0.428563163561,0.00456466329409,0.0497659701346,0.999999922918,9.02978989221e-05,-0.0003809641232,-2.96206852855e-05,1793243151051104256
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745.984286031,713,680,663.984286031,634,879.984286031,787,805,652,631,652,0.427686596365,0.00456913258006,0.0497867706337,0.999999932535,0.000100670689519,-0.000352006883078,-2.97708269064e-05,1793243151067771136
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745.438711962,713,680,664,634,879.438711962,787,805,652,631,652,0.426744904139,0.00457954151218,0.0497730869366,0.999999922771,0.000105692327855,-0.000377446750508,-2.86684921904e-05,1793243151084437760
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745.137690314,713.137690314,680,663.862309686,634.137690314,879.137690314,786.862309686,805,652,630.862309686,652,0.425820615375,0.00458688114267,0.0497683866613,0.999999921004,0.000109449168231,-0.000381047264943,-2.85491455308e-05,1793243151101104384
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745.713703552,713.713703552,680,663.286296448,634.713703552,879.713703552,786.286296448,805,652,630.286296448,652,0.42495735656,0.0045839366935,0.0497952641316,0.999999945306,0.000109642073274,-0.000310423729703,-3.16672726448e-05,1793243151117771264
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745.703640462,713.703640462,680,663.296359538,634.703640462,880,786.296359538,805,652.296359538,630.296359538,652,0.424096627694,0.0045811861172,0.0498213698529,0.999999960229,0.000110967203142,-0.000257131554558,-3.3326320742e-05,1793243151134437632
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745.114420188,713.114420188,680,663.885579812,634.114420188,880,786.885579812,805,652.885579812,630.885579812,652,0.423238398958,0.0045786271251,0.0498467129347,0.999999968593,0.000113411191146,-0.000220966131592,-3.35435155177e-05,1793243151151104256
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,664,634,879.53391235,787,805,652.53391235,631,652,0.422321827081,0.00457655464905,0.0498268990894,0.999999959371,0.000106918166609,-0.000262160709652,-3.31411207488e-05,1793243151167770880
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.955691404,663.955691404,634,879,787,805,652,631,652,0.421395096038,0.00457497987229,0.0497986911627,0.99999994409,9.92746779366e-05,-0.000317642952296,-3.26665790546e-05,1793243151184437504
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,713,679.3797186,663.3797186,634,879,787,805,652,631,652,0.420515170999,0.00457797023135,0.0498003383644,0.9999999426,0.000103669091362,-0.000320868799774,-3.31179571936e-05,1793243151201104384
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,713,679,663.196137653,634,879.196137653,787,805,652,631.196137653,652,0.419627406135,0.00458277077898,0.0498003989722,0.999999939315,0.000109972311584,-0.00032888260429,-3.33373419153e-05,1793243151217771008
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,713,679,663.771768499,634,879.771768499,787,805,652,631.771768499,652,0.418724472382,0.00459107373593,0.0497973897893,0.999999932342,0.000119968750942,-0.000346160296563,-3.31078586755e-05,1793243151234437632
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,713,679.356516099,663.643483901,634,880,787,805,652,631.643483901,651.643483901,0.417873634965,0.00459233213939,0.0497877327111,0.999999925992,0.000120713420053,-0.000363766547813,-3.34383661988e-05,1793243151251104256
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,713,679.947253114,663.052746886,634,880,787,805,652,631.052746886,651.052746886,0.417057023411,0.00458896247152,0.0497737081554,0.999999919956,0.000115379939233,-0.000381588651871,-3.41367717009e-05,1793243151267770624
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745.527889049,713.527889049,679.472110951,663.527889049,634,879.472110951,787,805,652,631,651.527889049,0.416287512691,0.0045870883305,0.0497969430591,0.999999937264,0.000115969771176,-0.000332849411632,-3.51265566059e-05,1793243151284437248
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745.893788319,713.893788319,679,664,634,878.893788319,787,805,652,631,652,0.415518390029,0.00458565053991,0.049818155926,0.999999950658,0.000116164195315,-0.000289631155174,-3.61136715772e-05,1793243151301104128
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745.321273877,713.321273877,679,664,634,878.321273877,787,805,652,631,652,0.414730696743,0.00458548472243,0.0498144532441,0.999999948246,0.000112072992197,-0.000299302798247,-3.6963642096e-05,1793243151317770752
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.252458387,663.747541613,634,878.504916775,787.252458387,805,652,631,652,0.413936765801,0.0045857148366,0.0498008967162,0.999999940871,0.000110004718947,-0.000323630934322,-3.76736789965e-05,1793243151334437376
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,713,679.827747899,663.172252101,634,879.655495799,787.827747899,805,652,631,652,0.413134858517,0.00458645124833,0.0497747395846,0.999999925928,0.000110523267138,-0.000366701057459,-3.82047756927e-05,1793243151351104000
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,713,679.583483859,663,634,879.583483859,787.583483859,805,652,631.416516141,652,0.41241785129,0.00458810146424,0.0497809901118,0.999999928544,0.000114593692513,-0.000358223122528,-3.81603598106e-05,1793243151367770624
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764.98928348,745,713,679,663.01071652,634,879.01071652,787,805,652,631.98928348,652.01071652,0.41173730217,0.00459012654437,0.0498010342311,0.999999938317,0.000120115999225,-0.000327877470379,-3.78618607358e-05,1793243151384437504
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764.412438009,745,713,679,663.587561991,634,879.587561991,787,805,652,631.412438009,652.587561991,0.411065900783,0.00459132317733,0.0498180696402,0.999999944987,0.000122144401151,-0.000306150483227,-3.7134518358e-05,1793243151401104128
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.163651267,745.163651267,713.163651267,679,663.836348733,634,879.836348733,787.163651267,804.836348733,652,631.163651267,652.836348733,0.410396048219,0.0045913247677,0.0498227283612,0.999999945867,0.000120657191539,-0.000303912884739,-3.66805115841e-05,1793243151417770752
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.737843644,745.737843644,713.737843644,679,663.262156356,634,879.262156356,787.737843644,804.262156356,652,631.737843644,652.262156356,0.409730080944,0.00458832843401,0.0497963385068,0.999999931781,0.000110350600122,-0.000350567022099,-3.69122035954e-05,1793243151434437632
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764.68030837,745.68030837,713.68030837,679.31969163,663,634,879,788,804,652.31969163,631.68030837,652,0.409113611829,0.00458359508632,0.0497906211413,0.999999930309,0.00010407632787,-0.000356595637318,-3.72722578687e-05,1793243151451104512
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.092028577,745.092028577,713.092028577,679.907971423,663,634,879,788,804,652.907971423,631.092028577,652,0.408538728515,0.00457740239065,0.0498022717196,0.999999940214,0.00010118979968,-0.000328492814244,-3.7740155406e-05,1793243151467771136
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,745,713.49022029,679.50977971,663.49022029,634,879,788,804.980440579,653,631,651.50977971,0.407990539397,0.00457701704074,0.0498216838768,0.999999947945,0.000105438462755,-0.000302660922959,-3.72711838142e-05,1793243151484437760
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,745,713.929401007,679,664,634,879,788,805.858802014,653,631,651.070598993,0.407448493088,0.00457828321399,0.0498381390063,0.99999995298,0.000110414069132,-0.000283724403149,-3.67256901121e-05,1793243151501104384
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,745,713.354393269,679,664,634,879,788,804.708786537,653,631,651.645606731,0.406914966365,0.00458365448327,0.049823183216,0.999999944771,0.000111129572535,-0.000311044345373,-3.68747900022e-05,1793243151517771264
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,745,713.22047643,679,664,634,879,788,804.22047643,652.77952357,631,652,0.406391332408,0.00458750891702,0.0498043784614,0.999999934346,0.000108919840291,-0.000343601152248,-3.71888457777e-05,1793243151534437888
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,745,713.795124329,679,664,634,879,788,804.795124329,652.204875671,631,652,0.405883590158,0.00458892671854,0.0497793907645,0.999999920136,0.000102011034222,-0.00038457041136,-3.77678852658e-05,1793243151551104512
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,745,713.620430226,679,663.620430226,634,879,787.620430226,805,652.379569774,631,652,0.40542425961,0.00459098233052,0.0497731833446,0.99999991499,0.000103220637047,-0.00039741137933,-3.78202874626e-05,1793243151567771392
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,745,713.030556306,679,663.030556306,634,879,787.030556306,805,652.969443694,631,652,0.404991751967,0.00459339132744,0.0497773813087,0.99999991548,0.000108928318877,-0.000394667611316,-3.75809014712e-05,1793243151584437760
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,745,713,679.549157283,663,634.549157283,879.549157283,787,805,653,631,652,0.404637605322,0.00459560133491,0.0498014516554,0.999999931228,0.000118011846041,-0.000349563123157,-3.77209465063e-05,1793243151601104128
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,745.127493431,713.127493431,679.872506569,663.127493431,635,879.872506569,787,805,653,631,652.127493431,0.404293674552,0.0045968852219,0.0498259270654,0.999999944618,0.000125549284091,-0.000305922408303,-3.7585311906e-05,1793243151617770752
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,745.702940317,713.702940317,679.297059683,663.702940317,635,879.297059683,787,805,653,631,652.702940317,0.403970596211,0.0045949533428,0.0498480111909,0.999999953306,0.000127006484759,-0.000275555838532,-3.64082341014e-05,1793243151634437376
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.284505139,745.715494861,713.715494861,679.284505139,664,635,879,787,805,653,631,652.715494861,0.403651972309,0.00459456207073,0.0498588954182,0.999999956073,0.000130310783229,-0.000263832611477,-3.55861361112e-05,1793243151651104256
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.872598216,745.127401784,713.127401784,679.872598216,664,635,879,787,805,653,631,652.127401784,0.40333810164,0.00459581473996,0.0498578285277,0.999999953198,0.00013558607109,-0.00027200320616,-3.51428278216e-05,1793243151667770880
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,713.456607952,679.086784097,663.543392048,635,879,787,805,653,631,652,0.403039148588,0.00459392711198,0.0498459236449,0.99999994632,0.000131181691437,-0.000298159023224,-3.53946274744e-05,1793243151684437248
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,678.03893736,663.03893736,635,879,787,805,653,631.03893736,652,0.402748056279,0.00459054809655,0.0498313757833,0.999999938005,0.000122414684997,-0.000328211688888,-3.5799480318e-05,1793243151701104384
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,678.613683297,663.613683297,635,879,787,805,653,631.613683297,652,0.402508365325,0.00457859673785,0.049821702149,0.999999936296,9.04502319176e-05,-0.000343445771623,-3.56652508211e-05,1793243151717772032
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,713.815690897,679,664.184309103,634.815690897,879,787.184309103,805,652.815690897,631.815690897,652,0.402287281471,0.00456788228482,0.0498146014644,0.999999934996,6.59753943554e-05,-0.000352738643345,-3.50771359149e-05,1793243151734438912
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,713.253512228,679,664.746487772,634.253512228,879,787.746487772,805,652.253512228,631.253512228,652,0.402104345827,0.00455970373085,0.0498127758289,0.999999936623,5.68557316793e-05,-0.000349850874,-3.3558467595e-05,1793243151751105024
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,713.332790956,679,664.667209044,634.332790956,879,787.667209044,805,652.332790956,631,652.332790956,0.401933470657,0.00456002876976,0.0498133694005,0.999999938068,6.30583211015e-05,-0.000344686412998,-3.28354169172e-05,1793243151767771392
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,713.93890802,679,664.06109198,634.93890802,879,787.06109198,805,652.93890802,631,652.93890802,0.401772500912,0.00456733793373,0.0498159499024,0.999999939109,8.18453006196e-05,-0.000337652071236,-3.27658185416e-05,1793243151784437760
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,713.481771753,679,664,635,878.481771753,787,805,653,631,652.481771753,0.401654585784,0.00456652106209,0.0498260667355,0.999999945294,8.35133477647e-05,-0.000318449444457,-3.20686589923e-05,1793243151801105152
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,713,679,664,635,878.18861855,787,805,653,631.094309275,652.094309275,0.401544070488,0.00456511455624,0.0498356986759,0.999999950851,8.3904383249e-05,-0.000300448526473,-3.14475778201e-05,1793243151817772032
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,713,679,664,635,879.338380582,787,805,653,631.669190291,652.669190291,0.401446670617,0.00456534486439,0.0498385551658,0.999999952001,8.75661098955e-05,-0.000295521406378,-3.15726181742e-05,1793243151834438656
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.756074923,745,713,679,664,634.756074923,879.512149846,787,805,653,631.756074923,652.756074923,0.401357634672,0.00456667816228,0.0498397141851,0.999999952599,9.05984069988e-05,-0.00029251813051,-3.20511140557e-05,1793243151851105024
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.181538368,745,713,679,664,634.181538368,878.363076736,787,805,653,631.181538368,652.181538368,0.401279935041,0.00456950643179,0.0498385724844,0.999999952484,9.27775868801e-05,-0.000292122397357,-3.30086769279e-05,1793243151867771392
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.407894784,745,713,679,663.592105216,634.407894784,878.407894784,787,805,653,631,652,0.401213856048,0.00456979877571,0.0498382634923,0.99999995264,9.20368650608e-05,-0.000291795003706,-3.32380666498e-05,1793243151884437760
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,713.004067695,679,663.004067695,634.995932305,879.004067695,787,805,653,631,652,0.401153306817,0.00456893914479,0.0498383535695,0.999999952926,8.99755455487e-05,-0.000291470908748,-3.31339534902e-05,1793243151901104384
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,713.58034431,679,663.58034431,634.41965569,879.58034431,787,805,653,631,652,0.401115520786,0.00457081555706,0.0498404713744,0.999999953987,9.18808482549e-05,-0.000287170098922,-3.34326482903e-05,1793243151917771008
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,713.844709586,679,664,634,879.844709586,787,804.844709586,653,631,652,0.401080786197,0.00457160066918,0.0498422494888,0.999999954973,9.27956401383e-05,-0.000283405360884,-3.35396211362e-05,1793243151934437888
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,713.273328594,679,664,634,879.273328594,787,804.273328594,653,631,652,0.401054227753,0.00456946171311,0.0498431174242,0.999999955803,9.10564223117e-05,-0.000281076993086,-3.31328874129e-05,1793243151951104768
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,713,679,664,634.308271953,879,787.308271953,804.308271953,653,631,652,0.40103253379,0.00456861719625,0.0498441238425,0.999999956505,9.00274941027e-05,-0.000278931297873,-3.29028391979e-05,1793243151967771392
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,713,679,664,634.8992444,879,787.8992444,804.8992444,653,631,652,0.40101530079,0.00456895974336,0.0498452572563,0.999999957091,8.96499360931e-05,-0.000276953122107,-3.2834820209e-05,1793243151984438016
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,713,679,664,635,879,787.518482919,805,653,631,652,0.401003444044,0.00457024773289,0.0498449296749,0.999999956955,9.09097397485e-05,-0.000277022211496,-3.29200361442e-05,1793243152001104640
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,713.061502837,679,664,634.938497163,879,787.061502837,805.061502837,653,631,652,0.400993624831,0.00457140042312,0.0498445912142,0.999999956838,9.21677960222e-05,-0.000277019015192,-3.29958269696e-05,1793243152017771264
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,713.637317443,679,664,634.362682557,879,787.637317443,805.637317443,653,631,652,0.400991603871,0.00456979670874,0.0498466728582,0.999999958125,9.05970283794e-05,-0.000272892603347,-3.27294289986e-05,1793243152034437888
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,713.78323295,679,664,634.21676705,879,787.78323295,805.78323295,653,631,652.21676705,0.400989703078,0.00456891770813,0.0498481706199,0.999999958999,8.97670840431e-05,-0.000269966145889,-3.25788723639e-05,1793243152051104768
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,713.197597769,679,664,634.802402231,879,787.197597769,805.197597769,653,631,652.802402231,0.400988006771,0.00456927193847,0.0498486748006,0.999999959198,9.01977839327e-05,-0.000269081626942,-3.262544062e-05,1793243152067771392
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,713,679,664,635,879,787,805,653,631,652.616406417,0.400986785745,0.00456954318312,0.0498494036546,0.999999959648,9.03492282692e-05,-0.000267355056472,-3.25862476632e-05,1793243152084440320
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,713,679,664,635,879,787,805,653,631,652.037477985,0.400985806744,0.00456977216951,0.0498502469175,0.999999960224,9.03584691151e-05,-0.000265199693644,-3.2503383084e-05,1793243152101110016
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,713.542207538,679,664,635,879,787.542207538,805,653,631,652.542207538,0.400984573442,0.00456941888059,0.0498497305231,0.999999960013,8.9544660528e-05,-0.000266257638471,-3.26117147047e-05,1793243152117774080
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,713.879153081,679,664,635,879,787.879153081,805,653,631,652.879153081,0.400983857366,0.00456921451861,0.0498494677997,0.999999959905,8.9122858341e-05,-0.000266798107792,-3.26328621306e-05,1793243152134438656
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,713.304637861,679,664,635,879,787.304637861,805,653,631,652.304637861,0.400985149077,0.00456972054292,0.0498505106807,0.999999960398,9.03865457213e-05,-0.000264560961866,-3.22770315261e-05,1793243152151105024
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d383d1c54b672293c7971885efacf5c658a7a2c7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
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+331,5.516666667,pose2_to_pose3_retreat,0.597084973285,0.010001770737,1.04004088691,0.567656694658,0.0186766057405,1.03967869929
+332,5.533333333,pose2_to_pose3_retreat,0.59632282668,0.0100018448127,1.04004075194,0.566894545913,0.0186766719261,1.03967854919
+333,5.550000000,pose2_to_pose3_retreat,0.59558002433,0.0100018312371,1.04004093469,0.566151745026,0.0186766630866,1.03967872646
+334,5.566666667,pose2_to_pose3_retreat,0.594858060566,0.0100018735344,1.0400409063,0.565429780676,0.0186767033527,1.03967869714
+335,5.583333333,pose2_to_pose3_retreat,0.594156384303,0.0100017703511,1.04004091737,0.564728105077,0.0186766026191,1.03967871289
+336,5.600000000,pose2_to_pose3_retreat,0.593464752912,0.0100016962536,1.04004091288,0.564036473965,0.0186765294654,1.03967870838
+337,5.616666667,pose2_to_pose3_retreat,0.592775779421,0.0100017495212,1.04004087217,0.563347499146,0.0186765778958,1.03967865976
+338,5.633333333,pose2_to_pose3_retreat,0.592096067014,0.01000180612,1.04004089379,0.562667785546,0.0186766302838,1.0396786775
+339,5.650000000,pose2_to_pose3_retreat,0.591431793716,0.0100018593145,1.04004083778,0.562003511984,0.0186766829931,1.0396786314
+340,5.666666667,pose2_to_pose3_retreat,0.590788223857,0.010001781048,1.04004069139,0.561359943809,0.0186766108799,1.03967849558
+341,5.683333333,pose2_to_pose3_retreat,0.590166522172,0.0100018625759,1.04004085107,0.560738241324,0.0186766892154,1.03967864386
+342,5.700000000,pose2_to_pose3_retreat,0.589568556951,0.0100017794647,1.04004097041,0.560140278806,0.0186766151317,1.0396787598
+343,5.716666667,pose2_to_pose3_retreat,0.588988342663,0.0100017328489,1.04004080532,0.559560063878,0.0186765665731,1.0396786002
+344,5.733333333,pose2_to_pose3_retreat,0.588426694191,0.0100017893815,1.04004070068,0.558998414805,0.0186766213384,1.03967850215
+345,5.750000000,pose2_to_pose3_retreat,0.587886791081,0.0100017983605,1.04004077037,0.558458511698,0.0186766301391,1.03967856739
+346,5.766666667,pose2_to_pose3_retreat,0.587369443504,0.0100017450653,1.04004091288,0.557941164431,0.0186765775078,1.03967870058
+347,5.783333333,pose2_to_pose3_retreat,0.586875346037,0.0100017629843,1.04004101707,0.55744706734,0.0186765967764,1.03967880666
+348,5.800000000,pose2_to_pose3_retreat,0.586397587466,0.0100018366533,1.04004104635,0.556969307201,0.0186766655001,1.0396788449
+349,5.816666667,pose2_to_pose3_retreat,0.585931733944,0.0100018906089,1.04004086309,0.556503453325,0.0186767179579,1.03967865463
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+351,5.850000000,pose2_to_pose3_retreat,0.585050637445,0.010001847559,1.04004094294,0.555622356886,0.01867667553,1.03967874458
+352,5.866666667,pose2_to_pose3_retreat,0.584651285172,0.0100018194291,1.04004085413,0.555223005442,0.0186766501747,1.03967865491
+353,5.883333333,pose2_to_pose3_retreat,0.584283596128,0.0100018454784,1.04004093491,0.554855316188,0.0186766752205,1.0396787288
+354,5.900000000,pose2_to_pose3_retreat,0.583948395567,0.0100018677791,1.04004097557,0.554520115281,0.0186766963434,1.03967876932
+355,5.916666667,pose2_to_pose3_retreat,0.583637897299,0.0100018170741,1.04004091847,0.554209617633,0.0186766478423,1.03967871466
+356,5.933333333,pose2_to_pose3_retreat,0.583348213656,0.0100017441057,1.04004082882,0.553919934677,0.0186765771124,1.03967862293
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+358,5.966666667,pose2_to_pose3_retreat,0.582797896956,0.0100018908575,1.0400408356,0.553369615151,0.0186767143958,1.03967863259
+359,5.983333333,pose2_to_pose3_retreat,0.582542141316,0.0100016464693,1.04004082233,0.553113863359,0.0186764831832,1.03967862225
+360,6.000000000,pose2_to_pose3_retreat,0.582303601349,0.0100017760036,1.04004094214,0.552875322013,0.0186766078658,1.03967873792
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+362,6.033333333,pose2_to_pose3_retreat,0.581895100175,0.0100018261213,1.04004083682,0.552466819154,0.0186766522623,1.03967863251
+363,6.050000000,pose2_to_pose3_retreat,0.581725016922,0.0100018606797,1.04004085525,0.552296735932,0.0186766867753,1.03967864741
+364,6.066666667,pose2_to_pose3_retreat,0.581576269837,0.0100019571193,1.04004085123,0.552147988158,0.0186767809921,1.03967864618
+365,6.083333333,pose2_to_pose3_retreat,0.581446934777,0.0100019058307,1.04004087271,0.552018654489,0.0186767346908,1.03967867412
+366,6.100000000,pose2_to_pose3_retreat,0.581332646343,0.0100017899426,1.04004085954,0.55190436777,0.018676624757,1.03967866425
+367,6.116666667,pose2_to_pose3_retreat,0.581232747377,0.0100018893514,1.04004071625,0.551804466192,0.0186767151359,1.03967851706
+368,6.133333333,pose2_to_pose3_retreat,0.581147490339,0.0100018897506,1.04004094211,0.551719208943,0.0186767146829,1.03967874033
+369,6.150000000,pose2_to_pose3_retreat,0.581071329922,0.0100017968577,1.04004095512,0.551643049984,0.0186766267038,1.03967875254
+370,6.166666667,pose2_to_pose3_retreat,0.581004081888,0.0100017233707,1.04004071446,0.551575802689,0.0186765557335,1.03967851189
+371,6.183333333,pose2_to_pose3_retreat,0.580947278099,0.0100018426006,1.04004081644,0.551518997861,0.0186766712657,1.03967860966
+372,6.200000000,pose2_to_pose3_retreat,0.58089989639,0.0100018922633,1.04004097214,0.551471615465,0.0186767186494,1.03967876657
+373,6.216666667,pose2_to_pose3_retreat,0.580861425264,0.0100018390965,1.04004095549,0.551433144326,0.0186766656165,1.03967875413
+374,6.233333333,pose2_to_pose3_retreat,0.580830781895,0.0100019102871,1.04004093473,0.551402500207,0.0186767340601,1.03967872846
+375,6.250000000,pose2_to_pose3_retreat,0.580807693814,0.0100017792424,1.04004062881,0.551379414109,0.0186766098792,1.03967842584
+376,6.266666667,pose2_to_pose3_retreat,0.580789166131,0.0100017486348,1.04004088571,0.551360885696,0.0186765765498,1.03967867685
+377,6.283333333,pose2_to_pose3_retreat,0.580774893093,0.0100018239148,1.04004106449,0.551346612471,0.0186766511108,1.03967885367
+378,6.300000000,pose2_to_pose3_retreat,0.580764762006,0.0100018446633,1.0400410921,0.551336481855,0.0186766734194,1.03967888041
+379,6.316666667,pose2_to_pose3_retreat,0.580757952653,0.0100017239685,1.04004101953,0.551329673236,0.0186765550866,1.0396788048
+380,6.333333333,pose2_to_pose3_retreat,0.580753782585,0.0100017461124,1.04004093908,0.551325503124,0.0186765772053,1.03967872735
+381,6.350000000,pose2_to_pose3_retreat,0.580751265557,0.0100017760653,1.04004088431,0.551322985984,0.0186766068888,1.03967867523
+382,6.366666667,pose2_to_pose3_retreat,0.580750096725,0.0100017933924,1.04004085545,0.551321817033,0.0186766238629,1.0396786476
+383,6.383333333,pose2_to_pose3_retreat,0.580749079357,0.0100018178169,1.04004082093,0.551320799377,0.0186766473572,1.03967861419
+384,6.400000000,pose2_to_pose3_retreat,0.580748233428,0.0100018381256,1.04004079224,0.551319953208,0.0186766668924,1.03967858641
+385,6.416666667,pose2_to_pose3_retreat,0.580747819893,0.0100018480536,1.04004077821,0.551319539557,0.0186766764423,1.03967857284
+386,6.433333333,pose2_to_pose3_retreat,0.580747798745,0.0100018485613,1.04004077749,0.551319518403,0.0186766769306,1.03967857214
+387,6.450000000,pose2_to_pose3_retreat,0.580747430053,0.0100018574127,1.04004076499,0.551319149606,0.0186766854449,1.03967856003
+388,6.466666667,pose2_to_pose3_retreat,0.580747165718,0.0100018637588,1.04004075602,0.551318885197,0.0186766915492,1.03967855135
+389,6.483333333,pose2_to_pose3_retreat,0.580747104105,0.0100018652379,1.04004075393,0.551318823566,0.0186766929721,1.03967854933
+390,6.500000000,pose2_to_pose3_retreat,0.58074671579,0.0100018745604,1.04004074076,0.551318435141,0.0186767019395,1.03967853658
+391,6.516666667,pose2_to_pose3_retreat,0.580746154791,0.0100018459392,1.04004074123,0.551317874439,0.0186766742268,1.03967853476
+392,6.533333333,pose2_to_pose3_retreat,0.580745658308,0.0100017861921,1.04004075759,0.551317378589,0.0186766164463,1.03967854673
+393,6.550000000,pose2_to_pose3_retreat,0.580745506028,0.0100017678666,1.04004076261,0.551317226503,0.0186765987239,1.0396785504
+394,6.566666667,pose2_to_pose3_retreat,0.580745285835,0.0100017413685,1.04004076987,0.551317006591,0.018676573098,1.03967855571
+395,6.583333333,pose2_to_pose3_retreat,0.58074503623,0.0100017113309,1.04004077809,0.551316757305,0.0186765440491,1.03967856172
+396,6.600000000,pose2_to_pose3_retreat,0.580744847363,0.0100016886024,1.04004078432,0.551316568678,0.0186765220687,1.03967856628
+397,6.616666667,pose2_to_pose3_retreat,0.580744771579,0.0100016794826,1.04004078682,0.551316492991,0.018676513249,1.0396785681
+398,6.633333333,pose2_to_pose3_retreat,0.58074466875,0.0100016671081,1.0400407902,0.551316390294,0.0186765012818,1.03967857058
+399,6.650000000,pose2_to_pose3_retreat,0.580744463364,0.01000167383,1.04004078325,0.551316184922,0.0186765081146,1.03967856514
+400,6.666666667,pose2_to_pose3_retreat,0.580744187002,0.010001724566,1.0400407557,0.551315908251,0.0186765580678,1.03967854404
+401,6.683333333,pose2_to_pose3_retreat,0.580743855101,0.0100017952046,1.040040726,0.551315575839,0.0186766272618,1.03967852128
+402,6.700000000,pose2_to_pose3_retreat,0.580743610791,0.0100019319851,1.04004073376,0.551315329941,0.0186767585723,1.03967852706
+403,6.716666667,pose2_to_pose3_retreat,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2921ab0c02f480978680338edac81d1f4d77ad3f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13cddbab5f0831bbf1d8405953a2e263b588901342d6e3b9192888c686725b5f
+size 25710648
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6ec78182e273c372c4afe44306878f5c7ce0cdd4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_02/franka_data.csv
@@ -0,0 +1,406 @@
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+17,0.283333333,BASELINE,764.134352452,745,713.134352452,679.134352452,664.134352452,635,879,787.134352452,805,653,631,652.134352452,0.400985993539,0.00456815306928,0.0498550137235,0.99999996328,8.70913799378e-05,-0.000254634059738,-3.18897802009e-05,1793243152816280832
+18,0.300000000,BASELINE,764,745,713.446755655,679,664,634.553244345,879,787.446755655,805,653,631,652,0.400985340652,0.00456814025856,0.0498548783963,0.999999962937,8.86960739714e-05,-0.000255448136339,-3.1708981019e-05,1793243152832948480
+19,0.316666667,BASELINE,764.024452229,745,713.975547771,679,664,634.024452229,878.975547771,788,805.024452229,653,631,652,0.400984668614,0.00456819782181,0.0498546268125,0.999999962399,9.12877153884e-05,-0.000256676455393,-3.13925334204e-05,1793243152849616128
+20,0.333333333,BASELINE,764.596432559,745,713.403567441,679,664,634.596432559,878.403567441,788,805.596432559,653,631,652,0.400986109084,0.00456717905574,0.049855832797,0.999999963094,8.94558754263e-05,-0.000254645844642,-3.10524976266e-05,1793243152866281984
+21,0.350000000,BASELINE,765,745,713,679,664.171036165,634.828963835,878.171036165,788,805.65792767,653,631,652,0.400987165478,0.00456654469674,0.0498566165448,0.999999963614,8.81983504685e-05,-0.000253066590213,-3.08199584015e-05,1793243152882947840
+22,0.366666667,BASELINE,765,745,713,679,664.751925841,634.248074159,878.751925841,788,804.496148318,653,631,652,0.400987301511,0.00456683149154,0.0498563884878,0.999999963729,8.83170553025e-05,-0.000252568920042,-3.08450129691e-05,1793243152899614208
+23,0.383333333,BASELINE,765,745,713,679,664.323016771,634.338491615,879,787.661508385,804.338491615,653,631,652,0.400986334563,0.00456813048235,0.0498555200107,0.999999963219,8.99206189718e-05,-0.000253963225243,-3.12789778192e-05,1793243152916280576
+24,0.400000000,BASELINE,765,745,713,679,663.141423396,634.929288302,879,787.070711698,804.929288302,653,631,652,0.400984545474,0.00457018394443,0.0498541741771,0.999999962232,9.26309675794e-05,-0.000256767772071,-3.20177364514e-05,1793243152932947200
+25,0.416666667,BASELINE,765,745,713.508060132,679,663.508060132,635,879,787,805,653,631,652,0.400985521718,0.00457044372373,0.0498550466032,0.999999962603,9.22631956982e-05,-0.00025548213607,-3.17880559123e-05,1793243152949613824
+26,0.433333333,BASELINE,764.915743418,745,713.915743418,679,664,635,879,787.084256582,805,653,631,652,0.400986559129,0.00457011118131,0.0498559791172,0.999999963087,9.12847882017e-05,-0.000253972823568,-3.14697163526e-05,1793243152966280704
+27,0.450000000,BASELINE,764.344977081,745,713.344977081,679,664,635,879,787.655022919,805,653,631,652,0.400985778771,0.00456776664159,0.0498555171129,0.999999963174,8.91970009108e-05,-0.000254383021999,-3.13997325966e-05,1793243152982947584
+28,0.466666667,BASELINE,764.235310142,745,713.235310142,679,664,634.764689858,879,787.764689858,805,653,631,652,0.400985038777,0.00456651070632,0.0498549238328,0.999999963091,8.74931021955e-05,-0.000255312100288,-3.12800281277e-05,1793243152999614464
+29,0.483333333,BASELINE,764.830144024,745,713.830144024,679,664,634.169855976,879,787.169855976,805,653,631,652,0.400984360455,0.00456691801928,0.04985412998,0.999999962753,8.63757361484e-05,-0.000257033960475,-3.10843567863e-05,1793243153016280832
+30,0.500000000,BASELINE,765,745,713.585942042,679,664,634.414057958,879,787.414057958,805,653,631,652,0.400984978943,0.00456681821999,0.0498546757063,0.999999963007,8.68883937547e-05,-0.000255870404814,-3.10795554097e-05,1793243153032947456
+31,0.516666667,BASELINE,765,745,713.006392627,679,664,634.993607373,879,787.993607373,805,653,631,652,0.400986115743,0.00456651573713,0.0498557568381,0.999999963493,8.80525422784e-05,-0.000253553600728,-3.11510413008e-05,1793243153049613824
+32,0.533333333,BASELINE,764.431688582,745,713,679,664,634.431688582,879,787.431688582,805,653,630.431688582,652.568311418,0.400987557727,0.00456658418604,0.0498563830529,0.999999963954,8.73510968445e-05,-0.000251991471725,-3.1009548418e-05,1793243153066280448
+33,0.550000000,BASELINE,764,745,713,679,664,634,879,787.146143191,805,652.853856809,630.146143191,652.853856809,0.400988227213,0.00456673352198,0.0498566023694,0.999999964132,8.73481527432e-05,-0.000251290612237,-3.09833339246e-05,1793243153082947072
+34,0.566666667,BASELINE,764,745,713,679,664,634,879,787.733582579,805,652.266417421,630.733582579,652.266417421,0.400986553774,0.00456711461303,0.0498556083311,0.999999963457,8.95172450843e-05,-0.000253165038911,-3.13123887144e-05,1793243153099613440
+35,0.583333333,BASELINE,764,745,713,679,663.683309059,634.316690941,879,787.683309059,804.683309059,652.316690941,631,652.316690941,0.400986056806,0.00456727385257,0.0498556073696,0.999999963369,8.92557307357e-05,-0.00025360004788,-3.13525700282e-05,1793243153116280576
+36,0.600000000,BASELINE,764,745,713,679,663.10379497,634.89620503,879,787.10379497,804.10379497,652.89620503,631,652.89620503,0.400986536195,0.00456724897664,0.0498564305668,0.999999963768,8.69770458738e-05,-0.000252840478225,-3.11530140612e-05,1793243153132947712
+37,0.616666667,BASELINE,764,745,713.474030526,679,663.474030526,635,879,787.474030526,804.474030526,653,631,652.525969474,0.400985226205,0.0045678947905,0.0498555752832,0.999999963408,8.73128480291e-05,-0.000254106990698,-3.14541978671e-05,1793243153149614592
+38,0.633333333,BASELINE,764,745,713.948634062,679,664,635,879,788,805,653,631,652,0.400983891846,0.00456845127725,0.0498545675734,0.999999963003,8.79825898404e-05,-0.00025542431167,-3.18104405226e-05,1793243153166281216
+39,0.650000000,BASELINE,764,745,713.372541048,679,664,635,879,788,805,653,631,652,0.400986296815,0.00456660036858,0.0498557438658,0.999999963842,8.62363408983e-05,-0.000252744800916,-3.16130535188e-05,1793243153182947584
+40,0.666666667,BASELINE,764.208022104,745,713,679,664,635,879,787.791977896,805,653,631,652.208022104,0.400987513153,0.00456560254421,0.0498563649068,0.999999964279,8.51043393706e-05,-0.000251415331321,-3.14464759768e-05,1793243153199614208
+41,0.683333333,BASELINE,764.796766472,745,713,679,664,635,879,787.203233528,805,653,631,652.796766472,0.400986554055,0.00456616603569,0.0498559697263,0.999999963996,8.50965341864e-05,-0.000252556708576,-3.13362859551e-05,1793243153216280832
+42,0.700000000,BASELINE,765,745,713.379382279,679,664,635,879,787,805,653,631,652.620617721,0.400986739986,0.00456612696119,0.0498560949481,0.999999963947,8.55527383429e-05,-0.00025259616851,-3.13330406909e-05,1793243153232947456
+43,0.716666667,BASELINE,765,745,713.958767214,679,664,635,879,787,805,653,631,652.041232786,0.400987529552,0.00456577022609,0.0498564945154,0.999999964022,8.62535588288e-05,-0.000252054719907,-3.13861745408e-05,1793243153249614080
+44,0.733333333,BASELINE,764.46620654,745,714,679,664,634.46620654,879.53379346,787,805,653,631,652,0.400985869505,0.0045669367843,0.0498557411215,0.999999963477,8.79548628507e-05,-0.000253621501585,-3.13953626773e-05,1793243153266280960
+45,0.750000000,BASELINE,764,745,713.889046504,679,663.889046504,634,879.889046504,787,805,653,631,652,0.400984485794,0.00456781268511,0.0498551707257,0.999999963083,8.89227664501e-05,-0.000254839863694,-3.13728039974e-05,1793243153282948096
+46,0.766666667,BASELINE,764,745,713.301281721,679,663.301281721,634,879.301281721,787,805,653,631,652,0.400985096184,0.00456693795076,0.0498557663733,0.999999963555,8.64095339856e-05,-0.000253866765372,-3.12282863282e-05,1793243153299614976
+47,0.783333333,BASELINE,764.281822316,745,713.281822316,679,663.281822316,634,879,787,805,653,631.281822316,652,0.400986243792,0.0045666168927,0.0498562568689,0.999999963901,8.67523997888e-05,-0.000252405125049,-3.10417673788e-05,1793243153316281344
+48,0.800000000,BASELINE,764.860024923,745,713.860024923,679,663.860024923,634,879,787,805,653,631.860024923,652,0.400987956369,0.00456687811182,0.0498566367808,0.999999964109,9.0098899781e-05,-0.000250429706203,-3.08110774892e-05,1793243153332947456
+49,0.816666667,BASELINE,764.560086053,745.439913947,713.560086053,679,664,634,879,787,805,653,631.560086053,652,0.400986752893,0.00456713637564,0.04985587029,0.99999996364,9.02620654379e-05,-0.000252219579406,-3.0940184546e-05,1793243153349614080
+50,0.833333333,BASELINE,764.020102102,745.979897898,713,679.020102102,664,634,878.979897898,787,805,653,631,652,0.400984726174,0.0045673592053,0.0498548088492,0.999999962997,8.93405404586e-05,-0.000255053364054,-3.11806799283e-05,1793243153366280960
+51,0.850000000,BASELINE,764.593695992,745.406304008,713,679.593695992,664,634,878.406304008,787,805,653,631,652,0.400985678074,0.00456663238106,0.0498557085047,0.999999963629,8.65495681428e-05,-0.00025351564412,-3.13238404192e-05,1793243153382947584
+52,0.866666667,BASELINE,764.828268283,745,713,679.828268283,664,634,878,787,805,653,631,652,0.400986139772,0.00456624328904,0.0498563574436,0.999999963995,8.49407680004e-05,-0.000252601884968,-3.14227571409e-05,1793243153399614208
+53,0.883333333,BASELINE,764.239444521,745,713,679.239444521,664,634,878,787,805,653,631,652,0.400985410901,0.00456667446153,0.0498563974566,0.999999963735,8.62031593094e-05,-0.000253203565706,-3.14142171505e-05,1793243153416280832
+54,0.900000000,BASELINE,764,745,713.343433208,679.343433208,664,634.343433208,878.343433208,787,805,653,631,652,0.400986026611,0.00456647057696,0.0498562784897,0.999999963778,8.73937897798e-05,-0.000252651491155,-3.12138647898e-05,1793243153432947712
+55,0.916666667,BASELINE,764,745,713.922235842,679.922235842,664,634.922235842,878.922235842,787,805,653,631,652,0.400987563821,0.00456583146068,0.049856050567,0.999999964026,8.85352394343e-05,-0.000251308698864,-3.08820552299e-05,1793243153449614592
+56,0.933333333,BASELINE,764.498814112,745,713.501185888,679.501185888,664,635,879,787,805,653,631,652.498814112,0.400986573813,0.00456613220917,0.049855937437,0.999999963834,8.77019929426e-05,-0.000252349463712,-3.09731546473e-05,1793243153466280960
+57,0.950000000,BASELINE,765,745,713.074801359,679,664,635,879,787,805,653,631,652.925198641,0.400985610972,0.00456668735923,0.0498559588011,0.999999963654,8.70106214389e-05,-0.000253280459514,-3.11448413885e-05,1793243153482947584
+58,0.966666667,BASELINE,765,745,713.649146888,679,664,635,879,787,805,653,631,652.350853112,0.400987449035,0.00456796729541,0.0498567593703,0.999999964016,8.93135199309e-05,-0.000251007809732,-3.14163638163e-05,1793243153499614208
+59,0.983333333,BASELINE,765,745,713.769667058,679,664,634.769667058,879,787.230332942,804.769667058,652.769667058,631,652,0.400987358539,0.00456810609616,0.0498566975499,0.999999963949,9.01970512064e-05,-0.000250964550467,-3.13621712653e-05,1793243153516280576
+60,1.000000000,BASELINE,765,745,713.177742208,679,664,634.177742208,879,787.822257792,804.177742208,652.177742208,631,652,0.400984240465,0.0045664534671,0.0498552818935,0.999999963213,8.88523661732e-05,-0.000254421135744,-3.07966498096e-05,1793243153532947200
+61,1.016666667,BASELINE,765,745,713,679,664,634.405056828,879,787.594943172,804.405056828,652.405056828,630.594943172,652,0.400984340291,0.00456660784412,0.0498555537014,0.999999963169,8.90777583607e-05,-0.000254522987091,-3.07369127009e-05,1793243153549614080
+62,1.033333333,BASELINE,765,745,713,679,664,634.98393958,879,787.01606042,804.98393958,652.98393958,630.01606042,652,0.400985821044,0.00456753767912,0.0498565496673,0.999999963423,8.99769329353e-05,-0.000253185189064,-3.08942277174e-05,1793243153566281216
+63,1.050000000,BASELINE,764.441657641,745.558342359,713.558342359,679,663.441657641,635,879,787.558342359,805,653,630.558342359,652,0.400985963153,0.00456682470121,0.049856336628,0.999999963614,8.90160091468e-05,-0.000252755961397,-3.10144743075e-05,1793243153582948096
+64,1.066666667,BASELINE,764,745.87291626,714,679,663.12708374,635,879,787.87291626,805,653,631,652,0.400986319396,0.00456617049336,0.0498563252763,0.999999963819,8.81476309484e-05,-0.000252246064241,-3.10503730016e-05,1793243153599614976
+65,1.083333333,BASELINE,764,745.32260341,714,679,663.67739659,635,879,787.32260341,805,653,631,652,0.400987515991,0.0045658681287,0.0498571005032,0.999999964078,8.7764228304e-05,-0.000251381168661,-3.08088891753e-05,1793243153616281344
+66,1.100000000,BASELINE,764.256363052,745,713.743636948,679,663.743636948,635,879,787,805,652.743636948,631,652,0.400988023179,0.00456651427352,0.0498574742833,0.999999964149,8.85277669427e-05,-0.000250849009162,-3.06498661323e-05,1793243153632947712
+67,1.116666667,BASELINE,764.87592397,745,713.12407603,679,663.12407603,635,879,787,805,652.12407603,631,652,0.400987553661,0.00456850420259,0.0498572793208,0.999999963951,9.09162146034e-05,-0.000250788247756,-3.06076679811e-05,1793243153649614336
+68,1.133333333,BASELINE,765,745,713.462714011,679,663,634.537285989,878.537285989,787,805,652.462714011,631,652,0.40098688086,0.00456817229388,0.0498569934886,0.999999963981,8.86192771804e-05,-0.000251424376621,-3.11594315628e-05,1793243153666280960
+69,1.150000000,BASELINE,764.958972438,745,713.958972438,679,663.041027562,634,878.041027562,787.041027562,805,653,631,652,0.400986180838,0.00456729624439,0.0498566751922,0.999999964032,8.54504619958e-05,-0.000252237512567,-3.1773437698e-05,1793243153682947840
+70,1.166666667,BASELINE,764.384175089,745,713.384175089,679,663.615824911,634,878.615824911,787.615824911,805,653,631,652,0.400985788958,0.00456690518876,0.0498562305796,0.99999996377,8.62029407888e-05,-0.000253083126712,-3.12621615798e-05,1793243153699614976
+71,1.183333333,BASELINE,764.195107045,745,713,679,664,634,879,787.804892955,805,652.804892955,631,652,0.400985641883,0.00456649736567,0.0498559787329,0.999999963678,8.66182750954e-05,-0.000253353370539,-3.0871626507e-05,1793243153716281600
+72,1.200000000,BASELINE,764.783427802,745,713,679,664,634,879,787.216572198,805,652.216572198,631,652,0.400985988183,0.00456605574982,0.0498561153816,0.99999996393,8.63541372225e-05,-0.000252464027998,-3.07244297356e-05,1793243153732947968
+73,1.216666667,BASELINE,765,745,713,679,664,634.367797722,879,787,805,652.367797722,631,652,0.400987449794,0.00456566983635,0.0498570921461,0.999999964307,8.62972345862e-05,-0.000251008103183,-3.05433087551e-05,1793243153749614336
+74,1.233333333,BASELINE,765,745,713,679,664,634.949865939,879,787,805,652.949865939,631,652,0.400989561158,0.00456531637381,0.0498585583428,0.999999964755,8.63610624486e-05,-0.000249222100615,-3.03424243192e-05,1793243153766280960
+75,1.250000000,BASELINE,764.475254343,745,713,679,664,635,879,787.524745657,805,653,631,652,0.400987595405,0.00456607901931,0.0498572710734,0.999999964051,8.84140023424e-05,-0.000251280070784,-3.06534548559e-05,1793243153782947584
+76,1.266666667,BASELINE,764,745.099051344,713.099051344,679,663.900948656,634.900948656,879,787.900948656,805,653,631,652,0.40098584683,0.00456695246921,0.0498560768729,0.999999963414,9.01493960615e-05,-0.00025315543062,-3.09576673266e-05,1793243153799613952
+77,1.283333333,BASELINE,764,745.673854011,713.673854011,679,663.326145989,634.326145989,879,787.326145989,805,653,631,652,0.400986987013,0.00456785287762,0.0498565761388,0.999999963662,8.94591525587e-05,-0.000252413595804,-3.09973966361e-05,1793243153816280832
+78,1.300000000,BASELINE,764.256805552,746,713.743194448,679,663.256805552,634.256805552,879.256805552,787.256805552,805,653,631,652,0.400986358336,0.00456839579624,0.0498561693724,0.999999963474,8.95222334253e-05,-0.000253121749581,-3.10892871667e-05,1793243153832947712
+79,1.316666667,BASELINE,764.850445369,746,713.149554631,679,663.850445369,634.850445369,879.850445369,787.850445369,805,653,631,652,0.400983409568,0.00456846981989,0.0498545742254,0.999999962711,9.05733983575e-05,-0.000255731754205,-3.12495939974e-05,1793243153849614592
+80,1.333333333,BASELINE,765,745.569207445,713.430792555,679,664,635,880,787.569207445,805,653,631,652.430792555,0.400983436014,0.00456770264248,0.049855140771,0.999999962994,8.91919439712e-05,-0.000255132829113,-3.1040686309e-05,1793243153866281472
+81,1.350000000,BASELINE,764.993333296,745,714,679,664,635,879.993333296,787.006666704,805,653,631,652.993333296,0.40098445822,0.00456666105972,0.0498564197065,0.999999963621,8.70097811401e-05,-0.000253464530851,-3.07114852866e-05,1793243153882948352
+82,1.366666667,BASELINE,764.417162073,745,714,679,664,635,879.417162073,787.582837927,805,653,631,652.417162073,0.400984950584,0.00456637857702,0.04985636569,0.99999996385,8.6410144604e-05,-0.000252761424922,-3.07280102141e-05,1793243153899614720
+83,1.383333333,BASELINE,764.162194445,745,714,679,664,635,879,787.837805555,805,653,631,652,0.400985701698,0.00456621173154,0.0498565711784,0.999999964069,8.6165611289e-05,-0.000251971695894,-3.07776287605e-05,1793243153916281088
+84,1.400000000,BASELINE,764.749907744,745,714,679,664,635,879,787.250092256,805,653,631,652,0.400987131643,0.00456634826144,0.0498574574807,0.999999964261,8.68526949286e-05,-0.000250954710089,-3.09140687721e-05,1793243153932947456
+85,1.416666667,BASELINE,764.665711084,745,714,679,663.665711084,635,879,787,804.665711084,652.665711084,631,652,0.400987553343,0.00456699624303,0.0498575984491,0.999999964257,8.71307586003e-05,-0.000250858139953,-3.10684062088e-05,1793243153949614080
+86,1.433333333,BASELINE,764.083798215,745,714,679,663.083798215,635,879,787,804.083798215,652.083798215,631,652,0.400987228187,0.00456802308159,0.0498571873125,0.999999964107,8.71058413757e-05,-0.00025144336624,-3.12360011248e-05,1793243153966280704
+87,1.450000000,BASELINE,764.491883447,745,713.508116553,679,663.491883447,635,878.508116553,787,804.491883447,652.491883447,631,652,0.400988472918,0.00456775812189,0.0498583177551,0.99999996445,8.81539143623e-05,-0.000249721677307,-3.11193136705e-05,1793243153982947328
+88,1.466666667,BASELINE,764.933613862,745.066386138,713.066386138,679,664,635,878.066386138,787.066386138,805,653,631,652,0.400989616621,0.00456719850753,0.0498593776645,0.999999964766,8.91649969476e-05,-0.000248112244646,-3.09446693261e-05,1793243153999614208
+89,1.483333333,BASELINE,764.360109496,745.639890504,713.639890504,679,664,635,878.639890504,787.639890504,805,653,631,652,0.400987971116,0.00456604814183,0.0498579176923,0.99999996428,8.85146121372e-05,-0.000250324947414,-3.0692628643e-05,1793243154016281088
+90,1.500000000,BASELINE,764.220265049,745.779734951,713.779734951,678.779734951,664,635,879,788,805,653,631,652.220265049,0.400986438555,0.00456529989393,0.0498567404769,0.999999963872,8.77857147632e-05,-0.000252230466305,-3.04912870864e-05,1793243154032947712
+91,1.516666667,BASELINE,764.812233146,745.187766854,713.187766854,678.187766854,664,635,879,788,805,653,631,652.812233146,0.40098509659,0.00456523023046,0.0498560404209,0.9999999636,8.69243254459e-05,-0.000253617604125,-3.03755016611e-05,1793243154049614336
+92,1.533333333,BASELINE,765,745,713,678.39460252,663.60539748,635,878.60539748,787.60539748,805,653,630.60539748,652.60539748,0.400985658952,0.00456596194208,0.0498566276823,0.999999963801,8.8046133935e-05,-0.000252425928853,-3.04624109717e-05,1793243154066280704
+93,1.550000000,BASELINE,765,745,713,678.972512973,663.027487027,635,878.027487027,787.027487027,805,653,630.027487027,652.027487027,0.400987105946,0.00456706592302,0.0498578129517,0.999999964213,9.00892134298e-05,-0.000250036296584,-3.06434797138e-05,1793243154082947328
+94,1.566666667,BASELINE,764.452101262,745,713,679,663.547898738,635,878,787.547898738,805,653,630.547898738,652,0.4009869337,0.00456712501856,0.0498570230655,0.999999963999,9.04301145866e-05,-0.000250767914168,-3.06457089011e-05,1793243154099613952
+95,1.583333333,BASELINE,764.126120709,745,713.126120709,679,664,634.873879291,878.126120709,788,805,653,631,652,0.400986786967,0.00456701641366,0.0498564341864,0.999999963876,8.97631897656e-05,-0.000251494033535,-3.06835509778e-05,1793243154116280320
+96,1.600000000,BASELINE,764.715217066,745,713.715217066,679,664,634.284782934,878.715217066,788,805,653,631,652,0.40098703072,0.00456648374356,0.049856945262,0.999999964192,8.57086816481e-05,-0.000251627791791,-3.08849084853e-05,1793243154132946944
+97,1.616666667,BASELINE,764.7007422,745.2992578,713.7007422,679,664,634,879,787.7007422,805,653,631,652.2992578,0.400986803664,0.00456628334703,0.0498568743043,0.999999964132,8.47028114844e-05,-0.000252209160479,-3.08581847303e-05,1793243154149613824
+98,1.633333333,BASELINE,764.121432658,745.878567342,713.121432658,679,664,634,879,787.121432658,805,653,631,652.878567342,0.400986136014,0.00456639389913,0.0498562586677,0.999999963728,8.6549921063e-05,-0.000253209412415,-3.06180177222e-05,1793243154166280960
+99,1.650000000,BASELINE,764.456721568,745.543278432,713,679,664,634,879,787,805,653,631,652.543278432,0.400985796217,0.0045668023425,0.0498560500392,0.9999999636,8.78830860651e-05,-0.000253231938741,-3.08104182611e-05,1793243154182947840
+100,1.666666667,BASELINE,764.965693224,745,713,679,664,634.034306776,879,787,805,653,631,652,0.400985603807,0.00456719813782,0.0498560070414,0.999999963582,8.88863957653e-05,-0.000252918299199,-3.1091794362e-05,1793243154199614208
+101,1.683333333,BASELINE,764.392235132,745,713,679,664,634.607764868,879,787,805,653,631,652,0.400986361228,0.00456615357996,0.0498568706579,0.999999964149,8.68479050181e-05,-0.000251396678758,-3.09685748759e-05,1793243154216280832
+102,1.700000000,BASELINE,764.186786776,745,713.186786776,679,664,634.813213224,879,787,805,653,631,652,0.400986785622,0.00456579157283,0.0498574248489,0.999999964423,8.61097073921e-05,-0.00025057307976,-3.08624673227e-05,1793243154232947456
+103,1.716666667,BASELINE,764.77785081,745,713.77785081,679,664,634.22214919,879,787,805,653,631,652,0.400986489216,0.00456690686391,0.0498573093263,0.999999964072,8.81858363481e-05,-0.000251260263479,-3.07933964831e-05,1793243154249614080
+104,1.733333333,BASELINE,764.638674922,745,713.638674922,679,664,634.361325078,879,787,805,653,631,652,0.400986905259,0.00456784736588,0.0498571440528,0.999999963846,9.02397108656e-05,-0.000251440729109,-3.07010593953e-05,1793243154266280704
+105,1.750000000,BASELINE,764.059770922,745,713.059770922,679,664,634.940229078,879,787,805,653,631,652,0.400987750315,0.00456868261532,0.0498569488207,0.999999963694,9.22801846398e-05,-0.000251316064653,-3.05947120771e-05,1793243154282947328
+106,1.766666667,BASELINE,764,745,713,679,664,634.482909919,879,787,805,653,631,652,0.400988295318,0.00456819479308,0.0498572288166,0.999999964266,8.92647206407e-05,-0.000250074990037,-3.10357892642e-05,1793243154299614208
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,678,664,635,879,787,805,653,631,652,0.400985306906,0.00456697048068,0.0498568993085,0.999999964165,8.67599357029e-05,-0.000251377164732,-3.08556711036e-05,1793243154342573312
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745.591688756,714,678.591688756,664,634.408311244,879,787,805,653,630.408311244,652,0.400985996656,0.00456649616103,0.049856844285,0.999999964162,8.74429760017e-05,-0.000251158853082,-3.07968192137e-05,1793243154359239936
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.821152832,746,713.821152832,679,664.178847168,634,879,787,805,653,630.178847168,652,0.400986419268,0.0045662106434,0.0498568789064,0.999999964131,8.84029295955e-05,-0.000250960486351,-3.06977484588e-05,1793243154375906560
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.244081647,746,713.244081647,679,664.755918353,634,879,787,805,653,630.755918353,652,0.400986247067,0.00456634551534,0.0498571131325,0.999999964034,8.99794629762e-05,-0.000250806529263,-3.05091257133e-05,1793243154392573184
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745.667481376,713,679,664.667481376,634.332518624,879,787.332518624,805,653,631,652,0.400986615977,0.00456607139887,0.049857378243,0.999999964192,8.94828412693e-05,-0.000250352398404,-3.05434457537e-05,1793243154409239808
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745.091226319,713,679,664.091226319,634.908773681,879,787.908773681,805,653,631,652,0.400987381522,0.00456549749356,0.0498576659919,0.999999964533,8.74665950332e-05,-0.000249678239926,-3.07411830563e-05,1793243154425906688
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.495372716,745,713.495372716,679,664,634.504627284,879,787.504627284,805,653,630.504627284,652,0.400985579892,0.00456397485192,0.049856476497,0.999999964123,8.5382980121e-05,-0.000252073887823,-3.03612340062e-05,1793243154442573312
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,713.917403624,679,663.917403624,634,879,787.082596376,805,653,630.082596376,652,0.400984197229,0.00456286557755,0.0498555370245,0.999999963761,8.39222537983e-05,-0.000254038988417,-3.00011591929e-05,1793243154459239936
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,713.338123137,679,663.338123137,634,879,787.661876863,805,653,630.661876863,652,0.400988237514,0.00456531508518,0.0498577718319,0.999999964579,8.62833942826e-05,-0.000249943014971,-3.04139732266e-05,1793243154475906560
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,713.239212115,679,663,634.239212115,879,788,805,653,631,652,0.40099322534,0.00456703152102,0.0498599825464,0.999999965377,8.84736268727e-05,-0.000245922807063,-3.06496222517e-05,1793243154492573184
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,713.813819934,679,663,634.813819934,879,788,805,653,631,652,0.400999541698,0.00456772012773,0.0498621594804,0.999999966158,9.04242318801e-05,-0.000242008829222,-3.06368708516e-05,1793243154509239808
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,663.397062219,634.602937781,879,787.602937781,805,653,631,652.397062219,0.401022127238,0.00456767931499,0.0498706872144,0.999999970186,9.08531926572e-05,-0.000224577266453,-3.06494744579e-05,1793243154525906432
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,663.984443203,634.015556797,879,787.015556797,805,653,631,652.984443203,0.401052510878,0.00456728887899,0.0498822589965,0.999999975296,9.05528032562e-05,-0.000200666491771,-3.06742311401e-05,1793243154542573056
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.436859744,745,714,679,664,634.563140256,879,787.563140256,805,653,631,652.436859744,0.401106913572,0.00456492554943,0.0498990704818,0.999999982281,8.69087301233e-05,-0.000164210431342,-3.03143899832e-05,1793243154559239936
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,678.85815264,663.85815264,635,878.85815264,788,805,653,631,652,0.401166587031,0.00456302631301,0.049915659479,0.999999987573,8.39403035581e-05,-0.000130065112021,-2.98480052192e-05,1793243154575906560
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,678.278685517,663.278685517,635,878.278685517,788,805,653,631,652,0.401240505591,0.00456272446199,0.0499311222877,0.999999990686,8.33369901912e-05,-0.000104101721914,-2.90851984111e-05,1793243154592573184
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,678.297777806,663.297777806,634.702222194,878.297777806,787.702222194,805,652.702222194,631,652.297777806,0.401315292964,0.0045632609297,0.0499401875718,0.999999992031,8.39304348873e-05,-8.99090961372e-05,-2.84464928123e-05,1793243154609240064
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,678.871457961,663.871457961,634.128542039,878.871457961,787.128542039,805,652.128542039,631,652.871457961,0.401390885324,0.0045645741313,0.0499433253076,0.999999992192,8.56327210589e-05,-8.66225282691e-05,-2.79227717149e-05,1793243154625906688
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,713.542084189,679,664,634,879,787,805,652.457915811,631,652.542084189,0.401479992991,0.00456319920541,0.0499430283858,0.999999992381,8.31543317982e-05,-8.7085893189e-05,-2.72019428774e-05,1793243154642573312
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.047126205,745.047126205,713,679,664,634.047126205,879,787,805,653,631,652,0.401575042529,0.00456103054027,0.0499417867178,0.999999992538,7.94812274046e-05,-8.89331616013e-05,-2.63958365421e-05,1793243154659239680
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.625765814,745.625765814,713,679,664,634.625765814,879,787,805,653,631,652,0.401693089742,0.00455866459485,0.0499410759967,0.999999992362,7.59494858723e-05,-9.41757081558e-05,-2.52698837895e-05,1793243154675906048
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745.796085307,713.203914693,679,664,635,879,787,805,653,631,652,0.401826260811,0.00455698715455,0.0499430063211,0.999999992602,7.36671928822e-05,-9.37601978086e-05,-2.40347363848e-05,1793243154692572928
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745.21883494,713.78116506,679,664,635,879,787,805,653,631,652,0.401987121264,0.00455657025891,0.0499497719833,0.999999993588,7.36724437052e-05,-8.29856761415e-05,-2.25996708997e-05,1793243154709239808
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,713.636029632,679,664,635,878.636029632,787,805.363970368,653,631,652,0.402152694726,0.00455479283594,0.049950068549,0.999999993812,7.03671742822e-05,-8.35330726592e-05,-2.11502510458e-05,1793243154725906688
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,713.04983263,679,664,635,878.04983263,787,805.95016737,653,631,652,0.40232114579,0.00455218472605,0.0499464153279,0.999999993551,6.50406255543e-05,-9.09932060746e-05,-1.96920668144e-05,1793243154742573056
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.470419754,745,713,679,664,634.470419754,878,787.529580246,805.470419754,653,631,652,0.402526804505,0.00454988295531,0.0499463536472,0.999999993618,6.17627594861e-05,-9.28581284508e-05,-1.80912506603e-05,1793243154759239936
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.108289398,745,713,679,663.891710602,634.108289398,878,787.891710602,805,653,631,652,0.402744348758,0.00454727868336,0.049947232157,0.999999993853,5.79522473473e-05,-9.30964834637e-05,-1.63640716193e-05,1793243154775906560
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.686679999,745,713,679,663.313320001,634.686679999,878,787.313320001,805,653,631,652,0.402998483131,0.0045432376502,0.0499507436094,0.99999999468,5.10031415129e-05,-8.85303658599e-05,-1.41458585886e-05,1793243154792572928
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.737134813,745.262865187,713.262865187,679,663.262865187,635,878.262865187,787,805,653,631,652,0.403276959627,0.00454042642481,0.0499568543615,0.999999995935,4.61936011559e-05,-7.6460776809e-05,-1.22367487482e-05,1793243154809239552
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.163556513,745.836443487,713.836443487,679,663.836443487,635,878.836443487,787,805,653,631,652,0.403584209096,0.00453906886267,0.0499660375495,0.999999997437,4.39130802005e-05,-5.55219002844e-05,-1.0693006608e-05,1793243154825906176
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745.590352139,714,679,664,635,879,787,805,653,631,652,0.403911093653,0.0045360452559,0.049973054829,0.999999998451,3.85810597227e-05,-3.91943931224e-05,-8.54628322906e-06,1793243154842572800
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745.017296937,714,679,664,635,879,787,805,653,631,652,0.404245810583,0.00453235706879,0.0499792081336,0.999999999163,3.20318050078e-05,-2.47063482906e-05,-6.159032423e-06,1793243154859239424
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.576237246,745,713.423762754,679,663.423762754,635,878.423762754,787.576237246,805,652.423762754,630.423762754,652,0.40461411215,0.00452870821716,0.0499863910498,0.999999999547,2.76867919553e-05,-1.13088359903e-05,-3.5072229459e-06,1793243154875906560
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,713.165440964,679,663.165440964,635,878.165440964,788,805,652.165440964,630,652,0.404994143873,0.00452513766714,0.0499907906763,0.999999999723,2.33301302835e-05,-2.994927491e-06,-7.70418295404e-07,1793243154892573440
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,713.742290868,679,663.742290868,635,878.742290868,788,805,652.742290868,630,652,0.405400746116,0.00452175878918,0.049988189292,0.999999999795,1.87739044775e-05,-7.23822846369e-06,2.15727141564e-06,1793243154909239808
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.682780254,745.317219746,714,679,664,634.682780254,879,787.682780254,805,653,630.317219746,652,0.405811844268,0.00451680194814,0.0499748794045,0.999999999295,1.25442796969e-05,-3.49775360253e-05,5.3733588786e-06,1793243154925906432
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.10940256,745.89059744,714,679,664,634.10940256,879,787.10940256,805,653,630.89059744,652,0.406226572953,0.00451057088662,0.049952922299,0.999999996612,4.96336888866e-06,-8.16900916936e-05,8.82233056503e-06,1793243154942573056
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745.520785314,714,679,664,634.479214686,879.479214686,787,805,653,631,652,0.406664001887,0.00450720299106,0.049938063924,0.999999994485,3.03060571357e-06,-0.000104366881013,1.1317535782e-05,1793243154959239680
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.069695492,745.069695492,714,679,664,635,879.930304508,787,805,653,631,652,0.407120436275,0.00450424473139,0.0499270114369,0.999999992932,1.74885104495e-06,-0.00011808721873,1.37334083739e-05,1793243154975906304
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.647563786,745.647563786,714,679,664,635,879.352436214,787,805,653,631,652,0.407676418464,0.00449935075714,0.0499315044204,0.999999994028,-4.49677485439e-06,-0.000107826660867,1.72106065843e-05,1793243154992572928
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.789472754,745.789472754,714,679,664,635,879.210527246,787,805,653,631,652,0.408254824551,0.00449329341836,0.0499453966186,0.999999996383,-1.03944209076e-05,-8.17270123103e-05,2.11136770235e-05,1793243155009239552
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.249811259,745.249811259,714,679,664,635,879.750188741,787,805,653,631,652,0.408868287694,0.00448541729811,0.0499739833681,0.99999999907,-1.57480415724e-05,-3.08648343725e-05,2.56825476767e-05,1793243155025906688
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,713.667434859,679,664,635,879.667434859,787,805,652.667434859,631,652,0.409491082751,0.00447884224725,0.0499938815004,0.99999999925,2.4729559206e-05,2.20545023822e-07,2.98141192741e-05,1793243155042573568
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,713.048244087,679,664,635,879.048244087,787,805,652.048244087,631,652,0.410121920608,0.00447338854053,0.0500062912323,0.999999993853,0.000104707399961,1.42610283446e-05,3.35687985994e-05,1793243155059240704
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,713,679,664,635,879,787,805,652,631,652,0.410717334727,0.00446639950569,0.0499917027465,0.999999994829,9.25323145643e-05,-2.06151278108e-05,3.68169160514e-05,1793243155075907072
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.132179764,745,713.132179764,678.867820236,664,634.867820236,879,787,805,652,631,652,0.411320537288,0.00445818946488,0.0499725130354,0.999999995871,5.58523229657e-05,-6.20237140873e-05,3.59432234472e-05,1793243155092573184
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.709884191,745,713.709884191,678.290115809,664,634.290115809,879,787,805,652,631,652,0.411960080453,0.00444630118396,0.0499455038173,0.999999992863,-3.71777383616e-05,-0.00011151852775,2.13208449499e-05,1793243155109239808
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.71425893,745.28574107,714,678.28574107,664,634,879,787,805,652.28574107,630.71425893,652,0.412663430225,0.00443594071571,0.0499453353486,0.999999991271,-7.95402858437e-05,-0.000104252880663,1.62349294698e-05,1793243155125906432
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.140265765,745.859734235,714,678.859734235,664,634,879,787,805,652.859734235,630.140265765,652,0.4134311474,0.00442712148477,0.0499722434963,0.99999999649,-7.07900768154e-05,-3.9727981967e-05,2.07692795301e-05,1793243155142573056
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.437636205,745.562363795,714,678.562363795,664.437636205,634.437636205,879,787.437636205,805,652.562363795,630.437636205,652,0.414190975957,0.00442218420093,0.0499788691886,0.999999997204,-6.30586536187e-05,-3.17738450035e-05,2.46193274085e-05,1793243155159239936
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.98286209,745,713.98286209,678,664.965724181,634.98286209,879,788,805.01713791,652,631,652,0.414947311619,0.00441871351362,0.0499780604877,0.99999999711,-5.58531313441e-05,-4.31732977245e-05,2.82372319725e-05,1793243155175907072
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.392125376,745,713.392125376,678,663.784250752,634.392125376,879,788,805.607874624,652,631,652,0.415672128977,0.00442231125592,0.0499479616988,0.999999993928,-5.52220075062e-05,-9.00111717934e-05,3.14922450302e-05,1793243155192573696
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,713,678,663.386955078,634,879,787.806522461,805.806522461,652,631,652,0.416423786554,0.00443462256136,0.0499311703598,0.999999992064,-4.33325819447e-05,-0.000113839591348,3.21643147549e-05,1793243155209240064
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,713,678,664.537889154,634,879,787.231055423,805.231055423,652,631,652,0.417228435675,0.00446413736028,0.0499406523882,0.999999995319,-9.21549612261e-06,-9.22396342516e-05,2.7736788637e-05,1793243155225906688
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,713,678.345073953,664.654926047,634,879,787.345073953,805,652,631,652,0.418063349381,0.00447586714406,0.0499618057424,0.999999998195,1.00667926249e-05,-5.31308523295e-05,2.6199967784e-05,1793243155242573312
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,713,678.921647649,664.078352351,634,879,787.921647649,805,652,631,652,0.418918566656,0.0044756654946,0.0499907890376,0.999999999455,1.93968605526e-05,-2.27592694706e-06,2.66024343426e-05,1793243155259239936
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.509501974,745,713.509501974,679,664,634,879,787.490498026,805,652,631,652,0.419724935091,0.00446795130125,0.0499751442044,0.999999998842,2.35578614831e-06,-3.91743472357e-05,2.78471262785e-05,1793243155275906560
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679,663.902578128,634,879,787,805.097421872,652,631,652,0.420541921376,0.00446004817925,0.0499589757623,0.999999996788,-1.61847861212e-05,-7.30387879033e-05,2.87619262706e-05,1793243155292573184
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,679,663.323111932,634,879,787,805.676888068,652,631,652,0.421449456066,0.00445705608366,0.0499749436359,0.999999999112,-2.16243232308e-05,-2.36062760473e-05,2.73890446902e-05,1793243155309239808
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.746890466,745.253109534,713.746890466,679,663.506219067,634,879.253109534,787,805.746890466,652,631,652,0.42233868901,0.00445398369823,0.0499880153468,0.999999999296,-2.3840701106e-05,1.02755564863e-05,2.71070884919e-05,1793243155325906432
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.174758619,745.825241381,713.174758619,679,664.650482762,634,879.825241381,787,805.174758619,652,631,652,0.423204854333,0.0044508101141,0.0499974367013,0.999999999059,-2.19945709367e-05,2.45571316249e-05,2.82001476989e-05,1793243155342573056
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.410607646,745.589392354,713.410607646,679,664.589392354,634,879.589392354,787,805.410607646,652,631,652,0.424076185968,0.00445574832312,0.049986788936,0.999999999389,-1.94095966712e-05,6.30350347595e-06,2.83740950683e-05,1793243155359239680
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.001757625,713.998242375,679,664,634,879.001757625,787,805.998242375,652,631,652,0.42494990567,0.00446422984302,0.0499674377863,0.999999999128,-1.64938183837e-05,-2.60684739112e-05,2.81501714915e-05,1793243155375906304
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.5809031,713.4190969,679,664,634,879.5809031,787,805.4190969,652,631,652,0.425861750482,0.00446478449172,0.0499883953772,0.999999999474,-1.16490817386e-05,4.0179694496e-06,3.00090580693e-05,1793243155392572928
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.839705637,713,679,664.160294363,634,880,787.160294363,805.160294363,652,631,652,0.426747238974,0.00446331458123,0.0500014266252,0.999999999336,-7.98270213861e-06,1.5351277534e-05,3.20790312537e-05,1793243155409239808
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.259670797,713,679,664.740329203,634,880,787.740329203,805.740329203,652,631,652,0.427563711796,0.00445654324012,0.049993702264,0.999999999119,-7.40192198483e-06,-2.24216343071e-05,3.47017473974e-05,1793243155425906432
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.315474893,713,679,664.684525107,634,880,787.684525107,806,652.315474893,631,652,0.428418389253,0.00445304082025,0.0499737092047,0.999999997605,-1.14800795998e-05,-5.84906801457e-05,3.51809267952e-05,1793243155442572800
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.886657659,713,679,664.113342341,634,880,787.113342341,806,652.886657659,631,652,0.429304033401,0.00445218802168,0.0499437717643,0.999999994897,-1.93345347784e-05,-9.31786571703e-05,3.39226644075e-05,1793243155459239424
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.47454854,745.52545146,713.47454854,679,664,634,880,787.47454854,806,652.52545146,631,652,0.430226453656,0.00445399573555,0.0499508419894,0.999999996851,-1.50065457393e-05,-7.05544159164e-05,3.30957992201e-05,1793243155475906304
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.935520159,745,714,679,664.064479841,634,880.064479841,788,806,652,631.064479841,651.935520159,0.431146429363,0.00445632394146,0.0499630689796,0.999999998519,-8.9774357352e-06,-4.26747376349e-05,3.25654384074e-05,1793243155492573184
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.362130531,745,714,679,664.637869469,634,880.637869469,788,806,652,631.637869469,651.362130531,0.431975255232,0.00445756186464,0.0499436879013,0.999999995711,-1.3325033013e-05,-8.52967532909e-05,3.35323586232e-05,1793243155509239808
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.212838385,745,714,679,664.787161615,634,881,787.787161615,806,652,631.787161615,651.212838385,0.432820099387,0.00445624169845,0.0499340307491,0.999999993828,-2.07208438594e-05,-0.000103634012468,3.42667261301e-05,1793243155525906432
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.790514539,745,714,679,664.209485461,634,881,787.209485461,806,652,631.209485461,651.790514539,0.433692401488,0.00445053657334,0.0499410419006,0.999999995618,-3.33417629001e-05,-8.03434664876e-05,3.46024627096e-05,1793243155542573056
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.632233374,745,714,679,664.367766626,634,880.632233374,787.367766626,806,652,631,652,0.434556285448,0.00444684095642,0.0499602866927,0.999999997789,-2.54231438822e-05,-5.01420087598e-05,3.55211829651e-05,1793243155559239680
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.055222599,745,714,679,664.944777401,634,880.055222599,787.944777401,806,652,631,652,0.435415379778,0.0044442886677,0.0499864919248,0.999999999179,-5.81836806855e-06,-1.60085266144e-05,3.67715970022e-05,1793243155575906560
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,664.465637485,634,880,788,806,652,631,651.465637485,0.436201658872,0.00444496887858,0.0499674218019,0.999999996872,-8.74509967713e-06,-6.78957444794e-05,3.96209298802e-05,1793243155592572928
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.122327252,664,634,880,787.877672748,806,652,631.122327252,651.122327252,0.436990762791,0.00444730692045,0.049950422622,0.999999993168,-1.36429327918e-05,-0.000108431949007,4.14660593647e-05,1793243155609239808
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.699323025,664,634,880,787.300676975,806,652,631.699323025,651.699323025,0.437819008918,0.00445453527559,0.0499589304493,0.999999996437,-1.70039205575e-05,-7.29410443182e-05,3.89497880744e-05,1793243155625906432
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745.275232984,714,679.724767016,664.275232984,634,880.275232984,787,806,652,631.724767016,652,0.438625925193,0.0044570024735,0.0499690645839,0.999999997937,-2.42767780002e-05,-4.62232386919e-05,3.74110211053e-05,1793243155642573056
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745.849961375,714,679.150038625,664.849961375,634,880.849961375,787,806,652,631.150038625,652,0.439409631286,0.0044542888067,0.0499809683878,0.999999998255,-3.5806345255e-05,-2.90519034338e-05,3.69359279128e-05,1793243155659239680
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.563454729,714,679.436545271,664.563454729,634.436545271,881,787,806,651.563454729,631.436545271,652,0.440131577271,0.00444809511329,0.0499666256669,0.999999998008,-1.37460126517e-05,-4.93125920761e-05,3.69263461802e-05,1793243155675906560
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,664,634.973219076,880.973219076,787,806,651.026780924,632,652,0.440833644296,0.00444087212357,0.049944453929,0.999999995899,1.77693304698e-05,-8.06646890504e-05,3.71330137679e-05,1793243155692573440
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,664,634.394053838,880.394053838,787,806,651.605946162,632,652,0.44157573013,0.00443777769719,0.0499520583154,0.999999996949,-4.64628985472e-07,-6.80224396196e-05,3.84078801559e-05,1793243155709240064
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680,664,634,880,787,806,652,631.81618577,652,0.442305446603,0.00443645819616,0.0499654138563,0.999999998099,-1.36194506991e-05,-4.51997916342e-05,3.96680031314e-05,1793243155725906176
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,664,634,880,787,806,652,631.241078928,652,0.443008832071,0.00443891704822,0.0499910121085,0.999999999036,-1.59621147203e-05,-7.05724796136e-07,4.08967414448e-05,1793243155742573056
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.666511007,664.333488993,634.333488993,880.333488993,787,806,651.666511007,631,652,0.443652595583,0.00444445323191,0.0499917784924,0.999999999014,-1.39134691221e-05,-2.40802003821e-06,4.21071894834e-05,1793243155759239936
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679.092332075,664.907667925,634.907667925,880.907667925,787,806,651.092332075,631,652,0.444253327933,0.00445221042654,0.0499746229014,0.999999998323,-8.69547128866e-06,-3.74517467457e-05,4.33044367578e-05,1793243155775906816
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.49811801,714,679.49811801,664.50188199,634.50188199,880.50188199,787.49811801,806,651,631,651.50188199,0.444830025784,0.00445691572649,0.0499506622674,0.999999996423,-1.78231964698e-06,-7.22400646243e-05,4.39565764543e-05,1793243155792573440
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.910922474,713.910922474,680,664,634,880,787.910922474,806,651,631,651.089077526,0.445408497412,0.00445997287201,0.0499321837211,0.999999994528,4.96315898322e-06,-9.45423411081e-05,4.45112745578e-05,1793243155809239808
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.334241502,713.334241502,680,664,634,880,787.334241502,806,651,631,651.665758498,0.446021888817,0.00445720934051,0.0499508516394,0.999999997753,9.01272859934e-06,-4.87649020761e-05,4.51043591394e-05,1793243155825906432
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.242141313,713,679.757858687,664,634,880,787,806,651.242141313,631,651.757858687,0.446604891274,0.00445406017024,0.049967372879,0.999999998833,9.11045185889e-06,-1.23046565165e-05,4.58173767641e-05,1793243155842572800
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.818113022,713,679.181886978,664,634,880,787,806,651.818113022,631,651.181886978,0.447145997669,0.00445037933568,0.0499809345784,0.999999998839,3.7599246707e-06,1.13103487977e-05,4.66957412425e-05,1793243155859239936
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.596733632,713.403266368,679.403266368,664,634,880,787,806,652,631,651.403266368,0.447613494101,0.00444800855174,0.0499656430341,0.999999998854,-3.11826636156e-06,-1.10772506368e-05,4.64616667609e-05,1793243155875906816
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.007342516,713.992657484,679.992657484,664,634,880,787,806,652,631,651.992657484,0.448047016423,0.0044462424121,0.0499370344798,0.999999997402,-1.07015403309e-05,-5.46970257607e-05,4.57141539318e-05,1793243155892573440
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,663.427564859,634,880,787,806,652,631,652,0.448470399712,0.00444032023336,0.0499184583645,0.999999993682,-6.61154141223e-05,-8.49322857682e-05,3.24170072807e-05,1793243155909239808
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,663.151395133,634,880,787,806,651.848604867,631,652,0.448892772676,0.00443502891598,0.0499074195269,0.999999988615,-0.000107802849221,-0.000103022299274,2.31365996788e-05,1793243155925906432
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,663.728397533,634,880,787,806,651.271602467,631,652,0.449312665042,0.00443165848477,0.0499172139561,0.999999989886,-0.000109205810415,-8.74438439148e-05,2.55932411155e-05,1793243155942573312
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.695356211,745,714,680,664,634,880,787,806,651.304643789,631,652,0.449702477712,0.00443142751215,0.0499269700954,0.999999991145,-0.000108170416831,-7.25291547379e-05,2.73657746761e-05,1793243155959239936
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.119782452,745,714,680,664,634,880,787,806,651.880217548,631,652,0.450065539471,0.00443398856584,0.0499366921817,0.99999999239,-0.000104966512239,-5.82047760909e-05,2.85299079428e-05,1793243155975906560
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.46682457,745,713.53317543,680,664,633.53317543,880,786.53317543,806,652,631,652,0.450389828315,0.00443534152528,0.0499406277393,0.999999993052,-0.000100610933417,-5.35645449978e-05,3.00587690249e-05,1793243155992572928
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,713.055416576,680,664.055416576,633,880,786.055416576,806,651.944583424,631,652,0.450699410661,0.00443671914634,0.0499420672414,0.999999994086,-8.91381186564e-05,-5.36198280444e-05,3.17458634352e-05,1793243156009239552
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,713.635352217,680,664.635352217,633,880,786.635352217,806,651.364647783,631,652,0.450966240176,0.00444133522545,0.0499342750399,0.999999996594,-1.31652091215e-05,-7.40297296708e-05,3.40234091925e-05,1793243156025906432
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680.213212759,664.573574481,633,880,787,806,651,631,652,0.451220252544,0.00445239621832,0.0499261050736,0.999999994149,4.19791585899e-05,-9.33142563321e-05,3.51168723052e-05,1793243156042573312
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680.787558507,663.424882987,633,880,787,806,651,631,652,0.451452555608,0.0044743734006,0.049917295262,0.999999991376,6.18447970762e-05,-0.000110692657216,3.42047739525e-05,1793243156059239936
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680.629382676,663.370617324,633,880,787,806.370617324,651.370617324,631,652,0.451657409449,0.00448420267835,0.0499071707084,0.99999998849,6.81980165685e-05,-0.000131162064666,3.41544146105e-05,1793243156075906560
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680.041209143,663.958790857,633,880,787,806.958790857,651.958790857,631,652,0.451846150334,0.00448690101232,0.0498962743868,0.999999985409,6.66193079402e-05,-0.000153445926643,3.46099049084e-05,1793243156092573184
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,663.460736323,633,880,787,807,652,631,652,0.452011496824,0.00448173323888,0.049888040814,0.999999983157,5.80517233442e-05,-0.000170413504958,3.57007472307e-05,1793243156109239808
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,663,632.881460982,880,787,806.881460982,652,631,652,0.452172374087,0.00447808079427,0.0498816592195,0.999999981175,5.09210360035e-05,-0.000183641298808,3.65066196476e-05,1793243156125906432
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,663,632.304572343,880,787,806.304572343,652,631,652,0.452322785685,0.00448257915677,0.0498816628737,0.999999981111,5.13823319959e-05,-0.000183957376033,3.60255211411e-05,1793243156142572800
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.729577482,745,714,680,663,632,880,787,806,652,631,652,0.452462906839,0.00448359555124,0.0498827839003,0.99999998148,5.00505426692e-05,-0.0001823198034,3.5965903558e-05,1793243156159239680
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.156700754,745,714,680,663,632,880,787,806,652,631,652,0.452591518632,0.00448071753642,0.0498851546526,0.999999982317,4.67132760713e-05,-0.000178497170006,3.6377691569e-05,1793243156175906304
+218,3.633333333,POSE1_TO_POSE2_PRESS,764.420460487,745,714,680,663,632,880,787,806,651.579539513,631,652,0.452694100096,0.00447868705722,0.049882417186,0.999999981979,4.3049451849e-05,-0.00018123584679,3.66431125128e-05,1793243156192573184
+219,3.650000000,POSE1_TO_POSE2_PRESS,764.999234941,745,714,680,663,632,880,787,806,651.000765059,631,652,0.452786880482,0.00447697569661,0.0498777563462,0.999999981169,3.92626705274e-05,-0.000186445022261,3.68534225574e-05,1793243156209239808
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679.408051845,663,632,879.408051845,787,806,651.591948155,631,652,0.452855650115,0.0044803936193,0.0498743506971,0.999999980398,4.26283703494e-05,-0.000189920827144,3.63006496255e-05,1793243156225906176
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,713.820378373,679.179621627,662.820378373,632,879.179621627,786.820378373,806,652,631,652,0.452919514029,0.00448207098218,0.0498712329564,0.999999979587,4.4329862121e-05,-0.00019382242657,3.59765876734e-05,1793243156242572800
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,713.243881101,679.756118899,662.243881101,632,879.756118899,786.243881101,806,652,631,652,0.452972608919,0.00447988756088,0.0498687476816,0.999999978715,4.23333527363e-05,-0.000198669891811,3.61600964786e-05,1793243156259239424
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,713.330261939,680,662.330261939,632,880,786.330261939,806,652,631,651.669738061,0.453019054734,0.00448003498408,0.0498672137685,0.999999978272,4.26771248057e-05,-0.000200796692838,3.62543596375e-05,1793243156275906304
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,713.902678867,680,662.902678867,632,880,786.902678867,806,652,631,651.097321133,0.453060625313,0.00448189143117,0.0498663774137,0.999999978155,4.47368401754e-05,-0.000200928646236,3.62831860338e-05,1793243156292572928
+225,3.750000000,POSE1_TO_POSE2_PRESS,764.509517927,745,714,680,663,632,880,787,806,651.509517927,631,651.490482073,0.453088003168,0.00448383124448,0.0498655560597,0.999999977642,4.74675993088e-05,-0.000202865317244,3.61692027797e-05,1793243156309239552
+226,3.766666667,POSE1_TO_POSE2_PRESS,764.079801888,745.079801888,714,680,662.920198112,631.920198112,880,787,806,651.079801888,631,652,0.453111203456,0.00448510278022,0.0498645894685,0.999999977043,4.95853318337e-05,-0.00020531477315,3.60713809867e-05,1793243156325906176
+227,3.783333333,POSE1_TO_POSE2_PRESS,764.6588912,745.6588912,714,680,662.3411088,631.3411088,880,787,806,651.6588912,631,652,0.453126456292,0.00448208633544,0.0498626949624,0.999999976468,4.70075801625e-05,-0.000208659528874,3.62577041727e-05,1793243156342573056
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,746,714,680,662.23606249,631,880,787,806,652,631,651.76393751,0.453139856188,0.00448081873814,0.0498609352718,0.999999976107,4.58147374856e-05,-0.000210659977501,3.619498073e-05,1793243156359239936
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,746,714,680,662.810484552,631,880,787,806,652,631,651.189515448,0.453150600176,0.00448205784713,0.0498593688184,0.99999997607,4.6606950769e-05,-0.000210733566754,3.57752869209e-05,1793243156375906560
+230,3.833333333,POSE1_TO_POSE2_PRESS,764.605344494,745.605344494,713.605344494,680,662.605344494,631.394655506,880,786.605344494,806,651.605344494,631,651,0.453156214726,0.00448283371274,0.0498575729734,0.99999997547,4.63981831535e-05,-0.000213644872704,3.55260156509e-05,1793243156392573184
+231,3.850000000,POSE1_TO_POSE2_PRESS,764.016373522,745.016373522,713.016373522,680,662.016373522,631.983626478,880,786.016373522,806,651.016373522,631,651,0.453159303708,0.00448338149242,0.0498556641833,0.999999974579,4.56965652488e-05,-0.000217953377563,3.53606548787e-05,1793243156409239808
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.563427415,745,713.563427415,680,662,632,880,786.563427415,806,651.563427415,631,651.563427415,0.453161099812,0.00448499714824,0.0498545793447,0.999999974179,4.78564292378e-05,-0.000219347671284,3.518847192e-05,1793243156425906432
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,713.857532177,680,662,632,880,786.857532177,806,652,631,652,0.453162946252,0.00448634016839,0.0498539686877,0.999999973899,4.98170651852e-05,-0.000220209816944,3.50543779102e-05,1793243156442572800
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,713.280013558,680,662,632,880,786.280013558,806,652,631,652,0.453165059298,0.00448675739939,0.0498547340809,0.999999973955,5.09194566662e-05,-0.000219701423939,3.50371910191e-05,1793243156459239424
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,713.295370198,680,662.295370198,632,880,786.295370198,806,652,631,651.704629802,0.453165910453,0.00448757186346,0.049854018379,0.99999997372,5.20681807919e-05,-0.000220554042152,3.47210034382e-05,1793243156475906304
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,713.868744677,680,662.868744677,632,880,786.868744677,806,652,631,651.131255323,0.453165573908,0.00448876020584,0.0498519086611,0.999999973205,5.3260513621e-05,-0.000222687652585,3.41233945342e-05,1793243156492573184
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.543878137,745.456121863,714,680,662.543878137,632,880,786.543878137,806,651.543878137,631,651.456121863,0.453165058171,0.00448815021149,0.0498507837529,0.999999972755,5.3221369783e-05,-0.000224689856269,3.42356711161e-05,1793243156509240064
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,745.953291311,714,680,662,632,880.046708689,786,806,651,631,652,0.45316462435,0.00448721651021,0.0498500647463,0.999999972375,5.29123682904e-05,-0.00022640313007,3.4532938599e-05,1793243156525906688
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,745.373516905,714,680,662,632,880.626483095,786,806,651,631,652,0.453165732536,0.00448868149029,0.0498506414483,0.99999997259,5.3696008657e-05,-0.000225264199485,3.45362384282e-05,1793243156542573312
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.204133917,745.204133917,714,680,662,631.795866083,880.591732165,786.204133917,806,651.204133917,631,652,0.453165878536,0.00448903437785,0.0498507905191,0.999999972599,5.41137180189e-05,-0.000225093471981,3.47249563524e-05,1793243156559239680
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.777939055,745.777939055,714,680,662,631.222060945,879.444121889,786.777939055,806,651.777939055,631,652,0.453164282088,0.00448737334916,0.0498501651818,0.999999972237,5.38687537177e-05,-0.00022667608774,3.52494525463e-05,1793243156575906304
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.638676142,714,680,662,631.361323858,879.361323858,787,806,652,631,652,0.453164716694,0.00448921655226,0.0498499503007,0.999999972173,5.57893653112e-05,-0.000226558761476,3.48354445837e-05,1793243156592573184
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.049243588,714,680,662,631.950756412,879.950756412,787,806,652,631,652,0.453166433531,0.00449327202491,0.0498499945461,0.999999972287,5.90771346128e-05,-0.000225368238487,3.38289460831e-05,1793243156609239808
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631.469858707,880,787,806,652,631,652,0.453165050368,0.00449177779128,0.0498490631948,0.999999971681,5.86017124664e-05,-0.000228097624275,3.42835389306e-05,1793243156625906688
+245,4.083333333,HOLD_POSE2,764,745,714,681,662,632,880,786,807,652,631,652,0.453164868471,0.00449442277136,0.0498480497777,0.999999971341,6.11678507642e-05,-0.000229063041477,3.32719634935e-05,1793243156668450048
+246,4.100000000,HOLD_POSE2,764.577041695,745,713.422958305,680.422958305,662,632,880.577041695,786.577041695,807,652,631,652,0.453163429346,0.00449262464907,0.0498469762551,0.99999997094,5.84627857091e-05,-0.000231471215871,3.35093712045e-05,1793243156685116672
+247,4.116666667,HOLD_POSE2,765,745,713.157097358,680,662.157097358,632,880.842902642,787,806.842902642,651.842902642,631,651.842902642,0.453162586935,0.00449164202416,0.0498463332826,0.999999970682,5.71192420779e-05,-0.000232886880735,3.37178291395e-05,1793243156701783040
+248,4.133333333,HOLD_POSE2,765,745,713.745426485,680,662.745426485,632,880.254573515,787,806.254573515,651.254573515,631,651.254573515,0.453163382501,0.00449289793664,0.0498468721688,0.999999970842,5.95130699911e-05,-0.000231578110512,3.38468200816e-05,1793243156718449664
+249,4.150000000,HOLD_POSE2,765,745.330100963,714,680,663,631.669899037,880,787,806,651.330100963,631,651.330100963,0.453163952618,0.00449394325866,0.0498468259083,0.999999970853,6.09277359713e-05,-0.000231196157817,3.36052140425e-05,1793243156735116288
+250,4.166666667,HOLD_POSE2,765,745.911987807,714,680,663,631.088012193,880,787,806,651.911987807,631,651.911987807,0.453164350772,0.00449482795188,0.0498463333246,0.999999970755,6.15955419778e-05,-0.000231521139121,3.30809336093e-05,1793243156751782656
+251,4.183333333,HOLD_POSE2,765,745.511221722,714,680,662.511221722,631.488778278,880,786.511221722,806,651.511221722,631,652,0.453164026591,0.0044935745257,0.0498457193103,0.999999970667,5.92777516665e-05,-0.000232438696221,3.35174502171e-05,1793243156768449280
+252,4.200000000,HOLD_POSE2,765,745,714,680,662,632,880,786.064509345,806,651,631,652,0.453163704211,0.00449216124516,0.0498452819137,0.999999970602,5.68165414675e-05,-0.000233257765118,3.40418240108e-05,1793243156785116160
+253,4.216666667,HOLD_POSE2,765,745,714,680,662,632,880,786.639045068,806,651,631,652,0.453164413805,0.00449249662452,0.0498464119879,0.999999970757,5.7427980182e-05,-0.000232463251948,3.39071011986e-05,1793243156801782528
+254,4.233333333,HOLD_POSE2,765,745,714,680,662,631.78099217,880,787,806,651,631,652,0.453164893387,0.00449339718818,0.0498469479293,0.999999970824,5.83292653694e-05,-0.000231987089143,3.36305986901e-05,1793243156818448896
+255,4.250000000,HOLD_POSE2,765,745,714,680,662,631.191857686,880,787,806,651,631,652,0.453164984243,0.00449525292211,0.0498464797767,0.999999970745,5.97203955626e-05,-0.000232048943508,3.31144862931e-05,1793243156835115776
+256,4.266666667,HOLD_POSE2,765,745.391013137,714,680,662,631,880,787,806,651.391013137,631,652,0.453164838538,0.00449501425539,0.049845977732,0.99999997055,6.03753117919e-05,-0.000232703116744,3.3237024763e-05,1793243156851782400
+257,4.283333333,HOLD_POSE2,765,745.970859088,714,680,662,631,880,787,806,651.970859088,631,652,0.45316457859,0.00449376413542,0.0498454593196,0.999999970298,6.06746867537e-05,-0.000233643339808,3.36679882222e-05,1793243156868448768
+258,4.300000000,HOLD_POSE2,765,745.454120017,714,680,662,631.545879983,880,787,806.545879983,652,631,652,0.453164049225,0.00449452095921,0.0498447437512,0.99999997006,6.15347329699e-05,-0.000234493135354,3.32766486909e-05,1793243156885115392
+259,4.316666667,HOLD_POSE2,765,745,714,680,662,632,880,787,806.876709688,652,631,652,0.453163501822,0.00449506958135,0.0498442774489,0.999999969883,6.19562238926e-05,-0.000235173531406,3.29896369838e-05,1793243156901782016
+260,4.333333333,HOLD_POSE2,765,745,714,680,662,632,880,787,806.289344104,652,631,652,0.453162940189,0.00449443477386,0.0498447886746,0.999999969942,6.06152815305e-05,-0.000235234304805,3.32591094874e-05,1793243156918449152
+261,4.350000000,HOLD_POSE2,765,745,714,680,662,632,880,787,806,652,631,652,0.453163553002,0.00449384710955,0.0498454771986,0.999999970151,5.96959358724e-05,-0.000234532770593,3.35989242948e-05,1793243156935116032
+262,4.366666667,HOLD_POSE2,765,745,714,680,662,632,880,787,806,652,631,652,0.453165306067,0.00449330521579,0.0498463378585,0.999999970505,5.91859114827e-05,-0.000233091124668,3.40070332521e-05,1793243156951782656
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,663,632,880,787,806,652,631,652,0.45316506649,0.00449154455529,0.0498461991245,0.999999970708,5.6681078939e-05,-0.000232862915863,3.38530463161e-05,1793243156984285184
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745.424559174,714,680,663,631.424559174,880,787,806.575440826,652,631,652,0.453163428572,0.00449381958908,0.0498446815168,0.999999970022,6.01977004196e-05,-0.000234965094841,3.35203830194e-05,1793243157000951552
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.845327403,745,714,680,662.845327403,631,880,787,806.845327403,652,631,652,0.45316224499,0.00449521345721,0.0498434635018,0.999999969527,6.20994623021e-05,-0.000236603748979,3.32869057258e-05,1793243157017617920
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.255428325,745,714,680,662.255428325,631,880,787,806.255428325,652,631,652,0.453162339843,0.00449412785222,0.0498430884975,0.999999969607,5.94572419335e-05,-0.000236938111261,3.33325235288e-05,1793243157034284544
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.328688445,745,714,680.328688445,662,631.328688445,880.328688445,787,806.328688445,651.671311555,631,652,0.453162955313,0.00449325296583,0.049843678479,0.999999969864,5.79657732714e-05,-0.000236196957745,3.3497461805e-05,1793243157050951168
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.908389352,745,714,680.908389352,662,631.908389352,880.908389352,787,806.908389352,651.091610648,631,652,0.453163968367,0.00449253900087,0.0498450054,0.999999970259,5.7353109678e-05,-0.000234634455383,3.37535226177e-05,1793243157067617792
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.031785953,662,631.515892977,880.515892977,786.515892977,806.515892977,651.484107023,631,652,0.453163515715,0.00449456228297,0.0498452110389,0.999999970214,6.01588247776e-05,-0.000234196793002,3.32371711896e-05,1793243157084284672
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.059066475,714,679.059066475,662,631,880.059066475,786,806.059066475,652,631,652,0.453161831101,0.00449685731686,0.0498446126245,0.999999969877,6.3200463366e-05,-0.000234918717171,3.26479359494e-05,1793243157100951040
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.633933398,714,679.633933398,662,631,880.633933398,786,806.633933398,652,631,652,0.453151790668,0.00449703900891,0.0498388305936,0.999999967751,6.26994940243e-05,-0.000243923134413,3.26882453623e-05,1793243157117617664
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.785909866,714,680,662,631.214090134,880.785909866,786.214090134,806.785909866,652,631,651.785909866,0.45313405549,0.0044970690656,0.0498300866735,0.999999964018,6.27398161106e-05,-0.000258751279429,3.27848694862e-05,1793243157134284544
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.196479146,714,680,662,631.803520854,880.196479146,786.803520854,806.196479146,652,631,651.196479146,0.453102829967,0.00449683327673,0.0498161500006,0.999999957157,6.37291247086e-05,-0.000283789522131,3.29802239593e-05,1793243157150950912
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.386972178,714,679.613027822,662.386972178,631.613027822,880,787,806,652,631,651.386972178,0.453053190263,0.00449695582907,0.049796258326,0.999999946457,6.37925122889e-05,-0.000319313748683,3.24952968309e-05,1793243157167617792
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.967433805,714,679.032566195,662.967433805,631.032566195,880,787,806,652,631,651.967433805,0.452994343306,0.00449725755512,0.0497733890975,0.99999993266,6.33929313327e-05,-0.000360081060108,3.1670222973e-05,1793243157184284672
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.456906874,714,679.543093126,662.456906874,631,880,787,806,652,631,651.456906874,0.45292885767,0.00449654047675,0.0497574210114,0.999999924252,6.27781038435e-05,-0.000382857719748,3.12197764585e-05,1793243157200951040
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,662.12064211,631.12064211,880,787,806,652,631,651.12064211,0.452861248614,0.0044965513761,0.0497440141909,0.999999916856,6.31290346289e-05,-0.000401690663288,3.07792154762e-05,1793243157217617920
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,662.706580269,631.706580269,880,787,806,652,631,651.706580269,0.452786971752,0.0044996035169,0.0497389036786,0.99999991346,6.72540745079e-05,-0.000409437639167,3.02908997946e-05,1793243157234284800
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,662.708797145,632,880,787,806,652,631,651.708797145,0.452701314847,0.00450178899008,0.0497368260614,0.999999911901,7.08009364015e-05,-0.000412673141008,2.97685809093e-05,1793243157250951680
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,662.125494222,632,880,787,806,652,631,651.125494222,0.452604242841,0.00450310512518,0.0497377906843,0.999999912234,7.37678386648e-05,-0.000411383268245,2.92121540848e-05,1793243157267618304
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,662,632,880.452092587,787,806,651.547907413,631.452092587,651,0.452486762296,0.0045041244911,0.049739353439,0.99999991203,7.59552082049e-05,-0.000411502732926,2.89277334366e-05,1793243157284284928
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.027948324,714,680,662,632,880.972051676,787,806,651.027948324,631.972051676,651.027948324,0.452362370603,0.00450510597993,0.0497409709337,0.999999911649,7.80163984242e-05,-0.000412057520305,2.87123164733e-05,1793243157300951040
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.600604478,714,680,662,632,880.399395522,787,806,651.600604478,631.399395522,651.600604478,0.452212315197,0.00450693475182,0.0497404597624,0.999999910734,8.17830591863e-05,-0.000413567231778,2.83885658589e-05,1793243157317617664
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.821393716,713.821393716,680,662.178606284,632,880,787,806,652,631,652,0.452052058447,0.0045089879213,0.0497394488286,0.999999909292,8.56181267342e-05,-0.000416302043086,2.78852104525e-05,1793243157334284544
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.231069343,713.231069343,680,662.768930657,632,880,787,806,652,631,652,0.45186828587,0.00451155836544,0.0497372858571,0.999999906638,8.96108831245e-05,-0.000421860919238,2.69678352685e-05,1793243157350951680
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713.353685301,680,663,632.353685301,880,787,806.353685301,652,631,652,0.45166505898,0.00451452385443,0.049735907953,0.999999905323,9.3542173507e-05,-0.000424198955832,2.56651612551e-05,1793243157367618560
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.934857606,680,663,632.934857606,880,787,806.934857606,652,631,652,0.451449319243,0.00451774343275,0.0497350349965,0.999999904877,9.74339299351e-05,-0.000424465379772,2.41146666283e-05,1793243157384285184
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,663,633,880,787,806.490182949,652,631,652,0.451206980205,0.00452079930144,0.0497391210104,0.999999909168,0.000104543024847,-0.000412574127339,2.27562711385e-05,1793243157400951808
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.916322686,745.083677314,714,680,663,633,880.083677314,787,806,652,631,652,0.450957500179,0.00452383331817,0.0497448592007,0.999999914409,0.00011181925957,-0.000397768381633,2.14216248555e-05,1793243157417618432
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.34429988,745.65570012,714,680,663,633,880.65570012,787,806,652,631,652,0.450685941357,0.00452686041667,0.0497565861644,0.999999922593,0.000117700625352,-0.000374910408232,2.0084054572e-05,1793243157434284800
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.237077779,745.762922221,714,680,663,633,880.762922221,787,806.237077779,651.762922221,631,652,0.450396554406,0.00453038218304,0.049766085874,0.999999928561,0.000124380890216,-0.000356454370197,1.86319054828e-05,1793243157450951168
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.832599234,745.167400766,714,680,663,633,880.167400766,787,806.832599234,651.167400766,631,652,0.450080212689,0.00453465184965,0.0497722181429,0.999999931715,0.000132269029788,-0.00034465372714,1.70065219945e-05,1793243157467618048
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,663,633.416117801,880,787.416117801,806.583882199,651.416117801,631,652,0.449719052002,0.0045388340979,0.0497732481186,0.999999932549,0.000140180690066,-0.000339148232801,1.51645406878e-05,1793243157484284416
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,663,633.99494307,880,787.99494307,806.00505693,651.99494307,631,652,0.449340366522,0.00454298216434,0.0497722830312,0.999999932462,0.000148101547057,-0.00033610422368,1.32378668576e-05,1793243157500951040
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,663.570122496,634,880.570122496,787.429877504,806,652,631,652,0.448909890872,0.00454857583087,0.0497685875843,0.999999929285,0.000156541480018,-0.000341762523925,1.10592992436e-05,1793243157517618432
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,664,634,880.851489628,787,806,652,631,652,0.448475141751,0.00455357409829,0.049767128868,0.999999927826,0.000164106024397,-0.000342543148137,8.99624151677e-06,1793243157534285568
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,664,634,880.26351243,787,806,652,631,652,0.448029097525,0.00455677277768,0.0497723602188,0.999999931672,0.000169066609384,-0.000328662956346,7.28156667171e-06,1793243157550952192
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,664,634,880,787,806.319825977,652,631,652,0.447549465945,0.00456135794648,0.0497732038449,0.999999931621,0.000176004127539,-0.000325201515083,4.94677439536e-06,1793243157567619072
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,664,634,880,787,806.899397077,652,631,652,0.447042556509,0.00456706914631,0.0497704840021,0.999999928452,0.000184547202965,-0.000330201610248,2.10835655592e-06,1793243157584285696
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,664,634,880,787,806.524556207,652,631,652,0.446492764326,0.00457506243549,0.0497645432427,0.999999923295,0.000194300348366,-0.000340082454519,-9.93513749892e-07,1793243157600952320
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.051783089,745,714,680,664.051783089,634,880,787,806,652,631,652,0.445932642964,0.00458314069614,0.0497602635963,0.999999918642,0.000204040094381,-0.000347948051273,-4.03419614873e-06,1793243157617618944
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.638798308,745,714,680,664.638798308,634,880,787,806,652,631,652,0.445358856484,0.00458714283408,0.0497801458605,0.999999925105,0.000211014299021,-0.00032438790903,-5.87048685472e-06,1793243157634285568
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.777165504,745,714,680,664.777165504,634,880,787,806,652,631,652,0.444761044339,0.0045926737883,0.0497969778969,0.999999929023,0.000220601072558,-0.000305329912745,-7.95973835435e-06,1793243157650951936
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.197894479,745,714,680,664.197894479,634,880,787,806,652,631,652,0.444124801804,0.0046006501714,0.0498089309182,0.999999929418,0.000234366799238,-0.00029347335814,-1.04536150114e-05,1793243157667618560
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713.619249007,680,664,634,880,787.380750993,806,652,631.380750993,652,0.443440392988,0.0046069051452,0.0497924372978,0.999999917027,0.000244454128072,-0.000325581796262,-1.36140386556e-05,1793243157684285184
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713.040928148,680,664,634,880,787.959071852,806,652,631.959071852,652,0.442730990939,0.00461226688773,0.0497611828511,0.99999989555,0.000252632752863,-0.000380503458003,-1.71203302267e-05,1793243157700951808
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.534174882,713,680,664,634,880,787.465825118,806,652,632,652,0.442046789285,0.00461754560618,0.0497684890787,0.999999901983,0.000257762093313,-0.00035938786543,-2.07873759429e-05,1793243157717618432
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.888813635,713.111186365,680,664.111186365,634,880.111186365,787,806.111186365,652,631.888813635,651.888813635,0.441360448587,0.00462325649373,0.0497836994656,0.999999918051,0.000238491813039,-0.00032622941206,-2.43824877148e-05,1793243157734285056
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.302601726,713.697398274,680,664.697398274,634,880.697398274,787,806.697398274,652,631.302601726,651.302601726,0.440656769562,0.00463084076622,0.0498201320625,0.99999995742,0.000115970330552,-0.000266361092469,-2.7617965493e-05,1793243157750951424
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.282049721,714,680,664.717950279,634,880.717950279,787.282049721,806.717950279,652,631.282049721,651.282049721,0.439901682189,0.00463202116856,0.0498298054935,0.999999966238,5.43493741006e-05,-0.000252059361915,-3.21918133891e-05,1793243157767618048
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745.865036282,714,680,664.134963718,634,880.134963718,787.865036282,806.134963718,652,631.865036282,651.865036282,0.439091743882,0.00462636887424,0.049810927868,0.9999999566,5.77070602895e-05,-0.000286375528397,-3.81936545461e-05,1793243157784284672
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745.558248504,714,680,664,634,880.441751496,787.558248504,806,652,631.558248504,652,0.43825995851,0.00459819540855,0.0497840586083,0.999999942504,3.6615597341e-05,-0.000334944004695,-3.82549292315e-05,1793243157800951296
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,664,634,880.983449513,787.016550487,806,652,631,652,0.437422436767,0.0045642446674,0.0497564625646,0.99999992513,9.3805710395e-06,-0.000385110674232,-3.66366096732e-05,1793243157817618176
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,664,634,880.409559341,787.590440659,806,652,631,652,0.436613365482,0.00456420700516,0.0497854621963,0.999999939634,2.32820151007e-05,-0.000344515809106,-3.87211885699e-05,1793243157834285312
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,664.757720524,634,880,787.242279476,805.242279476,652,631.757720524,652,0.434896560051,0.00458190237799,0.0497909559339,0.99999993558,5.78781647464e-05,-0.000351211964228,-4.62666841802e-05,1793243157867618560
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,713.656662116,680,664.656662116,634,880,787.343337884,805,652,631.656662116,652,0.434025204614,0.00458824594208,0.0497856429435,0.999999933365,6.62871030183e-05,-0.000355433463599,-5.04294233021e-05,1793243157884284928
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.501454427,745.501454427,713.501454427,680,664.501454427,634,880,788,805.501454427,652,631,652,0.432307419207,0.0045930064168,0.0498036851714,0.999999943785,0.000109872017325,-0.00031510658048,-3.26563390376e-05,1793243157917618176
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,746,713.925273672,680,664.925273672,634,879.925273672,787.925273672,806,652,631,652,0.431442156002,0.00459571442141,0.049819175939,0.99999994527,0.000151733613474,-0.000293778570009,-1.14740877578e-05,1793243157934284544
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.773924051,745.773924051,713,680,664,634,879.226075949,787,806,652,631,652,0.429585562752,0.00458395369727,0.0497753861289,0.999999925315,0.000141722460584,-0.000358873825963,-2.22359914464e-05,1793243157967617792
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.175813411,745.175813411,713,680,664,634,879.824186589,787,806,652,631,652,0.428655786504,0.0045770056585,0.0497678553255,0.999999924866,0.000131075664295,-0.000363802008693,-2.71219285227e-05,1793243157984284416
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,713.406150721,680,664,634,880,787.406150721,806,652,631,652,0.427723182901,0.00458417211278,0.0497696361975,0.999999920606,0.000133960157653,-0.000374116561165,-2.96699085706e-05,1793243158000951296
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,713.981392604,680,664,634,880,787.981392604,806,652,631,652,0.426789402252,0.00459721479988,0.0497752937639,0.999999914604,0.000142478081206,-0.000386673599803,-3.12445356971e-05,1793243158017617920
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,713.441243353,680,664,634,879.441243353,787.441243353,805.441243353,652,631,652,0.425902315963,0.00460200136241,0.0497725157213,0.99999992161,0.000137311499098,-0.000369908816615,-3.30657294653e-05,1793243158034284544
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745.724517326,713.724517326,680,664,634,879.724517326,787.724517326,805.724517326,652,631,652,0.424169671814,0.00459662596008,0.0498223383905,0.999999955631,0.000129494945008,-0.000265886595145,-3.56871482263e-05,1793243158067618048
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,746,714,679.692691789,664,634.307308211,880,787.692691789,805.692691789,652,631,652,0.423281397538,0.00459089127629,0.0498377868877,0.999999962232,0.000126145745368,-0.00024152284459,-3.59113726279e-05,1793243158084284672
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,746,714,679.112964896,664,634.887035104,880,787.112964896,805.112964896,652,631,652,0.422363137821,0.0045864010081,0.049829515426,0.99999995797,0.000122351722471,-0.000260449288843,-3.54567843992e-05,1793243158100951552
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,746,713.536415065,679,663.536415065,634.536415065,879.536415065,787,805,652,631,652,0.421446818784,0.00458782792296,0.0498080866119,0.999999947857,0.000117600757447,-0.000298606641903,-3.59139317898e-05,1793243158117618176
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,746,713,679.039282906,663.039282906,634,879.039282906,787.039282906,805,652,631,652,0.420535363107,0.00459099530655,0.0497864906702,0.999999935883,0.000114191381795,-0.000337438861453,-3.64565142579e-05,1793243158134284544
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,746,713,679.613849938,663.613849938,634,879.613849938,787.613849938,805,652,631,652,0.419683778353,0.00459836510314,0.0498060081728,0.999999938784,0.000132218867464,-0.000322046693916,-3.51565157054e-05,1793243158150951168
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.194800648,745.805199352,713.194800648,679.805199352,664,634.194800648,880,787.805199352,804.805199352,652,631,652,0.418817330392,0.00460384822336,0.0498109441105,0.999999935989,0.000142247750952,-0.000326497576497,-3.4449430937e-05,1793243158167617792
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.788834458,745.211165542,713.788834458,679.211165542,664,634.788834458,880,787.211165542,804.211165542,652,631,652,0.417920420954,0.00460546470599,0.0497859959407,0.999999921108,0.000135883944563,-0.000371615690687,-3.49574899489e-05,1793243158184284416
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.47573661,679,663.52426339,634,879,788,805,652,631,652,0.415539457898,0.0045963273923,0.0498152428136,0.999999947287,0.000126898499175,-0.000296344386778,-3.87715012889e-05,1793243158234284544
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,713.102403196,679,663.897596804,634.102403196,879,787.897596804,805,652.102403196,631,652,0.414762277548,0.00459392339889,0.0498222955381,0.999999952689,0.00012148692418,-0.000279876756867,-3.91519997576e-05,1793243158250951168
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,713.689433597,679,663.310566403,634.689433597,879,787.310566403,805,652.689433597,631,652,0.413978667774,0.00459322149439,0.0497966214548,0.999999938127,0.000113895700408,-0.000330543604662,-3.89139816777e-05,1793243158267618048
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,713.726613327,679.273386673,663.273386673,634.726613327,879.273386673,787,805,652.726613327,631,652,0.413208287282,0.00459576856852,0.0497815543114,0.999999928296,0.000116767462174,-0.000358079598992,-3.93931969302e-05,1793243158284284672
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,713.146117209,679.853882791,663.853882791,634.146117209,879.853882791,787,805,652.146117209,631,652,0.412452767982,0.00460196538909,0.0497784024962,0.999999925873,0.000131392839618,-0.00035963150189,-4.06781177236e-05,1793243158300951296
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745.431300143,713,679.568699857,664,634.431300143,880,787,805,652.431300143,631,652,0.411758705333,0.00460330194993,0.0497999087802,0.99999993459,0.000138029957956,-0.000331962325636,-3.96086879453e-05,1793243158317617920
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.99234906,745.99234906,713,679,664,634.99234906,879.99234906,787.00765094,805,652.99234906,631,652,0.411085179211,0.00460297253181,0.0498290551999,0.999999945599,0.000141719518845,-0.000295451184402,-3.77706671169e-05,1793243158334284800
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764.418290337,745.418290337,713,679,664,634.418290337,879.418290337,787.581709663,805,652.418290337,631,652,0.410401560922,0.00460034256124,0.0498097552379,0.99999993621,0.000126127542611,-0.000332044384266,-3.76627612933e-05,1793243158350951168
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.750242653,745,713,679,664,634.750242653,879,787.249757347,805,652,631.750242653,652,0.409144096771,0.00458923992516,0.0497905325193,0.999999930482,0.000110168235092,-0.000354119485695,-3.87096409361e-05,1793243158384284928
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745.33402851,713,679,664,635,879,787.33402851,805,652.33402851,631.66597149,652,0.408568570927,0.00458657377466,0.0498041596616,0.999999938659,0.000111886778001,-0.000329624069209,-3.88710598231e-05,1793243158400952064
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.913168536,713,679,664,635,879,787.913168536,805,652.913168536,631.086831464,652,0.408009004613,0.0045872534032,0.0498307645807,0.999999950361,0.000117520385801,-0.000289802345342,-3.85013012071e-05,1793243158417619200
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745.509882466,713,679.490117534,664,634.509882466,879,788,805,652.509882466,631,652.490117534,0.407469858173,0.00458781782682,0.0498333814768,0.999999950693,0.000114186191935,-0.000290111278298,-3.75680626007e-05,1793243158434285568
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.932173866,745,713,679.932173866,664,634,879,788,805,652,631,652.932173866,0.406936484977,0.00458863417859,0.0498291909013,0.999999947762,0.000109929230472,-0.0003017324875,-3.6723881034e-05,1793243158450951680
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.345701772,745,713,679.345701772,664,634,879,788,805,652,631,652.345701772,0.406419717852,0.0045915323251,0.0498052981675,0.99999993341,0.000110710970684,-0.000345731249746,-3.7320654176e-05,1793243158467618304
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.237975208,745.237975208,713,679.237975208,664,634.237975208,879,788,805,652.237975208,631,652,0.405922050545,0.00459494632346,0.049786910429,0.999999921504,0.000113234169803,-0.000377772282037,-3.81937165971e-05,1793243158484284672
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745.941846205,714,678.058153795,664,635,879,788,805,653,631,652,0.401663816056,0.00456731669246,0.0498281669088,0.999999946477,7.8650438413e-05,-0.000316384191766,-2.75866802812e-05,1793243158734284544
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,713,679,664,634.091385158,879,787.908614842,805,652.908614842,631,652.908614842,0.401451636094,0.0045790514273,0.049841631166,0.999999952789,9.3500077846e-05,-0.000291050310241,-3.1126888775e-05,1793243158767617792
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.127152298,745,714,679,664,634.127152298,879,787.872847702,804.127152298,652.127152298,631,652,0.40099282253,0.00458040970174,0.0498560584105,0.9999999625,0.000100014500829,-0.000252831405809,-3.2761351434e-05,1793243159134284544
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,745,713.551467378,678.551467378,664,634.448532622,879,788,804.448532622,652.448532622,630.551467378,652.448532622,0.400992145547,0.00457788641583,0.04985637496,0.999999962783,9.73097585078e-05,-0.000252814915863,-3.2396390472e-05,1793243159150951424
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,745,713.02284595,678.02284595,664,634.97715405,879,787.97715405,805,653,630.02284595,652.97715405,0.400991567849,0.00457500177258,0.0498568645018,0.999999963189,9.38572660396e-05,-0.000252549072428,-3.21283337881e-05,1793243159167617792
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,745,713.59641633,678.59641633,664,634.40358367,879,787.40358367,805,653,630.59641633,652.40358367,0.400992801008,0.00457732582924,0.0498571242568,0.999999963118,9.66685436974e-05,-0.000251700033648,-3.26677419604e-05,1793243159184284416
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.175046474,745,713.824953526,678.824953526,664,634.175046474,879,787,805.175046474,652.824953526,631,652,0.400993618454,0.00457880059402,0.0498574988272,0.999999963107,9.89072679509e-05,-0.000250831890291,-3.29622856805e-05,1793243159200951040
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.765689512,745,713.234310488,678.234310488,664,634.765689512,879,787,805.765689512,652.234310488,631,652,0.400993448912,0.00457825896394,0.0498581459928,0.999999963258,9.97866317403e-05,-0.000249918388768,-3.26754704738e-05,1793243159217617664
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,678.350521529,664.350521529,635,879,787.350521529,805.649478471,652.350521529,631,652,0.400992831572,0.0045783490576,0.0498581379833,0.99999996325,0.000100236468819,-0.000249778663358,-3.26150151017e-05,1793243159234284288
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,713,678.931532423,664.931532423,635,879,787.931532423,805.068467577,652.931532423,631,652,0.400991919777,0.00457885454832,0.0498576991561,0.999999963138,0.000100403865755,-0.000250147743147,-3.27034051896e-05,1793243159250951168
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,713.506272977,679,664.493727023,634.493727023,879,787.493727023,805,653,631,652.506272977,0.400991749877,0.00457826330323,0.0498573297776,0.999999962974,0.000100050284043,-0.000251004516585,-3.22382358312e-05,1793243159267618048
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,713.919811186,679,664,634.080188814,879,787.080188814,805,653,631,652.919811186,0.400991731891,0.00457783462741,0.0498570839006,0.999999962854,9.9724811896e-05,-0.000251657954199,-3.18569449095e-05,1793243159284284672
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,713.345816164,679,664,634.654183836,879,787.654183836,805,653,631,652.345816164,0.400992039104,0.00457930925293,0.0498575414211,0.999999963059,0.000100001005211,-0.000250658055971,-3.24475481309e-05,1793243159300951296
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,713.831723517,679,664,635,879,788,805,653,631,652,0.400992882794,0.00457848963814,0.0498581852353,0.999999963636,9.92191226332e-05,-0.000248583431546,-3.30202333268e-05,1793243159334284544
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..add86dbabff5bac95a2aa7fa40f022cc621bf16f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_02/simulation_data.csv
@@ -0,0 +1,406 @@
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+398,6.633333333,pose2_to_pose3_retreat,0.580744001924,0.0100017291095,1.04004082686,0.551315722652,0.0186765613239,1.03967862665
+399,6.650000000,pose2_to_pose3_retreat,0.580743831871,0.0100017607537,1.04004079982,0.551315552355,0.0186765921871,1.03967860079
+400,6.666666667,pose2_to_pose3_retreat,0.580743737403,0.0100018153825,1.0400407633,0.55131545762,0.0186766458574,1.039678563
+401,6.683333333,pose2_to_pose3_retreat,0.580743709257,0.0100018316587,1.04004075242,0.551315429394,0.018676661848,1.03967855174
+402,6.700000000,pose2_to_pose3_retreat,0.580743644728,0.0100018689748,1.04004072747,0.551315364683,0.0186766985094,1.03967852592
+403,6.716666667,pose2_to_pose3_retreat,0.580743600853,0.0100019142146,1.04004072435,0.551315320313,0.018676741957,1.0396785201
+404,6.733333333,pose2_to_pose3_retreat,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1bce27a1360cd151ef5ca691f4daee5b23272632
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80146a5bae7fc1616aa72fcdce3eaa2e4b966a54496934d0685e1170db2ded5e
+size 25827547
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..54d4e0f84d749ecbe0546d9685ce53837fbe18e6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+28,0.466666667,BASELINE,764.734704859,745,713.734704859,679,664,635,879,787.734704859,804.265295141,653,631,652,0.400993213965,0.00457709372248,0.049860649545,0.999999964641,9.68544853338e-05,-0.000245608236197,-3.1854307737e-05,1793243159949736192
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+51,0.850000000,BASELINE,765,745,713.611540835,679.388459165,664,635,879,787.776918331,805,653,631,652,0.400993005663,0.00457853225021,0.0498609895904,0.999999965039,9.8611476228e-05,-0.000243183346041,-3.25377575935e-05,1793243160333070336
+52,0.866666667,BASELINE,765,745.197864002,713.802135998,679,664,634.802135998,879,787,805,653,631,652.197864002,0.400992745111,0.00457848638974,0.0498610658864,0.999999965088,9.73797291246e-05,-0.000243453884716,-3.27253639744e-05,1793243160349736704
+53,0.883333333,BASELINE,765,745.777056799,713.222943201,679,664,634.222943201,879,787,805,653,631,652.777056799,0.400994280769,0.00457759164072,0.0498617129167,0.999999965314,9.78263981655e-05,-0.000242396006819,-3.23308903537e-05,1793243160366403072
+54,0.900000000,BASELINE,764.645882678,745.645882678,713,679,664,634.354117322,879,787.354117322,805,653,631,652.645882678,0.400994587044,0.00457752119985,0.049861674484,0.99999996538,9.76190394109e-05,-0.000242215847984,-3.22925876663e-05,1793243160383069696
+55,0.916666667,BASELINE,764.070156566,745.070156566,713,679,664,634.929843434,879,787.929843434,805,653,631,652.070156566,0.400994123962,0.00457796661611,0.0498612070843,0.999999965344,9.70023860375e-05,-0.000242584971155,-3.24771789461e-05,1793243160399736320
+56,0.933333333,BASELINE,764.505550458,745.505550458,713,679,664,635,879,788,805,652.494449542,631,652,0.400992568497,0.00457871271508,0.0498602594728,0.999999964851,9.76289546784e-05,-0.000244350958078,-3.25484647647e-05,1793243160416402944
+57,0.950000000,BASELINE,765,745.916611717,713.083388283,679,664,635,879,787.916611717,805.083388283,652.083388283,631,652.083388283,0.400991250009,0.00457935755118,0.0498594936947,0.999999964404,9.84558774007e-05,-0.000245835498082,-3.2599195546e-05,1793243160433069824
+58,0.966666667,BASELINE,765,745.325791741,713.674208259,679,664,635,879,787.325791741,805.674208259,652.674208259,631,652.674208259,0.400992296005,0.00457913228208,0.0498602399048,0.99999996465,9.9452182917e-05,-0.000244427841861,-3.26205231753e-05,1793243160449736704
+59,0.983333333,BASELINE,764.74062251,745.25937749,713.74062251,679,664,635,879,787.25937749,805.481245019,653,631,652.74062251,0.400992772263,0.0045781943215,0.0498604765472,0.999999964836,9.90258373312e-05,-0.000243858282931,-3.24657740016e-05,1793243160466403584
+60,1.000000000,BASELINE,764.162399502,745.837600498,713.162399502,679,664,635,879,787.837600498,804.324799005,653,631,652.162399502,0.400992548159,0.00457638026915,0.0498600867923,0.999999964949,9.68506665466e-05,-0.000244318973442,-3.20945785265e-05,1793243160483070464
+61,1.016666667,BASELINE,764.412216744,745.587783256,713,679,664,634.587783256,879,788,804.412216744,653,631,652,0.400992163693,0.00457642120196,0.0498600382899,0.999999964931,9.61929412575e-05,-0.000244653882792,-3.20796605992e-05,1793243160499736832
+62,1.033333333,BASELINE,764.985424339,745.014575661,713,679,664,634.014575661,879,788,804.985424339,653,631,652,0.400991716599,0.00457718659755,0.0498601230634,0.999999964863,9.61278529701e-05,-0.000244939668403,-3.22038865463e-05,1793243160516403200
+63,1.050000000,BASELINE,765,745,713.560390842,679,664,634,878.439609158,787.439609158,805,653,631,652,0.400992238182,0.00457846908387,0.0498603620181,0.999999964966,9.69131943779e-05,-0.000244183288063,-3.24221140694e-05,1793243160533069568
+64,1.066666667,BASELINE,765,745,713.859684981,679,664,634,878.140315019,787,805,653,631,652,0.400993033265,0.00457912322793,0.0498607741495,0.999999965118,9.76299991207e-05,-0.000243265649629,-3.24676005327e-05,1793243160549736192
+65,1.083333333,BASELINE,765,745,713.263813924,679,664,634,878.736186076,787,805,653,631,652,0.400994634257,0.00457769355098,0.0498617354674,0.999999965422,9.80522473353e-05,-0.000241912743018,-3.19442914395e-05,1793243160566402816
+66,1.100000000,BASELINE,764.678288427,745.321711573,713.321711573,679,664,634,879,787,805,653,631,652,0.400994928513,0.00457769336363,0.0498619917805,0.999999965413,9.86185790053e-05,-0.000241739246665,-3.17731495292e-05,1793243160583069696
+67,1.116666667,BASELINE,764.100982334,745.899017666,713.899017666,679,664,634,879,787,805,653,631,652,0.400994184589,0.00457882888218,0.0498616879789,0.999999965158,9.92993825757e-05,-0.000242502772307,-3.18817986422e-05,1793243160599736576
+68,1.133333333,BASELINE,764.468131746,745.531868254,713.531868254,678.531868254,664,634,879,787,805,653,630.531868254,652,0.400994705267,0.00457885977992,0.0498618133637,0.999999965319,9.91865803729e-05,-0.000241850423306,-3.21272956821e-05,1793243160616403968
+69,1.150000000,BASELINE,764.96281178,745,713,678.03718822,664,634,879,787,805,653,630.03718822,652,0.40099533895,0.00457866718045,0.0498619249093,0.999999965519,9.88818797878e-05,-0.00024111635968,-3.23650598241e-05,1793243160633071360
+70,1.166666667,BASELINE,764.368605321,745,713,678.631394679,664,634,879,787,805,653,630.631394679,652,0.40099364955,0.00457863464484,0.0498604662996,0.999999964979,9.82229245424e-05,-0.000243654405485,-3.20524419558e-05,1793243160649737984
+71,1.183333333,BASELINE,764.2197483,745,713,679,663.7802517,634.2197483,879.2197483,787,805,653,631,652,0.40099270342,0.0045782248462,0.0498599223174,0.999999964883,9.72356528569e-05,-0.000244466853918,-3.18622938611e-05,1793243160666404608
+72,1.200000000,BASELINE,764.798539176,745,713,679,663.201460824,634.798539176,879.798539176,787,805,653,631,652,0.400992971704,0.00457719864468,0.0498608727275,0.999999965518,9.57119510704e-05,-0.000242459881973,-3.18722467544e-05,1793243160683070464
+73,1.216666667,BASELINE,764.623125433,745,713,678.623125433,663.376874567,634.623125433,879.623125433,787,804.623125433,653,631,652,0.400993713522,0.00457692216182,0.0498613644275,0.999999965775,9.54161125428e-05,-0.000241499177919,-3.19839648626e-05,1793243160699736576
+74,1.233333333,BASELINE,764.045033266,745,713,678.045033266,663.954966734,634.045033266,879.045033266,787,804.045033266,653,631,652,0.400994708164,0.0045770459623,0.049861611217,0.999999965833,9.57758442121e-05,-0.00024109708827,-3.21500165717e-05,1793243160716402944
+75,1.250000000,BASELINE,764.527948466,745,713.527948466,678.527948466,664,634.527948466,878.472051534,787,804.527948466,653,631,652,0.400994136198,0.00457746612417,0.0498610003932,0.999999965564,9.5426751159e-05,-0.000242355132753,-3.2076115863e-05,1793243160733069824
+76,1.266666667,BASELINE,764.896162973,744.896162973,713.896162973,679,664,635,878.103837027,787,805,653,631,652,0.400993492725,0.0045779315588,0.0498604679005,0.999999965296,9.53168679621e-05,-0.000243509566689,-3.20224135138e-05,1793243160749736448
+77,1.283333333,BASELINE,764.304592869,744.304592869,713.304592869,679,664,635,878.695407131,787,805,653,631,652,0.40099313503,0.00457849204344,0.0498606436502,0.999999965165,9.66118501748e-05,-0.000243518564973,-3.21588016653e-05,1793243160766403072
+78,1.300000000,BASELINE,764,744.563132432,713,679,664,635,878.718433784,787.281566216,805,653,631,652,0.400993353712,0.00457824952334,0.0498607589716,0.999999965232,9.65422433616e-05,-0.000243255418469,-3.2279377749e-05,1793243160783069696
+79,1.316666667,BASELINE,764,745.723964195,713,679,664,635,878.138017902,787.861982098,805,653,631,652,0.400994184151,0.0045771547074,0.0498608101554,0.999999965508,9.50242845293e-05,-0.000242703422045,-3.23831711604e-05,1793243160799736320
+80,1.333333333,BASELINE,764.438003245,745.561996755,713,679,664.438003245,635,878.438003245,787.561996755,805,653,631,652.438003245,0.400995018302,0.00457755424958,0.0498614745668,0.999999965749,9.55091212968e-05,-0.000241523782344,-3.23536518259e-05,1793243160816402944
+81,1.350000000,BASELINE,765,745,713,679,664.987055723,635,879,787,805,653,631,652.987055723,0.400995829095,0.00457839175468,0.0498623106559,0.999999965969,9.66208782712e-05,-0.000240174161232,-3.22811681744e-05,1793243160833069824
+82,1.366666667,BASELINE,765,745,713,679,664.399194642,635,879,787,805,653,631,652.399194642,0.400995550993,0.0045779748887,0.049862274655,0.999999965905,9.7825656332e-05,-0.000239971721208,-3.21476662717e-05,1793243160849736192
+83,1.383333333,BASELINE,765,745,713.186615164,679,664,634.813384836,879.186615164,787.186615164,805,653,631,652.186615164,0.400995568765,0.00457731857331,0.0498623928615,0.99999996603,9.72916795745e-05,-0.000239677559421,-3.2072228677e-05,1793243160866403072
+84,1.400000000,BASELINE,765,745,713.768084837,679,664,634.231915163,879.768084837,787.768084837,805,653,631,652.768084837,0.400996212572,0.0045761556126,0.0498628373516,0.999999966547,9.3078713792e-05,-0.000239189325738,-3.21196479221e-05,1793243160883069696
+85,1.416666667,BASELINE,765,745,713.653637347,679,664,634.346362653,879.653637347,788,805,653,631,652.653637347,0.400995502305,0.004575281806,0.049862137384,0.999999966572,9.10158456375e-05,-0.0002398867439,-3.20254433302e-05,1793243160899736576
+86,1.433333333,BASELINE,765,745,713.077477233,679,664,634.922522767,879.077477233,788,805,653,631,652.077477233,0.400993893665,0.0045745998414,0.0498606781155,0.999999966279,9.03794796125e-05,-0.000241370793619,-3.18372771095e-05,1793243160916403456
+87,1.450000000,BASELINE,765,745,713.495102116,679,664,635,879,787.504897884,805,653,631,652,0.400993826398,0.00457544467003,0.0498614044409,0.999999965875,9.39564607472e-05,-0.000241689323103,-3.17470177474e-05,1793243160933070336
+88,1.466666667,BASELINE,765,745,714,679,664,635,879.069392632,787.069392632,805.069392632,653,631,652,0.400993868613,0.00457645230463,0.0498622677547,0.999999965487,9.74088677327e-05,-0.000241936217563,-3.17054649227e-05,1793243160949736960
+89,1.483333333,BASELINE,765,745,714,679,664,635,879.660738612,787.660738612,805.660738612,653,631,652,0.400992933058,0.00457690030423,0.0498616073614,0.999999965452,9.5000519238e-05,-0.00024300632551,-3.19158555144e-05,1793243160966403328
+90,1.500000000,BASELINE,764.752895033,745,714,679,664,635,880,788,805.752895033,653,631,652,0.400992918886,0.00457710909908,0.049861331155,0.999999965542,9.36634010384e-05,-0.00024314290165,-3.20153848334e-05,1793243160983069696
+91,1.516666667,BASELINE,764.173230423,745,714,679,664,635,880,788,805.173230423,653,631,652,0.400994144734,0.00457699596656,0.0498615719965,0.999999965805,9.37679698191e-05,-0.000242023108769,-3.1965714442e-05,1793243160999736576
+92,1.533333333,BASELINE,764.401261688,745,713.598738312,679,664,634.598738312,879.598738312,788,805,653,631,652.401261688,0.400994310227,0.00457692279716,0.0498615854277,0.999999965719,9.48193981897e-05,-0.000241975600488,-3.19326324554e-05,1793243161016403200
+93,1.550000000,BASELINE,764.973549225,745,713.026450775,679,664,634.026450775,879.026450775,788,805,653,631,652.973549225,0.400994023775,0.00457686666084,0.0498615019322,0.999999965481,9.62743972825e-05,-0.000242385121501,-3.19066207782e-05,1793243161033069824
+94,1.566666667,BASELINE,765,745.551388937,713.551388937,679,663.448611063,634.551388937,879,787.448611063,805,653,631,653,0.400994084818,0.00457724177298,0.0498617025866,0.999999965589,9.52523144884e-05,-0.000242326502818,-3.20590816872e-05,1793243161049736704
+95,1.583333333,BASELINE,764.867387067,745.867387067,714,678.867387067,663.132612933,634.867387067,879,787.132612933,805,653,631,653,0.400994343096,0.00457747611402,0.0498619264939,0.999999965749,9.47367334104e-05,-0.000241854636405,-3.2157138522e-05,1793243161066403584
+96,1.600000000,BASELINE,764.275371008,745.275371008,714,678.275371008,663.724628992,634.275371008,879,787.724628992,805,653,631,653,0.400995226306,0.00457715039476,0.0498621832532,0.999999966034,9.63916337938e-05,-0.000240029768867,-3.20367656651e-05,1793243161083069952
+97,1.616666667,BASELINE,764.308370941,745,713.691629059,678.308370941,664,634,879,787.691629059,804.691629059,653,631,652.691629059,0.400995275418,0.00457671861514,0.0498621166591,0.999999966064,9.60881578503e-05,-0.000240033385414,-3.1974536181e-05,1793243161099736576
+98,1.633333333,BASELINE,764.884917257,745,713.115082743,678.884917257,664,634,879,787.115082743,804.115082743,653,631,652.115082743,0.400994599157,0.00457619459997,0.0498617688602,0.999999965872,9.40815761088e-05,-0.000241627146733,-3.19628711988e-05,1793243161116403200
+99,1.650000000,BASELINE,765,745.462213872,713.462213872,679,664,634,879,787.462213872,804,653,631,652,0.400992073195,0.00457784356559,0.0498601672204,0.999999965059,9.56616343061e-05,-0.000244302637918,-3.23552980135e-05,1793243161133069824
+100,1.666666667,BASELINE,765,745.959607906,713.959607906,679,664,634,879.040392094,787.959607906,804.040392094,653,631,652,0.400989544853,0.00457979426213,0.0498585567226,0.999999964236,9.78345329886e-05,-0.000246741854833,-3.27901085882e-05,1793243161149736448
+101,1.683333333,BASELINE,765,745.372021262,713.372021262,679,664,634,879.627978738,787.372021262,804.627978738,653,631,652,0.40099323339,0.0045784912106,0.0498610622718,0.999999965513,9.59213813595e-05,-0.000242325672052,-3.24338889706e-05,1793243161166403584
+102,1.700000000,BASELINE,765,745,713,678.787626864,664,634,879.787626864,787,805,653,631,652,0.400995964994,0.00457749514161,0.0498629225681,0.999999966449,9.46297255148e-05,-0.000238986547143,-3.21396456761e-05,1793243161183070720
+103,1.716666667,BASELINE,765,745,713,678.208741685,664,634,879.208741685,787,805,653,631,652,0.400997045127,0.00457702886103,0.0498636692914,0.999999966828,9.44106428676e-05,-0.000237506201499,-3.19523607165e-05,1793243161199737600
+104,1.733333333,BASELINE,765,745,713,678.367746788,664,634.367746788,879,787.367746788,805.367746788,652.632253212,631,652,0.400996782183,0.00457659489409,0.0498633081808,0.999999966621,9.46687889072e-05,-0.000238280633419,-3.18943726309e-05,1793243161216404224
+105,1.750000000,BASELINE,765,745,713,678.942883695,664,634.942883695,879,787.942883695,805.942883695,652.057116305,631,652,0.400995761813,0.0045761791503,0.0498623223094,0.999999966081,9.51960671609e-05,-0.000240326642832,-3.19093012605e-05,1793243161233070592
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,714,678,664,634,879,788,805,653,631,652,0.400993654711,0.00457696624475,0.049861859231,0.999999965635,9.60062287779e-05,-0.000241810096055,-3.22463229559e-05,1793243161264879872
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,678,664,634.618108795,879.618108795,787.381891205,805,653,631,652,0.400993921972,0.00457748886724,0.0498616767881,0.999999965669,9.70015521466e-05,-0.000241278312662,-3.22026404562e-05,1793243161281546496
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713.779350153,678.220649847,664,635,879.779350153,787,805,653,631,652,0.400994205538,0.00457732018921,0.0498616100318,0.999999965744,9.68627099672e-05,-0.000241045570712,-3.20533049033e-05,1793243161298212864
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713.201977262,678.798022738,664,635,879.201977262,787,805,653,631,652,0.400994515465,0.00457603389059,0.0498617303054,0.999999965882,9.48902705444e-05,-0.000241296286855,-3.17331608013e-05,1793243161314879744
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.375061773,745,713.375061773,679,664,635,879,787.375061773,805,653,631,652,0.40099404822,0.00457612531004,0.04986132163,0.999999965768,9.48582776321e-05,-0.000241781512393,-3.17373021736e-05,1793243161331546624
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.951921146,745,713.951921146,679,664,635,879,787.951921146,805,653,631,652,0.400993162828,0.00457695799466,0.0498606283596,0.999999965518,9.58703193865e-05,-0.000242392912952,-3.19159215715e-05,1793243161348213504
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.462072071,745,714,679,664,634.462072071,879,787.462072071,805,653,631,652,0.40099308606,0.00457795853557,0.0498607745862,0.999999965251,9.75934437782e-05,-0.000242797574222,-3.19804612009e-05,1793243161364880896
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.123110186,745.123110186,713.876889814,679.123110186,664,634.123110186,879,787,805,652.876889814,631,652,0.400993213479,0.004578720838,0.0498610352275,0.99999996514,9.85306431165e-05,-0.000242864672957,-3.20762164784e-05,1793243161381548032
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.702158521,745.702158521,713.297841479,679.702158521,664,634.702158521,879,787,805,652.297841479,631,652,0.400993824813,0.00457854430162,0.0498614369137,0.999999965617,9.63177239535e-05,-0.000241751226725,-3.23259936573e-05,1793243161398214656
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.718942861,745.718942861,713,679.718942861,664,635,879,787,805,652.281057139,631,652,0.400995727956,0.00457779805303,0.0498625421864,0.999999966163,9.55782330961e-05,-0.000239787212807,-3.22650897374e-05,1793243161414880768
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.140202854,745.140202854,713,679.140202854,664,635,879,787,805,652.859797146,631,652,0.400998999326,0.00457644839131,0.0498643926656,0.999999966779,9.63993302617e-05,-0.00023692231656,-3.18751265892e-05,1793243161431546368
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.435053271,745,713,679,664,634.564946729,879.435053271,787.435053271,805,653,631,652,0.401013954744,0.00457600742182,0.0498700402106,0.999999969335,9.49095390549e-05,-0.000226518413161,-3.1816790547e-05,1793243161448212736
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.990561166,745,713.009438834,679,664,634.009438834,879.990561166,787.990561166,805,652.990561166,631,652,0.401033130537,0.0045758680015,0.0498770463243,0.999999972436,9.27293909883e-05,-0.000213341191178,-3.1861031707e-05,1793243161464879104
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.401233677,745,713.598766323,679,664,634.598766323,879.401233677,787.401233677,805,652.401233677,631,652,0.401082097934,0.00457640653554,0.0498929376468,0.999999979307,9.35256960177e-05,-0.000177859241983,-3.1693569303e-05,1793243161481545728
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.185482388,745,713.814517612,679,664,634.814517612,879,787,804.814517612,652.185482388,631,652,0.40113766034,0.0045765154317,0.0499095028463,0.999999984996,9.37023756517e-05,-0.000142261534297,-3.14486382132e-05,1793243161498212608
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.766627984,745,713.233372016,679,664,634.233372016,879,787,804.233372016,652.766627984,631,652,0.401207290947,0.00457570784257,0.049927505535,0.999999989573,9.2557296805e-05,-0.000106416889075,-3.10384542031e-05,1793243161514879232
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.655967877,745,713,679,664,634.344032123,879,787,804.344032123,653,631,652.344032123,0.401278773408,0.00457557954929,0.0499383802178,0.999999991173,9.33728204704e-05,-8.96247230146e-05,-3.00553102304e-05,1793243161531545856
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.081074462,745,713,679,664,634.918925538,879,787,804.918925538,653,631,652.918925538,0.401351498545,0.00457590709464,0.0499444716816,0.999999991363,9.55039982272e-05,-8.56176441859e-05,-2.86876839571e-05,1793243161548212224
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.504059588,745,713,679,663.495940412,635,879,787,805,653,631,652.495940412,0.401437629545,0.00457534176328,0.0499457160282,0.999999991778,9.38943567748e-05,-8.25848829265e-05,-2.84285205867e-05,1793243161564879104
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663.089838183,634.910161817,879,787,805,653,631,652,0.401529062671,0.00457419321652,0.0499457918203,0.999999992139,9.1366370889e-05,-8.11123122201e-05,-2.8182064973e-05,1793243161581545728
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,713,679,663.669958828,634.330041172,879,787,805,653,631,652,0.401637420112,0.00457066183889,0.0499438333033,0.999999992026,8.7178342053e-05,-8.72813419707e-05,-2.70117922293e-05,1793243161598212608
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,713,679,663.751022074,634.248977926,879,787,805,652.751022074,631,652,0.401759795761,0.00456863908715,0.0499439978629,0.999999992114,8.43707161678e-05,-8.93512898936e-05,-2.58789318087e-05,1793243161614879232
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663.173456784,634.826543216,879,787,805,652.173456784,631,652,0.401900671859,0.00456860733714,0.0499469643426,0.999999992517,8.33848704602e-05,-8.60114947351e-05,-2.47954462073e-05,1793243161631545856
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.601741138,745.398258862,713.398258862,679,663.398258862,635,879,787,805,652.398258862,631,652,0.402056678525,0.00456645880687,0.0499469402689,0.999999992601,7.97630797042e-05,-8.8804436719e-05,-2.3425873394e-05,1793243161648212736
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.032536305,745.967463695,713.967463695,679,663.967463695,635,879,787,805,652.967463695,631,652,0.402219179746,0.00456340168398,0.0499456325503,0.999999992507,7.50098534299e-05,-9.42297535046e-05,-2.19335023247e-05,1793243161664879360
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745.439271856,713.439271856,679,664,635,879,787.560728144,804.439271856,653,630.439271856,652,0.402419757856,0.00456204561218,0.0499443748228,0.99999999262,7.26309202701e-05,-9.52054535498e-05,-2.04964456499e-05,1793243161681545984
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,713,678.848540229,664,635,879,787.848540229,804.151459771,652.848540229,630.151459771,652,0.402631600686,0.00456032665545,0.0499439490579,0.9999999929,6.93070093095e-05,-9.50643867416e-05,-1.89722024647e-05,1793243161698212608
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,713,678.269087511,664,635,879,787.269087511,804.730912489,652.269087511,630.730912489,652,0.402868752024,0.00455729084354,0.0499458656768,0.999999993593,6.29060348141e-05,-9.25298722846e-05,-1.71921121848e-05,1793243161714879488
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,713.308181625,678.308181625,664,634.691818375,879,787.308181625,805,652,631,652,0.403127725864,0.00455464725348,0.0499497372299,0.99999999451,5.77679745681e-05,-8.60953362083e-05,-1.52133875525e-05,1793243161731546112
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,713.883557555,678.883557555,664,634.116442445,879,787.883557555,805,652,631,652,0.403405619858,0.00455234372102,0.049955303716,0.999999995562,5.37248647821e-05,-7.62794709576e-05,-1.30624465035e-05,1793243161748212736
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.468231563,745,714,678.531768437,664,634,879,788,805,652.468231563,631,652,0.403727107512,0.00455094320616,0.0499654869554,0.999999996965,5.39196641119e-05,-5.51427115644e-05,-1.10472672954e-05,1793243161764879360
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.945444675,745,714,678.054555325,664,634.054555325,879,787.945444675,805,653,631,652,0.404062361029,0.00454945584878,0.0499764112431,0.999999997967,5.42781192661e-05,-3.22467274404e-05,-8.99121703218e-06,1793243161781546240
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.365946781,745,714,678.634053219,664,634.634053219,879,787.365946781,805,653,631,652,0.404423643648,0.00454492826135,0.0499831947805,0.999999998728,4.58649383736e-05,-2.00617765003e-05,-6.21045005898e-06,1793243161798212864
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745.211642931,714,679,664,635,879,787,805,653,631,652,0.404800192311,0.00454016192861,0.0499892873753,0.999999999227,3.83775945964e-05,-7.80498360996e-06,-3.55672719974e-06,1793243161814879488
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745.785962672,714,679,664,635,879,787,805,653,631,652,0.405202901228,0.00453498647619,0.0499941959521,0.999999999462,3.247679016e-05,4.57491825062e-06,-1.12071071282e-06,1793243161831545856
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,746,714,679,664,635,879,787.362321278,804.637678722,652.637678722,631,652,0.405599435951,0.00453160877885,0.0499825123981,0.999999999458,2.77000629667e-05,-1.77479442907e-05,1.44894643011e-06,1793243161848212480
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,746,714,679,664,635,879,787.939891191,804.060108809,652.060108809,631,652,0.405992302733,0.00452929909537,0.0499609717543,0.999999997872,2.35911294925e-05,-6.06871015546e-05,4.09799734419e-06,1793243161864879360
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.528372557,745.471627443,713.471627443,678.471627443,663.471627443,635,879,787.471627443,804,652,631,652,0.406442649062,0.00452446105212,0.0499437954506,0.999999995689,2.10488701389e-05,-9.0145562262e-05,7.27543227593e-06,1793243161881546240
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.884318243,745,713,678.115681757,663.115681757,635,879,787,804.115681757,652,631,652,0.406908747,0.0045193492643,0.0499292424727,0.999999993214,1.80368662161e-05,-0.000114609816864,1.05547693923e-05,1793243161898212864
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.306749751,745,713,678.693250249,663.693250249,635,879,787,804.693250249,652,631,652,0.40741107806,0.00451431713909,0.0499231395549,0.999999991964,1.2422671576e-05,-0.000125385883737,1.39959113689e-05,1793243161914879488
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,713,679,664,635,879,787,804.728143986,652,631,652,0.407957709837,0.00450839709141,0.0499323241342,0.999999994187,5.73072790211e-06,-0.000106260234621,1.73810019757e-05,1793243161931546112
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,713,679,664,635,879,787,804.148363363,652,631,652,0.408554519913,0.0045014713161,0.0499588244849,0.999999998365,-2.18195522478e-06,-5.32656476942e-05,2.07026043377e-05,1793243161948212992
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,713,679,664,634.578828869,879,787,804.421171131,652,631,652,0.409156889845,0.0044949798755,0.0499820650622,0.99999999934,2.09268948643e-05,-1.61477451147e-05,2.49264767304e-05,1793243161964879616
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,713,679,664,634.012818006,879,787,804.987181994,652,631,652,0.409761171785,0.00448863780171,0.0500041846108,0.999999997949,5.47039752009e-05,1.55102030982e-05,2.94606374995e-05,1793243161981546240
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,713,679,664,634.583853357,879,787,805,652,631,652.583853357,0.410390396018,0.00448221475407,0.0500008567262,0.999999994538,9.89203712189e-05,5.21861336454e-06,3.33433245599e-05,1793243161998212864
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,713,679,664,634.825236579,879,787,805,652,631,652.825236579,0.411012612958,0.0044764041383,0.0499872442362,0.999999991005,0.000126290714953,-2.57044097434e-05,3.71458455803e-05,1793243162014879488
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,713,679,664,634.249186793,879,787,805,652,631,652.249186793,0.411617412842,0.00447200407873,0.04995137047,0.999999987443,0.000114424249884,-0.000101768789746,4.07989525545e-05,1793243162031546368
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,713,679,664,634,879,787,805,652,631,652,0.412297044299,0.00446496756679,0.0499423437576,0.999999987852,9.95487900369e-05,-0.000111792810646,4.34595897371e-05,1793243162048213248
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,713,679,664,634,879,787,805,652,631,652,0.413033724321,0.00445592113192,0.049953784127,0.999999993024,8.23793957169e-05,-7.14703958309e-05,4.53636093715e-05,1793243162064880128
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.49315116,745.49315116,713,678.50684884,664.49315116,634,879,787,805,652,631,652,0.413778114868,0.00444234848779,0.0499743008268,0.999999998684,-1.36659572661e-05,-4.08325774717e-05,2.78875192578e-05,1793243162081546752
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.920724978,713,678,664.920724978,634.079275022,879,787,805,652,631,652,0.414524336946,0.00442979174143,0.0499894800913,0.999999993952,-0.000107222345435,-2.2174922759e-05,1.03547559214e-05,1793243162098213120
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.341832459,713,678,664.341832459,634.658167541,879,787,805,652,631,652,0.415272827818,0.00442908176854,0.0499601038046,0.999999993536,-9.02182252849e-05,-6.73713138406e-05,1.57757662054e-05,1793243162114880000
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.763391255,745,713.236608745,678.236608745,663.763391255,634.763391255,879,787,805,652,631,652,0.416034411207,0.00444324232188,0.0499387164637,0.999999993057,-6.08818347757e-05,-9.90774506057e-05,1.90307241157e-05,1793243162131546624
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.185600864,745,713.814399136,678.814399136,663.185600864,634.185600864,879,787,805,652,631,652,0.416814873511,0.0044788456609,0.0499288489087,0.999999993524,-1.37627371121e-05,-0.000111331103508,1.91623089389e-05,1793243162148212992
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,679,663.389235473,634.389235473,879.389235473,787.389235473,805,652,631,652,0.417639685353,0.00449373988884,0.0499468682432,0.999999996503,2.1339854835e-05,-7.85095804077e-05,1.9359617347e-05,1793243162164880128
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,714,679,663.96267381,634.96267381,879.96267381,787.96267381,805,652,631,652,0.41848548527,0.00449883367919,0.0499780848462,0.999999998223,5.07557212379e-05,-2.43565567702e-05,1.95880289139e-05,1793243162181547264
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.553359554,745,714,678.446640446,664,635,880,787.446640446,805,652,631,652,0.41928772005,0.00448624784816,0.0499767767004,0.999999998581,2.9878926963e-05,-3.78363639367e-05,2.26849771117e-05,1793243162198213632
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,713.857633224,678,664,634.857633224,880,787,805,652,631,652,0.420109150967,0.00447483958796,0.0499726858011,0.999999998471,6.83835835619e-06,-4.90626199035e-05,2.45839132409e-05,1793243162214880000
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,713.277480295,678,664,634.277480295,880,787,805,652,631,652,0.420998938149,0.0044708375905,0.0499670012371,0.999999998925,-1.2088410131e-05,-3.88790577404e-05,2.2184745435e-05,1793243162231546880
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,713.298130161,678,664.298130161,634,880,787.298130161,805,652,631,651.701869839,0.421889269763,0.0044678573696,0.0499750179278,0.999999999581,-1.210194215e-05,-1.50867747452e-05,2.15170478042e-05,1793243162248213760
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,713.869576292,678,664.869576292,634,880,787.869576292,805,652,631,651.130423708,0.422780100597,0.00446581387955,0.0499955954796,0.99999999951,5.22355961685e-06,2.1181539129e-05,2.2436705044e-05,1793243162264880896
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.449327938,713.550672062,678.449327938,664.550672062,634.449327938,879.550672062,787.550672062,805.449327938,652,631,651.449327938,0.423618894869,0.00447136856423,0.0499874984089,0.999999999692,7.55345241458e-06,4.54236468971e-06,2.32099997396e-05,1793243162281547008
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.967991788,713.032008212,679,664,634.967991788,879.064016424,787.032008212,805.967991788,652,631,652,0.424448138471,0.00447905025896,0.0499723691644,0.999999999389,5.40317818485e-06,-2.49238980735e-05,2.39094737115e-05,1793243162298212864
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.377061269,713.622938731,679,664,634.377061269,880.245877462,787.622938731,805.377061269,652,631,652,0.425379327328,0.00448463652927,0.0499825208397,0.999999999694,2.45820287094e-06,-5.1607127358e-06,2.40757185968e-05,1793243162314879488
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,664.207295215,634,880.792704785,788,805,652,631,652,0.426301175606,0.00448386085891,0.0499931394561,0.999999999637,3.69394978951e-06,7.43164467816e-06,2.56214497583e-05,1793243162331546368
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,664.780061339,634,880.219938661,788,805,652,631,652,0.42720655596,0.0044718687969,0.0500045813104,0.999999999459,1.23005006899e-05,7.38150451229e-06,2.95992780877e-05,1793243162348212992
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,713.645208371,679,664.645208371,634,880,787.645208371,805,652,631,652,0.428067532355,0.00446598077967,0.0499853064771,0.999999999008,6.51099627874e-06,-3.18531641036e-05,3.04396486438e-05,1793243162364879872
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,713.069253719,679,664.069253719,634,880,787.069253719,805,652,631,652,0.428900829051,0.00446389778216,0.0499468840793,0.999999994975,-8.25243808251e-06,-9.55139127031e-05,2.93242522752e-05,1793243162381546752
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,713.518625858,679.518625858,664,634.518625858,880.518625858,787.518625858,805,652,631,652,0.429799068721,0.00446570918648,0.0499522310529,0.999999996931,-7.84537696629e-06,-7.26212457337e-05,2.8320359894e-05,1793243162398214144
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.104779739,745,714,679.895220261,664,634.895220261,880.895220261,787.895220261,805,652,631,652,0.430696084695,0.00446859135188,0.0499597147094,0.999999998412,-4.36690317695e-06,-4.88940969093e-05,2.76741370566e-05,1793243162414881280
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.675995941,745,714,679.324004059,664,634.324004059,880.324004059,787.324004059,805,652,631,652,0.431548140108,0.00447387065722,0.0499500796491,0.99999999684,3.55414183147e-06,-7.41133916667e-05,2.85522710957e-05,1793243162431547648
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.746767536,745,714,679.253232464,664.253232464,634,880,787,805.253232464,652,631,651.746767536,0.43241997317,0.00447547129514,0.0499415961979,0.999999995535,1.80720762997e-06,-8.98938107543e-05,2.90737938154e-05,1793243162448213760
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.161640508,745,714,679.838359492,664.838359492,634,880,787,805.838359492,652,631,651.161640508,0.433317727568,0.00447225055465,0.049934622081,0.999999995144,-1.26108881606e-05,-9.33033411162e-05,2.91279304751e-05,1793243162464879872
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,713.584110254,679.584110254,665,634,880,787,806,651.584110254,631,651.415889746,0.434199742613,0.0044665672154,0.0499521348265,0.99999999728,-1.2210017103e-05,-6.62002913278e-05,3.01516874229e-05,1793243162481546496
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,713.009479647,679.009479647,665,634,880,787,806,651.009479647,631,651.990520353,0.435075750054,0.00445994392759,0.0499789939574,0.999999999107,-6.15289713068e-06,-2.74509015801e-05,3.1545538473e-05,1793243162498213120
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,713.580971289,679,664.419028711,634,880,787.580971289,806,651.580971289,631,652,0.435856634819,0.00446211626655,0.0499699975408,0.999999997726,2.31757668854e-06,-5.85421166693e-05,3.3400645967e-05,1793243162514881024
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,664,634,879.831563365,787.831563365,806,651.831563365,631,652,0.436647926191,0.00446498456762,0.0499599095446,0.99999999582,6.07184551189e-06,-8.44528027727e-05,3.44995028094e-05,1793243162531548160
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,664,634,879.252032484,787.252032484,806,651.252032484,631,652,0.43746851055,0.00446919138562,0.0499486252632,0.99999999493,-1.78327350275e-06,-9.48604747789e-05,3.3733736112e-05,1793243162548214528
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.325315397,664.325315397,634,879.325315397,787,806,651.650630793,631,652,0.438303796742,0.00447185903358,0.0499566408711,0.999999996786,-9.8219290818e-06,-7.24722807895e-05,3.28406399355e-05,1793243162564880640
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679.900983283,664.900983283,634,879.900983283,787,806,652.801966567,631,652,0.439150396964,0.00447334218453,0.0499795090668,0.999999999022,-1.80018282464e-05,-2.48454199473e-05,3.18495549777e-05,1793243162581547008
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,665,634,880,787,806,652.513834099,631,652,0.439887778325,0.00446895574769,0.0499682572038,0.999999998582,4.27513711969e-06,-4.24796845095e-05,3.18353374281e-05,1793243162598213632
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.072230641,745,714,680,664.927769359,634,880.072230641,787,806,652,631,652,0.440604100524,0.00446355271834,0.0499516378654,0.999999996606,2.83433749247e-05,-7.03872629615e-05,3.21046899851e-05,1793243162614880256
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.650625859,745,714,680,664.349374141,634,880.650625859,787,806,652,631,652,0.44133184003,0.00445957028421,0.0499470746163,0.999999996411,2.06274510173e-05,-7.52842736071e-05,3.2939146696e-05,1793243162631546368
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.771189193,745,714,680,664,634,880.771189193,787,806,652,631,652,0.442063436825,0.00445566729075,0.0499548270217,0.999999997596,1.23250129696e-05,-5.89837924735e-05,3.43112781261e-05,1793243162648212992
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.193324926,745,714,680,664,634,880.193324926,787,806,652,631,652,0.442800918071,0.00445188548435,0.049981367096,0.999999999275,3.12783980968e-06,-1.03462997941e-05,3.65036384615e-05,1793243162664880128
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,664.383964297,634,880,787.383964297,806,652,631,652,0.443486665912,0.00445582176679,0.0499881956647,0.99999999926,3.01676098899e-06,-2.78965936081e-06,3.82634837809e-05,1793243162681546752
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680,664.960964385,634,880,787.960964385,806,652,631,652,0.444146405045,0.0044636382732,0.0499851143884,0.999999999054,7.47366318628e-06,-1.58861785876e-05,3.98058846139e-05,1793243162698213376
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.547110553,714,680,664.452889447,634,880,787.452889447,806,652,631,652,0.444727944951,0.00447449023394,0.0499546660789,0.999999996895,2.07121615019e-05,-6.47094570473e-05,3.99292268683e-05,1793243162714880256
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,746,714,679.867525725,664,634,880,787,805.867525725,652,631.132474275,652,0.445312534801,0.00448277936284,0.0499320181677,0.999999994022,3.24076235383e-05,-9.64130839981e-05,4.01196195925e-05,1793243162731547136
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,746,714,679.287052428,664,634,880,787,805.287052428,652,631.712947572,652,0.445926628006,0.00448165669108,0.0499424650345,0.999999996601,3.67299773981e-05,-6.14548813746e-05,4.08849822851e-05,1793243162748213504
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.709244986,714,679.290755014,664.290755014,634,880.290755014,787,805.581510029,652,631.709244986,652,0.446524774717,0.00447756491875,0.0499587817044,0.999999998154,3.60655659704e-05,-2.46088059336e-05,4.22528466114e-05,1793243162764880384
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.134045573,714,679.865954427,664.865954427,634,880.865954427,787,806.731908854,652,631.134045573,652,0.447107321005,0.00447056848797,0.0499808407772,0.999999998458,3.05226229355e-05,1.40841654215e-05,4.4210135676e-05,1793243162781547264
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.450470158,714,680,664.549529842,634,880.549529842,787,806.549529842,652,631.450470158,652,0.447607906365,0.00446701277025,0.0499668250594,0.999999998611,2.70232291438e-05,-6.70566745699e-06,4.47559658608e-05,1793243162798213888
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.037197538,745.962802462,714,680,664,634,880,787.037197538,806,652,631.962802462,652,0.448081471633,0.00446447776522,0.0499421100391,0.999999997681,2.41989941268e-05,-4.50719307928e-05,4.49482985955e-05,1793243162814880256
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.614927357,745.385072643,714,680,664,634,880,787.614927357,806,652,631.385072643,652,0.448524286729,0.00446158302955,0.0499212037671,0.999999995782,2.21626814517e-05,-7.62080298167e-05,4.62359718247e-05,1793243162831547648
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.806521529,745,713.806521529,680,664,634,880,787.806521529,806,652,631,652,0.448962884519,0.00445901200512,0.04991029454,0.999999994342,1.87006616098e-05,-9.34700517569e-05,4.72101410625e-05,1793243162848214784
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.226328753,745,713.226328753,680,664,634,880,787.226328753,806,652,631,652,0.449393053062,0.00445708799673,0.049919366862,0.999999995348,1.23890150461e-05,-8.30013243894e-05,4.75576957774e-05,1793243162864880896
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,713.350604833,680,664,634,880,787,806,652,631,652,0.449800232262,0.0044561974745,0.0499288530309,0.999999996316,-3.06430472934e-05,-7.18554188125e-05,3.55796793784e-05,1793243162881547264
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,713.925453832,680,664,634,880,787,806,652,631,652,0.450192707628,0.00445596796223,0.0499386038926,0.99999999334,-9.71612058035e-05,-6.02763955813e-05,1.57183219439e-05,1793243162898213632
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.488062863,664,633.488062863,880,787,806,651.488062863,631,652,0.450543859053,0.00445012560952,0.0499422597067,0.999999992667,-0.000105710156317,-5.6821884061e-05,1.62191260636e-05,1793243162914880000
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.09883713,663.90116287,633,880,787,806,651.09883713,631.09883713,652,0.450878591176,0.00444560544364,0.0499427206335,0.999999993707,-9.32022122958e-05,-5.93464465118e-05,1.94313198388e-05,1793243162931546624
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.67931995,663.32068005,633,880,787,806,651.67931995,631.67931995,652,0.451163315542,0.00445160397559,0.0499320381247,0.999999995953,-2.01731676625e-05,-8.51085283148e-05,2.10713702343e-05,1793243162948212992
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.742566418,745,714,680,663,632.742566418,880,787,806,652,631.742566418,652,0.451431071729,0.00446151923884,0.0499216414529,0.999999993565,2.83083515512e-05,-0.000107460478397,2.28201847846e-05,1793243162964879616
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.167377169,745,714,680,663,632.167377169,880,787,806,652,631.167377169,652,0.451677883716,0.00447626900521,0.0499115975965,0.999999990726,4.64903400188e-05,-0.00012560322996,2.47032492019e-05,1793243162981546752
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.405507009,745,714,680,663,632,880,787,806.405507009,652,631,652,0.451894923208,0.00449129586986,0.0498971910294,0.999999986127,6.00766119474e-05,-0.000153392798893,2.4662164335e-05,1793243162998213632
+211,3.516666667,POSE1_TO_POSE2_PRESS,764.977445173,745,714,680,663,632,880,787,806.977445173,652,631,652,0.452099743275,0.00450643646446,0.0498809938858,0.999999980001,7.17766777563e-05,-0.000185141686606,2.38313561791e-05,1793243163014880512
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.570948665,714,680.570948665,663,632.570948665,880,787,806.429051335,652,631,652,0.45229869364,0.00450179819531,0.0498788444336,0.999999979495,6.67603686119e-05,-0.000189455781584,2.56968813015e-05,1793243163031546880
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.839238882,714,680.839238882,663,632.839238882,880,787,806,652,631,652,0.452491165296,0.0044971632453,0.0498786655314,0.999999979811,6.0954015126e-05,-0.000189521012931,2.72744280458e-05,1793243163048214528
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.261302077,714,680.261302077,663,632.261302077,880,787,806,652,631,652,0.452667450067,0.00449464409554,0.0498821036093,0.999999981639,5.48784111717e-05,-0.000181483259146,2.78174100027e-05,1793243163064886528
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680.315135567,663,632,880,787,806,652,631,652,0.452822819414,0.00449467022468,0.0498842365729,0.999999982655,5.27191302054e-05,-0.00017639949575,2.81627959531e-05,1793243163081552896
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680.890335997,663,632,880,787,806,652,631,652,0.452960928346,0.00449679683922,0.0498852924938,0.999999983056,5.37917856649e-05,-0.000173753506261,2.83451162464e-05,1793243163098215424
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680.523760335,662.523760335,632,880,787,806,652,631,652,0.453073880574,0.00449532852865,0.0498805963261,0.999999982132,5.07894327672e-05,-0.000179805729315,2.8746170256e-05,1793243163114880512
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662,632,880,787,806.063688606,652,631,652,0.453178358311,0.00449356890182,0.0498747875854,0.999999980853,4.77370447416e-05,-0.000187529795533,2.91165795823e-05,1793243163131547136
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662,632,880,787,806.643232061,652,631,652,0.453262194468,0.00449630880053,0.0498709423329,0.99999997976,5.20544669965e-05,-0.000192199085354,2.88214361712e-05,1793243163148214016
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631.778487018,880,787,806.778487018,652,631,652,0.453338532543,0.00449790820887,0.049867861356,0.999999978721,5.43134489578e-05,-0.000196933351769,2.87272852974e-05,1793243163164880640
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631.202228061,880,787,806.202228061,652,631,652,0.453402862672,0.00449768115803,0.0498660043425,0.999999977806,5.32759040357e-05,-0.000201771675688,2.89550175901e-05,1793243163181547008
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,880,787,806,652,631,652,0.453455580325,0.00449812201684,0.0498627829824,0.999999976895,5.37435131485e-05,-0.000206130321298,2.88466340962e-05,1793243163198213376
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,880,787,806,652,631,652,0.453502019442,0.00449892399582,0.0498588239579,0.99999997598,5.50249171394e-05,-0.00021022961862,2.85565221546e-05,1793243163214880000
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,880,787,806,652,631,652,0.453537157775,0.00450193476096,0.0498572561124,0.999999975246,5.73908867828e-05,-0.000213129261611,2.81003749754e-05,1793243163231546368
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,880,787.12578713,806,652,631,652,0.453568556034,0.0045039615626,0.049856004321,0.999999974597,5.90338566423e-05,-0.000215731677711,2.79312007483e-05,1793243163248212736
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,880,787.702774907,806,652,631,652,0.453590627582,0.00450165966068,0.0498550210155,0.999999974223,5.76909834202e-05,-0.000217702010098,2.88514803251e-05,1793243163264879872
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,880,787.721042387,806,652,631.278957613,651.721042387,0.453608379931,0.00450143578895,0.0498533562459,0.999999973607,5.80069458217e-05,-0.000220412692231,2.8966310653e-05,1793243163281547008
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,880,787.145715039,806,652,631.854284961,651.145715039,0.45362154348,0.00450341965514,0.0498509674764,0.999999972729,6.00852859946e-05,-0.000223909935528,2.82254167253e-05,1793243163298214144
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631.425438935,880,787,806.425438935,652,631.574561065,651,0.45363174759,0.00450362968999,0.0498503449791,0.999999972682,6.00138158665e-05,-0.000224150817033,2.81226381659e-05,1793243163314881280
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631.995177381,880,787,806.995177381,652,631.004822619,651,0.453640947922,0.00450323808031,0.0498503215625,0.99999997292,5.92131774215e-05,-0.000223287212316,2.82362942913e-05,1793243163331548416
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.409706768,662,631.409706768,880.590293232,787,806.409706768,652,631,651.590293232,0.453640619627,0.00450554155608,0.0498470695202,0.999999971415,6.12200178986e-05,-0.000229481042448,2.75904717481e-05,1793243163348214784
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,713.819514813,679.180485187,662,631,880.819514813,787,806,652,631,652,0.453641282943,0.0045071953053,0.0498446485008,0.999999970332,6.28799740401e-05,-0.000233740864133,2.73437256675e-05,1793243163364881152
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,713.240668959,679.759331041,662,631,880.240668959,787,806,652,631,652,0.453644314453,0.00450736421862,0.0498441225219,0.999999970294,6.37213994133e-05,-0.000233599030033,2.79921177829e-05,1793243163381547008
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,713,680,662,631.337225592,880,786.662774408,806,652,631,652,0.453644620328,0.00450740734294,0.049842278198,0.999999969699,6.43629070004e-05,-0.000235939480538,2.81259645285e-05,1793243163398213120
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,713,680,662,631.914443193,880,786.085556807,806,652,631,652,0.453642986462,0.00450736094752,0.0498394956528,0.999999968696,6.48621399698e-05,-0.000240046488728,2.78936268652e-05,1793243163414879488
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,713.488780214,680,662,631.511219786,880,786.488780214,806,652,631,652,0.453643137732,0.00450689970915,0.049838966881,0.999999968591,6.36660721082e-05,-0.000240813588419,2.78189024921e-05,1793243163431546112
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,880.064957789,786.935042211,806,652,631,651.935042211,0.453643553508,0.00450650231474,0.0498388974013,0.99999996863,6.22732357871e-05,-0.000241020114643,2.77666551182e-05,1793243163448212992
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,880.660255171,786.339744829,806,652,631,651.339744829,0.453643592607,0.00450721554608,0.0498393757495,0.999999968579,6.1682473801e-05,-0.000241395021349,2.76739922539e-05,1793243163464879616
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,881,786,806,652,631,651.247596349,0.453643547375,0.0045077169806,0.0498392426287,0.999999968384,6.20460067926e-05,-0.00024210923034,2.76638067323e-05,1793243163481545984
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,881,786,806,652,631,651.8243601,0.453643390029,0.00450793684141,0.0498382965892,0.999999967996,6.36782289644e-05,-0.00024327452533,2.77632708649e-05,1793243163498212608
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,662.399455227,631,880.600544773,786.399455227,806,652,631,651.600544773,0.45364275096,0.00450862088019,0.0498367502587,0.999999967487,6.42284178975e-05,-0.000245231348828,2.76137170637e-05,1793243163514879488
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662.973819698,631,880.026180302,786.973819698,806,652,631,651.026180302,0.453641900958,0.00450950816833,0.0498349410792,0.999999966922,6.43048174768e-05,-0.000247534758454,2.73551259114e-05,1793243163531546112
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662.43559829,631.56440171,880,787,806,652,631,651,0.453644171484,0.00451023814809,0.0498370368508,0.999999967625,6.52430787703e-05,-0.000244451594265,2.71608087998e-05,1793243163548212480
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,713.848242802,680,662,631.848242802,880,787,806,652,631.151757198,651.151757198,0.453645452175,0.00451077084045,0.0498382749946,0.999999967988,6.60570801608e-05,-0.000242745398374,2.71274761966e-05,1793243163564879104
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,713.272076858,680,662,631.272076858,880,787,806,652,631.727923142,651.727923142,0.453643547875,0.00451077280326,0.0498365931165,0.999999967254,6.64084603496e-05,-0.000245609516085,2.75357731741e-05,1793243163581546240
+246,4.100000000,HOLD_POSE2,765,746,714,680,662,631,880,787,806,652,631,652,0.453643047624,0.00450828873415,0.0498346497259,0.999999966874,6.42971477129e-05,-0.000247738599619,2.72525462052e-05,1793243163618265344
+247,4.116666667,HOLD_POSE2,765,745.411906992,714.588093008,680,662,631.588093008,880,787,806,652,631,652,0.453642693875,0.00451017928218,0.0498342818734,0.999999966486,6.77146068163e-05,-0.000248395703332,2.72605378879e-05,1793243163634931968
+248,4.133333333,HOLD_POSE2,765,745.173955735,714.826044265,680,662,631.826044265,880,787,806.173955735,652,631.173955735,652,0.453642255064,0.00451124963932,0.0498338688676,0.999999966233,6.90873266806e-05,-0.000249038906831,2.72249398852e-05,1793243163651598592
+249,4.150000000,HOLD_POSE2,765,745.754604381,714.245395619,680,662,631.245395619,880,787,806.754604381,652,631.754604381,652,0.453641617387,0.00451040246406,0.0498333502971,0.999999966314,6.56796302158e-05,-0.000249649613013,2.70874331079e-05,1793243163668265216
+250,4.166666667,HOLD_POSE2,765,745.667449764,714,680,662,631,880,787,807,652,631.667449764,652,0.453642006712,0.00451127257797,0.0498339419665,0.999999966275,6.66460093318e-05,-0.000249540344428,2.7165254492e-05,1793243163684931840
+251,4.183333333,HOLD_POSE2,765,745.091482308,714,680,662,631,880,787,807,652,631.091482308,652,0.453643147775,0.00451339969827,0.0498353462996,0.999999966141,7.08140863074e-05,-0.000248904074959,2.74006899119e-05,1793243163701598208
+252,4.200000000,HOLD_POSE2,765,745,714,680,662,631,880,787,807,652,631.484061405,652,0.453643945136,0.00451292494044,0.0498355603639,0.99999996657,6.93517339792e-05,-0.000247601629211,2.72871870708e-05,1793243163718265088
+253,4.216666667,HOLD_POSE2,765,745.060950963,714,680,662,631,880.060950963,787,807,652,631.939049037,652,0.453644382749,0.0045120983978,0.0498354302107,0.999999966959,6.71598897036e-05,-0.000246653080625,2.70976657412e-05,1793243163734931456
+254,4.233333333,HOLD_POSE2,765,745.650199262,714,680,662,631,880.650199262,787,807,652,631.349800738,652,0.453642264743,0.00451248108305,0.0498342645721,0.999999966122,6.78601298337e-05,-0.000249862258017,2.68203361599e-05,1793243163751598336
+255,4.250000000,HOLD_POSE2,765,746,714,680,662,631.234772991,880.765227009,787,806.765227009,652,631,651.765227009,0.453641492442,0.00451309097723,0.0498339693076,0.999999965767,6.85848133263e-05,-0.000251086114029,2.68119224378e-05,1793243163768265472
+256,4.266666667,HOLD_POSE2,765,746,714,680,662,631.81251775,880.18748225,787,806.18748225,652,631,651.18748225,0.453642686033,0.00451403279308,0.0498349455426,0.999999966123,6.93452052236e-05,-0.000249409682209,2.71963586476e-05,1793243163784932096
+257,4.283333333,HOLD_POSE2,765,745.611698898,713.611698898,680,662,631.611698898,880,787,806.388301102,652,631.388301102,651.388301102,0.453643399888,0.00451450866399,0.0498349847228,0.999999966228,6.96947762437e-05,-0.00024892462126,2.69092323551e-05,1793243163801598720
+258,4.300000000,HOLD_POSE2,765,745.036857756,713.036857756,680,662,631.036857756,880,787,806.963142244,652,631.963142244,651.963142244,0.453643883277,0.00451476069483,0.0498345737416,0.999999966211,6.98469887806e-05,-0.000249011895311,2.62994871418e-05,1793243163818265600
+259,4.316666667,HOLD_POSE2,765,745,713.538556148,680,662,631.538556148,880,787,807,652,631.461443852,652,0.453642644051,0.00451333632126,0.0498331683002,0.999999965808,6.8358542469e-05,-0.000251015577011,2.65108468572e-05,1793243163834931968
+260,4.333333333,HOLD_POSE2,765,745.117107566,714,680,662,632,880,787,806.882892434,652,631.117107566,652,0.453641802195,0.00451243050837,0.049832166568,0.999999965516,6.73272601877e-05,-0.000252431118463,2.67110685304e-05,1793243163851598592
+261,4.350000000,HOLD_POSE2,765,745.708199187,714,680,662,632,880,787,806.291800813,652,631.708199187,652,0.453643046337,0.0045140883854,0.0498330745741,0.999999965808,6.86012575089e-05,-0.000250934800912,2.66385233062e-05,1793243163868265216
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,662,631,880,787,807,652,631,652,0.453642526659,0.0045101913901,0.0498317804432,0.99999996533,6.72142494806e-05,-0.000253121680586,2.74058926724e-05,1793243163906819840
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764.605656084,745,714,680,662,631,880.605656084,787,806.394343916,652,631,652,0.453642030651,0.00451380581033,0.0498317573031,0.999999964978,7.0158294372e-05,-0.000253797186613,2.66116074459e-05,1793243163923486464
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,662,631.205945416,880.794054584,787,806,652,631,652,0.453642094089,0.00451632936131,0.0498320040086,0.999999964891,7.19616440119e-05,-0.000253702730332,2.59579000542e-05,1793243163940153088
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,662,631.796219591,880.203780409,787,806,652,631,652,0.453643201546,0.00451681716757,0.049832754291,0.999999965312,7.16362651053e-05,-0.000252171395102,2.55665343925e-05,1793243163956819456
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,662,631.620496403,880.379503597,787,806.379503597,652,631,652,0.453642801287,0.00451685746314,0.0498325956895,0.999999965175,7.20985802265e-05,-0.000252558730733,2.57911886597e-05,1793243163973486336
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,662,631.040898028,880.959101972,787,806.959101972,652,631,652,0.453641606077,0.00451666180689,0.0498319578753,0.999999964743,7.29762101706e-05,-0.000253957693286,2.63406419037e-05,1793243163990152704
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,662,631,880.464948709,787,807,652,631,652,0.453642406479,0.0045151685414,0.0498326253018,0.999999965185,7.20639249372e-05,-0.000252462794566,2.64520176247e-05,1793243164006819584
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,662,631.112944169,880.112944169,787,807,652,631,652,0.453643000215,0.0045138111046,0.0498331521153,0.999999965549,7.11715072932e-05,-0.000251261897128,2.65444566408e-05,1793243164023486208
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,662,631.700161709,880.700161709,787,807,652,631,652,0.453642089914,0.00451343771705,0.0498326723568,0.999999965321,7.09331445818e-05,-0.000252218131918,2.66970366106e-05,1793243164040152832
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,662,632,880.716614008,787,807,652,631,652,0.453636832512,0.00451381150127,0.0498295958004,0.999999964214,7.0812732233e-05,-0.000256626313025,2.64503373412e-05,1793243164056819712
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,662,632,880.137556143,787,807,652,631,652,0.453627039546,0.00451496485007,0.049823809865,0.999999962144,7.08153838639e-05,-0.000264636095638,2.57870485179e-05,1793243164073486336
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.441439005,714,680,662,631.558560995,880,787,807.441439005,652,631,652,0.45360451846,0.00451553407963,0.0498134631008,0.999999957267,7.14412835549e-05,-0.00028232657047,2.5552631941e-05,1793243164090152960
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.979720619,714,680,662,631,880.020279381,787,807.959441238,652,631,652,0.453577017039,0.00451594254053,0.0498013031558,0.999999950941,7.22733011436e-05,-0.000303722390471,2.54471910526e-05,1793243164106819584
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.404581528,714,680,662,631,880.595418472,787,806.809163056,652,631,652,0.453521752491,0.00451693165098,0.0497784126225,0.999999937827,7.34318985687e-05,-0.000343974884819,2.52146444222e-05,1793243164123485952
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.825491473,745,714,680,662,631,880.825491473,787,806.174508527,652,631,652,0.4534633984,0.00451786448539,0.049757740695,0.999999925165,7.45357046935e-05,-0.000378807911476,2.48880423329e-05,1793243164140152832
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.237029173,745,714,680,662,631,880.237029173,787,806.762970827,652,631,652,0.453397715555,0.00451866382695,0.0497423315447,0.999999916539,7.55095401679e-05,-0.000400785362878,2.43383301878e-05,1793243164156819456
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.345990638,745,714,680,662.345990638,631,880.691981276,787,806.654009362,651.654009362,631,652,0.453323686147,0.00451858042769,0.0497315246674,0.999999910168,7.57335808511e-05,-0.000416356153056,2.39886567183e-05,1793243164173486080
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.925339649,745,714,680,662.925339649,631,881.850679298,787,806.074660351,651.074660351,631,652,0.453244027285,0.00451790165111,0.0497238218604,0.999999905448,7.54519115813e-05,-0.000427605876961,2.37739022528e-05,1793243164190152960
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.500244836,662.499755164,631,881.499755164,787,806,651.500244836,631.500244836,652,0.453152942877,0.00451998210807,0.0497225570571,0.999999904358,7.84964671256e-05,-0.000429639269678,2.30820234887e-05,1793243164206819840
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.074828975,714,680.925171025,662.074828975,631.074828975,880.925171025,786.925171025,806,652,631.925171025,652,0.453057364886,0.00452234203678,0.0497228262657,0.999999904135,8.18295039243e-05,-0.000429574373698,2.23341730289e-05,1793243164223486464
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.651669561,714,680.348330439,662.651669561,631.651669561,880.348330439,786.348330439,806,652,631.348330439,652,0.45294297974,0.00452383846914,0.0497269974082,0.99999990612,8.37967742764e-05,-0.000424579293008,2.16843444008e-05,1793243164240152832
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.765641469,714,680,663,632,880,786.234358531,806,652,631,652,0.452814398964,0.00452511033149,0.0497304149509,0.999999906917,8.67533274398e-05,-0.000422125178243,2.12404742625e-05,1793243164256819200
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.174037543,714,680,663,632,880,786.825962457,806,652,631,652,0.452664179032,0.00452603986948,0.0497326837404,0.999999905922,9.12178977689e-05,-0.00042354439586,2.11105578599e-05,1793243164273485824
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.407746634,663,632,880,787,806,652,631,652,0.45249200542,0.00452793113994,0.0497323818605,0.999999903888,9.50137630844e-05,-0.000427505101798,2.08624325812e-05,1793243164290152192
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.985438086,663,632,880,787,806,652,631,652,0.452310681715,0.00453022325117,0.049731008551,0.999999901395,9.85309190546e-05,-0.000432525075369,2.05650389851e-05,1793243164306818816
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.439152754,663,632,880,787,806,652,631,652,0.452099882743,0.0045326885711,0.0497329619227,0.999999900812,0.000105629598422,-0.000432229711417,1.98749344417e-05,1793243164323485696
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,663,632,880,787,806,652,631,652,0.451877480408,0.00453558849609,0.0497336131207,0.999999899588,0.000112711949526,-0.000433312356789,1.8992067778e-05,1793243164340152832
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,663,632,880,787,806,652,631,652,0.451620121923,0.00453987531402,0.0497297882336,0.999999896229,0.000119443029688,-0.000439281423492,1.75204054164e-05,1793243164356819456
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,663,632,879.687970995,787,806,652,631.312029005,652,0.451351218461,0.00454320801483,0.0497284710169,0.999999897035,0.000124504217405,-0.000436091772503,1.58927507261e-05,1793243164373486080
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,663,632,879.107750178,787,806,652,631.892249822,652,0.451072392002,0.0045457206429,0.0497293091665,0.999999901366,0.000128130116731,-0.000425030118681,1.41310192761e-05,1793243164390152704
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,663,632.469730867,879.469730867,787,806,652,631.530269133,652,0.450772530735,0.00454916123475,0.0497425322156,0.999999911255,0.000135257106999,-0.000398792979062,1.26523219105e-05,1793243164406819328
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,663,633,880,787,806,652,631,652,0.450464077306,0.00455280230453,0.0497578711589,0.999999921177,0.00014317797479,-0.000370164783727,1.11823185515e-05,1793243164423485952
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,663,633,880,787,806,652,631,652,0.450112427612,0.00455631645517,0.0497651449616,0.999999925995,0.000151046823477,-0.00035371360297,9.07656857525e-06,1793243164440152576
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,713.800801431,680,663.199198569,633,880,787,805.800801431,651.800801431,631,652,0.449737599306,0.00456049769857,0.0497708030922,0.999999928885,0.000158594054277,-0.000342089132913,7.27261359552e-06,1793243164456819200
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,713.208848094,680,663.791151906,633,880,787,805.208848094,651.208848094,631,652,0.44931707036,0.00456599423143,0.049773275642,0.999999928492,0.000165507158389,-0.000339981368124,6.06370041415e-06,1793243164473485824
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,664,633,880,787,805.371978526,651.371978526,631,652,0.448875973866,0.00457076736455,0.0497743898669,0.999999928665,0.000172790289359,-0.000335856383519,3.74462336703e-06,1793243164490152960
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,664,633,880,787,805.946739521,651.946739521,631,652,0.448423665025,0.00457514613996,0.0497747636072,0.999999929091,0.000180275139485,-0.000330631720131,8.20345225961e-07,1793243164506820096
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,713.521830772,680,664,633.521830772,880,787,806,652,631,652,0.447924887952,0.0045814345864,0.0497745215509,0.999999929007,0.000186709874146,-0.000327292274596,-2.08895422829e-06,1793243164523486464
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,664,634,880.097322285,787,806,651.902677715,631,651.902677715,0.447413192187,0.00458796530751,0.0497726777189,0.999999927636,0.000194051861243,-0.000327180803114,-4.95147185072e-06,1793243164540153088
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,664,634,880.674621679,787,806,651.325378321,631,651.325378321,0.446861188757,0.00459472901717,0.0497632443662,0.999999920176,0.000206397193595,-0.000342039599707,-7.59081492734e-06,1793243164556819712
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.259463677,713.740536323,680,664,634,881,787,806,651.259463677,631,651,0.446290654384,0.00460123650821,0.0497596465878,0.999999915954,0.000216882868372,-0.000347778468026,-1.02136507383e-05,1793243164573486080
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.854047579,713.145952421,680,664,634,881,787,806,651.854047579,631,651,0.445696185698,0.00460741306989,0.0497635859691,0.99999991622,0.000224966630686,-0.000341738143793,-1.28151658036e-05,1793243164590152704
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.56454469,713.43545531,680,664,634,880.56454469,787,806.43545531,652,631,651.43545531,0.44508843524,0.00461079099333,0.049784170239,0.999999920936,0.000234636131202,-0.000320721768218,-1.45466706027e-05,1793243164606819328
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.01250963,714,680,664,634,880.01250963,787,806.98749037,652,631,652,0.444474623116,0.00461338563432,0.0498093372965,0.999999926115,0.000244826696712,-0.000295925033446,-1.60446616599e-05,1793243164623485952
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.586564424,714,680,664,634,880.586564424,787,806.413435576,652,631,652,0.443782670654,0.0046216898557,0.0497971449302,0.999999915985,0.000255249794385,-0.00032013682384,-1.97657849762e-05,1793243164640152576
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.839310618,714,680,664,634,880.839310618,787,806,651.839310618,631,652,0.443086247219,0.00462925853296,0.0497834315398,0.999999905468,0.000265876607618,-0.000343251264488,-2.35173435473e-05,1793243164656819200
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.265005146,714,680,664,634,880.265005146,787,806,651.265005146,631,652,0.442378315562,0.00463493391093,0.0497658030201,0.999999895173,0.000277027785456,-0.000363541112454,-2.73472422201e-05,1793243164673485824
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,664.318652643,634,880,787.318652643,806,651.318652643,631,652,0.441669215648,0.00463932486288,0.0497747988943,0.99999990254,0.00027597812283,-0.000343231619528,-3.07842991793e-05,1793243164690152704
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,664.910323462,634,880,787.910323462,806,651.910323462,631,652,0.440959114705,0.00464261533298,0.0498066062622,0.999999922941,0.000264474911328,-0.000288137047348,-3.38847739247e-05,1793243164706819328
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.490835348,745,714,680,665,634,880.490835348,787.509164652,806,652,631.490835348,652,0.440199705905,0.00462960828938,0.0498213648069,0.999999954158,0.000138472226195,-0.000266630744462,-3.7639680538e-05,1793243164723486464
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.931142738,745,713.931142738,680,664.931142738,634,880.931142738,787,806,652,631.931142738,652,0.439421969434,0.00461220980294,0.0498274992248,0.999999965302,7.14158379527e-06,-0.000260132968534,-4.09439511487e-05,1793243164740153344
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.356765876,745,713.356765876,680,664.356765876,634,880.356765876,787,806,652,631.356765876,652,0.43857434617,0.00458394546526,0.0497926786521,0.999999947984,-1.3138554621e-05,-0.000319770178228,-4.00815707891e-05,1793243164756819968
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,713.223132449,680,664,634,880.223132449,787,806,652,631.223132449,652,0.437739150981,0.0045690009424,0.0497718243912,0.999999934579,-1.89247720967e-05,-0.000358894809289,-4.0974825597e-05,1793243164773486336
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,713.81208299,680,664,634,880.81208299,787,806,652,631.81208299,652,0.436924331251,0.00457589380637,0.0497738674274,0.999999932608,-9.48696066635e-07,-0.000364389760654,-4.47463850382e-05,1793243164790153216
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,664.394222,634,880.605778,787,806,652,631.605778,652,0.436063535209,0.00458669270332,0.0497850211159,0.999999936981,2.22974183934e-05,-0.000350974216185,-4.85487182009e-05,1793243164806819840
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,664.973169235,634,880.026830765,787,806,652,631.026830765,652,0.435181195528,0.00459932189584,0.0498004438897,0.999999943455,4.80129761584e-05,-0.000328697558024,-5.23654712194e-05,1793243164823486464
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.550304179,745,713.449695821,679.449695821,664.449695821,634,880,787,806,652,631,652,0.434303556159,0.0046019795421,0.0497862970117,0.999999936027,5.91298950287e-05,-0.000348421358985,-5.52444149602e-05,1793243164840153088
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.870381244,745.129618756,713.129618756,679.129618756,664.129618756,634,880,787.129618756,806,652,631,652,0.433436017563,0.00460256900327,0.0497795199339,0.99999993125,7.98219587078e-05,-0.000358133495195,-5.35623053097e-05,1793243164856819712
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.283059189,745.716940811,713.716940811,679.716940811,664.716940811,634,880,787.716940811,806,652,631,652,0.432603339933,0.00459756651402,0.0498038408978,0.999999937088,0.000136830428296,-0.000325285634378,-3.59353588594e-05,1793243164873486336
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.299531414,745.700468586,714,680,664.700468586,634,880,787.700468586,806,652,631,652,0.431726851429,0.00459640008303,0.0498130386751,0.999999938799,0.000162237226462,-0.00030897458682,-2.48332776571e-05,1793243164890153216
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.87772036,745.12227964,714,680,664.12227964,634,880,787.12227964,806,652,631,652,0.430809605068,0.00459880238076,0.0498081671802,0.999999939837,0.000158244631889,-0.000308047924784,-1.98013519942e-05,1793243164906820096
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.543905886,745,714,680,663.543905886,634,880,787,805.543905886,652,631,652,0.429850514686,0.00459527572642,0.0497819175113,0.999999927428,0.00015301171947,-0.000348156795991,-2.27564099215e-05,1793243164923486464
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,663.06856442,634,880,787.03428221,805,652.03428221,631,652,0.428884340552,0.00459098454409,0.049753122738,0.999999910695,0.000148281891333,-0.000394782840979,-2.77393297713e-05,1793243164940153088
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,664.217528718,634,880,787.608764359,805,652.608764359,631,652,0.427983389458,0.00459970394422,0.0497745744039,0.999999918542,0.000156721353011,-0.000370674028496,-3.09206988159e-05,1793243164956819712
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,664.81176626,634,879.81176626,787.81176626,805,652.81176626,631,652,0.42707718351,0.00460736653629,0.0497843811442,0.999999922157,0.00015575243631,-0.000360978727875,-3.35005522978e-05,1793243164973486080
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,664.221649057,634,879.221649057,787.221649057,805,652.221649057,631,652,0.426159758382,0.00461277281778,0.0497693256933,0.999999917339,0.00013469641002,-0.000382056615837,-3.47961557295e-05,1793243164990152704
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,664,634.363069936,879.363069936,787,805.363069936,652.363069936,631,652,0.42527884417,0.00461182347245,0.049784105098,0.999999931979,0.00013160899553,-0.000342609937065,-3.66066078533e-05,1793243165006819328
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,664,634.944541659,879.944541659,787,805.944541659,652.944541659,631,652,0.424419892838,0.00460705095097,0.0498168314196,0.999999953964,0.000139330454463,-0.000266755191962,-3.87267628419e-05,1793243165023485952
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745.519548218,713.480451782,680,664.519548218,634.480451782,880,787.519548218,805.480451782,652.480451782,631,652.519548218,0.423511755507,0.00459961032899,0.0498337621436,0.999999960736,0.000136593753798,-0.00024168217331,-3.82083873091e-05,1793243165040152832
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745.904649102,713.095350898,680,664.904649102,634,880,788,805,652,631,652.904649102,0.422599169187,0.0045935929767,0.0498414917181,0.999999962952,0.000132232366057,-0.000234945504599,-3.75660748208e-05,1793243165056819200
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745.321283342,713.678716658,680,664.321283342,634,880,788,805,652,631,652.321283342,0.421690353985,0.00459629978339,0.0498106523693,0.999999948041,0.000125198984228,-0.000294653781645,-3.77132135891e-05,1793243165073486080
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,713.737297076,680,664,634,879.737297076,787.737297076,805,651.737297076,631,652,0.420796505722,0.00460086000435,0.0497981415876,0.999999938761,0.000127753473218,-0.000323592037588,-3.80088511036e-05,1793243165090152960
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,713.152550061,680,664,634,879.152550061,787.152550061,805,651.152550061,631,652,0.419921005112,0.00460769230207,0.0498080995533,0.999999939616,0.000142061607547,-0.000314809734641,-3.84865314366e-05,1793243165106819840
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745.425050668,713,679.574949332,664,634,879,787,805,651.425050668,631,652.425050668,0.419028481169,0.00461344801364,0.0498008153992,0.999999931611,0.000142105485856,-0.000339344118027,-3.78057759581e-05,1793243165123486720
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745.999870767,713.000129233,679,663.999870767,634.000129233,879,787,805,652,631,652.999870767,0.418129964602,0.00461882132485,0.0497874480837,0.999999919378,0.000137116014097,-0.000375627158271,-3.67168056563e-05,1793243165140153344
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745.423659346,713.576340654,679,663.423659346,634.576340654,879,787,805,652,631,652.423659346,0.417302545476,0.00461347992711,0.049786068116,0.99999992373,0.000138464566929,-0.000363147997818,-3.86213995719e-05,1793243165156819712
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,713.257008025,679,663.742991975,635,879,787.742991975,805,652,631,652,0.415742219406,0.00460290910749,0.0498155343678,0.999999945121,0.000138625627559,-0.000298132444211,-4.07108715041e-05,1793243165190152960
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,713.326130233,679,664,634.673869767,879.326130233,788,805,652,631,652,0.414965335923,0.00460023942374,0.0498186617024,0.999999948171,0.000128215345171,-0.000292482057611,-4.08931565788e-05,1793243165206819840
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,713.905906131,679,664,634.094093869,879.905906131,788,805,652,631,652,0.414169637063,0.00459957879009,0.04980547744,0.99999994292,0.000110219216888,-0.000316775439133,-4.0793446565e-05,1793243165223486464
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745.481835422,714,679,664,634,880,787.518164578,805,652.481835422,631,652,0.41339248567,0.00460580749042,0.0497852688023,0.999999930361,0.000126065097772,-0.000348734711339,-4.20623688046e-05,1793243165240153088
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.943241737,745.943241737,713.943241737,679,664,634.056758263,879.943241737,787,805,653,631,652,0.412627023525,0.00461276178074,0.0497687844531,0.999999917885,0.000147048854373,-0.000375141623845,-4.32956734958e-05,1793243165256819968
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.370693158,745.370693158,713.370693158,679,664,634.629306842,879.370693158,787,805,653,631,652,0.411935133719,0.00461418070294,0.0497985114724,0.999999930107,0.000155141769367,-0.000337595148227,-4.17957300442e-05,1793243165273486336
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764.20102359,745.20102359,713.20102359,679.20102359,664,635,879,787.20102359,805,653,631,652,0.411249806514,0.00461488614837,0.0498174307973,0.999999938053,0.000154093508721,-0.000313843684527,-4.0648258992e-05,1793243165290152704
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.771212836,745.771212836,713.771212836,679.771212836,664,635,879,787.771212836,805,653,631,652,0.410576530947,0.00461428134426,0.049816502558,0.999999940164,0.000136258124947,-0.000315425782269,-4.0148078489e-05,1793243165306819328
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,746,714,679.640284423,664,634.640284423,879,788,805,652.640284423,631,652,0.409922363493,0.00461047903623,0.0498047095338,0.999999935024,0.000128100620051,-0.000334539474239,-4.03071385295e-05,1793243165323486208
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,746,714,679.039509113,664,634.039509113,879,788,805,652.039509113,631,652,0.409281001186,0.00460453395353,0.0497856355846,0.999999924412,0.000126428648184,-0.000365401785356,-4.09079819164e-05,1793243165340152576
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,746,714,679,664,634,879,788.539621056,805,652.539621056,631,652.539621056,0.408713894681,0.0045986696345,0.0498042539875,0.99999993702,0.000122253592457,-0.000330647342555,-4.10622870215e-05,1793243165356819200
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745.883192599,713.883192599,679,664,634.116807401,879.116807401,788.883192599,805,653,631,652.883192599,0.40815489464,0.00459463633433,0.0498237316164,0.999999948123,0.000118722186362,-0.000296600333614,-4.10814484958e-05,1793243165373485824
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745.307656346,713.307656346,679,664,634.692343654,879.692343654,788.307656346,805,653,631,652.307656346,0.407607202631,0.004597771529,0.0498361636265,0.999999951984,0.00011841051103,-0.00028347122626,-4.06933156306e-05,1793243165390152704
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745.276040447,713.276040447,679,664,635,879.723959553,788,805,653,631,652,0.407064130585,0.00460023660633,0.0498322301134,0.999999948139,0.000119972245776,-0.000296131935104,-4.04331742819e-05,1793243165406819328
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745.869109468,713.869109468,679,664,635,879.130890532,788,805,653,631,652,0.406526364541,0.00460193206311,0.049809501026,0.999999934277,0.000123685565542,-0.000338411885889,-4.03200293703e-05,1793243165423485952
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745.027437475,714,679,664,634.027437475,879.027437475,787.027437475,805,653,631,652.972562525,0.405542902839,0.00460859939621,0.0497703526169,0.999999909746,0.000133447786693,-0.000401152220377,-4.21527184044e-05,1793243165456819456
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745.601404824,714,679,664,634.601404824,879.601404824,787.601404824,805,653,631,652.398595176,0.405130556691,0.00461263472889,0.0497784674347,0.999999914578,0.000136415866083,-0.000387763606146,-4.32943139944e-05,1793243165473486080
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,746,714,679,664,635,880,788,805,653,631,652.771483214,0.404396143366,0.00461651565211,0.0498217674997,0.999999938531,0.0001418066646,-0.000317609551412,-4.41848741483e-05,1793243165506819584
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.354779384,746,714,679.354779384,664,635,879.290441232,788,805,653,631,653,0.404068488682,0.00461754322371,0.0498468105867,0.999999949461,0.000144751180527,-0.000279571973617,-4.43134857498e-05,1793243165523486208
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.933262899,746,714,679.933262899,664,635,878.133474201,788,805,653,631,653,0.403750633314,0.00461869780703,0.0498694533691,0.999999957577,0.000147944233537,-0.000246942035536,-4.44759712751e-05,1793243165540152832
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.491125917,745.491125917,714,679.491125917,664,635,878.508874083,788,805,653,631,653,0.403441949469,0.00462048881999,0.0498651675749,0.999999953972,0.000151783131591,-0.000258801385564,-4.51619324505e-05,1793243165556819456
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,664,635,879,788,805,653,631,653,0.403137351267,0.00462203368139,0.0498557504076,0.999999948075,0.000155067459662,-0.000278734762425,-4.59381966502e-05,1793243165573486080
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,664,635,879,788,805,653,631,653,0.402849625451,0.0046216566296,0.0498368763008,0.999999938297,0.0001546218365,-0.000311935361818,-4.684313182e-05,1793243165590152704
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.259396973,745,714,679,664,635,879,788,805,653,631,652.740603027,0.402583757641,0.0046219661055,0.0498211876977,0.999999929964,0.000151031100492,-0.000339036090851,-4.81248209082e-05,1793243165606819072
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.839345866,745,714,679,664,635,879,788,805,653,631,652.160654134,0.402344901063,0.00462312396363,0.0498094356079,0.999999924156,0.000143553765825,-0.000358598853187,-4.98720866859e-05,1793243165623485696
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.58316923,745,713.58316923,679,664,634.58316923,879,788,805,653,631,652.41683077,0.402149820314,0.0046172559998,0.0498083169737,0.999999930669,9.31567736644e-05,-0.000356875921946,-5.12280197562e-05,1793243165640152576
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.006628363,745,713.006628363,679,664,634.006628363,879,788,805,653,631,652.993371637,0.4019715124,0.00460869606902,0.0498112725824,0.999999938076,2.63149710257e-05,-0.000346997306681,-5.24340123471e-05,1793243165656819456
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,713,679,664,634.566687848,879.566687848,787.433312152,805,653,631,653,0.401835694326,0.0045855371712,0.049821726504,0.999999944506,4.79408342441e-05,-0.000327323845784,-3.93477548345e-05,1793243165673486080
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745.144542423,713.144542423,679,664,635,879.855457577,787.144542423,805,652.855457577,631,652.855457577,0.401704291272,0.00456985746812,0.0498311322302,0.999999949011,7.26289391828e-05,-0.000309625878879,-2.88874982809e-05,1793243165690152960
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745.736563235,713.736563235,679,664,635,879.263436765,787.736563235,805,652.263436765,631,652.263436765,0.401585026441,0.00457785770543,0.0498370229428,0.999999949746,0.000103611854872,-0.000298396369395,-2.70714909326e-05,1793243165706819840
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745.681186775,713.681186775,679,664.318813225,635,879,788,805,652.318813225,631,652.318813225,0.401481200647,0.00458156636149,0.0498407200901,0.999999950885,0.00011697047516,-0.000289527993486,-2.6865920803e-05,1793243165723486208
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745.106770415,713.106770415,679,664.893229585,635,879,788,805,652.893229585,631,652.893229585,0.401389752848,0.00458183431403,0.0498426585828,0.99999995294,0.000116199111496,-0.000282552617527,-2.79514917289e-05,1793243165740152576
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,713.472372891,679.472372891,664.055254219,634.527627109,879.472372891,788,804.527627109,653,631,653,0.401310250656,0.00458079444048,0.0498426218165,0.999999953041,0.000115816361011,-0.000282333058839,-2.81591926689e-05,1793243165756819456
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,713.948232031,679.948232031,663.051767969,634.051767969,879.948232031,787.948232031,804.051767969,652.948232031,631,652.948232031,0.40123558798,0.00457990353706,0.0498422690147,0.999999952737,0.00011599324852,-0.000283322934771,-2.82625567274e-05,1793243165773486080
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,713.377137804,679.377137804,663.622862196,634.622862196,879.377137804,787.377137804,804.622862196,652.377137804,631,652.377137804,0.401182114071,0.00458350252881,0.0498432699548,0.99999995279,0.000120894233324,-0.00028097204502,-2.9329914075e-05,1793243165790152704
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,713.201966445,679,664,635,879,787,805,652.201966445,631,652.201966445,0.401134936714,0.00458499710172,0.0498448097881,0.999999953677,0.000122171935848,-0.000277168306464,-2.99728274494e-05,1793243165806819328
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,713.796645681,679,664,635,879,787,805,652.796645681,631,652.796645681,0.401100002666,0.00458239974599,0.04984739747,0.999999956185,0.00011640436204,-0.000270539582527,-2.97904324277e-05,1793243165823485952
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,664,635,879,787,805,653,631,653,0.401071259275,0.00458361495924,0.0498483388688,0.999999956696,0.000116993254591,-0.000268307448567,-3.05169105449e-05,1793243165840152576
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,664,635,879,787,805,653,631,653,0.401045732894,0.00458681139691,0.0498484247669,0.999999956182,0.000120885323023,-0.000268360028732,-3.17156901006e-05,1793243165856819456
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,664,635,879,787.529411918,805,653,631,652.470588082,0.401029284466,0.0045853123489,0.0498495195333,0.999999956929,0.00012042657856,-0.000265818031582,-3.12975729081e-05,1793243165873486080
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,663.89573711,635,879,788,805,653,631,652.10426289,0.401014756857,0.00458402153209,0.04985041085,0.999999957601,0.000119888800058,-0.00026357012921,-3.090293166e-05,1793243165890152960
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,663.309284275,635,879,788,805,653,631,652.690715725,0.40100570809,0.00458545465622,0.0498499829119,0.999999957481,0.00012061717173,-0.000263655372257,-3.1223237192e-05,1793243165906819584
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,713.722423047,679,663.277576953,635,879,787.722423047,805,653,631,652.722423047,0.400999591661,0.00458565803031,0.0498507738391,0.999999957903,0.000120272213247,-0.000262202722201,-3.12922420783e-05,1793243165923485952
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,713.13510614,679,663.86489386,635,879,787.13510614,805,653,631,652.13510614,0.400996747341,0.00458448916244,0.0498529248622,0.999999958919,0.000118729557176,-0.000259033982469,-3.10808279479e-05,1793243165940152576
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,713,679,664,635,879.442883703,787,805,653,631,652.442883703,0.400994527237,0.00458457721647,0.0498531625206,0.999999959302,0.000117745279637,-0.000257955151924,-3.14819017546e-05,1793243165956819456
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+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,713,679,664,635,880,787,805,653,631,652.409009553,0.400992889419,0.00458487364909,0.0498541843139,0.999999960354,0.000114821226446,-0.000255152543554,-3.17140673502e-05,1793243165990153728
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.831118281,745,713,678.831118281,664,635,879.831118281,787.168881719,805.168881719,652.831118281,631,652,0.400992939708,0.00458410626816,0.0498549464424,0.999999960949,0.000112863691944,-0.000253732893706,-3.13514505733e-05,1793243166006821120
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.240960045,745,713,678.240960045,664,635,879.240960045,787.759039955,805.759039955,652.240960045,631,652,0.400992312888,0.00458179364103,0.049854356188,0.999999960961,0.000111179970037,-0.000254485445061,-3.08909235419e-05,1793243166023487744
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.343202045,745,713.343202045,678,664,634.656797955,879.343202045,787.656797955,805.656797955,652.343202045,631,652,0.400992363216,0.00458249170827,0.0498547284487,0.999999961179,0.000111300385905,-0.000253532927945,-3.12363329516e-05,1793243166040154624
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.923226626,745,713.923226626,678,664,634.076773374,879.923226626,787.076773374,805.076773374,652.923226626,631,652,0.400992880802,0.00458526726952,0.0498557648816,0.999999961535,0.000112665725658,-0.000251403848462,-3.21378692769e-05,1793243166056821504
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745.500376737,713.499623263,678.500376737,664,634,879.499623263,787.500376737,805,653,631,652,0.400992397935,0.00458600075187,0.0498558313855,0.999999961481,0.000113090332994,-0.000251412421918,-3.22689563736e-05,1793243166073487872
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745.923146154,713,679,664.076853846,634.076853846,879,788,805,652.923146154,631,652,0.400991918616,0.00458637623427,0.0498558946928,0.999999961421,0.000113474940413,-0.000251477295303,-3.22711550378e-05,1793243166090154240
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745.348188547,713,679,664.651811453,634.651811453,879,788,805,652.348188547,631,652,0.40099245148,0.0045864505294,0.0498568962847,0.999999961725,0.000114530436519,-0.000249793486089,-3.21997746387e-05,1793243166106821120
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.232724785,664.767275215,635,879,788,805,652.232724785,631,652,0.400992471449,0.00458599991638,0.0498573738884,0.999999961899,0.000114867937157,-0.000248949152358,-3.21121220792e-05,1793243166123487744
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,713,679.822782696,664.177217304,635,879,788,805,652.822782696,631,652,0.400991703903,0.00458474334248,0.0498570469436,0.99999996188,0.000114103004377,-0.000249393776406,-3.19994847253e-05,1793243166140154112
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,713.405141892,679.594858108,664,635,879,788,805,652.594858108,631,652,0.400991328806,0.00458476899431,0.0498569644233,0.999999961825,0.000113532894186,-0.000249881687333,-3.19189462538e-05,1793243166156820480
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.984196297,679.015803703,664,635,879,788,805,652.015803703,631,652,0.400991122174,0.00458534505852,0.0498569868255,0.999999961756,0.000113046414184,-0.000250388179715,-3.18521866548e-05,1793243166173486848
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,664,635,879,788,805,652.55721872,631,652,0.400991260098,0.00458540031279,0.0498576223493,0.999999961957,0.000113519969495,-0.00024934438521,-3.20554989643e-05,1793243166190153216
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d0969b195fa073107002fafdefd1f5ff9f1b2d5c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
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+350,5.833333333,pose2_to_pose3_retreat,0.587165908684,0.0100017770116,1.04004101943,0.55773763029,0.0186766117895,1.0396788079
+351,5.850000000,pose2_to_pose3_retreat,0.586670343425,0.0100019141691,1.04004106737,0.557242062333,0.0186767399498,1.0396788597
+352,5.866666667,pose2_to_pose3_retreat,0.586187050204,0.0100017902874,1.04004091966,0.556758771137,0.0186766231183,1.03967871631
+353,5.883333333,pose2_to_pose3_retreat,0.585717282691,0.0100017570591,1.04004089978,0.556289004228,0.0186765920651,1.03967869948
+354,5.900000000,pose2_to_pose3_retreat,0.585271933499,0.0100018073796,1.04004082385,0.555843653528,0.0186766372386,1.03967862286
+355,5.916666667,pose2_to_pose3_retreat,0.584853978385,0.0100019318744,1.04004080203,0.555425697095,0.0186767574345,1.03967860536
+356,5.933333333,pose2_to_pose3_retreat,0.584471102698,0.0100019614937,1.04004089654,0.555042821546,0.0186767874858,1.03967869902
+357,5.950000000,pose2_to_pose3_retreat,0.584119113318,0.0100018012026,1.04004089958,0.554690833025,0.0186766295649,1.03967868902
+358,5.966666667,pose2_to_pose3_retreat,0.583797198858,0.0100018950476,1.04004096747,0.554368916657,0.0186767171404,1.03967876193
+359,5.983333333,pose2_to_pose3_retreat,0.583493946261,0.0100017694193,1.04004095354,0.554065665379,0.018676596101,1.03967875078
+360,6.000000000,pose2_to_pose3_retreat,0.583206372287,0.0100018323748,1.0400407446,0.553778092052,0.0186766614449,1.03967854644
+361,6.016666667,pose2_to_pose3_retreat,0.582928801155,0.0100017723579,1.04004091302,0.553500522393,0.0186766060548,1.03967870601
+362,6.033333333,pose2_to_pose3_retreat,0.582662533776,0.0100016978973,1.04004092306,0.553234255528,0.0186765330722,1.03967870973
+363,6.050000000,pose2_to_pose3_retreat,0.582410546738,0.0100017897931,1.04004086915,0.552982266547,0.0186766184975,1.03967865874
+364,6.066666667,pose2_to_pose3_retreat,0.582179004577,0.010001874925,1.04004077869,0.552750723859,0.0186767020173,1.03967857259
+365,6.083333333,pose2_to_pose3_retreat,0.581970328315,0.0100018807148,1.04004081251,0.55254204705,0.0186767058675,1.03967860446
+366,6.100000000,pose2_to_pose3_retreat,0.581789083211,0.0100018117043,1.04004086619,0.552360803268,0.0186766413026,1.03967865717
+367,6.116666667,pose2_to_pose3_retreat,0.581631969579,0.0100018141173,1.04004083641,0.552203690219,0.0186766459641,1.03967863398
+368,6.133333333,pose2_to_pose3_retreat,0.581496301706,0.0100019403309,1.04004081125,0.552068020586,0.0186767664863,1.03967861547
+369,6.150000000,pose2_to_pose3_retreat,0.5813771109,0.0100020112434,1.0400408475,0.551948829832,0.0186768374199,1.039678648
+370,6.166666667,pose2_to_pose3_retreat,0.581273597667,0.0100018687276,1.04004100553,0.551845317541,0.0186766975471,1.03967879284
+371,6.183333333,pose2_to_pose3_retreat,0.581180268403,0.0100018830496,1.04004108976,0.551751987834,0.0186767105118,1.03967888146
+372,6.200000000,pose2_to_pose3_retreat,0.581097202634,0.0100019193359,1.04004080818,0.551668922944,0.0186767500104,1.03967860536
+373,6.216666667,pose2_to_pose3_retreat,0.581025955066,0.0100018762868,1.04004095299,0.551597675327,0.0186767067457,1.03967874875
+374,6.233333333,pose2_to_pose3_retreat,0.580964918902,0.0100018411476,1.04004100918,0.551536640264,0.0186766753872,1.03967880599
+375,6.250000000,pose2_to_pose3_retreat,0.580914025739,0.0100018013327,1.04004087036,0.551485747507,0.0186766368164,1.03967866396
+376,6.266666667,pose2_to_pose3_retreat,0.580872238119,0.0100018036169,1.04004079643,0.55144395878,0.0186766351188,1.03967858453
+377,6.283333333,pose2_to_pose3_retreat,0.580839254476,0.0100018926282,1.04004083628,0.551410974121,0.0186767208285,1.03967862782
+378,6.300000000,pose2_to_pose3_retreat,0.580812879679,0.0100018781825,1.04004071658,0.551384597696,0.018676701079,1.03967851338
+379,6.316666667,pose2_to_pose3_retreat,0.580792357135,0.0100019205869,1.04004072537,0.551364076069,0.0186767465694,1.03967852157
+380,6.333333333,pose2_to_pose3_retreat,0.580776492341,0.0100018595318,1.04004081372,0.551348212398,0.0186766893156,1.03967860971
+381,6.350000000,pose2_to_pose3_retreat,0.580764567544,0.010001814588,1.04004078516,0.551336288119,0.0186766460143,1.03967857843
+382,6.366666667,pose2_to_pose3_retreat,0.580756633154,0.010001836867,1.04004080053,0.551328353783,0.01867666837,1.03967859124
+383,6.383333333,pose2_to_pose3_retreat,0.580751202241,0.0100018807657,1.04004081529,0.551322922598,0.0186767114947,1.0396786096
+384,6.400000000,pose2_to_pose3_retreat,0.580747835345,0.0100018813375,1.04004068315,0.551319555107,0.0186767106335,1.03967849161
+385,6.416666667,pose2_to_pose3_retreat,0.580746126256,0.0100018019693,1.04004095517,0.551317847239,0.0186766347637,1.03967874809
+386,6.433333333,pose2_to_pose3_retreat,0.580745258123,0.0100017544471,1.04004112402,0.551316979865,0.0186765894008,1.039678907
+387,6.450000000,pose2_to_pose3_retreat,0.58074471413,0.0100017503434,1.04004103376,0.55131643582,0.018676585224,1.0396788192
+388,6.466666667,pose2_to_pose3_retreat,0.580744452017,0.0100017510054,1.0400409701,0.551316173628,0.0186765857041,1.03967875763
+389,6.483333333,pose2_to_pose3_retreat,0.580744414092,0.0100017511012,1.0400409609,0.551316135692,0.0186765857736,1.03967874873
+390,6.500000000,pose2_to_pose3_retreat,0.580744354562,0.0100017512516,1.04004094644,0.551316076144,0.0186765858826,1.03967873474
+391,6.516666667,pose2_to_pose3_retreat,0.580744230884,0.0100017515639,1.04004091641,0.551315952429,0.0186765861092,1.03967870569
+392,6.533333333,pose2_to_pose3_retreat,0.580744214098,0.0100017516063,1.04004091233,0.551315935637,0.0186765861399,1.03967870175
+393,6.550000000,pose2_to_pose3_retreat,0.580744200988,0.0100017516394,1.04004090915,0.551315922524,0.0186765861639,1.03967869867
+394,6.566666667,pose2_to_pose3_retreat,0.580744058439,0.0100017519995,1.04004087453,0.551315779931,0.018676586425,1.03967866519
+395,6.583333333,pose2_to_pose3_retreat,0.580743947959,0.0100017569426,1.04004085632,0.551315669382,0.0186765911396,1.03967864713
+396,6.600000000,pose2_to_pose3_retreat,0.580743896579,0.010001768131,1.04004086429,0.551315617901,0.0186766019321,1.03967865377
+397,6.616666667,pose2_to_pose3_retreat,0.58074381972,0.0100017848675,1.0400408762,0.551315540893,0.0186766180765,1.03967866371
+398,6.633333333,pose2_to_pose3_retreat,0.580743758289,0.0100017982447,1.04004088573,0.551315479341,0.0186766309803,1.03967867165
+399,6.650000000,pose2_to_pose3_retreat,0.580743729,0.0100018046226,1.04004089027,0.551315449995,0.0186766371325,1.03967867543
+400,6.666666667,pose2_to_pose3_retreat,0.580743679362,0.0100018154317,1.04004089796,0.55131540026,0.0186766475592,1.03967868185
+401,6.683333333,pose2_to_pose3_retreat,0.580743671085,0.0100018203325,1.04004089424,0.551315391919,0.0186766522449,1.03967867824
+402,6.700000000,pose2_to_pose3_retreat,0.580743657288,0.010001840646,1.04004086844,0.551315377823,0.0186766716071,1.03967865391
+403,6.716666667,pose2_to_pose3_retreat,0.580743626402,0.0100018861177,1.04004081067,0.551315346269,0.0186767149491,1.03967859943
+404,6.733333333,pose2_to_pose3_retreat,0.580743602887,0.0100019207379,1.04004076669,0.551315322245,0.0186767479479,1.03967855796
+405,6.750000000,pose2_to_pose3_retreat,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+406,6.766666667,pose2_to_pose3_retreat,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720532,1.03967852766
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8737ac6a6c2ad5c8747c87e5285bd9349dd39e80
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e2add9c220c7243872e778040b263be59e8fea131bf77dd0094e2411f986c54
+size 25905485
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b93a1ea63ff71c830c44deddb1db3d669763bbf2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_04/franka_data.csv
@@ -0,0 +1,409 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,765,746,713.692471693,679,664,635,879.307528307,788,805.307528307,653,631,652,0.400991042199,0.00458375351359,0.0498585795432,0.999999962719,0.000112538506341,-0.000246789435447,-3.15081357948e-05,1793243166453577728
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+21,0.350000000,BASELINE,765,746,713.347798357,679,664,635,879.652201643,788,805,653.347798357,631,652.347798357,0.400991784301,0.00458322744531,0.0498587752689,0.999999963081,0.000111840205375,-0.000245669345101,-3.12415950036e-05,1793243166786910464
+22,0.366666667,BASELINE,765,746,713.928337403,679,664,635,879.071662597,788,805,653.928337403,631,652.928337403,0.400992097025,0.00458358866101,0.0498594942017,0.999999963124,0.000112181329627,-0.000245306768815,-3.14815635108e-05,1793243166803577088
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+26,0.433333333,BASELINE,765,745,713.249249673,679,664,635,879,787.750750327,805,653,631,652,0.400991667628,0.00458352988493,0.0498601741245,0.999999963792,0.000109143202013,-0.000243949534694,-3.1493370612e-05,1793243166870244096
+27,0.450000000,BASELINE,765,745,713.827676968,679,664,635,879,787.172323032,805,653,631,652,0.400991827347,0.00458466063546,0.0498594997586,0.999999963589,0.000110447705694,-0.000244119471783,-3.20678359243e-05,1793243166886910976
+28,0.466666667,BASELINE,764.595429002,745.404570998,713.595429002,679,664,635,879,787.404570998,805,653,631,652,0.400990365692,0.00458500486908,0.0498588799991,0.999999963127,0.000110939713666,-0.000245780461506,-3.21093300965e-05,1793243166903577344
+29,0.483333333,BASELINE,764.019185621,745.980814379,713.019185621,679,664,635,879,787.980814379,805,653,631,652,0.400988216037,0.00458501535841,0.049858283411,0.99999996255,0.000111086953705,-0.000248074152427,-3.19246675731e-05,1793243166920243456
+30,0.500000000,BASELINE,764.567892034,746,713,679,664,635,879,787.432107966,805,653,631,652,0.400990997259,0.00458259493583,0.0498594542209,0.999999963599,0.000108287882328,-0.00024512670298,-3.14559901909e-05,1793243166936910592
+31,0.516666667,BASELINE,765,746,713.153422666,678.846577334,664,635,879.153422666,787.153422666,805,653,631,652.153422666,0.400992919569,0.00458134471983,0.0498602603441,0.999999964309,0.000106714066385,-0.00024293196691,-3.12691629904e-05,1793243166953577728
+32,0.533333333,BASELINE,765,746,713.733612054,678.266387946,664,635,879.733612054,787.733612054,805,653,631,652.733612054,0.400991980301,0.0045835824855,0.0498598827185,0.999999963964,0.000108830734798,-0.00024333312328,-3.18935510611e-05,1793243166970244864
+33,0.550000000,BASELINE,765,745.689829994,714,678.310170006,664,635,879.689829994,788,805,653,631,652.689829994,0.400991936261,0.00458443845269,0.0498598844194,0.999999963974,0.000109074877359,-0.000243155263124,-3.20994820396e-05,1793243166986911488
+34,0.566666667,BASELINE,765,745.116354819,714,678.883645181,664,635,879.116354819,788,805,653,631,652.116354819,0.400992652185,0.00458412140278,0.0498602081328,0.999999964287,0.000107729421447,-0.000242485872366,-3.19501822642e-05,1793243167003577600
+35,0.583333333,BASELINE,765,745,714,679,664,635,879,787.543386073,805,653,631,652,0.400991825918,0.00458423294058,0.0498598409122,0.999999963862,0.000108815635899,-0.000243779865778,-3.17191760624e-05,1793243167020244224
+36,0.600000000,BASELINE,765,745.030629846,714,679,664,635,879.030629846,787,805,653,631,652,0.400990691193,0.00458435836372,0.0498593340568,0.999999963286,0.000110461050373,-0.00024543121524,-3.14707515113e-05,1793243167036910848
+37,0.616666667,BASELINE,765,745.62634214,714,679,664,635,879.62634214,787,805,653,631,652,0.400991107828,0.00458272733959,0.0498594956886,0.99999996347,0.000111004072382,-0.000244455437828,-3.1284667453e-05,1793243167053577472
+38,0.633333333,BASELINE,765,745.784934525,714,679,664,635,879.784934525,787.215065475,805.215065475,653,631,652.215065475,0.400991416301,0.00458199924017,0.0498596185014,0.999999963668,0.000110600030365,-0.000243835878246,-3.12245662099e-05,1793243167070244096
+39,0.650000000,BASELINE,765,745.207971635,714,679,664,635,879.207971635,787.792028365,805.792028365,653,631,652.792028365,0.400991542766,0.00458279052018,0.0498596759923,0.999999963887,0.000108602334113,-0.000243815737417,-3.13764601691e-05,1793243167086910464
+40,0.666666667,BASELINE,765,745,714,679,664.367855022,635,879,788,805.632144978,653,631,653,0.400991904865,0.0045832479602,0.0498598389962,0.999999963884,0.000109144401494,-0.000243569496824,-3.15035087384e-05,1793243167103577088
+41,0.683333333,BASELINE,765,745,714,679,664.943041239,635,879,788,805.056958761,653,631,653,0.400992399772,0.0045835172406,0.0498600614696,0.999999963754,0.000111117935734,-0.000243195821422,-3.16165538896e-05,1793243167120243712
+42,0.700000000,BASELINE,765,745.530136185,713.469863815,679,664.469863815,635,879,788,805,653,631,652.469863815,0.40099286865,0.00458321830595,0.0498605181906,0.999999963829,0.000112127560334,-0.000242439876596,-3.15087471836e-05,1793243167136911104
+43,0.716666667,BASELINE,765,745.887614425,713.112385575,679,664,635,879,788,805,653,631,652,0.400993213294,0.00458296859506,0.0498607669529,0.999999963925,0.000112364666468,-0.000241939493273,-3.14469446247e-05,1793243167153578496
+44,0.733333333,BASELINE,765,745.329759806,713.670240194,679,664,635,879,788,805,653,631,652,0.400993076844,0.00458316154337,0.0498600893652,0.999999964021,0.000109959633811,-0.000242618632784,-3.16637074879e-05,1793243167170244608
+45,0.750000000,BASELINE,765,745,714,679,664,635,879,788,805,652.754025583,631,652,0.400992667581,0.00458361643912,0.0498597146974,0.999999963943,0.000109382811513,-0.00024317215975,-3.18802794188e-05,1793243167186910976
+46,0.766666667,BASELINE,765,745,714,679,664,635,879,788,805,652.152442623,631,652,0.400991863907,0.00458445003582,0.049859777965,0.999999963618,0.000111449057871,-0.000243544086902,-3.20965752976e-05,1793243167203577088
+47,0.783333333,BASELINE,764.571602359,745.428397641,713.571602359,679.428397641,664,635,879,788,805,652.428397641,631,652.428397641,0.400991574886,0.00458374039808,0.049859812058,0.999999963744,0.000110653903634,-0.00024341563294,-3.18742420501e-05,1793243167220243968
+48,0.800000000,BASELINE,764.002266349,745.997733651,713.002266349,679.997733651,664,634.997733651,879,787.997733651,805,653,631,652.997733651,0.400991459282,0.0045825091625,0.0498598350126,0.999999964021,0.000108894801726,-0.000243120051803,-3.15042938307e-05,1793243167236910592
+49,0.816666667,BASELINE,764.593996111,745.406003889,713.593996111,679.406003889,664,634.406003889,879,787.406003889,805,653,631,652.406003889,0.400991015583,0.00458184782709,0.0498595364402,0.999999963909,0.000109018732003,-0.00024352856952,-3.14620829424e-05,1793243167253577472
+50,0.833333333,BASELINE,765,744.819200638,714,679,664,634.180799362,879,787,805,653,631,652,0.400991443127,0.00458179300479,0.0498596458237,0.999999963955,0.000109218464968,-0.00024325010148,-3.14706241716e-05,1793243167270244352
+51,0.850000000,BASELINE,765,744.243166819,714,679,664,634.756833181,879,787,805,653,631,652,0.400993775243,0.0045830640437,0.0498606470146,0.999999964343,0.000109583905586,-0.000241469855868,-3.15901115001e-05,1793243167286910720
+52,0.866666667,BASELINE,765,744.333237571,713.666762429,679,664,635,879,787.333237571,805,653,631,652.333237571,0.400993460336,0.00458322461085,0.0498603250891,0.999999964188,0.000109652236498,-0.000242082451962,-3.15535987856e-05,1793243167303577344
+53,0.883333333,BASELINE,765,744.909912636,713.090087364,679,664,635,879,787.909912636,805,653,631,652.909912636,0.400991211719,0.00458257395349,0.0498590365973,0.999999963635,0.000109503522109,-0.000244443072522,-3.14031245449e-05,1793243167320244224
+54,0.900000000,BASELINE,765,745,713.484526263,679,664,635,879,787.515473737,805,653,631,652.515473737,0.400991091639,0.00458323916757,0.0498594934263,0.999999963763,0.000109601962943,-0.000243861663979,-3.15035611995e-05,1793243167336911360
+55,0.916666667,BASELINE,765,745,714,678.939256985,664,634.939256985,879,787.060743015,805,653,631,652,0.400991399808,0.0045839413555,0.049860150824,0.999999963989,0.000109685934202,-0.000242876388753,-3.16531058304e-05,1793243167353579008
+56,0.933333333,BASELINE,765,745,714,678.345628135,664,634.345628135,879,787.654371865,805,653,631,652,0.400992007735,0.00458283066363,0.0498597330116,0.999999963971,0.000109241536378,-0.000243126530595,-3.18259340432e-05,1793243167370244864
+57,0.950000000,BASELINE,765,745,713.758046581,678.241953419,664,634,879,788,805.241953419,653,631,652,0.400991875242,0.00458242284415,0.0498594223062,0.999999963862,0.000109211054412,-0.000243569871354,-3.19781387037e-05,1793243167386911232
+58,0.966666667,BASELINE,765,745,713.178892936,678.821107064,664,634,879,788,805.821107064,653,631,652,0.400990710856,0.00458299458822,0.0498592608713,0.999999963624,0.000109757429476,-0.000244282465238,-3.21016011791e-05,1793243167403578112
+59,0.983333333,BASELINE,765,745,713.396394067,678.603605933,664,634.396394067,879,787.603605933,805.603605933,652.603605933,631,652,0.400991996515,0.00458244769641,0.0498603542474,0.999999964209,0.000108848381213,-0.000242340237704,-3.17051417175e-05,1793243167420244992
+60,1.000000000,BASELINE,765,745,713.969952959,678.030047041,664,634.969952959,879,787.030047041,805.030047041,652.030047041,631,652,0.400994377202,0.00458140084025,0.0498620084501,0.999999965151,0.000107288844408,-0.000239211461264,-3.10763077523e-05,1793243167436911616
+61,1.016666667,BASELINE,765,745,714,678.542160552,664,635,879,787.542160552,804.457839448,652.542160552,631,652,0.400993099279,0.00458195671117,0.0498610008189,0.999999964706,0.000108234649078,-0.000240594111387,-3.14395541967e-05,1793243167453578752
+62,1.033333333,BASELINE,765,745,713.881022823,679,664,635,879,788,804.118977177,653,631,652,0.400991910195,0.0045827776303,0.0498601512973,0.999999964293,0.000109349814058,-0.000241758044123,-3.17876138455e-05,1793243167470245632
+63,1.050000000,BASELINE,765,745,713.285443789,679,664,635,879,788,804.714556211,653,631,652,0.400991887203,0.00458430535526,0.0498605246107,0.999999964326,0.00011058858782,-0.000241046757312,-3.1855137168e-05,1793243167486912256
+64,1.066666667,BASELINE,765,745,713,679,664,635,879,787.699494327,804.699494327,653,631,652.300505673,0.400992025957,0.00458409147173,0.0498610541631,0.999999964487,0.000109817697687,-0.000240747264758,-3.17273564675e-05,1793243167503578368
+65,1.083333333,BASELINE,765,745,713,679,664,635,879,787.122407811,804.122407811,653,631,652.877592189,0.40099231358,0.00458227463816,0.0498617275153,0.999999964762,0.000107197143454,-0.000240826781404,-3.14198209163e-05,1793243167520244224
+66,1.100000000,BASELINE,765,745,713,679,664,634.55005043,879,787,804.44994957,653,631,652.55005043,0.400992719626,0.00458234120166,0.0498618030194,0.999999964797,0.000107125485648,-0.000240732498183,-3.12776842297e-05,1793243167536910592
+67,1.116666667,BASELINE,765,745,713,679,664,634.021290479,879,787,805,652.978709521,631,652.021290479,0.400993145852,0.00458296510198,0.0498617094599,0.999999964748,0.000107875982078,-0.000240612903104,-3.11936405203e-05,1793243167553576960
+68,1.133333333,BASELINE,765,745,713,679,664,634.599344411,879,787,805,652.400655589,631,652.599344411,0.400993266043,0.00458490417773,0.0498614037683,0.999999964159,0.000112181545727,-0.000241054981539,-3.14643217044e-05,1793243167570243584
+69,1.150000000,BASELINE,765,745,713,679,664,635,879,787,805,652.183039897,631,652.816960103,0.400993271132,0.00458562142693,0.049861186993,0.999999963953,0.000113793075854,-0.000241125002452,-3.16984066832e-05,1793243167586910720
+70,1.166666667,BASELINE,765,745,713,679,664,635,879,787,805,652.7794768,631,652.2205232,0.400993016266,0.00458357917132,0.049861171036,0.999999964632,0.000109320110117,-0.000240354728554,-3.18498388167e-05,1793243167603578112
+71,1.183333333,BASELINE,765,745,713,679,664,635,879,787,804.636983799,653,631,652,0.400992391413,0.00458207617343,0.0498609316586,0.999999964751,0.000106776553368,-0.000241034756096,-3.16094396682e-05,1793243167620244992
+72,1.200000000,BASELINE,765,745,713,679,664,635,879,787,804.061010438,653,631,652,0.400991549514,0.00458088952154,0.0498605612157,0.999999964545,0.00010536485053,-0.000242565577763,-3.11391795051e-05,1793243167636911616
+73,1.216666667,BASELINE,764.475123186,745,713,679,664,635,879,787.524876814,804.524876814,653,631,652,0.400992261409,0.00458288954744,0.0498613895888,0.999999964534,0.000108029842685,-0.000241386897028,-3.15191054985e-05,1793243167653577728
+74,1.233333333,BASELINE,764,745.110523137,713.110523137,678.889476863,664,634.889476863,879,788,805,653,631,652,0.400993014312,0.00458443931751,0.0498620109782,0.999999964556,0.000110094552108,-0.000240318200124,-3.18460550159e-05,1793243167670244352
+75,1.250000000,BASELINE,764,745.690161641,713.690161641,678.309838359,664,634.309838359,879,788,805,653,631,652,0.40099315992,0.00458247549721,0.0498611509785,0.999999964659,0.000107561320525,-0.000241078853085,-3.15206140416e-05,1793243167686910976
+76,1.266666667,BASELINE,764.268156357,745.731843643,714,678,664,634.268156357,879,787.731843643,804.731843643,653,631,652,0.400992776869,0.00458183369332,0.0498605103166,0.999999964605,0.000106204384257,-0.000241909891071,-3.14645353674e-05,1793243167703577344
+77,1.283333333,BASELINE,764.844263316,745.155736684,714,678,664,634.844263316,879,787.155736684,804.155736684,653,631,652,0.400991786706,0.00458271009241,0.0498601215419,0.999999964377,0.000106198304983,-0.000242821759134,-3.17177922185e-05,1793243167720244480
+78,1.300000000,BASELINE,765,745,713.582052761,678.417947239,664.417947239,634.582052761,879,787,804.417947239,653,631,652.417947239,0.400992366271,0.00458226997574,0.049860603116,0.999999964502,0.000106937834381,-0.000242010619457,-3.1476286627e-05,1793243167736911872
+79,1.316666667,BASELINE,765,745,713.009266524,678.990733476,664.990733476,634.009266524,879,787,804.990733476,653,631,652.990733476,0.40099352738,0.0045813421229,0.0498614071325,0.999999964756,0.00010795359314,-0.00024056114849,-3.10514839207e-05,1793243167753579008
+80,1.333333333,BASELINE,765,745,713,679,664.417298402,634.582701598,879,787.582701598,805,653,631,652.417298402,0.400993129188,0.00458242754818,0.0498612524418,0.999999964593,0.000109120130237,-0.000240650570933,-3.15214680392e-05,1793243167770245632
+81,1.350000000,BASELINE,764.828575773,745.171424227,713,679,664.171424227,634.828575773,879,788,805,653,631,652,0.400992883811,0.00458361226775,0.0498613216961,0.999999964498,0.000110264032246,-0.000240483007466,-3.18415596502e-05,1793243167786912000
+82,1.366666667,BASELINE,764.248345185,745.751654815,713,679,664.751654815,634.248345185,879,788,805,653,631,652,0.400993064009,0.00458495482975,0.0498619626019,0.999999964582,0.00011134804195,-0.000239642245341,-3.17691037586e-05,1793243167803578624
+83,1.383333333,BASELINE,764,745.671459149,713,679,664.671459149,634.328540851,879,788,805,653,631.328540851,652,0.400993311604,0.00458484425136,0.0498619874483,0.999999964669,0.00011116168972,-0.000239368469022,-3.17475880212e-05,1793243167820244992
+84,1.400000000,BASELINE,764,745.097075735,713,679,664.097075735,634.902924265,879,788,805,653,631.902924265,652,0.400993609632,0.0045836463083,0.049861551306,0.999999964758,0.000110024743374,-0.000239518960235,-3.17641900876e-05,1793243167836910848
+85,1.416666667,BASELINE,764.488645232,745,713.488645232,679,664,634.511354768,879,788,805,653,631.511354768,652,0.400993482413,0.00458153465944,0.0498616343276,0.999999964867,0.000108459797604,-0.000239816903583,-3.14547456275e-05,1793243167853577728
+86,1.433333333,BASELINE,764.924441179,745,714,678.924441179,663.924441179,634.075558821,879,787.924441179,805,653,631,652,0.400993373324,0.00457989905081,0.0498618693728,0.999999964957,0.000107267819246,-0.000240014607202,-3.11864917888e-05,1793243167870244608
+87,1.450000000,BASELINE,764.344951873,745,714,678.344951873,663.344951873,634.655048127,879,787.344951873,805,653,631,652,0.400993961969,0.00458267771323,0.0498624141109,0.999999964901,0.000109143853222,-0.000239343765473,-3.16352133145e-05,1793243167886911744
+88,1.466666667,BASELINE,764.233696194,745,713.766303806,678.233696194,663.233696194,634.766303806,879,787.233696194,805.233696194,653,631,652.233696194,0.400994609804,0.00458474853605,0.0498626454574,0.999999964885,0.000110680900809,-0.00023865918072,-3.19515195997e-05,1793243167903578880
+89,1.483333333,BASELINE,764.811106956,745,713.188893044,678.811106956,663.811106956,634.188893044,879,787.811106956,805.811106956,653,631,652.811106956,0.400995344695,0.0045857782858,0.0498624158754,0.999999964934,0.000111719375509,-0.000237954383107,-3.20730728062e-05,1793243167920244736
+90,1.500000000,BASELINE,765,745,713.387681975,679,664,634,879,788,805.612318025,653,631,652.612318025,0.40099437181,0.00458450133408,0.0498618066403,0.999999964802,0.00010996136017,-0.000239342846733,-3.19355712907e-05,1793243167936910848
+91,1.516666667,BASELINE,765,745,713.963850648,679,664,634,879,788,805.036149352,653,631,652.036149352,0.400992568623,0.00458210288952,0.049861012822,0.999999964569,0.000106843722201,-0.000241749030894,-3.1672120224e-05,1793243167953577472
+92,1.533333333,BASELINE,765,745,713.448154873,679,664,634,879,788,805,652.448154873,630.448154873,652.551845127,0.40099189677,0.00458188943634,0.0498609854651,0.999999964518,0.000106303162064,-0.000242194742054,-3.17137977887e-05,1793243167970244096
+93,1.550000000,BASELINE,764.86167018,745,713.13832982,678.86167018,664,634.13832982,878.86167018,788,805,652.13832982,630.13832982,652.86167018,0.400991847128,0.00458211409813,0.0498612453199,0.999999964552,0.000106403618893,-0.000242006848408,-3.1746738833e-05,1793243167986910720
+94,1.566666667,BASELINE,764.282519613,745,713.717480387,678.282519613,664,634.717480387,878.282519613,788,805,652.717480387,630.717480387,652.282519613,0.400993538966,0.00458326880847,0.0498622569393,0.999999964814,0.000107997078583,-0.000240218036604,-3.16867479548e-05,1793243168003577600
+95,1.583333333,BASELINE,764.294408647,745,714,678.294408647,664,634.705591353,878.294408647,788,805,653,631,652,0.400994187765,0.0045830039766,0.0498623836276,0.999999964973,0.000108256580062,-0.000239451588506,-3.15875118494e-05,1793243168020244224
+96,1.600000000,BASELINE,764.869220387,745,714,678.869220387,664,634.130779613,878.869220387,788,805,653,631,652,0.400993843147,0.00458138713286,0.0498616674827,0.999999965036,0.000107245582326,-0.000239658868209,-3.14508974761e-05,1793243168036910848
+97,1.616666667,BASELINE,765,745,713.554408864,679,664,634,879,787.554408864,805,653,631,652,0.400994871388,0.0045814038906,0.0498624141525,0.999999965419,0.000106686498229,-0.000238297852946,-3.15324102352e-05,1793243168053577472
+98,1.633333333,BASELINE,765,745.022789886,713,679,664,634.022789886,879,787,805,653,631,652.022789886,0.400996175981,0.00458189893087,0.0498635149508,0.99999996585,0.000106293898573,-0.000236641269319,-3.16722765802e-05,1793243168070244096
+99,1.650000000,BASELINE,765,745.609109671,713,679,664,634.609109671,879,787,805,653,631,652.609109671,0.400994315652,0.00458232330601,0.0498627189195,0.999999965219,0.000106726778688,-0.000239097740307,-3.16664796242e-05,1793243168086910976
+100,1.666666667,BASELINE,765,746,713.193826662,679,664,635,879,787.193826662,804.806173338,652.806173338,631,652.806173338,0.400993381375,0.00458313051642,0.0498622324428,0.99999996482,0.000107839338469,-0.000240263350429,-3.16857259234e-05,1793243168103578112
+101,1.683333333,BASELINE,765,746,713.775337769,679,664,635,879,787.775337769,804.224662231,652.224662231,631,652.224662231,0.400994299349,0.00458470345879,0.0498623651252,0.999999964888,0.00011031136669,-0.000238847031399,-3.17550627545e-05,1793243168120245248
+102,1.700000000,BASELINE,764.646333598,745.646333598,713.646333598,679,664,635,879.353666402,788,804.353666402,652.353666402,630.646333598,652,0.400994304231,0.00458407140274,0.049862419665,0.999999965098,0.000109328559089,-0.0002384326,-3.16300685359e-05,1793243168136911872
+103,1.716666667,BASELINE,764.070008584,745.070008584,713.070008584,679,664,635,879.929991416,788,804.929991416,652.929991416,630.070008584,652,0.400993734255,0.00458205114045,0.0498624250083,0.999999965395,0.000106170682053,-0.00023864892947,-3.13827288456e-05,1793243168153578240
+104,1.733333333,BASELINE,764,745,713.497049446,679,664,635,879.502950554,787.502950554,805,653,630.497049446,652,0.400992962337,0.00458194924252,0.049862280012,0.999999965227,0.000105503924787,-0.00023965553213,-3.12976364279e-05,1793243168170244864
+105,1.750000000,BASELINE,764.066513096,745,713.933486904,679,664.066513096,635,879.066513096,787.066513096,805,653,631,652,0.400992275607,0.00458219751078,0.049862112475,0.999999965014,0.000105436588854,-0.00024057571577,-3.12889122864e-05,1793243168186911232
+106,1.766666667,BASELINE,764.665492212,745,713.334507788,679,664.665492212,635,879.665492212,787.665492212,805,653,631,652,0.400992494372,0.00458312554538,0.049861930903,0.999999964946,0.000107410423257,-0.000239929312564,-3.17119553388e-05,1793243168203577600
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,664,634,880,787,805,653,631,652,0.400993642286,0.00458198650397,0.0498624264576,0.999999965471,0.000105389244453,-0.000238655590363,-3.15271611759e-05,1793243168241622016
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745.574799608,713.425200392,679,664,634.574799608,879.425200392,787.574799608,805,653,631,652.574799608,0.400992232163,0.00458148196294,0.0498614151763,0.999999964891,0.000106213138056,-0.000240739696001,-3.13288456099e-05,1793243168258288640
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745.847097772,713,678.847097772,664,635,879.152902228,787.847097772,805,653,631,652.847097772,0.400991426744,0.00458129995762,0.0498608784553,0.999999964516,0.000107073704615,-0.000241922828392,-3.12392658422e-05,1793243168274955008
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745.25960699,713,678.25960699,664,635,879.74039301,787.25960699,805,653,631,652.25960699,0.400992340057,0.00458203468393,0.0498616905595,0.999999964738,0.000108038505599,-0.000240545157114,-3.1458741914e-05,1793243168291621888
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,713,678.32407112,664,635,879.67592888,787.32407112,805,653,631,652,0.400993537405,0.00458249424735,0.0498620782217,0.999999965131,0.00010720059734,-0.00023924864584,-3.17062980707e-05,1793243168308288512
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,713,678.904730453,664,635,879.095269547,787.904730453,805,653,631,652,0.400994959642,0.00458273594636,0.0498621298256,0.999999965657,0.000104935366697,-0.000238016394308,-3.1976087046e-05,1793243168324955136
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,713,679,664,634.518885532,879,787.518885532,805,652.518885532,631,652,0.40099419609,0.00458188764588,0.0498621164621,0.999999965376,0.000105533610841,-0.000238992053184,-3.15289551964e-05,1793243168341622016
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,713.056530606,679,664,634,879,787.056530606,805,652.056530606,631,652,0.400993243862,0.00458107908788,0.0498621104778,0.999999964982,0.000106651636219,-0.00024020435454,-3.10299796245e-05,1793243168358288640
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,713.630767759,679,664,634,879,787.630767759,805,652.630767759,631,652,0.400994492642,0.00458259374052,0.04986228885,0.999999965036,0.00010738277965,-0.000239615155233,-3.13448690019e-05,1793243168374955264
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745.211154677,714,679,664,634.211154677,879,787.788845323,804.788845323,653,631,652,0.400998546687,0.00458309003232,0.0498637455617,0.999999965709,0.000107032031516,-0.000236909590902,-3.16196386775e-05,1793243168391621632
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745.802617813,714,679,664,634.802617813,879,787.197382187,804.197382187,653,631,652,0.401007653265,0.00458175216501,0.0498675046772,0.999999967469,0.000104732699833,-0.000230392263943,-3.18221491468e-05,1793243168408288256
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.613781568,745.613781568,714,678.613781568,664,635,879,787,804.386218432,653,631,652,0.4010309879,0.00458159895002,0.0498760865989,0.999999971258,0.000104919330274,-0.000213281365313,-3.14024205992e-05,1793243168424955136
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.034118974,745.034118974,714,678.034118974,664,635,879,787,804.965881026,653,631,652,0.401061448904,0.00458203908844,0.0498870841066,0.99999997566,0.000106351097468,-0.000190864492941,-3.06710329146e-05,1793243168441621760
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.538284305,745,714,678,664,634.461715695,879,787,805,653,631,652,0.401120031186,0.00458209466888,0.0499047352531,0.999999982356,0.00010519956614,-0.000152543375481,-3.08458726527e-05,1793243168458288384
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,713.885834384,678.114165616,664,634.114165616,879,787.114165616,805.114165616,653,631,652.114165616,0.401182167369,0.00458185661191,0.0499217134924,0.999999987167,0.000104453421694,-0.00011751388924,-3.07725016574e-05,1793243168474955264
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,713.293483459,678.706516541,664,634.706516541,879,787.706516541,805.706516541,653,631,652.706516541,0.401251822647,0.00458048938501,0.0499341302934,0.999999988897,0.000106081958752,-0.000100437667919,-2.94221033466e-05,1793243168491621632
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,713.29204461,679,664,635,879,788,805.70795539,653,631,652.70795539,0.40132733277,0.00457984083822,0.0499428037618,0.999999990042,0.000106217890023,-8.8463417287e-05,-2.84414384576e-05,1793243168508288256
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,713.870872698,679,664,635,879,788,805.129127302,653,631,652.129127302,0.401408592262,0.00457989802472,0.0499478013321,0.999999990791,0.000104888104454,-8.14992273059e-05,-2.78238463959e-05,1793243168524954880
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,713.554125112,679,664,635,879,788,805.445874888,653,631,652,0.401499699515,0.00457881502881,0.0499469096049,0.999999990946,0.000101760411226,-8.37419084052e-05,-2.71879262041e-05,1793243168541621760
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,713,679.019989025,664,634.980010975,879,787.980010975,805.980010975,653,631,652,0.401594604367,0.00457738290758,0.0499443848252,0.999999990905,9.81860433394e-05,-8.8579383984e-05,-2.65319064243e-05,1793243168558288640
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,713,679.600001399,664,634.399998601,879,787.399998601,805.399998601,653,631,652,0.40171668275,0.00457534190778,0.0499434850959,0.999999990777,9.65609925572e-05,-9.20476667007e-05,-2.54602094535e-05,1793243168574955008
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745.182794767,713.182794767,679.634410466,664,634.182794767,879.182794767,787.182794767,805,653,631,652,0.401848298361,0.00457362380335,0.0499440234863,0.99999999096,9.44788951311e-05,-9.25315302618e-05,-2.43039752896e-05,1793243168591621632
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745.77176755,713.77176755,678.4564649,664,634.77176755,879.77176755,787.77176755,805,653,631,652,0.402001106097,0.00457262318694,0.049947757442,0.99999999183,9.13812201685e-05,-8.63838826813e-05,-2.29598959059e-05,1793243168608288256
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745.646632029,714,678,664,634.646632029,879.293264057,787.646632029,805,652.646632029,631,652,0.402172312273,0.00457103973916,0.0499476996206,0.99999999197,8.86889520317e-05,-8.78916407439e-05,-2.16713117565e-05,1793243168624955136
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745.069695881,714,678,664,634.069695881,878.139391763,787.069695881,805,652.069695881,631,652,0.402355158753,0.00456908754666,0.0499452428254,0.999999991631,8.62531756092e-05,-9.42428056781e-05,-2.04178380942e-05,1793243168641622272
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,678,664,634,878.504948561,787,805,652.504948561,631,652.504948561,0.402566932238,0.00456824949417,0.049946656114,0.999999992076,8.47637119222e-05,-9.11196027385e-05,-1.89703910447e-05,1793243168658288896
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,678,664,634.081574637,879.081574637,787,805,652.918425363,631,652.918425363,0.402786934468,0.00456713293526,0.0499486251463,0.999999992611,8.27846922138e-05,-8.73091916245e-05,-1.73941945281e-05,1793243168674955520
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,678,664,634.672541551,879.672541551,787,805,652.327458449,631,652.327458449,0.403033501574,0.00456332130508,0.0499507439606,0.999999993111,7.69367000575e-05,-8.73365813879e-05,-1.51804526126e-05,1793243168691622400
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,713.741380769,678.517238462,663.741380769,634.741380769,880,787.258619231,805,652.258619231,631,652,0.403307240318,0.00456048505349,0.0499565890771,0.999999994283,7.2613454811e-05,-7.74008483019e-05,-1.30294056989e-05,1793243168708289024
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,713.161378911,679.677242177,663.161378911,634.161378911,880,787.838621089,805,652.838621089,631,652,0.403614744874,0.00455886089196,0.0499670648191,0.99999999596,7.01849922897e-05,-5.50840769427e-05,-1.09562691456e-05,1793243168724955392
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,713.414682225,679.585317775,663.829364449,634.414682225,879.585317775,788,805,653,631,652,0.403952949801,0.00455596214948,0.0499768469012,0.99999999726,6.47569342079e-05,-3.46685346812e-05,-9.23711002275e-06,1793243168741622016
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,713.989224201,679.010775799,664.978448402,634.989224201,879.010775799,788,805,653,631,652,0.404302989695,0.00455257205683,0.0499863615777,0.999999998166,5.81725338546e-05,-1.49859156197e-05,-7.65440903558e-06,1793243168758288640
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,713.435350365,679,664.435350365,634.435350365,879,787.435350365,805,652.435350365,631,652,0.404675180258,0.00454728013813,0.0499896523015,0.999999998535,5.34957281795e-05,-7.08837180634e-06,-4.15612820824e-06,1793243168774955264
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,713,679,664.143155251,634.143155251,879,787,805,652.143155251,631,652,0.405052615058,0.00454249110329,0.0499904299454,0.999999998783,4.91595826094e-05,-3.9629593687e-06,-9.01232804824e-07,1793243168791621888
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,713,679,664.731180266,634.731180266,879,787,805,652.731180266,631,652,0.405445031074,0.00453937779886,0.049983767627,0.999999998839,4.57687660552e-05,-1.49674239122e-05,1.48353380382e-06,1793243168808288512
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.315684688,713,679,664.684315312,635,879,787.315684688,805,652.684315312,631,652,0.405850140855,0.0045350125451,0.0499691039084,0.999999998158,4.10878278355e-05,-4.44537688349e-05,4.36809613085e-06,1793243168824954880
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.897224298,713,679,664.102775702,635,879,787.897224298,805,652.102775702,631,652,0.406265940776,0.00452959295766,0.0499477017832,0.999999995341,3.53204088808e-05,-8.95046925921e-05,7.67356335957e-06,1793243168841621504
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745.526305578,713.473694422,679,664.473694422,634.526305578,879,788,805,652,630.526305578,652.473694422,0.406741601373,0.00452485992671,0.0499348860407,0.999999993428,2.94538808715e-05,-0.000110292955723,1.05537140931e-05,1793243168858288384
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,664.950032656,634.049967344,879,788,805,652.049967344,630.049967344,652.950032656,0.407233756315,0.00452032068918,0.0499255957476,0.999999992091,2.35398205144e-05,-0.000122825076711,1.33238883951e-05,1793243168874955264
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,664.364203406,634.635796594,879,788,805,652.635796594,630.635796594,652.364203406,0.407764992048,0.00451627917241,0.0499343459859,0.999999994452,1.73441725686e-05,-0.000102672887838,1.58937977541e-05,1793243168891621888
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.781354802,745.218645198,714,679,664,635,879,787.781354802,805,653,631,652,0.408322578759,0.00451048749559,0.0499497767558,0.999999997145,9.60909417669e-06,-7.24715437065e-05,1.91325515386e-05,1793243168908288768
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.203404403,745.796595597,714,679,664,635,879,787.203404403,805,653,631,652,0.408923468668,0.00450181973665,0.0499761858124,0.999999999393,-6.55768950983e-07,-2.57561689968e-05,2.34704341583e-05,1793243168924955904
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.374489839,745.625510161,713.625510161,678.625510161,664,634.625510161,879,787,805,652.625510161,631,652,0.409538812839,0.00449493991289,0.0499918878272,0.9999999996,4.94300613583e-06,-1.68226941927e-06,2.78016360946e-05,1793243168941622272
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.952353565,745.047646435,713.047646435,678.047646435,664,634.047646435,879,787,805,652.047646435,631,652,0.410162006654,0.00448903106188,0.0500017751768,0.999999999249,1.91568344505e-05,1.00957414367e-05,3.21292098292e-05,1793243168958288640
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.47271791,745,713,678.52728209,664,634,879,787,805,652,631,652,0.410776156062,0.00448211713209,0.0499831321785,0.999999994009,9.79344367525e-05,-3.27963480584e-05,3.62766743084e-05,1793243168974955008
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.104969521,745.104969521,713.104969521,678.895030479,663.895030479,634,879,787,805,652,631,652,0.41139542994,0.0044753851931,0.049961938114,0.999999982567,0.000164771500776,-7.80993929595e-05,4.01976497031e-05,1793243168991621632
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.696672604,745.696672604,713.696672604,678.303327396,663.303327396,634,879,787,805,652,631,652,0.41204223395,0.00446991592811,0.0499408030865,0.999999981668,0.000149338862657,-0.000111801753095,4.31434653805e-05,1793243169008288768
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.717355049,714,678.565289902,663.565289902,634.282644951,879,787.282644951,805,652,631,652,0.412750173228,0.004463706264,0.0499451329697,0.999999986832,0.000123528899525,-9.56985754945e-05,4.37896442902e-05,1793243169024955648
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.137410494,714,679.725179011,664.725179011,634.862589506,879,787.862589506,805,652,631,652,0.413522417614,0.00445671781166,0.0499762480728,0.99999999498,8.68035626335e-05,-2.72075326585e-05,4.20169544421e-05,1793243169041622272
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,713.561511929,679.123023858,664.561511929,634.561511929,879,788,805,652,631,652,0.414269044213,0.0044456199437,0.0499822154289,0.999999999395,-4.81209760035e-07,-2.19820594445e-05,2.69415129383e-05,1793243169058288896
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,713.0134076,678.0134076,664,634.0134076,879.0134076,787.9865924,805,652,631,652,0.415007798989,0.00443384002621,0.0499797100182,0.999999994223,-0.000100528076158,-3.71421451844e-05,8.30169128851e-06,1793243169074956032
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,713.600186328,678.600186328,664,634.600186328,879.600186328,787.399813672,805,652,631,652,0.415750092892,0.00444746047705,0.0499488010645,0.999999993566,-7.49742085653e-05,-8.39940860233e-05,1.38766406208e-05,1793243169091622656
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679,664.184998676,634.815001324,880,787,805,652,631,652,0.416517392944,0.00446673626497,0.0499315481868,0.999999993175,-3.9214823678e-05,-0.000108672746835,1.738863449e-05,1793243169108289280
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679,664.765606003,634.234393997,880,787,805,652,631,652,0.417338167114,0.0044981056536,0.0499434980163,0.999999996003,1.83684503667e-05,-8.59351662269e-05,1.64891206592e-05,1793243169124955392
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679,665,634,880,787.343651526,805,652.343651526,631,652,0.418171981824,0.00450316678719,0.0499628807543,0.999999997723,4.05923625698e-05,-5.07872481341e-05,1.80708813571e-05,1793243169141622016
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679,665,634,880,787.91996263,805,652.91996263,631,652,0.41901462523,0.00449041665715,0.0499872957329,0.999999998991,3.88772134058e-05,-7.23726191789e-06,2.13325190583e-05,1793243169158288640
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,678.501741317,664.501741317,634,880,788,805.498258683,652.501741317,631,652,0.419829984125,0.00448078405631,0.0499717828332,0.999999998751,1.5761263429e-05,-4.18266879136e-05,2.23786761119e-05,1793243169174955008
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,713.921892701,678.078107299,664,634,880.078107299,788,805.921892701,652,631,652,0.420655252408,0.00447238451382,0.049955695224,0.999999996884,-9.02832571039e-06,-7.50114326354e-05,2.28805502297e-05,1793243169191621632
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,713.334000579,678.665999421,664,634,880.665999421,788,805.334000579,652,631,652,0.421573916066,0.00446875127049,0.0499778850726,0.999999999367,-2.2214623151e-05,-1.67779925214e-05,2.21620729208e-05,1793243169208288256
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,713.250357626,678.749642374,664.250357626,634,880.749642374,788,805,652,631,652,0.422476064524,0.00446815184297,0.0499921522073,0.999999999437,-1.74120197943e-05,1.82667601722e-05,2.20997703038e-05,1793243169224955136
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,713.830066955,678.169933045,664.830066955,634,880.169933045,788,805,652,631,652,0.423356486953,0.00447154347534,0.0499959968174,0.999999999417,1.10554295772e-05,2.28062239279e-05,2.29006818374e-05,1793243169241621760
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,713.593793383,678.406206617,664.593793383,634,880,787.593793383,805,652,631,652,0.424222422346,0.00448048821793,0.0499842676978,0.999999999579,1.76972196664e-05,4.39477259969e-06,2.25890052981e-05,1793243169258288384
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,713.019134087,678.980865913,664.019134087,634,880,787.019134087,805,652,631,652,0.425082349956,0.00449173581867,0.0499660801986,0.999999999368,1.52879718838e-05,-2.35343553986e-05,2.18159417276e-05,1793243169274955264
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,713.555230502,679,664,634,880,787.555230502,805,652,631,652,0.426003274457,0.00448716982029,0.0499895926043,0.999999999662,4.70766164913e-06,7.46941644893e-06,2.44476912381e-05,1793243169291621632
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,664,634,880,788,805,652,631,652,0.426910528389,0.00448081395661,0.0500050076752,0.999999999409,-1.6375835407e-06,2.10736777792e-05,2.71297781354e-05,1793243169308288256
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,664,634,880,788,805,652,631,652,0.427763650356,0.00447018426197,0.0499877008817,0.999999999022,7.51899331346e-06,-3.20086845386e-05,2.95821251031e-05,1793243169324954880
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,713.691342881,679,664,634,880,787.691342881,805.308657119,652,631,652,0.428636528085,0.00446536892954,0.0499670296606,0.999999997246,5.58419421913e-06,-6.77666383474e-05,2.97340276015e-05,1793243169341621760
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,713.110551685,679,664,634,880,787.110551685,805.889448315,652,631,652,0.429526823854,0.00446567995311,0.0499433921216,0.999999995699,-6.1295515297e-06,-8.82501582347e-05,2.78576944937e-05,1793243169358288640
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,713.464930326,679,664.464930326,634,879.535069674,787,806,652,631,652,0.430431539491,0.00447068619607,0.0499513932482,0.999999997408,7.37582388971e-07,-6.65631223788e-05,2.74531164608e-05,1793243169374955264
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,713.960764303,679,664.960764303,634,879.039235697,787,806,652,631,652,0.431335586585,0.00447653670916,0.049964296116,0.999999998755,1.1005230252e-05,-4.01770912395e-05,2.74758924498e-05,1793243169391621888
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,713.385482237,679,664.385482237,634,879.614517763,787,806,652,631,652,0.432184183264,0.00447884105611,0.0499425461378,0.999999995942,8.05076068212e-06,-8.50416640852e-05,2.86100826262e-05,1793243169408288512
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,713,679,664,634,880.195131349,787,806,652,631,652,0.433049083837,0.00447729760093,0.0499328152688,0.999999994151,-4.90700986801e-08,-0.000104060256783,2.94922503813e-05,1793243169424955136
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,713,679,664,634,880.786573328,787,806,652,631,652,0.43394709768,0.00446793928252,0.0499474951366,0.99999999689,-1.85990999545e-05,-7.05858231525e-05,2.9862562347e-05,1793243169441621504
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,713.36832246,679,664.36832246,634,880.63167754,787,806,652,631,652,0.434822605362,0.00446238807309,0.0499658632855,0.999999998528,-9.4474393422e-06,-4.35514668148e-05,3.09573880614e-05,1793243169458288128
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,713.944598996,679,664.944598996,634,880.055401004,787,806,652,631,652,0.435685406061,0.00445898634983,0.0499863138291,0.999999999152,1.53445377495e-05,-2.01531663826e-05,3.24612726588e-05,1793243169474954752
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,664.481711851,634,880,787,806,652,631,652,0.436464684902,0.00446129817489,0.0499620877686,0.9999999963,6.15621246265e-06,-7.87827219378e-05,3.40035147031e-05,1793243169491621632
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,713.90515857,679.09484143,664.09484143,634,880,787,806,652,631,651.90515857,0.437252912987,0.00446452450982,0.0499412042824,0.999999991559,-6.03740163731e-06,-0.000125009495754,3.49019339269e-05,1793243169508288512
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,713.312114402,679.687885598,664.687885598,634,880,787,806,652,631,651.312114402,0.438134816559,0.00446936251666,0.0499628409325,0.999999997547,-1.50324555533e-05,-6.02540268442e-05,3.23969167206e-05,1793243169524955136
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745.272994683,713.272994683,680,665,634,880,787,806,652,631,651.272994683,0.438967613088,0.0044717524436,0.0499750437471,0.999999998924,-1.83585562441e-05,-2.84577334452e-05,3.17101211189e-05,1793243169541622016
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745.849287812,713.849287812,680,665,634,880,787,806,652,631,651.849287812,0.439745851391,0.00447142254131,0.049976765522,0.999999998782,-1.53864212678e-05,-3.32792518724e-05,3.30433790127e-05,1793243169558288640
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.573457559,713.573457559,679.573457559,664.573457559,634,880,787,806,652,631,652,0.440491326171,0.00446602992329,0.0499599972018,0.999999997639,5.09823100486e-06,-5.96917390942e-05,3.36498716616e-05,1793243169574955008
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,713.004213105,679,664.004213105,634,880,787.004213105,806,652,631,652,0.441225211274,0.00445887371874,0.0499369847149,0.999999994577,3.14688545186e-05,-9.3266821254e-05,3.40040272489e-05,1793243169591621376
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,713.592346519,679,664.592346519,634,880,787.592346519,806,652,631,652,0.441960884548,0.00445577671312,0.0499560756999,0.999999997496,1.4072410715e-05,-5.98335835778e-05,3.50559320982e-05,1793243169608288000
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.177845914,714,679,664.822154086,634,880,787.822154086,806,652,631,652,0.442695239056,0.00445394921289,0.0499751308904,0.999999998978,1.20007410375e-06,-2.68278708483e-05,3.63747577001e-05,1793243169624954880
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.757395913,714,679,664.242604087,634,880,787.242604087,806,652,631,652,0.443426614985,0.00445498916906,0.0499941052352,0.999999999252,-1.45357539682e-06,5.21218922273e-06,3.82964827672e-05,1793243169641621504
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.663528166,714,679,664,634,880,787,806,652,631,651.663528166,0.444087575987,0.00446068350761,0.0499838474523,0.99999999908,4.78664292015e-06,-1.52865749227e-05,3.97849158165e-05,1793243169658288128
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.08479362,714,679,664,634,880,787,806,652,631,651.08479362,0.444697837571,0.00446972904282,0.0499525422764,0.9999999963,1.74305252976e-05,-7.36137615619e-05,4.09613745539e-05,1793243169674955008
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679.49073161,664.49073161,634,880,787,806,652,631,651.49073161,0.445316879602,0.00447749564964,0.0499396208355,0.999999995397,2.97224074007e-05,-8.1507131589e-05,4.09840380556e-05,1793243169691621888
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,665,634,880,787,806,652,631,652,0.445936696478,0.00448343940478,0.0499339270283,0.999999995557,4.00386218532e-05,-7.48666420402e-05,4.09551099974e-05,1793243169708288768
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,665,634,880,787,806,652,631,652,0.44655083618,0.00447695641321,0.049959792184,0.999999998228,3.55103328314e-05,-2.26828079432e-05,4.20614895663e-05,1793243169724955392
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,665,634,880,787,806,652,631.240499153,652,0.447133191624,0.00447227416731,0.0499703784173,0.999999998501,3.31630054164e-05,-1.52550175788e-06,4.35388200852e-05,1793243169741622272
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,665,634,880,787,806,652,631.819777983,652,0.447670774048,0.00447012854645,0.0499594419596,0.999999998099,3.38878950062e-05,-2.40737891274e-05,4.55386915237e-05,1793243169758289152
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,665,634,880,787,806,651.603443692,631.603443692,652,0.448160448894,0.00446876490165,0.0499375726804,0.999999996696,3.3150764228e-05,-5.82611511248e-05,4.59890956766e-05,1793243169774955776
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,665,634,880,787,806,651.027794594,631.027794594,652,0.448628487764,0.00446775441276,0.0499107659185,0.999999993677,3.17533557286e-05,-9.77049547537e-05,4.57397294212e-05,1793243169791622912
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,713.456022859,680,664.456022859,634,880,787.543977141,806.543977141,651.543977141,631,652,0.449084770249,0.00446342649678,0.0499126990139,0.999999994003,2.46837790359e-05,-9.57714516252e-05,4.70347959391e-05,1793243169808289280
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.120430653,713.120430653,680,664,633.879569347,880,787.879569347,806.879569347,651.879569347,631,652,0.449534195044,0.00445965944307,0.049918301637,0.999999994773,1.83975231374e-05,-8.82979537368e-05,4.81499800329e-05,1793243169824955392
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.716137134,713.716137134,680,664,633.283862866,880,787.283862866,806.283862866,651.283862866,631,652,0.449958910151,0.00445877002318,0.0499326316931,0.999999996442,1.63382881518e-05,-6.72455319484e-05,4.82460404093e-05,1793243169841622016
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.697706542,714,680,664,633,880,787,806,651,631,652,0.450363166794,0.00445848604257,0.0499395093785,0.999999997355,-1.95302461004e-05,-5.90729028564e-05,3.76668126432e-05,1793243169858288640
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.120243505,714,680,664,633,880,787,806,651,631,652,0.450748800622,0.00445875317705,0.0499396033711,0.999999994175,-8.61744731784e-05,-6.26244026358e-05,1.7370157945e-05,1793243169874955520
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.543797937,745,714,680,664,633,880,787,806,651,631,651.543797937,0.451083746588,0.00445306671842,0.0499363244854,0.999999991627,-0.000104096498428,-7.52130476851e-05,1.5898416149e-05,1793243169891622400
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.032014216,745,714,680,663.967985784,633,880,787,806,651.032014216,631,651.032014216,0.451402062806,0.00444672523644,0.0499314598823,0.999999989822,-0.000108022143643,-9.11978874127e-05,1.92285082136e-05,1793243169908288768
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.601682639,745,714,680,663.398317361,633,880,787,806,651.601682639,631,651.601682639,0.451664967868,0.00445567832017,0.0499148613342,0.999999987834,-9.20802354034e-05,-0.000124304935586,2.00578926384e-05,1793243169924955392
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.820471777,663,633,880,787,806,652,631,652,0.451920095337,0.0044677445446,0.049898012409,0.999999986153,-5.33201664522e-05,-0.000156235802023,2.09877670763e-05,1793243169941622016
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.223617901,663,633,880,787,806,652,631,652,0.45215714322,0.00448704747663,0.0498805814677,0.999999981822,3.84822783518e-05,-0.000185432548281,2.21512372476e-05,1793243169958288896
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.362051941,663,633,880,787,806,651.637948059,631,652,0.452394880996,0.00450173604067,0.0498759083088,0.999999978053,7.90912712958e-05,-0.000192749544754,2.2038914216e-05,1793243169974955520
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679.941021117,663,633,880,787,806,651.058978883,631,652,0.452633032133,0.0045136599868,0.0498788787555,0.999999978336,8.90285910883e-05,-0.000186957666414,2.11622216751e-05,1793243169991621888
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,663,632.486120025,880,787,806,651,631,651.486120025,0.45283356708,0.00450866278644,0.0498823202506,0.999999980486,8.04883940656e-05,-0.000178949024773,2.29332373233e-05,1793243170008288512
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.08881518,713.91118482,679.91118482,662.91118482,632,880,787,806.08881518,651.08881518,631,651.08881518,0.4530238056,0.00450241381054,0.0498846989891,0.999999982335,7.06733238287e-05,-0.000172403596425,2.47643300161e-05,1793243170024955136
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.679396469,713.320603531,679.320603531,662.320603531,632,880,787,806.679396469,651.679396469,631,651.679396469,0.453179978049,0.00449993575303,0.0498807717862,0.999999982129,6.54959848748e-05,-0.000175545145512,2.52382082624e-05,1793243170041621504
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,713.264848898,679.264848898,662,632,880,787,806.735151102,651.735151102,631,652,0.453324222122,0.00449982511879,0.0498769016041,0.999999981295,6.44435102603e-05,-0.00018056690944,2.55631191314e-05,1793243170058288384
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,746,713.844210677,679.844210677,662,632,880,787,806.155789323,651.155789323,631,652,0.453454301021,0.00450252584289,0.0498730991355,0.999999979699,6.82893873415e-05,-0.000187821462482,2.5711128503e-05,1793243170074955264
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,746,714,680.421001069,662,632,880,787,806,651.842002138,631.421001069,652,0.453566275534,0.00450285939847,0.0498679586883,0.999999978303,6.63950969608e-05,-0.000195730520467,2.59944098296e-05,1793243170091622144
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,746,714,680.996845696,662,632,880,787,806,652.993691392,631.996845696,652,0.453671591278,0.00450232231298,0.0498623261347,0.999999976924,6.23895815679e-05,-0.000203880304211,2.6327443972e-05,1793243170108289024
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,746,714,679.857709564,662.571145218,632,880.571145218,787,806.571145218,652.428854782,631.428854782,652,0.453749952672,0.00450434961623,0.0498572610075,0.99999997508,6.46500264413e-05,-0.000212042864372,2.64100446023e-05,1793243170124956160
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.849955235,714,679.150044765,662.849955235,631.849955235,880.849955235,787,806.849955235,652,631.150044765,652,0.453824044525,0.00450583367343,0.049852598785,0.999999973474,6.64154099758e-05,-0.000218956784924,2.64531426324e-05,1793243170141623040
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.257466381,714,679.742533619,662.257466381,631.257466381,880.257466381,787,806.257466381,652,631.742533619,652,0.453885984339,0.0045056741859,0.0498491154115,0.999999972749,6.66192149088e-05,-0.000222188573967,2.63838248401e-05,1793243170158289664
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,662.325629218,631,880,787,806,652,631.674370782,652,0.453940175039,0.00450489566967,0.049846790119,0.999999972268,6.61251829342e-05,-0.000224446982733,2.67329087393e-05,1793243170174956288
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662.901506117,631,880,787,806,652,631.098493883,652,0.453988410512,0.00450364142677,0.0498453548171,0.999999971977,6.50948598294e-05,-0.000225957344234,2.74035364227e-05,1793243170191622656
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662.521293557,631,880.478706443,787,806.478706443,651.521293557,631,652,0.454025219475,0.00450630608627,0.0498439956879,0.999999971492,6.67977427847e-05,-0.000227631768683,2.71755108066e-05,1793243170208289536
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,880.945399131,787,806.945399131,651.054600869,631,652,0.454058277102,0.00450947401101,0.0498426199969,0.999999970944,6.89337325381e-05,-0.000229443222659,2.67698010075e-05,1793243170224956416
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,880.384155472,787,806.384155472,651.615844528,631,652,0.454078401542,0.00450980919576,0.049840944798,0.999999970249,6.98559389004e-05,-0.0002322120873,2.64357841982e-05,1793243170241622784
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,880.192343252,787,806,651.807656748,631,652,0.454096546529,0.00450986330998,0.0498396908236,0.999999969822,6.9654939239e-05,-0.000234141077299,2.61152200254e-05,1793243170258289408
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,880.801934587,787,806,651.198065413,631,652,0.45411039751,0.00450930770102,0.0498393506069,0.999999969985,6.70173811581e-05,-0.000234248136394,2.58238385277e-05,1793243170274956032
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,880.610701099,787,806,651,631,652,0.45411862869,0.00451014463327,0.0498384443867,0.999999969385,6.82609618921e-05,-0.000236418353112,2.6013093178e-05,1793243170291622400
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,880.034034559,787,806,651,631,652,0.454124155088,0.00451165178876,0.0498372657519,0.999999968404,7.13725156611e-05,-0.000239581557408,2.64336756425e-05,1793243170308288512
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.464373203,662,631,880,787,806,651.535626797,631,652,0.45412645257,0.00451127256512,0.0498355883936,0.999999967876,7.09010248332e-05,-0.000241901511944,2.65325948076e-05,1793243170324955136
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.109949096,714,679.109949096,662,631,880,786.890050904,806,652,631,652,0.454128450619,0.00451090082542,0.0498340595701,0.999999967376,7.04448578097e-05,-0.000244086543256,2.65785306204e-05,1793243170341621760
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.706860431,714,679.706860431,662,631,880,786.293139569,806,652,631,652,0.454130019452,0.00451108625143,0.049833327146,0.99999996689,7.10518977656e-05,-0.000245908249098,2.64791594641e-05,1793243170358288384
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.705476145,745.705476145,714,680,662,631,880.294523855,786.294523855,806,652,631,651.705476145,0.454130799862,0.00451209360659,0.0498320116177,0.999999966346,7.20396932532e-05,-0.000247848433024,2.62470505837e-05,1793243170374955008
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.126736882,745.126736882,714,680,662,631,880.873263118,786.873263118,806,652,631,651.126736882,0.454130819445,0.0045138941231,0.0498301333939,0.999999965746,7.33949177573e-05,-0.00024990294847,2.58868498378e-05,1793243170391621888
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,745,714,680,662,631,881,787.448709802,806,652,631,651.448709802,0.454130514027,0.00451553342591,0.049829789853,0.999999965528,7.42586259066e-05,-0.000250572572398,2.53608957174e-05,1793243170408288768
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.023228602,745,714,680.023228602,662,631,880.976771398,787.976771398,806,652,631,652,0.454130077093,0.00451701545653,0.0498297794473,0.999999965387,7.4972528747e-05,-0.000250976667923,2.48293575837e-05,1793243170424955392
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.597637237,745,714,680.597637237,662,631,880.402362763,787.402362763,806,652,631,652,0.454128681805,0.00451583824746,0.0498274632381,0.999999964505,7.54019489931e-05,-0.000254294176588,2.52681140228e-05,1793243170441621760
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680.822681045,662,631,880.177318955,787,806.177318955,652,631,652,0.454127872243,0.00451480349467,0.0498259504405,0.999999963914,7.55589173722e-05,-0.000256520473224,2.56737347048e-05,1793243170458288128
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680.230667229,662,631,880.769332771,787,806.769332771,652,631,652,0.454128432514,0.00451410190366,0.0498263165776,0.999999964026,7.50787040508e-05,-0.000256194758121,2.60018609487e-05,1793243170474955008
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680.351794871,662,631,880.648205129,787,807,652,631.351794871,652,0.454128829192,0.00451434028292,0.0498265456903,0.999999964151,7.49079258564e-05,-0.000255754452936,2.60263494311e-05,1793243170491621888
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680.928159566,662,631,880.071840434,787,807,652,631.928159566,652,0.454129121439,0.00451517869642,0.0498266873327,0.999999964284,7.49346769737e-05,-0.000255240998674,2.58570093813e-05,1793243170508288512
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.504141041,714,680.495858959,662,631,880.504141041,787,807,652,631.495858959,652,0.454130415398,0.00451674115248,0.0498273331633,0.999999964395,7.72733698515e-05,-0.000254114571172,2.57813450693e-05,1793243170524955136
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,746,714,680,662,631,880.91812027,787,806.91812027,652,631,652,0.454131387964,0.00451805855471,0.0498277088555,0.999999964355,7.96636174758e-05,-0.000253535370553,2.57437165766e-05,1793243170541622016
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,746,714,680,662,631,880.329161515,787,806.329161515,652,631,652,0.454129486809,0.00451721985994,0.0498259669781,0.999999963444,8.03343956122e-05,-0.00025688567199,2.58590366281e-05,1793243170558288640
+247,4.116666667,HOLD_POSE2,765,745,714,681,662,631,880,787,807,652,631,652,0.454128796592,0.00451735183755,0.0498242178187,0.999999963155,7.48051185264e-05,-0.000259730723307,2.51707532429e-05,1793243170596301312
+248,4.133333333,HOLD_POSE2,765,745,714,680.425439207,662,631,880,787,806.425439207,652,631,652,0.454128125651,0.00451836302946,0.049823890989,0.99999996285,7.70369928842e-05,-0.000260264610505,2.50392435232e-05,1793243170612967936
+249,4.150000000,HOLD_POSE2,764.850992538,745,714,680,662,631,880.149007462,787,806,652,631,652,0.454127211579,0.00451887675149,0.049823275091,0.999999962453,7.84392615885e-05,-0.000261368362935,2.50595559592e-05,1793243170629634560
+250,4.166666667,HOLD_POSE2,764.276871327,745,714,680,662,631,880.723128673,787,806,652,631,652,0.454125603864,0.0045179712073,0.0498218344898,0.9999999618,7.74746911582e-05,-0.000264097923635,2.55130123492e-05,1793243170646301184
+251,4.183333333,HOLD_POSE2,764.306633785,745,714,680,662,631,880.693366215,786.693366215,806,652,631,652,0.454125959684,0.00451807956835,0.0498220340769,0.999999961767,7.81103935238e-05,-0.000264038061745,2.54558834035e-05,1793243170662968064
+252,4.200000000,HOLD_POSE2,764.89887943,745,714,680,662,631,880.10112057,786.10112057,806,652,631,652,0.454128144425,0.00451913232429,0.049823761406,0.999999962311,8.02366586664e-05,-0.000261380011848,2.49231733493e-05,1793243170679634688
+253,4.216666667,HOLD_POSE2,765,745.480278802,714,680,662,631,880.480278802,786.480278802,806.480278802,652,631.480278802,652,0.454127513598,0.0045186106693,0.0498225308471,0.99999996209,8.02486177978e-05,-0.000262217480367,2.49554018719e-05,1793243170696301312
+254,4.233333333,HOLD_POSE2,765,746,714,680,661.941005703,631,880.941005703,787.058994297,806.941005703,652,631.941005703,652,0.454126599989,0.00451787033044,0.0498209661213,0.999999961783,7.98921590276e-05,-0.000263477623241,2.51072486849e-05,1793243170712968192
+255,4.250000000,HOLD_POSE2,765,746,714,680,661.366230393,631,880.366230393,787.633769607,806.366230393,652,631.366230393,652,0.454128282412,0.00451805219806,0.0498218043765,0.999999962112,8.01206764162e-05,-0.000262140793198,2.52879456016e-05,1793243170729634816
+256,4.266666667,HOLD_POSE2,765,746,714,680,661.21364202,631,880,787.78635798,806,652,631,652,0.454128975258,0.00451796866643,0.0498221065893,0.99999996228,7.88741359464e-05,-0.00026187011902,2.5344165189e-05,1793243170746301184
+257,4.283333333,HOLD_POSE2,765,746,714,680,661.802465505,631,880,787.197534495,806,652,631,652,0.454127930284,0.00451741906133,0.0498214674463,0.999999962159,7.50372138019e-05,-0.000263471744825,2.5181787373e-05,1793243170762967808
+258,4.300000000,HOLD_POSE2,765,745.615011453,714,680,662,631,880,787,806,652,631,652,0.454127688126,0.00451818459326,0.0498215047249,0.999999962002,7.58596118215e-05,-0.000263833370731,2.51483648643e-05,1793243170779634432
+259,4.316666667,HOLD_POSE2,765,745.035669013,714,680,662,631,880,787,806,652,631,652,0.454127851254,0.0045196140462,0.0498218834816,0.999999961825,7.90341756056e-05,-0.000263569007229,2.51800428907e-05,1793243170796301312
+260,4.333333333,HOLD_POSE2,765,745,714,680,662,631,880.54121855,787,806,652,631,652.54121855,0.454127140583,0.00451905518801,0.0498215155668,0.999999961552,8.00536359315e-05,-0.000264297653171,2.51800141655e-05,1793243170812967936
+261,4.350000000,HOLD_POSE2,765,745.119885318,714,680.119885318,662.119885318,631,880.880114682,787,806,652,631.119885318,652.880114682,0.45412676425,0.00451882837328,0.0498212236654,0.999999961355,8.09428497622e-05,-0.000264775780644,2.51378602155e-05,1793243170829634560
+262,4.366666667,HOLD_POSE2,765,745.706099475,714,680.706099475,662.706099475,631,880.293900525,787,806,652,631.706099475,652.293900525,0.454127911411,0.00452040055339,0.0498214179902,0.999999961482,8.18754128071e-05,-0.000264026028669,2.4939939478e-05,1793243170846301440
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,662,631,880,787,806,652,631,652,0.454124225348,0.00452161353889,0.0498187800781,0.999999960377,8.29966627604e-05,-0.000267834953533,2.49272889874e-05,1793243170883435520
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745.421403426,714.578596574,680.421403426,662,631,880.578596574,787,806,652,631,652,0.45412548708,0.00452108669311,0.0498193504863,0.999999960569,8.26629217201e-05,-0.000267201878564,2.51542754825e-05,1793243170900102144
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.843580849,680,662,631,880.843580849,786.843580849,806,651.843580849,631,652,0.454126204241,0.0045202519839,0.0498196203721,0.999999960655,8.2522276804e-05,-0.000266897778525,2.53936498215e-05,1793243170916768512
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.267833079,680,662,631,880.267833079,786.267833079,806,651.267833079,631,652,0.454125461512,0.00451859195399,0.0498190846173,0.999999960463,8.28992841001e-05,-0.000267475594669,2.56662335557e-05,1793243170933435136
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,662,631,880,786.304284016,806,651.304284016,631,652,0.454125470259,0.00451894756316,0.0498190169358,0.999999960426,8.25791450096e-05,-0.000267737379164,2.5392317073e-05,1793243170950102016
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,662,631,880,786.873243009,806,651.873243009,631,652,0.454126132661,0.00452105643321,0.0498193563979,0.999999960525,8.16526079425e-05,-0.000267724270216,2.46430389859e-05,1793243170966768896
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.534341952,745,714,680,662,631,880.465658048,787,806,652,631,652,0.454126687784,0.00452020046343,0.0498195899458,0.999999960726,8.15669109613e-05,-0.000266956202548,2.50683095215e-05,1793243170983435520
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.062339728,745,714,680.062339728,662.062339728,631,880.937660272,787,806,652,631.062339728,652,0.454126902034,0.00451869374633,0.0498196341486,0.999999960883,8.1722299689e-05,-0.000266258673217,2.57292320943e-05,1793243171000102144
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.638759784,745,714,680.638759784,662.638759784,631,880.361240216,787,806,652,631.638759784,652,0.454124558894,0.00451882907995,0.049818367294,0.999999960429,8.18781774723e-05,-0.00026792743184,2.55570031914e-05,1793243171016768768
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.214510706,714,680.785489294,663,631,880.214510706,787,806.214510706,652,631.785489294,652,0.454117416387,0.00451918752509,0.0498146274925,0.999999958824,8.20993334598e-05,-0.000273792341957,2.54855053845e-05,1793243171033435392
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.789138237,714,680.210861763,663,631,880.789138237,787,806.789138237,652,631.210861763,652,0.454102216787,0.00451992052594,0.0498067361508,0.999999955176,8.24300773317e-05,-0.000286701677708,2.55831131966e-05,1793243171050102016
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,662.625727543,631,880.625727543,787,806.625727543,652,631.374272457,652,0.454074430554,0.00451977215182,0.0497941278358,0.999999948736,8.26071050746e-05,-0.000308342418126,2.50612662861e-05,1793243171066768640
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,662.034502922,631,880.034502922,787,806.034502922,652,631.965497078,652,0.454039348305,0.00451911287667,0.0497787852618,0.999999940161,8.26950291431e-05,-0.000335044438111,2.41803439434e-05,1793243171083435264
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,662,631,880.545501466,787,806,652,631.454498534,652,0.453977737407,0.00452065308379,0.0497556224213,0.999999925939,8.21348351291e-05,-0.000375236729467,2.39596411183e-05,1793243171100102144
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,662,631,880.876594038,787,806.123405962,652,631,652,0.453912979378,0.00452226111975,0.0497338548843,0.999999911682,8.25439935372e-05,-0.000411418038287,2.36157058736e-05,1793243171116769024
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,662,631,880.303803942,787,806.696196058,652,631,652,0.453842748095,0.00452361976932,0.0497189332565,0.999999903563,8.66293287982e-05,-0.000429948796332,2.26740180393e-05,1793243171133435648
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.729758129,714,680,662,631,880.270241871,787,806.729758129,652,631.270241871,651.729758129,0.453767042519,0.00452481977789,0.0497092251926,0.999999898302,8.88903739276e-05,-0.000441603254119,2.19449406208e-05,1793243171150102272
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.154294092,714,680,662,631,880.845705908,787,806.154294092,652,631.845705908,651.154294092,0.453685154058,0.00452584061078,0.0497054055409,0.99999989657,8.90909913175e-05,-0.000445491337556,2.14559941221e-05,1793243171166768896
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,662,631,881,787,806,652,631.564984322,651.435015678,0.453589790188,0.00452666179111,0.0497056415446,0.999999896039,9.00706737138e-05,-0.000446496104053,2.12239763118e-05,1793243171183435520
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.028568865,714,680,662,631,880.971431135,787,806.028568865,652,631,652,0.453488115814,0.00452748881749,0.0497074705566,0.999999896046,9.15778519026e-05,-0.000446180719138,2.10632038689e-05,1793243171200102144
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.606191629,714,680,662,631,880.393808371,787,806.606191629,652,631,652,0.453360038137,0.00452983388428,0.0497113604517,0.999999897864,9.77376282273e-05,-0.000440794337534,2.04627185629e-05,1793243171216768768
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.817793722,714,680,662,631.182206278,880,787,806.817793722,652,631,651.817793722,0.45322214302,0.00453198378799,0.0497142960474,0.999999898628,0.000102559485107,-0.000437983438176,1.99025432341e-05,1793243171233435648
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.245224411,714,680,662,631.754775589,880,787,806.245224411,652,631,651.245224411,0.453063214803,0.00453371556939,0.0497151871291,0.999999897246,0.000104514950981,-0.000440690313571,1.94287290323e-05,1793243171250102528
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.338418488,662.338418488,631.661581512,880.338418488,787,806,652,631.338418488,651.338418488,0.452890589458,0.00453466874761,0.0497174236383,0.999999896577,0.000107927645365,-0.000441398553048,1.91223204729e-05,1793243171266768896
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.930357024,662.930357024,631.069642976,880.930357024,787,806,652,631.930357024,651.930357024,0.452707703143,0.00453503864961,0.04972066805,0.999999896432,0.000112431996156,-0.000440609551098,1.89413207524e-05,1793243171283435520
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.489139601,663,631.510860399,880.489139601,787,806,652,631.489139601,652,0.452483636804,0.00453821290662,0.0497207018173,0.999999893005,0.000119432354141,-0.000446527694508,1.83874394909e-05,1793243171300101888
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,663,632,880.089432367,787,806,652,631.089432367,652,0.452247616793,0.00454159418188,0.0497203953463,0.999999889447,0.000126179795129,-0.000452626269554,1.77107772644e-05,1793243171316768512
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,663,632,880.665790545,787,806,652,631.665790545,652,0.451976409592,0.00454406666919,0.049720567293,0.999999888007,0.000129738130827,-0.000454837927498,1.66363256367e-05,1793243171333435136
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,663,632,880.755213362,787,806.244786638,652,631.755213362,651.755213362,0.451697116076,0.00454758267922,0.0497208443587,0.999999887639,0.000134917899622,-0.000454188265549,1.52393907508e-05,1793243171350102016
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,663,632,880.172576498,787,806.827423502,652,631.172576498,651.172576498,0.451406661986,0.00455253894083,0.0497212665076,0.999999888715,0.000142335541728,-0.000449589459902,1.33973701901e-05,1793243171366768896
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.409942543,714,680.409942543,663,632.409942543,880,787,806.590057457,652,631,651.409942543,0.451091464477,0.00455658918039,0.0497237985377,0.999999893498,0.000148564261694,-0.000436813124579,1.12581111849e-05,1793243171383435520
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.992411984,714,680.992411984,663,632.992411984,880,787,806.007588016,652,631,651.992411984,0.450765853553,0.00456025811475,0.0497272185244,0.999999899606,0.000154292616078,-0.000420595224479,8.99375755478e-06,1793243171400101888
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.430753303,714,680.430753303,663,633,880,787,806,651.430753303,631,652,0.45040826883,0.00456579216581,0.0497453685268,0.999999911218,0.00016523392716,-0.000387568820772,7.28696041626e-06,1793243171416768768
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.145781676,745.145781676,714,680,663,633,880,787,806,651.145781676,631,652,0.450033502598,0.00457112915854,0.049761412771,0.99999992046,0.000175222159584,-0.000358254542813,5.54694790833e-06,1793243171433435648
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.721651691,745.721651691,714,680,663,633,880,787,806,651.721651691,631,652,0.449609292243,0.00457581215528,0.0497706709586,0.99999992541,0.00018219560006,-0.000340546404108,3.68723131965e-06,1793243171450102528
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,746,714,680.302669125,663.302669125,633.302669125,880.302669125,787,806.302669125,652,631.302669125,652,0.449164975526,0.00458008888924,0.04977477624,0.999999926513,0.000188652848452,-0.000333738383451,1.94332459924e-06,1793243171466769408
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,746,714,680.888502329,663.888502329,633.888502329,880.888502329,787,806.888502329,652,631.888502329,652,0.448701848122,0.00458398554195,0.0497740606874,0.999999924232,0.000194627170815,-0.000337128037503,3.07764342875e-07,1793243171483435776
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.565433698,745.565433698,714,680.565433698,664.434566302,634,881,787,806.565433698,652,631.565433698,652,0.448215904799,0.00458885110481,0.0497763383339,0.99999992624,0.000201632870113,-0.000326890182712,-2.53146328156e-06,1793243171500102400
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.028717944,745.028717944,714,680.028717944,664.971282056,634,881,787,806.028717944,652,631.028717944,652,0.447724598379,0.00459394442012,0.0497793195639,0.999999929043,0.000208881005179,-0.00031344903606,-5.65362568559e-06,1793243171516769280
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,664.406105065,634,880.406105065,787,806,652,631,652,0.447134279494,0.0045996472018,0.0497711998538,0.999999922174,0.000218523837529,-0.000328374709592,-8.38480314541e-06,1793243171533435648
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,664.203350306,634,880,787.203350306,806.203350306,651.796649694,631.203350306,652,0.446529679332,0.00460506170916,0.0497637743864,0.999999915482,0.000228166643772,-0.000341836902953,-1.10730195855e-05,1793243171550102272
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,664.77975896,634,880,787.77975896,806.77975896,651.22024104,631.77975896,652,0.445909147992,0.00460988415149,0.0497587738355,0.999999910553,0.000237561046035,-0.000349672311457,-1.37229706225e-05,1793243171566768896
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713.637443064,680,664.637443064,634,880.362556936,787.637443064,806.637443064,651,631.637443064,652,0.445297116244,0.00461457265817,0.049772790554,0.999999912709,0.00024722428053,-0.000336472013494,-1.57766733203e-05,1793243171583435520
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713.050694187,680,664.050694187,634,880.949305813,787.050694187,806.050694187,651,631.050694187,652,0.444690340356,0.00461917834376,0.0497985668562,0.999999918677,0.00025705375055,-0.000310264003918,-1.74616777561e-05,1793243171600101888
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713.508464025,680,664.508464025,634,880.491535975,787,806,651.508464025,631.508464025,652,0.443992633902,0.00462772582302,0.0497954213385,0.999999911366,0.000270713257906,-0.000321796375765,-2.07332471609e-05,1793243171616768768
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.069932147,714,680,664.930067853,634,880,787.069932147,806,652,631.930067853,652,0.443283862398,0.0046361223096,0.0497878472084,0.999999902235,0.000283937791836,-0.000338117355871,-2.41889184622e-05,1793243171633435392
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.668591464,714,680,664.331408536,634,880,787.668591464,806,652,631.331408536,652,0.442556448148,0.00464055883242,0.0497674692246,0.999999891107,0.000291135207948,-0.000363658721108,-2.79021159525e-05,1793243171650102016
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.743375045,714,680.256624955,664,633.743375045,880.256624955,787.743375045,806,651.743375045,631.256624955,652,0.441829759654,0.00464232526601,0.0497701947581,0.999999910844,0.000229120266086,-0.000353228764208,-3.23390535151e-05,1793243171666768640
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745.1685182,714,680.8314818,664,633.1685182,880.8314818,787.1685182,806,651.1685182,631.8314818,652,0.441103971047,0.00464078061324,0.049801570176,0.999999951528,8.12774261309e-05,-0.000298191989506,-3.76734765242e-05,1793243171683435264
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.580735827,664,633.419264173,880.580735827,787,806,651.419264173,631.580735827,652,0.440351798529,0.00461881270883,0.0498215412375,0.999999963441,1.17077108513e-05,-0.000267310973858,-3.90544136569e-05,1793243171700102144
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.987933433,664,634,880,787.012066567,806,652,631,652,0.439586782166,0.00458878332599,0.0498357270342,0.999999968155,-2.46308865825e-05,-0.000248143719954,-3.88277100021e-05,1793243171716769024
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.411067077,664,634,880,787.588932923,806,652,631,652,0.438732745329,0.00457787567168,0.0498005029457,0.999999951344,-2.49557871164e-05,-0.000308351643143,-4.0097081248e-05,1793243171733435648
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745.165430001,714,679.165430001,664,634,880.165430001,787.834569999,806,652,631.165430001,651.834569999,0.437880503165,0.00457427674506,0.0497754796116,0.999999936378,-1.74906399515e-05,-0.000353754727815,-4.2376409525e-05,1793243171750102272
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745.741011492,714,679.741011492,664,634,880.741011492,787.258988508,806,652,631.741011492,651.258988508,0.437032710591,0.00458879838687,0.049775747065,0.999999933159,9.28841414221e-06,-0.000362452095444,-4.71597299032e-05,1793243171766768640
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,664,634,881,787,806,652,632,651.911903419,0.435308064731,0.00460232255667,0.0498022863669,0.999999944809,4.63549784236e-05,-0.000324580346714,-5.36754436089e-05,1793243171800101632
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745.507022684,714,680,664,634,880.507022684,787,805.507022684,652,631.507022684,652,0.434417371728,0.00460644777143,0.0497883523147,0.999999937286,5.81290491969e-05,-0.000344519400512,-5.79302242976e-05,1793243171816768512
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.92729728,664,634,880,787.07270272,805,651.92729728,631,652,0.433526677219,0.00460911272576,0.0497747175958,0.999999928673,8.08152765008e-05,-0.00036436120571,-5.80028452342e-05,1793243171833435392
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.22841438,745,714,679.22841438,664,634,880,787.77158562,805.22841438,651.22841438,631,652,0.431783799624,0.00459765857341,0.0498151929207,0.999999927893,0.000227789462029,-0.000303671322985,-1.04363649617e-05,1793243171866768384
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.800843635,745,714,679.800843635,664,634,880,787.199156365,805.800843635,651.800843635,631,652,0.430870760708,0.00459718637053,0.0498104644341,0.99999993726,0.000178589748735,-0.000305552196659,-1.49269983299e-05,1793243171883435008
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.804116734,745,713.195883266,679,663.195883266,634.195883266,879.195883266,787.804116734,805,652,631,652,0.420783763491,0.00460303140661,0.0497895732229,0.99999993288,0.000137334189123,-0.000337460544356,-3.87148614509e-05,1793243172066769408
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,664,634.056592784,879.056592784,787,805,652,631,652,0.418136115576,0.00462089514111,0.0497909887355,0.999999920384,0.000143708115937,-0.00037042848007,-3.69247474154e-05,1793243172116768512
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..07b19798bf22034226f2f59db43f94bc50cb24b5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_04/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..76eddbbfe7efbb9614ea7b959449583923e86dd4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:befcc735cf0c68c00827335f2535817b25494a1c0f953e6153872020226237a6
+size 25958191
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e722ff6c864b355611ea3ea6095a591ff79115cd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_05/franka_data.csv
@@ -0,0 +1,410 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,745,714,678,664,634,879,787,805,653,631,652,0.400988763198,0.00458574002696,0.0498564637482,0.999999961155,0.000118843537733,-0.000250358398324,-2.97660681604e-05,1793243173410925568
+1,0.016666667,BASELINE,765,745,713.423908699,678.576091301,664,634.576091301,879,787.576091301,805,652.423908699,631,652,0.400988094987,0.0045850849009,0.0498563552106,0.999999961244,0.000118503524491,-0.000250176553007,-2.9677094987e-05,1793243173427592192
+2,0.033333333,BASELINE,765,745,713.156425037,679,663.843574963,635,879,787.843574963,805,652.156425037,631,652,0.400987968132,0.00458464623477,0.0498565036262,0.999999961479,0.000117983887747,-0.000249475315328,-2.97223774112e-05,1793243173444258816
+3,0.050000000,BASELINE,765,745,713.748576323,679,663.251423677,635,879,787.251423677,805,652.748576323,631,652,0.40098934924,0.00458481052357,0.049857367792,0.99999996212,0.000116963904714,-0.00024732729588,-3.01416324791e-05,1793243173460925440
+4,0.066666667,BASELINE,765,745.332513489,714,678.667486511,663.332513489,635,879,787.332513489,805,653,631,652,0.400989964703,0.00458489935164,0.0498577514474,0.999999962221,0.000116983990865,-0.000246906413071,-3.01807368316e-05,1793243173477592064
+5,0.083333333,BASELINE,765,745.910389403,714,678.089610597,663.910389403,635,879,787.910389403,805,653,631,652,0.400990015195,0.00458493249707,0.0498577805331,0.999999961924,0.000117771546382,-0.000247759988263,-2.99393271224e-05,1793243173494258688
+6,0.100000000,BASELINE,765,745.515152891,714,678.484847109,664,634.515152891,879,787.515152891,805,653,631,652,0.400989715601,0.00458509540968,0.0498574207875,0.999999961917,0.000118117187207,-0.000247603629514,-3.00979185878e-05,1793243173510925312
+7,0.116666667,BASELINE,765,745,713.939725461,678.939725461,664.060274539,634,879,787.060274539,804.939725461,652.939725461,631,652,0.400989366285,0.00458521978952,0.0498570581397,0.99999996196,0.000118182148424,-0.000247376824204,-3.02909422464e-05,1793243173527591680
+8,0.133333333,BASELINE,765,745,713.350276766,678.350276766,664.649723234,634,879,787.649723234,804.350276766,652.350276766,631,652,0.400989144528,0.00458479678491,0.049857296525,0.999999961969,0.000116494955422,-0.000248158816391,-3.01417500811e-05,1793243173544258304
+9,0.150000000,BASELINE,765,745,713.23540738,678.23540738,664.76459262,634,879,788,804.23540738,652.23540738,631,652,0.400989549091,0.00458406868717,0.049857590727,0.999999962128,0.000115222277927,-0.000248138572304,-2.99229540789e-05,1793243173560924928
+10,0.166666667,BASELINE,765,745,713.815578142,678.815578142,664.184421858,634,879,788,804.815578142,652.815578142,631,652,0.400990870925,0.00458289376857,0.0498579666748,0.99999996251,0.000114556674872,-0.000246943421519,-2.96022205289e-05,1793243173577591808
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+12,0.200000000,BASELINE,765,745,714,679,664,634.962504291,879,788,805,653,631,652,0.400989889734,0.00458490564012,0.0498572647801,0.999999961924,0.000117296433411,-0.000247974074607,-3.00437435107e-05,1793243173610926336
+13,0.216666667,BASELINE,765,745,714,679,663.461041443,635,879,787.461041443,804.461041443,653,631,652,0.400990830941,0.00458507134866,0.0498585974436,0.999999962367,0.000117204495238,-0.000246242508512,-2.99009691734e-05,1793243173627592704
+14,0.233333333,BASELINE,765,745,713.881758089,679,663.118241911,635,879.118241911,787,804.118241911,653,631,652,0.400991425367,0.0045848279957,0.049859510733,0.99999996269,0.000117009485997,-0.000245037967445,-2.97661947712e-05,1793243173644259072
+15,0.250000000,BASELINE,765,745,713.292392233,679,663.707607767,635,879.707607767,787,804.707607767,653,631,652,0.400990142327,0.00458330468842,0.0498582442751,0.999999962303,0.000116919713102,-0.00024665141599,-2.97934602204e-05,1793243173660925440
+16,0.266666667,BASELINE,764.706775607,745,713.293224393,678.706775607,664,634.706775607,879.706775607,787,805,652.706775607,631,652,0.400989699538,0.00458304167902,0.0498580022443,0.999999962163,0.000117111919318,-0.00024712863088,-2.97614294783e-05,1793243173677592320
+17,0.283333333,BASELINE,764.124850404,745,713.875149596,678.124850404,664,634.124850404,879.124850404,787,805,652.124850404,631,652,0.400990084036,0.00458401952494,0.049858768837,0.999999962269,0.000117581754548,-0.000246487140739,-2.96710173077e-05,1793243173694259200
+18,0.300000000,BASELINE,764,745,713.54796012,678.45203988,664,634.45203988,879,787.45203988,805,652,631,652,0.400989550705,0.00458439811202,0.0498582379546,0.999999961987,0.000118297849326,-0.000247296828457,-2.95979845477e-05,1793243173710925824
+19,0.316666667,BASELINE,764,745,713,679,664,635,879,788,804.972795215,652.027204785,631,652,0.400988827767,0.00458460834716,0.0498573976351,0.999999961627,0.000119037132237,-0.000248401328694,-2.95521897588e-05,1793243173727591936
+20,0.333333333,BASELINE,764,745,713,679,664,635,879,788,804.404592048,652.595407952,631,652,0.400989319865,0.00458472583642,0.049857451582,0.999999961858,0.00011889987588,-0.000247485832938,-2.9953649719e-05,1793243173744258816
+21,0.350000000,BASELINE,764.172484281,745,713,678.827515719,664,635,879,787.827515719,804.172484281,653,631,652,0.400990050286,0.00458413196357,0.0498577415961,0.999999962222,0.000117679477862,-0.000246582260795,-3.00689851807e-05,1793243173760925440
+22,0.366666667,BASELINE,764.771502859,745,713,678.228497141,664,635,879,787.228497141,804.771502859,653,631,652,0.400991370049,0.0045817789719,0.0498586153779,0.999999962906,0.000113780591923,-0.00024570817454,-2.94767667639e-05,1793243173777592320
+23,0.383333333,BASELINE,765,745,713.355145238,678.355145238,664,635,879,787,805,653,631,652,0.400990304862,0.00458290392278,0.0498580991,0.999999962576,0.000114756318684,-0.000246578064004,-2.96456373523e-05,1793243173794258944
+24,0.400000000,BASELINE,765,745,713.929305313,678.929305313,664,635,879,787,805,653,631,652,0.400987768897,0.00458617368897,0.049856725585,0.99999996161,0.000118738174378,-0.000248523447341,-3.02838645493e-05,1793243173810925824
+25,0.416666667,BASELINE,765,745,713.493610968,679,664,634.493610968,879,787.506389032,804.493610968,653,631,652,0.400988647546,0.00458590390485,0.0498575632526,0.999999961849,0.000119634667602,-0.000247158305627,-3.00544615347e-05,1793243173827592448
+26,0.433333333,BASELINE,765,745,713,679,664,634.085180104,879,788,804.085180104,652.914819896,631,652,0.400989723527,0.00458522746625,0.0498584717828,0.999999962148,0.0001200423954,-0.000245774715323,-2.97978323622e-05,1793243173844259072
+27,0.450000000,BASELINE,765,745,713,679,664,634.671602585,879,788,804.671602585,652.328397415,631,652,0.400989139281,0.00458508272521,0.0498579702505,0.999999961823,0.000120123353449,-0.000247017981181,-3.0097895414e-05,1793243173860925696
+28,0.466666667,BASELINE,764.743931596,745,713,678.743931596,664,634.743931596,879,787.743931596,805,652.256068404,631,652,0.400989427504,0.00458526097851,0.04985795496,0.999999961702,0.000120271752602,-0.000247427035462,-3.01734493624e-05,1793243173877592320
+29,0.483333333,BASELINE,764.161956122,745,713,678.161956122,664,634.161956122,879,787.161956122,805,652.838043878,631,652,0.40099082615,0.00458585031783,0.049858558526,0.999999961841,0.000120505986363,-0.000246774359885,-2.99632628309e-05,1793243173894258944
+30,0.500000000,BASELINE,764.416816584,745,713,678.416816584,664,634,879,787,805,653,631,652,0.400990103769,0.00458452951659,0.0498582440892,0.999999962188,0.000117143460445,-0.000247003378631,-2.98329740131e-05,1793243173910925824
+31,0.516666667,BASELINE,764.994354315,745,713,678.994354315,664,634,879,787,805,653,631,652,0.400988563537,0.0045824721804,0.0498575756778,0.999999962596,0.000112394052705,-0.000247572371677,-2.97334931201e-05,1793243173927592448
+32,0.533333333,BASELINE,765,745,713,679,664,634.564711553,879,787.564711553,805,653,631,652,0.400989556732,0.00458320625237,0.049857998025,0.999999962525,0.000113819441796,-0.000247156636634,-3.0132266806e-05,1793243173944259072
+33,0.550000000,BASELINE,765,745,713,679,664,635,879,787.859011803,805,653,631,652,0.400990099481,0.00458416357064,0.0498581504008,0.999999962364,0.000115637235535,-0.000246933899481,-3.03844522735e-05,1793243173960925440
+34,0.566666667,BASELINE,765,745,713,679,664,635,879,787.263420127,805,653,631,652,0.400989109166,0.00458575187215,0.0498573975587,0.999999961927,0.000118523750687,-0.000247364811417,-3.01481174006e-05,1793243173977592064
+35,0.583333333,BASELINE,765,745,713.321147011,679,664,634.678852989,879,787,805,653,631,652,0.400989444473,0.00458651490927,0.0498577281417,0.99999996199,0.000119922012255,-0.000246444352985,-3.00494909927e-05,1793243173994258688
+36,0.600000000,BASELINE,765,745,713.896971483,679,664,634.103028517,879,787,805,653,631,652,0.400990831029,0.00458662349164,0.0498589179072,0.999999962453,0.00012014005251,-0.000244452224728,-3.00600707526e-05,1793243174010925312
+37,0.616666667,BASELINE,765,745,714,679,664,634,879,787.472396792,805,653,631.472396792,652.472396792,0.400990184227,0.00458793629686,0.049858939978,0.999999962066,0.000122819571184,-0.00024468003941,-3.02487752164e-05,1793243174027592192
+38,0.633333333,BASELINE,765,745,714,679,664,634.04899274,879,788,805,653,631.95100726,653,0.40098925921,0.00458913075111,0.049858738186,0.999999961602,0.000125313021709,-0.000245287657704,-3.04383622356e-05,1793243174044259072
+39,0.650000000,BASELINE,765,745,714,679,664,634.639489265,879,788,805,653,631.360510735,653,0.400990156573,0.00458611668846,0.0498588745354,0.999999962415,0.000119821348818,-0.000244746328912,-3.02086839948e-05,1793243174060925696
+40,0.666666667,BASELINE,765,745,714,679,664,635,879,787.773860305,805,653,631,652.773860305,0.400991033756,0.00458446803482,0.0498591077196,0.999999962904,0.000116894914482,-0.000244172745579,-3.01188107557e-05,1793243174077592064
+41,0.683333333,BASELINE,765,745,714,679,664,635,879,787.193238799,805,653,631,652.193238799,0.400991879307,0.0045849597073,0.0498594926958,0.999999962924,0.000117989580833,-0.000243548602175,-3.02480867177e-05,1793243174094258688
+42,0.700000000,BASELINE,765,745,713.61557316,678.61557316,664,634.61557316,879,787,804.61557316,653,631,652,0.400991147337,0.0045852513056,0.0498592922648,0.999999962752,0.000118254009,-0.000244136174709,-3.01702994845e-05,1793243174110925056
+43,0.716666667,BASELINE,765,745,713.039382018,678.039382018,664,634.039382018,879,787,804.039382018,653,631,652,0.400989628449,0.00458544310054,0.0498587998142,0.999999962483,0.000118104287991,-0.000245328189607,-2.99892225574e-05,1793243174127591680
+44,0.733333333,BASELINE,764.466489534,745,713,678,664,634.533510466,879,787.533510466,804.533510466,653,631,652,0.40098981788,0.00458425204581,0.0498584979687,0.999999962337,0.000118472929083,-0.000245797948214,-2.95465893669e-05,1793243174144259328
+45,0.750000000,BASELINE,764.109966487,745,713,678.109966487,663.890033513,634.890033513,879,788,805,653,631,652,0.400990054754,0.00458328013613,0.0498582596218,0.999999962274,0.000118241376554,-0.000246200918508,-2.92429840726e-05,1793243174160926720
+46,0.766666667,BASELINE,764.703144529,745,713,678.703144529,663.296855471,634.296855471,879,788,805,653,631,652,0.400989949389,0.00458371697731,0.0498582388535,0.999999962533,0.000115205365918,-0.0002465432434,-2.96346092423e-05,1793243174177592576
+47,0.783333333,BASELINE,765,745,713.288211708,679,663.288211708,634,879,787.711788292,805,653,631,652,0.400990710548,0.00458389071806,0.049859152958,0.999999962949,0.00011459551734,-0.00024512121189,-2.97493668111e-05,1793243174194258944
+48,0.800000000,BASELINE,765,745,713.865153508,679,663.865153508,634,879,787.134846492,805,653,631,652,0.400992339791,0.00458380088524,0.0498610036167,0.99999996352,0.000116416194185,-0.000241931650615,-2.95867588476e-05,1793243174210926080
+49,0.816666667,BASELINE,765,745,714,679,664,634,879,787.440987097,805,653,631,652,0.400990754678,0.004583352062,0.0498598872031,0.999999962931,0.00011664439886,-0.000244249842513,-2.95701194373e-05,1793243174227592704
+50,0.833333333,BASELINE,765,745,714,678.983198627,664.016801373,634,879,788,805,652.983198627,631,652.016801373,0.400988286071,0.00458283040815,0.0498579255708,0.999999962011,0.000116354349103,-0.000248118483049,-2.96001269698e-05,1793243174244259328
+51,0.850000000,BASELINE,765,745,714,678.396574054,664.603425946,634,879,788,805,652.396574054,631,652.603425946,0.40098910514,0.0045835523407,0.049857991668,0.999999962299,0.00011496124938,-0.000247594813307,-2.97021734325e-05,1793243174260925696
+52,0.866666667,BASELINE,765,745,713.812133807,678.187866193,664.812133807,634,879,787.812133807,805,652.187866193,631,652.812133807,0.400989998403,0.00458405013427,0.049858378003,0.999999962651,0.000114143497787,-0.000246533247138,-2.98298139333e-05,1793243174277592320
+53,0.883333333,BASELINE,765,745,713.232251576,678.767748424,664.232251576,634,879,787.232251576,805,652.767748424,631,652.232251576,0.400991046484,0.00458408022217,0.0498594325712,0.999999963138,0.000114526311904,-0.000244349264982,-3.0010860915e-05,1793243174294258688
+54,0.900000000,BASELINE,765,745,713.346563031,679,664,634.346563031,879,787.346563031,805,652.653436969,631,652,0.400990517376,0.00458347393299,0.0498588835356,0.999999963027,0.000114316075949,-0.000244911060821,-2.99380127634e-05,1793243174310925312
+55,0.916666667,BASELINE,765,745,713.924664337,679,664,634.924664337,879,787.924664337,805,652.075335663,631,652,0.40098893455,0.0045824424812,0.0498572631346,0.999999962514,0.000113709624059,-0.000247307307171,-2.96955376224e-05,1793243174327592192
+56,0.933333333,BASELINE,765,745.500417396,714,678.499582604,664,634.499582604,879,787.499582604,804.499582604,652,630.499582604,652.500417396,0.400988064345,0.0045832523005,0.0498568118039,0.999999961991,0.000116987296399,-0.000247887266093,-2.97423132212e-05,1793243174344258560
+57,0.950000000,BASELINE,765,745.922465329,714,678.077534671,664,634.077534671,879,787,804.077534671,652.077534671,630.077534671,653,0.400987652285,0.00458419889768,0.0498568053753,0.999999961648,0.000119988735216,-0.000247823436599,-2.98311994686e-05,1793243174360925184
+58,0.966666667,BASELINE,765,745.334040737,714,678.665959263,664,634.665959263,879,787,804.665959263,652.665959263,630.665959263,653,0.400989555422,0.00458422878922,0.0498585762181,0.99999996258,0.000117335071434,-0.000245310860994,-2.9911971715e-05,1793243174377591808
+59,0.983333333,BASELINE,765,745,714,678.749245332,664,635,879,787.250754668,805,653,631,652.749245332,0.400990476199,0.00458429203933,0.0498594708499,0.999999963068,0.000115613179505,-0.000244122914447,-3.00104562379e-05,1793243174394258432
+60,1.000000000,BASELINE,765,745,714,678.169215463,664,635,879,787.830784537,805,653,631,652.169215463,0.400990107002,0.00458439909381,0.049859214897,0.999999962988,0.000115114831187,-0.000244674386815,-3.01321994157e-05,1793243174410925312
+61,1.016666667,BASELINE,765,745,713.591894974,678.408105026,664,635,879,788,805,653,631,652,0.400990131979,0.00458450785899,0.0498593029267,0.999999962953,0.000115319316088,-0.000244709687846,-3.02047340913e-05,1793243174427591936
+62,1.033333333,BASELINE,765,745,713.01569052,678.98430948,664,635,879,788,805,653,631,652,0.400990319319,0.00458461732881,0.0498595326436,0.999999962938,0.000115813299691,-0.000244532376647,-3.02569996608e-05,1793243174444258560
+63,1.050000000,BASELINE,765,745,713.570010999,679,664,634.429989001,879,788,805,653,631,652.570010999,0.400990846292,0.00458606663787,0.0498594754962,0.999999962921,0.000117249009509,-0.000243908618677,-3.03259987469e-05,1793243174460924928
+64,1.066666667,BASELINE,764.845830936,745.154169064,713.845830936,678.845830936,664,634.154169064,879.154169064,788,805,653,631,652.845830936,0.400991267149,0.0045867256595,0.0498594230368,0.999999962971,0.000117833362663,-0.000243422156708,-3.03110361904e-05,1793243174477591808
+65,1.083333333,BASELINE,764.266660662,745.733339338,713.266660662,678.266660662,664,634.733339338,879.733339338,788,805,653,631,652.266660662,0.400991369259,0.00458510268418,0.0498594056383,0.999999963211,0.000115998090063,-0.000243348633577,-3.0063323432e-05,1793243174494258432
+66,1.100000000,BASELINE,764.312260723,745.687739277,713.312260723,678.312260723,664,635,879.687739277,788,805,653,631,652,0.400991481294,0.00458341226082,0.0498592875104,0.999999963395,0.000114307109878,-0.000243412600366,-2.98921547153e-05,1793243174510925056
+67,1.116666667,BASELINE,764.890969703,745.109030297,713.890969703,678.890969703,664,635,879.109030297,788,805,653,631,652,0.400991601796,0.00458166428495,0.0498590834316,0.999999963532,0.00011273925274,-0.000243593885627,-2.97863001068e-05,1793243174527591680
+68,1.133333333,BASELINE,765,745.466116643,714,679,664,635,879,788,805,653,631,652,0.400991621445,0.00458175246589,0.0498594044537,0.99999996356,0.000112820094113,-0.000243432224202,-2.98577129122e-05,1793243174544258304
+69,1.150000000,BASELINE,765,745.958523557,714,679,664,634.958523557,879,788,804.958523557,653,631,652.041476443,0.400991638783,0.00458234607345,0.0498598335207,0.999999963558,0.000113394401592,-0.000243160131952,-2.99797403643e-05,1793243174560925184
+70,1.166666667,BASELINE,765,745.369436632,714,679,664,634.369436632,879,788,804.369436632,653,631,652.630563368,0.400991934712,0.00458398515087,0.0498600797122,0.999999963482,0.000115430806575,-0.000242481127759,-3.02267219739e-05,1793243174577591808
+71,1.183333333,BASELINE,765,745.216136504,714,679,664,634.216136504,878.783863496,788,804.216136504,653,631,652.783863496,0.400991509243,0.00458464699244,0.0498598887433,0.999999963314,0.000116103008098,-0.000242851399335,-3.02400778159e-05,1793243174594258432
+72,1.200000000,BASELINE,765,745.795799783,714,679,664,634.795799783,878.204200217,788,804.795799783,653,631,652.204200217,0.400989870428,0.00458366519061,0.0498589625003,0.999999962992,0.000114480713291,-0.000244986480679,-2.986049118e-05,1793243174610925056
+73,1.216666667,BASELINE,765,745.627625723,713.627625723,678.627625723,664,634.627625723,878.372374277,788,805,652.627625723,630.627625723,652,0.400989798038,0.00458410383944,0.0498590464122,0.999999962949,0.000115066237288,-0.000244888726788,-2.98646174752e-05,1793243174627591680
+74,1.233333333,BASELINE,765,745.052731139,713.052731139,678.052731139,664,634.052731139,878.947268861,788,805,652.052731139,630.052731139,652,0.400990577567,0.0045853150178,0.0498596797093,0.999999963056,0.000116852510658,-0.000243576617997,-3.00774307671e-05,1793243174644258304
+75,1.250000000,BASELINE,765,745,713,678.533770967,664,634.533770967,879.533770967,787.466229033,805.533770967,652.533770967,630.533770967,652,0.400991376078,0.00458504650405,0.0498606120314,0.999999963219,0.000117293631537,-0.000242711978578,-2.99209841004e-05,1793243174660924928
+76,1.266666667,BASELINE,765,745,713.119734937,679,664,635,880,787,805.880265063,653,631,652.119734937,0.400991654494,0.00458461138788,0.04986097932,0.99999996326,0.000117262467069,-0.000242565736078,-2.98525803707e-05,1793243174677591552
+77,1.283333333,BASELINE,765,745,713.699132909,679,664,635,880,787,805.300867091,653,631,652.699132909,0.400989928906,0.00458411033906,0.0498590615147,0.999999962808,0.000115939692616,-0.00024500394576,-3.02653306054e-05,1793243174694258176
+78,1.300000000,BASELINE,765,745,714,679,664,635,879.722248879,787.277751121,805.277751121,653,631,652.722248879,0.400989784886,0.00458397791875,0.0498588155283,0.999999962968,0.000115162965582,-0.000244691646259,-3.04445814482e-05,1793243174710925056
+79,1.316666667,BASELINE,765,745,714,679,664,635,879.144472995,787.855527005,805.855527005,653,631,652.144472995,0.400991349262,0.00458424368833,0.0498603754286,0.99999996379,0.000114976075124,-0.000241408266375,-3.03716079013e-05,1793243174727591680
+80,1.333333333,BASELINE,765,745,714,679,664,634.567588061,879,788,805.567588061,653,631,652.432411939,0.400991693471,0.00458348025621,0.0498607352456,0.999999963928,0.00011393197744,-0.000241372603126,-3.00426795227e-05,1793243174744258560
+81,1.350000000,BASELINE,765,745,714,679,664,634.009177252,879,788,805,653,631,652.990822748,0.400991617833,0.00458239836376,0.0498606758096,0.99999996383,0.000112642164614,-0.000242430263633,-2.96375309575e-05,1793243174760924928
+82,1.366666667,BASELINE,765,745,714,679,664,634.597130244,879,788,805,653,631,652.402869756,0.400990721352,0.00458287414048,0.0498594106678,0.999999963267,0.000113881139852,-0.000244147686452,-2.98076095007e-05,1793243174777591552
+83,1.383333333,BASELINE,765,745,713.817562189,679,664,635,879.182437811,788,805,652.817562189,631,652.182437811,0.400990216817,0.00458305376803,0.0498585896912,0.999999962974,0.000114183105514,-0.000245188505024,-2.99626393323e-05,1793243174794258176
+84,1.400000000,BASELINE,765,745,713.238012795,679,664,635,879.761987205,788,805,652.238012795,631,652.761987205,0.400990565429,0.00458258876906,0.0498587355269,0.999999963273,0.000112445486765,-0.000244756562426,-3.0084912732e-05,1793243174810925056
+85,1.416666667,BASELINE,765,745.339349389,713.339349389,679,664,635,879.660650611,788,805.339349389,652.339349389,631,652.660650611,0.400990849171,0.00458305981102,0.0498591215134,0.999999963332,0.000113141184095,-0.000244172262891,-3.02492644457e-05,1793243174827591936
+86,1.433333333,BASELINE,765,745.915187296,713.915187296,679,664,635,879.084812704,788,805.915187296,652.915187296,631,652.084812704,0.400991087707,0.0045841831687,0.0498596748582,0.999999963221,0.00011553263032,-0.000243481787659,-3.04429400243e-05,1793243174844258560
+87,1.450000000,BASELINE,765,746,714,679,664,635,879.489938475,787.510061525,805.510061525,653,631,652,0.400992199218,0.00458377491367,0.0498602968925,0.999999963721,0.000114876534316,-0.000241766081699,-3.01891515738e-05,1793243174860924928
+88,1.466666667,BASELINE,765,746,713.933558974,679,664,635,879.933558974,787.066441026,805,652.933558974,631,652.066441026,0.400993206212,0.00458323260346,0.0498608482301,0.999999964199,0.000113977440483,-0.000240253575205,-2.98268902172e-05,1793243174877592064
+89,1.483333333,BASELINE,765,746,713.341722777,679,664,635,879.341722777,787.658277223,805,652.341722777,631,652.658277223,0.400992194357,0.00458372219808,0.0498607467001,0.999999963703,0.000115319317253,-0.000241748231348,-2.92180327023e-05,1793243174894260224
+90,1.500000000,BASELINE,765,745.755751767,713.244248233,679,664,634.755751767,879,788,805,652.244248233,631,652.755751767,0.400991466601,0.00458384168524,0.0498603979264,0.999999963272,0.000116807435303,-0.000242825127762,-2.91232616073e-05,1793243174910927616
+91,1.516666667,BASELINE,765,745.177794239,713.822205761,679,664,634.177794239,879,788,805,652.822205761,631,652.177794239,0.400991127001,0.00458345550522,0.0498597113508,0.999999962932,0.000118495358476,-0.000243331251025,-2.97308719643e-05,1793243174927593728
+92,1.533333333,BASELINE,765,745.395691137,714,679,664,634,879,787.604308863,805,653,631,652,0.400989610006,0.00458338243018,0.0498588943988,0.999999962664,0.000117594958196,-0.000244835782897,-2.99892593425e-05,1793243174944259584
+93,1.550000000,BASELINE,765,745.967189567,714,679,664,634,879,787.032810433,805,653,631,652,0.400987569889,0.004583448469,0.0498580195199,0.999999962421,0.0001155445547,-0.000246783912097,-3.00924854855e-05,1793243174960925952
+94,1.566666667,BASELINE,765,745.458482784,714,679,664,634.541517216,879,787.541517216,805,653,631,652,0.400988586567,0.00458353464694,0.04985871608,0.999999962774,0.000114856601011,-0.000245668286279,-3.01049850538e-05,1793243174977592320
+95,1.583333333,BASELINE,765,745,713.879158008,679,664,634.879158008,879,788,804.879158008,653,631,652.120841992,0.400989527931,0.0045834253171,0.0498592796467,0.999999963099,0.000114012182834,-0.000244743698645,-3.00608193573e-05,1793243174994258944
+96,1.600000000,BASELINE,765,745,713.280766141,679,664,634.280766141,879,788,804.280766141,653,631,652.719233859,0.4009894359,0.0045825385217,0.0498589393986,0.99999996317,0.000112221498477,-0.000245311510451,-2.98145586833e-05,1793243175010925568
+97,1.616666667,BASELINE,765,745.306286409,713,678.693713591,664,634.306286409,879,787.693713591,804.306286409,653,631,652.693713591,0.400989677262,0.00458295730835,0.0498587395939,0.999999963141,0.000112539296662,-0.000245278898052,-2.98425500457e-05,1793243175027592448
+98,1.633333333,BASELINE,765,745.883315503,713,678.116684497,664,634.883315503,879,787.116684497,804.883315503,653,631,652.116684497,0.400990213328,0.0045845301678,0.0498586639346,0.999999963023,0.000114720893699,-0.000244715539048,-3.01129672391e-05,1793243175044259072
+99,1.650000000,BASELINE,765,746,713.45710057,678.45710057,664,635,879,787.45710057,805,653,631,652,0.400991537776,0.00458509791798,0.0498597887797,0.999999963391,0.000115445418806,-0.000242865127746,-3.01247283865e-05,1793243175060925696
+100,1.666666667,BASELINE,765,745.969722401,714,678.969722401,664,635,879.030277599,788,805,653,631,652.030277599,0.40099289259,0.00458540455064,0.0498611010664,0.999999963826,0.000115873452051,-0.000240867801068,-3.00832536034e-05,1793243175077592576
+101,1.683333333,BASELINE,765,745.392676505,714,678.392676505,664,635,879.607323495,788,805,653,631,652.607323495,0.400991187092,0.00458559650483,0.0498603031657,0.999999963317,0.000117616779981,-0.000242108661311,-3.02643707422e-05,1793243175094259200
+102,1.700000000,BASELINE,765,745,714,678.188988218,664,635,879.811011782,787.811011782,805,653,631,652.811011782,0.400989659363,0.00458561972072,0.0498595633471,0.999999962912,0.000118245061464,-0.000243462677339,-3.03350738049e-05,1793243175110925824
+103,1.716666667,BASELINE,765,745,714,678.780490209,664,635,879.219509791,787.219509791,805,653,631,652.219509791,0.400988510254,0.00458528355178,0.0498589472339,0.999999962732,0.000116498477474,-0.000245057696387,-3.01706130515e-05,1793243175127592448
+104,1.733333333,BASELINE,765,745,713.637366309,679,664,635,879,787.362633691,805,653,631,652,0.400988672434,0.00458408488525,0.0498589596055,0.999999963006,0.000114471944047,-0.000244920822144,-2.99600509665e-05,1793243175144258816
+105,1.750000000,BASELINE,765,745,713.060745157,679,664,635,879,787.939254843,805,653,631,652,0.400989608395,0.00458237726523,0.0498593428412,0.999999963545,0.00011228021436,-0.000243761970619,-2.97222848105e-05,1793243175160925440
+106,1.766666667,BASELINE,765,745.512833857,713,679,664,635,879,787.487166143,805,653,631,652,0.400991224186,0.00458292229465,0.0498608733029,0.999999963988,0.000113635452386,-0.000241317216608,-2.96302187773e-05,1793243175177592064
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,664,635,879,788,805,653,631,652,0.400992374886,0.00458565558769,0.0498615970184,0.99999996403,0.000115058341619,-0.000240394943094,-3.02020986968e-05,1793243175219962624
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,713.41946146,679,664,635,879,788,805,653,631,652,0.400991190811,0.00458285895321,0.0498604685942,0.99999996389,0.000112302094891,-0.000242315115293,-2.98516029097e-05,1793243175236629504
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,713,678.840618434,663.840618434,635,879,788,805,652.840618434,631,652,0.400990112175,0.00458126412561,0.0498593963973,0.999999963639,0.000110668435801,-0.000244121206925,-2.96515418937e-05,1793243175253296640
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,713,678.266190576,663.266190576,635,879,788,805,652.266190576,631,652,0.400989308114,0.00458279892835,0.0498584706217,0.99999996312,0.000111958111914,-0.000245630221231,-2.98432287032e-05,1793243175269963008
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,713,678.315149762,663.315149762,634.684850238,879,788,805,652.315149762,631,652,0.400989472465,0.00458369157553,0.0498585645529,0.999999963054,0.000112924685817,-0.000245438787736,-2.99983660063e-05,1793243175286629376
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,713,678.902459611,663.902459611,634.097540389,879,788,805,652.902459611,631,652,0.400990473128,0.0045840296637,0.0498595390926,0.999999963378,0.000113612231902,-0.000243778864941,-3.01219395206e-05,1793243175303296000
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,713,678.516141652,664,634.483858348,879,788,805,653,631,652,0.400990519662,0.00458403655401,0.0498594102941,0.999999963283,0.000114624433336,-0.00024370370892,-3.00613229116e-05,1793243175319962624
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745.06381838,713.06381838,678.06381838,664,635,879,787.93618162,805,653,631,652,0.400990699481,0.00458391832284,0.0498592542471,0.999999963218,0.000115356866971,-0.00024363854662,-2.99540155027e-05,1793243175336629248
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745.641672355,713.641672355,678.641672355,664,635,879,787.358327645,805,653,631,652,0.400993483422,0.00458332356543,0.0498606486233,0.999999964069,0.000113315074954,-0.000241111704763,-2.97660947292e-05,1793243175353296128
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,746,713.781638391,679,664,634.781638391,879,787.218361609,805,653,631,652,0.400997974697,0.00458323354756,0.0498626265171,0.999999964895,0.00011304669402,-0.000237801939507,-2.96655672536e-05,1793243175369963264
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,746,713.20685034,679,664,634.20685034,879,787.79314966,805,653,631,652,0.401005252811,0.00458396740403,0.0498655568725,0.999999965674,0.000115673009878,-0.000233214227321,-2.97076897912e-05,1793243175386629632
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745.623038767,713,679,664,634.376961233,879,787.623038767,805,653,631,652.376961233,0.401028657012,0.00458452384081,0.0498739926904,0.999999969334,0.000116985652978,-0.000216240343028,-2.97767911824e-05,1793243175403296256
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745.03415422,713,679,664,634.96584578,879,787.03415422,805,653,631,652.96584578,0.401061127115,0.00458498053432,0.049885523617,0.999999974154,0.000117559764398,-0.000192303093218,-2.98610597684e-05,1793243175419962880
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,713,679,664,635,879,787.547341437,805,653,631,652.452658563,0.401120513606,0.00458296621781,0.0499044890568,0.999999981511,0.000114049132663,-0.000151966397254,-2.9615844939e-05,1793243175436629248
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745.12693836,713,679,664,634.87306164,879,788,805,653,631,652,0.401183135235,0.00458108104964,0.0499223189166,0.999999986647,0.000110944239199,-0.000116406459197,-2.9112044507e-05,1793243175453296128
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745.701444768,713,679,664,634.298555232,879,788,805,653,631,652,0.401251320427,0.00458018765882,0.049934530958,0.999999988422,0.000110156659415,-0.000101248798164,-2.77680308681e-05,1793243175469962752
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.276118785,746,713.276118785,679,664,634.276118785,879,787.723881215,805,652.723881215,631,652,0.4013255898,0.0045797829061,0.0499425647736,0.99999998961,0.000109218072257,-9.0156004678e-05,-2.69126769923e-05,1793243175486629376
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.850974109,746,713.850974109,679,664,634.850974109,879,787.149025891,805,652.149025891,631,652,0.401406441725,0.00457990681742,0.0499460781112,0.999999990319,0.000108116108305,-8.34610456696e-05,-2.65860106129e-05,1793243175503296000
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.561710683,745.561710683,713.561710683,679,664,635,879,787.438289317,805,652.438289317,631,652.438289317,0.401497956442,0.00457943157778,0.0499464622279,0.99999999039,0.000107844854849,-8.3116624483e-05,-2.60822200404e-05,1793243175519962624
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,713.029262059,678.970737941,664,635,879,788,805,652.970737941,631,652.970737941,0.40159441691,0.00457868850829,0.0499457476693,0.999999990259,0.000107654195838,-8.51088032149e-05,-2.54802875141e-05,1793243175536629760
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,713.607056837,678.392943163,664,635,879,788,805,652.392943163,631,652.392943163,0.401713637005,0.00457685543699,0.0499449664909,0.999999990367,0.000103524612054,-8.92403455946e-05,-2.42006200151e-05,1793243175553296640
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,713.816331237,678.183668763,664.183668763,635,879,788,805,652.183668763,631,652,0.401844981491,0.00457416127016,0.0499458110634,0.999999990783,9.94890193162e-05,-8.95271658994e-05,-2.28051620521e-05,1793243175569963520
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,713.242233797,678.757766203,664.757766203,635,879,788,805,652.757766203,631,652,0.402002099044,0.0045696366541,0.04995011153,0.999999991869,9.56532259107e-05,-8.16411764815e-05,-2.11635659491e-05,1793243175586629632
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.658841681,745,713,678.658841681,664.658841681,635,879,788,805,653,631,652.341158319,0.402171661014,0.0045685708478,0.0499512583643,0.999999992055,9.40084149951e-05,-8.16004008865e-05,-1.98508984519e-05,1793243175603296000
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.068665139,745,713,678.068665139,664.068665139,635,879,788,805,653,631,652.931334861,0.402350306426,0.00457002969488,0.0499501033003,0.9999999916,9.39628452598e-05,-8.72860016515e-05,-1.8778322298e-05,1793243175619962368
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.512232994,745.512232994,713,678.512232994,664,635,879,788,805,653,631,652.487767006,0.402559536987,0.00456775761229,0.0499499485617,0.999999992075,8.86160865791e-05,-8.77338213763e-05,-1.73051337574e-05,1793243175636629248
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,746,713.091218476,679,664,635,879.091218476,787.908781524,805,653,631,652,0.402779552054,0.00456514377625,0.0499505437479,0.999999992688,8.31899279551e-05,-8.63512631351e-05,-1.57110608193e-05,1793243175653296128
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,746,713.666537001,679,664,635,879.666537001,787.333462999,805,653,631,652,0.403035429484,0.00456332324518,0.0499544198325,0.999999993507,8.10466196736e-05,-7.89147414753e-05,-1.37553788736e-05,1793243175669963008
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.758726572,745.758726572,713.758726572,679,664,634.758726572,879.758726572,787,805,652.758726572,631,652,0.403310518773,0.0045609345151,0.0499608449429,0.999999994716,7.74439609922e-05,-6.65830901034e-05,-1.16936883973e-05,1793243175686630144
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.18479276,745.18479276,713.18479276,679,664,634.18479276,879.18479276,787,805,652.18479276,631,652,0.40361209677,0.0045577623698,0.0499707845717,0.999999996247,7.18291949582e-05,-4.75021848155e-05,-9.48583673326e-06,1793243175703296512
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713.402103724,679,664,634.402103724,879,787.402103724,805,652,631,652,0.403939675737,0.00455385209966,0.0499778483113,0.999999997229,6.63236045486e-05,-3.30009893389e-05,-7.33141844893e-06,1793243175719962880
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713.99515582,679,664,634.99515582,879,787.99515582,805,652,631,652,0.404279601865,0.00454959131375,0.0499835463674,0.99999999792,6.08698588998e-05,-2.06745768788e-05,-5.20237431937e-06,1793243175736629504
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.573368533,745,714,679,664,635,879.573368533,788,805,652,631,652,0.404660376406,0.00454547190728,0.0499915448697,0.999999998442,5.56001198487e-05,-4.60728469296e-06,-2.01886210942e-06,1793243175753296128
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.849176443,745,713.849176443,679,664,635,879.849176443,788,805,652.150823557,630.849176443,652,0.405045649443,0.00454153046268,0.0499956098711,0.99999999868,5.12001928552e-05,4.23649945986e-06,9.60277794342e-07,1793243175769962496
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.273511539,745,713.273511539,679,664,635,879.273511539,788,805,652.726488461,630.273511539,652,0.405442646235,0.00453808702392,0.0499885415804,0.999999998755,4.9246093795e-05,-7.35375107907e-06,3.33927778791e-06,1793243175786629120
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.308566895,745.308566895,713,678.691433105,664,634.691433105,879,788,805,652.691433105,630.308566895,652,0.405846639562,0.00453385884759,0.04997235116,0.999999998186,4.56513197655e-05,-3.88140792606e-05,6.19752804759e-06,1793243175803296000
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.896450971,745.896450971,713,678.103549029,664,634.103549029,879,788,805,652.103549029,630.896450971,652,0.406256966253,0.00452892032024,0.0499479033152,0.999999995237,4.05713935341e-05,-8.8260959378e-05,9.48959968174e-06,1793243175819963136
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745.522699091,713.477300909,678,664,634,879.477300909,788,804.522699091,652,631,652,0.406723076018,0.00452538087203,0.0499353327686,0.999999993373,3.64561589769e-05,-0.00010853459198,1.2029311734e-05,1793243175836630016
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,678.056354156,664,634,879.943645844,788,804.056354156,652,631,652.056354156,0.407207897102,0.00452181708121,0.0499273063601,0.999999992321,3.19126613302e-05,-0.000118868725304,1.44830738056e-05,1793243175853297152
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,678.632705836,664,634,879.367294164,788,804.632705836,652,631,652.632705836,0.407755326781,0.00451526861638,0.0499377790131,0.999999995097,2.15143325591e-05,-9.50399564512e-05,1.76279788237e-05,1793243175869963520
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,664,634,879,788,805,652,631,653,0.408322110271,0.00450866762676,0.0499550120945,0.999999997831,1.20838873434e-05,-6.12069381581e-05,2.10969860559e-05,1793243175886630144
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,664,634,879,788,805,652,631,653,0.408922896527,0.00450197435644,0.0499841226037,0.999999999627,4.35392189391e-06,-9.79740855782e-06,2.51354097784e-05,1793243175903297024
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.365916436,713.634083564,678.634083564,664,634,879.365916436,787.634083564,805,652,631,653,0.409534453335,0.00449566156363,0.0499993514402,0.999999999484,-2.43235427303e-06,1.23726473615e-05,2.95476045077e-05,1793243175919963904
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.955420479,713.044579521,678.044579521,664,634,879.955420479,787.044579521,805,652,631,653,0.410152591302,0.00448958125598,0.0500060980932,0.999999999239,-8.6420033383e-06,1.66763708964e-05,3.41881861403e-05,1793243175936631040
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.464383104,713.535616896,678,664,634,879.464383104,787.535616896,805,652,631,652.464383104,0.410754848071,0.0044840880176,0.0499877667193,0.999999993195,0.000107177899054,-2.58696141422e-05,3.81379658673e-05,1793243175953297408
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,678,664,634,879,787.885932027,805,652,631.114067973,652,0.411367554753,0.00447851788224,0.049967542809,0.999999975781,0.000204851740579,-6.87308059239e-05,4.18361038718e-05,1793243175969964032
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,678,664,634,879,787.311452393,805,652,631.688547607,652,0.412027684209,0.00447244351732,0.0499479609259,0.999999976398,0.000188988171477,-9.73943171675e-05,4.47466489054e-05,1793243175986630656
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.264174754,714,678,664,634.264174754,879,787.264174754,805,652,631.735825246,652,0.412737691363,0.00446530872181,0.0499515740007,0.99999998472,0.000148399650817,-8.24121235523e-05,4.17708109815e-05,1793243176003297280
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.841160754,714,678,664,634.841160754,879,787.841160754,805,652,631.158839246,652,0.413506759148,0.00445691826194,0.0499826523911,0.999999996286,7.85341323394e-05,-1.57487368863e-05,3.18248643524e-05,1793243176019964160
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,746,713.56827896,678.43172104,664.43172104,634.56827896,879,787.56827896,805,652,631,652,0.41426128993,0.0044424367123,0.0499884036792,0.999999999617,-1.49207849882e-05,-1.21553357313e-05,1.98692486851e-05,1793243176036630528
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,746,713,679,664.973788996,634,879.026211004,787.026211004,805,652,631,652,0.415009269932,0.00442715256008,0.0499831577566,0.999999993186,-0.000111412876797,-3.39253471467e-05,7.9676225169e-06,1793243176053296640
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,746,713,679,664.404705557,634,879.595294443,787.595294443,805,652,631,652,0.415735945194,0.00444316754678,0.0499494056902,0.999999992689,-8.52175593338e-05,-8.48023270404e-05,1.29954992251e-05,1793243176069963008
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.840087253,713.159912747,679,664,634,880,788,805,652,631,652,0.416490135686,0.00446400301826,0.0499303338309,0.999999992467,-4.86584822628e-05,-0.000111477807508,1.6490796295e-05,1793243176086629632
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.286462339,713.713537661,679,664,634,880,788,805,652,631,652,0.417312069829,0.00449670673283,0.0499474052851,0.999999996692,1.34166217002e-05,-7.85681365324e-05,1.62128150981e-05,1793243176103296256
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.298826356,745,714,678.701173644,664.298826356,634,880,788,805.298826356,652,631,652,0.418144993084,0.00450700806963,0.0499693373754,0.999999997988,4.67269162999e-05,-3.89703120958e-05,1.79642138804e-05,1793243176119962880
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.918066176,745,714,678.081933824,664.918066176,634,880,788,805.918066176,652,631,652,0.418989699245,0.00449328868685,0.0499964812314,0.99999999852,4.91944381174e-05,7.79881327999e-06,2.18915943756e-05,1793243176136629760
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.496090438,745.503909562,713.496090438,678.503909562,664.496090438,634,880.503909562,788,805.496090438,652,631,652,0.419820754038,0.00448413314061,0.0499798528897,0.999999999079,2.18341115703e-05,-2.92993908393e-05,2.24972224148e-05,1793243176153296384
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,746,713,678.916102779,664,634,880.916102779,788,805,652,631,652,0.420661688142,0.00447663172331,0.0499627779942,0.999999997666,-7.03982995269e-06,-6.4145029099e-05,2.24452861913e-05,1793243176169963008
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,746,713,678.340586962,664,634,880.340586962,788,805,652,631,652,0.421572710705,0.00447474508013,0.0499821993587,0.999999999545,-1.8130314327e-05,-1.08508854437e-05,2.15083486839e-05,1793243176186629632
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.765823878,713.234176122,678.234176122,664.234176122,634,880,788,805.234176122,652,631,652,0.42246525787,0.00447250572521,0.049993535586,0.999999999483,-1.34052853934e-05,1.99258725721e-05,2.1397278865e-05,1793243176203296256
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.192151983,713.807848017,678.807848017,664.807848017,634,880,788,805.807848017,652,631,652,0.423331020542,0.00446975502777,0.0499931504253,0.999999999483,1.42482108066e-05,1.80581603194e-05,2.24835069198e-05,1793243176219962880
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,665,634,880,788,806,652,631,652,0.424197918141,0.00447534798885,0.0499831456017,0.99999999956,1.87019688255e-05,3.01185007529e-06,2.28145140965e-05,1793243176236629504
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,665,634,880,788,806,652,631,652,0.425065387291,0.00448514322154,0.049968295849,0.999999999501,1.14712108464e-05,-1.86718417336e-05,2.27651553089e-05,1793243176253296384
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,664.434699699,634.565300301,880,787.434699699,806,652,631,652,0.426010244459,0.00448665437803,0.0499910703695,0.999999999641,4.88726241672e-06,9.55245562196e-06,2.45609026042e-05,1793243176269963008
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.142077754,714,679,664,635,880,787.142077754,806,652,631,652,0.426933364606,0.00448511230368,0.0500051961196,0.99999999944,2.90144557366e-06,2.00334955651e-05,2.66665693921e-05,1793243176286629632
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.717328293,714,679,664,635,880,787.717328293,806,652,631,652,0.427785212593,0.00447479656626,0.0499905225621,0.999999999092,1.48928265716e-05,-2.68059766156e-05,2.95979364758e-05,1793243176303296256
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.700667871,714,679,664,634.700667871,880,788,806,651.700667871,631.299332129,652,0.428647370625,0.0044687503933,0.0499728538831,0.999999997818,1.37336552426e-05,-5.72129427978e-05,3.00369816443e-05,1793243176319962880
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.112139451,714,679,664,634.112139451,880,788,806,651.112139451,631.887860549,652,0.429519489539,0.00446682921153,0.0499522915028,0.999999997032,-1.30771590502e-07,-7.17438296984e-05,2.80680985406e-05,1793243176336629504
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.469984179,714,679,664.469984179,634.469984179,880,788,806,651.469984179,631.530015821,652,0.430431907886,0.00446832409909,0.0499559087035,0.999999997921,1.47459091841e-06,-5.80607287693e-05,2.80010592422e-05,1793243176353296128
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,746,714,679,665,634.949934145,880,787.949934145,806,652,631,652,0.431349579257,0.00447109090023,0.0499625570538,0.999999998641,6.41436480441e-06,-4.32771849184e-05,2.83620015394e-05,1793243176369963008
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,746,714,679,665,634.375449481,880,787.375449481,806,652,631,652,0.432222908391,0.00447875759175,0.0499413367664,0.999999995816,8.13743887605e-06,-8.65331064408e-05,2.85165691959e-05,1793243176386629632
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.800270585,714,679,664.800270585,634,880,787.199729415,806,652,631,652,0.433105322603,0.00448086618717,0.0499341623538,0.999999994541,4.69712135541e-06,-0.000100340450343,2.87663315299e-05,1793243176403296256
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.223782027,714,679,664.223782027,634,880,787.776217973,806,652,631,652,0.434004874584,0.00447249028153,0.0499534833425,0.999999997821,-8.48314825722e-06,-5.85975420628e-05,2.91956642084e-05,1793243176419963136
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.361704842,745,714,679.361704842,664.361704842,634,880.361704842,787.638295158,806,652,631,652,0.434876854534,0.0044660349002,0.0499741687975,0.999999999171,-2.25473675865e-06,-2.72684455057e-05,3.01631726065e-05,1793243176436629760
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.952900843,745,714,679.952900843,664.952900843,634,880.952900843,787.047099157,806,652,631,652,0.435731340782,0.00446079803597,0.0499957199655,0.999999999369,1.62879168435e-05,-2.54661086317e-06,3.14721377566e-05,1793243176453296128
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.467485411,745.532514589,714,679.467485411,664.467485411,634,881,787,806,652.532514589,631,652,0.436532178401,0.00446040450537,0.0499703089565,0.999999997479,2.79694057547e-06,-6.289289715e-05,3.28428955187e-05,1793243176469962752
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.110153491,746,714,679.110153491,664,634,880.889846509,787.110153491,806,652.889846509,631,652,0.437346268548,0.00446157590602,0.049950905915,0.999999993843,-1.12393320362e-05,-0.000105118981382,3.37397038257e-05,1793243176486629632
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.683702341,746,714,679.683702341,664,634,880.316297659,787.683702341,806,652.316297659,631,652,0.438235646195,0.00446756694223,0.049973878954,0.999999998536,-1.5904249246e-05,-4.0138454505e-05,3.26201925845e-05,1793243176503296256
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.742578919,714,680,664.514842163,634,880,788,806,652,631,652,0.439074272047,0.00447151639,0.0499842692526,0.999999999301,-1.51710810267e-05,-1.13425776785e-05,3.22336975556e-05,1793243176519963392
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.168651337,714,680,665.662697326,634,880,788,806,652,631,652,0.439850497066,0.00447295564658,0.0499791887145,0.999999999068,-7.80081382242e-06,-2.7036756375e-05,3.2748466898e-05,1793243176536630272
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.578967558,745,714,680,665.578967558,634,880.421032442,787.578967558,806,652,631.421032442,652.421032442,0.440603860973,0.0044685963476,0.049966869728,0.999999998287,1.05322363827e-05,-4.68591243475e-05,3.34483988631e-05,1793243176553297152
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.016662566,714,680,664.983337434,634,881,787,806,651.983337434,631.983337434,652.983337434,0.44134819015,0.00446184998956,0.0499524583847,0.999999996662,3.22730427378e-05,-6.68038614912e-05,3.42423121425e-05,1793243176569963520
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.591830397,714,680,664.408169603,634,881,787,806,651.408169603,631.408169603,652.408169603,0.442108561728,0.00445597336596,0.0499688789782,0.999999998695,1.53237179258e-05,-3.32685892635e-05,3.56036224584e-05,1793243176586629888
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.832640775,714,679.832640775,664.167359225,634,880.832640775,787,806,651.167359225,631,652,0.442858368005,0.00445241659793,0.04998434198,0.999999999305,2.71446167094e-06,-4.12819923617e-06,3.6954604436e-05,1793243176603296256
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.256229496,714,679.256229496,664.743770504,634,880.256229496,787,806,651.743770504,631,652,0.443582351196,0.00445452991764,0.0499974644816,0.999999999165,7.13006595409e-07,1.42704198949e-05,3.82803427219e-05,1793243176619962880
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,664.674162367,634,880,787,806,652,631.325837633,652,0.444239949587,0.00445976486449,0.0499845959602,0.999999999115,6.2350687763e-06,-1.2277422219e-05,3.97649278197e-05,1793243176636629504
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679,664.087569109,634,880,787,806,652,631.912430891,652,0.444844422672,0.00446749793221,0.0499509277982,0.999999996189,1.77779194655e-05,-7.47942309184e-05,4.13766318613e-05,1793243176653296384
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679,664.494174628,634,880,787,806,652,631.505825372,652,0.445483629307,0.00447451339039,0.0499432956546,0.999999996371,2.62679822499e-05,-6.99825266309e-05,4.08639445772e-05,1793243176669963520
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679.074376632,665,634,880,787.074376632,806,652,631.074376632,652,0.446127166221,0.00448028178916,0.0499437635433,0.999999997385,3.34121080731e-05,-4.98949336996e-05,4.03051977775e-05,1793243176686630400
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679.649924273,665,634,880,787.649924273,806,652,631.649924273,652,0.446758811494,0.00447849567475,0.0499680257576,0.999999998483,3.50966618223e-05,-6.48590493972e-06,4.19480521789e-05,1793243176703297024
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,665,634,880,787.770425759,806,652,631.770425759,652,0.447348548007,0.00447599961147,0.0499749142686,0.999999998424,3.51169880484e-05,6.81162721651e-06,4.32772496604e-05,1793243176719963392
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,665,634,880,787.184406427,806,652,631.184406427,652,0.447873215436,0.00447240125661,0.0499548277507,0.999999998142,3.25533756205e-05,-2.6643020013e-05,4.41194522201e-05,1793243176736629504
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.600257245,664.600257245,634,880,787,806,651.600257245,631.399742755,652,0.448378561407,0.00446992006994,0.0499336444782,0.999999996775,3.17348476159e-05,-5.87538164247e-05,4.46146738364e-05,1793243176753295872
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.016966719,664.016966719,634,880,787,806,651.016966719,631.983033281,652,0.448875035692,0.00446795184719,0.0499119576131,0.999999994414,3.17176005743e-05,-9.0247566844e-05,4.49505740959e-05,1793243176769962496
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.559009414,664,633.440990586,880.559009414,787,806,651.559009414,631.440990586,652,0.44934685086,0.00446623835601,0.0499192313839,0.999999995275,3.06318982255e-05,-8.032009603e-05,4.53823112877e-05,1793243176786629120
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,664,633,880.865469793,787,806,652,631.134530207,652,0.449809738505,0.00446455168079,0.0499281168592,0.999999996202,2.76327321747e-05,-6.89449110706e-05,4.55923043859e-05,1793243176803296256
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,664,633,880.290721781,787,806,652,631.709278219,652,0.450245830548,0.00446292778133,0.0499394370985,0.999999997195,1.84769611934e-05,-5.68931529126e-05,4.50672979245e-05,1793243176819963648
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,664,633,880.290520362,787,806,652,631.709479638,652,0.450656572016,0.00446068963481,0.0499450225815,0.999999997781,-1.91259241822e-05,-5.27005427329e-05,3.5992670841e-05,1793243176836630528
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,664,633,880.878409691,787,806,652,631.121590309,652,0.45104136528,0.00445782276132,0.0499447381186,0.999999994551,-8.58465237332e-05,-5.65523493397e-05,1.81668778601e-05,1793243176853296640
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.54005039,664,633,880.54005039,787,806.45994961,652,631,652,0.451373475318,0.00445552774137,0.049932779572,0.999999991365,-9.90368595741e-05,-8.47830958834e-05,1.6530579004e-05,1793243176869963264
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.03959835,663.96040165,633,880.03959835,787,806.96040165,652,631,652,0.451689093591,0.00445382352468,0.049917398897,0.999999987868,-9.80186126164e-05,-0.000119568055485,1.89909729428e-05,1793243176886629888
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.616053934,663.383946066,633,880.616053934,787,806.383946066,652,631,652,0.451967370406,0.00445810753501,0.0498968929183,0.999999983095,-9.36077135143e-05,-0.000157027331908,1.97591608114e-05,1793243176903296512
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.808490872,745,714,680,663,632.808490872,881,787,806,652,631,652,0.452239921234,0.00446441838467,0.049879835224,0.999999978676,-8.58762320805e-05,-0.00018665168462,2.08548328251e-05,1793243176919963136
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.23503095,745,714,680,663,632.23503095,881,787,806,652,631,652,0.452501051972,0.00447477161499,0.0498696548801,0.999999977057,-7.15220954482e-05,-0.000200649857185,2.26036476996e-05,1793243176936629760
+211,3.516666667,POSE1_TO_POSE2_PRESS,764.349493931,745,714,680,663,632,880.650506069,787,806,652,631,651.650506069,0.452756714282,0.00449132267613,0.0498704466484,0.999999979432,-4.85393009926e-05,-0.000195629878652,2.25483822033e-05,1793243176953296384
+212,3.533333333,POSE1_TO_POSE2_PRESS,764.941703226,745,714,680,663,632,880.058296774,787,806,652,631,651.058296774,0.453008578922,0.00451217798693,0.0498788582909,0.999999983847,-1.9564103925e-05,-0.000177402240113,2.12402252303e-05,1793243176969963264
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.520838393,714,680,663,632,881.041676787,787,806,652,631.520838393,651.520838393,0.453225100933,0.00451428016883,0.0498844807258,0.999999984334,5.32646366872e-05,-0.000167340169205,2.21680735066e-05,1793243176986629888
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.901660584,714,680,663,632,881.803321167,787,806,651.901660584,631.901660584,652,0.453428991301,0.00451315467538,0.0498877249018,0.999999979924,0.000115992030806,-0.000161708574127,2.33930518727e-05,1793243177003296256
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.32516395,714,680,663,632,880.650327899,787,806,651.32516395,631.32516395,652,0.45359022633,0.00450629135346,0.0498808860431,0.999999979025,0.000106321422768,-0.000173284201461,2.48756630471e-05,1793243177019962880
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.256239715,714,680,662.743760285,632,880,787.256239715,806.256239715,651.256239715,631,651.743760285,0.453737958293,0.0045043052584,0.0498722124483,0.999999977088,0.00010174578852,-0.00018661619232,2.54094567074e-05,1793243177036629504
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745.84399186,714,680,662.15600814,632,880,787.84399186,806.84399186,651.84399186,631,651.15600814,0.453868220534,0.00450862911977,0.0498611651478,0.999999973865,0.000103761822908,-0.000202220493562,2.47157091094e-05,1793243177053296384
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,746,714,679.574310803,662.425689197,632,880.425689197,787.574310803,807,652,631,651.425689197,0.453983945148,0.00450970608116,0.0498529403877,0.999999971364,0.000102898190639,-0.000214607230236,2.50694392344e-05,1793243177069962752
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.005186887,746,714,679.010373773,662.994813113,632,880.994813113,787,806.994813113,652,631,652,0.454094236791,0.0045095936267,0.0498457800446,0.999999969088,0.000100974942134,-0.000225747177797,2.57946464562e-05,1793243177086629120
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.583384825,746,714,680.16676965,662.416615175,632,880.416615175,787,806.416615175,652,631,652,0.454184656323,0.00450769507078,0.0498435366821,0.99999996907,9.6945439365e-05,-0.000227591818827,2.57440283389e-05,1793243177103296000
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.840209028,746,714,680.840209028,662,631.840209028,880.159790972,787,806.159790972,652,631,652,0.454270556715,0.00450702831056,0.0498427284987,0.99999996935,9.42204106641e-05,-0.000227510918808,2.57201531201e-05,1793243177119962880
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.268422814,746,714,680.268422814,662,631.268422814,880.731577186,787,806.731577186,652,631,652,0.454344805219,0.00450953753708,0.0498456206934,0.999999970424,9.48587585225e-05,-0.000222465321557,2.57652301587e-05,1793243177136629760
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.685733153,714,680,662,631,881,787,806.685733153,652,631,652,0.454406720624,0.00451096062098,0.0498455570426,0.999999970185,9.60387431912e-05,-0.000223029144159,2.57693490541e-05,1793243177153296384
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.093395806,714,680,662,631,881,787,806.093395806,652,631,652,0.454457723429,0.00451142266134,0.0498428779925,0.999999968777,9.76979805768e-05,-0.000228556309252,2.57372272519e-05,1793243177169963008
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.488183539,714,680,662,631,880.511816461,787,806.488183539,652,631,651.511816461,0.454494768181,0.00451023387418,0.0498398772724,0.999999967837,9.60107097601e-05,-0.000233260908116,2.64131380709e-05,1793243177186629376
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.932245089,714,680,662,631,880.067754911,787,807,652,631,651.067754911,0.454527632828,0.00450919861313,0.0498367763898,0.999999966894,9.41057875118e-05,-0.000237959130016,2.7031878512e-05,1793243177203295744
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.352629647,714,680,662,631,880.647370353,787,807,652,631,651.647370353,0.45454865699,0.00451165765857,0.0498333737014,0.999999965404,9.5288986251e-05,-0.000243772392468,2.62174722221e-05,1793243177219962624
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.228187293,714,680,662,631,881,787,806.771812707,652,631,652,0.454567265767,0.00451335334618,0.0498309313737,0.999999964256,9.67512836282e-05,-0.000247901676003,2.59094447736e-05,1793243177236629248
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.810870762,714,680,662,631,881,787,806.189129238,652,631,652,0.454582122165,0.00451386313311,0.0498299809968,0.999999963682,9.86471694996e-05,-0.000249414844693,2.638809292e-05,1793243177253295872
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,746,714,680,662,631,880.608686457,787,806.391313543,652,631,652,0.454592174889,0.00451409155052,0.0498285472046,0.999999963057,9.75845852022e-05,-0.00025230370187,2.65665638782e-05,1793243177269962752
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,746,714,680,662,631,880.029320494,787,806.970679506,652,631,652,0.454599919124,0.00451418475097,0.0498268810989,0.999999962394,9.51002573812e-05,-0.000255853669646,2.66007795374e-05,1793243177286629888
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.451202849,714,680,662,631,880,787,807,652,631,652,0.454604074494,0.00451498138121,0.0498257516378,0.999999961828,9.67585217015e-05,-0.00025747401913,2.62526662644e-05,1793243177303296256
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,880,787,807,652,631,652,0.454606945189,0.0045156624635,0.0498242740808,0.999999961123,9.81969001903e-05,-0.000259682104977,2.60108480553e-05,1793243177319962880
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,880,787,807,652,631,652,0.45460592674,0.00451579916146,0.0498214565849,0.999999959908,9.80676638397e-05,-0.000264346658642,2.62196175521e-05,1793243177336629504
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,880,787,806.723063284,652,631,652,0.454606315454,0.00451610279153,0.0498200266691,0.999999959332,9.80783379189e-05,-0.000266517533447,2.61913676999e-05,1793243177353295872
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,880,787,806.128938991,652,631,652,0.454608315852,0.00451659761616,0.0498201860083,0.999999959505,9.824925744e-05,-0.000265832290784,2.58916493807e-05,1793243177369962496
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.453634783,714,680,662,631,880,787,806,652,631,652,0.45460929535,0.00451824101575,0.0498201186148,0.99999995929,9.97259682697e-05,-0.000266126412114,2.55298833518e-05,1793243177386629376
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.967569159,714,680.032430841,662,631,880,787,806.032430841,652,631,652,0.454609914194,0.0045200457822,0.0498198966955,0.999999958952,0.000101389286823,-0.000266799527253,2.5196687294e-05,1793243177403296256
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.398309812,714,680.601690188,662,631,880,787,806.601690188,652,631,652,0.454609247147,0.00451925185021,0.0498181571841,0.999999958408,0.000100150390302,-0.000269252688279,2.56210931788e-05,1793243177419962880
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680.821636793,662,631,880.178363207,786.821636793,806.821636793,652,631,652,0.454609429996,0.00451899170772,0.0498175226747,0.999999958173,9.97332296162e-05,-0.0002702635306,2.5787161844e-05,1793243177436629504
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680.227690068,662,631,880.772309932,786.227690068,806.227690068,652,631,652,0.454611593089,0.00451997528658,0.0498194628025,0.999999958666,0.000101230700818,-0.000267913792454,2.53513087488e-05,1793243177453296128
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,880.642762148,786.357237852,806.357237852,652,631,652,0.454610345987,0.00452057723069,0.0498175712898,0.999999957787,0.000102459550694,-0.0002707235419,2.52477212056e-05,1793243177469962496
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,880.063440953,786.936559047,806.936559047,652,631,652,0.454606978875,0.00452094192466,0.0498132977687,0.999999956028,0.000103521407226,-0.000276740779798,2.53506925413e-05,1793243177486629120
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.515774235,714,680,662,631,880.515774235,787,807,652,631,652,0.454608750229,0.00452022503817,0.0498148896161,0.999999957099,0.000100930236157,-0.000273816853865,2.52704445636e-05,1793243177503296000
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,746,714,680.093935373,661.906064627,631,880.906064627,787,806.906064627,652,631,652,0.454610472498,0.00451962699071,0.0498166320967,0.999999958089,9.88556906105e-05,-0.000270944845747,2.52530014255e-05,1793243177519962880
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,746,714,680.666788822,661.333211178,631,880.333211178,787,806.333211178,652,631,652,0.454608722808,0.00452031295793,0.0498154650994,0.999999956976,0.000101705469481,-0.000273943456066,2.56706357952e-05,1793243177536629504
+247,4.116666667,HOLD_POSE2,765,746,714,681,662,631,880,787,806,652,632,652,0.454608743694,0.00452254254143,0.0498137721922,0.99999995654,0.000102118460722,-0.00027547932074,2.45644131618e-05,1793243177574564608
+248,4.133333333,HOLD_POSE2,764.420788127,746,714,681,662,631,880.579211873,787,806,652,631.420788127,652,0.454608272019,0.00452289559561,0.0498141916547,0.999999956334,0.000103173685294,-0.000275808355583,2.48192847193e-05,1793243177591231232
+249,4.150000000,HOLD_POSE2,764.156894836,745.843105164,714,680.843105164,662,631,880.843105164,787,806,652,631,652,0.454608101569,0.00452270358674,0.0498143150441,0.999999956216,0.000103716368266,-0.000276002475437,2.51506878956e-05,1793243177607897856
+250,4.166666667,HOLD_POSE2,764.730516995,745.269483005,714,680.269483005,662,631,880.269483005,787,806,652,631,652,0.454608731196,0.00452106383966,0.0498136520358,0.999999956333,0.000102897693156,-0.000275838248559,2.5685366249e-05,1793243177624564480
+251,4.183333333,HOLD_POSE2,765,745,714,680,662,631,880,787,806.306536097,652,631.306536097,652,0.454608904615,0.00452060031875,0.0498133602888,0.99999995628,0.000102706492652,-0.00027609252649,2.5760287928e-05,1793243177641231104
+252,4.200000000,HOLD_POSE2,765,745,714,680,662,631,880,787,806.884678979,652,631.884678979,652,0.454608673807,0.00452117899497,0.0498133974984,0.999999956079,0.000103071267047,-0.000276717621268,2.54278414609e-05,1793243177657897728
+253,4.216666667,HOLD_POSE2,764.527570464,745.472429536,714,680,662,631,880,787,807,652,632,652,0.454607667855,0.00452218528149,0.0498124802091,0.999999955752,0.000102699919618,-0.000278049650811,2.52450587996e-05,1793243177674564352
+254,4.233333333,HOLD_POSE2,764.061314749,745.938685251,714,680,662,631,880.061314749,787,806.938685251,652,632,652,0.454606689206,0.00452330163955,0.0498115143883,0.999999955422,0.000102464035197,-0.000279334958733,2.50646110823e-05,1793243177691230976
+255,4.250000000,HOLD_POSE2,764.639582821,745.360417179,714,680,662,631,880.639582821,787,806.360417179,652,632,652,0.454607569174,0.0045244477104,0.0498121445856,0.999999955346,0.000104916689997,-0.000278741234335,2.45894385671e-05,1793243177707897856
+256,4.266666667,HOLD_POSE2,765,745,714,680,662,631,881,787,806,652,632,652,0.454607610328,0.00452452092727,0.0498120124151,0.99999995515,0.000105405516945,-0.000279272792321,2.44116774396e-05,1793243177724564736
+257,4.283333333,HOLD_POSE2,765,745,714,680,662,631,881,787,806,652,632,652,0.454606263728,0.00452281919173,0.0498106189671,0.999999954758,0.000102645345354,-0.00028166604132,2.47259600445e-05,1793243177741231360
+258,4.300000000,HOLD_POSE2,765,745.363703833,714,679.636296167,662,631,880.636296167,787,806,652,631.636296167,652,0.454606356241,0.0045222868687,0.0498106956793,0.999999954879,0.000101545527362,-0.000281614869108,2.49600696888e-05,1793243177757897984
+259,4.316666667,HOLD_POSE2,765,745.940234628,714,679.059765372,662,631,880.059765372,787,806,652,631.059765372,652,0.454607290873,0.00452243884544,0.0498116326785,0.999999955304,0.00010141729087,-0.000280133305993,2.51472649072e-05,1793243177774564608
+260,4.333333333,HOLD_POSE2,765,745.469737347,714,679.530262653,662,631,880.530262653,787,806.530262653,652,631.530262653,652,0.454608048142,0.00452288106234,0.0498116906624,0.999999955466,0.000101639358321,-0.000279468971772,2.52041860726e-05,1793243177791230976
+261,4.350000000,HOLD_POSE2,765,745.118683211,714,680,662,630.881316789,880.881316789,787,806.881316789,652,631.881316789,651.881316789,0.454608507504,0.00452342441243,0.0498115695527,0.999999955489,0.000102135464216,-0.000279208467927,2.51714734693e-05,1793243177807897600
+262,4.366666667,HOLD_POSE2,765,745.694889552,714,680,662,630.305110448,880.305110448,787,806.305110448,652,631.305110448,651.305110448,0.454607897515,0.00452422822961,0.0498111499392,0.999999955092,0.000103531807048,-0.000280140373709,2.48513046963e-05,1793243177824564224
+263,4.383333333,HOLD_POSE2,765,745.728599104,714,680,662,630.271400896,880.271400896,787,806,652,631,651.271400896,0.454606998496,0.00452417526424,0.0498105503268,0.999999954656,0.000104050454401,-0.000281510080335,2.47588591586e-05,1793243177841230848
+264,4.400000000,HOLD_POSE2,765,745.151744523,714,680,662,630.848255477,880.848255477,787,806,652,631,651.848255477,0.454605774183,0.00452315801539,0.0498097481311,0.999999954175,0.000103581281357,-0.000283372518812,2.49227094087e-05,1793243177857897472
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,662,631,880,787,806,652,631,652,0.454609984372,0.00452387007438,0.049812256396,0.99999995559,0.000103014464713,-0.000278510670752,2.52871580953e-05,1793243177890604544
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,661.419675951,631,880.580324049,787,806.580324049,652,631,652,0.454609382126,0.00452504387346,0.0498122357862,0.999999955273,0.000103966665184,-0.000279337744646,2.47861851254e-05,1793243177907271168
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.159002441,714,680,661,631,881,787,806.840997559,651.840997559,631.159002441,652,0.454608571937,0.00452574027497,0.049811857657,0.999999954848,0.000104806298595,-0.000280577578216,2.44305036845e-05,1793243177923937536
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.733381857,714,680,661,631,881,787,806.266618143,651.266618143,631.733381857,652,0.454607218521,0.00452518952633,0.0498105455465,0.999999954136,0.000105351862732,-0.000282895702736,2.44543808104e-05,1793243177940604416
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,661.308550278,630.691449722,880.691449722,787,806.308550278,651.308550278,631.691449722,652,0.454605857739,0.00452554995494,0.0498095943303,0.999999953573,0.000106558527245,-0.000284415566739,2.46376532298e-05,1793243177957271040
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,661.884402192,630.115597808,880.115597808,787,806.884402192,651.884402192,631.115597808,652,0.454604490577,0.00452669974983,0.0498089557623,0.999999953138,0.000108337912687,-0.0002852438858,2.49590121306e-05,1793243177973937664
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.526560354,714,680.473439646,662,630.473439646,880,787,806.526560354,652,631,652,0.454605161466,0.00452595294249,0.0498089722986,0.999999953673,0.000106992978728,-0.000283891840559,2.474350157e-05,1793243177990604288
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.935647683,662,630.935647683,880,787,806.064352317,652,631,652,0.454605363174,0.00452510137523,0.0498087182694,0.999999954133,0.000105359245372,-0.000282910897806,2.44031235327e-05,1793243178007271168
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.356232227,662,630.356232227,880,787,806.643767773,652,631,652,0.454597712684,0.00452722395849,0.0498049817692,0.999999952067,0.000107694655149,-0.000289283243991,2.41425682466e-05,1793243178023937792
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.220952608,714.220952608,680.220952608,662,630,880,787,806.779047392,652,631.220952608,652,0.454582817364,0.00452785597554,0.0497979242989,0.999999948421,0.00010800446963,-0.00030152660745,2.39858273001e-05,1793243178040604416
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.794576999,714.794576999,680.794576999,662,630,880,787,806.205423001,652,631.794576999,652,0.454556358267,0.00452610883675,0.0497855660886,0.999999941981,0.000105081145708,-0.000323140948676,2.39947888209e-05,1793243178057271040
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.622475304,714.622475304,680.622475304,662,630.377524696,880,787,806.377524696,652,632,652,0.454514216335,0.00452620250838,0.0497671734391,0.999999931247,0.000105974613945,-0.000354542699417,2.39908891148e-05,1793243178073937664
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.034325993,714.034325993,680.034325993,662,630.965674007,880,787,806.965674007,652,632,652,0.454463324797,0.00452732318546,0.0497454141175,0.999999917173,0.000108997506431,-0.000391404940638,2.39798139862e-05,1793243178090604288
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.546744546,745,714,680,662,631,880.546744546,787,806.453255454,652,631.453255454,652,0.454397190109,0.00452923348874,0.049726101569,0.99999990608,0.000109300214691,-0.000418779246834,2.27299151836e-05,1793243178107271168
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.873708849,745,714,680,662,631,881,787,806.126291151,652,631.126291151,652,0.454327215715,0.00453098044536,0.0497085941854,0.99999989552,0.00010974260147,-0.000443230111279,2.15187159281e-05,1793243178123937792
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.298023623,745,714,680,662,631,881,787,806.701976377,652,631.701976377,652,0.454246939977,0.00453197199845,0.0496969706556,0.999999888083,0.000111281955701,-0.000459370777348,2.07184467872e-05,1793243178140604416
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,662,631,880.722468512,787,806.722468512,652,631.722468512,652,0.454160140972,0.00453286711225,0.0496906710528,0.999999883985,0.000113601450621,-0.000467676355019,2.01008056244e-05,1793243178157271296
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,662,631,880.14705309,787,806.14705309,652,631.14705309,652,0.454066340331,0.00453365871444,0.0496900858018,0.999999883678,0.000116758296858,-0.000467572266459,1.96791852991e-05,1793243178173937920
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.440430081,714,680,662,631,880,787,806,652,631,652,0.453956986517,0.00453303020748,0.0496921368064,0.999999884936,0.000116880906011,-0.000464839447168,1.9796905955e-05,1793243178190604288
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.968711883,714,680,662,631,880.031288117,787,806.031288117,652,631.031288117,652,0.453840476039,0.00453222134088,0.0496949461888,0.999999886534,0.000116413608025,-0.000461496330478,2.00201719922e-05,1793243178207271168
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.391257969,714,680,662,631,880.608742031,787,806.608742031,652,631.608742031,652,0.453692241104,0.00453677411607,0.0496951960699,0.999999884854,0.000123831544686,-0.000463252518738,1.88538395777e-05,1793243178223937536
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.185133632,714,680,662,631,880.814866368,787,806.814866368,652,631.814866368,652,0.453535431994,0.00454039624476,0.0496959509848,0.999999883455,0.000130006968146,-0.000464610302493,1.80271159072e-05,1793243178240604160
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.759292897,714,680,662,631,880.240707103,787,806.240707103,652,631.240707103,652,0.453360605791,0.00454206278359,0.0496977671389,0.999999882745,0.000133571468621,-0.000465130909368,1.79140201853e-05,1793243178257270784
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.657886922,714,680.342113078,662.342113078,631,880.342113078,787,806,652,631,652,0.453164355586,0.00454454039405,0.0497006822938,0.999999882116,0.000139014277332,-0.0004649009471,1.75904518593e-05,1793243178273937664
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.068814676,714,680.931185324,662.931185324,631,880.931185324,787,806,652,631,652,0.452952640144,0.00454760348823,0.0497043907782,0.999999881515,0.000145812969792,-0.000464129175914,1.71149508926e-05,1793243178290604544
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.513026192,714,680.486973808,662.486973808,631.513026192,880.486973808,787,806.513026192,652,631,652,0.452710630631,0.004548262514,0.049708823366,0.999999881207,0.000149163864496,-0.000463738402161,1.68128805973e-05,1793243178307270912
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.906915124,714,680,662.093084876,632,880,787,806.906915124,652,631,651.906915124,0.452458478432,0.00454943537429,0.0497129334519,0.999999880878,0.000153008150709,-0.000463214391286,1.62516843171e-05,1793243178323937536
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.331137837,714,680,662.668862163,632,880,787,806.331137837,652,631,651.331137837,0.452174509533,0.00455492165266,0.0497148745484,0.999999880212,0.000161775731349,-0.000461738155994,1.42278337073e-05,1793243178340604160
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.244383689,714.244383689,680,663,632,880,787,806.244383689,652,631,651.244383689,0.451871016439,0.00455901001903,0.0497136309861,0.999999877937,0.000169262812676,-0.000464021706362,1.26429258341e-05,1793243178357271040
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.819558989,714.819558989,680,663,632,880,787,806.819558989,652,631,651.819558989,0.451541095905,0.00456120620656,0.0497080767499,0.99999987351,0.000175016641843,-0.000471394408066,1.16521599234e-05,1793243178373937664
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.594548696,714.594548696,680,663,632,880,787,806.594548696,652,631.405451304,652,0.451192770389,0.00456663902085,0.0497088298366,0.999999876029,0.000181916798058,-0.000463418836213,9.52659097079e-06,1793243178390604288
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.003757432,714.003757432,680,663,632,880,787,806.003757432,652,631.996242568,652,0.450836031594,0.00457355136238,0.049712466128,0.999999881508,0.000189340963265,-0.000448427259008,6.88228071113e-06,1793243178407270912
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.424790052,745.575209948,713.424790052,679.424790052,663,632,880,787,806,652,631.424790052,652,0.450461753859,0.00457570945901,0.0497347079748,0.999999899029,0.000192749448737,-0.000405906903532,5.32255446596e-06,1793243178423937536
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.152760288,745.847239712,713.152760288,679.152760288,663.152760288,632.152760288,880,787,806,651.847239712,631.152760288,652,0.450072306535,0.00457852235621,0.0497549776766,0.999999912714,0.000197441634071,-0.000368205448753,3.69368293101e-06,1793243178440604160
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764.726612995,745.273387005,713.726612995,679.726612995,663.726612995,632.726612995,880,787,806,651.273387005,631.726612995,652,0.449641352896,0.00458322413158,0.0497694827698,0.999999919571,0.000205743263589,-0.000344273291964,1.85507244296e-06,1793243178457270784
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,664,633,880,787,806,651.301530127,631.698469873,652,0.449176456756,0.00458785714792,0.049776202003,0.999999921555,0.000213597409144,-0.000333566645985,5.8474306966e-08,1793243178473937664
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,664,633,880,787,806,651.877415822,631.122584178,652,0.448680677039,0.00459242760249,0.0497758370567,0.999999919491,0.000221044400007,-0.00033489359602,-1.69989793284e-06,1793243178490604288
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.464327562,714,679.535672438,664,633,880,787,806.464327562,651.535672438,631,651.535672438,0.448146676564,0.0045963770535,0.0497767009713,0.999999920151,0.00022892374145,-0.000327526604067,-4.29745092696e-06,1793243178507270912
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.946819934,714,679,664.053180066,633.053180066,880,787,806.946819934,651.053180066,631,651.053180066,0.447597126499,0.00460047245287,0.0497766570557,0.99999992041,0.000237246904093,-0.000320689930736,-7.17882662662e-06,1793243178523937536
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.368251118,714,679,664.631748882,633.631748882,880,787,806.368251118,651.631748882,631,651.631748882,0.446996067384,0.00460766884375,0.0497643612137,0.999999910402,0.000248799684431,-0.000342319645134,-1.0622215676e-05,1793243178540604416
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.209451245,714,679.209451245,664.790548755,634,880.209451245,787,806.209451245,652,631.209451245,651.790548755,0.446387866575,0.00461429785681,0.0497570497396,0.999999903027,0.000259668693002,-0.000355417331963,-1.39920986394e-05,1793243178557271040
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.785636476,714,679.785636476,664.214363524,634,880.785636476,787,806.785636476,652,631.785636476,651.214363524,0.445767161208,0.00461993343189,0.0497584655343,0.999999901071,0.000269340466161,-0.000353576054408,-1.72332775632e-05,1793243178573937664
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,664,634.369063458,881,787,806.630936542,652,631.630936542,651.369063458,0.445139055335,0.00462571493951,0.0497747374781,0.99999990407,0.000280027978412,-0.000336266165503,-1.92420933395e-05,1793243178590604288
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,664,634.95678084,881,787,806.04321916,652,631.04321916,651.95678084,0.444506565007,0.00463158290555,0.049799811039,0.999999909371,0.000291317271035,-0.00030979180218,-2.05207878354e-05,1793243178607270912
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.463318622,714,680,664,634.463318622,880.463318622,787,806.536681378,652,631,651.463318622,0.44376273534,0.00463938527284,0.0497909310687,0.999999899289,0.000301545170674,-0.000331555575373,-2.37303621828e-05,1793243178623937792
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,664,634,880,787,806.890508681,652,631,651.109491319,0.443015348911,0.00464687601382,0.0497796193624,0.999999898013,0.00027995896218,-0.000353349554259,-2.72201585458e-05,1793243178640604672
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,664,634,880,787,806.343550029,652,631,651.656449971,0.442289061535,0.00465250819603,0.0497693596677,0.999999926066,0.000131597603385,-0.00035996614936,-3.12172155733e-05,1793243178657271296
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,713.773352106,680,664,633.773352106,880,787,805.773352106,651.773352106,631,652,0.441555147064,0.00465156668614,0.0497753491357,0.999999939381,3.78685002054e-05,-0.000344272527189,-3.5776456023e-05,1793243178673937920
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,713.163903775,680,664,633.163903775,880,787,805.163903775,651.163903775,631,652,0.440808350575,0.00463952243903,0.0498087828746,0.999999956174,3.641136237e-05,-0.000290897732604,-4.12852063373e-05,1793243178690604544
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764.569254023,745,713.430745977,680,664.430745977,633.430745977,880.430745977,787,805.430745977,651.430745977,631,651.569254023,0.440031357476,0.00460965275893,0.0498202388827,0.999999961171,1.49434327719e-05,-0.000275225845853,-4.10520610615e-05,1793243178707270912
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764.019617241,745,713.980382759,679.980382759,664.980382759,634,880.980382759,787,806,652,631,651.019617241,0.439239291446,0.0045743977749,0.0498222285903,0.999999961173,-1.25791205388e-05,-0.000275646242974,-3.89133222487e-05,1793243178723937792
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764.598945988,745,713.401054012,679.401054012,664.401054012,634,880.401054012,787,806,652,631,651.598945988,0.438334112877,0.00457258719848,0.049784807913,0.999999941464,-2.81648328674e-06,-0.00033947543812,-4.26719019199e-05,1793243178740604416
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,713.176936248,679.176936248,664.176936248,634,880,787,806,652,631,652,0.43744966652,0.00457561850534,0.0497640257926,0.999999927744,1.08868043855e-05,-0.000377133894881,-4.65193290675e-05,1793243178757271040
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,713.751915362,679.751915362,664.751915362,634,880,787,806,652,631,652,0.436611860234,0.00458954230672,0.0497806744378,0.999999934823,3.34551363462e-05,-0.000355917609836,-5.05666311412e-05,1793243178773937664
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,713.665913302,680,665,634,880,787,806,652,631,651.665913302,0.435747011473,0.00459923843202,0.0497842015594,0.999999933243,4.97740229292e-05,-0.000357926369612,-5.40906802914e-05,1793243178790604288
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,713.078283718,680,665,634,880,787,806,652,631,651.078283718,0.434861639853,0.00460572611648,0.0497777705795,0.999999925205,6.13501203765e-05,-0.000377560929125,-5.72176255851e-05,1793243178807270912
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,713.502389947,680,664.497610053,634,880,787,806,652,631,651.502389947,0.433982362272,0.00460871292319,0.0497740123526,0.999999925863,6.65362815753e-05,-0.00037432026285,-6.10810395946e-05,1793243178823937792
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745.081429145,713.918570855,680,664.081429145,634,880,787,805.918570855,652,631.081429145,652,0.433101280391,0.00461041579364,0.0497748916052,0.999999929089,7.98416075885e-05,-0.000363082642431,-6.01468494423e-05,1793243178840604416
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745.65703691,713.34296309,680,664.65703691,634,880,787,805.34296309,652,631.65703691,652,0.432203564736,0.00460759211301,0.0498014218799,0.99999993586,0.000148380839438,-0.000324649711061,-2.94099361006e-05,1793243178857271040
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745.76738216,713,680,664.76738216,634,880,787,805,651.76738216,631.76738216,652,0.431289013494,0.00460462089758,0.0498085647641,0.999999933641,0.000184397791243,-0.000313909691532,-1.32792499157e-05,1793243178873937664
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745.191840706,713,680,664.191840706,634,880,787,805,651.191840706,631.191840706,652,0.430349643213,0.00460143218696,0.0497871268949,0.999999925786,0.000172470633487,-0.000343994368366,-1.86809586974e-05,1793243178890604544
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,664,634.393821447,880,787,805.393821447,651.393821447,631,652,0.429426497961,0.0045991615099,0.0497717151442,0.999999919477,0.000166230673483,-0.000364461202544,-2.41024796327e-05,1793243178907270912
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,664,634.984543658,880,787,805.984543658,651.984543658,631,652,0.428511464868,0.00459734982657,0.0497593163017,0.999999914061,0.000162834169267,-0.000380119356861,-2.95339058213e-05,1793243178923937792
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.564003388,745,713.564003388,680,664.564003388,634.435996612,879.435996612,787,806,652,631,652,0.427560385117,0.00460851679435,0.0497663024445,0.999999909507,0.000170347312715,-0.000388460765631,-3.26350546791e-05,1793243178940604416
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.857452853,745,714,680,664.857452853,634,879.142547147,787,805.857452853,652,631,652,0.42661489683,0.00461678631518,0.0497719519423,0.999999909255,0.000170077344796,-0.000388988146726,-3.53880050879e-05,1793243178957271040
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.280777149,745,714,680,664.280777149,634,879.719222851,787,805.280777149,652,631,652,0.425689387046,0.00461516962859,0.0497719444558,0.999999921668,0.000145211137549,-0.000366316548061,-3.72711941295e-05,1793243178973937664
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.699455362,680,664,634,880,787.300544638,805,652,631,652,0.424810165659,0.00461194393636,0.0497925243346,0.999999938655,0.000136873568728,-0.000320128661919,-3.83761530861e-05,1793243178990604544
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,713.113724956,680,664,634,880,787.886275044,805,652,631,652,0.423974867225,0.00460719146434,0.0498326394933,0.999999957192,0.000144219968801,-0.000251626252279,-3.87426519913e-05,1793243179007271168
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,713.466990013,680,664.466990013,634,880,787.533009987,805,652,631,652,0.423065387671,0.0046046934691,0.049831718794,0.999999956965,0.000141743852833,-0.000253938509984,-3.86529686659e-05,1793243179023937792
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,713.953564096,679.953564096,664.953564096,634,880,787.046435904,805,652,631,652,0.422138114357,0.00460290431785,0.0498199224605,0.999999951933,0.000137517678769,-0.000275205449692,-3.85209308543e-05,1793243179040604416
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,713.374814061,679.374814061,664.374814061,634,880,787.625185939,805,652,631,652,0.421211752404,0.00460301408926,0.0497967950346,0.999999938767,0.000140359600636,-0.000318168052526,-3.91633388364e-05,1793243179057271040
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.202128576,745,713.202128576,679.202128576,664,634,880,788,805,652,631,652,0.420300462008,0.00460641547302,0.0497884229399,0.999999931117,0.000142615669215,-0.000340424447327,-3.92204094462e-05,1793243179073937664
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.775749493,745,713.775749493,679.775749493,664,634,880,788,805,652,631,652,0.419416871485,0.00461586651485,0.0498071696812,0.999999936241,0.00014379499823,-0.000324624887072,-3.82016880488e-05,1793243179090604288
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.641595996,745,714,679.641595996,664,634.358404004,879.641595996,787.641595996,805,652.358404004,631,652,0.418550517058,0.004621476557,0.0498036519,0.999999930685,0.000149478395397,-0.00033890754768,-3.77967860631e-05,1793243179107270912
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.053143122,745,714,679.053143122,664,634.946856878,879.053143122,787.053143122,805,652.946856878,631,652,0.41769522602,0.00462462117515,0.0497858431831,0.999999917418,0.000158052819737,-0.000372499091709,-3.77858765285e-05,1793243179123937536
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745.528494942,714,679,664,634.471505058,879,787,805,652.471505058,631,652,0.416889893856,0.00461595378431,0.0497900428247,0.999999924288,0.000155079058668,-0.000354720792285,-3.93420727337e-05,1793243179140604416
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745.891608041,714,679,664,634,879,787.108391959,804.891608041,652,631,652.108391959,0.416094397469,0.00460693870065,0.0497986938393,0.999999933852,0.000149230965395,-0.000329192807118,-4.07165273141e-05,1793243179157271040
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745.3162966,714,679,664,634,879,787.6837034,804.3162966,652,631,652.6837034,0.415319905807,0.00460147724935,0.049817108171,0.99999994723,0.000135939689313,-0.000292249772653,-4.06379241626e-05,1793243179173937664
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,664,634,879,788,804.259242566,652.259242566,631,652.740757434,0.414522666481,0.00460213806293,0.0498147266143,0.999999946607,0.000129801797846,-0.000297091203488,-4.09230059504e-05,1793243179190604288
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,664,634,879,788,804.835059777,652.835059777,631,652.164940223,0.413697648852,0.0046102750945,0.0497869501099,0.999999928078,0.000132399279067,-0.000352957831197,-4.16522023979e-05,1793243179207270912
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,663.583058208,634.416941792,879,788,805,652.583058208,631,652.416941792,0.41295723466,0.00461548363722,0.0497792070796,0.999999921802,0.000144267145631,-0.000365771619047,-4.23585486305e-05,1793243179223937536
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745.001247128,714,679,663.001247128,635,879.001247128,788,805.001247128,652.001247128,631,652.998752872,0.412250843311,0.00461950521481,0.049779559124,0.999999921052,0.000159832325417,-0.000361242606164,-4.30503891934e-05,1793243179240604416
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745.580293868,714,679,663.580293868,635,879.580293868,788,805.580293868,652.580293868,631,652.419706132,0.411572324051,0.00461825956402,0.0498044412408,0.999999931558,0.000164212777438,-0.000328960366048,-4.12714803522e-05,1793243179257272320
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745.840047513,714,679,664,634.840047513,879.840047513,788,805.840047513,653,631,652,0.410890260129,0.004615810956,0.0498181288707,0.999999937272,0.000158584433347,-0.000314203995746,-3.97744413078e-05,1793243179273939456
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.258777064,714,679,664,634.258777064,879.258777064,788,805.258777064,653,631,652,0.410198859348,0.00461019373499,0.0498023300101,0.999999931502,0.000126592726892,-0.000345611100543,-3.90198524464e-05,1793243179290605312
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,678.681674581,663.681674581,634,879,787.681674581,805,652.681674581,631,652,0.409551812707,0.00460619801514,0.0497942613217,0.999999929545,0.000116407985096,-0.000354669984026,-3.95957090549e-05,1793243179307271680
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,678.107916614,663.107916614,634,879,787.107916614,805,652.107916614,631,652,0.408940357015,0.00460350343008,0.0497923955243,0.999999931709,0.000123721717633,-0.000345796075378,-4.12391495948e-05,1793243179323938048
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ca4a409c11d76a0165065f65868f8909e4ef6d71
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_10/depth_05/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+365,6.083333333,pose2_to_pose3_retreat,0.582563687025,0.0100017908151,1.04004086051,0.553135406158,0.0186766174861,1.03967865616
+366,6.100000000,pose2_to_pose3_retreat,0.582319443312,0.010001760179,1.04004095095,0.552891163482,0.0186765904754,1.03967874921
+367,6.116666667,pose2_to_pose3_retreat,0.582098728821,0.0100018027163,1.04004092406,0.552670448745,0.0186766319862,1.03967871778
+368,6.133333333,pose2_to_pose3_retreat,0.581904179251,0.010001880091,1.04004058997,0.552475897777,0.0186767048412,1.03967838943
+369,6.150000000,pose2_to_pose3_retreat,0.581733395529,0.0100018125065,1.04004059568,0.552305114271,0.0186766378857,1.03967839261
+370,6.166666667,pose2_to_pose3_retreat,0.581584242591,0.0100017470314,1.04004095778,0.552155963314,0.0186765788213,1.03967874735
+371,6.183333333,pose2_to_pose3_retreat,0.581453790694,0.0100018179266,1.04004107454,0.552025510829,0.0186766478142,1.03967886627
+372,6.200000000,pose2_to_pose3_retreat,0.581338950545,0.0100017116935,1.04004094345,0.551910671784,0.0186765453098,1.03967873483
+373,6.216666667,pose2_to_pose3_retreat,0.581238471239,0.0100017776868,1.04004092052,0.551810191236,0.0186766071507,1.03967871388
+374,6.233333333,pose2_to_pose3_retreat,0.581148740689,0.0100018567253,1.04004091994,0.551720460471,0.0186766855123,1.03967871485
+375,6.250000000,pose2_to_pose3_retreat,0.581069216658,0.010001815062,1.04004085344,0.551640937817,0.0186766485157,1.0396786481
+376,6.266666667,pose2_to_pose3_retreat,0.581001237362,0.0100017767856,1.04004081074,0.551572957667,0.0186766073768,1.03967860604
+377,6.283333333,pose2_to_pose3_retreat,0.580943818347,0.0100016891744,1.04004074119,0.551515538858,0.0186765204697,1.03967853655
+378,6.300000000,pose2_to_pose3_retreat,0.580897215807,0.0100017379315,1.04004081319,0.551468935901,0.0186765681471,1.03967861656
+379,6.316666667,pose2_to_pose3_retreat,0.580859869892,0.0100018870675,1.04004062382,0.551431587679,0.0186767092182,1.03967842145
+380,6.333333333,pose2_to_pose3_retreat,0.580831079996,0.0100018511525,1.04004059914,0.551402799136,0.0186766778245,1.03967839512
+381,6.350000000,pose2_to_pose3_retreat,0.580807537232,0.0100017708147,1.04004064863,0.551379257777,0.0186766024188,1.03967844859
+382,6.366666667,pose2_to_pose3_retreat,0.580789006287,0.0100018013517,1.04004083333,0.551360726355,0.0186766313184,1.03967863282
+383,6.383333333,pose2_to_pose3_retreat,0.580773986892,0.0100019472982,1.0400410915,0.551345704905,0.0186767698868,1.03967888124
+384,6.400000000,pose2_to_pose3_retreat,0.580762468352,0.0100018869955,1.04004099789,0.55133418686,0.0186767111252,1.03967878443
+385,6.416666667,pose2_to_pose3_retreat,0.580754794396,0.0100018581036,1.04004084739,0.551326513571,0.0186766849086,1.03967864383
+386,6.433333333,pose2_to_pose3_retreat,0.580749492127,0.0100018935352,1.04004083279,0.55132121107,0.0186767196314,1.03967863119
+387,6.450000000,pose2_to_pose3_retreat,0.580746382977,0.0100018492637,1.04004098496,0.551318103773,0.0186766811577,1.03967877145
+388,6.466666667,pose2_to_pose3_retreat,0.580744700522,0.0100017746482,1.04004090658,0.551316422913,0.0186766121731,1.03967869835
+389,6.483333333,pose2_to_pose3_retreat,0.580744064883,0.0100017562146,1.04004084936,0.551315787432,0.0186765944329,1.03967864495
+390,6.500000000,pose2_to_pose3_retreat,0.580743897065,0.0100017681153,1.04004084372,0.551315619189,0.0186766048948,1.03967863941
+391,6.516666667,pose2_to_pose3_retreat,0.580743892028,0.0100017684724,1.04004084355,0.55131561414,0.0186766052088,1.03967863924
+392,6.533333333,pose2_to_pose3_retreat,0.580743829763,0.0100017728879,1.04004084146,0.551315551717,0.0186766090905,1.03967863718
+393,6.550000000,pose2_to_pose3_retreat,0.580743802512,0.0100017748204,1.04004084054,0.551315524396,0.0186766107894,1.03967863628
+394,6.566666667,pose2_to_pose3_retreat,0.580743801143,0.0100017749175,1.04004084049,0.551315523024,0.0186766108747,1.03967863624
+395,6.583333333,pose2_to_pose3_retreat,0.58074377655,0.0100017766615,1.04004083967,0.551315498369,0.0186766124078,1.03967863542
+396,6.600000000,pose2_to_pose3_retreat,0.580743739723,0.0100017792731,1.04004083843,0.551315461448,0.0186766147037,1.03967863421
+397,6.616666667,pose2_to_pose3_retreat,0.580743707121,0.010001781585,1.04004083733,0.551315428764,0.0186766167361,1.03967863313
+398,6.633333333,pose2_to_pose3_retreat,0.580743689893,0.0100017828067,1.04004083675,0.551315411492,0.0186766178102,1.03967863256
+399,6.650000000,pose2_to_pose3_retreat,0.580743670578,0.0100017851969,1.04004083545,0.551315392113,0.0186766199818,1.03967863126
+400,6.666666667,pose2_to_pose3_retreat,0.580743669913,0.0100017864569,1.04004083466,0.551315391428,0.0186766211732,1.03967863044
+401,6.683333333,pose2_to_pose3_retreat,0.580743658255,0.0100018085505,1.0400408208,0.551315379419,0.0186766420635,1.03967861621
+402,6.700000000,pose2_to_pose3_retreat,0.580743651951,0.0100018204969,1.04004081331,0.551315372926,0.0186766533592,1.03967860852
+403,6.716666667,pose2_to_pose3_retreat,0.580743647665,0.010001828618,1.04004080822,0.551315368512,0.0186766610381,1.03967860329
+404,6.733333333,pose2_to_pose3_retreat,0.580743644076,0.0100018354202,1.04004080395,0.551315364815,0.0186766674698,1.03967859891
+405,6.750000000,pose2_to_pose3_retreat,0.580743623864,0.0100018737219,1.04004077992,0.551315343996,0.0186767036854,1.03967857423
+406,6.766666667,pose2_to_pose3_retreat,0.58074359909,0.0100019206706,1.04004075047,0.551315318478,0.0186767480771,1.03967854399
+407,6.783333333,pose2_to_pose3_retreat,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720531,1.03967852766
+408,6.800000000,pose2_to_pose3_retreat,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720532,1.03967852766
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f08d4ec2bc1246e33496049384b6a557fc32a59d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d5a5347194c30a4e2d57183e3955b8b9758a5f653e51a67f1921559c7f1fc7c
+size 25608594
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4ed88d3f5a58d02fac0ff426132f8ccd3672f6f4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_01/franka_data.csv
@@ -0,0 +1,406 @@
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+17,0.283333333,BASELINE,765,745,714,679,660,634.843840163,879,787,805.843840163,652.843840163,631,652,0.401029471238,0.00448526333186,0.0698587171211,0.999999989194,2.4216455477e-05,-0.000143695723024,1.94034821815e-05,1793243182108135936
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+22,0.366666667,BASELINE,764.749834381,745.250165619,714.250165619,679,660,635,879.250165619,787,805,652,630.250165619,652,0.401028738925,0.00448438374058,0.0698592768448,0.999999989264,2.08190355692e-05,-0.000143753208787,1.93540670359e-05,1793243182191470080
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+29,0.483333333,BASELINE,765.830398555,745.830398555,714,679,659.169601445,634.830398555,879,787,804.830398555,652,630.169601445,652,0.401032376986,0.00448550030627,0.0698619929617,0.999999989704,2.34125928681e-05,-0.000140260009641,1.92813464664e-05,1793243182308134144
+30,0.500000000,BASELINE,765.587390176,745.587390176,714,679,659.412609824,635,879,787,805,652,630.412609824,652,0.401030939444,0.00448490930784,0.0698611663191,0.999999989575,2.26076577992e-05,-0.000141288569883,1.93948420433e-05,1793243182324801024
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+34,0.566666667,BASELINE,764.282826015,745.717173985,714,679.282826015,660,635,879,787.282826015,805,652,631,652,0.40103176888,0.00448366789752,0.0698617881338,0.999999989829,2.18429434779e-05,-0.000139616659636,1.92704098927e-05,1793243182391467008
+35,0.583333333,BASELINE,764.30064652,745.69935348,714,679.30064652,660,635,879,787,805,652,631,652,0.401031123295,0.00448401830243,0.0698616661838,0.999999989746,2.14866295427e-05,-0.000140289767813,1.91201268179e-05,1793243182408133888
+36,0.600000000,BASELINE,764.893577279,745.106422721,714,679.893577279,660,635,879,787,805,652,631,652,0.401030121744,0.00448444283079,0.0698608427184,0.999999989613,1.85836157277e-05,-0.000141695979294,1.8719677267e-05,1793243182424800512
+37,0.616666667,BASELINE,765,745,714,680,660,634.526981334,879,787,805,652,631,652,0.401029164977,0.00448470356631,0.0698605365639,0.99999998941,2.02080759074e-05,-0.000142864536196,1.89859946343e-05,1793243182441467136
+38,0.633333333,BASELINE,765,745,714,679.950589541,659.950589541,634.049410459,879,787,804.950589541,652,631,652,0.401028317566,0.00448491416925,0.0698603696536,0.99999998921,2.26108582302e-05,-0.000143851317488,1.93637572482e-05,1793243182458134016
+39,0.650000000,BASELINE,765,745,714,679.37524919,659.37524919,634.62475081,879,787,804.37524919,652,631,652,0.401028529891,0.00448497252754,0.0698604803778,0.999999989263,2.27565150797e-05,-0.00014345661118,1.93752697866e-05,1793243182474800640
+40,0.666666667,BASELINE,764.80016687,745,714,679.19983313,659.19983313,634.80016687,878.80016687,787,804.19983313,652,631,652,0.401028762191,0.00448514709885,0.0698603913443,0.99999998926,2.32061392107e-05,-0.000143413581586,1.9357262107e-05,1793243182491467264
+41,0.683333333,BASELINE,764.225568496,745,714,679.774431504,659.774431504,634.225568496,878.225568496,787,804.774431504,652,631,652,0.401029031956,0.00448553961502,0.0698599276871,0.999999989148,2.42258208249e-05,-0.000144030083342,1.92838924771e-05,1793243182508134144
+42,0.700000000,BASELINE,764.359871761,745,714,679.640128239,659.640128239,634,878.359871761,787,805,652,631,652,0.401029159126,0.0044848667454,0.0698602926727,0.999999989287,2.31308502207e-05,-0.000143232840471,1.93852936526e-05,1793243182524800768
+43,0.716666667,BASELINE,764.952318808,745,714,679.047681192,659.047681192,634,878.952318808,787,805,652,631,652,0.401029194142,0.00448350534606,0.0698611931876,0.99999998958,2.0669237633e-05,-0.000141521933055,1.95996444266e-05,1793243182541467392
+44,0.733333333,BASELINE,765,745,714,679,659,634.530789917,879.530789917,786.469210083,805,652,631,652.530789917,0.401028277343,0.0044839828507,0.069860318596,0.999999989353,1.9592077759e-05,-0.000143326420156,1.91859876676e-05,1793243182558134272
+45,0.750000000,BASELINE,765,745.107552885,714,679,659.107552885,634.892447115,879.892447115,786.107552885,805,652,631,652.892447115,0.401027589561,0.00448456369926,0.0698596131242,0.999999989155,1.93082956319e-05,-0.000144773888888,1.89079112098e-05,1793243182574800896
+46,0.766666667,BASELINE,765,745.682209838,714,679,659.682209838,634.317790162,879.317790162,786.682209838,805,652,631,652.317790162,0.401028258216,0.0044848943549,0.0698603169088,0.999999989298,2.19438992901e-05,-0.000143334523323,1.94573851824e-05,1793243182591467520
+47,0.783333333,BASELINE,765,746,714,679,659.73602318,634.26397682,879.26397682,787,805,652,631,652,0.401028572635,0.00448508879203,0.0698605017926,0.999999989325,2.29637423987e-05,-0.000142970550087,1.95595991194e-05,1793243182608133888
+48,0.800000000,BASELINE,765,746,714,679,659.145459741,634.854540259,879.854540259,787,805,652,631,652,0.401028448801,0.0044851147025,0.0698600447033,0.999999989217,2.19846005953e-05,-0.000143937029629,1.91084723389e-05,1793243182624800512
+49,0.816666667,BASELINE,765,745.563246036,714.436753964,679.436753964,659.436753964,634.563246036,879.563246036,787,805,652,630.563246036,652,0.401029060679,0.00448555646995,0.069860643884,0.999999989407,2.2173001116e-05,-0.000142615151423,1.88430207214e-05,1793243182641467392
+50,0.833333333,BASELINE,765,745,714.983813043,679.983813043,660,634.016186957,879,787,805,652,630.016186957,652,0.401029903304,0.00448611829427,0.069861563825,0.999999989684,2.26998198554e-05,-0.000140604447017,1.8645475348e-05,1793243182658134272
+51,0.850000000,BASELINE,765,745,714.406183158,679.406183158,660,634.593816842,879,787,805,652,630.593816842,652,0.401030410047,0.00448613053653,0.0698616364705,0.999999989699,2.1730533654e-05,-0.000140640436746,1.86986202703e-05,1793243182674802176
+52,0.866666667,BASELINE,765,745,714,679.170424759,660,634.829575241,879,787.170424759,805,652,631,652,0.401030628262,0.00448618775353,0.0698617545264,0.999999989693,2.11850048258e-05,-0.000140755869144,1.87654194862e-05,1793243182691469312
+53,0.883333333,BASELINE,765,745,714,679.744611444,660,634.255388556,879,787.744611444,805,652,631,652,0.401030162911,0.0044863515225,0.0698619801664,0.999999989639,2.16434211086e-05,-0.000141059513191,1.88645677771e-05,1793243182708135424
+54,0.900000000,BASELINE,765,745,714,680,660,634.327895106,879,787.672104894,805,652,631,652,0.401029280177,0.00448639242864,0.0698613972292,0.999999989451,2.30376648308e-05,-0.000142137880511,1.91001911017e-05,1793243182724801792
+55,0.916666667,BASELINE,765,745,714,680,660,634.918466308,879,787.081533692,805,652,631,652,0.401028063078,0.00448633490962,0.0698601665424,0.999999989149,2.51815979736e-05,-0.000143836877043,1.9445144291e-05,1793243182741468160
+56,0.933333333,BASELINE,765,745.498515231,714,679.501484769,659.501484769,634.501484769,879,787,805,652,631,652,0.401027232249,0.00448482533866,0.0698596580056,0.999999989074,2.24799982718e-05,-0.000144827357105,1.92915178523e-05,1793243182758135296
+57,0.950000000,BASELINE,765,745.923423081,714,679,659.153153838,634.076576919,879,787,805,652,631,652,0.401026723926,0.00448326339031,0.0698593996941,0.999999989051,1.94051040179e-05,-0.000145457937217,1.90776960228e-05,1793243182774802432
+58,0.966666667,BASELINE,765,745.347330685,714,679,660.305338631,634.652669315,879,787,805,652,631,652,0.401027915746,0.00448287690433,0.0698600191043,0.999999989203,1.89578638636e-05,-0.00014448113656,1.89921386908e-05,1793243182791468800
+59,0.983333333,BASELINE,765,745,714,679,660.766775729,635,879,787,804.766775729,652,631,652,0.401029179335,0.00448357075167,0.0698608887886,0.999999989385,1.99169051099e-05,-0.000143096606894,1.89114679297e-05,1793243182808135168
+60,1.000000000,BASELINE,765,745,714,679,660.179445147,635,879,787,804.179445147,652,631,652,0.401030551892,0.00448590487784,0.0698621384661,0.999999989604,2.30111148e-05,-0.000141093018801,1.88382164759e-05,1793243182824801536
+61,1.016666667,BASELINE,765,745,714,679,660,634.597801518,879,787,804.402198482,652,631,652,0.401029748691,0.0044870191302,0.0698615531685,0.999999989375,2.43198244231e-05,-0.000142491230161,1.88211499347e-05,1793243182841468672
+62,1.033333333,BASELINE,765,745,714,679,660,634.018659841,879,787,804.981340159,652,631,652,0.401027988286,0.00448759671117,0.0698601605919,0.999999988946,2.48430209867e-05,-0.000145386029243,1.88288013872e-05,1793243182858135808
+63,1.050000000,BASELINE,764.443352158,745.556647842,714,679.556647842,660,634,879,787,804.443352158,652,631,652.556647842,0.401028690699,0.00448732821638,0.0698607469562,0.999999989219,2.27917631013e-05,-0.000143840435377,1.8786574249e-05,1793243182874802432
+64,1.066666667,BASELINE,764.132227729,745.867772271,714,680,660.132227729,634,879,787,804.132227729,652,631,652.867772271,0.401029142198,0.00448693508166,0.0698611795458,0.999999989413,2.1378542693e-05,-0.000142704121535,1.8755510032e-05,1793243182891469056
+65,1.083333333,BASELINE,764.709152318,745.290847682,714,680,660.709152318,634,879,787,804.709152318,652,631,652.290847682,0.401028474092,0.00448621750081,0.0698608733987,0.999999989285,2.23993673931e-05,-0.000143441438018,1.87675727181e-05,1793243182908135424
+66,1.100000000,BASELINE,765,745,714,679.707272365,660.41454473,634,879,787.292727635,805,652,631,652,0.401028350688,0.00448579340284,0.0698610947336,0.999999989274,2.28736689973e-05,-0.000143430556969,1.88877666685e-05,1793243182924801792
+67,1.116666667,BASELINE,765,745,714,679.116935446,659.233870892,634,879,787.883064554,805,652,631,652,0.401028781071,0.00448566768205,0.0698618523472,0.999999989382,2.2792333394e-05,-0.000142659001086,1.91178951253e-05,1793243182941467648
+68,1.133333333,BASELINE,765,745,714,679,659.451224592,634,878.548775408,787.548775408,805,652,630.548775408,652,0.401028131148,0.00448595119982,0.0698609831824,0.999999989178,2.42593871338e-05,-0.000143821284121,1.92581879436e-05,1793243182958134272
+69,1.150000000,BASELINE,765,745,714,679,660,634.014602835,878.014602835,787,805,652,630.014602835,652,0.401027232679,0.00448630270757,0.0698597492278,0.999999988902,2.59962367373e-05,-0.000145413000913,1.93656982402e-05,1793243182974800896
+70,1.166666667,BASELINE,765,745,714,679,660,634.605450019,878.605450019,787,805,652,630.605450019,652,0.401027056393,0.00448534818846,0.0698599770163,0.99999998902,2.32868543038e-05,-0.000145100870054,1.90552313193e-05,1793243182991467776
+71,1.183333333,BASELINE,765,745,714,679.191108085,660,634.808891915,879.191108085,787,805,652.191108085,631,652,0.401027359032,0.00448456916682,0.0698604099747,0.999999989194,2.09203640181e-05,-0.000144280713109,1.8890414363e-05,1793243183008134656
+72,1.200000000,BASELINE,765,745,714,679.766336323,660,634.233663677,879.766336323,787,805,652.766336323,631,652,0.401028624295,0.00448414288836,0.0698612553169,0.99999998949,1.92430737243e-05,-0.000142439442545,1.90183483699e-05,1793243183024801792
+73,1.216666667,BASELINE,765.338796647,745,714,679.661203353,660,634.338796647,879.661203353,787,805,652.661203353,631,652,0.401028973859,0.0044839779244,0.0698615534601,0.999999989514,2.03143280995e-05,-0.000142081026766,1.93088504453e-05,1793243183041468416
+74,1.233333333,BASELINE,765.909363412,745,714,679.090636588,660,634.909363412,879.090636588,787,805,652.090636588,631,652,0.401028696995,0.0044839917252,0.0698614772655,0.999999989348,2.32658565549e-05,-0.00014273702913,1.97105650075e-05,1793243183058134784
+75,1.250000000,BASELINE,765.496268231,745,714,679,660,634.496268231,879,787,805,652,631,652,0.401029161099,0.00448436725304,0.0698618122806,0.999999989403,2.32318137626e-05,-0.00014240565731,1.93400922736e-05,1793243183074801152
+76,1.266666667,BASELINE,764.901331547,745,714,679,660,634,879,787,805,652,631,652,0.40102951654,0.00448444624205,0.0698620125376,0.999999989474,2.20337244975e-05,-0.000142155986154,1.89292005028e-05,1793243183091467520
+77,1.283333333,BASELINE,764.325388872,745,714,679,660,634,879,787,805,652,631,652,0.401028669475,0.00448276038523,0.0698611853037,0.999999989405,1.79323272528e-05,-0.000143203493481,1.90281995582e-05,1793243183108134144
+78,1.300000000,BASELINE,764.257021925,745,714,679,660,634.257021925,879,787,805,652,631,652.257021925,0.40102847801,0.00448288026167,0.069860905852,0.999999989361,1.80336955078e-05,-0.000143482734689,1.91017877416e-05,1793243183124800768
+79,1.316666667,BASELINE,764.847832686,745,714,679,660,634.847832686,879,787,805,652,631,652.847832686,0.401029137957,0.00448534520512,0.0698613377933,0.999999989348,2.3593105099e-05,-0.00014276424516,1.9142375365e-05,1793243183141467648
+80,1.333333333,BASELINE,765,745.427147971,714,679,659.572852029,635,879,787,805,652,631,652.572852029,0.401028619548,0.00448546636848,0.0698614064637,0.999999989313,2.37107166394e-05,-0.000142998076046,1.90556298179e-05,1793243183158134528
+81,1.350000000,BASELINE,765,745.997521332,714,679,659.002478668,635,879,787,804.997521332,652,631,652,0.401027700765,0.00448477678415,0.0698613492869,0.999999989276,2.19425410674e-05,-0.000143556391681,1.89242381361e-05,1793243183174800896
+82,1.366666667,BASELINE,765,745.421451397,714,679,659.578548603,635,879,787,804.421451397,652,631,652,0.401028726589,0.00448462403733,0.0698613321187,0.999999989423,2.06363491016e-05,-0.000142754153146,1.86832281584e-05,1793243183191467776
+83,1.383333333,BASELINE,764.846378771,745,714,679,660,634.846378771,879,787,804.153621229,652,631,652,0.401029769285,0.00448454059922,0.0698616534682,0.999999989578,1.98278959915e-05,-0.00014179351397,1.85802371507e-05,1793243183208134656
+84,1.400000000,BASELINE,764.274024433,745,714,679,660,634.274024433,879,787,804.725975567,652,631,652,0.40103085797,0.0044846460793,0.0698628975321,0.999999989758,2.03761544166e-05,-0.000140401114022,1.88534513357e-05,1793243183224801024
+85,1.416666667,BASELINE,764.623370125,745,714,679.311685063,660,634,879,787,805,652,631,652,0.401031361523,0.00448385032912,0.069863481657,0.999999989865,1.9830486012e-05,-0.000139675944392,1.91519260385e-05,1793243183241467648
+86,1.433333333,BASELINE,765.819323221,745,714,679.90966161,660,634,879,787,805,652,631,652,0.401031327614,0.00448222677362,0.0698634596094,0.999999989904,1.82800150529e-05,-0.000139563644632,1.94736032198e-05,1793243183258134272
+87,1.450000000,BASELINE,765.513994327,745,714,680,660,634.486005673,879.486005673,786.513994327,805,652,631,652,0.401029947016,0.0044830456382,0.0698624253586,0.99999998965,1.83296609815e-05,-0.000141389955834,1.93226263802e-05,1793243183274801152
+88,1.466666667,BASELINE,764.941273687,745,714,679.941273687,659.941273687,635,879.941273687,786.058726313,805,652.058726313,631,652,0.401028526317,0.00448426774106,0.0698613534209,0.999999989366,1.89255264139e-05,-0.000143335753544,1.91136591762e-05,1793243183291468032
+89,1.483333333,BASELINE,764.366565089,745,714,679.366565089,659.366565089,635,879.366565089,786.633434911,805,652.633434911,631,652,0.401028858939,0.0044852138646,0.0698615330176,0.999999989311,2.18186854305e-05,-0.000143300212484,1.91342083188e-05,1793243183308134912
+90,1.500000000,BASELINE,764.214542037,745,714,679,659.214542037,634.785457963,879,787,805,652.785457963,631,652.214542037,0.401029261636,0.00448548636859,0.0698616337771,0.999999989317,2.32723028613e-05,-0.000143045633328,1.90452640067e-05,1793243183324801792
+91,1.516666667,BASELINE,764.806917658,745,714,679,659.806917658,634.193082342,879,787,805,652.193082342,631,652.806917658,0.401029787741,0.00448457254976,0.0698615956952,0.999999989438,2.21907191234e-05,-0.000142405302512,1.87634889301e-05,1793243183341468160
+92,1.533333333,BASELINE,765,745.390605974,714,679,660,634.390605974,879,787.390605974,804.609394026,652.390605974,631,652.609394026,0.401030217167,0.00448527990884,0.0698623128524,0.99999998955,2.36819555388e-05,-0.000141369672219,1.88025227084e-05,1793243183358134528
+93,1.550000000,BASELINE,765,745.970093507,714,679,660,634.970093507,879,787.970093507,804.029906493,652.970093507,631,652.029906493,0.401030599844,0.00448677120518,0.0698633952132,0.999999989651,2.64173056505e-05,-0.000140142890717,1.89966869009e-05,1793243183374801152
+94,1.566666667,BASELINE,765,745.454427879,714,679.545572121,660,634.454427879,879,787.454427879,804.545572121,652.454427879,631,652,0.401030354434,0.00448668934338,0.0698630474734,0.999999989617,2.53028472293e-05,-0.000140586225158,1.89931095976e-05,1793243183391467776
+95,1.583333333,BASELINE,765,745,714,679.879090989,660,634.120909011,879,787,805,652,631,652,0.401030047083,0.00448637880635,0.0698625924455,0.999999989585,2.421280173e-05,-0.000141007197964,1.8991414248e-05,1793243183408134400
+96,1.600000000,BASELINE,765,745,714,679.303466505,660,634.696533495,879,787,805,652,631,652,0.401029635328,0.00448553021491,0.0698620266,0.99999998959,2.40024370241e-05,-0.000141002281488,1.9037264642e-05,1793243183424801024
+97,1.616666667,BASELINE,765,745.279672711,714,679,660,634.720327289,879,787,805,652,631,652,0.401029368198,0.00448483815449,0.0698614890182,0.99999998952,2.33113562941e-05,-0.000141609084919,1.90583677113e-05,1793243183441467904
+98,1.633333333,BASELINE,765,745.871191103,714,679,660,634.128808897,879,787,805,652,631,652,0.401029262329,0.00448432063217,0.0698609829515,0.999999989365,2.20842589747e-05,-0.00014289797925,1.90518765719e-05,1793243183458134528
+99,1.650000000,BASELINE,765,745.54794146,714,679.45205854,660,634.45205854,879,787.45205854,805,652.45205854,631,652,0.401029175955,0.00448379668017,0.0698615308974,0.999999989394,2.19382358063e-05,-0.000142701599704,1.91784048983e-05,1793243183474801152
+100,1.666666667,BASELINE,765,745,714,680,660,635,879,787.970209242,805,652.970209242,631,652,0.401029050118,0.00448338114718,0.0698622605172,0.999999989459,2.20565623249e-05,-0.000142210428402,1.93036929084e-05,1793243183491467776
+101,1.683333333,BASELINE,765,745,714,680,660,635,879,787.395589749,805,652.395589749,631,652,0.401028103342,0.00448498117108,0.0698609465459,0.999999989241,2.15055414553e-05,-0.000143889705623,1.87290753559e-05,1793243183508134400
+102,1.700000000,BASELINE,765,745,714,679.820714367,660,634.820714367,879,787,805,652,631,652,0.401027287868,0.00448617862372,0.0698600783616,0.99999998905,2.17348569707e-05,-0.000145212304519,1.84722115968e-05,1793243183524800768
+103,1.716666667,BASELINE,765,745,714,679.245273641,660,634.245273641,879,787,805,652,631,652,0.401026762522,0.00448648654221,0.0698601952023,0.999999988919,2.36884280344e-05,-0.000145746775711,1.89174665503e-05,1793243183541467392
+104,1.733333333,BASELINE,765,745,714,679.340622861,660,634.340622861,879,787,805,652.340622861,631,652,0.401027523058,0.00448643557861,0.0698606432554,0.999999989026,2.42636912666e-05,-0.000144911549288,1.89586290492e-05,1793243183558134016
+105,1.750000000,BASELINE,765,745,714,679.934286784,660,634.934286784,879,787,805,652.934286784,631,652,0.401029238847,0.00448611800961,0.0698613373589,0.999999989309,2.38150408205e-05,-0.000143058805376,1.86996004006e-05,1793243183574800640
+106,1.766666667,BASELINE,765,745,714,679.487775244,660,634.487775244,879,787,804.487775244,653,631,652,0.40102935675,0.00448516344036,0.0698621254162,0.999999989434,2.34241423131e-05,-0.000142197876464,1.90691028404e-05,1793243183591467776
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,788,805,652,631,652,0.401029782955,0.00448440758256,0.0698623455393,0.999999989491,2.31946117221e-05,-0.000141804523544,1.92544746058e-05,1793243183634718976
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.594059048,635,879,787.405940952,805,652,631,652,0.401029387159,0.00448425779328,0.0698618422664,0.999999989401,2.22063004696e-05,-0.000142605030313,1.92018704011e-05,1793243183651385600
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745.183728759,714,679,660,634.816271241,879,787,805,652,631,652,0.401029200432,0.00448435315494,0.0698617247539,0.999999989373,2.17477806766e-05,-0.000142872489743,1.91817285236e-05,1793243183668052224
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745.763926807,714,679,660,634.236073193,879,787,805,652,631,652,0.401029464851,0.00448497752911,0.0698624396758,0.999999989483,2.24325005673e-05,-0.000141989683575,1.92316372685e-05,1793243183684718848
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745.65955589,714,679.34044411,660,634.34044411,879,787,805,652,631,652,0.401029447519,0.00448526113628,0.0698620274428,0.999999989427,2.27324098333e-05,-0.00014233950716,1.92018101053e-05,1793243183701385472
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745.085563649,714,679.914436351,660,634.914436351,879,787,805,652,631,652,0.401029236902,0.00448531097379,0.0698608419702,0.999999989257,2.27683350464e-05,-0.000143534927376,1.91172832933e-05,1793243183718051840
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.508082801,660,634.508082801,879,787,805,652.491917199,631,652.491917199,0.401028998492,0.00448612930566,0.069861163316,0.999999989213,2.3558793833e-05,-0.000143758422944,1.87548923617e-05,1793243183734718464
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745.071393382,714,679,660,634,879,787,805,652.928606618,631,652.928606618,0.40102871439,0.00448670678917,0.0698616713919,0.999999989137,2.41983081764e-05,-0.000144222593932,1.84671838332e-05,1793243183751385088
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745.660915197,714,679,660,634,879,787,805,652.339084803,631,652.339084803,0.401028134018,0.00448455931504,0.0698616189329,0.999999988655,2.27830804265e-05,-0.000147669100009,1.90747380199e-05,1793243183768051968
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745.754292846,714,679,659.754292846,634,879.245707154,787,805.245707154,652,631,652,0.40103181786,0.00448400447583,0.0698636130677,0.999999988263,2.23154217028e-05,-0.000150309189175,1.95859017058e-05,1793243183784718848
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745.175905035,714,679,659.175905035,634,879.824094965,787,805.824094965,652,631,652,0.401041275331,0.00448560602021,0.0698683782337,0.999999988003,2.3130745221e-05,-0.000151857411981,1.99665552833e-05,1793243183801386752
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.399520637,745,714,679,659.399520637,634.399520637,879.600479363,787,805.600479363,652,631,652,0.40106844445,0.00448585521216,0.0698788604147,0.999999989295,2.33160858364e-05,-0.000143020613747,2.03048127331e-05,1793243183818053376
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.973651757,745,714,679,659.973651757,634.973651757,879.026348243,787,805.026348243,652,631,652,0.401103354445,0.00448551335866,0.0698918412173,0.999999991114,2.32260925099e-05,-0.000129645042493,2.06245409863e-05,1793243183834718976
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.560667795,714,679,660,634.439332205,879,787,805,652,631,652,0.40115436499,0.00448409480699,0.0699034205794,0.99999999297,2.17248025689e-05,-0.000114733243851,2.05804082264e-05,1793243183851385600
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.853492136,745.853492136,714,679.146507864,660,634.146507864,879,787,804.853492136,652,631,652,0.401209851016,0.00448270708573,0.0699132066231,0.999999994356,1.9884425827e-05,-0.000102382771511,2.02667014217e-05,1793243183868051968
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.272971573,745.272971573,714,679.727028427,660,634.727028427,879,787,804.272971573,652,631,652,0.40127630098,0.00448156411451,0.0699178798616,0.999999994881,1.72406388743e-05,-9.7838827488e-05,1.92062591009e-05,1793243183884718592
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714.305357859,679.694642141,660,635,879,787,804.305357859,652,631,652,0.401353885051,0.00448279127563,0.069920842426,0.999999995164,1.71845986394e-05,-9.52145156908e-05,1.7657248965e-05,1793243183901385984
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.881742473,679.118257527,660,635,879,787,804.881742473,652,631,652,0.401441351429,0.00448612209735,0.0699222866454,0.999999995243,1.94253672758e-05,-9.42940138908e-05,1.56746003119e-05,1793243183918053888
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.541714739,745,714.541714739,679,659.541714739,634.541714739,878.541714739,787,804.541714739,652,631,652,0.40153985931,0.00448523403751,0.0699187371863,0.999999994597,1.45418194398e-05,-0.000102037464061,1.35140413197e-05,1793243183934720256
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659.035607025,634,878.071214051,787,804.035607025,652,630.964392975,652,0.40164320816,0.00448344834266,0.0699144129249,0.999999993719,8.10936015269e-06,-0.000111212533888,1.12727262138e-05,1793243183951386624
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659.624396569,634,879.248793137,787,804.624396569,652,630.375603431,652,0.401777485607,0.00448463612778,0.0699180776049,0.999999994125,6.18393115848e-06,-0.000107883974069,8.49027414344e-06,1793243183968052992
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.209684077,745,714,679,660,634,879.790315923,787.209684077,805,652,630.209684077,652,0.401923438434,0.00448495900722,0.069921613917,0.99999999447,2.80687369272e-06,-0.000104975437047,5.6265189497e-06,1793243183984719104
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.788801439,745,714,679,660,634,879.211198561,787.788801439,805,652,630.788801439,652,0.402089961592,0.00448375804667,0.0699249240627,0.999999994707,-3.12774484586e-06,-0.000102806920332,2.61951960158e-06,1793243184001385472
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.365491249,745,714,679,660,634,879,787.634508751,805,652,631,652,0.402278406976,0.00448381958826,0.0699276007878,0.999999994859,-8.21755356888e-06,-0.000101065716834,-1.05167015116e-06,1793243184018052352
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.940787612,745,714,679,660,634,879,787.059212388,805,652,631,652,0.40247943652,0.00448460585134,0.069929913907,0.999999994948,-1.28224116523e-05,-9.95698062742e-05,-5.10412935372e-06,1793243184034719232
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.4731467,745,714,679.5268533,659.4731467,634.5268533,879,787.5268533,805,652,631,652,0.40270413009,0.00448418906828,0.0699306926328,0.999999994934,-1.86855744724e-05,-9.84185673334e-05,-9.81640308704e-06,1793243184051385856
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679.887282145,659.112717855,635,879,788,805,652.112717855,631,652,0.402940042838,0.0044839943705,0.0699322335982,0.999999994991,-2.44348424569e-05,-9.59493641521e-05,-1.46292084177e-05,1793243184068052480
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679.307372398,659.692627602,635,879,788,805,652.692627602,631,652,0.403211203402,0.00448529227624,0.0699376635656,0.999999995526,-2.91136571844e-05,-8.78535669809e-05,-1.95449238444e-05,1793243184084719104
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679.272044376,660,634.727955624,879,787.727955624,805,653,631,652,0.403503637494,0.00448558185838,0.0699439151484,0.999999996205,-3.20029173892e-05,-7.75120565382e-05,-2.36067561012e-05,1793243184101385472
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679.850905133,660,634.149094867,879,787.149094867,805,653,631,652,0.403820064226,0.00448473423555,0.0699510933629,0.999999997014,-3.28738865819e-05,-6.46377920752e-05,-2.67055637652e-05,1793243184118052096
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.426553475,879,787,805,652.573446525,631,652,0.404162744379,0.00448474817303,0.0699538155997,0.999999997439,-2.39466646507e-05,-6.18787413868e-05,-2.68300281175e-05,1793243184134718720
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679.998886802,659.998886802,634.998886802,879,787,805,652,631,652,0.404514588019,0.00448506397822,0.0699550008323,0.999999997636,-1.16277730021e-05,-6.26092046081e-05,-2.59263428331e-05,1793243184151385344
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.410696262,659.410696262,634.410696262,879,787,805,652,631,652,0.404895768115,0.00448694834092,0.0699608632194,0.999999998228,-3.27980818549e-06,-5.29674672841e-05,-2.69807553607e-05,1793243184168052480
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.17501017,714,679,659.17501017,634,879,787,805,652,631,652,0.405288852608,0.00448889535897,0.0699655298056,0.999999998586,-1.43626835799e-06,-4.50689997835e-05,-2.82052713958e-05,1793243184184719360
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.754968649,714,679,659.754968649,634,879,787,805,652,631,652,0.405709482106,0.00449098735219,0.0699674294802,0.999999998599,-1.46430317025e-05,-4.12042087657e-05,-2.98233822913e-05,1793243184201385984
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.666651255,714,679.333348745,660,634,879,787.333348745,805,652,631,652,0.406146290411,0.0044961574134,0.0699623073194,0.999999998173,-1.547365191e-05,-4.95776617707e-05,-3.09389030074e-05,1793243184218052864
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.089425838,714,679.910574162,660,634,879,787.910574162,805,652,631,652,0.406594935113,0.00450357937764,0.0699520480106,0.999999997234,-7.24993433127e-06,-6.69045670537e-05,-3.16867308259e-05,1793243184234720000
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.483301145,745.483301145,714,679.516698855,659.516698855,634,879,787.516698855,805,652,631,652,0.407087768472,0.00450982609277,0.0699391485365,0.999999995878,8.85666299691e-06,-8.40377468345e-05,-3.3211855282e-05,1793243184251386624
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.942582305,745.942582305,714,679,659.114835389,634,879.057417695,787,805,652,631,652.057417695,0.407594997908,0.00451564018067,0.0699280735,0.999999994346,2.54847032068e-05,-9.71690316805e-05,-3.48861044785e-05,1793243184268053248
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.347740299,745.347740299,714,679,660.304519401,634,879.652259701,787,805,652,631,652.652259701,0.408161150083,0.00451942153701,0.0699386052953,0.999999996092,3.34671413923e-05,-7.31753754526e-05,-3.66223817086e-05,1793243184284720128
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.76077285,634.23922715,879.76077285,787,805,652,631,652.76077285,0.408741004287,0.00452396195328,0.0699488198886,0.999999997291,3.83262890739e-05,-5.01305498092e-05,-3.79067795964e-05,1793243184301387008
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.184887111,634.815112889,879.184887111,787,805,652,631,652.184887111,0.409340140993,0.00452957057601,0.0699585880906,0.999999998101,3.87901049986e-05,-2.84209920012e-05,-3.85552585092e-05,1793243184318053632
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.390450903,660,634.609549097,879,787,805,652,631,652.390450903,0.409939429174,0.00453608978779,0.0699556274592,0.999999997768,4.32245665145e-05,-3.19237929418e-05,-3.9697769097e-05,1793243184334720256
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.965529903,660,634.034470097,879,787,805,652,631,652.965529903,0.410538788964,0.00454303957936,0.0699466478882,0.999999996809,4.95365822314e-05,-4.73484770795e-05,-4.10738868269e-05,1793243184351387136
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.556413759,714,680,660,634.556413759,879,787,805.556413759,652,630.443586241,652.443586241,0.411197325404,0.00455143291404,0.069947485867,0.99999999596,6.16145657005e-05,-5.03522750838e-05,-4.18069112303e-05,1793243184368053248
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.855339137,714,679.855339137,660,635,879,787,805.855339137,652,630,652,0.411878150132,0.00455904402968,0.0699560863789,0.99999999577,7.21011354652e-05,-3.81987145283e-05,-4.24430946713e-05,1793243184384719616
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.277992947,714,679.277992947,660,635,879,787,805.277992947,652,630,652,0.412614353965,0.00456404019873,0.069986032544,0.999999995992,7.67280874863e-05,1.69221718174e-05,-4.29122697523e-05,1793243184401385984
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.701367012,879,787,805,652,630.298632988,652,0.413352349105,0.00456947172459,0.0700112354657,0.99999999396,8.29387629228e-05,5.7620613596e-05,-4.33694637581e-05,1793243184418052352
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.125409873,879,787,805,652,630.874590127,652,0.41409200782,0.00457530754313,0.0700320335998,0.999999991328,9.06201564826e-05,8.49257248974e-05,-4.38155317118e-05,1793243184434718976
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679.448541896,660,634,879,787,805,652,631,652,0.414800871442,0.00458347495438,0.0700087930401,0.999999993115,0.000100390933685,4.1744126408e-05,-4.41502891316e-05,1793243184451387904
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.022740361,714,680,659.977259639,634.022740361,879,787,805,652,631,652,0.415503713744,0.00459212029842,0.0699731796725,0.999999992684,0.000110497714198,-2.08789642857e-05,-4.45631332826e-05,1793243184468057600
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.61717475,714,680,659.38282525,634.61717475,879,787,805,652,631,652,0.4162706768,0.00459646504012,0.069934684357,0.999999989193,0.000114430703484,-7.90149041204e-05,-4.77180086663e-05,1793243184484721408
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.795952301,714,679.795952301,659.408095399,635,879,787,805.204047699,652,631,652,0.417061998203,0.00459908365349,0.0699195476316,0.999999986759,0.000116881433726,-0.000101886237107,-4.9401510793e-05,1793243184501386496
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.222758899,714,679.222758899,660.554482201,635,879,787,805.777241101,652,631,652,0.417897386605,0.00459857950237,0.0699466692784,0.999999990166,0.000116650587485,-6.09598466169e-05,-4.84231298601e-05,1793243184518053632
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679.353095216,661,634.646904784,879.706190432,787,805.646904784,652,631,652,0.418734922741,0.00459873754085,0.0699712558863,0.999999992085,0.000113130843969,-2.57446313481e-05,-4.86619794188e-05,1793243184534720256
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679.930640632,661,634.069359368,880.861281264,787,805.069359368,652,631,652,0.419573824085,0.00459931650997,0.0699942310581,0.999999992969,0.000107520464226,5.84018929428e-06,-4.96745795872e-05,1793243184551386880
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.498179893,634,880.498179893,787,805,652,631,652,0.420442655024,0.0045900802936,0.0700131825722,0.999999993066,9.98077435986e-05,3.73105968554e-05,-5.01520969688e-05,1793243184568053248
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.075957493,634,880,787,805,652,631,651.924042507,0.421316460855,0.00458051404322,0.0700288760931,0.999999992471,9.17712150449e-05,6.37891541929e-05,-5.06603526436e-05,1793243184584719616
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.676524603,634,880,787,805,652,631,651.323475397,0.422196412988,0.00457792061038,0.0700258607601,0.999999993607,8.34800326274e-05,5.58987298974e-05,-5.18852991017e-05,1793243184601386496
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634.264596379,880,787,805.264596379,652,631,651.264596379,0.423025051367,0.0045796433763,0.0699886473417,0.999999995117,8.29460787296e-05,-4.84778905791e-06,-5.35089356907e-05,1793243184618053632
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634.838081243,880,787,805.838081243,652,631,651.838081243,0.423793786441,0.00458640485062,0.0699115112498,0.999999986169,9.14678724814e-05,-0.000127298248737,-5.55980007184e-05,1793243184634720768
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.587760641,634.587760641,880,787,806,652,631,652,0.424637299095,0.00459040514204,0.0698788547761,0.999999979766,9.33688443428e-05,-0.000168230292288,-5.87197937462e-05,1793243184651386880
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.013337688,634.013337688,880,787,806,652,631,652,0.425510230769,0.00459331912588,0.0698636975201,0.999999978089,9.26650461101e-05,-0.000177091277691,-6.22478836744e-05,1793243184668053248
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.577873463,745,714,680,661.155746926,634,880,787,806,652,631,652,0.42646189985,0.00459660854412,0.0699265883806,0.999999989795,9.65842053676e-05,-8.71420548694e-05,-5.905054574e-05,1793243184684720640
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.833848262,745,714,680,661.833848262,634,880,787,806,651.833848262,631,652,0.427405444503,0.00459904368338,0.0699817239245,0.999999993356,9.9950328396e-05,-1.00301475055e-05,-5.6538645659e-05,1793243184701387264
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.253868788,745,714,680,661.253868788,634,880,787,806,651.253868788,631,652,0.428324092169,0.00459932887468,0.0700129226721,0.999999992829,0.000101665319543,2.92581794206e-05,-5.61321267479e-05,1793243184718053120
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.322646204,745,714,680.322646204,661,634,879.677353796,787,806,651,631,652.322646204,0.429232340631,0.00459903971028,0.0700331134085,0.999999991161,0.000102470744607,6.29186753693e-05,-5.6737993178e-05,1793243184734719232
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.896464158,745,714,680.896464158,661,634,879.103535842,787,806,651,631,652.896464158,0.430132493538,0.00459830342478,0.0700447346906,0.9999999888,0.000102568095865,9.2198048169e-05,-5.8131975523e-05,1793243184751385856
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.51834897,745.48165103,714,681,661,634.48165103,879.48165103,787,806,651.48165103,631,652.51834897,0.430926550036,0.00459833579371,0.0700031793282,0.999999992799,0.000104252642061,1.50149662245e-05,-5.75163531501e-05,1793243184768052992
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.068735386,746,714,681,660.931264614,635,880,787,806,651.931264614,631,652,0.431704769862,0.00459860318365,0.0699504631568,0.99999998936,0.000106115704949,-8.24535240116e-05,-5.67505136056e-05,1793243184784720128
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.65129337,746,714,681,660.34870663,635,880,787,806,651.34870663,631,652,0.432539212901,0.00459936242641,0.069901831521,0.999999980393,0.000106701118359,-0.000156351859213,-5.81690651105e-05,1793243184801387008
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.769517853,745.769517853,714,681,660.460964293,634.769517853,880,787,806,651.230482147,631,652,0.433406625857,0.00459796259092,0.0698979016573,0.999999980921,0.000103279869951,-0.000154828427478,-5.93258024884e-05,1793243184818053888
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.195352971,745.195352971,714,681,661.609294057,634.195352971,880,787,806,651.804647029,631,652,0.434323201926,0.00459334325273,0.0699606286944,0.999999992953,9.3884100055e-05,-4.0840073065e-05,-6.0092136596e-05,1793243184834720256
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680.619237031,662,634,880,787.380762969,806,652,631,652,0.435192599871,0.00459115220632,0.070001195639,0.999999993948,8.95466914662e-05,2.36761035802e-05,-5.93747960933e-05,1793243184851386880
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680.042114965,662,634,880,787.957885035,806,652,631,652,0.436037668048,0.00459021342791,0.0700303346417,0.999999992504,8.78178757814e-05,6.26795190341e-05,-5.7892326177e-05,1793243184868053504
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680.547646986,661.452353014,634.547646986,880.547646986,787.452353014,806,651.452353014,631,652,0.436836453665,0.00459013163419,0.0700251872785,0.999999992424,8.85753786169e-05,6.12829270723e-05,-5.95803257811e-05,1793243184884719872
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681,661,634.864166115,880.864166115,787,806,651,631.135833885,652,0.437626361805,0.0045893648695,0.0700115413908,0.999999993105,8.70374345902e-05,4.95835332174e-05,-6.12923000157e-05,1793243184901386240
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,681,661,634.284379058,880.284379058,787,806,651,631.715620942,652,0.43839916275,0.00458613889252,0.0699789405147,0.999999994963,7.73574784706e-05,1.46050513729e-05,-6.22669334482e-05,1793243184918053120
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681,661,634,880,787,806,651,631.708575892,652,0.439112219501,0.00458544954414,0.0699340623723,0.999999993751,7.57010884153e-05,-5.38997851856e-05,-6.21537396861e-05,1793243184934720000
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681,661,634,880,787,806,651,631.136607914,652,0.439767762547,0.00458720212023,0.0698773653338,0.999999982834,8.1768706883e-05,-0.000154679277102,-6.09933319769e-05,1793243184951387136
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680.559938959,660.559938959,634,880,787,806,651.440061041,631,652,0.440488994995,0.00458857525354,0.0698721421296,0.999999982164,8.27433573514e-05,-0.000158272578439,-6.14429789692e-05,1793243184968054272
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.018646731,714,680.018646731,660.037293462,634,880.018646731,787,806,651.981353269,631,652,0.44123149767,0.00458977782285,0.0698851028838,0.999999986422,8.2124817914e-05,-0.000128545795427,-6.23461027004e-05,1793243184984720896
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.610815122,714,680.610815122,661.221630243,634,880.610815122,787,806,651.389184878,631,652,0.441994240164,0.00458939633371,0.0699605753281,0.999999994694,8.16566478789e-05,-1.19342133359e-05,-6.16581941187e-05,1793243185001387008
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.802861452,714,681.197138548,661.802861452,634,880.802861452,787,806,651,631,652,0.442724876534,0.00458776556807,0.0700161621353,0.999999992538,7.96858243498e-05,6.96955699744e-05,-6.0960735488e-05,1793243185018053888
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.227744609,714,681.772255391,661.227744609,634,880.227744609,787,806,651,631,652,0.443393955222,0.00458373953568,0.0700336217639,0.999999991836,7.48339302004e-05,8.42539618328e-05,-6.02449675288e-05,1793243185034720768
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.347160198,714,681.305679604,661,634.347160198,880,787,806.347160198,651,631,652,0.444009174666,0.00458244754693,0.0700235914053,0.999999993697,7.23794721221e-05,6.14316567595e-05,-5.99446353398e-05,1793243185051387392
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.921925955,714,680.156148091,661,634.921925955,880,787,806.921925955,651,631,652,0.444589082811,0.00458294805519,0.0699955380294,0.99999999555,7.14968239432e-05,1.41017761744e-05,-5.9916671559e-05,1793243185068054528
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.504422637,714,680,661,634.504422637,880,787,806.504422637,651,631,652,0.445144665352,0.00458230532985,0.0699706828102,0.999999995208,7.44825267799e-05,-2.33180360596e-05,-5.90934304669e-05,1793243185084721408
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680.071649552,661,634,880,787,806,651,631,651.928350448,0.445693367002,0.00458206427939,0.0699486407412,0.999999993758,7.83935938396e-05,-5.41886217736e-05,-5.83268017001e-05,1793243185101388288
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680.666684589,661,634,880,787,806,651,631,651.333315411,0.446219736478,0.00458607007498,0.0699434759525,0.999999993505,8.46225126811e-05,-4.85974465917e-05,-5.88868742299e-05,1793243185118054400
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681,661,634,880,787,806.253658649,651,631,651,0.446723295446,0.00458919253265,0.0699363431148,0.999999992779,8.7502985945e-05,-5.69664364328e-05,-5.94934148997e-05,1793243185134720768
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681,661,634,880,787,806.830366535,651,631,651,0.447197803849,0.00459119000711,0.0699267038512,0.999999991028,8.61190159483e-05,-8.31145194261e-05,-6.01591354162e-05,1793243185151387392
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,713.594810608,681,660.189621216,634,880,787,806.594810608,651,631,651,0.447626718443,0.00459120888987,0.0699072256985,0.999999987079,8.59891919933e-05,-0.000121885231798,-5.99280354513e-05,1793243185168053504
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,713.020773219,681,659.041546437,634,880,787,806.020773219,651,631,651,0.44803663351,0.0045904032664,0.0698836475445,0.999999980745,8.63819877136e-05,-0.000165915969628,-5.93232180155e-05,1793243185184719616
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,713.570127783,681,659,634,880,787,806.570127783,651,631,651.570127783,0.448436176392,0.00459433698866,0.0698835922572,0.999999980085,9.14559070914e-05,-0.000167622118534,-5.80430824581e-05,1793243185201385984
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.841855306,745.158144694,714,681,659,633.841855306,880,787,807,651,631,652,0.448831835855,0.00459770728389,0.0698868420199,0.999999980547,9.58066021589e-05,-0.000162644299451,-5.72118657203e-05,1793243185218052608
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.263190952,745.736809048,714,681,659,633.263190952,880,787,807,651,631,652,0.449218204633,0.00459910620707,0.0698965316665,0.999999983174,9.7766824225e-05,-0.000144118934429,-5.76417839971e-05,1793243185234719488
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.314355029,746,714,681.314355029,658.685644971,633.314355029,880,787,806.685644971,651.314355029,631,652,0.449580412904,0.00459815179951,0.0699033205625,0.999999984678,9.71377560451e-05,-0.000133754528497,-5.75957978404e-05,1793243185251386112
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.890967948,746,714,681.890967948,658.109032052,633.890967948,880,787,806.109032052,651.890967948,631,652,0.449922464696,0.00459523407176,0.0699076894403,0.99999998544,9.43485130292e-05,-0.000130198590885,-5.71527774872e-05,1793243185268052480
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.536186343,714,682,658,633.536186343,880,787,806,651.536186343,631,652,0.450199285315,0.00459676914347,0.0698962710682,0.99999998253,9.75778685653e-05,-0.000148959308631,-5.68353085448e-05,1793243185284719872
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,713.962830114,681.962830114,658,633,880.037169886,787,805.962830114,651,631,652,0.450457562471,0.00459917432464,0.0698802411904,0.999999977954,0.000102074029677,-0.000174584244902,-5.65052382407e-05,1793243185301387520
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,713.368659746,681.368659746,658,633,880.631340254,787,805.368659746,651,631,652,0.450665899136,0.00459905884959,0.0698502722797,0.999999967662,0.000104522738696,-0.000225089921426,-5.55476176207e-05,1793243185318053632
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.219363665,713.219363665,681,657.780636335,633,880.780636335,786.780636335,805.219363665,651,631,652,0.450873812895,0.00459917771157,0.0698258398894,0.999999958193,0.000106592058295,-0.000263086258362,-5.51151545465e-05,1793243185334719744
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.797338109,713.797338109,681,657.202661891,633,880.202661891,786.202661891,805.797338109,651,631,652,0.451081035272,0.00459967966247,0.0698104584811,0.999999953244,0.000108041160702,-0.0002806326044,-5.55412074723e-05,1793243185351386112
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.628142916,714,681.371857084,657,633,880,786,806.371857084,651,631,651.628142916,0.451275324311,0.00460125922575,0.0698023356217,0.999999950247,0.000110112296401,-0.000290286466419,-5.5806417843e-05,1793243185368053248
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.055489779,714,681.944510221,657,633,880,786,806.944510221,651,631,651.055489779,0.451462629601,0.00460342068016,0.0697981322453,0.99999994839,0.000112519318893,-0.00029567853242,-5.59847762065e-05,1793243185384720896
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.466086979,745,714,682,657,633,880,786,806.466086979,651,631,651.533913021,0.451617372863,0.00460245798183,0.0697971178012,0.999999947399,0.000111984154591,-0.00029933289417,-5.53283149111e-05,1793243185401387520
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.122717738,745,714,681.877282262,657,633,880,786,806,651,631,652,0.451762692446,0.00460195868738,0.069795163507,0.999999946208,0.000111392726387,-0.000303568179724,-5.49752763951e-05,1793243185418053632
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.702599479,745,714,681.297400521,657,633,880,786,806,651,631,652,0.451885921279,0.00460443449391,0.0697884332984,0.999999943926,0.000111767731172,-0.000310662184456,-5.60862770305e-05,1793243185434719488
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+218,3.633333333,POSE1_TO_POSE2_PRESS,764.567575349,745,714,681,656,632,880,786.432424651,806,651,631,652,0.45218858806,0.00460450526454,0.0697779301978,0.999999940864,0.000114764727543,-0.000319267287218,-5.63054181275e-05,1793243185484719104
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,713.088172673,682,656,632,880,786.911827327,806,651,631,652,0.452508370768,0.00460886170941,0.0697510838492,0.999999927169,0.000117166742703,-0.000358816691602,-5.64268823117e-05,1793243185618052608
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+229,3.816666667,POSE1_TO_POSE2_PRESS,764.177605865,745,714,682,656,632.822394135,880.822394135,786,806,651.822394135,631,652,0.452532698383,0.00460990630927,0.0697477690915,0.999999924674,0.000119965425141,-0.000364940882214,-5.54870791887e-05,1793243185668053248
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+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,682,655.117730224,632.882269776,880.882269776,786,806,651,631,652,0.452538668573,0.00460995408972,0.0697409617035,0.99999991988,0.000121038950946,-0.000377641686332,-5.45639815742e-05,1793243185784718848
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,713.94627396,682,655.94627396,632,880.05372604,786.05372604,806.05372604,651,631,652,0.452538732264,0.00461093197871,0.0697411210102,0.999999920132,0.000121969587907,-0.0003766751232,-5.45433437296e-05,1793243185818052096
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,713.366613846,682,655.366613846,632,880.633386154,786.633386154,806.633386154,651,631,652,0.452538706631,0.00461381661076,0.0697394912903,0.999999918824,0.000124581277872,-0.000379251236348,-5.47748512167e-05,1793243185834718976
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+247,4.116666667,HOLD_POSE2,765,745.150819583,714,682,655.849180417,632.849180417,880.849180417,786,806,651,631,652,0.45253742481,0.00461260518961,0.0697357269508,0.999999916674,0.000123096617979,-0.000385349538988,-5.4812152574e-05,1793243185993457152
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+251,4.183333333,HOLD_POSE2,765,745,714,682,655.480340964,633,880,787,806,651,631,652,0.45253636535,0.0046103665927,0.0697339749973,0.999999915929,0.000124212755643,-0.000387077739815,-5.37092047361e-05,1793243186060123648
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+257,4.283333333,HOLD_POSE2,765,745,714,681.034431291,656,632,880,786.034431291,806,651,631,652,0.452537724785,0.00461206437164,0.0697348477636,0.99999991547,0.000125452601535,-0.000387823485852,-5.39938661422e-05,1793243186160123904
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,713.580151576,682,655,632.580151576,880.580151576,786,806,651,631,652,0.452536608867,0.00461693497026,0.0697322978219,0.999999914165,0.0001288146493,-0.000389977069256,-5.47258962661e-05,1793243186264056064
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+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.033874012,714,682,655,632,880,786,806,651,631,651.966125988,0.45247050497,0.00462749908563,0.0697009158594,0.999999891238,0.000141288581154,-0.000440801102457,-5.70600640905e-05,1793243186447389440
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+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,632.874506472,880.125493528,786,806,651.125493528,631,652,0.452354171576,0.00463135086099,0.0696614105988,0.999999858969,0.000144631499598,-0.000507791392351,-5.73766164313e-05,1793243186480722688
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,632.297148682,880.702851318,786,806,651.702851318,631,652,0.452280470602,0.00463341250654,0.0696462857422,0.999999847612,0.000147389798778,-0.000528867166432,-5.78891181349e-05,1793243186497389568
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.722366284,745,714,682,655.277633716,632,880.722366284,786,806,651.722366284,631,652,0.452202620602,0.00463478935393,0.0696369299533,0.99999983957,0.000149634815437,-0.000543279235746,-5.7586963195e-05,1793243186514056192
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.150315003,745,714,682,655.849684997,632,880.150315003,786,806,651.150315003,631,652,0.452120370757,0.00463544000477,0.0696336919917,0.999999835363,0.000151335519883,-0.000550624756889,-5.64209029946e-05,1793243186530722816
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.437058282,745,713.562941718,682,655.562941718,632,880,786.437058282,806,651,631,652,0.452023531206,0.00463889791447,0.0696328857054,0.999999833245,0.00015779041546,-0.000552733202464,-5.56595045368e-05,1793243186547389440
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,713,682,655,632,880,786.97097302,806,651,631,652,0.451920033148,0.0046431605991,0.0696329352167,0.999999831819,0.000165673241531,-0.000553074464155,-5.49830311054e-05,1793243186564056320
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,713,682,655,632,880,786.395306122,806,651,631,652,0.451789069325,0.00464373620487,0.0696327794812,0.999999830211,0.00016853626025,-0.000555287858874,-5.31897314508e-05,1793243186580722688
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.819634941,745,713.180365059,682,655.180365059,632.180365059,880,786,806,651,631,652,0.451647471647,0.00464420532531,0.0696331213664,0.999999828104,0.000171999729682,-0.000558239130351,-5.0773175233e-05,1793243186597389568
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.243954448,745,713.756045552,682,655.756045552,632.756045552,880,786,806,651,631,652,0.451482567217,0.00464444105626,0.0696345539129,0.999999824894,0.000176779237643,-0.000562807644212,-4.69905955811e-05,1793243186614056448
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.340383441,745,714,682,656,632.659616559,880,786.340383441,806,651,631,652,0.451303330175,0.00464436875919,0.0696349623055,0.999999822296,0.000181301704037,-0.000566236195953,-4.37421132091e-05,1793243186630723072
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.931088122,745,714,682,656,632.068911878,880,786.931088122,806,651,631,652,0.451113552775,0.00464406993538,0.0696346175255,0.999999820152,0.000185635140101,-0.000568826409116,-4.08864106945e-05,1793243186647389440
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.48944745,745,714,682,656.51055255,632.51055255,880.51055255,787,806,651,631,652,0.450893655158,0.00464130585314,0.0696363512645,0.999999820325,0.000186490987527,-0.000568520906419,-3.6799517458e-05,1793243186664056320
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.084608086,745,714,682,657,633,880.915391914,786.915391914,806,651,631,652,0.45066515292,0.00463870346356,0.0696395759958,0.99999982132,0.000188117574187,-0.000566498335404,-3.24111786884e-05,1793243186680722944
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.636967883,745,714,682,657,633,880.363032117,786.363032117,806,651,631,652,0.450411072006,0.00463879493922,0.0696495260198,0.999999825135,0.000196544243428,-0.000557097280675,-2.7255239087e-05,1793243186697389568
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.20495277,713.79504723,682,657,633,880,786,806,651,631,652,0.450141934476,0.00463893787443,0.0696585523448,0.999999828973,0.000204575486279,-0.000547464080874,-2.20349682394e-05,1793243186714056192
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.802898424,713.197101576,682,657,633,880,786,806,651,631,652,0.449843926195,0.00463917948229,0.0696658074944,0.999999833029,0.00021184850637,-0.000537385748147,-1.66913438128e-05,1793243186730723072
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.601023415,713,682,657.398976585,633,880,786,806,651,631,652,0.449529360599,0.00463656193909,0.0696792446191,0.999999842046,0.000215184120419,-0.000519119027387,-1.09582350837e-05,1793243186747389696
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.005863551,713,682,657.994136449,633,880,786,806,651,631,652,0.449206653509,0.00463253850476,0.0696957215212,0.999999853115,0.000216583647533,-0.000496825943056,-5.03361073736e-06,1793243186764056320
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713.566567156,681.433432844,658,633,880,786,805.433432844,651,631,652,0.448836987989,0.00462985736395,0.0697065305823,0.999999860377,0.000219210852074,-0.000480825092819,7.41475408081e-07,1793243186780722944
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,633,880.140400362,786,805.140400362,651,631,651.859599638,0.448449581926,0.00462740140507,0.0697133947348,0.999999864631,0.000222389807354,-0.000470360547524,6.42025933793e-06,1793243186797389568
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,633,880.719320328,786,805.719320328,651,631,651.280679672,0.448008225351,0.00462560705362,0.0697081136943,0.999999860347,0.000227253920201,-0.000476992281228,1.18029038502e-05,1793243186814056192
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.695597322,745,714,681,658.304402678,633.304402678,880.695597322,786.304402678,806,651,631,651.304402678,0.447542967115,0.00462427931565,0.0697009470667,0.999999855849,0.000229778718798,-0.000485017460542,1.61848915956e-05,1793243186830722560
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.104715366,745,714,681,658.895284634,633.895284634,880.104715366,786.895284634,806,651,631,651.895284634,0.447055214511,0.00462339071648,0.0696920058758,0.999999851141,0.000230101943837,-0.00049435403938,1.96251424288e-05,1793243186847389184
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,745,714,681,659,634,880,787,806,651,631,652,0.446557695214,0.00461872556627,0.0696977582985,0.999999865694,0.00019745150923,-0.00047900674366,1.33549351268e-05,1793243186864056064
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764.055275072,745,714,681.055275072,659.110550143,634,880,787,806.055275072,651,631,652,0.446058050256,0.00461296253078,0.0697097036732,0.999999883901,0.000161013813005,-0.000454127128259,6.40444168315e-06,1793243186880722944
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764.63030056,745,714,681.63030056,660.260601121,634,880,787,806.63030056,651,631,652,0.445558197977,0.00460452477293,0.0697501221833,0.999999911894,0.000155746327246,-0.000389607711826,1.27238834903e-05,1793243186897389824
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.795132348,661,634,880,787,806.795132348,651,631,652,0.445029087145,0.00459926039977,0.0697853594925,0.999999932873,0.000149150523926,-0.00033423894669,1.71018295217e-05,1793243186914056448
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.221390656,661,634,880,787,806.221390656,651,631,652,0.444447294912,0.0045997098585,0.0698112677988,0.999999946401,0.000140163022216,-0.000295346374239,1.79840189246e-05,1793243186930723328
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764.635716193,745,714,681,660.635716193,634,880,787,806,651,631,652,0.443808323022,0.00459745407704,0.0698179806637,0.999999950451,0.000128605394275,-0.000286647065092,1.97981125049e-05,1793243186947389952
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.042544105,745,714,681,660.042544105,634,880,787,806,651,631,652,0.4431334238,0.00459349852805,0.06981263257,0.999999949011,0.000115432894577,-0.000296918911468,2.21977438806e-05,1793243186964056832
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.538021997,745,714,681,660,634,880,787,806,651,631,652,0.442438592467,0.00459228112014,0.0698072665805,0.999999947225,0.000102064144029,-0.000307592375231,2.28173039056e-05,1793243186980723456
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,660.116643807,634,880,787,806,651,631,652,0.441744583189,0.0045908800148,0.0698051635411,0.999999947451,9.15590255459e-05,-0.000310094809063,2.35662317907e-05,1793243186997389824
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660.691454239,634,880,787,806,651,631,652,0.441059852227,0.0045879263668,0.0698158825153,0.999999956106,9.23615656203e-05,-0.000280380266221,2.53635371231e-05,1793243187014056448
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.271586407,661,634,879.728413593,787,805.728413593,651,631,652,0.440337474895,0.00458592762107,0.0698224595148,0.999999956277,0.000127073912411,-0.000265715935856,2.63129716803e-05,1793243187030723584
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.857885443,661,634,879.142114557,787,805.142114557,651,631,652,0.439571473098,0.00458503540972,0.0698242368214,0.999999943394,0.000201080730702,-0.000268491692806,2.62798990381e-05,1793243187047390720
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.120448798,660.120448798,634,879.439775601,787,805.439775601,651,631,652,0.438740957826,0.00458314853865,0.0697816326468,0.999999923484,0.000199792663058,-0.000335374728985,2.52888787755e-05,1793243187064057088
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.02010454,659.02010454,634,880.02010454,787,806,651,631,652,0.437891335899,0.0045809329044,0.0697265457833,0.999999896291,0.000174576609357,-0.000419956871616,2.40438833199e-05,1793243187080723200
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.596268552,659.596268552,634,880.596268552,787,806,651,631,652,0.437084143293,0.00457842610976,0.0697189466244,0.999999896804,0.000153847520421,-0.00042677235908,2.42513780089e-05,1793243187097389568
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660.34597099,634.172985495,880.827014505,787,805.827014505,651,631,651.827014505,0.436283261407,0.00457592773381,0.0697291533383,0.99999990693,0.000136116629761,-0.000408645239254,2.49245649289e-05,1793243187114056192
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,661.501994053,634.750997027,880.249002973,787,805.249002973,651,631,651.249002973,0.435497155407,0.0045734490694,0.0697810504967,0.999999936629,0.000125405683249,-0.000332117814276,2.66881176314e-05,1793243187130722816
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,661.665616474,634.665616474,880,787,805.334383526,651,631,651.334383526,0.434674419498,0.00456885159529,0.0698168808397,0.999999951463,0.000122392655508,-0.000285068264347,2.88159283569e-05,1793243187147389952
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,661.078162075,634.078162075,880,787,805.921837925,651,631,651.921837925,0.433823961077,0.00456265054642,0.0698405513617,0.999999957789,0.000125205630413,-0.00026032840516,3.12194198115e-05,1793243187164057088
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.497425236,660.497425236,634,880,787,806,651,631,652,0.432957956548,0.0045571740531,0.0698437382,0.999999960004,0.000122661886322,-0.000252870170949,3.16799027154e-05,1793243187180723456
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.08168645,660.163372901,634,879.91831355,787,805.91831355,651.08168645,631,652,0.43207856986,0.00455208728326,0.0698386288631,0.999999959264,0.000118933898013,-0.00025749950756,3.19467627368e-05,1793243187197390336
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.657205706,661.314411412,634,879.342794294,787,805.342794294,651.657205706,631,652,0.431132705954,0.00454868432686,0.0698023702251,0.99999994214,0.000113016615853,-0.000319169808103,3.28458237034e-05,1793243187214056960
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.767979746,661.303939239,634,879,787,805.232020254,651.767979746,631,652,0.430192381337,0.00454466182423,0.0697613991348,0.999999919667,0.00010979620344,-0.000384103591841,3.27971639817e-05,1793243187230723328
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.194203119,659.582609356,634,879,787,805.805796881,651.194203119,631,652,0.429260215728,0.00453972675476,0.0697134867892,0.999999890411,0.000110548169469,-0.000453844362668,3.13525504929e-05,1793243187247389696
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.392166235,659.392166235,634,879.784332471,787,806,651,631,652,0.428377552822,0.0045323666613,0.0697397046197,0.999999908629,9.95363265845e-05,-0.000414495540527,3.20683259444e-05,1793243187264056320
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.984978435,659.984978435,634,880.969956869,787,806,651,631,652,0.427520217288,0.00452376584104,0.0698038500443,0.999999945035,8.25057069335e-05,-0.000319332660123,3.38894318358e-05,1793243187280722944
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745.563049526,714,680.436950474,660.563049526,634,879.873900947,787,805.436950474,651.563049526,631,652,0.42665560051,0.00451845297128,0.0698483814369,0.999999964658,7.81238188198e-05,-0.000251564116625,3.60029693148e-05,1793243187297389824
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745.85978231,714,680.14021769,660.71956462,634,879.14021769,787,805,652,631,651.85978231,0.425777674059,0.00451239005965,0.0698755107165,0.999999974576,7.32163795228e-05,-0.000209977569402,3.73829643646e-05,1793243187314056704
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745.284227653,714,680.715772347,659.568455305,634,879.715772347,787,805,652,631,651.284227653,0.42485901254,0.00450373308172,0.0698501944627,0.99999996656,6.56562775555e-05,-0.000247467651104,3.64619099351e-05,1793243187330723584
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.702336725,659.595326551,634,880.297663275,787,805,652,631,651.297663275,0.423935237132,0.00449722778391,0.0698182832345,0.999999953054,5.64830626761e-05,-0.000299053274398,3.56083749392e-05,1793243187347390464
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.114263969,660.771472062,634,880.885736031,787,805,652,631,651.885736031,0.423006472511,0.00449282173216,0.0697799377472,0.999999931957,4.57360453594e-05,-0.000364390940337,3.48207139614e-05,1793243187364056832
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,713.532963786,680,660.532963786,634,880.065927573,787,805,652,631,652,0.422022556455,0.004486690513,0.0697255834576,0.999999892324,4.60894945861e-05,-0.000460335752533,3.63205665086e-05,1793243187380722944
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,713.046327689,680,660,634,879.046327689,787,805,652,631,652,0.421042402616,0.00447984559698,0.0696768882345,0.99999984878,4.60871721039e-05,-0.000546702222414,3.7842235236e-05,1793243187397389568
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.621334371,680,660,634,879.621334371,787,805,652,631,652,0.420256962958,0.00446960393305,0.0697368299441,0.999999902786,1.1475751571e-05,-0.000439530561511,3.33174955577e-05,1793243187414056448
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.394483736,634,880,787,805,652,631,652,0.41947139772,0.00446125857248,0.0697980068038,0.999999943539,-6.61970011465e-06,-0.000334448929137,3.19700156907e-05,1793243187430723328
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,661.549773576,634,880,787,805,652,631,652,0.418685590148,0.00445657044371,0.0698615657993,0.999999972062,7.13773964862e-06,-0.00023339813837,3.67502371867e-05,1793243187447390208
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.921889919,634,880,787,805,651.640629973,631.359370027,652,0.417868123426,0.00444967534609,0.0698762854491,0.999999975303,5.4898354572e-06,-0.000218662869984,3.93803713141e-05,1793243187464057088
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.155340245,634,880,787,805,651.051780082,631.948219918,652,0.417030440436,0.00444137096341,0.0698598181692,0.999999965604,-5.99532908187e-06,-0.000259045377853,4.06375422579e-05,1793243187480723968
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.528689566,634,879.471310434,787,805.528689566,651.528689566,631.471310434,652,0.416177044658,0.00443901623966,0.0698253437077,0.999999957226,-1.17085745612e-05,-0.000289802445368,3.77551889604e-05,1793243187497389824
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.107458851,634.107458851,879.107458851,787,805.892541149,652,631,652,0.415325830099,0.00443898958128,0.069790708343,0.999999946386,-1.39471994816e-05,-0.000325246162921,3.53250301993e-05,1793243187514056192
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.682346297,634.682346297,879.682346297,787,805.317653703,652,631,652,0.414490693107,0.0044465944774,0.0697629248832,0.999999925168,-3.4924003216e-06,-0.000385112740781,3.65978676919e-05,1793243187530723072
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.475242015,635,880,787,805,652,631,652,0.413713525521,0.00445875835668,0.0697523491866,0.999999915404,1.23454627523e-05,-0.000409445991005,3.73353621494e-05,1793243187547389696
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.302469142,635,880,787,805,652,631,652,0.413007943449,0.00447655204769,0.0697630230718,0.999999922683,3.4830780921e-05,-0.000389899724054,3.74117704301e-05,1793243187564056064
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764.569783824,745.430216176,714,680,659.860432352,635,880,787,805,652,631,652,0.412352418302,0.00447633993454,0.0698105680675,0.999999952334,3.36775810673e-05,-0.000304772822736,3.62109254464e-05,1793243187580723456
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764.009940691,745.990059309,714,679.990059309,660.990059309,634.990059309,880,787,805,652,631,652,0.411713336361,0.00446981547635,0.0698699778779,0.999999979373,2.42924685805e-05,-0.000198660806767,3.46175568062e-05,1793243187597390848
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.589040668,745.410959332,714,679.410959332,660.410959332,634.410959332,880,787,805,652,631,652,0.411019647334,0.00446016892903,0.0698750215126,0.999999980045,1.39638866216e-05,-0.000196013830754,3.5965918051e-05,1793243187614057728
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.166578211,659.833421789,634.166578211,879.833421789,787,805,652,631,652,0.410329516287,0.00445341676113,0.0698663065619,0.999999976152,6.02746986426e-06,-0.0002152013423,3.670820929e-05,1793243187630724864
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.740297066,659.259702934,634.740297066,879.259702934,787,805,652,631,652,0.409648081304,0.00445373886281,0.0698239636884,0.999999957944,3.93784014694e-06,-0.000287755420329,3.59691801035e-05,1793243187647391232
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.322764205,634.677235795,879.322764205,787,805,652,631,652,0.409006431454,0.00445613737452,0.0697891135624,0.999999939478,5.51752526923e-06,-0.000346128816614,3.47687288434e-05,1793243187664057600
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.912466468,634.087533532,879.912466468,787,805,652,631,652,0.408397685437,0.00446025315488,0.0697604602209,0.999999922262,1.01318709857e-05,-0.000392774255322,3.31866643868e-05,1793243187680723712
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.506392453,660,634,879.506392453,787,804.506392453,652,631,652,0.407845911283,0.00446537245801,0.0697704265127,0.99999993044,1.47706335049e-05,-0.000371283514386,3.24024000757e-05,1793243187697390080
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.07261531,660,634,879,787,804.07261531,652,631,652,0.407307632075,0.00447084852061,0.0697871640315,0.999999941566,1.99161692929e-05,-0.000339785560377,3.18890135249e-05,1793243187714056704
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.647192054,660,634,879,787,804.647192054,652,631,652,0.406793990256,0.00447758153399,0.0698041739087,0.999999947483,2.85354110709e-05,-0.000321211926307,3.22867951933e-05,1793243187730724096
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.779426735,634,879.220573265,787,805,652,630.779426735,652,0.406293438529,0.00448075388883,0.0698112538669,0.999999948524,3.29752689346e-05,-0.000317480774691,3.27184902487e-05,1793243187747391232
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.207947529,634,879.792052471,787,805,652,630.207947529,652,0.405813711636,0.00447826165696,0.0698025364984,0.999999942069,3.0766221144e-05,-0.000337362256705,3.3204137457e-05,1793243187764057856
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.620885176,659,634,879.620885176,787,805,652,630.379114824,652,0.405384462271,0.00447638183442,0.0698045550825,0.999999943308,2.69935342625e-05,-0.000334043247429,3.27041028203e-05,1793243187780724736
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.024908888,659,634,879.024908888,787,805,652,630.975091112,652,0.404984087042,0.00447485232237,0.0698127148512,0.999999948862,2.23264135069e-05,-0.000317453082645,3.16402379738e-05,1793243187797391360
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.550375239,659.550375239,634,879.550375239,787,805,652,631,652,0.404628068388,0.00447427741088,0.0698315898045,0.999999959326,2.57309649765e-05,-0.000282312763244,3.1386002237e-05,1793243187814057472
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634.125587193,879.874412807,787,804.874412807,652,631,652,0.404275600081,0.00447335198201,0.0698476970731,0.99999996736,2.72711242308e-05,-0.000252132047914,3.10659536921e-05,1793243187830723584
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634.703792006,879.296207994,787,804.296207994,652,631,652,0.403928954301,0.00447101322112,0.0698521451526,0.99999996986,2.08231262163e-05,-0.000242741879096,3.03814412781e-05,1793243187847390464
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.713000077,634.713000077,879,787,804,652,631,652,0.403599862041,0.00446846817684,0.0698475674424,0.999999968363,1.30927440859e-05,-0.000249450318002,2.96058753431e-05,1793243187864057344
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.12453696,634.12453696,879,787,804,652,631,652,0.403289207925,0.00446570645372,0.0698335090906,0.999999962296,4.01535287837e-06,-0.000273068649361,2.87346673036e-05,1793243187880724480
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.54359714,659,634.45640286,879,787,804.45640286,652,631,652,0.403006533823,0.00446686188225,0.0698255002126,0.999999957969,1.32072624037e-06,-0.000288508874597,2.86884591923e-05,1793243187897391360
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.035282005,659.035282005,634.964717995,879.035282005,787,804.964717995,652,631,652,0.402733956617,0.00446896687926,0.0698190991338,0.999999954135,3.79120022247e-07,-0.000301494803537,2.88367592196e-05,1793243187914057728
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.613528569,659.613528569,634.386471431,879.613528569,787,804.386471431,652,631,652,0.402501174553,0.00446950283257,0.0698124498283,0.999999951388,4.72756804103e-08,-0.000310495612426,2.85702267053e-05,1793243187930723584
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.809827053,660.190172947,634,879.809827053,787,804,652,631,652,0.402281131641,0.00447125822779,0.0698075971466,0.999999949197,2.0643568254e-06,-0.000317476515961,2.84514827545e-05,1793243187947390208
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.236411523,660.763588477,634,879.236411523,787,804,652,631,652,0.402086761103,0.00447547108117,0.0698063650794,0.999999948227,8.8150675015e-06,-0.000320386840803,2.86305670612e-05,1793243187964057600
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.305035427,634.347482287,879,787,804.347482287,652,631,652,0.40191616963,0.00448156442493,0.0698071060582,0.999999948038,2.72483570761e-05,-0.000319968186364,2.83217557139e-05,1793243187980724480
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.122546461,634.938726769,879,787,804.938726769,652,631,652,0.401762259382,0.00448897695138,0.0698092311476,0.999999947853,5.38770898064e-05,-0.000317214220776,2.76706808326e-05,1793243187997391616
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.51863682,659.51863682,635,879,787,805,652,631,652,0.40163263229,0.00449400081928,0.0698081803309,0.999999947994,5.87913692775e-05,-0.00031598776002,2.65999722972e-05,1793243188014057984
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,635,879,787,805,652,631,651.903283903,0.401510343186,0.00449751337197,0.069807071278,0.99999994825,5.91457735104e-05,-0.000315199409346,2.55045854156e-05,1793243188030724608
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,635,879,787,805,652,631,651.327780288,0.401410481835,0.00449491139801,0.0698074916635,0.999999948646,4.93550677317e-05,-0.000315705628101,2.45272071682e-05,1793243188047391232
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.753542569,660,634.753542569,879,787,805,652,631,651,0.401319596374,0.00449186004641,0.0698068690596,0.999999948734,3.96342347518e-05,-0.000316856940619,2.37219965363e-05,1793243188064057600
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.180979881,660,634.180979881,879,787,805,652,631,651,0.401240587552,0.00448821409163,0.0698048664025,0.999999948446,3.00058560022e-05,-0.000318861822292,2.31445931109e-05,1793243188080724224
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634.406329867,879,787,805,652,631,651.406329867,0.40117813452,0.00448709744531,0.0698055530056,0.999999949336,2.68639067681e-05,-0.000316340689987,2.31417620282e-05,1793243188097391360
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,635,879,787,804.999556491,652,631,652,0.401123350892,0.00448714986527,0.0698074852683,0.999999950783,2.67215612642e-05,-0.000311724898489,2.3404810738e-05,1793243188114059008
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,635,879,787,804.42085044,652,631,652,0.401091679877,0.00448730986703,0.0698130030512,0.999999953269,2.88433813486e-05,-0.000303396198473,2.40938009657e-05,1793243188130725120
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,635,879,787,804.156444948,652,631,652,0.401061949159,0.0044871542588,0.0698173611549,0.999999955244,2.97353157738e-05,-0.000296695565343,2.44978089483e-05,1793243188147391232
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,635,879,787,804.729979346,652,631,652,0.401037391366,0.00448615721976,0.0698186274997,0.999999956018,2.73483179356e-05,-0.000294335435044,2.41420410065e-05,1793243188164057600
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.687764644,635,879,787,805,652,631,652,0.401016581997,0.00448499993425,0.0698201424618,0.999999956739,2.47824486562e-05,-0.000292099453546,2.41943725126e-05,1793243188180723968
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.097749394,635,879,787,805,652,631,652,0.400999107408,0.0044837000855,0.0698218786063,0.999999957411,2.20574462949e-05,-0.000289973920643,2.46097692725e-05,1793243188197390848
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.516434162,879,787,805,652,631,652,0.400990367895,0.00448540056189,0.0698242930314,0.999999958431,2.5184818738e-05,-0.000286197992561,2.44006982299e-05,1793243188214057216
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.062660127,659.062660127,634.062660127,879,787,804.937339873,652,631,652,0.400983854895,0.00448734015398,0.0698266458647,0.999999959415,2.91043235458e-05,-0.000282384005434,2.4109282186e-05,1793243188230723840
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.637720158,659.637720158,634.637720158,879,787,804.362279842,652,631,652,0.400981365086,0.00448636318004,0.0698273936435,0.999999959795,2.99983743381e-05,-0.000280938699443,2.41585038972e-05,1793243188247390464
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.787819641,660,635,879,786.787819641,804.212180359,652,631,652,0.400979450018,0.00448627074104,0.0698284614291,0.999999960307,3.14636929919e-05,-0.000278940240246,2.42493991827e-05,1793243188264057088
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.214380747,660,635,879,786.214380747,804.785619253,652,631,652,0.400978513503,0.00448768431237,0.0698300740587,0.999999961039,3.39016529449e-05,-0.000275999981816,2.44112479429e-05,1793243188280723712
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745.371042331,714,679.371042331,660,634.628957669,879,786.371042331,805,652,631,652,0.400977796661,0.00448682419769,0.0698314787863,0.999999961853,3.13955758226e-05,-0.000273329313778,2.44968224678e-05,1793243188297390848
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745.963620713,714,679.963620713,660,634.036379287,879,786.963620713,805,652,631,652,0.400977210978,0.00448460654671,0.069832759383,0.999999962691,2.59375916071e-05,-0.000270819608581,2.45368563791e-05,1793243188314058240
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745.456271822,714.543728178,679.456271822,660,634.543728178,879,787,804.456271822,652,631,651.456271822,0.400976942038,0.00448573888968,0.069833004861,0.999999962492,2.84529469523e-05,-0.000271312741601,2.44164156484e-05,1793243188330723840
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.877851275,679.122148725,660,634.877851275,879,787,804.122148725,652,631,651.122148725,0.400976844382,0.00448651286405,0.0698332831383,0.999999962402,3.03208628095e-05,-0.000271452902427,2.42987755593e-05,1793243188347389696
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.302662205,679.697337795,660,634.302662205,879,787,804.697337795,652,631,651.697337795,0.400977305167,0.00448514500304,0.0698339341746,0.999999962988,2.78532262612e-05,-0.00026955545926,2.42304523181e-05,1793243188364056576
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,878.721216065,787,805,652,631,652,0.400977345021,0.00448544353616,0.0698340542468,0.999999963213,2.80052964095e-05,-0.000268726579797,2.39737263105e-05,1793243188380723200
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,878.132820888,787,805,652,631,652,0.400976917398,0.00448759272939,0.0698335846422,0.999999963038,3.10667542619e-05,-0.000269084423186,2.35077643705e-05,1793243188397389568
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c3c6912c69946f3e1db81f23f052b9020de60dfe
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_01/simulation_data.csv
@@ -0,0 +1,406 @@
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+335,5.583333333,pose2_to_pose3_retreat,0.595111826708,0.0100018188696,1.06004099476,0.565683546791,0.0186766487496,1.05967878903
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+342,5.700000000,pose2_to_pose3_retreat,0.590323209098,0.0100018271527,1.06004074468,0.560894929317,0.0186766575901,1.05967854146
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+346,5.766666667,pose2_to_pose3_retreat,0.587954553783,0.0100019981055,1.06004078736,0.55852627166,0.018676820449,1.05967858069
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+366,6.100000000,pose2_to_pose3_retreat,0.581449316598,0.0100018878935,1.06004084534,0.552021035834,0.018676714708,1.0596786365
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+372,6.200000000,pose2_to_pose3_retreat,0.580926861533,0.0100016717576,1.06004058233,0.551498582684,0.0186765055096,1.05967838459
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+375,6.250000000,pose2_to_pose3_retreat,0.580818899498,0.0100018137367,1.06004101062,0.551390619567,0.0186766433045,1.05967880043
+376,6.266666667,pose2_to_pose3_retreat,0.580797668561,0.0100018979245,1.06004082906,0.551369386065,0.0186767189827,1.05967862352
+377,6.283333333,pose2_to_pose3_retreat,0.580780512972,0.0100020053693,1.060040839,0.551352228985,0.0186768212936,1.05967863166
+378,6.300000000,pose2_to_pose3_retreat,0.580767636401,0.0100020266944,1.06004081498,0.551339354009,0.0186768482675,1.05967861341
+379,6.316666667,pose2_to_pose3_retreat,0.580758513012,0.0100018111063,1.06004085959,0.551330233623,0.0186766424738,1.05967864862
+380,6.333333333,pose2_to_pose3_retreat,0.580752694844,0.0100017878367,1.06004074617,0.551324414737,0.0186766170495,1.05967854197
+381,6.350000000,pose2_to_pose3_retreat,0.580749563272,0.010001801541,1.06004075752,0.551321282923,0.0186766301454,1.05967855832
+382,6.366666667,pose2_to_pose3_retreat,0.580747722253,0.0100018236375,1.06004085394,0.551319442204,0.0186766533844,1.05967865766
+383,6.383333333,pose2_to_pose3_retreat,0.580746749272,0.0100018353156,1.0600409049,0.55131846938,0.0186766656663,1.05967871016
+384,6.400000000,pose2_to_pose3_retreat,0.580746146228,0.0100018581419,1.06004091661,0.551317866292,0.0186766882314,1.05967871931
+385,6.416666667,pose2_to_pose3_retreat,0.580745792561,0.0100018721239,1.06004092272,0.551317512593,0.018676702036,1.05967872379
+386,6.433333333,pose2_to_pose3_retreat,0.580745628552,0.010001878608,1.06004092555,0.551317348569,0.0186767084378,1.05967872586
+387,6.450000000,pose2_to_pose3_retreat,0.58074556725,0.0100018810315,1.06004092661,0.551317287262,0.0186767108306,1.05967872664
+388,6.466666667,pose2_to_pose3_retreat,0.580745527402,0.0100018826069,1.0600409273,0.55131724741,0.018676712386,1.05967872714
+389,6.483333333,pose2_to_pose3_retreat,0.580745495006,0.0100018838877,1.06004092786,0.551317215011,0.0186767136505,1.05967872755
+390,6.500000000,pose2_to_pose3_retreat,0.580745397458,0.0100018877442,1.06004092955,0.551317117454,0.0186767174581,1.05967872878
+391,6.516666667,pose2_to_pose3_retreat,0.580745300897,0.0100018915617,1.06004093121,0.551317020885,0.0186767212271,1.05967873001
+392,6.533333333,pose2_to_pose3_retreat,0.580745103141,0.0100018993799,1.06004093463,0.551316823111,0.0186767289461,1.05967873251
+393,6.550000000,pose2_to_pose3_retreat,0.580744943923,0.0100019056745,1.06004093738,0.551316663879,0.0186767351609,1.05967873452
+394,6.566666667,pose2_to_pose3_retreat,0.580744723652,0.0100019143829,1.06004094119,0.551316443588,0.0186767437587,1.05967873731
+395,6.583333333,pose2_to_pose3_retreat,0.580744462351,0.0100019117279,1.06004094607,0.551316182147,0.0186767405934,1.05967874132
+396,6.600000000,pose2_to_pose3_retreat,0.580744365504,0.010001906249,1.06004094801,0.551316085208,0.018676734794,1.05967874305
+397,6.616666667,pose2_to_pose3_retreat,0.580744342491,0.0100019049471,1.06004094847,0.551316062173,0.018676733416,1.05967874346
+398,6.633333333,pose2_to_pose3_retreat,0.580744231156,0.0100018986486,1.0600409507,0.551315950733,0.0186767267491,1.05967874544
+399,6.650000000,pose2_to_pose3_retreat,0.580744065673,0.0100018892868,1.06004095401,0.551315785094,0.0186767168397,1.0596787484
+400,6.666666667,pose2_to_pose3_retreat,0.580743897734,0.010001879786,1.06004095738,0.551315616995,0.0186767067832,1.0596787514
+401,6.683333333,pose2_to_pose3_retreat,0.580743732006,0.010001861751,1.06004091965,0.551315451094,0.0186766882186,1.05967871501
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+404,6.733333333,pose2_to_pose3_retreat,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..74a6bfb09de0e712e1551bf626075bbd63d26ddc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcb16f3a21304c3d8f63d3bf63fc386f37ff26a36992d71ce372c4cb2bd4a025
+size 25736559
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c507768bb0e69111b01b53eaa6afffe3b832100e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_02/franka_data.csv
@@ -0,0 +1,408 @@
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+18,0.300000000,BASELINE,765,745,714,680,660,634.448952931,879.551047069,787,804.448952931,652.448952931,631,652,0.400975754944,0.00448838811417,0.0698379479881,0.999999964637,2.8943744359e-05,-0.000263388446954,2.26672370491e-05,1793243189045810176
+19,0.316666667,BASELINE,765,745.026138345,714,680,660,634.973861655,879,787,805,652.973861655,631,652,0.40097512356,0.00448988016029,0.0698379175254,0.999999964403,3.04491170258e-05,-0.000264128771527,2.24330183851e-05,1793243189062477056
+20,0.333333333,BASELINE,765,745.602414044,714,680,660,634.397585956,879,787,805,652.397585956,631,652,0.400975044698,0.00448808556231,0.0698381672365,0.999999964502,2.83239639703e-05,-0.000263955303224,2.28364141605e-05,1793243189079143680
+21,0.350000000,BASELINE,765,745.817445124,714,679.817445124,660,634.182554876,879,787,805,652,631,652,0.400975276812,0.00448703304293,0.0698382337699,0.999999964615,2.71083584689e-05,-0.000263634441724,2.30691717514e-05,1793243189095810048
+22,0.366666667,BASELINE,765,745.228704422,714,679.228704422,660,634.771295578,879,787,805,652,631,652,0.400976200847,0.00448763165366,0.0698378927312,0.999999964767,2.79165026665e-05,-0.0002629856294,2.2922258182e-05,1793243189112476928
+23,0.383333333,BASELINE,765,745,714,679.353545946,660,634.646454054,879,787,805,652,631,652,0.400976774391,0.00448802932476,0.0698380677665,0.999999964968,2.89257168949e-05,-0.000262123971862,2.27840077244e-05,1793243189129143552
+24,0.400000000,BASELINE,765,745,714,679.931673541,660,634.068326459,879,787,805,652,631,652,0.400977125295,0.00448829935381,0.0698385706254,0.999999965198,3.00626561554e-05,-0.0002611271094,2.26512602881e-05,1793243189145810176
+25,0.416666667,BASELINE,765,745,714,680,660,634.509006305,879,786.490993695,805,652,631,652,0.400977214624,0.00448845115522,0.0698386001215,0.999999965008,2.94271093522e-05,-0.000261917530645,2.27283008473e-05,1793243189162476800
+26,0.433333333,BASELINE,765,745,714.085672013,679.914327987,660,635,879,786.085672013,805,652,631,652,0.400977112369,0.00448856382356,0.0698384599053,0.999999964781,2.88396897897e-05,-0.000262845382261,2.27826914247e-05,1793243189179143424
+27,0.450000000,BASELINE,765,745,714.659146399,679.340853601,660,635,879,786.659146399,805,652,631,652,0.400976118878,0.00448854389658,0.069837714608,0.999999964664,2.98789187182e-05,-0.00026319182763,2.25480232739e-05,1793243189195810048
+28,0.466666667,BASELINE,765.240104351,745,714.759895649,679.240104351,660,634.759895649,878.759895649,787,804.759895649,652,631,652,0.400975238633,0.0044879974437,0.0698373341941,0.999999964558,2.96634191349e-05,-0.000263625307992,2.25036259159e-05,1793243189212476928
+29,0.483333333,BASELINE,765.832027757,745,714.167972243,679.832027757,660,634.167972243,878.167972243,787,804.167972243,652,631,652,0.400974524323,0.00448667948522,0.0698374884352,0.999999964463,2.76093963787e-05,-0.000264186318586,2.27380277279e-05,1793243189229143552
+30,0.500000000,BASELINE,765.585405048,745,714,680,660,634,878.414594952,787,804.414594952,652,631,652,0.400976672639,0.00448717618432,0.0698389401101,0.999999965168,2.72839589086e-05,-0.000261544096155,2.26565681252e-05,1793243189245810176
+31,0.516666667,BASELINE,765.006544859,745,714,680,660,634,878.993455141,787,804.993455141,652,631,652,0.400979955147,0.00448839186267,0.0698409058368,0.999999966179,2.76433983022e-05,-0.000257632731793,2.24499621548e-05,1793243189262476800
+32,0.533333333,BASELINE,765,745,714,680,660,634,879,787,805,652,631,652,0.400978772042,0.0044877025899,0.0698402515444,0.999999965893,2.73117490168e-05,-0.000258750425307,2.27274932674e-05,1793243189279143680
+33,0.550000000,BASELINE,765,745,714,680,659.85966555,634.14033445,879,787,805,652,631,652,0.400977682638,0.00448727356155,0.0698396851989,0.999999965625,2.74378963009e-05,-0.000259756548709,2.29008943213e-05,1793243189295810304
+34,0.566666667,BASELINE,765,745,714,680,659.268368165,634.731631835,879,787,805,652,631,652,0.400977058449,0.00448775082985,0.0698394977515,0.999999965463,2.90605635664e-05,-0.000260219331645,2.2721883339e-05,1793243189312477184
+35,0.583333333,BASELINE,765,745,714,680,659.31648925,635,879,787,805,652,631,652,0.40097626683,0.00448787848028,0.0698393337992,0.999999965304,2.99241031685e-05,-0.000260723862302,2.27959043395e-05,1793243189329143808
+36,0.600000000,BASELINE,765,745,714,680,659.895994836,635,879,787,805,652,631,652,0.40097533607,0.00448771558312,0.0698391893723,0.99999996515,3.01567748361e-05,-0.000261263087185,2.30802059059e-05,1793243189345810432
+37,0.616666667,BASELINE,765,745,714,680,660,635,879,787,805,652,631,652,0.400976385807,0.00448725074929,0.0698397699414,0.999999965551,2.75392117486e-05,-0.000260028816056,2.29107261272e-05,1793243189362477056
+38,0.633333333,BASELINE,765,745,714,679.953977108,660,635,879.046022892,787,805,652,631,652,0.400977675718,0.00448685249933,0.0698403546751,0.999999965978,2.47761460074e-05,-0.000258681948264,2.26647155934e-05,1793243189379143680
+39,0.650000000,BASELINE,765,745,714,679.37915383,660,635,879.62084617,787,805,652,631,652,0.400976747912,0.00448797811186,0.0698391652208,0.999999965435,2.75043850154e-05,-0.00026049844694,2.26798005051e-05,1793243189395810304
+40,0.666666667,BASELINE,765,745,714,679,660,634.798266642,879.798266642,787,805,652,631,652,0.400976335944,0.00448821664196,0.0698385576433,0.999999965113,2.89543585272e-05,-0.00026157182297,2.26995720089e-05,1793243189412477184
+41,0.683333333,BASELINE,765,745,714,679,660,634.205629296,879.205629296,787,805,652,631,652,0.400976923529,0.00448673624924,0.0698390775838,0.999999965238,2.79274034865e-05,-0.000261205230768,2.2728424844e-05,1793243189429144320
+42,0.700000000,BASELINE,765,745,714,679,660,634.377662079,879,787,805,652,631,652,0.400976612743,0.00448710121189,0.0698389435217,0.99999996514,2.78281412458e-05,-0.000261594686826,2.26760533804e-05,1793243189445810688
+43,0.716666667,BASELINE,765,745,714,679,660,634.955987633,879,787,805,652,631,652,0.400975824625,0.00448844666863,0.0698384619679,0.999999964924,2.82217907499e-05,-0.000262385854589,2.25805249482e-05,1793243189462477056
+44,0.733333333,BASELINE,765,745,714.530798652,679,660,635,879,787,805,652.530798652,631,652,0.400975863136,0.0044894533239,0.0698382699199,0.999999964896,3.06184707281e-05,-0.000262221544836,2.25998757074e-05,1793243189479143680
+45,0.750000000,BASELINE,765,745,714.898887559,679.101112441,660,634.898887559,879.101112441,786.898887559,804.898887559,652.898887559,631,652,0.40097605427,0.00449025744806,0.0698381843221,0.999999964897,3.29740880046e-05,-0.000261925358154,2.26468539682e-05,1793243189495810304
+46,0.766666667,BASELINE,765,745,714.34731937,679.65268063,660,634.34731937,879.65268063,786.34731937,804.34731937,652.34731937,631,652,0.400976621997,0.00449028362504,0.0698384667211,0.999999964986,3.44117252892e-05,-0.000261392288254,2.27747558814e-05,1793243189512477184
+47,0.783333333,BASELINE,765,745,714,679.770468826,660,634.229531174,879.770468826,786.229531174,804.229531174,652,631,652,0.400976839266,0.00448961829654,0.0698387632541,0.999999965131,3.34685763409e-05,-0.000260954315028,2.28008847895e-05,1793243189529143552
+48,0.800000000,BASELINE,765,745,714,679.150626244,660,634.849373756,879.150626244,786.849373756,804.849373756,652,631,652,0.400976460593,0.00448777708216,0.0698390838213,0.999999965361,2.84769665538e-05,-0.000260678050973,2.26539515409e-05,1793243189545810432
+49,0.816666667,BASELINE,765,745,714,679,660,635,879,787,805,652,630.563229731,652,0.400976990169,0.0044878645238,0.0698395493544,0.999999965505,2.79510456191e-05,-0.000260200528106,2.2468572894e-05,1793243189562477056
+50,0.833333333,BASELINE,765,745,714,679,660,634.986331198,878.986331198,787,804.986331198,652,630.013668802,652,0.40097778401,0.00448854262874,0.0698400488404,0.999999965622,2.88187163265e-05,-0.000259671175118,2.22800936133e-05,1793243189579143680
+51,0.850000000,BASELINE,765,745,714,679,660,634.412800254,878.412800254,787,804.412800254,652,630.587199746,652,0.400977459766,0.00448805473767,0.0698400329128,0.999999965641,2.80493057835e-05,-0.000259665167872,2.24701161816e-05,1793243189595810304
+52,0.866666667,BASELINE,765,745,714,679.165836407,659.834163593,634,878,787,804.165836407,652,631,652,0.400977300402,0.00448796742266,0.069839983115,0.999999965627,2.85165010285e-05,-0.000259655543842,2.26391515823e-05,1793243189612476928
+53,0.883333333,BASELINE,765,745,714,679.757585903,659.242414097,634,878,787,804.757585903,652,631,652,0.400977564491,0.00448890889619,0.0698398463295,0.999999965518,3.21596370155e-05,-0.000259636630922,2.27542862057e-05,1793243189629143552
+54,0.900000000,BASELINE,765,745,714,679.658661453,659.341338547,634,878.341338547,787,805,652,631,652,0.400977582971,0.0044885339179,0.0698397976921,0.999999965541,3.12065404966e-05,-0.000259656112334,2.28447885503e-05,1793243189645810432
+55,0.916666667,BASELINE,765,745,714,679.080458084,659.919541916,634,878.919541916,787,805,652,631,652,0.400977431016,0.00448724541506,0.0698398102233,0.999999965649,2.70639833908e-05,-0.000259702236698,2.29181978298e-05,1793243189662477312
+56,0.933333333,BASELINE,765,745,714,679,660,634.495553222,878.504446778,787,805,652,631,652,0.400976967215,0.00448826482789,0.0698393918707,0.999999965424,2.93268729002e-05,-0.000260325541185,2.2872831378e-05,1793243189679143936
+57,0.950000000,BASELINE,765,745,714,679.070961592,660,635,878.070961592,787,805,652,631,652,0.400976352805,0.00448943660679,0.0698388864139,0.999999965149,3.17691064347e-05,-0.00026110178379,2.27578977704e-05,1793243189695810304
+58,0.966666667,BASELINE,765,745,714,679.644608608,660,635,878.644608608,787,805,652,631,652,0.400975028584,0.00448904498632,0.0698382573161,0.999999964955,2.81470521314e-05,-0.000262300508811,2.22861644315e-05,1793243189712476928
+59,0.983333333,BASELINE,765,745,714,680,660,635,879,787,805,652,631,652,0.400974241615,0.00448874521785,0.0698377625476,0.999999964752,2.65653584699e-05,-0.000263244998433,2.21926614727e-05,1793243189729143552
+60,1.000000000,BASELINE,765,745,714,680,660,635,879,787,805,652,631,652,0.400974329465,0.0044885950144,0.069837486511,0.999999964553,2.83060381348e-05,-0.000263775509933,2.27150411013e-05,1793243189745810432
+61,1.016666667,BASELINE,765,745,714,679.596809799,660,634.596809799,879,787.403190201,804.596809799,652,631,652,0.400974728922,0.00448842622592,0.0698381740956,0.99999996478,2.95426123679e-05,-0.00026278289974,2.26570892765e-05,1793243189762477056
+62,1.033333333,BASELINE,765,745,714,679.017830199,660,634.017830199,879,787.982169801,804.017830199,652,631,652,0.400975264238,0.00448824933445,0.0698392818152,0.99999996519,3.05593984389e-05,-0.000261126214227,2.23461151057e-05,1793243189779143680
+63,1.050000000,BASELINE,764.444312889,745,714,679,659.444312889,634,879,787.444312889,804.555687111,652,631,652,0.400977728545,0.00448837694399,0.0698407050996,0.999999966001,3.03202605885e-05,-0.000258031390272,2.23255353498e-05,1793243189795810304
+64,1.066666667,BASELINE,764,745,714,679.124630134,659.124630134,634.124630134,879,787,805,652,631,652,0.400979519282,0.00448858678819,0.0698416849481,0.999999966544,2.99821104485e-05,-0.000255961862313,2.22752260356e-05,1793243189812477184
+65,1.083333333,BASELINE,764,745,714,679.678419393,659.678419393,634.678419393,879,787,805,652,631,652,0.400978779543,0.0044890464876,0.0698411033143,0.999999966149,2.94404309524e-05,-0.000257580254804,2.20907709003e-05,1793243189829143808
+66,1.100000000,BASELINE,764.248932066,745,714,680,660,634.751067934,879,787,805,652,631,652,0.400978135289,0.00448876871899,0.0698406484002,0.999999965981,2.92990059433e-05,-0.000258247909839,2.20780299331e-05,1793243189845810688
+67,1.116666667,BASELINE,764.842604574,745,714,680,660,634.157395426,879,787,805,652,631,652,0.400977623268,0.00448746964739,0.0698403689774,0.999999966131,2.9711884451e-05,-0.000257598909738,2.23030920855e-05,1793243189862477312
+68,1.133333333,BASELINE,765,745,714,680,660,634,879,787,805,652.437872622,630.562127378,652,0.400977410374,0.00448787589113,0.0698398562953,0.999999965977,3.00479322592e-05,-0.000258163039822,2.22352126426e-05,1793243189879143936
+69,1.150000000,BASELINE,765,745,714,679.96719481,660,634,878.96719481,787,805,652.96719481,630.03280519,652,0.400977326212,0.00448875163938,0.0698393315153,0.999999965735,3.0238162425e-05,-0.000259089106935,2.20815535348e-05,1793243189895810560
+70,1.166666667,BASELINE,765,745,714,679.387453176,660,634,878.387453176,787,805,652.387453176,630.612546824,652,0.400977589099,0.00448719788701,0.069840008053,0.999999965871,2.84594077584e-05,-0.000258752695773,2.22597509025e-05,1793243189912477184
+71,1.183333333,BASELINE,765.195311796,745,714,679.195311796,660,634,878.195311796,787,804.804688204,652,631,652,0.400977903572,0.00448680756572,0.0698405470783,0.999999965935,2.86150496443e-05,-0.000258472170644,2.24267449669e-05,1793243189929144064
+72,1.200000000,BASELINE,765.784168776,745,714,679.784168776,660,634,878.784168776,787,804.215831224,652,631,652,0.400978321992,0.0044887615096,0.0698408090217,0.999999965851,3.26684201706e-05,-0.000258304253494,2.25711648715e-05,1793243189945811456
+73,1.216666667,BASELINE,765.634409255,745,714,680,660,634.365590745,879,787,804,652,631,652,0.400977813473,0.00448898964517,0.0698404702678,0.999999965637,3.18664157029e-05,-0.000259235313077,2.25146151891e-05,1793243189962478336
+74,1.233333333,BASELINE,765.057289188,745,714,680,660,634.942710812,879,787,804,652,631,652,0.400976768631,0.00448821923493,0.0698397839527,0.999999965342,2.82551107183e-05,-0.000260802236144,2.23417853101e-05,1793243189979144448
+75,1.250000000,BASELINE,765,745,714,680,660,635,879,787,804,652,631,652,0.400977181074,0.00448892870654,0.0698398347448,0.999999965573,3.05370550132e-05,-0.000259664304134,2.22633870788e-05,1793243189995810816
+76,1.266666667,BASELINE,765,745,714,680,660,635,879,787,804.093132169,652,631,652,0.400977639845,0.00448957709167,0.0698400296304,0.999999965837,3.26175632052e-05,-0.000258394706246,2.22245385673e-05,1793243190012477184
+77,1.283333333,BASELINE,765,745,714,680,660,635,879,787,804.666099452,652,631,652,0.400977509848,0.0044890704559,0.069840548377,0.999999966014,3.03139883631e-05,-0.000257982583384,2.23358387177e-05,1793243190029143808
+78,1.300000000,BASELINE,765,745,714,679.751194189,660,635,878.751194189,787,805,652,631,652,0.400977645964,0.00448916953473,0.0698407935481,0.999999966041,2.96378729628e-05,-0.000257958006622,2.23013569817e-05,1793243190045810176
+79,1.316666667,BASELINE,765,745,714,679.154885473,660,635,878.154885473,787,805,652,631,652,0.400978153754,0.00449011460502,0.0698406566205,0.999999965864,3.12348030657e-05,-0.000258474709034,2.20632641205e-05,1793243190062476800
+80,1.333333333,BASELINE,765,745,714,679.427186997,660,634.572813003,878.427186997,787,804.572813003,652,631,651.572813003,0.400977123097,0.00448891176017,0.0698399420014,0.999999965592,2.93734371902e-05,-0.000259735963779,2.21592099165e-05,1793243190079143424
+81,1.350000000,BASELINE,764.995753604,745,714,679.995753604,659.995753604,634,879,787,804.004246396,652,631,651.004246396,0.400975573645,0.00448696841761,0.0698390400162,0.999999965281,2.63269062487e-05,-0.000261236429452,2.23735054514e-05,1793243190095810048
+82,1.366666667,BASELINE,764.421103962,745,714,679.421103962,659.421103962,634,879,787,804.578896038,652,631,651.578896038,0.400976846617,0.00448679247536,0.0698401976228,0.999999965633,2.70782329634e-05,-0.000259776899902,2.27413469646e-05,1793243190112477184
+83,1.383333333,BASELINE,764.157778096,745,714,679.157778096,659.315556192,634,879,787,805,652,631,652,0.400978028521,0.00448712522057,0.0698411659237,0.999999965946,2.84767183931e-05,-0.000258397419731,2.29581940189e-05,1793243190129144064
+84,1.400000000,BASELINE,764.748267822,745,714,679.748267822,660.496535644,634,879,787,805,652,631,652,0.400978960664,0.0044888530579,0.0698416150477,0.999999966155,3.16500581064e-05,-0.000257237477294,2.27609338737e-05,1793243190145810432
+85,1.416666667,BASELINE,765,745,714,680,660.667591137,634.332408863,878.667591137,787,804.667591137,652,631,652,0.400978187868,0.00448898220989,0.0698405763548,0.999999965784,3.22513981999e-05,-0.000258622468141,2.2501475276e-05,1793243190162477312
+86,1.433333333,BASELINE,765,745,714,680,660.088167865,634.911832135,878.088167865,787,804.088167865,652,631,652,0.400976148126,0.00448792337204,0.0698384320589,0.99999996498,3.09414744918e-05,-0.000261898609559,2.21957967614e-05,1793243190179143936
+87,1.450000000,BASELINE,765,745,714,680,659.511574665,634.511574665,878,786.511574665,804.488425335,652,631,652,0.400975862149,0.00448706837863,0.0698383544602,0.999999965105,2.90144233705e-05,-0.000261630624007,2.23058151859e-05,1793243190195810560
+88,1.466666667,BASELINE,765,745,714,680,659.064430243,634.064430243,878.064430243,786.064430243,805,652,631,652,0.400975968814,0.0044864555702,0.0698386539759,0.999999965382,2.73275195073e-05,-0.000260738388583,2.24542889927e-05,1793243190212477440
+89,1.483333333,BASELINE,765,745,714,680,659.63979785,634.63979785,878.63979785,786.63979785,805,652,631,652,0.400976693126,0.00448747318813,0.0698390026162,0.999999965563,2.84233299519e-05,-0.000259939972996,2.2316077057e-05,1793243190229144320
+90,1.500000000,BASELINE,765,745,714,679.779429544,660,635,878.779429544,787,804.779429544,652,631,652,0.40097760791,0.00448816008417,0.0698396450218,0.999999965833,2.95637018871e-05,-0.00025877792771,2.22311645952e-05,1793243190245811200
+91,1.516666667,BASELINE,765,745,714,679.189608647,660,635,878.189608647,787,804.189608647,652,631,652,0.400978841558,0.00448829332842,0.0698407792113,0.999999966253,3.07786727782e-05,-0.000257007140836,2.22354792116e-05,1793243190262477568
+92,1.533333333,BASELINE,765,745,714,679.393281622,660,634.606718378,878.393281622,787,804,652,631,652,0.400978997383,0.0044873918322,0.0698411662583,0.99999996631,2.86501027871e-05,-0.000257028019518,2.22492049119e-05,1793243190279143936
+93,1.550000000,BASELINE,765,745,714,679.972888417,660,634.027111583,878.972888417,787,804,652,631,652,0.400978642567,0.00448600010662,0.0698411993315,0.999999966186,2.49374623637e-05,-0.000257897736063,2.2267389305e-05,1793243190295810816
+94,1.566666667,BASELINE,765,745,714,679.450171278,660,634.549828722,878.450171278,787,804.549828722,652,630.450171278,652,0.400977905234,0.00448702752092,0.0698401852058,0.999999965769,2.63183814083e-05,-0.000259377889521,2.21778657797e-05,1793243190312477184
+95,1.583333333,BASELINE,765,745,714,679,659.874291939,635,878.125708061,787,805,652,630.125708061,652,0.400977167035,0.00448776846602,0.0698393431674,0.999999965438,2.74981023587e-05,-0.000260534088056,2.21246268603e-05,1793243190329143552
+96,1.600000000,BASELINE,765,745,714,679,659.301718812,635,878.698281188,787,805,652,630.698281188,652,0.400976492481,0.00448706908667,0.0698392955327,0.999999965474,2.70741005757e-05,-0.000260432214035,2.22191601591e-05,1793243190345810176
+97,1.616666667,BASELINE,765,745,714,679,659.280246868,635,879,787,804.719753132,652,631,652,0.400976857091,0.00448696148967,0.0698398115077,0.999999965665,2.72883819139e-05,-0.000259671355616,2.2285373397e-05,1793243190362476800
+98,1.633333333,BASELINE,765,745,714,679,659.872675368,635,879,787,804.127324632,652,631,652,0.400978379282,0.00448751311,0.0698409553169,0.999999966025,2.82136802046e-05,-0.000258176420039,2.23200394331e-05,1793243190379143680
+99,1.650000000,BASELINE,765,745,714,679,660,635,879.454023315,787,804,652,631,652,0.400978513674,0.00448769631779,0.0698405915634,0.999999965922,2.87570096352e-05,-0.000258521312022,2.22644611052e-05,1793243190395810304
+100,1.666666667,BASELINE,765,745,714,679.032138233,660,635,879.967861767,787,804,652.032138233,631,652,0.400978246791,0.00448776943312,0.0698398707096,0.999999965703,2.92032919797e-05,-0.000259323724477,2.21913231156e-05,1793243190412477440
+101,1.683333333,BASELINE,765,745,714,679.606882147,660,635,879.393117853,787,804,652.606882147,631,652,0.400977619326,0.0044876865856,0.0698400886273,0.999999965679,2.97765197221e-05,-0.000259347098798,2.22388211894e-05,1793243190429144320
+102,1.700000000,BASELINE,765,745,714,680,660,634.813908656,879,787,804.186091344,652.813908656,631,652,0.400976942484,0.00448792251212,0.0698399759415,0.999999965589,3.01537956523e-05,-0.000259647546755,2.22910060086e-05,1793243190445810688
+103,1.716666667,BASELINE,765,745,714,680,660,634.225034719,879,787,804.774965281,652.225034719,631,652,0.40097615877,0.00448884840426,0.0698391476859,0.999999965354,3.01069465756e-05,-0.000260547702547,2.2353334977e-05,1793243190462477056
+104,1.733333333,BASELINE,765,745,714,680,660,634.359413118,879,787,804.640586882,652,631,652,0.400975531932,0.00448877244053,0.0698389514602,0.999999965201,2.96357114409e-05,-0.000261191737507,2.23343437177e-05,1793243190479143936
+105,1.750000000,BASELINE,765,745,714,680,660,634.941123468,879,787,804.058876532,652,631,652,0.400975002122,0.00448807682841,0.0698391461453,0.999999965097,2.8901993267e-05,-0.000261677361663,2.22650558541e-05,1793243190495810560
+106,1.766666667,BASELINE,765,745,714,680,660,635,879,787,804.516563563,652,631,652,0.400975731052,0.00448786421904,0.0698395287184,0.99999996532,2.94339881782e-05,-0.000260757847156,2.23281428876e-05,1793243190512477184
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787,805,652,631,652,0.400975446408,0.0044883564545,0.0698405051038,0.99999996571,2.88463416628e-05,-0.000259346980821,2.20528033954e-05,1793243190555483136
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.589863544,634.410136456,879,786.410136456,805,652.589863544,631,652,0.400977338021,0.00448922822283,0.0698404598227,0.99999996592,3.07881749171e-05,-0.000258316351239,2.20092183971e-05,1793243190572149504
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.176836738,879,786.176836738,804.823163262,652.823163262,631,652,0.400978530418,0.00448955162167,0.0698404550061,0.999999966052,3.18441242285e-05,-0.000257673301631,2.20687993239e-05,1793243190588816128
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.757214278,879,786.757214278,804.242785722,652.242785722,631,652,0.400978127206,0.00448862364345,0.0698405425294,0.999999966013,3.08784899433e-05,-0.000257914707935,2.23638045134e-05,1793243190605482752
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.66627065,660,635,879,787,804.33372935,652,631,652,0.40097728406,0.00448752346671,0.0698401830114,0.999999965807,2.93984009004e-05,-0.000258877162617,2.24559360847e-05,1793243190622149632
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.092533383,660,635,879,787,804.907466617,652,631,652,0.400976124526,0.00448629945014,0.0698395019951,0.999999965476,2.75483318247e-05,-0.000260358173172,2.24021671515e-05,1793243190638816256
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787,804.506928454,652,631,652,0.40097678791,0.00448807677927,0.0698397990098,0.999999965571,2.94560183974e-05,-0.00025980368065,2.22066322062e-05,1793243190655482880
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.079554364,660,635,879,787,804.079554364,652,631,652,0.400977836709,0.00448997222638,0.0698402862763,0.999999965756,3.15562203405e-05,-0.0002588585381,2.2022064757e-05,1793243190672149504
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.657244619,660,635,879,787,804.657244619,652,631,652,0.400979103874,0.00448899343645,0.0698407871982,0.999999966035,3.03372569095e-05,-0.000257918205866,2.20768678989e-05,1793243190688817408
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745.235707009,714,680,660,635,879,787,805,652,631,652,0.40098432209,0.00448886773183,0.0698432723689,0.999999967055,3.0068734386e-05,-0.000253963494865,2.21144756704e-05,1793243190705484800
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745.815295845,714,680,660,635,879,787,805,652,631,652,0.400995304644,0.00448998662553,0.0698486524348,0.999999969107,3.11868459784e-05,-0.000245610993304,2.21269964635e-05,1793243190722151936
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745.608325351,714,679.608325351,660,635,879,786.608325351,805,652,631,652,0.401021220695,0.0044895603855,0.0698596150386,0.999999973556,3.08332676496e-05,-0.000226816793201,2.21552412693e-05,1793243190738817536
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745.033447964,714,679.033447964,660,635,879,786.033447964,805,652,631,652,0.401054121772,0.00448841142141,0.0698731888312,0.999999978677,2.97913180122e-05,-0.000203138569839,2.21908408496e-05,1793243190755483136
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.554619472,660,635,879,786.554619472,804.445380528,652,631,652,0.401107784277,0.00448838143103,0.0698876971268,0.99999998336,2.79199435068e-05,-0.000178983651831,2.15550645669e-05,1793243190772149760
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.85849874,879,787,804,652,631,652,0.401165186096,0.00448865855488,0.0699004079034,0.999999986828,2.66550439907e-05,-0.000158742505316,2.08409308379e-05,1793243190788816384
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.277825656,879,787,804,652,631,652,0.401230212791,0.00448967431024,0.0699073606181,0.999999988062,2.74314663113e-05,-0.000150739769003,2.00123285153e-05,1793243190805483008
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.700678966,660,634,879.299321034,787,804,652,630.700678966,652,0.401303538742,0.00449011589464,0.0699113119128,0.999999989063,2.63516958485e-05,-0.000144316229654,1.8773677627e-05,1793243190822149888
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.126767348,660,634,879.873232652,787,804,652,630.126767348,652,0.401384478245,0.00449003074709,0.0699125097698,0.999999989867,2.35690945882e-05,-0.000139341411622,1.7158857183e-05,1793243190838816512
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679.447125013,660,634.447125013,879.552874987,787,804,652,630.447125013,652,0.401476259664,0.00449045318201,0.0699095394263,0.999999989214,2.18644316251e-05,-0.000144465363975,1.497952027e-05,1793243190855483136
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679.978303461,659.978303461,635,879,787,804,652,631,652,0.401572437473,0.00449102016258,0.0699056359852,0.999999988153,2.04054741495e-05,-0.000152043925658,1.26205315699e-05,1793243190872150016
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679.385717529,659.385717529,635,879,787,804,652,631,652,0.401703417779,0.00449160408369,0.0699082739604,0.99999998872,1.73705386827e-05,-0.000148875531938,9.74558327195e-06,1793243190888816640
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679.20204383,659.20204383,634.79795617,879,787,804.20204383,652,631,652,0.401845169319,0.00449162461881,0.0699117753586,0.999999989477,1.32708329344e-05,-0.000144300399588,6.84551174071e-06,1793243190905483008
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679.780809441,659.780809441,634.219190559,879,787,804.780809441,652,631,652,0.402007004401,0.00449059468985,0.0699168866561,0.999999990568,7.18580504476e-06,-0.000137102326397,3.89859688726e-06,1793243190922149376
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679.644334792,659.644334792,634.355665208,879,787,804.644334792,652,631,652,0.402186388672,0.00449012471571,0.0699207350867,0.999999991533,2.97392728936e-06,-0.000130094258354,4.62662249397e-07,1793243190938816256
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.07186234,659.07186234,634.92813766,879,787,804.07186234,652,631,652,0.402376470635,0.00448999608006,0.0699238136964,0.999999992405,-9.61117403694e-08,-0.000123202013403,-3.27137051612e-06,1793243190955482624
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.51617112,659.51617112,635,879,787,804.51617112,652.51617112,631,652,0.402595201164,0.00448419996551,0.0699239511261,0.999999992327,-1.47406179953e-05,-0.000122821566756,-6.59219610364e-06,1793243190972149504
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679.895552954,660,635,879.104447046,787,805,653,631,652,0.402825637225,0.00447610361365,0.0699245258837,0.999999992074,-3.21219781435e-05,-0.000121344620349,-9.74927849705e-06,1793243190988816128
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679.31632858,660,635,879.68367142,787,805,653,631,652,0.403090588508,0.0044612493963,0.0699290077562,0.999999992324,-5.43914598811e-05,-0.000110634299714,-1.24316734846e-05,1793243191005482752
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.738176375,879.476352749,787,805,652.738176375,631,652,0.403374435623,0.00445556574779,0.0699351961998,0.999999992849,-6.65038529057e-05,-9.80354122262e-05,-1.64070276536e-05,1793243191022149632
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.161314286,878.322628572,787,805,652.161314286,631,652,0.403681019074,0.00446091655859,0.0699434380694,0.999999994097,-6.63947592118e-05,-8.3164113231e-05,-2.19381307802e-05,1793243191038816512
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.415311834,878.415311834,787,805,652,631,652,0.404009008955,0.00446559861007,0.069949949456,0.999999994985,-6.21122168877e-05,-7.39894213735e-05,-2.64202930309e-05,1793243191055483136
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.991846338,878.991846338,787,805,652,631,652,0.404345308733,0.00447002105128,0.0699557890746,0.999999995709,-5.62095557074e-05,-6.70261337779e-05,-3.04952597978e-05,1793243191072149760
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.584114421,660,634.415885579,879,787,805,652,631,652,0.404727493293,0.00447387362793,0.06995814291,0.999999997572,-1.31089104942e-05,-6.45292302284e-05,-2.27909724419e-05,1793243191088816128
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879,787,805,652,631,652,0.405119400525,0.0044795887141,0.0699607847484,0.999999997737,2.10048131039e-05,-6.1026696326e-05,-1.89778306732e-05,1793243191105482752
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879,787,805,652,631,652,0.40553265307,0.00448970897738,0.0699642225443,0.999999997647,3.26990999359e-05,-5.50051761578e-05,-2.47256650233e-05,1793243191122149632
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.324278707,879,787,805,652.324278707,631,652,0.405961085972,0.00449261387517,0.0699624605122,0.999999997295,3.85853366016e-05,-5.60104975417e-05,-2.7988068974e-05,1793243191138816512
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.897791198,879,787,805,652.897791198,631,652,0.406401186221,0.00448997319607,0.0699567020022,0.999999996821,4.00076294761e-05,-6.2416500716e-05,-2.93402240769e-05,1793243191155483136
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.514233257,660,634.514233257,879,787,805,652.514233257,631,652,0.40685918535,0.00449864674097,0.0699402468424,0.999999995559,2.1472501131e-06,-8.93442300496e-05,-2.99291089869e-05,1793243191172149760
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.074574588,660,634.074574588,879.074574588,787,805,652,631,652,0.407334364174,0.00450906817392,0.0699245105157,0.999999992367,-3.4983662504e-05,-0.000114450949701,-3.07264645663e-05,1793243191188816384
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.647970075,660,634.647970075,879.647970075,787,805,652,631,652,0.407898492497,0.00451476886552,0.0699290987032,0.999999994605,-1.02526774568e-05,-9.7608785207e-05,-3.40254406576e-05,1793243191205483520
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745.224161888,714.224161888,680,660,635,880.448323777,787,805,652,631,652,0.408479278638,0.00451976827504,0.0699377602147,0.999999996412,1.16561411935e-05,-7.563329962e-05,-3.63387195194e-05,1793243191222150656
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.804800568,714.804800568,680,660,635,881.609601135,787,805,652,631,652,0.409086555087,0.00452365245991,0.0699528993903,0.999999997855,2.90769660871e-05,-4.54944745502e-05,-3.70844784527e-05,1793243191238818048
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.390171507,746,715,679.609828493,660.390171507,635,880.829485478,787,805.390171507,652,631,652,0.409674918972,0.00453079678423,0.0699551088351,0.999999997653,4.14109996793e-05,-3.92640379248e-05,-3.79084021218e-05,1793243191255484416
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.977939006,746,715,679.022060994,660.977939006,635,879.066182983,787,805.977939006,652,631,652,0.410253704879,0.00453959215284,0.0699507702284,0.99999999692,5.11689103305e-05,-4.51416152917e-05,-3.87719110336e-05,1793243191272150272
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,715,679,660.442809371,634.442809371,879,787,805.442809371,652,631,652,0.410892405878,0.00454549798274,0.0699456477666,0.999999996133,5.37004552224e-05,-5.74108577212e-05,-3.94218881879e-05,1793243191288816896
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.863991323,745.863991323,714.863991323,679.136008677,660.136008677,634,879,787,805,652,631,652,0.411556074589,0.0045519117582,0.0699472275517,0.999999995859,5.85290616413e-05,-5.69506561311e-05,-4.01703453113e-05,1793243191305483776
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.285503536,745.285503536,714.285503536,679.714496464,660.714496464,634,879,787,805,652,631,652,0.41229336956,0.00456034463623,0.069970711308,0.999999996473,7.17475443557e-05,-1.42666444282e-05,-4.12662795067e-05,1793243191322150400
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,879,787,805,652,631,652,0.413035358753,0.00456683277456,0.0699973307866,0.999999995507,7.98043556401e-05,2.90914945301e-05,-4.20771209342e-05,1793243191338817024
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,879,787,805,652,631,652,0.413781922398,0.00457142582843,0.0700270059272,0.999999992989,8.28312878829e-05,7.31065535543e-05,-4.26101488786e-05,1793243191355483904
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.550006424,634.449993576,879.449993576,787,805,652,631,652,0.414490871999,0.00457885986225,0.0700200485816,0.999999993233,9.22141119481e-05,5.64871323315e-05,-4.28874579663e-05,1793243191372150272
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.039940953,714,680,660,635,880,787.039940953,805,652,631,652,0.415190322641,0.00458717071809,0.0699992070185,0.999999993564,0.000103438846916,1.73364597916e-05,-4.32574133165e-05,1793243191388816640
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.619187229,714,680,660,635,880,787.619187229,805,652,631,652,0.415920367221,0.00459532274896,0.0699456011611,0.999999990146,0.000112691572052,-6.99691522526e-05,-4.59582968939e-05,1793243191405483264
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.802759575,714.197240425,680,660.39448085,634.802759575,880,787.802759575,805,652,631,652,0.416691706915,0.00460195150412,0.0699160635308,0.999999984517,0.000120799140125,-0.000118748804195,-4.76643578595e-05,1793243191422150144
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.226996047,714.773003953,680,661.546007907,634.226996047,880,787.226996047,805,652,631,652,0.417542295807,0.0046056569481,0.0699327151165,0.999999986466,0.000126709043852,-9.35934764875e-05,-4.74612601627e-05,1793243191438816768
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714.651763457,680.348236543,661.651763457,634.348236543,880,787,805,652,631,652,0.418385881405,0.004608084759,0.069955183518,0.99999998949,0.000124040908908,-5.80988465359e-05,-4.75218857829e-05,1793243191455483136
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714.076876453,680.923123547,661.076876453,634.923123547,880,787,805,652,631,652,0.41922490886,0.00460968101967,0.0699814378053,0.99999999203,0.000115789739678,-1.58748616146e-05,-4.77541562122e-05,1793243191472149504
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.490608293,745,714,680.490608293,660.490608293,634.490608293,880,786.490608293,805,652,631,652,0.42007095793,0.00460888469317,0.0700008830755,0.999999991714,0.000118525565937,1.05516464784e-05,-4.91159746102e-05,1793243191488816128
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.095869299,745,714,680.095869299,660.095869299,634.095869299,880,786.095869299,805.095869299,652,631,652,0.420923185955,0.00460446741615,0.0700172172358,0.999999991242,0.000118053486887,3.21923299836e-05,-5.04227302581e-05,1793243191505482752
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.674553484,745,714,680.674553484,660.674553484,634.674553484,880,786.674553484,805.674553484,652,631,652,0.421801073255,0.00458367443291,0.0700231767533,0.999999993525,9.28843097119e-05,4.20120186534e-05,-5.05740460596e-05,1793243191522149376
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680.494525994,660.747262997,635,879.747262997,787,805.494525994,652,631,652,0.422649841607,0.00457085400648,0.0699987130187,0.999999995885,7.49051784953e-05,1.22107895257e-06,-5.11579784226e-05,1793243191538816000
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679.339445649,660.169722824,635,879.169722824,787,804.339445649,652,631,652,0.423461188067,0.0045682794521,0.0699351510581,0.999999990972,6.61662798875e-05,-0.000104611750113,-5.22978845405e-05,1793243191555482624
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.406805396,660,634.593194604,879.406805396,787,804.406805396,652,631,652,0.424299077591,0.0045761330169,0.0698864946036,0.999999981362,7.36079780453e-05,-0.000169476297058,-5.59949065596e-05,1793243191572149504
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.982912434,660,634.017087566,879.982912434,787,804.982912434,652,631,652,0.425148013587,0.00458832648914,0.0698440414304,0.999999970694,8.77836130091e-05,-0.00021729092272,-6.07561325298e-05,1793243191588816128
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.572026119,634,879.427973881,787,805,651.427973881,631,652,0.426062808754,0.00458936191851,0.0698966490369,0.999999984527,8.90641125999e-05,-0.000140246943904,-5.78366938876e-05,1793243191605482752
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.158886708,745,714.158886708,680,661.158886708,634.158886708,879.158886708,787,805.158886708,651.158886708,631,652,0.426985131833,0.00459117130347,0.0699494303898,0.999999992074,9.17260396382e-05,-6.62692191059e-05,-5.52036407018e-05,1793243191622149376
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.738724636,745,714.738724636,680,661.738724636,634.738724636,879.738724636,787,805.738724636,651.738724636,631,652,0.427922065639,0.00459593480991,0.0699949736888,0.99999999358,9.90921890131e-05,-1.0526680175e-05,-5.39513406685e-05,1793243191638816256
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.686143792,745,714.686143792,680,662,635,880.313856208,787,806,652,631,652,0.428858445302,0.00459787635515,0.0700264657896,0.99999999252,0.000103002805736,3.75162648194e-05,-5.42418011913e-05,1793243191655482880
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.11487226,745,714.11487226,680,662,635,880.88512774,787,806,652,631,652,0.429794370429,0.00459750341332,0.0700464335223,0.999999989887,0.000104079299273,7.92442340679e-05,-5.57975871306e-05,1793243191672149504
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680.460775077,662,634.539224923,880.539224923,787,806,652,631.460775077,652,0.430636559867,0.00459977806117,0.0700167605379,0.999999992234,0.000107258348732,2.98445199148e-05,-5.60016183691e-05,1793243191688816128
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,661.922771387,634.038614307,880.038614307,787,806,652,631.961385693,652,0.431451585914,0.00460270912559,0.0699729862693,0.999999991256,0.000110997766675,-4.51315074635e-05,-5.59454536551e-05,1793243191705482752
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.735751732,634.632124134,880.632124134,787,806,652,631.367875866,652,0.432215297615,0.00460549703336,0.0699061178384,0.99999997925,0.000115185120011,-0.000158047119258,-5.70393472736e-05,1793243191722149120
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.218515074,634.781484926,880.781484926,787,806,651.781484926,631,652,0.433041452452,0.00460532188893,0.0698833443342,0.999999973379,0.000113561833007,-0.000192309986191,-5.79929004023e-05,1793243191738816256
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.793299399,634.206700601,880.206700601,787,806,651.206700601,631,652,0.43396941535,0.0046003157538,0.069932463647,0.999999988192,0.000102464819406,-9.8336618686e-05,-5.87176417149e-05,1793243191755483904
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681,661.367017759,634,880,787,806,651.367017759,631,652,0.434872933178,0.00459163544325,0.0699778495955,0.999999993966,9.06946657728e-05,-2.1390196822e-05,-5.81821162461e-05,1793243191772150528
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681,661.940137482,634,880,787,806,651.940137482,631,652,0.43576272361,0.00458089186834,0.0700211390384,0.999999994236,7.854650524e-05,4.59945921949e-05,-5.69388771103e-05,1793243191788816384
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714.532739152,681,661.467260848,634,880,787,806,651.467260848,631,652,0.436587997818,0.0045768446902,0.0700260051618,0.999999993863,7.5828187446e-05,5.67110831872e-05,-5.75190603714e-05,1793243191805483008
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714.875939126,681,661.124060874,634,880,787,805.875939126,651.124060874,631,652,0.437394603305,0.00457502226388,0.0700201034226,0.999999994156,7.34230212218e-05,5.35438537492e-05,-5.85719153506e-05,1793243191822149632
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714.297623881,681,661.702376119,634,880,787,805.297623881,651.702376119,631,652,0.438160404421,0.0045784861324,0.0699911835645,0.999999995562,6.81374081017e-05,2.37412701557e-05,-6.05767762356e-05,1793243191838816256
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681,661.720759704,634,880,787,805.279240296,651.720759704,631,651.720759704,0.438888597977,0.00458160152087,0.0699497338617,0.999999995028,6.90724120098e-05,-3.79181010422e-05,-6.11172724394e-05,1793243191855483136
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681,661.145434169,634,880,787,805.854565831,651.145434169,631,651.145434169,0.439576915278,0.00458434740731,0.0698949984633,0.999999986368,7.66032865553e-05,-0.000133355992735,-6.01050668491e-05,1793243191872150016
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681,661,634,880.439917338,787,806,651.439917338,631,651.439917338,0.440297061223,0.0045861372479,0.069874876751,0.999999981801,8.18991687694e-05,-0.000161418766583,-6.02801108317e-05,1793243191888817152
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,681.028165708,661.028165708,634,880.971834292,787,806,651.971834292,631.028165708,652,0.441031118448,0.00458756287648,0.0698704551655,0.999999981507,8.60352865197e-05,-0.000160887562548,-6.08132089049e-05,1793243191905483776
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,681.60674061,661.60674061,634,880.39325939,787,806,651.39325939,631.60674061,652,0.441826604384,0.00458819163764,0.0699440086234,0.99999999368,8.22832095011e-05,-4.70006035482e-05,-6.04943242443e-05,1793243191922150400
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.184671029,714,681.815328971,662,634,879.815328971,787,806,651.184671029,632,652,0.442585521269,0.00458823639187,0.0700031330058,0.99999999436,7.74734149547e-05,4.1164450275e-05,-5.98566806177e-05,1793243191938817024
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.761233895,714,681.238766105,662,634,879.238766105,787,806,651.761233895,632,652,0.443266834833,0.00458704182052,0.070031637348,0.999999993014,7.0419030906e-05,7.47448683346e-05,-5.85425973897e-05,1793243191955483392
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.662280009,714,681,661.662280009,634,879.337719991,787,806,651.662280009,631.662280009,652,0.443908318652,0.00458721369567,0.0700294063395,0.999999993682,7.11793175337e-05,6.46073412076e-05,-5.82615392168e-05,1793243191972150272
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.08584821,714,681,661.08584821,634,879.91415179,787,806,651.08584821,631.08584821,652,0.444521649432,0.00458835142108,0.0700054505533,0.999999994999,7.74632756567e-05,2.35685032394e-05,-5.87106578063e-05,1793243191988817408
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681.501509107,661,634,880,787,806,651.501509107,631.501509107,652,0.445099036931,0.00458930269424,0.0699770775892,0.999999994445,8.56647654738e-05,-2.03164780791e-05,-5.79611345743e-05,1793243192005484288
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,681.910623665,661,634,880,786.910623665,806,651.910623665,631.910623665,652,0.445667488702,0.00459073102249,0.0699511758493,0.999999992264,9.40933044479e-05,-5.78698851171e-05,-5.71841243524e-05,1793243192022150912
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681.330455059,661,634,880,786.330455059,806,651.330455059,631.330455059,652,0.446221410817,0.0045949581716,0.0699430889579,0.99999999148,0.000101926018445,-5.79197632475e-05,-5.74079905828e-05,1793243192038817280
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.752862832,745,714,681,661,634,880,786,806,651,631,652,0.446743197984,0.0045981361099,0.0699354502295,0.999999990259,0.000107577073139,-6.79123114479e-05,-5.74265978967e-05,1793243192055483648
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.178680068,745,714,681,661,634,880,786,806,651,631,652,0.447222459762,0.00459992558908,0.069928404572,0.999999988132,0.000110341058131,-9.10623562696e-05,-5.71735785904e-05,1793243192072150016
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.405374999,745,714,681,660.189250002,634,880,786.405374999,806,651,631,652,0.447675391338,0.00460260207338,0.0699099539462,0.999999983276,0.000117461209529,-0.000128091254161,-5.69591875509e-05,1793243192088816384
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.993890223,745,714,681,659.012219553,634,880,786.993890223,806,651,631,652,0.448116427502,0.00460567928879,0.0698863507857,0.999999975694,0.000126549388865,-0.000171390338986,-5.6762247874e-05,1793243192105483008
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.57333441,714,681,659.57333441,634,880,787,806.57333441,651,631,652,0.448543323658,0.0046076309552,0.0698835075046,0.999999973512,0.000136776251751,-0.000176507315465,-5.57997769604e-05,1793243192122149888
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.848640676,714,681.151359324,659.848640676,634,880,787,806.848640676,651.151359324,631,652,0.448964724756,0.00460987728101,0.0698851693941,0.999999972753,0.000145838651176,-0.000173714730353,-5.52026296931e-05,1793243192138816768
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.27431579,714,681.72568421,659.27431579,634,880,787,806.27431579,651.72568421,631,652,0.449371184824,0.00461298001315,0.0698988121582,0.999999975717,0.00015161364088,-0.000149938621504,-5.56488015092e-05,1793243192155483136
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,681.698843003,658.698843003,634,880,787,806,652,631.301156997,652,0.449746774264,0.00461345977352,0.0699058300108,0.999999976988,0.000153828710231,-0.000138887588757,-5.54231371819e-05,1793243192172149760
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,681.122320658,658.122320658,634,880,787,806,652,631.877679342,652,0.45009413687,0.00461154119814,0.0699067903207,0.999999977112,0.000152788737206,-0.000139471834196,-5.45831740152e-05,1793243192188816128
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.451601521,714,681.451601521,658,633.548398479,880,787,806,651.548398479,631.548398479,652,0.450386243509,0.00461466040118,0.0698898202149,0.99999997875,0.000108618853604,-0.000166253545586,-5.53400443686e-05,1793243192205482752
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.974202874,714,682,657.974202874,633,880,787,806,651.025797126,631,652,0.450661840804,0.00461896098293,0.0698677370998,0.999999976744,5.56232085191e-05,-0.000200565255768,-5.64922943937e-05,1793243192222149376
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.378496747,714,682,657.378496747,633,880,787,806,651.621503253,631,652,0.450901463515,0.00461938794046,0.0698393757812,0.999999966216,6.42534443349e-05,-0.0002453658566,-5.68787941818e-05,1793243192238816256
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,682,657,633,880,786.789780079,806,652,631,652,0.45113661446,0.00462017434669,0.0698161088179,0.999999956427,7.50502532674e-05,-0.000279820642655,-5.66948626743e-05,1793243192255482880
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,682,657,633,880,786.213242902,806,652,631,652,0.451363973135,0.00462158710767,0.0698017189906,0.999999950562,8.96224083109e-05,-0.000296247397425,-5.55169302085e-05,1793243192272149760
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,682.343981577,657,633,880,786,806,651.656018423,631,652,0.451575502462,0.00462356331505,0.0697982235228,0.999999947974,0.000107557242705,-0.000299556731175,-5.24273596696e-05,1793243192288816384
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,682.889870131,657,633,880,786,806,651.110129869,631,652,0.451777740452,0.00462587024887,0.0698011227192,0.999999947152,0.000127465871445,-0.000295166529628,-4.82157141987e-05,1793243192305482752
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,682.501597169,656.501597169,633,880,786.498402831,806,651.498402831,631,652,0.451958256528,0.0046268624249,0.0698003484159,0.999999946041,0.000134058927518,-0.000296012070866,-4.81925478529e-05,1793243192322149120
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.886426147,745,714,682,656.113573853,633,880,786.886426147,806.113573853,651.886426147,631,652,0.452125917623,0.00462702902952,0.0697974521521,0.999999944764,0.000136079177135,-0.000299204824207,-4.93034348554e-05,1793243192338815744
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.308818523,745,714,682,656.691181477,633,880,786.308818523,806.691181477,651.308818523,631,652,0.452263486555,0.00462518017351,0.0697896793389,0.999999942851,0.000133165710539,-0.000306581282267,-5.07227692276e-05,1793243192355482624
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.266664796,745,714,682,656.733335204,633,880,786.266664796,806.733335204,651,631,652,0.452386077163,0.00462441396281,0.069780903558,0.999999939687,0.000131539002781,-0.000317187503442,-5.2120586759e-05,1793243192372149504
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.839707413,745,714,682,656.160292587,633,880,786.839707413,806.160292587,651,631,652,0.452491458791,0.00462489163036,0.0697709754431,0.99999993499,0.000131390684434,-0.000331504479354,-5.34936829665e-05,1793243192388816384
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,682,655.587917313,633,880.412082687,786.587917313,806,651,631.412082687,652,0.452580524111,0.00462265708395,0.0697651297381,0.999999932084,0.000127504680703,-0.000341515356681,-5.42351756048e-05,1793243192405483008
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714,682,655.015801217,633,880.984198783,786.015801217,806,651,631.984198783,652,0.452663252947,0.00461936924202,0.0697608694482,0.999999929841,0.000122167136892,-0.000349853948799,-5.47313832797e-05,1793243192422149888
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.416871479,745,714,682,655,633,880.416871479,786,806,651,631.416871479,652,0.452732478271,0.0046103619147,0.0697592365392,0.999999929447,0.000113843623417,-0.000353728558615,-5.49770937245e-05,1793243192438816512
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.175356843,745.175356843,714,682,655.175356843,633,880,786,806,651.175356843,631,652,0.45279563333,0.00460027549574,0.0697571530807,0.999999929196,0.000104038790774,-0.00035744146979,-5.49427081067e-05,1793243192455483136
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.75056769,745.75056769,714,682,655.75056769,633,880,786,806,651.75056769,631,652,0.45284582135,0.00458809892995,0.0697538721004,0.999999929194,9.10496002973e-05,-0.000361074785581,-5.42858626586e-05,1793243192472149760
+223,3.716666667,POSE1_TO_POSE2_PRESS,764.676946054,745.676946054,714,682,655.676946054,632.676946054,880,786,806.323053946,652,631,652,0.452887872157,0.00458255362406,0.0697515069148,0.999999928609,8.49598652571e-05,-0.000364204583369,-5.40344571226e-05,1793243192488816640
+224,3.733333333,POSE1_TO_POSE2_PRESS,764.106545822,745.106545822,714,682,655.106545822,632.106545822,880,786,806.893454178,652,631,652,0.452923692713,0.00458208554172,0.069749842907,0.99999992767,8.41526976231e-05,-0.000366948862962,-5.40934766328e-05,1793243192505483264
+225,3.750000000,POSE1_TO_POSE2_PRESS,764.487880838,745,714,682,655,632,880,786,806.512119162,651.512119162,631,652,0.452949268211,0.00458465105977,0.0697492086949,0.999999926474,8.74490558838e-05,-0.000369406710238,-5.42441081119e-05,1793243192522149632
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,682,655,632,880,786,806,651,631,652,0.452971348202,0.0045872440409,0.0697486376629,0.999999925262,9.09836158704e-05,-0.000371814803911,-5.43232957191e-05,1793243192538816512
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714,682,655,632,880,786,806,651,631,652,0.452986767678,0.00458593404054,0.0697470557565,0.999999924406,9.04109931112e-05,-0.000374316422508,-5.38631881041e-05,1793243192555482880
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.777977332,745,714,682,655,632,880,786,806,651,631,652,0.45299959526,0.00458602565536,0.0697455270364,0.999999923609,9.05234252245e-05,-0.000376443215803,-5.36485082278e-05,1793243192572149760
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.221703222,745,714,682,655,632,880,786,806,651,631,652,0.453008520785,0.00458822737865,0.0697440783876,0.999999922907,9.16671961118e-05,-0.000378005715677,-5.38033157664e-05,1793243192588816640
+230,3.833333333,POSE1_TO_POSE2_PRESS,764.356769224,745,714,682,655,632.356769224,880,786,806,651.356769224,631.356769224,652,0.453013410834,0.00458837215587,0.0697426651194,0.999999921755,9.27839948029e-05,-0.000380823641387,-5.34219485687e-05,1793243192605483264
+231,3.850000000,POSE1_TO_POSE2_PRESS,764.949951361,745,714,682,655,632.949951361,880,786,806,651.949951361,631.949951361,652,0.453015626778,0.00458715389889,0.0697412752961,0.999999920295,9.38829203378e-05,-0.000384473474217,-5.26852854936e-05,1793243192622149632
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.550642806,714,682,655,632.449357194,880.550642806,786,806,651.449357194,631.449357194,652,0.453018186713,0.00458527577401,0.0697418860255,0.999999921149,9.11629747948e-05,-0.000383003720303,-5.19607918915e-05,1793243192638816512
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.854489612,714,682,655,632,880.854489612,786,806,651,631,651.854489612,0.453019810337,0.00458457154601,0.0697419377738,0.999999921455,8.93526184391e-05,-0.000382692195887,-5.15040188756e-05,1793243192655483136
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.278881548,714,682,655,632,880.278881548,786,806,651,631,651.278881548,0.453018572726,0.00458751683526,0.0697397924034,0.99999991953,9.12709590486e-05,-0.000387198571474,-5.18352563596e-05,1793243192672149504
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,713.703717664,682,655,632,880,786,805.703717664,651,631,651.296282336,0.453018720798,0.00458901967346,0.0697383373101,0.999999918601,9.30051056135e-05,-0.000389192281593,-5.17467695458e-05,1793243192688816128
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,713.128971178,682,655,632,880,786,805.128971178,651,631,651.871028822,0.453020171216,0.00458916680882,0.0697375309809,0.999999918622,9.45661356433e-05,-0.000388824436503,-5.12638003628e-05,1793243192705483008
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.551995957,745,713,682,655,632,880,786,805.448004043,651,631,652,0.453019078914,0.00458740742547,0.0697362610331,0.999999917779,9.31112604187e-05,-0.000391382652262,-5.09113132747e-05,1793243192722149888
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.026178572,745,713.026178572,682,655.026178572,632,880,786,806,651.026178572,631,652,0.453017419858,0.00458526307307,0.069734953061,0.999999916752,9.08162843773e-05,-0.000394567366933,-5.06442831729e-05,1793243192738816512
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.616298819,745,713.616298819,682,655.616298819,632,880,786,806,651.616298819,631,652,0.453019399358,0.00458670812114,0.0697357154879,0.99999991747,8.92205034235e-05,-0.000393011410978,-5.140494193e-05,1793243192755483392
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682,655.798176852,632,880.201823148,786,806,651.798176852,631,652,0.453020473415,0.00458793200865,0.0697357612503,0.999999917646,8.87240127247e-05,-0.000392602892157,-5.19558298746e-05,1793243192772150272
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682,655.221195661,632,880.778804339,786,806,651.221195661,631,652,0.453019864397,0.00458874479276,0.0697344748444,0.99999991682,9.02709328339e-05,-0.000394327281755,-5.21167862483e-05,1793243192788816640
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,713.645445716,682,655,632.354554284,881,786,806,651,631,651.645445716,0.453019600706,0.00458895817604,0.0697341111131,0.999999916493,9.06448649477e-05,-0.000395106219526,-5.18550796607e-05,1793243192805483264
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,713.070461272,682,655,632.929538728,881,786,806,651,631,651.070461272,0.453019551709,0.00458879890544,0.0697343210185,0.999999916476,9.02895379199e-05,-0.0003952973598,-5.13305990189e-05,1793243192822149632
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,713,682,655,632.48178435,880.48178435,786,806,651,631,651.51821565,0.453020764983,0.00458770415219,0.0697348570658,0.999999917038,8.96169208745e-05,-0.000394059619601,-5.10890672572e-05,1793243192838816512
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,713,682,655,632.105643948,880,786.105643948,806,651.105643948,631,652,0.45302184009,0.00458694496014,0.0697351449599,0.999999917454,8.91562052716e-05,-0.000393126036477,-5.09347715017e-05,1793243192855483392
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,713,682,655,632.679075695,880,786.679075695,806,651.679075695,631,652,0.453021522797,0.00458825012997,0.0697341323519,0.99999991688,8.98299962685e-05,-0.000394422879074,-5.09917766099e-05,1793243192872150528
+247,4.116666667,HOLD_POSE2,765,745,713,682,655,632,880,786,806,651,631,652,0.453017338151,0.00458459301873,0.0697302614073,0.999999914941,8.63192652095e-05,-0.000400262443659,-4.9567182135e-05,1793243192910266112
+248,4.133333333,HOLD_POSE2,765,745,713.589886948,682,655,632,880,786,806,651,631,652,0.453018150134,0.00458435708129,0.0697316898884,0.999999915382,8.81208163011e-05,-0.000398758060303,-4.96173764193e-05,1793243192926932736
+249,4.150000000,HOLD_POSE2,765,745,714,682,655,632,880,786,806.176679653,651,631,652,0.45301872174,0.00458494103138,0.0697322913162,0.999999915459,9.02742560123e-05,-0.000398061597001,-4.98028708224e-05,1793243192943599104
+250,4.166666667,HOLD_POSE2,765,745,714,682,655,632,880,786,806.756413664,651,631,652,0.453018744982,0.00458739536792,0.0697310060104,0.999999914706,9.32304497622e-05,-0.000399208218867,-5.0297021619e-05,1793243192960265472
+251,4.183333333,HOLD_POSE2,765,745,714,682,655,632,880.335465247,786.335465247,806.664534753,651,631,652,0.453018589513,0.00458805054473,0.0697304582135,0.999999914294,9.35347462203e-05,-0.000400171370012,-5.02636617654e-05,1793243192976931840
+252,4.200000000,HOLD_POSE2,765,745,714,682,655,632,880.914022279,786.914022279,806.085977721,651,631,652,0.453018304543,0.00458740197693,0.0697304448457,0.999999914132,9.1917369676e-05,-0.000401001570727,-4.98480461722e-05,1793243192993598208
+253,4.216666667,HOLD_POSE2,765,745,714,682,654.512843212,632,880.025686424,786.512843212,806,651,631,652,0.453018126911,0.00458710077514,0.0697298738183,0.999999913959,9.18054902086e-05,-0.000401460667746,-4.98226547121e-05,1793243193010265088
+254,4.233333333,HOLD_POSE2,765,745,713.938674455,682.061325545,654.061325545,632,879.061325545,786,806,651.061325545,631,651.938674455,0.453017989648,0.00458676318576,0.0697293228851,0.999999913829,9.17470553634e-05,-0.00040180151333,-4.98037336966e-05,1793243193026931968
+255,4.250000000,HOLD_POSE2,765,745,713.347388728,682.652611272,654.652611272,632,879.652611272,786,806,651.652611272,631,651.347388728,0.453018039349,0.00458558718295,0.0697297867647,0.999999914074,8.98796097366e-05,-0.000401680225736,-4.92521212695e-05,1793243193043598848
+256,4.266666667,HOLD_POSE2,765,745,713.238421153,682.761578847,655,632.238421153,880.238421153,786,806,651.761578847,631,651.238421153,0.453018253469,0.00458610892275,0.0697299945706,0.999999914092,8.99209970337e-05,-0.000401641380457,-4.91400352796e-05,1793243193060265472
+257,4.283333333,HOLD_POSE2,765,745,713.816431597,682.183568403,655,632.816431597,880.816431597,786,806,651.183568403,631,651.816431597,0.453018701778,0.00458904880047,0.0697298376443,0.999999913783,9.26811835947e-05,-0.000401719959869,-4.9653977979e-05,1793243193076932096
+258,4.300000000,HOLD_POSE2,765,745,714,682,655,632.606585268,880.606585268,786,806,651.393414732,631,652,0.453019099635,0.00458895967234,0.0697301649407,0.999999913935,9.25540722449e-05,-0.000401338203145,-4.99141414024e-05,1793243193093598976
+259,4.316666667,HOLD_POSE2,765,745,714,682,655,632.030080179,880.030080179,786,806,651.969919821,631,652,0.453019474011,0.00458746088255,0.0697307175885,0.999999914302,9.10832483569e-05,-0.000400742211677,-5.00561991309e-05,1793243193110265600
+260,4.333333333,HOLD_POSE2,765,745,713.455089764,682,655,632,880,786,806,652,631,652,0.453018066867,0.00458621335998,0.0697289212465,0.999999913711,8.89534367206e-05,-0.000402732709357,-4.97201624705e-05,1793243193126931968
+261,4.350000000,HOLD_POSE2,765,745,713.123408285,682,655,632,880,786,806,651.876591715,631,652,0.453016902529,0.00458560646878,0.0697274661893,0.999999913091,8.77878051643e-05,-0.000404557554208,-4.94367121254e-05,1793243193143598336
+262,4.366666667,HOLD_POSE2,765,745,713.715545896,682,655,632,880,786,806,651.284454104,631,652,0.453017032912,0.00458738028644,0.0697277985435,0.999999912591,9.04221075779e-05,-0.000405212415015,-4.94529584921e-05,1793243193160264960
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,654,632,879,786,806,652,631,652,0.45301800832,0.00458697778192,0.0697284600604,0.999999912743,8.96711721829e-05,-0.000405029002616,-4.92406750177e-05,1793243193197276928
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.421385307,745.578614693,714,682,654.578614693,632,880.157229386,786,806,652,631,651.421385307,0.453016096693,0.00458505907968,0.0697258933737,0.999999911855,8.73981200511e-05,-0.000407711659628,-4.92191409555e-05,1793243193213944064
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.160028938,745.839971062,714,682,654.839971062,632.160028938,880.839971062,786,806,651.839971062,631,651.160028938,0.453015190101,0.00458452702327,0.0697245715839,0.999999911325,8.70454335347e-05,-0.000409080608574,-4.92624343714e-05,1793243193230610944
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.7489463,745.2510537,714,682,654.2510537,632.7489463,880.2510537,786,806,651.2510537,631,651.7489463,0.453016977074,0.00458771127145,0.0697265862017,0.999999911763,9.18394568129e-05,-0.000406928731263,-4.94794698279e-05,1793243193247277056
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.667596037,745,714,682,654.332403963,633,880,786,806.664807926,651.332403963,631,652,0.453017367002,0.0045888329728,0.0697275379025,0.999999911988,9.32557231271e-05,-0.000406030890678,-4.96613998757e-05,1793243193263943424
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.088195305,745,714,682,654.911804695,633,880,786,807.82360939,651.911804695,631,652,0.453016718836,0.00458842207371,0.0697276997901,0.999999912068,9.21621061534e-05,-0.000406064877325,-4.98172444146e-05,1793243193280609536
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.486792047,745,714,682,655,632.513207953,880,786,807.026415906,652,631,652,0.453017009881,0.00458860761383,0.0697281177185,0.999999912381,9.2199322341e-05,-0.000405326690562,-4.94777259265e-05,1793243193297276416
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,654.938943044,632,880,786,806,652,631,652,0.453017126617,0.00458877549294,0.0697282245853,0.999999912555,9.22943440716e-05,-0.000404918866109,-4.91145362929e-05,1793243193313943296
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,654.364089287,632,880,786,806,652,631,652,0.45301435747,0.00458789358802,0.0697253270001,0.99999991121,9.11672148489e-05,-0.000408457738506,-4.93006018694e-05,1793243193330609920
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,713.782577106,682,654,632,880.217422894,786.217422894,806,651.782577106,631,652,0.453008531369,0.00458801765922,0.0697216452704,0.999999909231,9.0983586534e-05,-0.000413273009657,-4.96488073207e-05,1793243193347276544
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,713.18956276,682,654,632,880.81043724,786.81043724,806,651.18956276,631,652,0.452997424472,0.00458987952371,0.0697166089549,0.999999906141,9.24298275226e-05,-0.000420293220547,-5.02771044656e-05,1793243193363943168
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713.393346416,682,654.393346416,632,880.606653584,786.606653584,806,651.393346416,631,652,0.452968210084,0.00458995206164,0.0697043702628,0.999999897187,9.21763587926e-05,-0.000441158150186,-5.00984447547e-05,1793243193380610048
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,713.971507704,682,654.971507704,632,880.028492296,786.028492296,806,651.971507704,631,652,0.452930487841,0.00458918387984,0.0696887475142,0.999999884862,9.112427695e-05,-0.000468528058517,-4.95406342192e-05,1793243193397276672
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.545003727,714,682,655,632,880.545003727,786,806,651.454996273,631,652,0.452872410473,0.00458935825249,0.0696693876514,0.999999870464,9.35224251886e-05,-0.000497881042101,-4.9391438189e-05,1793243193413943808
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.881013011,714,682,655,632,880.881013011,786,806,651.118986989,631,652,0.452810344479,0.00458935845329,0.0696514538906,0.999999856748,9.55509257348e-05,-0.000524374229828,-4.90568137223e-05,1793243193430610944
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.304224514,714,682,655,632,880.304224514,786,806,651.695775486,631,652,0.452736991811,0.00458850054984,0.0696397523564,0.999999848781,9.54691099468e-05,-0.000539468888307,-4.79272623742e-05,1793243193447276800
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,632,880,786,806,651.719372516,631,652,0.452655664611,0.00458932398363,0.0696311762447,0.999999842006,9.74945644863e-05,-0.00055160172972,-4.70988780865e-05,1793243193463943168
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,632,880,786,806,651.12552041,631,652,0.452565436576,0.00459202405554,0.0696260885991,0.999999836685,0.000101872065751,-0.000560428714374,-4.66066439067e-05,1793243193480610048
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,713.546289199,682,655,632,880,786,806,651,631,652,0.45246478331,0.00459063387023,0.0696269866376,0.999999836946,0.000103489107114,-0.00055983668147,-4.44975477603e-05,1793243193497276672
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,713.02903629,682,655,632.02903629,880.02903629,786,806,651,631,652,0.452359751817,0.00458826688779,0.0696293712515,0.999999838587,0.000104332797492,-0.000556935890884,-4.19946366368e-05,1793243193513943040
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,713.60460498,682,655,632.60460498,880.60460498,786,806,651,631,652,0.452224903755,0.00458814837971,0.0696295407739,0.999999837991,0.000104545873431,-0.000558094904484,-4.02357735877e-05,1793243193530609408
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713.815881986,682,655.184118014,632.815881986,880.815881986,786,806.184118014,651,631,651.815881986,0.452077724114,0.00458842625537,0.0696288273667,0.999999836256,0.000106853991994,-0.000560920361016,-3.79282997693e-05,1793243193547276032
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713.227713081,682,655.772286919,632.227713081,880.227713081,786,806.772286919,651,631,651.227713081,0.451903482576,0.00458957400355,0.0696261763518,0.999999831964,0.000113759726039,-0.000567402861755,-3.44168882001e-05,1793243193563942656
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713.355893837,682,655.644106163,632.355893837,880,786,807,651,631,651.355893837,0.451710144685,0.00458888771697,0.0696250086071,0.999999827485,0.00011836438611,-0.000574529634309,-3.05992096174e-05,1793243193580609536
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.936618838,682,655.063381162,632.936618838,880,786,807,651,631,651.936618838,0.451504742913,0.00458704280361,0.0696247778982,0.999999822865,0.000121515374198,-0.000582063417573,-2.65880506073e-05,1793243193597276160
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,713.486511934,682,655.513488066,633,880,786,806.486511934,651.513488066,631,651.486511934,0.451276135765,0.00458591548412,0.0696277932346,0.999999823877,0.000125261201367,-0.000579702879806,-2.23628571006e-05,1793243193613943040
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,713,682,656,633,880.089294012,786,806,652,631.089294012,651.089294012,0.451039452227,0.00458475194272,0.0696313695393,0.999999825583,0.000129103656086,-0.000576057190678,-1.80344757679e-05,1793243193630609664
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,713,682,656,633,880.661901859,786,806,652,631.661901859,651.661901859,0.450774442033,0.00458291649973,0.0696358296525,0.999999827456,0.000133074673958,-0.000572016531511,-1.32895062868e-05,1793243193647276288
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713.242427312,682,656.242427312,633.242427312,880.757572688,786,806,651.757572688,631.757572688,652,0.450489499111,0.00458211334476,0.0696407308947,0.999999828714,0.000139456880104,-0.000568381249962,-8.14096533175e-06,1793243193663942912
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.834367726,682,656.834367726,633.834367726,880.165632274,786,806,651.165632274,631.165632274,652,0.450175818728,0.00458279846358,0.0696462681224,0.99999982905,0.000149315352298,-0.000565330410988,-2.41058626806e-06,1793243193680609536
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713.582780578,682,657,633.582780578,880,786,806,651,631,651.582780578,0.449847989848,0.00458210297723,0.0696566327173,0.999999836292,0.000156714205458,-0.000550312591621,3.45614882215e-06,1793243193697275904
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,713.003460107,682,657,633.003460107,880,786,806,651,631,651.003460107,0.449514663901,0.00458087108835,0.069668872875,0.999999845854,0.000163157429705,-0.000530645276061,9.37586178752e-06,1793243193713942784
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.570527941,713.570527941,682,657,633,880.570527941,786.570527941,806,651.570527941,631,651.570527941,0.449141237397,0.00458047138647,0.0696879774095,0.999999860359,0.000167828247665,-0.000500912879437,1.4217911774e-05,1793243193730609408
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.851932618,713.851932618,681.851932618,657.148067382,633.148067382,880.851932618,787,806,651.851932618,631,651.851932618,0.44875507619,0.00457970374308,0.0697043922725,0.999999871628,0.000172605848009,-0.000476005366718,1.92252891547e-05,1793243193747276032
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.26374169,713.26374169,681.26374169,657.73625831,633.73625831,880.26374169,787,806,651.26374169,631,651.26374169,0.448331777936,0.00457782754734,0.0697126896065,0.999999875499,0.000177732509294,-0.000465619372995,2.47433411814e-05,1793243193763942912
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713.3196565,681.3196565,658.3196565,634,879.6803435,787,806,651.3196565,631,651.3196565,0.447863217616,0.00457605398788,0.069713104968,0.999999875494,0.000178906561754,-0.000464917977037,2.92355519279e-05,1793243193780609792
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,713.899158782,681.899158782,658.899158782,634,879.100841218,787,806,651.899158782,631,651.899158782,0.447357864139,0.00457436386029,0.0697071131486,0.999999872384,0.000176867576011,-0.000472089098973,3.28938664874e-05,1793243193797276672
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764.522819855,745.477180145,714,681.522819855,659,634,879.477180145,786.522819855,806,652,631,652,0.446830889983,0.00457438154972,0.0696997591475,0.999999875988,0.000139877702217,-0.000477430966212,2.27454769964e-05,1793243193813943296
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764.054545629,746,714,681.054545629,659.054545629,634,879.945454371,786.054545629,806,651.945454371,631,652,0.446301446195,0.00457588875787,0.0696965357727,0.999999881774,0.000101312036558,-0.000475464689219,1.10346101736e-05,1793243193830609920
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.628635951,746,714,681.628635951,659.628635951,634,879.371364049,786.628635951,806,651.371364049,631,652,0.445791864195,0.00458815656429,0.0697353898543,0.999999909927,0.000117871408598,-0.00040755935876,1.2146514592e-05,1793243193847276544
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.791740689,713.791740689,681.791740689,660.208259311,634,879.208259311,787,806,651,631,652,0.445261881955,0.00459925809511,0.0697719568041,0.99999993098,0.000131322353482,-0.000347292361162,1.35026266648e-05,1793243193863943168
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.201981668,713.201981668,681.201981668,660.798018332,634,879.798018332,787,806,651,631,652,0.444694529578,0.00460822318384,0.0698043340704,0.999999944906,0.000139079127416,-0.000301017646075,1.53060904048e-05,1793243193880610048
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713,681.381721431,660.618278569,634,879.618278569,787,806,651,631,652,0.444049101033,0.0046022405879,0.0698177601114,0.999999952696,0.000123747541462,-0.000281040357027,1.76034774934e-05,1793243193897276672
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713,681.962270162,660.037729838,634,879.037729838,787,806,651,631,652,0.443363004959,0.00458847218886,0.0698213150238,0.999999957405,9.63899176876e-05,-0.000274760613849,2.01581344579e-05,1793243193913943040
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713,682,660,634,879.533939736,787,805.466060264,651,631,652,0.442664199575,0.00458862981303,0.069815169024,0.999999954656,8.33686797034e-05,-0.000288624874342,2.08332584625e-05,1793243193930609664
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,713.108564299,681.891435701,660.108564299,634,880,786.891435701,805,651.108564299,631,652,0.441964947283,0.00458901111756,0.0698100308933,0.9999999525,7.14406835327e-05,-0.000299047639813,2.16246979386e-05,1793243193947276544
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,713.69904549,681.30095451,660.69904549,634,880,786.30095451,805,651.69904549,631,652,0.441267632731,0.00458608856763,0.0698123598388,0.999999956461,5.99422055625e-05,-0.000287978323032,2.35123775733e-05,1793243193963943168
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,713.716148235,681.283851765,661,634,879.716148235,786.283851765,805.283851765,651.716148235,631,652,0.440540714606,0.00458171640687,0.0698188078786,0.999999956056,0.00011133659455,-0.000273630944769,2.48787663322e-05,1793243193980609792
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,713.137240796,681.862759204,661,634,879.137240796,786.862759204,805.862759204,651.137240796,631,652,0.439783024339,0.00457583741736,0.0698295375976,0.999999940917,0.000228106291479,-0.000255876112532,2.57032883315e-05,1793243193997276672
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.439289858,745,713.439289858,681.560710142,660.121420285,634,879.439289858,786.560710142,806,651,631.439289858,652,0.438931100045,0.00457525642933,0.0697895226093,0.999999919435,0.000240056176094,-0.000320742315345,2.50612557969e-05,1793243194013943296
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.984953943,745,714,681,659,634,880,786.015046057,806,651,631.984953943,652,0.438051616682,0.00457607362678,0.069734774843,0.999999891888,0.000219139895232,-0.000409420055676,2.40066117222e-05,1793243194030609664
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.410531351,745,714,681,659,634,880,786.589468649,806,651,631.410531351,652,0.437236174889,0.00456766768629,0.0697185177732,0.999999890195,0.000187252608865,-0.000428887528321,2.45542006699e-05,1793243194047276544
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.338373088,634,880,787,805.830813456,651.169186544,631,652,0.436428753593,0.00456131507406,0.0697199230202,0.999999897535,0.000158359972534,-0.000423314364304,2.56325748602e-05,1793243194063943424
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660.52433723,634,880,787,805.237831385,651.762168615,631,652,0.435641422898,0.00456010584615,0.0697655706214,0.999999927208,0.000136968639705,-0.000355016885532,2.80405134432e-05,1793243194080610304
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,764.076590276,745,714,680.076590276,661,634,879.076590276,787,805,652,631.923409724,652,0.433985198587,0.0045523072924,0.069843302251,0.999999962076,0.000106783013509,-0.000251709155968,3.29956745343e-05,1793243194113943296
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764.498931891,745,713.501068109,680.498931891,660.501068109,634,879,787,805,651.501068109,631.501068109,652,0.433102211519,0.00454533683834,0.0698498669482,0.999999964232,0.000108415292993,-0.000242294288183,3.27954562461e-05,1793243194130609920
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,713.07602898,681,660,634,879,787,805,651.07602898,631,652,0.432207609211,0.00453852223801,0.069847672001,0.999999963258,0.000110510405173,-0.000245407007426,3.2351211928e-05,1793243194147276288
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,713.665832449,681,660,634,879,787,805,651.665832449,631,652,0.431280644087,0.00453523683555,0.0698178990764,0.999999951272,0.000100084963885,-0.000293847969832,3.30427235167e-05,1793243194163942912
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.748719825,659.748719825,634,879.251280175,787,805.251280175,651.748719825,631,652,0.430337308018,0.00453153472038,0.0697747181649,0.999999929659,9.37200245181e-05,-0.000361646370759,3.33093233951e-05,1793243194180609792
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.168965849,659.168965849,634,879.831034151,787,805.831034151,651.168965849,631,652,0.429372571698,0.00452728787731,0.06971401031,0.999999891763,9.26629772373e-05,-0.000454748848129,3.30204780554e-05,1793243194197276416
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.407587226,634,879.592412774,787,805.592412774,651.407587226,631,652,0.428488309032,0.00451792329061,0.069735771536,0.999999907576,8.1644218304e-05,-0.000420750406306,3.39331520811e-05,1793243194213943040
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.982823669,634,879.017176331,787,805.017176331,651.982823669,631,652,0.427637146934,0.00450645366835,0.0697914540367,0.999999941227,6.65279971506e-05,-0.000334472670395,3.5340036216e-05,1793243194230609664
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764.439739911,745,714,680.560260089,660.560260089,634,879,787,805,651.439739911,631,652,0.42674658713,0.00450311384394,0.0698400690922,0.999999963794,5.86798996103e-05,-0.000260009807734,3.69336384334e-05,1793243194247276800
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764.140606322,745,713.859393678,680.859393678,660.859393678,634.140606322,879,787,805,651.140606322,631,652,0.42585201456,0.004498765823,0.0698720186954,0.999999975501,5.2874563164e-05,-0.0002115361097,3.81297429907e-05,1793243194263943424
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.730024437,745,713.269975563,680.269975563,660.269975563,634.730024437,879,787,805,651.730024437,631,652,0.424948504005,0.00449040095565,0.0698514669362,0.999999967901,5.28756151673e-05,-0.000244858422278,3.80387015441e-05,1793243194280610048
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,713.313976854,680,660,634.686023146,879.313976854,787,805,651.686023146,631,652,0.424024700272,0.00448388883978,0.069823059697,0.999999955922,4.47383539155e-05,-0.000291146258584,3.72639836034e-05,1793243194297276416
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,713.89330993,680,660,634.10669007,879.89330993,787,805,651.10669007,631,652,0.423083745889,0.0044789425695,0.069788013433,0.999999938225,2.97230312321e-05,-0.000348391850656,3.59114592684e-05,1793243194313943040
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.530630234,680,659.530630234,634,879.530630234,787,805,651.469369766,631,652,0.422105571405,0.00447256169814,0.0697301456516,0.999999897162,2.87304827552e-05,-0.000451093324528,3.69611840365e-05,1793243194330609664
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,713.044660798,680,659,634,879,787,804.955339202,652,631,652,0.421132528979,0.00446549850822,0.0696764972811,0.999999849095,2.80707095938e-05,-0.000547328997471,3.81282086683e-05,1793243194347276288
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,713.619595913,680,659,634,879,787,804.380404087,652,631,652,0.420320179028,0.00445417889842,0.0697341135104,0.999999900398,-6.22153499616e-06,-0.000444963555605,3.42495077763e-05,1793243194363943168
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.600932726,634,879,787.200310909,804.400621817,652,631,652,0.419523098038,0.00444511522903,0.0697954617629,0.999999941405,-2.39648622836e-05,-0.000339859197002,3.3330507442e-05,1793243194380609792
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,661.376985574,634,879,787.792328525,805.584657049,652,631,652,0.418755875258,0.00444046303473,0.0698641079732,0.999999972915,-9.34689311048e-06,-0.000229398891133,3.8199182405e-05,1793243194397276672
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,661.252771557,634.373614222,879.373614222,787.626385778,805.626385778,652,631,652,0.417936480447,0.00443601479197,0.0698784946258,0.999999976264,-7.8323139323e-06,-0.000213951085805,4.0438451178e-05,1793243194413943552
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.10179766,634.94910117,879.94910117,787.05089883,805.05089883,652,631,652,0.417088895883,0.00443167674939,0.0698635635337,0.999999967849,-1.33978115985e-05,-0.000249840821073,4.12569885536e-05,1793243194430610176
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634.474578204,879.474578204,787.525421796,805,652,631,652,0.416252724529,0.00442692744999,0.069830303349,0.999999959542,-2.43520628034e-05,-0.000280739001869,3.88527873649e-05,1793243194447276544
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764.896320737,745,714,680,660.207358527,634.103679263,879,787.896320737,805,652,631,652,0.415416216652,0.00442571779581,0.0697964516142,0.999999948797,-2.98264738048e-05,-0.000316489374865,3.67579693515e-05,1793243194463943168
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764.309413065,745,714,680,661.38117387,634.690586935,879,787.309413065,805,652,631,652,0.414572979047,0.00444119170227,0.0697681315683,0.999999928161,-7.32353711882e-06,-0.000377112130754,3.75625121902e-05,1793243194480609792
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764.274238918,745,714,680,661.177283246,634.725761082,879,786.725761082,805.274238918,652,631,652,0.413776678489,0.00446039811858,0.0697559784942,0.999999917317,1.78594133281e-05,-0.000404473590057,3.80625168263e-05,1793243194497276416
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764.854260693,745,714,680,659.437217922,634.145739307,879,786.145739307,805.854260693,652,631,652,0.4130327139,0.00448376637031,0.0697618519766,0.999999920297,4.60306407516e-05,-0.000394747916884,3.82229542449e-05,1793243194513942784
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.861868342,634,879.430934171,786.430934171,805.569065829,652,631,652,0.412379425786,0.00447826146055,0.0698077136612,0.999999950228,3.69581737774e-05,-0.000311150156509,3.69242923588e-05,1793243194530609920
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.993538528,745,714,680,660.987077055,634.006461472,879.993538528,787,804.993538528,652,631,652,0.411756037306,0.00446315150429,0.0698664546882,0.999999978488,1.55654785575e-05,-0.000203824709713,3.51708664768e-05,1793243194547276800
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764.419992958,745,714,680,659.839985917,634.580007042,879.419992958,787,804.419992958,652,631,652,0.41108612412,0.00445544849002,0.0698777891003,0.999999981279,9.81693858663e-06,-0.00018977442467,3.64795651037e-05,1793243194563943424
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.15961633,745,714,680,659,634.84038367,879,787,804.15961633,652,631,652,0.410409125202,0.0044508981923,0.0698752896096,0.999999979595,5.94687198445e-06,-0.000198468273192,3.72068140738e-05,1793243194580610048
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.755811074,745,714,680,659,634.244188926,879,787,804.755811074,652,631,652,0.409712745426,0.00445497112073,0.0698349519921,0.999999963033,7.21475534176e-06,-0.000269371277783,3.63436973336e-05,1793243194597276928
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.340110933,634,879.340110933,787,805,652,631,652,0.40905646488,0.00445605330781,0.0697993408007,0.99999994499,7.47110373726e-06,-0.000329705562415,3.54695033002e-05,1793243194613943552
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.916159191,634,879.916159191,787,805,652,631,652,0.408428001491,0.00445506079653,0.0697670083665,0.999999926144,7.02574320448e-06,-0.000382708248077,3.45876249321e-05,1793243194630610176
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,879.508235385,787,804.508235385,652,631,652,0.407878854798,0.00446159492116,0.0697744760507,0.999999932236,1.53617849397e-05,-0.000366271291482,3.37392382637e-05,1793243194647276800
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634.068981104,879,787,804,652,631,652,0.407346699999,0.00446930348845,0.0697894203797,0.999999941901,2.48420977047e-05,-0.000338356239171,3.30948423054e-05,1793243194663943680
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634.658934687,879,787,804,652,631,652,0.40684083793,0.00447619929098,0.0698096305317,0.999999949911,3.16675873086e-05,-0.000313084509322,3.394797937e-05,1793243194680610816
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.755437368,745.244562632,714,680,659.755437368,634.755437368,879,787,804.244562632,652,630.755437368,652,0.406340130913,0.00447956297135,0.0698165008058,0.999999951155,3.60372126599e-05,-0.000308575874068,3.42518910567e-05,1793243194697277696
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764.175737132,745.824262868,714,680,659.175737132,634.175737132,879,787,804.824262868,652,630.175737132,652,0.405846488187,0.0044780863902,0.0698050907109,0.999999943458,3.70414318215e-05,-0.000332520049634,3.38031689912e-05,1793243194713944576
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.400436199,745.599563801,714,680,659.400436199,634,879.400436199,787,805,652,630.400436199,652,0.405413947839,0.00447662190145,0.0698085180314,0.999999945345,3.63612391141e-05,-0.000326933246501,3.32189128003e-05,1793243194730611200
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.975075261,745.024924739,714,680,659.975075261,634,879.975075261,787,805,652,630.975075261,652,0.405007988985,0.00447516267316,0.0698184001126,0.999999951273,3.49482721551e-05,-0.000308499502412,3.25756947829e-05,1793243194747277312
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.449764025,745,714,680,660,634,878.899528051,787,804.449764025,652,631,652,0.404653070071,0.00447526197874,0.069834270254,0.999999960575,3.34082164555e-05,-0.000276978444046,3.18792669767e-05,1793243194763943680
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.128513181,745,714,679.871486819,660,634,878.128513181,787,804,652,631,652,0.404302539614,0.00447410060678,0.0698480659039,0.999999967966,2.92291907543e-05,-0.000249471958038,3.12704067516e-05,1793243194780610304
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.717881641,745,714,679.282118359,660,634,878.717881641,787,804,652,631,652,0.403959447401,0.00446816496467,0.0698534486826,0.999999970959,1.56073384689e-05,-0.00023848988744,3.09842202643e-05,1793243194797276672
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634,879,787,804.884684934,652,631,652,0.403306316199,0.00446536250968,0.0698350508666,0.999999962873,-4.71831761696e-06,-0.000270952413185,2.85634179958e-05,1793243194830610176
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.538268041,745,714,679.461731959,660,634.461731959,878.538268041,787,805,652,631,652,0.403023606133,0.00446531454187,0.0698290128425,0.999999959204,-1.08499722239e-05,-0.000284033520233,2.82753712516e-05,1793243194847277056
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.037389096,745,714,680,660,634.962610904,878.037389096,786.962610904,805,652,631,652,0.402753352689,0.00446531205946,0.0698247116325,0.999999956224,-1.60694245645e-05,-0.00029409869325,2.82950723313e-05,1793243194863943680
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.609010173,745,714,680,660,634.390989827,878.609010173,786.390989827,805,652,631,652,0.402524469031,0.00446621918651,0.0698178404488,0.999999953679,-1.86553544856e-05,-0.000302465976523,2.84244848663e-05,1793243194880610304
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,878.812643315,786,804.812643315,652,631,652,0.402304414598,0.00446764835433,0.0698115757466,0.999999950985,-1.94528002868e-05,-0.000311165366354,2.87552661652e-05,1793243194897277184
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,878.219739175,786,804.219739175,652,631,652,0.402103471706,0.00447020751805,0.0698066238196,0.999999948043,-1.63789390799e-05,-0.000320583624424,2.95219250906e-05,1793243194913943552
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.635385645,660,634.364614355,878.364614355,786,804,652,631,652,0.401931586059,0.00447855462805,0.0698072012277,0.999999948526,-1.00970901458e-06,-0.000319450064506,2.99814270905e-05,1793243194930610176
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.056067107,660,634.943932893,878.943932893,786,804,652,631,652,0.401776810833,0.00449030998664,0.0698110345997,0.999999950605,2.15996836419e-05,-0.000312103037853,3.02600589374e-05,1793243194947276800
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.48219221,745,714,679.51780779,660,634.48219221,879,786.51780779,804,652,631,652,0.401646997151,0.00450355999516,0.0698112537084,0.999999949008,7.11154891985e-05,-0.000310077656946,2.79057123683e-05,1793243194963943168
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.091783244,744.908216756,714,680,660,634.091783244,879,787,804.091783244,652,631,652,0.401524176937,0.00451315673955,0.069811039834,0.999999945988,0.000109539163281,-0.000308868499121,2.4993464639e-05,1793243194980610048
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.669378557,744.330621443,714,680,660,634.669378557,879,787,804.669378557,652,631,652,0.401424216271,0.00450256892825,0.069810584016,0.999999949321,7.39916629113e-05,-0.000308961439101,2.06215347999e-05,1793243194997276928
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.155556123,744.844443877,714,679.155556123,659.155556123,634.155556123,879,787,804.155556123,652,631,652,0.401252824829,0.00449852264185,0.0698093507477,0.99999995022,5.33220298829e-05,-0.000310380182866,1.95096010489e-05,1793243195030610944
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.573640968,745,714,679.426359032,659.426359032,635,878.573640968,787,804,652,631,652,0.401094589132,0.0044976719238,0.0698126509005,0.999999952219,4.8898208162e-05,-0.000304489438112,2.13979328405e-05,1793243195080610048
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,635,879,787,804,652,631,652,0.400989510098,0.00449715368736,0.0698280835493,0.999999959615,4.64305858796e-05,-0.000279492835208,2.23368865611e-05,1793243195180610048
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,635,879,787,804,652,631,652,0.400986654424,0.00449680383221,0.0698298224348,0.999999960833,4.79532227616e-05,-0.000274821065664,2.253461028e-05,1793243195197276672
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.76643876,634.76643876,879,787,804.23356124,652,631,652,0.400984583924,0.00449664836381,0.0698315099775,0.999999961774,4.8683318127e-05,-0.00027124148886,2.25869263165e-05,1793243195213943040
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.391259123,745,714,679,659.391259123,634.391259123,879,786.608740877,805,652,631,652,0.400983111651,0.00449661815026,0.0698339271681,0.999999962705,4.65345185043e-05,-0.000268201106755,2.22081117044e-05,1793243195247276288
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.458325344,745,714,679,660,635,879,786.541674656,804.458325344,652,631,652,0.400982020103,0.00449601900078,0.0698355594085,0.999999963169,4.47990579716e-05,-0.00026675159447,2.23442756045e-05,1793243195280609536
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634.70556813,878.29443187,787,804.29443187,652,631,652,0.400980325323,0.00449552383271,0.0698348946547,0.999999963153,4.37755744122e-05,-0.00026702343362,2.18264282153e-05,1793243195330609664
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634.12841871,878.87158129,787,804.87158129,652,631,652,0.400981778963,0.00449546972506,0.0698365197555,0.999999963743,4.36088597181e-05,-0.00026483771828,2.17661049649e-05,1793243195347276544
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.445726724,660,634,878.554273276,786.554273276,805,652,631,652,0.400980436072,0.0044966702153,0.0698362119871,0.999999963586,4.53022968403e-05,-0.000265143634684,2.17648989562e-05,1793243195363943168
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.980935825,660,634,878.019064175,786,805,652,631,652,0.400978418783,0.00449815900217,0.069835417367,0.999999963237,4.74097906575e-05,-0.000266088396464,2.17791855414e-05,1793243195380609792
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.406090004,660,634,878.593909996,786,805,652,631,652,0.400980072438,0.00449758529456,0.0698365556286,0.999999963624,4.60688876837e-05,-0.00026486955269,2.17519083211e-05,1793243195397276416
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.824929509,745,714,679.175070491,660,634,879,786.175070491,805,652,631,652,0.400981002724,0.00449747823165,0.0698373387831,0.999999963904,4.5402542637e-05,-0.000263935093307,2.16756586806e-05,1793243195413943296
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.228573568,745,714,679.771426432,660,634,879,786.771426432,805,652,631,652,0.400980192313,0.00449849409147,0.0698372674165,0.99999996393,4.63594377604e-05,-0.000263684969808,2.14815629792e-05,1793243195430610176
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.356115794,745,714,679.643884206,660,634.356115794,879,787,805,652,631,652,0.400980321277,0.0044989505482,0.0698377183478,0.999999964105,4.80348188976e-05,-0.000262718516089,2.14644309298e-05,1793243195447276800
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.933554458,745,714,679.066445542,660,634.933554458,879,787,805,652,631,652,0.400981034055,0.00449905934073,0.0698384938828,0.999999964369,5.01567328083e-05,-0.000261306869374,2.15572802582e-05,1793243195463943424
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,635,879,787,805,652,631,652,0.400980546731,0.00449795597115,0.0698382779784,0.999999964199,4.80737613568e-05,-0.000262331519898,2.17704432963e-05,1793243195480610048
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,635,878.914641901,786.914641901,805,652,631,652,0.40098013322,0.00449701977128,0.0698380117367,0.999999964037,4.60498525583e-05,-0.000263293578182,2.1944220768e-05,1793243195497276416
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,635,878.324539414,786.324539414,805,652,631,652,0.400981078957,0.00449800413733,0.0698382101689,0.999999964304,4.76083911594e-05,-0.000262012209762,2.17925903151e-05,1793243195513943040
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.260600374,660,634.739399626,878.260600374,786,804.739399626,652,631,652,0.400980845516,0.00449829015927,0.0698377785003,0.999999964243,4.80378469054e-05,-0.000262178961001,2.16612474355e-05,1793243195530609920
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.839675421,660,634.160324579,878.839675421,786,804.160324579,652,631,652,0.400979171021,0.00449772274852,0.0698365767979,0.999999963781,4.70874725543e-05,-0.000264115431075,2.15546975866e-05,1793243195547276544
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634.416389184,879,786.416389184,804,652,631,652,0.40097948006,0.00449776957259,0.0698371471339,0.999999963943,4.79482792861e-05,-0.000263335755482,2.1682223628e-05,1793243195563943168
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634.992198861,879,786.992198861,804,652,631,652,0.400980548523,0.00449805156519,0.0698383959199,0.99999996434,4.95025223901e-05,-0.000261516164957,2.18993689437e-05,1793243195580609792
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fb67e620971f3e246d2aa8c6b33aaf67788ff831
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_02/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+1,0.016666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+2,0.033333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
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+4,0.066666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
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+6,0.100000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+7,0.116666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a220e2ebb789aa73f624557ae24ce2229d362da8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:599bd164b95d2be4cfe9c6c788121eaea738d0b6dcf74f8e7b9ec6eb23fd7b37
+size 25807674
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..744e631d1ad50a761afb7ce6ae6c7cd0bd1f2349
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_03/franka_data.csv
@@ -0,0 +1,409 @@
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+2,0.033333333,BASELINE,764.17534553,745,714.17534553,680,660,634.17534553,878,787,804.17534553,652,631,652,0.400980974609,0.00449986189423,0.0698396378685,0.999999964857,5.202823421e-05,-0.00025908125333,2.135059319e-05,1793243195729151488
+3,0.050000000,BASELINE,764.754649006,745,714.754649006,680,660,634.754649006,878,787,804.754649006,652,631,652,0.400981146605,0.0044987168191,0.0698400598972,0.999999965013,5.02539434767e-05,-0.000258804095648,2.16778681676e-05,1793243195745818112
+4,0.066666667,BASELINE,765,745,714.669304623,680,660,634.669304623,878.330695377,787,804.669304623,652,631,652,0.400981847906,0.00449860378277,0.0698405692603,0.999999965173,4.98673087011e-05,-0.000258259347323,2.16601832406e-05,1793243195762484992
+5,0.083333333,BASELINE,765,745,714.095651244,680,660,634.095651244,878.904348756,787,804.095651244,652,631,652,0.400982938083,0.00449924897326,0.069841142787,0.999999965338,5.05001685396e-05,-0.000257518003318,2.13890603102e-05,1793243195779151616
+6,0.100000000,BASELINE,765.48084703,745,714,679.51915297,660,634,878.51915297,787,804.48084703,652,631,652,0.400981780985,0.00449861684818,0.0698402750909,0.999999965092,4.82317610868e-05,-0.000258907273965,2.13889124104e-05,1793243195795817984
+7,0.116666667,BASELINE,765.94054838,745,714,679,660,634,878.05945162,787,805,652,631,652,0.400980467378,0.00449768472959,0.0698393730878,0.99999996484,4.54806923358e-05,-0.000260368870839,2.1441083351e-05,1793243195812484608
+8,0.133333333,BASELINE,765.348165615,745,714,679,660,634,878.651834385,787,805,652,631,652,0.400981781921,0.00449635465263,0.0698407487846,0.999999965367,4.36072156258e-05,-0.000258656963117,2.14761778979e-05,1793243195829151232
+9,0.150000000,BASELINE,764.761441562,745,714,679.238558438,660,634,879,786.761441562,805,652,631,652,0.40098229714,0.00449617687237,0.0698411771953,0.999999965496,4.38238849378e-05,-0.000258124632255,2.14376412223e-05,1793243195845817856
+10,0.166666667,BASELINE,764.182784843,745,714,679.817215157,660,634,879,786.182784843,805,652,631,652,0.400981672812,0.00449764185167,0.0698402551176,0.999999965056,4.70203486973e-05,-0.000259273952656,2.12941329803e-05,1793243195862484480
+11,0.183333333,BASELINE,764,744.608052405,714,679.608052405,660.391947595,634.391947595,879,786.391947595,805,652,631,652,0.400981620633,0.00449761679629,0.0698404489281,0.999999965132,4.78714823823e-05,-0.000258820802473,2.13768910401e-05,1793243195879151872
+12,0.200000000,BASELINE,764,744.035131865,714,679.035131865,660.964868135,634.964868135,879,786.964868135,805,652,631,652,0.400981832632,0.0044969037512,0.0698411579748,0.999999965447,4.76397131851e-05,-0.00025762774781,2.15641224391e-05,1793243195895819520
+13,0.216666667,BASELINE,764,744.539396106,714,679.539396106,660.460603894,634.460603894,879,787,804.460603894,652,631,652,0.400983452562,0.00449806192476,0.0698422406055,0.999999965773,4.90759405168e-05,-0.000256086580886,2.15763429153e-05,1793243195912485632
+14,0.233333333,BASELINE,764,745,714,680,660,634,879,787,804,652,631,652,0.400984384428,0.00449899270362,0.0698428067,0.999999965938,4.96477000894e-05,-0.000255338901031,2.14796057652e-05,1793243195929151744
+15,0.250000000,BASELINE,764,745,714,680,660,634,879,787,804,652,631,652,0.400982165436,0.00449851118301,0.0698411877408,0.999999965455,4.62874210749e-05,-0.000257888256275,2.09889313514e-05,1793243195945818112
+16,0.266666667,BASELINE,764.299093556,745,714,679.700906444,660,634,878.700906444,787,804.299093556,652,631,652,0.400981931274,0.00449775494443,0.0698409760331,0.999999965452,4.47048901336e-05,-0.000258185976026,2.09247795163e-05,1793243195962484992
+17,0.283333333,BASELINE,764.874094094,745,714,679.125905906,660,634,878.125905906,787,804.874094094,652,631,652,0.400983528073,0.00449674528483,0.0698420624829,0.9999999659,4.4762291426e-05,-0.000256406613265,2.1254085057e-05,1793243195979151616
+18,0.300000000,BASELINE,765,745,714.449576294,679,660,634.449576294,878.449576294,787,805,652,631,652,0.400983286238,0.00449699927669,0.0698424506851,0.999999965893,4.62596231796e-05,-0.000256148027668,2.15153003356e-05,1793243195995818240
+19,0.316666667,BASELINE,765,745,714.97411723,679.02588277,660,635,878.97411723,787,805,652,631,652,0.400982560219,0.00449758681054,0.0698426370169,0.999999965769,4.80838556652e-05,-0.000256277153229,2.17216081004e-05,1793243196012485120
+20,0.333333333,BASELINE,765,745,714.382752219,679.617247781,660,635,878.382752219,787,805,652,631,652,0.400982517741,0.0044977214618,0.0698426897891,0.999999965957,4.82303743314e-05,-0.000255561942125,2.11453689808e-05,1793243196029152512
+21,0.350000000,BASELINE,765,745,714,680,660.203846148,635,878.203846148,787,805,652,631,652,0.400982595356,0.00449804905963,0.0698425721845,0.999999965971,4.8906332372e-05,-0.000255399272219,2.08911183715e-05,1793243196045819392
+22,0.366666667,BASELINE,765,745,714,680,660.781698855,635,878.781698855,787,805,652,631,652,0.400982893312,0.00449873066602,0.0698421419811,0.999999965665,5.05536788674e-05,-0.000256250376914,2.12276359891e-05,1793243196062485760
+23,0.383333333,BASELINE,764.642305415,745,714,680,660.642305415,634.642305415,879,787,804.642305415,652,631,652,0.400982456276,0.00449845944176,0.0698419298329,0.99999996558,4.92391185226e-05,-0.000256838069018,2.11855725313e-05,1793243196079152128
+24,0.400000000,BASELINE,764.067437089,745,714,680,660.067437089,634.067437089,879,787,804.067437089,652,631,652,0.400981572989,0.00449760970784,0.0698418500765,0.999999965625,4.61262409646e-05,-0.000257265830637,2.09136541639e-05,1793243196095818240
+25,0.416666667,BASELINE,764,745,714,679.491605938,660,634,879,787,804.508394062,652,631,652,0.400982871733,0.00449688423663,0.0698422177756,0.999999965993,4.58890487315e-05,-0.000255857912229,2.11155910879e-05,1793243196112484608
+26,0.433333333,BASELINE,764,745,714,679.086920214,660,634,878.913079786,787,805,652,631,652,0.400983877888,0.00449624492457,0.0698423566673,0.999999966237,4.58951584511e-05,-0.000254881192946,2.13129016491e-05,1793243196129151232
+27,0.450000000,BASELINE,764,745,714,679.680407196,660,634,878.319592804,787,805,652,631,652,0.4009814888,0.00449601149857,0.0698408155139,0.99999996552,4.50919192753e-05,-0.000257839267339,2.11162355725e-05,1793243196145818112
+28,0.466666667,BASELINE,764.265878332,745,714,680,660,634,878.265878332,786.734121668,805,652,631,652,0.400980406259,0.00449605969889,0.0698405201528,0.999999965262,4.55666368042e-05,-0.000258749494216,2.11596280274e-05,1793243196162484736
+29,0.483333333,BASELINE,764.841996164,745,714,680,660,634,878.841996164,786.158003836,805,652,631,652,0.400980848259,0.0044964365142,0.0698416784414,0.999999965546,4.75325351213e-05,-0.000257270194914,2.148313222e-05,1793243196179151360
+30,0.500000000,BASELINE,765,745,714,680,660,634,878.583384599,786,805,652,631,652,0.400982072407,0.00449855354497,0.0698417141118,0.999999965656,4.97083315036e-05,-0.000256441814311,2.13294826416e-05,1793243196195818240
+31,0.516666667,BASELINE,765,745,714,680,660,634,878.009331689,786,805,652,631,652,0.400983592125,0.00450132819709,0.0698413255485,0.999999965697,5.1963447589e-05,-0.000255859413649,2.09955183072e-05,1793243196212485376
+32,0.533333333,BASELINE,765,745,714,680,660,634,878,786,805,652,631,652,0.400983981577,0.00449952003526,0.0698424096223,0.999999966115,4.99549258306e-05,-0.000254616567258,2.10796716771e-05,1793243196229151488
+33,0.550000000,BASELINE,765,745,714,680,660,634.164686332,878.164686332,786.164686332,805,652,631,652,0.400984164051,0.00449838612793,0.0698432414765,0.999999966403,4.88049873901e-05,-0.000253699684616,2.11566038119e-05,1793243196245818112
+34,0.566666667,BASELINE,765,745,714,680,660,634.743921334,878.743921334,786.743921334,805,652,631,652,0.400983872534,0.00449914007874,0.0698433771882,0.999999966361,4.99936236695e-05,-0.000253630790018,2.11979669037e-05,1793243196262484992
+35,0.583333333,BASELINE,765,745,714,680,660,635,878.678221637,787,804.678221637,652,631,652,0.400982804371,0.00449948776464,0.0698426735596,0.999999966007,5.05271700827e-05,-0.000254911419527,2.13009594223e-05,1793243196279151616
+36,0.600000000,BASELINE,765,745,714,680,660,635,878.101456493,787,804.101456493,652,631,652,0.400981120771,0.00449951351418,0.0698413048124,0.999999965401,5.05416038577e-05,-0.000257261452217,2.14527889428e-05,1793243196295818240
+37,0.616666667,BASELINE,765,745,714,679.525864416,660.474135584,634.525864416,878.474135584,787,804.474135584,652,631,652,0.400981268635,0.00449911371669,0.0698414227195,0.999999965601,4.87581424588e-05,-0.00025684292151,2.12657120466e-05,1793243196312485120
+38,0.633333333,BASELINE,765,745,714.050727776,679.050727776,660.949272224,634.050727776,878.949272224,787,804.949272224,652,631,652,0.400981882667,0.0044986007766,0.0698418890905,0.999999965961,4.67705448171e-05,-0.000255828391474,2.10222566159e-05,1793243196329152000
+39,0.650000000,BASELINE,765,745,714.6406113,679.6406113,660.3593887,634.6406113,878.3593887,787,804.3593887,652,631,652,0.400983296331,0.0044978507386,0.0698426863441,0.999999966239,4.66921436903e-05,-0.000254760308156,2.09484556416e-05,1793243196345818368
+40,0.666666667,BASELINE,765,745,714.773380047,680,660,635,878.226619953,787,804,652,631,652,0.400983542404,0.0044977268314,0.0698428808944,0.999999966266,4.68720063297e-05,-0.000254627493926,2.08715644979e-05,1793243196362484992
+41,0.683333333,BASELINE,765,745,714.193413146,680,660,635,878.806586854,787,804,652,631,652,0.400981967961,0.00449857919051,0.0698421357068,0.999999965902,4.74545551115e-05,-0.000255952955932,2.07898551511e-05,1793243196379151616
+42,0.700000000,BASELINE,765,745,714,680,660,634.616369396,878.616369396,787,804.383630604,652,631,652,0.400981614622,0.00449767696888,0.0698417038008,0.999999965842,4.56997728628e-05,-0.000256508752393,2.07732294675e-05,1793243196395817984
+43,0.716666667,BASELINE,765,745,714,680,660,634.040788268,878.040788268,787,804.959211732,652,631,652,0.400981872265,0.0044958968384,0.0698414286461,0.999999965927,4.27755012237e-05,-0.00025667944475,2.07891685588e-05,1793243196412484608
+44,0.733333333,BASELINE,765,745,714,680,660,634,878,787,805,652.545436374,631,652,0.400983008975,0.00449600011734,0.0698422955735,0.999999966329,4.25630815996e-05,-0.00025513126182,2.09611239234e-05,1793243196429151488
+45,0.750000000,BASELINE,765,745,714,680,660,634.130793148,878.261586296,787,804.869206852,652.869206852,631,652.130793148,0.400983483366,0.00449643426458,0.0698428893947,0.99999996653,4.35254400078e-05,-0.000254165940131,2.11150893918e-05,1793243196445818368
+46,0.766666667,BASELINE,765,745,714,680,660,634.710386318,879.420772635,787,804.289613682,652.289613682,631,652.710386318,0.400981455031,0.00449751084024,0.0698422471939,0.999999965955,4.78091852867e-05,-0.00025565047687,2.11664940249e-05,1793243196462485248
+47,0.783333333,BASELINE,765,745,714,680,660.28842058,635,879.71157942,787,804,652,631,652.71157942,0.400980701834,0.00449829886785,0.0698422074903,0.999999965773,4.92770709377e-05,-0.000256090958781,2.10753923051e-05,1793243196479152128
+48,0.800000000,BASELINE,765,745,714,680,660.864897972,635,879.135102028,787,804,652,631,652.135102028,0.400981222167,0.00449879871147,0.0698427695237,0.999999965997,4.79326489611e-05,-0.000255488702854,2.08419639744e-05,1793243196495818752
+49,0.816666667,BASELINE,765,745,714,680,660.558957197,634.558957197,879,787,804.441042803,652,631,652,0.400981618817,0.00449869441276,0.069842354859,0.999999965941,4.73795721632e-05,-0.000255808578822,2.0860323091e-05,1793243196512485120
+50,0.833333333,BASELINE,764.982517543,745,714,679.982517543,660,634,879,787,805,652,631,652,0.400982013274,0.00449842603733,0.0698416920579,0.99999996582,4.71342547574e-05,-0.000256319019868,2.09440575063e-05,1793243196529151488
+51,0.850000000,BASELINE,764.393101477,745,714,679.393101477,660,634,879,787,805,652,631,652,0.400983574469,0.00449883967136,0.0698426919613,0.99999996637,4.90328614941e-05,-0.000253829742326,2.06451888019e-05,1793243196545818112
+52,0.866666667,BASELINE,764.193013192,745,714,679.193013192,660.193013192,634.193013192,879,787,805,652,631,652,0.400984310786,0.00449884701776,0.069843308668,0.999999966668,4.9437286945e-05,-0.000252583451075,2.05438380488e-05,1793243196562484480
+53,0.883333333,BASELINE,764.772517091,745,714,679.772517091,660.772517091,634.772517091,879,787,805,652,631,652,0.400983395358,0.0044980408115,0.0698431580594,0.999999966472,4.68497552375e-05,-0.000253826122745,2.08379983753e-05,1793243196579151360
+54,0.900000000,BASELINE,765,745,714,679.650897285,660.650897285,635,879,787,805,652,631,652,0.400982413329,0.00449851529572,0.0698426469412,0.999999966168,4.69188626389e-05,-0.000255009492261,2.08013451012e-05,1793243196595818496
+55,0.916666667,BASELINE,765,745,714,679.076197531,660.076197531,635,879,787,805,652,631,652,0.400981388259,0.00449981738734,0.0698419028546,0.999999965795,4.8704742573e-05,-0.000256154539514,2.05509135618e-05,1793243196612485376
+56,0.933333333,BASELINE,765.509775552,745,714,679,660,635,879,787,805,652,631,652,0.400981995343,0.004499462594,0.0698423008123,0.999999965885,4.95969036195e-05,-0.000255615303271,2.07767550043e-05,1793243196629152000
+57,0.950000000,BASELINE,765.903865268,745,714,679,660,634.903865268,878.903865268,787,805,652,631,652,0.400982770549,0.00449888409864,0.0698427799495,0.999999966026,5.01282661982e-05,-0.00025493986179,2.10022154363e-05,1793243196645818624
+58,0.966666667,BASELINE,765.324230918,745,714,679,660,634.324230918,878.324230918,787,805,652,631,652,0.40098313657,0.00449845426102,0.0698427894147,0.999999966075,4.95320836974e-05,-0.00025487419684,2.08596208733e-05,1793243196662484992
+59,0.983333333,BASELINE,765,745,714,679,660,634,878.255084101,787,804.744915899,652,631,652,0.400983554366,0.00449860438757,0.0698429025457,0.99999996627,4.87222273192e-05,-0.00025428449304,2.06470389333e-05,1793243196679151616
+60,1.000000000,BASELINE,765,745,714,679,660,634,878.833993811,787,804.166006189,652,631,652,0.400984037888,0.00449949077028,0.0698431472787,0.999999966646,4.76411149348e-05,-0.000253029529417,2.03456090013e-05,1793243196695818240
+61,1.016666667,BASELINE,765,745,714,679,660,634,878.591304966,787,804.408695034,652,631,652,0.400983091949,0.00449945365755,0.0698427699793,0.999999966419,4.70319731169e-05,-0.000254040668395,2.03535897884e-05,1793243196712484864
+62,1.033333333,BASELINE,765,745,714,679,660,634,878.018295783,787,804.981704217,652,631,652,0.400981571302,0.00449904525725,0.0698421425943,0.999999965945,4.66125851787e-05,-0.00025596288463,2.04859678938e-05,1793243196729151744
+63,1.050000000,BASELINE,765,745,714,679,660,634.570824115,878,787,804.429175885,652,631,652,0.400980894819,0.00449872203659,0.0698416165995,0.999999965862,4.50012252264e-05,-0.000256599692654,2.02060938746e-05,1793243196745818880
+64,1.066666667,BASELINE,765,744.842366679,714,679.157633321,660,634.842366679,878.157633321,786.842366679,804,652,631,652,0.400981078543,0.00449866152298,0.0698418241916,0.999999966033,4.40522136778e-05,-0.000256112538397,2.00097504742e-05,1793243196762486016
+65,1.083333333,BASELINE,765,744.263158323,714,679.736841677,660,634.263158323,878.736841677,786.263158323,804,652,631,652,0.400983488342,0.00449929608039,0.0698439847472,0.99999996685,4.49797305737e-05,-0.000252732839567,2.00731656696e-05,1793243196779152896
+66,1.100000000,BASELINE,765,744.31488336,714,680,660,634,879,786.31488336,804,652,631,652,0.40098379788,0.00449837743608,0.0698442359155,0.999999966914,4.55154909195e-05,-0.000252359378617,2.0364686356e-05,1793243196795819264
+67,1.116666667,BASELINE,765,744.891953586,714,680,660,634,879,786.891953586,804,652,631,652,0.400982358639,0.0044961655221,0.069842897237,0.999999966355,4.57250560777e-05,-0.000254489054519,2.08461385233e-05,1793243196812484864
+68,1.133333333,BASELINE,764.52357227,745,714,679.52357227,660,634,878.52357227,787,804,652,631,652,0.400982376353,0.0044972322585,0.0698426617441,0.999999966181,4.7037959187e-05,-0.000254929678229,2.08793163088e-05,1793243196829151488
+69,1.150000000,BASELINE,764.061856015,745,714,679.061856015,660,634.061856015,878.061856015,787,804.061856015,652,631,652,0.400982581544,0.00449897184672,0.0698425944493,0.999999966091,4.84539008004e-05,-0.000255023033595,2.07997656432e-05,1793243196845818624
+70,1.166666667,BASELINE,764.640999658,745,714,679.640999658,660,634.640999658,878.640999658,787,804.640999658,652,631,652,0.400981547754,0.00450002206821,0.0698418084849,0.999999965974,4.86059647945e-05,-0.000255466197266,2.06410867583e-05,1793243196862485248
+71,1.183333333,BASELINE,765,745,714,679.780200637,660,634.780200637,878.780200637,787,805,652,631,652,0.400981404356,0.00450030633908,0.069841624552,0.999999966052,4.7889696991e-05,-0.000255308227566,2.04986280342e-05,1793243196879151872
+72,1.200000000,BASELINE,765,745,714,679.201961722,660,634.201961722,878.201961722,787,805,652,631,652,0.40098271297,0.00449934153007,0.0698424223866,0.999999966444,4.57573902493e-05,-0.000254169954922,2.03826204408e-05,1793243196895819264
+73,1.216666667,BASELINE,765,745,714,679.374335434,660,634.374335434,878.374335434,787,804.625664566,652,631,652,0.400983290195,0.00449897607504,0.0698427616552,0.999999966474,4.588068912e-05,-0.000254026796955,2.04329243535e-05,1793243196912486144
+74,1.233333333,BASELINE,765,745,714,679.949590341,660,634.949590341,878.949590341,787,804.050409659,652,631,652,0.400983474857,0.0044989323152,0.0698428547947,0.99999996631,4.72146538788e-05,-0.00025441775338,2.05724937212e-05,1793243196929153024
+75,1.250000000,BASELINE,765,745,714,680,660,634.462689688,878.462689688,787,804.537310312,652,631,652,0.400982179069,0.0044967028178,0.069842437828,0.999999965948,4.60939321797e-05,-0.000255977484816,2.13122884968e-05,1793243196945818880
+76,1.266666667,BASELINE,765,745,714.124208672,680,660,634.124208672,878.124208672,787,805,652,631,652,0.400981224492,0.00449504854101,0.069842120454,0.999999965705,4.52017150996e-05,-0.000257040162951,2.18387053559e-05,1793243196962484992
+77,1.283333333,BASELINE,765,745,714.703706909,680,660,634.703706909,878.703706909,787,805,652,631,652,0.400982041845,0.00449627226137,0.0698423477279,0.999999965979,4.60112867383e-05,-0.000255869401007,2.13716647048e-05,1793243196979151616
+78,1.300000000,BASELINE,765,745,714.718657117,680,660.281342883,635,879,787,805,652,631,652,0.400982585849,0.00449711726278,0.069842705489,0.999999966217,4.63455314288e-05,-0.000254914884166,2.08802269183e-05,1793243196995818496
+79,1.316666667,BASELINE,765,745,714.142969506,680,660.857030494,635,879,787,805,652,631,652,0.400982843872,0.0044975660432,0.0698431997675,0.999999966421,4.61824825857e-05,-0.00025418660595,2.03632645478e-05,1793243197012485120
+80,1.333333333,BASELINE,765,745,714,680,660.567642961,634.567642961,879,786.567642961,805,652,631,652,0.400982548035,0.00449769065953,0.0698429925046,0.99999996638,4.59876626899e-05,-0.000254363239702,2.05872872516e-05,1793243197029152000
+81,1.350000000,BASELINE,765,745,714,679.992276018,660,634,878.992276018,786.007723982,805,652,631,652,0.400982069697,0.0044977198491,0.0698425587058,0.99999996626,4.57858013413e-05,-0.000254834876828,2.1047315866e-05,1793243197045819136
+82,1.366666667,BASELINE,765,745,714,679.404928608,660,634,878.404928608,786.595071392,805,652,631,652,0.40098162851,0.00449862527794,0.0698425190777,0.999999966217,4.58432611573e-05,-0.000255007965584,2.08458757338e-05,1793243197062485760
+83,1.383333333,BASELINE,765,745,714,679,660.181051477,634.181051477,878.181051477,787,805,652,631,652,0.400981412807,0.00449916471572,0.069842470108,0.99999996616,4.62566406567e-05,-0.000255176168681,2.06457700286e-05,1793243197079152384
+84,1.400000000,BASELINE,765,745,714,679,660.763996522,634.763996522,878.763996522,787,805,652,631,652,0.400981697632,0.00449889173582,0.0698424004019,0.999999966067,4.74600818358e-05,-0.000255333526746,2.04486264124e-05,1793243197095819264
+85,1.416666667,BASELINE,765,745,714,679.327454328,660.672545672,634.672545672,879,787,805,652,631,652,0.40098211772,0.00449749390682,0.0698426071241,0.999999966259,4.68698812571e-05,-0.000254674450085,2.06429772121e-05,1793243197112486144
+86,1.433333333,BASELINE,765,745,714,679.877656105,660.122343895,634.122343895,879,787,805,652,631,652,0.40098262982,0.00449533091077,0.0698430018839,0.999999966641,4.50595741946e-05,-0.000253460002067,2.11036380851e-05,1793243197129152768
+87,1.450000000,BASELINE,765,745,714,680,660,634,878.533733734,787,804.533733734,652,630.533733734,652,0.400982811842,0.00449590359384,0.0698434440393,0.99999996666,4.62379925372e-05,-0.000253159113893,2.12653387533e-05,1793243197145819392
+88,1.466666667,BASELINE,765,745,714,680,660,634.065263161,878.065263161,787,804,652,630.065263161,652,0.400982823501,0.00449728859781,0.0698437470224,0.999999966551,4.80482660836e-05,-0.000253252478941,2.12720370801e-05,1793243197162485760
+89,1.483333333,BASELINE,765,745,714,680,660,634.659430352,878.659430352,787,804,652,630.659430352,652,0.400982219414,0.00449891726727,0.0698428122966,0.999999966265,4.80532831308e-05,-0.000254423903374,2.07153647034e-05,1793243197179152384
+90,1.500000000,BASELINE,765,745,714,680,660.246115255,634.753884745,878.753884745,786.753884745,804,652,631,652,0.400982243536,0.00449935986324,0.0698423636986,0.999999966165,4.75270832849e-05,-0.000254939894474,2.03990640559e-05,1793243197195819520
+91,1.516666667,BASELINE,765,745,714,680,660.822751748,634.177248252,878.177248252,786.177248252,804,652,631,652,0.400983111314,0.00449820961804,0.0698425679477,0.999999966316,4.62874840774e-05,-0.000254575669265,2.04055714064e-05,1793243197212486912
+92,1.533333333,BASELINE,765,745,714,680,660.602373575,634,878.397626425,786.397626425,804,652,631,651.602373575,0.400982720754,0.0044982901438,0.0698425403963,0.999999966234,4.60865910939e-05,-0.000254927013266,2.05184036692e-05,1793243197229153280
+93,1.550000000,BASELINE,765,745,714,680,660.028280742,634,878.971719258,786.971719258,804,652,631,651.028280742,0.400981771745,0.004498916885,0.0698424099719,0.999999966048,4.63466753051e-05,-0.000255595926492,2.06784228752e-05,1793243197245819136
+94,1.566666667,BASELINE,765,745,714,679.440920944,660,634.559079056,879,787,804,652,631,651.559079056,0.400982629315,0.00449849207191,0.0698430936506,0.999999966237,4.81158187881e-05,-0.000254529430249,2.06220095926e-05,1793243197262485248
+95,1.583333333,BASELINE,765,745,714,679,660,634.854156279,878.854156279,787,804.145843721,652,631,652,0.400982999182,0.00449828837108,0.0698434797371,0.999999966307,4.95557376857e-05,-0.000253978408423,2.05984968019e-05,1793243197279151872
+96,1.600000000,BASELINE,765,745,714,679,660,634.271235129,878.271235129,787,804.728764871,652,631,652,0.400981626927,0.00449891060535,0.0698428475579,0.999999965973,4.97746792998e-05,-0.000255241681984,2.07071909667e-05,1793243197295819264
+97,1.616666667,BASELINE,765,745,714,679.30652037,660,634,878.30652037,787,805,652,631,652,0.40098111096,0.00449839103512,0.0698425990855,0.999999965951,4.84877013425e-05,-0.000255575008214,2.06983038226e-05,1793243197312486400
+98,1.633333333,BASELINE,765,745,714,679.879780586,660,634,878.879780586,787,805,652,631,652,0.400981340152,0.0044968778449,0.0698426845219,0.999999966197,4.58902435626e-05,-0.000255099076541,2.05870951839e-05,1793243197329153280
+99,1.650000000,BASELINE,765,745,714,680,660,634.453506784,878.546493216,787,804.546493216,652,631,652,0.400983227312,0.00449754164607,0.0698437862157,0.999999966672,4.75596396545e-05,-0.000252922783518,2.05925043706e-05,1793243197345819904
+100,1.666666667,BASELINE,765,745,714,680,660,635,878.028388086,787,804.028388086,652,631,652,0.400985287678,0.00449871512494,0.0698450053789,0.999999967133,5.01498751735e-05,-0.000250586109417,2.06289280407e-05,1793243197362486784
+101,1.683333333,BASELINE,765,745,714,680,660,635,878.623874433,787,804.623874433,652,631,652,0.400982019199,0.00449852997013,0.0698431839839,0.999999966336,4.85166987431e-05,-0.000254059212012,2.06667230591e-05,1793243197379152896
+102,1.700000000,BASELINE,765,745,714.21189392,680,660.21189392,634.78810608,878.78810608,787,804.78810608,652,631,652,0.400980596292,0.00449807743548,0.0698423281955,0.999999966013,4.74383764064e-05,-0.000255528597662,2.07105352885e-05,1793243197395819264
+103,1.716666667,BASELINE,765,745,714.787110346,680,660.787110346,634.212889654,878.212889654,787,804.212889654,652,631,652,0.400982337883,0.00449716643981,0.0698431280783,0.999999966518,4.73114311328e-05,-0.000253562322978,2.07646648854e-05,1793243197412485888
+104,1.733333333,BASELINE,765,745,714.636726884,680,660.636726884,634.363273116,878.363273116,787,804.363273116,652,631.363273116,652,0.400983171327,0.00449717718266,0.0698437035497,0.999999966672,4.75472738349e-05,-0.000252899364123,2.09216895496e-05,1793243197429152256
+105,1.750000000,BASELINE,765,745,714.060008023,680,660.060008023,634.939991977,878.939991977,787,804.939991977,652,631.939991977,652,0.400983471177,0.00449772950464,0.0698441471653,0.99999996662,4.79962772204e-05,-0.000253002184895,2.11391715262e-05,1793243197445818624
+106,1.766666667,BASELINE,765,745,714,679.474172509,660,635,878.474172509,787,804.474172509,652,631.474172509,652,0.400983370303,0.0044981055743,0.0698438601596,0.999999966721,4.80849972155e-05,-0.000252602723191,2.09450293805e-05,1793243197462485248
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787,805,652,631,652,0.400980976101,0.004499853292,0.0698435596448,0.999999966066,5.1127050927e-05,-0.000254557209071,2.13026856583e-05,1793243197504807936
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.423429855,879,787,805,652,631,652,0.400981731432,0.00449968567374,0.0698433266671,0.999999966167,5.00223423644e-05,-0.000254404938705,2.09988588501e-05,1793243197521474560
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.153143446,878.846856554,787,805,652,631,652,0.400982458945,0.00449953905271,0.0698433256028,0.999999966325,4.92388263657e-05,-0.000253954643795,2.07744957303e-05,1793243197538141440
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.729725599,878.270274401,787,805,652,631,652,0.400983109539,0.00449945048859,0.0698439657749,0.999999966643,4.93434014335e-05,-0.000252680316668,2.07698481258e-05,1793243197554808320
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.313884933,660,635,878.313884933,787,805,652,631,652,0.400982767032,0.00449833725651,0.0698432106823,0.999999966476,4.78863736032e-05,-0.000253628983818,2.06752877546e-05,1793243197571474688
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.90473005,660,635,878.90473005,787,805,652,631,652,0.40098154825,0.00449631989623,0.069841224461,0.999999965869,4.50514464766e-05,-0.000256539137047,2.05013917615e-05,1793243197588141568
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680.485419253,660,635,878.514580747,787,805,652.485419253,631,652,0.40098105986,0.00449676435903,0.0698417440795,0.999999965846,4.60226893971e-05,-0.000256467116752,2.03599074923e-05,1793243197604808192
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680.936538072,660,635,878.063461928,786.936538072,805,652.936538072,631,652,0.400980853469,0.00449759300213,0.0698427050295,0.999999965957,4.75350973816e-05,-0.000255764778533,2.02826714213e-05,1793243197621474816
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680.364062941,660,635,878.635937059,786.364062941,805,652.364062941,631,652,0.400981782714,0.00449770712772,0.0698433419874,0.999999966245,4.75192487555e-05,-0.000254605085117,2.06707787114e-05,1793243197638141696
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,878.784882069,786.215117931,805.215117931,652,631,652,0.400984696165,0.00449783099117,0.0698448870815,0.99999996686,4.72920274389e-05,-0.000252204649613,2.08664240876e-05,1793243197654808576
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,878.193987396,786.806012604,805.806012604,652,631,652,0.400991075709,0.00449797186508,0.0698480185446,0.999999968033,4.6695571721e-05,-0.000247636835551,2.07258691332e-05,1793243197671475200
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.389288355,635,878.389288355,787,805.610711645,652,631,652,0.401011119691,0.00449772432752,0.0698561458635,0.999999971285,4.62134493209e-05,-0.000234231636035,2.0714067209e-05,1793243197688142080
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.96884043,635,878.96884043,787,805.03115957,652,631,652,0.401037842134,0.00449728695483,0.0698667148948,0.999999975298,4.57872069819e-05,-0.000216507185781,2.07651929919e-05,1793243197704808704
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.455688397,660.455688397,635,879,787,805,652,631,652,0.401093274784,0.00449754401277,0.0698852164219,0.999999981865,4.75998346463e-05,-0.000183241925275,2.06611273197e-05,1793243197721475328
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.119540492,660.119540492,635,879,787,805,652,631,651.880459508,0.401150928193,0.00449772472854,0.0699017886757,0.999999986622,4.86022722054e-05,-0.000154846862233,2.04158658876e-05,1793243197738141952
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.69472988,660.69472988,635,879,787,805,652,631,651.30527012,0.401210828404,0.00449746405451,0.0699092891743,0.999999987739,4.60316422858e-05,-0.000148381179622,1.9666023999e-05,1793243197754808576
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.72230595,660.72230595,635,878.72230595,786.72230595,804.72230595,652,631,651.27769405,0.401277219994,0.00449734940854,0.0699135586462,0.999999988599,4.35899775895e-05,-0.000143387571748,1.84791513876e-05,1793243197771475456
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.130548784,660.130548784,635,878.130548784,786.130548784,804.130548784,652,631,651.869451216,0.401350953125,0.00449739991566,0.0699141739296,0.999999989198,4.12941686039e-05,-0.000140058833855,1.67980110101e-05,1793243197788142080
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.451408604,634.548591396,878.451408604,786.451408604,804,652,631,652,0.401440440322,0.00449936830893,0.0699128904783,0.999999988989,4.10563180408e-05,-0.000141875034327,1.44473540126e-05,1793243197804808448
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679.030318139,660.969681861,634.030318139,878.969681861,786.969681861,804,652,631,652,0.401535821735,0.00450177443477,0.0699110776961,0.999999988548,4.12212480136e-05,-0.000145131232172,1.19019074362e-05,1793243197821475328
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679.604315262,660.395684738,634.604315262,878.395684738,786.395684738,804,652,631,652,0.401656934472,0.00450229512912,0.0699094105498,0.999999988263,3.81629727201e-05,-0.00014809478578,9.26182250051e-06,1793243197838141952
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679.81700587,660.18299413,634.81700587,878.18299413,786,804,652,631,652,0.401788271297,0.00450316287669,0.0699100549923,0.999999988511,3.54562361182e-05,-0.000147237517621,6.43762062807e-06,1793243197854808832
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679.227938038,660.772061962,634.227938038,878.772061962,786,804,652,631,652,0.401942295903,0.00450480075377,0.0699158289735,0.999999989924,3.35295829635e-05,-0.000137901642484,3.20485383861e-06,1793243197871475200
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.644727055,745,714,679.355272945,660.644727055,634.355272945,879,786.355272945,804,652,631,652,0.402113932592,0.0045052084897,0.0699197593119,0.999999990956,2.99379878539e-05,-0.000131117221887,-4.85807115074e-07,1793243197888141824
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.065212744,745,714,679.934787256,660.065212744,634.934787256,879,786.934787256,804,652,631,652,0.4022966857,0.00450483978465,0.0699225259794,0.999999991739,2.52955136086e-05,-0.000125943228809,-4.46548226663e-06,1793243197904808192
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.509161604,745,714,679.490838396,660,635,878.490838396,787,804,652,631,652,0.402505212552,0.00450625898643,0.0699234437162,0.999999992024,2.09211590676e-05,-0.000124222078412,-9.10817475517e-06,1793243197921474816
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.916321692,745,714,679,660,634.916321692,878.083678308,787,804.083678308,652,631,651.916321692,0.402723986668,0.00450775683647,0.0699244001989,0.999999992305,1.61961301496e-05,-0.000122197856823,-1.39653721722e-05,1793243197938141440
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.33710213,745,714,679,660,634.33710213,878.66289787,787,804.66289787,652,631,651.33710213,0.402984091489,0.00450837790303,0.0699269744944,0.999999993063,9.19308199825e-06,-0.000115786116932,-1.95950063347e-05,1793243197954808320
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,679.246311517,660,634.246311517,878.753688483,787,805,652,631,651.246311517,0.40326030284,0.00450980116941,0.0699328682208,0.999999994333,2.44146770485e-06,-0.000103418630954,-2.51371328201e-05,1793243197971474944
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,679.835564587,660,634.835564587,878.164435413,787,805,652,631,651.835564587,0.403558939429,0.00451234134517,0.0699433836182,0.999999996101,-3.9600727387e-06,-8.27589110411e-05,-3.05574213028e-05,1793243197988141312
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.417768589,745,714,680,660,635,878.417768589,787,805,652,631,652,0.403876119013,0.00451417453522,0.069949791869,0.999999996681,-7.39585877698e-06,-7.28844437157e-05,-3.56617505498e-05,1793243198004807936
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.997244073,745,714,680,660,635,878.997244073,787,805,652,631,652,0.40420047608,0.0045157340702,0.0699546103544,0.99999999687,-9.68368153395e-06,-6.71846557798e-05,-4.06437804179e-05,1793243198021474560
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.571702227,714,680,660,634.428297773,879,787.571702227,805,652,631,652,0.404566217343,0.00451778929321,0.069955931861,0.999999996811,9.1058586868e-06,-6.90303094826e-05,-3.91029389716e-05,1793243198038141440
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.850380972,714,680,660,634.149619028,879,787.850380972,805,652,631,651.850380972,0.404942802233,0.0045161848769,0.069957837591,0.999999996668,2.82404857711e-05,-6.77882698519e-05,-3.56509593128e-05,1793243198054808064
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.262257375,714,680,660,634.737742625,879,787.262257375,805,652,631,651.262257375,0.405350588042,0.00450384781964,0.0699615045431,0.999999996841,4.80912992713e-05,-5.73911194951e-05,-2.66891561072e-05,1793243198071474688
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.679227212,879,787,804.679227212,652,631,651.320772788,0.405776523977,0.00449253699489,0.0699626749132,0.999999997056,5.01104435227e-05,-5.28068496064e-05,-2.42457983861e-05,1793243198088141568
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.100296186,879,787,804.100296186,652,631,651.899703814,0.406217067194,0.00448205208168,0.0699618360322,0.999999997521,3.77786459545e-05,-5.29007902058e-05,-2.70484906826e-05,1793243198104808448
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.47866698,879,787,804,652,631,652,0.406669703063,0.00449570485286,0.0699469240368,0.999999995592,3.96871127791e-05,-7.99677995737e-05,-2.90856317394e-05,1793243198121474816
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.943516454,879,787,804.056483546,652,631,652,0.407131969696,0.00451268574889,0.0699305039271,0.999999992774,3.96771515606e-05,-0.000109183282817,-3.09286589793e-05,1793243198138141440
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.376131614,879,787,804.623868386,652,631,652,0.407658428053,0.00451402002978,0.0699271165385,0.999999993769,-4.67588908932e-06,-0.000106707940705,-3.246690861e-05,1793243198154808064
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.201043225,879,787,805,652,631.201043225,652,0.408211770442,0.00451730484338,0.0699303277137,0.999999994659,-2.4868851778e-05,-9.42885397962e-05,-3.42387271447e-05,1793243198171474688
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.797471704,879,787,805,652,631.797471704,652,0.408817984762,0.00452442570695,0.0699465160727,0.999999997391,2.45303758326e-06,-6.2312478191e-05,-3.64698981146e-05,1793243198188141568
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.381104797,634.618895203,879,787,804.618895203,652.381104797,631.618895203,652,0.409420482256,0.00453247244477,0.0699514071008,0.999999997705,2.89000412969e-05,-4.81535450874e-05,-3.79031676599e-05,1793243198204808448
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.958158979,634.041841021,879,787,804.041841021,652.958158979,631.041841021,652,0.410021068683,0.00454099523118,0.0699504894768,0.999999996804,5.48972117109e-05,-4.31554930915e-05,-3.89261870063e-05,1793243198221475328
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.465159361,634.534840639,879.534840639,787,804.534840639,652.465159361,631,652,0.410638536525,0.00454504017313,0.0699440703643,0.999999995962,5.81539235307e-05,-5.59026836993e-05,-3.96167452401e-05,1793243198238142208
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.111042985,714,680,660,634.888957015,879.888957015,787,805,652,631,652,0.411273137277,0.00454991526994,0.0699416781267,0.999999995428,6.06832165112e-05,-6.19419987315e-05,-4.03157062295e-05,1793243198254808832
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.685366941,714,680,660,634.314633059,879.314633059,787,805,652,631,652,0.411973711834,0.00455971433134,0.0699578807206,0.999999996283,6.75946504867e-05,-3.42077074367e-05,-4.11581591184e-05,1793243198271475200
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,746,714,680,660.26828494,634,879,787,805,652,631,652,0.412701215103,0.00456742516961,0.0699817161161,0.9999999961,7.77512501237e-05,3.90929445655e-06,-4.17047471599e-05,1793243198288141568
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,746,714,680,660.861615278,634,879,787,805,652,631,652,0.413461344426,0.00457260598524,0.0700147991706,0.999999993414,9.18395888589e-05,5.46056580437e-05,-4.18928749339e-05,1793243198304808192
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.557103505,714,680,660.557103505,634.442896495,879,787,804.557103505,652,631,652,0.414198461479,0.00457899357028,0.0700199222759,0.999999992744,9.54790995076e-05,5.98280284186e-05,-4.26276973686e-05,1793243198321474816
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.979624226,879.020375774,787,804.020375774,652,631,652,0.414927176214,0.00458586363933,0.0700145282533,0.999999993264,9.63575837429e-05,4.78189261616e-05,-4.35964893695e-05,1793243198338141440
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.405860773,879.594139227,787,804.594139227,652,631,652,0.415617802165,0.0045958681672,0.0699544817054,0.999999991433,0.000108569111819,-5.65109476974e-05,-4.64033216583e-05,1793243198354808064
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.172698393,634.172698393,880,787,805,652,630.827301607,652,0.416351235996,0.00460428782715,0.0699137454456,0.999999983721,0.000119244917676,-0.000126359618136,-4.86992562756e-05,1793243198371474688
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.762849906,634.762849906,880,787,805,652,630.237150094,652,0.417188146617,0.00460887648353,0.069919686752,0.999999984429,0.000126208519145,-0.000112859008063,-4.97602305049e-05,1793243198388141312
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,635,879.65339561,787,805,651.65339561,630.34660439,652,0.418030839338,0.0046127878195,0.0699417214529,0.999999987924,0.000126083315911,-7.62844241966e-05,-4.93625651919e-05,1793243198404808448
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,635,879.073938741,787,805,651.073938741,630.926061259,652,0.418877416502,0.00461624412429,0.0699745678655,0.999999991211,0.000121195778513,-2.42085022189e-05,-4.79849703341e-05,1793243198421475072
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.498670321,635,879.501329679,787,805,651.501329679,631,652,0.419738408724,0.00461892027595,0.0699963963088,0.999999990538,0.000128555136716,4.0088902073e-06,-4.88011760324e-05,1793243198438141696
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.075696825,634.924303175,880,787,805,652,631,652,0.420602355514,0.00461951160292,0.0700158735394,0.999999989197,0.000135227509054,2.86735273711e-05,-4.99700338478e-05,1793243198454808320
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.648169336,634.351830664,880,787,805,652,631,652,0.421471855108,0.00460716970124,0.070030496406,0.999999989389,0.000125635815782,5.2923860618e-05,-5.134745158e-05,1793243198471474688
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634.22926647,880,787,805.22926647,652,631,652,0.42232472423,0.00459152475215,0.0700201966158,0.999999992457,0.00010538623025,3.58512697569e-05,-5.19078165758e-05,1793243198488141568
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634.824116331,880,787,805.824116331,652,631,652,0.423151074892,0.00457061283263,0.0699701556945,0.99999999526,6.81417964381e-05,-4.71139654057e-05,-5.11653267777e-05,1793243198504808448
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.592417267,745,714,680,660.592417267,634.592417267,879.592417267,786.592417267,805.592417267,651.592417267,631,652,0.423969422718,0.00457054323241,0.0699068363607,0.999999986176,6.68415550955e-05,-0.000142454400663,-5.37241721804e-05,1793243198521475072
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.013729721,745,714,680,660.013729721,634.013729721,879.013729721,786.013729721,805.013729721,651.013729721,631,652,0.424784410872,0.00457922331996,0.0698379427009,0.999999965564,8.0630826973e-05,-0.000242989986899,-5.7668930596e-05,1793243198538141696
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.560184558,745,714,680,660.560184558,634,879,786.560184558,805,651.560184558,631,652,0.425721813002,0.0045854401232,0.0698844539976,0.999999980796,8.74120993255e-05,-0.000165751712697,-5.7384917521e-05,1793243198554808320
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,879,786.866159058,805.133840942,651.866159058,631,651.866159058,0.426656291332,0.00459063749842,0.0699331626986,0.999999990062,9.29092254289e-05,-8.98813582618e-05,-5.62561177323e-05,1793243198571475200
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,879,786.292968496,805.707031504,651.292968496,631,651.292968496,0.42757140629,0.00459268498197,0.0699798782174,0.999999993589,9.47500454031e-05,-3.26832935194e-05,-5.26915513043e-05,1793243198588141568
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680.291592825,660.708407175,634,879,786.291592825,805.708407175,651.291592825,631,651.291592825,0.428508497193,0.0045960602832,0.0700168103362,0.999999993465,9.93657922107e-05,2.13223686265e-05,-5.23678327642e-05,1793243198604807936
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680.888042086,660.111957914,634,879,786.888042086,805.111957914,651.888042086,631,651.888042086,0.429468563598,0.0046008238001,0.0700435140368,0.99999999016,0.000106882688213,7.1990412476e-05,-5.54323780272e-05,1793243198621474560
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.466525714,634.466525714,879.466525714,787,805.466525714,652,631,652,0.430339813148,0.00460130382139,0.0700300988816,0.999999991675,0.000104610825632,5.04956851164e-05,-5.6189128211e-05,1793243198638141440
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680.958848876,661.041151124,634.958848876,879.958848876,787,805.958848876,652,631,651.958848876,0.431184925366,0.00460068038472,0.0700034427463,0.999999993339,0.000100520839515,5.54035885795e-06,-5.64454112311e-05,1793243198654808320
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680.380393896,661.619606104,634.380393896,879.380393896,787,805.380393896,652,631,651.380393896,0.431956745685,0.00459857351868,0.0699249486343,0.99999998495,0.000102226741998,-0.000128005356428,-5.71302981552e-05,1793243198671474944
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680.201713169,661.596573661,634,879,786.798286831,805.201713169,652,631.201713169,651.201713169,0.432771378315,0.00459590878386,0.0698821863406,0.999999974086,0.000100538832821,-0.000195842307926,-5.80122503587e-05,1793243198688141568
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680.790834493,660.418331014,634,879,786.209165507,805.790834493,652,631.790834493,651.790834493,0.433668235949,0.00459217261187,0.0699080501807,0.99999998453,9.23328082667e-05,-0.000137479737874,-5.92726856378e-05,1793243198704808448
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681,661.1212255,634,879,786.373741833,806,651.626258167,631.626258167,652,0.434583532875,0.00458724622642,0.0699553642701,0.999999992928,8.41938750501e-05,-6.02194719231e-05,-5.85523717729e-05,1793243198721474816
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681,662.859685031,634,879,786.953228344,806,651.046771656,631.046771656,652,0.435508980569,0.00458166462933,0.0700144867087,0.999999995119,7.60918756463e-05,2.74439621779e-05,-5.67416562028e-05,1793243198738141440
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681,661.943105423,634,879,787,806,651,631,652,0.436356886375,0.00457828576306,0.0700272477244,0.999999993895,8.01750031181e-05,5.13932219906e-05,-5.60495628439e-05,1793243198754808320
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680.90061753,661,634.09938247,879.09938247,787,805.90061753,651,631,652,0.437187738855,0.00457608979861,0.0700295364581,0.999999993112,8.23306728439e-05,6.21574679697e-05,-5.59802989245e-05,1793243198771474944
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680.347528313,661,634.652471687,879.652471687,787,805.347528313,651,631,652,0.43797181907,0.00457841118107,0.0700025992649,0.999999995062,7.08029103463e-05,3.82668572483e-05,-5.83060425844e-05,1793243198788141568
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680.229558665,661,634.770441335,880,787,805.229558665,651.229558665,631,652,0.438723163649,0.00458102072802,0.0699659654238,0.99999999591,6.71835961458e-05,-9.41091771386e-06,-5.98100180491e-05,1793243198804808448
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680.847217021,661,634.152782979,880,787,805.847217021,651.847217021,631,652,0.439419164167,0.00458411745541,0.0699129381023,0.999999990511,7.6934574626e-05,-9.73040795546e-05,-5.99246837416e-05,1793243198821475584
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.436217055,745,714,681,660.563782945,634,880,787,806,651.563782945,631,652,0.440147820381,0.00458406361944,0.0698797306614,0.999999983617,8.14097743142e-05,-0.000150238830809,-5.97144804548e-05,1793243198838142208
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.984304168,745,714,681,660.015695832,634,880,786.984304168,806,651,631,651.984304168,0.440889036131,0.00458304074034,0.0698557324557,0.999999977162,8.37542025311e-05,-0.000187437745922,-5.93960123381e-05,1793243198854809088
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.408488229,745,714,681,660.591511771,634,880,786.408488229,806,651,631,651.408488229,0.441695452367,0.00458438744344,0.0699279206943,0.999999992999,7.19360386269e-05,-7.30917585592e-05,-5.90241775733e-05,1793243198871475456
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.167101896,714,681,661.334203793,634,880,786.167101896,806,651.167101896,631,651,0.442474589039,0.00458528983839,0.0699901965114,0.999999995921,6.51002544528e-05,2.18610280854e-05,-5.86754742744e-05,1793243198888142080
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.742140876,714,681,662.484281753,634,880,786.742140876,806,651.742140876,631,651,0.443187129712,0.00458510756746,0.0700282736692,0.999999993403,7.04276916789e-05,6.94702340322e-05,-5.83832420715e-05,1793243198904808704
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.67604474,745.67604474,714,681,662.352089481,634,880,787,806,651.67604474,631,651.32395526,0.44384530802,0.00458531052407,0.0700332096067,0.999999993052,7.41607686688e-05,7.05841059555e-05,-5.84292185403e-05,1793243198921475328
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.088722162,745.088722162,714,681,661.177444324,634,880,787,806,651.088722162,631,651.911277838,0.444459291076,0.0045858266608,0.0700112025799,0.999999994766,7.6597671373e-05,3.38984608346e-05,-5.87501500213e-05,1793243198938141696
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,744.506818875,713.506818875,681.493181125,661.493181125,634.493181125,880.493181125,787,806,651,631,652,0.445066101308,0.00458447145996,0.0699817200708,0.999999994927,8.11647765408e-05,-1.42267568302e-05,-5.7937007467e-05,1793243198954808320
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,744.073383759,713,681.926616241,662,634.926616241,880.926616241,787,806,651,631,652,0.445666341882,0.00458358376427,0.0699536657827,0.999999992913,8.68203692606e-05,-5.81817061254e-05,-5.7025065901e-05,1793243198971475200
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,744.648551516,713,681.351448484,662,634.351448484,880.351448484,787,806,651,631,652,0.446230387836,0.00458816970226,0.0699444730813,0.999999991867,9.73269373556e-05,-5.97022261239e-05,-5.68174251588e-05,1793243198988141824
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,745,713.228028308,681.228028308,661.771971692,634,880,786.771971692,806,651.228028308,631,652,0.446765400597,0.00459289921634,0.0699357365546,0.999999990372,0.000105568332119,-6.98233235629e-05,-5.687746699e-05,1793243199004808704
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745,713.814274261,681.814274261,661.185725739,634,880,786.185725739,806,651.814274261,631,652,0.447254804046,0.00459785427868,0.0699277166497,0.99999998791,0.000110251285859,-9.345536874e-05,-5.73580207421e-05,1793243199021475072
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.398519135,745,714,682,660.202961729,634,880,786.398519135,806,651.601480865,631.398519135,652,0.447727171033,0.00459933839296,0.0699101762903,0.999999983134,0.000116669822591,-0.000130018445079,-5.67086996249e-05,1793243199038141696
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.981836139,745,714,682,659.036327722,634,880,786.981836139,806,651.018163861,631.981836139,652,0.448191638061,0.00459921298946,0.0698882211869,0.999999975892,0.000123893169198,-0.000172577789927,-5.55354426088e-05,1793243199054808064
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659,634,880,786.456598016,806,651,631.456598016,651.456598016,0.448642199647,0.00460160538005,0.0698886415175,0.999999975119,0.000132668865989,-0.000170770806122,-5.47505517868e-05,1793243199071474944
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,713.890627354,682,658.890627354,633.890627354,880,786.109372646,806,651.109372646,631,651,0.449088595999,0.00460426345184,0.0698915844483,0.999999974939,0.000141129035889,-0.000165136168586,-5.4175294127e-05,1793243199088141568
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,713.302306306,682,658.302306306,633.302306306,880,786.697693694,806,651.697693694,631,651,0.449518709794,0.00460773059797,0.069902424823,0.999999976468,0.000147989020239,-0.000148984220488,-5.44633713195e-05,1793243199104808192
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,713.286684225,682,658.573368449,633,880,787,806,652,631,651.286684225,0.449914975423,0.00460916622466,0.0699075788563,0.999999977483,0.000150392670291,-0.000139400653237,-5.4625596681e-05,1793243199121474560
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,713.876382335,682,659.75276467,633,880,787,806,652,631,651.876382335,0.450275464854,0.00460845461543,0.0699067226512,0.99999997819,0.000148086150877,-0.000136759605735,-5.46548016306e-05,1793243199138141184
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659.083962636,633,880,786.541981318,806,651.541981318,631,652,0.450577262562,0.00461108436332,0.069882212384,0.999999974844,0.000124572603744,-0.000177875588202,-5.61552172694e-05,1793243199154807808
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.962700538,745.037299462,714,682,657.962700538,633,880,786,806,651,631,652,0.450862598204,0.0046144602736,0.0698518018899,0.999999967448,9.56901130228e-05,-0.000229313501523,-5.79816293592e-05,1793243199171474688
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.386559724,745.613440276,714,682,657.386559724,633,880,786,806,651,631,652,0.451134999092,0.00461581283265,0.0698267870588,0.999999961405,7.05023889953e-05,-0.000262207130029,-5.88804426087e-05,1793243199188141312
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.189005877,745.810994123,714,682,657,633,880,786.189005877,806,651,631,652,0.451399209476,0.00461778512312,0.0698079237532,0.999999955257,5.93114466884e-05,-0.000287204292298,-5.90103345497e-05,1793243199204807936
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.763398536,745.236601464,714,682,657,633,880,786.763398536,806,651,631,652,0.451646719225,0.00462102105824,0.069801603535,0.999999951567,7.66602269938e-05,-0.000296100397827,-5.75723805301e-05,1793243199221474560
+211,3.516666667,POSE1_TO_POSE2_PRESS,764.652297441,745,714,682,656.652297441,633,880,786.652297441,806,651,631,652,0.451876208404,0.00462358757514,0.0697981225983,0.999999948865,9.9321569927e-05,-0.000299356306801,-5.28232656839e-05,1793243199238141184
+212,3.533333333,POSE1_TO_POSE2_PRESS,764.06105107,745,714,682,656.06105107,633,880,786.06105107,806,651,631,652,0.452093075332,0.00462568520694,0.0697966303995,0.999999946453,0.00012570403115,-0.000298661613008,-4.57548904088e-05,1793243199254807808
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.520572379,745,714,682,656,632.479427621,880,786.520572379,806,651.520572379,631,652,0.452284463379,0.00462752342514,0.0697919084428,0.999999944663,0.00012950145236,-0.000302784671462,-4.71601513163e-05,1793243199271474688
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,682,655.900151357,632.099848643,880,786.900151357,806,651.900151357,631,652,0.452466223953,0.00462913566855,0.0697861354661,0.999999942491,0.000130890408139,-0.000308944524894,-4.93921817739e-05,1793243199288141568
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,682,655.326751668,632.673248332,880,786.326751668,806,651.326751668,631,652,0.452616238808,0.00462981785343,0.0697771416371,0.999999937949,0.000133190732638,-0.000322133230428,-5.09177659444e-05,1793243199304808192
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714,682,655,632.747022022,880,786,806,651.252977978,631.252977978,652,0.452751826442,0.00463084075534,0.069769705427,0.999999933549,0.000135857715487,-0.000334299812828,-5.18475501769e-05,1793243199321474816
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,682,655,632.158906678,880,786,806,651.841093322,631.841093322,652,0.452868301333,0.00463231502856,0.0697643327028,0.999999929435,0.000139010435803,-0.000345112317496,-5.1988037076e-05,1793243199338141440
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,713.577021414,682,655,632.422978586,880.845957171,786.422978586,806,652,631.577021414,652,0.452971007,0.00463242829149,0.0697590543387,0.999999926363,0.000138201111127,-0.000354091932793,-5.28557969278e-05,1793243199354808064
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,713.156483841,682,654.843516159,632,880,786.156483841,805.156483841,652,631,652,0.453228971437,0.004632395337,0.0697569321968,0.999999924577,0.000135701365893,-0.000359872170977,-5.40726641163e-05,1793243199404808192
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,713.732613119,682,654.267386881,632,880,786.732613119,805.732613119,652,631,652,0.453298356023,0.00463421180892,0.0697609891502,0.999999926277,0.000137578724856,-0.000354346410788,-5.4367700459e-05,1793243199421474816
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+224,3.733333333,POSE1_TO_POSE2_PRESS,764.096084472,745,713.096084472,682,654.903915528,632,880,786.096084472,806,651.096084472,631,652,0.453397289528,0.00463398101503,0.0697600665344,0.999999925901,0.000139807129018,-0.000354539045384,-5.43521794978e-05,1793243199454808320
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,745,713,682,655,632.485416005,880,786,806,651.485416005,631,652,0.453428042027,0.00463397569249,0.0697579831667,0.999999924646,0.000139973453475,-0.000358073002483,-5.38442064058e-05,1793243199471474944
+226,3.766666667,POSE1_TO_POSE2_PRESS,764.129847517,745,713,682.064923758,655,632.935076242,880,786,806,652,631,652,0.453454846847,0.00463411416008,0.0697557007495,0.999999923086,0.000140363243209,-0.000362340282735,-5.32565552748e-05,1793243199488141568
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.279106185,745,713,682.639553092,655,632.360446908,880,786,806,652,631,652,0.453470106625,0.00463431865357,0.0697522489272,0.999999919962,0.000143606161003,-0.000369701232837,-5.26694484408e-05,1793243199504808192
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.781066261,745,713.218933739,682.781066261,654.781066261,632,880,786,806,652,631,652,0.453485044555,0.00463516430096,0.0697495603252,0.999999918115,0.000145554149757,-0.000373916184416,-5.26390785486e-05,1793243199521474816
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714,682.968089338,654,632,880.968089338,786,806,651.031910662,631,652,0.453510782657,0.0046354207141,0.0697436835607,0.999999915352,0.000143469622672,-0.000381978352449,-5.29614269441e-05,1793243199571474688
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+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682.820132344,654.820132344,632,879.359735311,786,806.179867656,652,631.179867656,652,0.453520187121,0.00463819884666,0.0697378298399,0.999999911404,0.000150163407278,-0.000389863186155,-5.1471253654e-05,1793243199721474816
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682.244524336,654.244524336,632,880.510951328,786,806.755475664,652,631.755475664,652,0.453521694218,0.00463805465511,0.0697380535063,0.999999911758,0.000150546768943,-0.000388888651003,-5.08515101893e-05,1793243199738141440
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.660266941,745,714,682,654,632,881,786,806.660266941,652,631.660266941,652.339733059,0.453522493366,0.00463682594045,0.0697383507691,0.999999912155,0.00014981404246,-0.00038819081505,-5.05413092976e-05,1793243199754808320
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.069621503,745,714,682,654,632,881,786,806.069621503,652,631.069621503,652.930378497,0.453522769651,0.00463479624317,0.0697387023872,0.999999912582,0.000148257020751,-0.000387697337394,-5.04597234038e-05,1793243199771475200
+244,4.066666667,POSE1_TO_POSE2_PRESS,764.510344981,745,713.489655019,682.510344981,654,632,880.489655019,786,806,651.489655019,631,651.979310037,0.453522368146,0.00463719043203,0.0697382300345,0.999999912006,0.000149412278033,-0.000388656661696,-5.10927290761e-05,1793243199788141568
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,713.087960208,683,654,632,880,786,806,651.087960208,631,651,0.453521897662,0.00463967193462,0.0697375889526,0.999999911303,0.000150741888664,-0.000389873966089,-5.16583740441e-05,1793243199804807936
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,713.660483416,683,654,632,880,786,806,651.660483416,631,651,0.45352154612,0.00463937791841,0.0697366249037,0.999999910663,0.000151035424058,-0.000391443014379,-5.1326909637e-05,1793243199821474560
+247,4.116666667,HOLD_POSE2,764,745,713,682,655,633,880,786,806,651,631,651,0.45352026303,0.0046369641795,0.0697337688074,0.999999909473,0.000149038381339,-0.000395261375292,-5.10820726739e-05,1793243199859577600
+248,4.133333333,HOLD_POSE2,764.579497123,745,713,682,654.420502877,632.420502877,880,786,805.420502877,651.579497123,631,651.579497123,0.453520064494,0.00463834261628,0.0697337543309,0.999999909373,0.000149764596068,-0.000395216655593,-5.12767979534e-05,1793243199876244224
+249,4.150000000,HOLD_POSE2,765,745,713.158377532,682,654.158377532,632,880,786,805.316755064,651.841622468,631,652,0.453519441415,0.00463917367337,0.0697333641351,0.999999908998,0.000150375237756,-0.000395914943221,-5.14151437232e-05,1793243199892910848
+250,4.166666667,HOLD_POSE2,765,745,713.735626999,682,654.735626999,632,880,786,806.471253999,651.264373001,631,652,0.453517695521,0.0046385570381,0.0697319802487,0.999999907894,0.000150680215645,-0.00039857831335,-5.14043787743e-05,1793243199909577472
+251,4.183333333,HOLD_POSE2,765,745,714,682,654.688473746,632,880,786,806.688473746,651,631,652,0.453518221374,0.00463827049762,0.0697322597584,0.999999907859,0.000150758809095,-0.000398668902678,-5.1164581616e-05,1793243199926244608
+252,4.200000000,HOLD_POSE2,765,745,714,682,654.113715422,632,880,786,806.113715422,651,631,652,0.453520666799,0.0046382628792,0.069733944797,0.999999908726,0.00015064611321,-0.000396585554962,-5.07312578403e-05,1793243199942912256
+253,4.216666667,HOLD_POSE2,765,745,714,682,654,632,880,786,806,651.472803188,631,652,0.453520066698,0.00463735967235,0.0697339249257,0.999999908965,0.000148788848549,-0.000396751443611,-5.02028811994e-05,1793243199959578624
+254,4.233333333,HOLD_POSE2,765,745,714,682,654.061129035,632,880,786,806,652,631,652,0.453518866625,0.00463646925196,0.0697335021809,0.999999908974,0.000147011069366,-0.000397446877379,-4.9765151362e-05,1793243199976244992
+255,4.250000000,HOLD_POSE2,765,745,714,682,654.640190648,632,880,786,806,652,631,652,0.453518947649,0.00463755876465,0.0697332288928,0.999999908379,0.000149552543938,-0.00039792858479,-5.02940924959e-05,1793243199992912640
+256,4.266666667,HOLD_POSE2,765,745,714,682,654.782138836,632,880.217861164,786,806,652,631.217861164,652,0.453519482284,0.00463793820341,0.0697332845155,0.999999908268,0.000150344505713,-0.000397850034034,-5.07614500821e-05,1793243200009579776
+257,4.283333333,HOLD_POSE2,765,745,714,682,654.206751271,632,880.793248729,786,806,652,631.793248729,652,0.453520761327,0.00463715235787,0.0697338799051,0.999999908956,0.000148265386407,-0.000396852057837,-5.1127744427e-05,1793243200026246400
+258,4.300000000,HOLD_POSE2,765,745,714,682,654,632,880.624178826,786,806,651.624178826,631.624178826,652,0.453521123022,0.00463711219318,0.0697335142957,0.999999908919,0.000148262997789,-0.000396955158445,-5.10644561364e-05,1793243200042913536
+259,4.316666667,HOLD_POSE2,765,745,714,682,654,632,880.037576655,786,806,651.037576655,631.037576655,652,0.453520970218,0.00463749024688,0.0697326097056,0.999999908475,0.000149425352731,-0.000397675802838,-5.07602345257e-05,1793243200059580416
+260,4.333333333,HOLD_POSE2,765,745,714,682.545979778,654,632,880,786,806,651.545979778,631,652,0.453520311865,0.00463813943171,0.0697321854538,0.999999908088,0.000150351679175,-0.000398327112466,-5.05433484933e-05,1793243200076246272
+261,4.350000000,HOLD_POSE2,765,745,713.87271658,682.87271658,654,632,880,786,806,651.87271658,631,652,0.453519442592,0.00463848775776,0.0697317252876,0.999999907656,0.000150696342169,-0.000399291156318,-5.04454054887e-05,1793243200092912128
+262,4.366666667,HOLD_POSE2,765,745,713.298589653,682.298589653,654,632,880,786,806,651.298589653,631,652,0.453517954326,0.00463771473757,0.0697310236257,0.999999907055,0.000149055718876,-0.000401369750269,-5.07440414127e-05,1793243200109578752
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,632,881,786,806,652,631,652,0.453518393822,0.00463541405656,0.069730991486,0.999999907054,0.000149260872657,-0.000401372862825,-5.01203161957e-05,1793243200148519168
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,713,682.378490301,654,632,880.378490301,786,806,652,631,652,0.453519159944,0.00463709288225,0.0697309039645,0.999999907265,0.000150328845662,-0.000400391589939,-5.05669497945e-05,1793243200165185536
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745.22590079,713.22590079,682,654,632,880,786,806.22590079,651.77409921,631,652,0.453519357572,0.00463809749455,0.0697307136596,0.999999907383,0.000150215657062,-0.000400113200983,-5.07728005507e-05,1793243200181851904
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745.803630609,713.803630609,682,654,632,880,786,806.803630609,651.196369391,631,652,0.4535186698,0.00463805205392,0.0697303632744,0.999999907356,0.000148262869294,-0.00040092951797,-5.0603644303e-05,1793243200198518528
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.621100337,714,682.378899663,654,632,880,786,806.621100337,651.378899663,631,652,0.453518936005,0.00463850123412,0.0697307871098,0.999999907394,0.000148886228208,-0.000400578951446,-5.08169980832e-05,1793243200215185408
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.04709841,714,682.95290159,654,632,880,786,806.04709841,651.95290159,631,652,0.453519693431,0.0046392051035,0.0697316096053,0.999999907461,0.000150836091586,-0.000399627535524,-5.12273131795e-05,1793243200231852288
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,713.458231098,682.458231098,654,632,880,786,806,651.458231098,631,652,0.453518689011,0.00463939095935,0.0697308823588,0.999999907009,0.000151490835115,-0.000400574060353,-5.07268588693e-05,1793243200248518912
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,713,682.12963115,654,632,880,786,806,651,631,652,0.45351749873,0.00463885225436,0.0697300113987,0.999999906624,0.000151125719997,-0.000401735585051,-5.02241424145e-05,1793243200265185280
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,713,682.709389427,654,632,880,786,806,651,631,652,0.453516209924,0.00463595839085,0.0697291224289,0.999999906628,0.000147621265763,-0.00040305457582,-4.9996260299e-05,1793243200281851904
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,713.286684125,683,654,632,880.286684125,786,806,651,631,652,0.45351351771,0.00463547651148,0.0697277255611,0.999999905984,0.000146959850363,-0.00040486490504,-5.02005760194e-05,1793243200298518528
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,713.861502745,683,654,632,880.861502745,786,806,651,631,652,0.453509414988,0.00463741881897,0.0697258182259,0.999999904691,0.000149155857296,-0.000407169058375,-5.08392761325e-05,1793243200315185152
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713.564166548,682.564166548,654,632,880.564166548,786,806,651,631,652,0.453489289568,0.00463863731212,0.0697161454168,0.99999989835,0.000149328437698,-0.000422360975995,-5.11116361823e-05,1793243200331851776
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,713,682,654,632,880,786,806,651.010266978,631,652,0.453463646179,0.00463960571595,0.0697038997429,0.99999988998,0.000148928727178,-0.000441853478666,-5.12432689461e-05,1793243200348518400
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,713,682,654,632,880,786,806,651.599222466,631,652,0.453413651431,0.00463942789756,0.0696855698535,0.999999875182,0.000152473700374,-0.000473168101868,-4.99971662735e-05,1793243200365185024
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713.185731128,682,654.185731128,632,880,786,806,651.814268872,631,652,0.453358424971,0.00463892166433,0.0696680031407,0.999999861564,0.000154284479655,-0.000500646035175,-4.92067691759e-05,1793243200381851904
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.767028702,682,654.767028702,632,880,786,806,651.232971298,631,652,0.453292056106,0.00463771597969,0.0696520618225,0.999999851992,0.000152401808289,-0.000519952669604,-4.93869245486e-05,1793243200398518528
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,713.65579996,682.34420004,654.65579996,632,880,786,805.65579996,651.34420004,631,652,0.453213998437,0.00463764278714,0.0696411598556,0.999999843271,0.00015291342181,-0.000536372759372,-4.87746247137e-05,1793243200415185152
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,713.08138841,682.91861159,654.08138841,632,880,786,805.08138841,651.91861159,631,652,0.453128122943,0.00463832704,0.0696336283621,0.999999835124,0.000155026406374,-0.000550862238663,-4.76323065978e-05,1793243200431852288
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.505328746,745,713.494671254,683,654,632,880.494671254,786,805.494671254,652,631,651.505328746,0.453030932437,0.0046390107914,0.069632234718,0.999999833688,0.000157310466423,-0.000552947376157,-4.61257127531e-05,1793243200448518912
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.072652233,745.072652233,714,682.927347767,654.072652233,632,880.927347767,786.072652233,806,652,631,651.072652233,0.452928955282,0.00463929856803,0.0696314735121,0.999999833145,0.00015942542612,-0.000553457719068,-4.44681079913e-05,1793243200465185280
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.662370896,745.662370896,714,682.337629104,654.662370896,632,880.337629104,786.662370896,806,652,631,651.662370896,0.452806205267,0.00463676877876,0.0696280021508,0.999999830979,0.000160135904755,-0.000557333822047,-4.21637369106e-05,1793243200481852160
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.752555362,714,682,655,632,880,786.752555362,806,651.752555362,631,652,0.452669714271,0.00463544193731,0.0696243173225,0.999999827547,0.000162521202171,-0.000562943743398,-3.98334974858e-05,1793243200498518784
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.173702713,714,682,655,632,880,786.173702713,806,651.173702713,631,652,0.452514819685,0.00463572623039,0.0696203465935,0.999999822379,0.000167149620926,-0.000570875805257,-3.74686122058e-05,1793243200515185664
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,632,880,786,806,651.402270385,631,652,0.452336937464,0.00463554180304,0.0696181940342,0.999999818964,0.000171466245229,-0.000575744765818,-3.44946646966e-05,1793243200531852032
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,632,880,786,806,651.977008963,631,652,0.45214919958,0.00463515641794,0.0696168209913,0.999999816291,0.000175649192114,-0.000579300462233,-3.12595894797e-05,1793243200548518656
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.434889507,745.565110493,713.434889507,682.565110493,655.565110493,632,880,786,806,651.434889507,631,652,0.451933450395,0.00463552392457,0.0696167942327,0.999999812917,0.000180247788153,-0.000583878330397,-2.76341466625e-05,1793243200565185536
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,745.848611599,713.151388401,682.848611599,655.848611599,632.151388401,880,786.151388401,806,651.151388401,631.151388401,652,0.451706113588,0.0046348980231,0.0696171705966,0.999999809586,0.0001842069513,-0.000588500548433,-2.3729137182e-05,1793243200581851904
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,745.269065953,713.730934047,682.269065953,655.269065953,632.730934047,880,786.730934047,806,651.730934047,631.730934047,652,0.451449305697,0.00463137383302,0.0696185284138,0.999999806562,0.000186308684844,-0.000593127735334,-1.90794601205e-05,1793243200598518528
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.310183102,745,714,682,655.310183102,633,880,786.689816898,806.310183102,652,631.689816898,652,0.451174520723,0.0046278428431,0.0696222422579,0.999999807673,0.000187996024282,-0.000590852349834,-1.43073423518e-05,1793243200615185152
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.889175092,745,714,682,655.889175092,633,880,786.110824908,806.889175092,652,631.110824908,652,0.450884156578,0.00462430596053,0.0696279978667,0.999999812325,0.000189324244025,-0.000582595101053,-9.42911608194e-06,1793243200631851776
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.963850551,745,713.963850551,682,657,633,880,786.963850551,806,651.963850551,631.963850551,652,0.45022510854,0.00460453896614,0.0696446963552,0.999999824674,0.000178660513259,-0.000564522112443,-6.83181113017e-06,1793243200665185280
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,744.786467641,713.213532359,682,657,633,880,786,806,651,631,652,0.449502639032,0.00462235123242,0.0696679473515,0.999999835565,0.000211235650299,-0.000533150213557,7.50110510654e-07,1793243200698518528
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,764.117139645,745.117139645,714,682.117139645,658.117139645,634,879.234279289,786,806,651.882860355,631,652,0.447198700341,0.00461551635226,0.0697076138726,0.999999871146,0.000191556339416,-0.000469890922804,1.47415260557e-05,1793243200781852160
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.696526674,745.696526674,714,682.696526674,658.696526674,634,880.393053349,786,806,651.303473326,631,652,0.446639661057,0.00460548568927,0.0696972918334,0.99999987546,0.000147541046203,-0.00047670499773,7.95081296806e-06,1793243200798518784
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.72510877,714,682.72510877,659,634,880.72510877,786.27489123,806,651,631,651.72510877,0.446094712025,0.00459856106028,0.0697105044969,0.999999891953,0.000123676929186,-0.000448052050993,6.80954821054e-06,1793243200815185408
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.147868854,714,682.147868854,659,634,880.147868854,786.852131146,806,651,631,651.147868854,0.445565260679,0.00459505271148,0.0697496026229,0.999999920142,0.000121976787114,-0.000380389464888,1.18820262251e-05,1793243200831851776
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,659.855086263,634,879.572456869,787,806,651.427543131,631,651.427543131,0.444982871836,0.00459514463745,0.0697841799678,0.999999939149,0.000118497219163,-0.000327752390413,1.5433795349e-05,1793243200848518656
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,660.997615819,634,879.002384181,787,806,651.997615819,631,652,0.444381897285,0.00459643885276,0.0698170791665,0.999999953965,0.000114330835907,-0.000280459485895,1.84566030624e-05,1793243200865185280
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,660.408352894,634,879.591647106,787,806,651.408352894,631,652,0.44369357406,0.00458847998959,0.0698201302662,0.999999957779,9.19469701599e-05,-0.000274917451231,2.0186516479e-05,1793243200881851904
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.821196789,660,634.178803211,879.821196789,787,806,651.178803211,631,652,0.442990929211,0.00458317515668,0.0698201370961,0.999999958999,7.22180396479e-05,-0.000276273020523,2.14294791707e-05,1793243200898518528
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,635,879.337688014,787,806,651.662311986,631.337688014,652,0.441531388417,0.00458215549851,0.0698129150225,0.99999995689,4.58134857821e-05,-0.000289117649643,2.3052518818e-05,1793243200931852032
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,764.512957274,745,714,681,660.487042726,634.512957274,880,787,806,651,631.512957274,652,0.440036895235,0.00457703782583,0.0698208471394,0.999999952883,0.000149504409703,-0.000266808536189,2.63829580485e-05,1793243200965185536
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,745,714,681,660.867804637,634,880,787,806,651.066097681,631,652,0.43923844582,0.00457513898814,0.0698172424557,0.99999992496,0.000269847718553,-0.000276654652185,2.69156261464e-05,1793243200981852160
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,745,714,681,659.69050256,634,880,787,806,651.65474872,631,652,0.438359794117,0.00456968084562,0.0697559460859,0.999999902179,0.00023957329743,-0.000370866893276,2.65489059573e-05,1793243200998519040
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,764.817836179,745,714,681,659,634,880,787,806,652,631,652,0.436672097668,0.00456142709773,0.0697178001027,0.999999892844,0.000180849142882,-0.000425345306656,2.61971497737e-05,1793243201031852032
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745.394686271,714,681,659.789372542,634,879.605313729,787,805.605313729,652,631,652,0.435859235291,0.0045583652306,0.0697534904716,0.999999917618,0.000156062719752,-0.000373644725858,2.82334333416e-05,1793243201048518656
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745.970734723,714,681,660.941469446,634,879.029265277,787,805.029265277,652,631,652,0.435053975284,0.00455553891283,0.0698062944466,0.999999946107,0.000133204897948,-0.000298440226189,3.12498388574e-05,1793243201065185536
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745.454643586,714,681,660.454643586,634.545356414,879.545356414,787,805.545356414,652,631,652,0.434196944889,0.00454811837678,0.0698286339035,0.999999955999,0.000108626649405,-0.00027404024047,3.32426393202e-05,1793243201081852416
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660.12366392,634.87633608,880,787,805.87633608,652,631,652,0.433331684802,0.0045409531177,0.0698456632286,0.999999963089,9.15620666385e-05,-0.000253467664158,3.45420152677e-05,1793243201098519040
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660.698578572,634,879.698578572,787,805,652,631.301421428,652,0.431507877611,0.00453252103438,0.0698245673444,0.999999955848,0.000104648028983,-0.000276077271079,3.36635400905e-05,1793243201131852288
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745.204575055,713.795424945,680.204575055,660.204575055,634,879.204575055,787,805.204575055,651.204575055,631,652,0.426940916862,0.00450283163923,0.0698364018469,0.999999962738,6.04185506773e-05,-0.000263663884995,3.68055620796e-05,1793243201215185664
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745.782180983,713.217819017,680.782180983,660.782180983,634,879.782180983,787,805.782180983,651.782180983,631,652,0.426052630369,0.00449942089814,0.0698643748995,0.999999972785,5.85942096797e-05,-0.000222586566079,3.80998741971e-05,1793243201231853312
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745.640505735,713.359494265,680.640505735,660.281011469,634,879.640505735,787,805.640505735,651.640505735,631,652,0.425140128657,0.0044907369324,0.0698602923281,0.999999971542,5.1126109092e-05,-0.000229862548287,3.82712215605e-05,1793243201248519936
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.522455313,634.522455313,879.522455313,787,805,651,631,652,0.423267363126,0.00447485896318,0.0697913930075,0.999999939018,3.30035728577e-05,-0.000345667355874,3.727816094e-05,1793243201281852416
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.892089343,635,879.892089343,787,805,651.107910657,631,651.892089343,0.422315136752,0.00447040761013,0.069744127095,0.99999990752,2.61140687524e-05,-0.000427670360343,3.70882799122e-05,1793243201298519040
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.736497426,879,787,805,652,631,651.263502574,0.420463789561,0.0044512678931,0.069711453056,0.999999884196,3.46379119592e-06,-0.000479785050037,3.74551789956e-05,1793243201331853824
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.163274794,879,787,805,652,631,651.836725206,0.419690712392,0.00444534250444,0.069786347101,0.999999936074,-2.12356687363e-05,-0.000355250148249,3.46208722626e-05,1793243201348519680
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.984297316,634,879,787,805,652,631,652,0.418105562778,0.00443141541274,0.0698971187425,0.9999999835,-4.82077503597e-07,-0.000177048748607,4.0659445465e-05,1793243201381852672
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.834554082,634,879,787,805,652,631.582722959,652,0.41725617366,0.00442192894348,0.0698667177695,0.999999972546,-2.3516746604e-05,-0.000229517216705,4.09506648376e-05,1793243201398519040
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764.829953742,745,714,680,659.170046258,634,879,787,805,652,631.829953742,652,0.416404438179,0.0044139089874,0.0698348466922,0.999999959686,-4.17833660786e-05,-0.000277982098722,4.01113181216e-05,1793243201415185664
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764.250852009,745,714,680,659.749147991,634,879,787,805,652,631.250852009,652,0.415548831802,0.00440949460985,0.0698021714766,0.999999949436,-4.72814681542e-05,-0.00031232502885,3.66748079601e-05,1793243201431852032
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764.326420162,745,714,680,660,634.326420162,879,787,805.326420162,652,631,652,0.414707193694,0.00441188312634,0.0697725077413,0.999999932867,-4.30555023272e-05,-0.000361988112022,3.71047100677e-05,1793243201448518656
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+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,713.651274766,679.348725234,660.302549533,634,879,787,804.651274766,652,631,652,0.411866789041,0.00447626914204,0.0698487037765,0.999999969612,4.11314981503e-05,-0.000240242413438,3.69734814637e-05,1793243201515185408
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.803830078,660.196169922,634,879,787,805,652,631,652,0.410509715489,0.00445939633079,0.0698747817684,0.999999978477,1.79916905557e-05,-0.000203136685634,3.81775790078e-05,1793243201548518912
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,659.010946308,635,878.010946308,787,805,652,631,652,0.405474553401,0.00448005612393,0.0698004820062,0.999999939789,5.30131970795e-05,-0.000341206152558,3.44847903902e-05,1793243201698519296
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,659.606094356,635,878.606094356,787,805,652,631,652,0.405094386234,0.00447551125427,0.0698159623594,0.999999949977,3.9821622282e-05,-0.000312010095966,3.33096641493e-05,1793243201715186176
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.194772801,745,714,679.805227199,660.194772801,635,879,787,805,652,631,652,0.404723912011,0.00447303909043,0.0698313357378,0.999999959046,3.01000150269e-05,-0.000282759913341,3.23759112338e-05,1793243201731852800
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.770787946,745,714,679.229212054,660.770787946,635,879,787,805,652,631,652,0.404372410395,0.00447462397697,0.0698464997299,0.999999967015,2.71704141794e-05,-0.000253403781239,3.19146149361e-05,1793243201748519680
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.346022369,660.307955263,635,878.653977631,786.653977631,804.653977631,652,631,652,0.404026316799,0.00447182463618,0.0698520014618,0.999999970001,1.69233193548e-05,-0.000242343866587,3.13074717758e-05,1793243201765186304
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.920740756,659.158518487,635,878.079259244,786.079259244,804.079259244,652,631,652,0.403683797538,0.00446612763482,0.0698511171306,0.999999969914,1.83988494778e-06,-0.000243376443924,3.06039343128e-05,1793243201781852928
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.490185008,878.509814992,786.509814992,804.509814992,652,631,652,0.403373100828,0.00446278344839,0.0698394008702,0.999999964653,-8.01504395043e-06,-0.000264083692866,2.9836014457e-05,1793243201798519296
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,744.900845294,714.099154706,679.900845294,659.099154706,634.099154706,879,787,805,652,631,652,0.403074565518,0.00446028828022,0.0698270719498,0.999999958499,-1.66169526932e-05,-0.000286134778031,2.91941306968e-05,1793243201815185664
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744.3213448,714.6786552,679.3213448,659.6786552,634.6786552,879,787,805,652,631,652,0.402810283587,0.00446008275046,0.0698201694333,0.999999954469,-2.32006360232e-05,-0.00029944874916,2.92127113861e-05,1793243201831852288
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.745058345,744.254941655,714.745058345,679.254941655,660,634.745058345,879,787,805,652,631,652,0.402564669104,0.00446073807071,0.0698143363077,0.999999951222,-2.76771089057e-05,-0.000309737639061,2.92071017464e-05,1793243201848518912
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.172772674,744.827227326,714.172772674,679.827227326,660,634.172772674,879,787,805,652,631,652,0.40234229134,0.00446246495222,0.0698098343295,0.999999949128,-2.95305865443e-05,-0.000316260994206,2.91713806872e-05,1793243201865185536
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.400365287,745,714,680,659.599634713,634,879.400365287,786.599634713,805,652,630.599634713,652,0.402142713496,0.00446449143301,0.0698067668548,0.999999947473,-2.69949953577e-05,-0.000321572228995,3.02607872574e-05,1793243201881852160
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.973871878,745,714,680,659.026128122,634,879.973871878,786.026128122,805,652,630.026128122,652,0.40195299565,0.00446664747815,0.0698043197428,0.999999945984,-2.25613149532e-05,-0.00032635927279,3.18367646399e-05,1793243201898518784
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.430292704,659,634,878.860585408,786.569707296,805,652,630.569707296,652,0.401803284604,0.00447951130904,0.0698052288559,0.99999994728,-1.00505932786e-06,-0.000323107319974,3.22668094569e-05,1793243201915185664
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.840201183,745,714,679,659,634.159798817,878.159798817,786.840201183,805,652,631,652,0.401663816174,0.00449295704567,0.0698060889646,0.999999947754,3.40231415548e-05,-0.000319846013887,3.21249607196e-05,1793243201931852544
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.267696717,745,714,679,659,634.732303283,878.732303283,786.267696717,805,652,631,652,0.401545868902,0.00450658560877,0.0698064087611,0.999999943936,0.000101733925199,-0.000317551585586,3.06473755506e-05,1793243201948519168
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.309102073,745,713.690897927,679,659,635,879,786,805,652.309102073,631,652,0.401439171505,0.00450830487631,0.0698071323303,0.999999943682,0.000109130237248,-0.000316326151598,2.57848507866e-05,1793243201965185536
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.889672307,745,713.110327693,679,659,635,879,786,805,652.889672307,631,652,0.40134235429,0.00449956483248,0.0698082105119,0.999999947879,6.35555038775e-05,-0.000316039559884,1.79495109909e-05,1793243201981852160
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,713.477049883,679.477049883,659,634.522950117,879,786.477049883,804.522950117,652.522950117,631,651.522950117,0.401266849283,0.00449742620316,0.0698092704592,0.999999949038,5.62315597543e-05,-0.000313776517873,1.75274134114e-05,1793243201998519040
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.064900746,634,878.935099254,787,804.064900746,652,631,651.064900746,0.40119791937,0.00449717462082,0.0698100346967,0.999999949592,5.80678373134e-05,-0.000311594564865,1.87955832529e-05,1793243202015185664
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.643850198,634,878.356149802,787,804.643850198,652,631,651.643850198,0.401141463123,0.00449960201471,0.0698084906397,0.99999994871,6.13763147635e-05,-0.000313727728641,1.96755056379e-05,1793243202031852544
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.778616631,634.221383369,878.442766737,787,804.778616631,652,631,652,0.401095527421,0.00450000026314,0.0698093307619,0.99999994935,6.17114901356e-05,-0.000311560799854,2.05299909503e-05,1793243202048519424
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.203347473,634.796652527,879.593305054,787,804.203347473,652,631,652,0.401066409025,0.0044971548813,0.069813982043,0.999999952372,5.72937817088e-05,-0.000302520085954,2.13438145028e-05,1793243202065186560
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.630030969,659,634.630030969,879.630030969,787,804.369969031,652,630.630030969,652,0.401040314455,0.0044977603336,0.0698168020612,0.999999953389,5.8474541169e-05,-0.000298881593798,2.17499014262e-05,1793243202081853184
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.057782024,659,634.057782024,879.057782024,787,804.942217976,652,630.057782024,652,0.401015873153,0.00450025252312,0.06981862084,0.999999953332,6.27162526691e-05,-0.000298196756025,2.19330591424e-05,1793243202098519552
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.535060221,634,878.464939779,786.464939779,805,652,630.535060221,652,0.401005101715,0.00449731543264,0.0698227199874,0.99999995594,5.77922059209e-05,-0.000290323745758,2.21696877912e-05,1793243202115185920
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745.126587346,714,679.126587346,660,634.126587346,878,786,805,652.126587346,631,652,0.400996424903,0.00449516814424,0.0698264984614,0.99999995831,5.37147597046e-05,-0.000282839225318,2.22989179279e-05,1793243202131852032
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745.705160541,714,679.705160541,660,634.705160541,878,786,805,652.705160541,631,652,0.400989745107,0.00449801814791,0.0698282174766,0.999999959076,5.63358219382e-05,-0.000279624449255,2.20232337877e-05,1793243202148518912
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745.717884907,714,680,660,635,878.282115093,786.282115093,804.717884907,652.717884907,631,652,0.400984226995,0.00449877217408,0.0698287805671,0.999999959466,5.64910673646e-05,-0.000278205970881,2.18786402142e-05,1793243202165185792
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745.142612387,714,680,660,635,878.857387613,786.857387613,804.142612387,652.142612387,631,652,0.400979916038,0.00449734818346,0.0698281424885,0.999999959474,5.40839807093e-05,-0.0002786540997,2.18702682707e-05,1793243202181852672
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,635,879,787,804,652,631,652,0.400977532202,0.00449657023107,0.0698288939865,0.999999959811,5.30375456858e-05,-0.000277646141701,2.18775540253e-05,1793243202198519808
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744.998982503,714,680,660,634.998982503,878.998982503,786.998982503,804,652,631,652,0.40097578551,0.0044960089057,0.0698301027381,0.999999960253,5.24449213968e-05,-0.000276159586012,2.18900172918e-05,1793243202215186944
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.403558362,714,680,660,634.403558362,878.403558362,786.403558362,804,652,631,652,0.400975166787,0.00449759823218,0.069830858554,0.99999996031,5.4957838192e-05,-0.000275464076513,2.1912095951e-05,1793243202231854336
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744.186566659,714,680,660,634,878,786.186566659,804.186566659,652,631,652,0.400975394743,0.00449844759086,0.069832018163,0.999999960669,5.6228657099e-05,-0.000273900885212,2.18796456261e-05,1793243202248520960
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744.765545771,714,680,660,634,878,786.765545771,804.765545771,652,631,652,0.40097740355,0.00449774054811,0.0698340270849,0.999999961669,5.48869259299e-05,-0.000270512667238,2.1732502499e-05,1793243202265187072
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.658021089,745,714,679.658021089,660,634,878.341978911,787,805,652,631,652,0.40097845811,0.00449758382863,0.0698348677108,0.999999962236,5.41489132973e-05,-0.000268553238596,2.17804421986e-05,1793243202281853440
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.083320463,745,714,679.083320463,660,634,878.916679537,787,805,652,631,652,0.40097886329,0.00449780161222,0.0698349132941,0.999999962515,5.38217399375e-05,-0.00026756612192,2.19611386372e-05,1793243202298519808
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.503879056,745,714,679.503879056,660,634,878.496120944,787,804.496120944,652,631,652,0.400977343818,0.00449747624438,0.0698345619204,0.999999962313,5.38994691465e-05,-0.000268307578086,2.18918892902e-05,1793243202315186432
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.908510733,660,634.091489267,878,787,804,652,631,652,0.400975877351,0.00449740889528,0.0698343175759,0.999999962091,5.42889808901e-05,-0.000269069259486,2.17584205402e-05,1793243202331852544
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.329996079,660,634.670003921,878,787,804,652,631,652,0.400976430319,0.00449920532997,0.0698350012901,0.999999962189,5.59727245591e-05,-0.000268378324072,2.15087037464e-05,1793243202348519168
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634.751571176,878,786.751571176,804,652,631,652,0.400975728106,0.00449937057084,0.0698347346915,0.999999961953,5.56837485477e-05,-0.000269326755989,2.13845503681e-05,1793243202365186048
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634.173265482,878,786.173265482,804,652,631,652,0.400973359198,0.00449736982658,0.0698332062175,0.999999961263,5.27752914055e-05,-0.000272452026179,2.14271267168e-05,1793243202381852928
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.605318816,634,878,786,804.394681184,652,631,652,0.400973985915,0.00449678103118,0.0698335619827,0.99999996159,5.22949922608e-05,-0.000271338858244,2.14733415006e-05,1793243202398520320
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.041803483,634,878,786,804.958196517,652,631,652,0.40097589408,0.00449679623014,0.0698347237756,0.999999962349,5.28533948236e-05,-0.00026841259874,2.15211127095e-05,1793243202415187968
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.443060506,745,714,679,659.556939494,634.556939494,878,786.556939494,805,652,631,652,0.400976337322,0.00449742979358,0.0698355533239,0.999999962615,5.3185815284e-05,-0.000267356025456,2.14874899787e-05,1793243202431853568
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.15209714,745,714,679,660,634.84790286,878,787,805,652,631,652,0.400976418613,0.00449820643002,0.0698360031847,0.999999962742,5.40636772008e-05,-0.000266712738804,2.13968024448e-05,1793243202448518912
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764.729342669,745,714,679,660,634.270657331,878,787,805,652,631,652,0.400975816273,0.00449924449133,0.0698354661415,0.999999962586,5.65167947387e-05,-0.000266805924058,2.11648352344e-05,1793243202465185792
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.30710514,660,634,878.30710514,787,804.69289486,652,631,652,0.40097566256,0.00449859801329,0.0698355163655,0.999999962659,5.61502745881e-05,-0.000266596838794,2.13458265741e-05,1793243202481852928
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.885324035,660,634,878.885324035,787,804.114675965,652,631,652,0.400975904899,0.0044964644167,0.0698360850316,0.99999996293,5.32945662815e-05,-0.000266120907808,2.18913794943e-05,1793243202498519552
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.529225881,659.529225881,634.470774119,879,787,804.470774119,652,631,652,0.400976054193,0.00449736578128,0.0698364562732,0.999999963075,5.32641753845e-05,-0.000265586050141,2.18230957643e-05,1793243202515186432
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.057250257,659.057250257,635,878.942749743,787,805,652,631,652,0.40097611493,0.00449874793731,0.0698367274785,0.999999963176,5.37200462559e-05,-0.000265134729691,2.16003707542e-05,1793243202531853312
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.636767429,659.636767429,635,878.363232571,787,805,652,631,652,0.400975577788,0.00449766675592,0.0698365316523,0.999999963142,5.22356111964e-05,-0.000265578466375,2.1354071865e-05,1793243202548519680
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..80b17fd35ab1cdaf784c38b77ce056d1f059c30f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_03/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+1,0.016666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+2,0.033333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+3,0.050000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+4,0.066666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+5,0.083333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+6,0.100000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+7,0.116666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+8,0.133333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+9,0.150000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+10,0.166666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
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+375,6.250000000,pose2_to_pose3_retreat,0.580949596026,0.0100018096112,1.06004081139,0.551521315301,0.0186766369212,1.05967861183
+376,6.266666667,pose2_to_pose3_retreat,0.580900257252,0.0100018257629,1.0600406609,0.551471976525,0.0186766528137,1.05967845516
+377,6.283333333,pose2_to_pose3_retreat,0.58085988024,0.0100018908751,1.06004074291,0.551431599127,0.0186767166997,1.05967853919
+378,6.300000000,pose2_to_pose3_retreat,0.580827601288,0.0100017951089,1.06004082292,0.551399320932,0.0186766235206,1.05967861962
+379,6.316666667,pose2_to_pose3_retreat,0.580803709085,0.0100016944631,1.06004082842,0.551375429957,0.0186765269097,1.05967862196
+380,6.333333333,pose2_to_pose3_retreat,0.580786546649,0.0100017378052,1.06004080581,0.551358267349,0.018676569637,1.05967859865
+381,6.350000000,pose2_to_pose3_retreat,0.580773270407,0.0100019310684,1.06004070329,0.551344987787,0.0186767518851,1.05967850213
+382,6.366666667,pose2_to_pose3_retreat,0.58076390316,0.0100019302383,1.06004087953,0.551335621242,0.0186767533217,1.05967867566
+383,6.383333333,pose2_to_pose3_retreat,0.580757952215,0.0100019338759,1.06004098268,0.551329670429,0.018676757426,1.05967877927
+384,6.400000000,pose2_to_pose3_retreat,0.580753424625,0.0100019481712,1.06004103901,0.551325142466,0.0186767705736,1.05967883849
+385,6.416666667,pose2_to_pose3_retreat,0.580750234673,0.0100018614228,1.06004095932,0.551321953721,0.0186766877101,1.0596787538
+386,6.433333333,pose2_to_pose3_retreat,0.58074803222,0.0100017753787,1.06004087204,0.551319752499,0.018676605616,1.05967866118
+387,6.450000000,pose2_to_pose3_retreat,0.580746751896,0.0100018359606,1.06004083662,0.551318472106,0.0186766662239,1.05967863195
+388,6.466666667,pose2_to_pose3_retreat,0.580746390651,0.0100018593793,1.0600408275,0.551318110796,0.0186766895202,1.05967862511
+389,6.483333333,pose2_to_pose3_retreat,0.580746257524,0.0100018680097,1.06004082414,0.551317977645,0.0186766981054,1.05967862259
+390,6.500000000,pose2_to_pose3_retreat,0.580745815001,0.0100018966974,1.06004081296,0.551317535043,0.0186767266431,1.05967861421
+391,6.516666667,pose2_to_pose3_retreat,0.580745501988,0.0100019169894,1.06004080506,0.551317221973,0.018676746829,1.05967860829
+392,6.533333333,pose2_to_pose3_retreat,0.580745432598,0.0100019214878,1.06004080331,0.551317152572,0.0186767513038,1.05967860697
+393,6.550000000,pose2_to_pose3_retreat,0.580745292667,0.0100019305592,1.06004079978,0.551317012616,0.0186767603278,1.05967860432
+394,6.566666667,pose2_to_pose3_retreat,0.580744937732,0.0100019263804,1.06004079905,0.551316657276,0.0186767547726,1.05967860347
+395,6.583333333,pose2_to_pose3_retreat,0.580744259406,0.0100018885744,1.0600408067,0.551315977804,0.0186767129587,1.05967860826
+396,6.600000000,pose2_to_pose3_retreat,0.58074388233,0.0100018607308,1.06004079316,0.551315600555,0.0186766844315,1.05967859241
+397,6.616666667,pose2_to_pose3_retreat,0.580743881036,0.0100018605162,1.0600407928,0.551315599268,0.0186766842414,1.05967859203
+398,6.633333333,pose2_to_pose3_retreat,0.580743873837,0.0100018593232,1.06004079081,0.551315592111,0.018676683185,1.05967858993
+399,6.650000000,pose2_to_pose3_retreat,0.580743820388,0.0100018504649,1.06004077609,0.551315538971,0.0186766753407,1.05967857436
+400,6.666666667,pose2_to_pose3_retreat,0.580743630196,0.0100018189441,1.06004072369,0.55131534988,0.018676647428,1.05967851895
+401,6.683333333,pose2_to_pose3_retreat,0.580743512786,0.0100017732362,1.06004070873,0.55131523287,0.0186766030496,1.05967850335
+402,6.700000000,pose2_to_pose3_retreat,0.580743512072,0.0100017728558,1.0600407087,0.551315232157,0.0186766026738,1.05967850333
+403,6.716666667,pose2_to_pose3_retreat,0.580743493388,0.0100017629019,1.0600407081,0.551315213508,0.0186765928398,1.05967850275
+404,6.733333333,pose2_to_pose3_retreat,0.580743473348,0.0100017522254,1.06004070745,0.551315193506,0.0186765822919,1.05967850213
+405,6.750000000,pose2_to_pose3_retreat,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+406,6.766666667,pose2_to_pose3_retreat,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+407,6.783333333,pose2_to_pose3_retreat,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4185959f1eded4728ce189160270450877fad788
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78c9825ed9d4eae40013b84eb345e46ff6885a3d879b630654a00fb1f0957b0e
+size 25860637
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cd5a95dd183f8661a98a1cc3c8d5cf82a2b50013
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_04/franka_data.csv
@@ -0,0 +1,410 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,745,714,680,660,634,879,787,805,652,631,652,0.400976071432,0.00450003428063,0.069837624857,0.999999963295,5.74135080311e-05,-0.000263972530868,2.08112570073e-05,1793243202673898752
+1,0.016666667,BASELINE,765,745,714,680,660,634.575367821,878.424632179,787,804.424632179,652,631,652,0.400976206429,0.00449808845091,0.0698374069072,0.999999963332,5.44573899204e-05,-0.000264429676001,2.11488223468e-05,1793243202690565120
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+3,0.050000000,BASELINE,765,745,714,680,660,634.279159235,878,787,804.720840765,652,631,652,0.400977440235,0.00449849446696,0.0698380006988,0.999999963659,5.36256240989e-05,-0.000263369902267,2.10190788573e-05,1793243202723897600
+4,0.066666667,BASELINE,765,745,714,680,660,634.305081989,878.305081989,786.694918011,804.694918011,652,630.694918011,652,0.400976468834,0.00449870124449,0.0698376649429,0.999999963601,5.40464802271e-05,-0.000263508578864,2.09867857872e-05,1793243202740563968
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+12,0.200000000,BASELINE,765,745,714,679.967212834,660.967212834,635,878.032787166,786.032787166,805,652,631,652,0.400974590938,0.00449976163121,0.0698370056577,0.999999963025,5.63871762657e-05,-0.000265210436363,2.08523065246e-05,1793243202873897472
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+21,0.350000000,BASELINE,765,745,714,679,660,634.860908147,879,786.139091853,804.860908147,652,631,652,0.40097543149,0.00449807126492,0.069837461491,0.99999996377,5.22539662187e-05,-0.000263231011794,2.09625102695e-05,1793243203023897344
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+27,0.450000000,BASELINE,765,745,714,679.658405921,660,634.658405921,878.341594079,786.341594079,803.658405921,652,631,652,0.400977664958,0.00449978165927,0.0698395753228,0.999999964344,5.46876781184e-05,-0.000260591862712,2.03471806662e-05,1793243203123898368
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+30,0.500000000,BASELINE,765,745,714,679,660,634,878.601007302,787,805,652,631,652,0.400975560296,0.00449800060256,0.0698384904312,0.999999963766,5.2467730875e-05,-0.000263210390925,2.08782279489e-05,1793243203173897472
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+38,0.633333333,BASELINE,764.952722963,745,714,679,660,634.047277037,878.047277037,787,804.952722963,652,631,652,0.400977676445,0.00449771491029,0.0698396384748,0.999999964668,5.12305391384e-05,-0.000260010083286,2.0831543157e-05,1793243203307230720
+39,0.650000000,BASELINE,764.375693794,745,714,679,660,634.624306206,878.624306206,787,804.375693794,652,631,652,0.400979408138,0.00449742653445,0.0698409280632,0.999999965487,5.08805202622e-05,-0.000256927258125,2.06143179149e-05,1793243203323897088
+40,0.666666667,BASELINE,764.204990265,745,714,679.204990265,660,634.795009735,879,787,804.204990265,652,631,652,0.400979545801,0.00449761788384,0.0698409809912,0.999999965591,5.13339000224e-05,-0.000256447436676,2.04340104261e-05,1793243203340563712
+41,0.683333333,BASELINE,764.792494348,745,714,679.792494348,660,634.207505652,879,787,804.792494348,652,631,652,0.40097670899,0.00449870440515,0.0698387262986,0.999999964359,5.32864294409e-05,-0.000260824845545,2.03225918362e-05,1793243203357230592
+42,0.700000000,BASELINE,765,745,714,680,660,634,878.625171241,786.625171241,805,652,631,652,0.400976237826,0.00449857015461,0.0698386469177,0.999999964103,5.28625494778e-05,-0.000261872826607,2.05263571016e-05,1793243203373897472
+43,0.716666667,BASELINE,765,745,714,680,660,634,878.045659852,786.045659852,805,652,631,652,0.400977058471,0.00449776927751,0.0698397554088,0.999999964387,5.11409842767e-05,-0.000261102707859,2.09022347266e-05,1793243203390564096
+44,0.733333333,BASELINE,765,745,714,679.468449866,660.531550134,634.531550134,878.531550134,786.531550134,804.468449866,652,631,652,0.400976231139,0.00449735417146,0.0698391352988,0.999999964355,5.04427159018e-05,-0.000261364531507,2.082924878e-05,1793243203407230720
+45,0.750000000,BASELINE,765,745,714,679.107759582,660.892240418,635,879,787,804,652,631,652,0.400975453817,0.00449705973946,0.0698384583176,0.999999964253,5.0339569784e-05,-0.000261775613491,2.08000572372e-05,1793243203423897600
+46,0.766666667,BASELINE,765,745,714,679.680500901,660.319499099,635,879,787,804,652,631,652,0.400975500487,0.00449714364343,0.0698381738907,0.999999963963,5.24267163017e-05,-0.000262449897861,2.11254946843e-05,1793243203440564224
+47,0.783333333,BASELINE,765,745,714,680,660,634.738018106,879,787,804,652,631,652,0.400976404503,0.00449751578997,0.0698389110777,0.999999964142,5.36249077869e-05,-0.000261524855684,2.10854168214e-05,1793243203457230848
+48,0.800000000,BASELINE,765,745,714,680,660,634.14551076,879,787,804,652,631,652,0.400978390178,0.00449825159335,0.0698409371683,0.999999964914,5.3701563022e-05,-0.000258582047695,2.05841921966e-05,1793243203473897472
+49,0.816666667,BASELINE,765,745,714,680,660,634,878.563237996,787,804,652,631,652,0.40097832031,0.00449806871904,0.0698404448021,0.999999964878,5.4274373325e-05,-0.000258602040306,2.05746932316e-05,1793243203490564096
+50,0.833333333,BASELINE,764.984391035,745,714,680,659.984391035,634,878,786.984391035,804.015608965,652,631,652,0.400977569309,0.00449761453619,0.0698391755099,0.999999964587,5.49487391513e-05,-0.000259571029998,2.07256423967e-05,1793243203507230976
+51,0.850000000,BASELINE,764.408919432,745,714,680,659.408919432,634,878,786.408919432,804.591080568,652,631,652,0.400976388163,0.00449815563648,0.0698394452063,0.999999964556,5.34725394013e-05,-0.000259984672378,2.0890104061e-05,1793243203523897600
+52,0.866666667,BASELINE,764.165377695,745,714,680,659.165377695,634.165377695,878.165377695,786.165377695,805,652,631,652,0.400975633478,0.00449867928524,0.069839674118,0.999999964491,5.29953026354e-05,-0.000260330297271,2.09056821254e-05,1793243203540563968
+53,0.883333333,BASELINE,764.73679121,745,714,680,659.73679121,634.73679121,878.73679121,786.73679121,805,652,631,652,0.400975925843,0.00449916008687,0.0698398028948,0.999999964345,5.49707229219e-05,-0.0002605089254,2.05557207116e-05,1793243203557230592
+54,0.900000000,BASELINE,765,745,714,679.676820938,660,635,878.676820938,786.676820938,805,652,631,652,0.400976105711,0.00449861429825,0.0698398740263,0.999999964402,5.41049947938e-05,-0.000260470893414,2.05718532382e-05,1793243203573897216
+55,0.916666667,BASELINE,765,745,714,679.077644939,660,635,878.077644939,786.077644939,805,652,631,652,0.400976189506,0.0044971917951,0.0698398959284,0.999999964626,5.08129080772e-05,-0.000260247832326,2.09006322939e-05,1793243203590563584
+56,0.933333333,BASELINE,765,745,714,679.501223458,660,634.498776542,878.501223458,786.501223458,805,652,631,651.498776542,0.400975732816,0.00449853447656,0.0698391809342,0.99999996429,5.30318441197e-05,-0.000261104171423,2.08034530552e-05,1793243203607230976
+57,0.950000000,BASELINE,765,745,714,679.923198734,660,634.076801266,878.923198734,787,804.923198734,652,631,651,0.400975338876,0.00449996778677,0.0698385738405,0.999999963955,5.56497996728e-05,-0.00026185192841,2.0660573079e-05,1793243203623898624
+58,0.966666667,BASELINE,765,745,714,679.349350571,660,634.650649429,878.349350571,787,804.349350571,652,631,651,0.400975871818,0.00449932331435,0.0698393750804,0.999999964222,5.55401558237e-05,-0.00026085693033,2.06323449862e-05,1793243203640565504
+59,0.983333333,BASELINE,764.768625166,745,714,679,660,634.768625166,878.231374834,786.768625166,804.231374834,652,631,651.231374834,0.400976439488,0.00449879355401,0.0698399067679,0.999999964467,5.49228175955e-05,-0.000260046202646,2.06181129247e-05,1793243203657232640
+60,1.000000000,BASELINE,764.177197689,745,714,679,660,634.177197689,878.822802311,786.177197689,804.822802311,652,631,651.822802311,0.4009770612,0.00449844230211,0.0698400189931,0.999999964679,5.35154336082e-05,-0.000259522226145,2.06256607042e-05,1793243203673899264
+61,1.016666667,BASELINE,764.404038724,745,713.595961276,679,660,634.404038724,878.595961276,786,804.595961276,652,631,652,0.400977437691,0.00449781346109,0.0698400625449,0.999999964744,5.24117821689e-05,-0.000259487154386,2.07808594437e-05,1793243203690565888
+62,1.033333333,BASELINE,764.980915608,745,713.019084392,679,660,634.980915608,878.019084392,786,804.019084392,652,631,652,0.400977709282,0.00449706587406,0.0698400767199,0.999999964745,5.14380603759e-05,-0.000259661224483,2.09992197527e-05,1793243203707232768
+63,1.050000000,BASELINE,764.442750215,745,713.557249785,679.557249785,660,635,878.557249785,786.557249785,804,652,631,652,0.400977215492,0.00449774418775,0.0698398520158,0.99999996455,5.34119668135e-05,-0.00026002999341,2.07507296506e-05,1793243203723898368
+64,1.066666667,BASELINE,764.13313852,745,714,679.86686148,660.13313852,634.86686148,879,787,804.13313852,652,631,652,0.400976633925,0.00449827884683,0.0698395205437,0.999999964346,5.50429527563e-05,-0.000260490598515,2.05840527534e-05,1793243203740563968
+65,1.083333333,BASELINE,764.707612199,745,714,679.292387801,660.707612199,634.292387801,879,787,804.707612199,652,631,652,0.400975848199,0.0044981755929,0.0698388622436,0.99999996414,5.52029009484e-05,-0.000261233545635,2.07415227823e-05,1793243203757230592
+66,1.100000000,BASELINE,765,745,714,679,660.709741196,634.290258804,879,787,805,652,631,652,0.400975915699,0.0044984126999,0.0698388896611,0.999999964173,5.54220128606e-05,-0.000261061937398,2.07312305552e-05,1793243203773897216
+67,1.116666667,BASELINE,765,745,714,679,660.118623223,634.881376777,879,787,805,652,631,652,0.400976867587,0.00449900259795,0.0698396278391,0.999999964453,5.5702449165e-05,-0.000259942373842,2.05470493192e-05,1793243203790563840
+68,1.133333333,BASELINE,765,745,714,679.464028509,660,635,879,787,805,652,631,652,0.400977289046,0.00449937984652,0.0698402155066,0.999999964574,5.64927277816e-05,-0.000259300735947,2.05959171229e-05,1793243203807230464
+69,1.150000000,BASELINE,764.95610183,745,714,680,660,635,879,787,804.95610183,652,631,652,0.400977585391,0.00449959339236,0.0698407304988,0.999999964659,5.71824432701e-05,-0.000258812089264,2.07020131373e-05,1793243203823897088
+70,1.166666667,BASELINE,764.38413079,745,714,680,660,635,879,787,804.38413079,652,631,652,0.400977978613,0.00449847989761,0.0698408257999,0.999999964796,5.51226634795e-05,-0.000258720470781,2.07927060543e-05,1793243203840563712
+71,1.183333333,BASELINE,764,745,714,680,660,635,878.806314455,787,804.193685545,652,631,652,0.400978032647,0.00449801014958,0.0698407781171,0.999999964839,5.369464507e-05,-0.000258857902651,2.07617510979e-05,1793243203857230592
+72,1.200000000,BASELINE,764,745,714,680,660,635,878.216544463,787,804.783455537,652,631,652,0.400977393047,0.0044988568551,0.0698404380336,0.999999964695,5.35585701754e-05,-0.000259463739528,2.04820278236e-05,1793243203873897216
+73,1.216666667,BASELINE,764.366757438,745,714,679.633242562,660,635,878,787,804.633242562,652,631,652,0.400977721638,0.00449837775665,0.0698407949689,0.999999964822,5.35170562107e-05,-0.000258977379926,2.05546123648e-05,1793243203890563840
+74,1.233333333,BASELINE,764.946306536,745,714,679.053693464,660,635,878,787,804.053693464,652,631,652,0.40097861197,0.00449712943032,0.0698415563125,0.999999965105,5.35304062462e-05,-0.000257857330885,2.08316049511e-05,1793243203907230464
+75,1.250000000,BASELINE,765,745,714,679,660,634.477160866,878,786.477160866,804.522839134,652,631,652,0.400977701758,0.00449671647284,0.0698409184779,0.999999964996,5.32466535951e-05,-0.000258329387174,2.09380586603e-05,1793243203923897344
+76,1.266666667,BASELINE,765,745,714,679.098429645,660,634,878,786.098429645,804.901570355,652,631,652,0.400976761183,0.00449655411241,0.0698402504882,0.999999964845,5.31005413742e-05,-0.000258940106394,2.10040426507e-05,1793243203940563968
+77,1.283333333,BASELINE,765,745,714,679.670965957,660,634,878,786.670965957,804.329034043,652,631,652,0.400976559906,0.00449718795429,0.0698401253927,0.999999964682,5.3763523313e-05,-0.000259435696991,2.09589701078e-05,1793243203957230592
+78,1.300000000,BASELINE,765,745,714,679.74753118,660,634.25246882,878.25246882,787,804,652,631,651.74753118,0.400976814248,0.00449779141203,0.0698401955284,0.999999964673,5.47882602969e-05,-0.000259260795291,2.08904472423e-05,1793243203973897216
+79,1.316666667,BASELINE,765,745,714,679.153912254,660,634.846087746,878.846087746,787,804,652,631,651.153912254,0.400977684249,0.00449835381299,0.0698405294717,0.999999964871,5.63018210451e-05,-0.000258179886543,2.07902369821e-05,1793243203990563840
+80,1.333333333,BASELINE,764.570497103,745,713.570497103,679,660,635,879,787,804.429502897,652,631,651.429502897,0.400977307863,0.00449949525911,0.0698405996035,0.99999996474,5.64524657685e-05,-0.000258666225207,2.06248196319e-05,1793243204007230464
+81,1.350000000,BASELINE,764.009255572,745,713.009255572,679.009255572,660,635,879,787,805,652,631,652,0.400976515001,0.00450078819135,0.0698405708133,0.9999999645,5.61123178698e-05,-0.000259680527134,2.04395887029e-05,1793243204023897088
+82,1.366666667,BASELINE,764.58346249,745,713.58346249,679.58346249,660,635,879,787,805,652,631,652,0.400976930787,0.00449895595856,0.0698401404524,0.999999964629,5.49343634411e-05,-0.000259435801695,2.04381543058e-05,1793243204040564992
+83,1.383333333,BASELINE,765,745,714,680,660,635,878.838487685,787,805,652,631,652,0.400976809906,0.00449796753458,0.0698396832949,0.999999964599,5.41348761758e-05,-0.000259720156514,2.04236674535e-05,1793243204057232384
+84,1.400000000,BASELINE,765,745,714,680,660,635,878.250285381,787,805,652,631,652,0.400975271235,0.00449920831965,0.0698391553447,0.999999964151,5.43352390387e-05,-0.000261402257638,2.03746980794e-05,1793243204073898752
+85,1.416666667,BASELINE,765,745,714,679.667154593,660,635,878.332845407,787,804.667154593,652,631,652,0.400975675815,0.00449954709811,0.0698391711688,0.999999964212,5.44324662759e-05,-0.00026115755422,2.02345900783e-05,1793243204090565120
+86,1.433333333,BASELINE,765,745,714,679.087780165,660,635,878.912219835,787,804.087780165,652,631,652,0.400977519705,0.00449921778614,0.069839589751,0.99999996465,5.44533039094e-05,-0.000259485721995,2.00269783206e-05,1793243204107231744
+87,1.450000000,BASELINE,764.510404073,745,714,679,660,635,879,787,804,652,631,651.510404073,0.400978072837,0.00449650519015,0.0698408463827,0.999999965106,5.1127106256e-05,-0.000258369515388,2.04885821937e-05,1793243204123898112
+88,1.466666667,BASELINE,764.066286873,745,714,679.066286873,660,634.933713127,878.933713127,787,804.066286873,652,631,651.066286873,0.400978194467,0.00449398300395,0.0698419175308,0.999999965427,4.79313932001e-05,-0.000257699008436,2.09666776053e-05,1793243204140564736
+89,1.483333333,BASELINE,764.640462243,745,714,679.640462243,660,634.359537757,878.359537757,787,804.640462243,652,631,651.640462243,0.40097677587,0.0044961803985,0.0698404209388,0.999999964803,5.03146618418e-05,-0.000259683268576,2.06555503637e-05,1793243204157231360
+90,1.500000000,BASELINE,765,745,714,679.778810001,660.221189999,634.221189999,878.221189999,786.778810001,805,652,631,652,0.400975881447,0.00449836859658,0.0698393848396,0.999999964306,5.29654990817e-05,-0.000261084849928,2.04126983444e-05,1793243204173897984
+91,1.516666667,BASELINE,765,745,714,679.187106456,660.812893544,634.812893544,878.812893544,786.187106456,805,652,631,652,0.400975865065,0.00450054138951,0.0698391201085,0.999999964029,5.60645380368e-05,-0.000261510390646,2.02842136188e-05,1793243204190564352
+92,1.533333333,BASELINE,765,745,714,679,660.60439586,635,879,786,805,652,631,652,0.400975870156,0.00449956051555,0.0698391285636,0.999999964106,5.54799729333e-05,-0.000261327249622,2.04520663109e-05,1793243204207230976
+93,1.550000000,BASELINE,765,745,714,679,660.025844015,635,879,786,805,652,631,652,0.400975885177,0.00449712122397,0.0698392633542,0.999999964345,5.31919200894e-05,-0.000260862622883,2.07569606579e-05,1793243204223897600
+94,1.566666667,BASELINE,765,745,714,679.548633865,660,634.451366135,879,786.548633865,805,652,631,652,0.400976588856,0.0044967911108,0.0698400552076,0.999999964571,5.20555364177e-05,-0.000260231222449,2.06813211564e-05,1793243204240564480
+95,1.583333333,BASELINE,765,745,714,679.876880233,660,634.123119767,878.876880233,786.876880233,805,652,631,652,0.40097731948,0.00449662117386,0.069840636126,0.999999964795,5.13562334605e-05,-0.000259514227054,2.06011914557e-05,1793243204257231616
+96,1.600000000,BASELINE,765,745,714,679.301665216,660,634.698334784,878.301665216,786.301665216,805,652,631,652,0.400978030805,0.0044966772605,0.0698403296753,0.999999965019,5.20641488008e-05,-0.000258511561954,2.05699108301e-05,1793243204273898496
+97,1.616666667,BASELINE,765,745,714,679,660,634.71776132,878.28223868,786.28223868,805,652,631,652,0.400978436985,0.00449700978935,0.069840485792,0.999999965231,5.25345665641e-05,-0.00025759270881,2.05746429114e-05,1793243204290565376
+98,1.633333333,BASELINE,765,745,714,679,660,634.124275536,878.875724464,786.875724464,805,652,631,652,0.400978506659,0.00449764717307,0.0698411520187,0.999999965432,5.27430767649e-05,-0.000256766281855,2.06190890787e-05,1793243204307231744
+99,1.650000000,BASELINE,765,745,714,679.455722236,660,634,879,787,805,652,631,652,0.400979320545,0.00449803513254,0.0698420207216,0.999999965574,5.26345356651e-05,-0.000256236824481,2.05971001846e-05,1793243204323898624
+100,1.666666667,BASELINE,765,745,714,679.96797532,660,634,879,787,805,652,631,652,0.400980146222,0.00449832233986,0.0698428076229,0.999999965659,5.24377827618e-05,-0.000255949380257,2.05636153383e-05,1793243204340565248
+101,1.683333333,BASELINE,765,745,714,679.393753184,660,634,879,787,805,652,631,652,0.400977834295,0.00449802223488,0.0698413016153,0.999999965034,5.21692905546e-05,-0.000258427677913,2.06334090907e-05,1793243204357231872
+102,1.700000000,BASELINE,764.819207659,745,714,679.180792341,660,634,879,786.819207659,804.819207659,652,631,652,0.400976553296,0.00449801982784,0.0698402156991,0.99999996461,5.28315058286e-05,-0.000259928455832,2.06354819273e-05,1793243204373898752
+103,1.716666667,BASELINE,764.243956629,745,714,679.756043371,660,634,879,786.243956629,804.243956629,652,631,652,0.400977521612,0.00449866694801,0.0698400463526,0.999999964631,5.5524369405e-05,-0.000259296448635,2.04897990277e-05,1793243204390565632
+104,1.733333333,BASELINE,764,745,714.341830644,680,660,634.341830644,879.341830644,786.341830644,804.341830644,652,631,651.658169356,0.400978713129,0.00449877350958,0.0698407133464,0.999999964933,5.64387802241e-05,-0.000257934129744,2.04711053933e-05,1793243204407232768
+105,1.750000000,BASELINE,764,745,714.935376594,680,660,634.935376594,879.935376594,786.935376594,804.935376594,652,631,651.064623406,0.400980069005,0.00449848201775,0.0698419961999,0.999999965442,5.6043584393e-05,-0.000256034028014,2.05459233768e-05,1793243204423899648
+106,1.766666667,BASELINE,764.514127286,745,714.485872714,680,660,635,878.971745428,787,805,652,630.485872714,651.514127286,0.400978793587,0.00449864055722,0.0698414430297,0.999999965289,5.58754374225e-05,-0.000256655958272,2.06696477478e-05,1793243204440565760
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,680,660,634,879,787,804,652,631,652,0.400976462788,0.0044959580245,0.069839759367,0.999999964593,4.8923651003e-05,-0.000260770434262,2.04821086134e-05,1793243204483573504
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.589480254,745,714,679.410519746,660,634,879,787,804.589480254,652,631,652,0.400978508931,0.00449656433575,0.0698416730259,0.999999965268,5.20844768522e-05,-0.000257526421107,2.07561786469e-05,1793243204500239616
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.824184758,634.175815242,878.824184758,787,804.824184758,652,631,652,0.400979742999,0.00449737430887,0.0698429159231,0.999999965712,5.44982192994e-05,-0.000255281126824,2.0913027456e-05,1793243204516905728
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.24506462,634.75493538,878.24506462,787,804.24506462,652,631,652,0.400979114235,0.00449865146475,0.069842620152,0.999999965664,5.51982179221e-05,-0.00025532680628,2.08009810095e-05,1793243204533572352
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.330314881,635,878,786.669685119,804,652,631,652,0.400978260922,0.00449831501083,0.0698420424418,0.999999965399,5.45913491525e-05,-0.000256498050269,2.07664036338e-05,1793243204550239232
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.902950198,635,878,786.097049802,804,652,631,652,0.400977242881,0.00449679480565,0.0698412578999,0.999999964968,5.30257567262e-05,-0.000258495013301,2.07886579126e-05,1793243204566906368
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.510373756,878.489626244,786.489626244,804.489626244,652,631,652,0.400977335349,0.00449752196818,0.0698405707731,0.999999964843,5.2974936879e-05,-0.000258998342359,2.06864039563e-05,1793243204583573248
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.922413438,714,679.077586562,660,634.077586562,879,787,805,652,631,652,0.400977779529,0.00449838581496,0.0698401373972,0.999999964809,5.32146004904e-05,-0.000259086053948,2.05909388413e-05,1793243204600239872
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.344645,714,679.655355,660,634.655355,879,787,805,652,631,652,0.400979030177,0.00449717430684,0.0698412117376,0.999999964963,5.33341813731e-05,-0.000258459330553,2.07030366013e-05,1793243204616906240
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.766708578,744.233291422,714,679.766708578,660,634.766708578,878.766708578,787,805,652,631,652,0.400985012104,0.00449692611577,0.06984436977,0.999999966158,5.38181991785e-05,-0.000253685408595,2.07441727426e-05,1793243204633572608
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.188523864,744.811476136,714,679.188523864,660,634.188523864,878.188523864,787,805,652,631,652,0.400997988658,0.00449810207315,0.0698506082903,0.999999968811,5.48409931018e-05,-0.00024278035268,2.0680400659e-05,1793243204650238976
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.387334018,745,714,679,660,634,878.387334018,786.612665982,804.612665982,652,631,652,0.401024844354,0.00449907996967,0.0698615834367,0.999999973269,5.56103771022e-05,-0.000223494068367,2.05117726562e-05,1793243204666905344
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.962066194,745,714,679,660,634,878.962066194,786.037933806,804.037933806,652,631,652,0.401058414993,0.00449996204141,0.0698748502364,0.999999978181,5.62571575504e-05,-0.00020015281572,2.02924137321e-05,1793243204683571968
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.552533438,879,786,804,652,631,652,0.401111643199,0.00449819845416,0.0698901723906,0.99999998343,5.22258385196e-05,-0.000173240404184,2.00160985718e-05,1793243204700239360
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,786.141048226,804.141048226,652,631,652,0.401168628637,0.00449687705989,0.0699037479718,0.999999987233,4.88486505204e-05,-0.000150875008051,1.95862744534e-05,1793243204716906240
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,786.720048257,804.720048257,652,631,652,0.401232966977,0.00449750917255,0.0699114495005,0.999999988364,4.85289879451e-05,-0.000143411573242,1.8692305457e-05,1793243204733572864
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.702737779,745,714,679.297262221,660,634.702737779,879,786.702737779,805,652,631,652,0.401304618131,0.00449818033615,0.0699159560117,0.999999989171,4.7968549319e-05,-0.000138047010317,1.7331994274e-05,1793243204750239488
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.127195862,745,714,679.872804138,660,634.127195862,879,786.127195862,805,652,631,652,0.401383115116,0.00449888805695,0.069917471532,0.999999989701,4.71827101017e-05,-0.000134647290296,1.55351205648e-05,1793243204766906112
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.458030521,745,714,680,660.458030521,634.458030521,878.541969479,786.458030521,804.541969479,652,631,652,0.401475296712,0.00449937099535,0.0699160299872,0.999999989528,4.33641830075e-05,-0.000137432005165,1.3295147564e-05,1793243204783573248
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679.954651939,660.954651939,634.954651939,878.045348061,787,804.045348061,652,631,652,0.401573694007,0.00449984879697,0.069913877642,0.999999989142,3.91569300134e-05,-0.000141646003192,1.09049646517e-05,1793243204800239872
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679.375066403,660.375066403,634.375066403,878.624933597,787,804.624933597,652,631,652,0.401699580369,0.00450101735589,0.0699132346476,0.99999998906,4.05060807404e-05,-0.000142028380967,8.22612112797e-06,1793243204816905728
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.2040074,878.7959926,787,805,652,631,652,0.401836627744,0.00450203409456,0.0699139565035,0.999999989281,3.99992971999e-05,-0.000140750474997,5.30375439071e-06,1793243204833571840
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.782142676,878.217857324,787,805,652,631,652,0.401994143215,0.00450277241089,0.0699171813496,0.999999990041,3.60889274402e-05,-0.000136427785162,1.93479227295e-06,1793243204850238720
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679.356650301,660,635,878.356650301,787,805,652,631,652,0.402170458203,0.00450395865183,0.0699209882351,0.999999991039,3.21398196453e-05,-0.00012994407626,-1.80923335328e-06,1793243204866905600
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.928964368,660,635,878.928964368,787,805,652,631,652,0.402358141133,0.00450541574949,0.0699251470757,0.999999992126,2.8167286872e-05,-0.000122153614886,-5.78005739898e-06,1793243204883572480
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.481985567,660,634.481985567,878.481985567,786.481985567,805,652,631,652,0.402574252435,0.00450678489787,0.0699251446304,0.999999992368,2.33679721458e-05,-0.000120854333798,-1.05593005087e-05,1793243204900239360
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679.107172628,659.892827372,634,878,786.107172628,805,652,631,652,0.402802221761,0.0045084327967,0.0699254637273,0.999999992649,1.85604624225e-05,-0.00011879914484,-1.56130446344e-05,1793243204916906240
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679.686361917,659.313638083,634,878,786.686361917,805,652,631,652,0.403064674222,0.0045113632781,0.069929796138,0.99999999369,1.42328723804e-05,-0.000109363437654,-2.13712120843e-05,1793243204933572352
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.737030289,745,714,679.737030289,659.525939421,634.262969711,878.262969711,787,805,652,631,652,0.403345887959,0.00451364834984,0.0699366669469,0.999999994972,8.87800554867e-06,-9.61876048489e-05,-2.69157922428e-05,1793243204950239488
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.163471491,745,714,679.163471491,660.673057018,634.836528509,878.836528509,787,805,652,631,652,0.403649260305,0.00451517113896,0.0699465358147,0.99999999639,2.30983969421e-06,-7.85943733405e-05,-3.22081077061e-05,1793243204966907136
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,679,660.578647892,634.578647892,879,786.578647892,805,652,631,652,0.403968162451,0.00451692163936,0.0699518873557,0.999999996761,-1.82296191689e-06,-7.11361776966e-05,-3.76136484565e-05,1793243204983573760
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.010488098,745,714,679.010488098,660,634,879,786.010488098,805,652,631,652,0.404294322037,0.00451878189918,0.069955437537,0.999999996771,-4.8974503806e-06,-6.76885210884e-05,-4.30461223938e-05,1793243205000240384
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.58996532,745,714,679.58996532,660,634,879,786.58996532,805,652,631,652,0.40467836002,0.00452167226579,0.0699589532516,0.999999996905,-3.22425479008e-06,-6.26377199058e-05,-4.74911619219e-05,1793243205016907008
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.831181396,660,634,878.831181396,786.831181396,805,652,631,652,0.405069738446,0.0045234158126,0.0699618960213,0.99999999714,1.64651710969e-05,-5.79184169138e-05,-4.57736327814e-05,1793243205033573376
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.253838066,660,634,878.253838066,786.253838066,805,652,631,652,0.405478879981,0.00452238416576,0.0699634523196,0.999999994937,7.97521349549e-05,-5.40013081169e-05,-2.91432815575e-05,1793243205050239232
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.322401768,660,634.322401768,878.322401768,786.322401768,805,652.322401768,631,652,0.405903481577,0.0045109588997,0.0699610082363,0.999999994031,9.02133601169e-05,-5.68434860543e-05,-2.38364325784e-05,1793243205066905600
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.897775805,660,634.897775805,878.897775805,786.897775805,805,652.897775805,631,652,0.40634021394,0.00449137828915,0.0699554252571,0.999999995759,5.92249217344e-05,-6.49893321846e-05,-2.74145581665e-05,1793243205083571968
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.514968223,635,879,787,805,652.514968223,631,652,0.406796309157,0.00449711335107,0.069940562218,0.999999995592,-8.35049848898e-06,-8.84982703503e-05,-3.02355253335e-05,1793243205100238848
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.926573217,745,714,679.926573217,659.073426783,634.926573217,879,787,805,652,631,652,0.407268828615,0.00450797592452,0.0699257867672,0.999999990792,-7.07596625789e-05,-0.000111085329596,-3.26933714714e-05,1793243205116905472
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.348002372,745,714,679.348002372,659.651997628,634.348002372,879,787,805,652,631,652,0.407825560236,0.00451648604645,0.0699254071255,0.999999993035,-4.32468947568e-05,-0.000104495631071,-3.37784951309e-05,1793243205133572352
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.229809104,745,714,679.229809104,660,634.229809104,879.229809104,787,805,652,631,652,0.408400754435,0.00452185608163,0.0699319445872,0.999999995414,-1.75495572904e-05,-8.74580251049e-05,-3.48694090365e-05,1793243205150238720
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.806474413,745,714,679.806474413,660,634.806474413,879.806474413,787,805,652,631,652,0.409003814597,0.0045224867106,0.0699489221936,0.999999997845,5.40770742526e-06,-5.46511508025e-05,-3.59690622238e-05,1793243205166905344
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714.381024858,680,660,634.618975142,879.618975142,787,804.618975142,652,631,652,0.409601254638,0.0045306085178,0.0699518336034,0.999999997789,3.20792140915e-05,-4.44518008664e-05,-3.76529607949e-05,1793243205183572224
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714.954507057,680,660,634.045492943,879.045492943,787,804.045492943,652,631,652,0.410195855913,0.00454251415228,0.0699476401146,0.999999996334,6.06268000984e-05,-4.56716125373e-05,-3.96319642561e-05,1793243205200238848
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.453826158,745,714.453826158,680,660,634,879,787,804.546173842,652,631,652,0.410815567655,0.00454683341384,0.0699416409895,0.999999994954,6.93399891287e-05,-6.08364005364e-05,-3.97932257027e-05,1793243205216905216
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.135966857,745,714,680,660,634,879.135966857,787,805,652,631,652,0.41146373377,0.00455198183886,0.0699421238275,0.999999994448,7.36116383112e-05,-6.38172049077e-05,-4.01476996388e-05,1793243205233571840
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.714559233,745,714,680,660,634,879.714559233,787,805,652,631,652,0.412197486602,0.00456195744182,0.0699642144713,0.999999996484,6.89877428141e-05,-2.32228827401e-05,-4.16410203743e-05,1793243205250238464
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.709812663,745,714,680,660.580374675,634,879.709812663,787,804.709812663,652,631,652,0.412935879268,0.00456985927575,0.0699902917377,0.999999995967,7.69273025768e-05,1.88473067699e-05,-4.23535876999e-05,1793243205266905088
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.137070792,745,714,680,661.725858415,634,879.137070792,787,804.137070792,652,631,652,0.413678789812,0.00457574188824,0.070020250769,0.999999992447,9.70998601332e-05,6.23545486231e-05,-4.23059379464e-05,1793243205283571968
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.438303281,745,714,680,661.123393437,634,879.438303281,787,804.438303281,652,631,652,0.414402505351,0.0045815409829,0.0700154754071,0.999999992699,0.00010165872746,4.93007514172e-05,-4.2860125142e-05,1793243205300238592
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879.985139529,787,805,652,631,652,0.415119839938,0.00458731608733,0.0699987729646,0.999999993764,0.000101393676671,1.68930932803e-05,-4.3647362351e-05,1793243205316905472
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879.394835353,787,805,652,631,652,0.415823939876,0.0045931797321,0.0699433880575,0.999999990592,0.000104554057093,-7.58697354838e-05,-4.61268069579e-05,1793243205333572096
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.191018041,714,680,660.191018041,634.191018041,879,786.808981959,805,652,631,652,0.416578192209,0.00459927097785,0.0699114913597,0.999999984072,0.000113199558495,-0.000129431170632,-4.78478776414e-05,1793243205350238720
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.767881088,714,680,660.767881088,634.767881088,879,786.232118912,805,652,631,652,0.417433749337,0.00460582196359,0.0699270394417,0.999999984624,0.000132924677089,-0.000103808133457,-4.8037078899e-05,1793243205366905344
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.655382361,714,680,661,635,879,786.344617639,805.344617639,652,631,652,0.41828192743,0.00461181319374,0.0699506286764,0.999999987917,0.000131974137273,-6.66998639129e-05,-4.7955827202e-05,1793243205383571712
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.078731004,714,680,661,635,879,786.921268996,805.921268996,652,631,652,0.419125137127,0.00461742753588,0.0699796320808,0.999999991767,0.000117102515989,-2.18584996573e-05,-4.76924773724e-05,1793243205400238336
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634.491674581,879,786.491674581,806,652,631,652,0.419975478436,0.00461744418054,0.0699998322856,0.999999990982,0.000124907663719,6.03403226999e-06,-4.89597745285e-05,1793243205416905216
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.095549427,714,680,661,634,879,786.095549427,805.904450573,652,631,652.095549427,0.420832280646,0.00461293207671,0.0700169847887,0.999999989751,0.000130918312601,2.89632868977e-05,-5.01990132999e-05,1793243205433571840
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.675285334,714,680,661,634,879,786.675285334,805.324714666,652,631,652.675285334,0.421716108247,0.0045899562058,0.0700257469869,0.99999999192,0.000109665663809,4.03219850645e-05,-5.00696309866e-05,1793243205450238464
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.746526217,714,680.253473783,661,634.253473783,879,786.746526217,805.253473783,652,631,652.746526217,0.422573177995,0.00457300631665,0.070004917083,0.9999999951,8.52651644041e-05,4.71334217421e-06,-5.00708341719e-05,1793243205466905344
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.170308043,714,680.829691957,661,634.829691957,879,786.170308043,805.829691957,652,631,652.170308043,0.423396177487,0.00456372921714,0.0699464079978,0.999999993009,5.68565502114e-05,-9.06981149167e-05,-5.02383095813e-05,1793243205483571968
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680.594488311,660.594488311,634.594488311,879,786,805.594488311,652,631,652,0.424233489572,0.00456957000181,0.069894207669,0.999999983191,6.50066201748e-05,-0.000162841940513,-5.36184123565e-05,1793243205500238848
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680.018835789,660.018835789,634.018835789,879,786,805.018835789,652,631,652,0.425076806754,0.00458175380867,0.0698446543132,0.999999969019,8.84956453416e-05,-0.000225223343112,-5.83464394473e-05,1793243205516905472
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.570862991,634,879,786.570862991,805,651.429137009,631,652,0.42600191482,0.0045845141319,0.0698972094075,0.999999984042,8.77400138399e-05,-0.00014499236595,-5.65251204872e-05,1793243205533572096
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.841586018,634,879,786.841586018,805,651.158413982,631,652,0.426934718072,0.0045881026494,0.0699503960107,0.999999992206,8.89977685249e-05,-6.86131712218e-05,-5.44103698197e-05,1793243205550238464
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.261024763,634,879,786.261024763,805,651.738975237,631,652,0.427880654636,0.00459474764929,0.0699960609041,0.999999993742,9.78064048298e-05,-1.53541553424e-05,-5.21040640123e-05,1793243205566905088
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.31569792,634.31569792,879,786.31569792,805.31569792,652,631,652,0.428830752444,0.00459826022999,0.0700280664385,0.999999992482,0.000105535754932,3.43833027479e-05,-5.21202258115e-05,1793243205583571968
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.889284901,634.889284901,879,786.889284901,805.889284901,652,631,652,0.429784249465,0.00459921398245,0.0700489138379,0.999999988925,0.000112383451322,8.12440486052e-05,-5.40335778886e-05,1793243205600238848
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661.949837714,634.525081143,879.474918857,786.525081143,805.525081143,652,631,652,0.430623560493,0.00459901301664,0.0700201670136,0.999999992471,0.00010523325257,3.19938776334e-05,-5.44069546543e-05,1793243205616905472
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680.062473805,662.812578586,634,880,786.062473805,805.062473805,652,631,652,0.43143266816,0.00459844465495,0.0699762598621,0.999999992806,9.67015939868e-05,-4.54441690129e-05,-5.45035935735e-05,1793243205633572096
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680.642077435,661.073767694,634,880,786.642077435,805.642077435,652,631,652,0.432217844743,0.00459712140709,0.069905055027,0.999999979249,0.000104449561883,-0.000165916678329,-5.53585517534e-05,1793243205650238720
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.22108074,634.22108074,880,786.77891926,806,651.77891926,631,652,0.433066773611,0.00459283437584,0.0698804976303,0.99999997288,0.000101582231123,-0.000201910955356,-5.61499682336e-05,1793243205666905344
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.799114859,634.799114859,880,786.200885141,806,651.200885141,631,652,0.434018636007,0.00458376206774,0.0699312564204,0.999999989905,8.15756136323e-05,-0.000101508068298,-5.68387920996e-05,1793243205683571968
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681,661.373052951,634.626947049,880,786.373052951,806,651,631,652,0.434938695651,0.00457772128816,0.069978985203,0.999999995587,7.2097977805e-05,-2.15086058303e-05,-5.62632660603e-05,1793243205700239360
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681,661.944809296,634.055190704,880,786.944809296,806,651,631,652,0.43584181578,0.00457329522629,0.0700251000757,0.999999995025,6.8228513228e-05,4.7623144706e-05,-5.50142950446e-05,1793243205716907008
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681,661.464638586,634,879.464638586,787,806,651.535361414,631,652,0.436682144155,0.00457574375967,0.0700308191148,0.999999993841,7.41784988425e-05,6.05802305564e-05,-5.60809286209e-05,1793243205733573120
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681,661.125082135,634,879.125082135,787,806,651.874917865,631,652,0.437503507537,0.00457866996187,0.0700244567568,0.999999993653,7.79481142478e-05,5.76120391314e-05,-5.74418192396e-05,1793243205750239232
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,681,661.70448893,634,879.70448893,787,806,651.29551107,631,652,0.43828035371,0.00458066332513,0.0699898886806,0.999999995639,6.99875193529e-05,1.85996572743e-05,-5.89728937512e-05,1793243205766906112
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.718219564,745,714,681,661.718219564,634,880,787,805.718219564,651.281780436,631,652,0.439019190896,0.0045819627996,0.0699431858125,0.999999994358,7.08824946739e-05,-5.24084086599e-05,-5.92667931293e-05,1793243205783572992
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.143129928,745,714,681,661.143129928,634,880,787,805.143129928,651.856870072,631,652,0.439718463945,0.00458253999541,0.0698838516718,0.999999982741,8.09953570158e-05,-0.00015672122736,-5.82728990844e-05,1793243205800239104
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.430045828,745,714,681,660.569954172,634,880,786.569954172,805.430045828,651.569954172,631,652,0.440480688333,0.00458409551561,0.0698717211263,0.999999980522,8.04314385817e-05,-0.000170346507819,-5.89031050851e-05,1793243205816905728
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.005379024,634,880,786.002689512,806,651,631,652,0.441263862555,0.0045859619308,0.069875567807,0.999999983509,7.63050998172e-05,-0.000153468098222,-6.0062058593e-05,1793243205833572096
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,681,661.195623481,634,880,786.59781174,806,651,631,652,0.442067045385,0.00458490460546,0.0699534943847,0.999999995357,6.67452466165e-05,-3.65061255412e-05,-5.91507453264e-05,1793243205850238720
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,681,661.81327545,634,880,787,806,651.18672455,631,652,0.4428358878,0.00458418128465,0.0700126447423,0.999999995074,6.33855213584e-05,4.93640732865e-05,-5.827939076e-05,1793243205866905344
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681,661.237306627,634,880,787,806,651.762693373,631,652,0.443533144653,0.00458415422644,0.0700326543796,0.999999993207,7.29505253758e-05,7.04206681865e-05,-5.74913349644e-05,1793243205883572224
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.661957458,745.338042542,714,681,661.338042542,634,880,787,806,651.661957458,631,651.661957458,0.444192610952,0.00458286486139,0.0700249822062,0.9999999941,7.71647774338e-05,5.0795488196e-05,-5.71370708768e-05,1793243205900239104
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.087042527,745.912957473,714,681,661.912957473,634,880,787,806,651.087042527,631,651.087042527,0.4448255967,0.00458069097562,0.0699979128974,0.999999995354,7.76296622474e-05,2.66386755858e-06,-5.708677227e-05,1793243205916905728
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,745.498279154,714,681.501720846,662,634,880.501720846,787,806,651,631,651.501720846,0.445438710661,0.00458006429182,0.0699763909533,0.999999994634,8.32415481585e-05,-2.49555731694e-05,-5.63833558928e-05,1793243205933572608
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,745.091140734,714,682,661.908859266,634,880.908859266,787,806,651,631.091140734,652,0.446040725338,0.00458056615333,0.0699572393832,0.999999993301,8.97146415825e-05,-4.72223957106e-05,-5.58475604713e-05,1793243205950239488
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,745.670835612,714,682,661.329164388,634,880.329164388,787,806,651,631.670835612,652,0.446602247761,0.00458563781483,0.0699454887258,0.999999991963,9.58817521245e-05,-6.04140562605e-05,-5.68349081528e-05,1793243205966905856
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.248127087,745.751872913,713.751872913,682,661,634,880.248127087,787,806,651,632,652,0.447131602268,0.00458960738812,0.0699306000183,0.999999989305,0.000102504840998,-8.74469957158e-05,-5.68900282405e-05,1793243205983572480
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.822260758,745.177739242,713.177739242,682,661,634,880.822260758,787,806,651,632,652,0.447618692291,0.00459212896104,0.0699115883237,0.999999983628,0.000109727025228,-0.000132665566684,-5.57203228781e-05,1793243206000239360
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,713.396839939,682,660.206320123,634,880.603160061,787,806,651.396839939,631.603160061,652,0.44810100111,0.00459387236787,0.0698938832879,0.999999978379,0.000117440104429,-0.000162595115324,-5.48874330289e-05,1793243206016906496
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,713.971618931,682,659.056762137,634,880.028381069,787,806,651.971618931,631.028381069,652,0.448581166126,0.00459526685304,0.0698767641432,0.999999973435,0.000125373296657,-0.000185669223426,-5.42055677869e-05,1793243206033573632
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.43625113,745,714,682,659,634,880.56374887,787,806,651.43625113,631.56374887,652,0.449055809175,0.00459923023198,0.0698889541331,0.999999976155,0.000129600387378,-0.000166999421999,-5.48134231126e-05,1793243206050240256
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.151821241,745,714,682.151821241,658.848178759,634,880.848178759,787,806,651.151821241,631.848178759,652,0.449517018154,0.0046028280985,0.0699013049787,0.999999978591,0.000133432232777,-0.000148192645437,-5.52603448803e-05,1793243206066906880
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.726095507,745,714,682.726095507,658.273904493,634,880.273904493,787,806,651.726095507,631.273904493,652,0.449941644125,0.00460503761381,0.0699098672959,0.999999980022,0.000136699934179,-0.000135038074265,-5.50730516059e-05,1793243206083573504
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.698236979,745,713.698236979,682.698236979,658,633.698236979,880,787,806.301763021,651.698236979,631,651.698236979,0.450320326187,0.00460669279162,0.0699032064951,0.999999978121,0.000138757202227,-0.000146398515712,-5.54199113717e-05,1793243206100239872
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.121299009,745,713.121299009,682.121299009,658,633.121299009,880,787,806.878700991,651.121299009,631,651.121299009,0.450657112391,0.00460784247397,0.0698826638712,0.999999972438,0.000139710686831,-0.000180113974455,-5.62538603977e-05,1793243206116906240
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,745,713.463992015,682.463992015,658,633.463992015,880,787,806.536007985,651.463992015,631,651.463992015,0.450963973658,0.00461075775488,0.0698526545418,0.999999963649,0.00013614072419,-0.000225412671859,-5.79461519542e-05,1793243206133573120
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,745,713.949062558,682.949062558,657.949062558,633.949062558,880,786.949062558,806,651.949062558,631,652,0.451261081181,0.00461431072586,0.0698212979695,0.999999953007,0.000128298210286,-0.000271971013943,-5.96466446448e-05,1793243206150240000
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,745,713.368041795,682.368041795,657.368041795,633.368041795,880,786.368041795,806,651.368041795,631,652,0.451539590077,0.00461960842973,0.0698021478526,0.999999949474,8.85249409165e-05,-0.000299547654311,-5.90545268723e-05,1793243206166905856
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.210370937,745.210370937,713.210370937,682,656.789629063,633,880,786,806,651,631,652,0.451812948634,0.00462380267066,0.0697900064164,0.999999946249,7.10530817113e-05,-0.000314899109586,-5.73814119946e-05,1793243206183572224
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.78427676,745.78427676,713.78427676,682,656.21572324,633,880,786,806,651,631,652,0.452077407035,0.00462609005411,0.0697899764457,0.999999946529,9.21195378532e-05,-0.000309124634926,-5.38402628982e-05,1793243206200239104
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.64116675,713.64116675,682,656,633,880,786,806,651,631,652,0.452318368331,0.00462757770292,0.0697913959477,0.999999946594,0.00010850631994,-0.000304011466021,-5.11491054892e-05,1793243206216905984
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.066218326,713.066218326,682,656,633,880,786,806,651,631,652,0.452545178008,0.00462858369427,0.0697936884263,0.999999946561,0.000122074667992,-0.000299296582428,-4.89698738281e-05,1793243206233573120
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+214,3.566666667,POSE1_TO_POSE2_PRESS,764,745,714,682,655.881684058,632.881684058,880,786.118315942,806,652,631,652,0.452902012021,0.00463323121529,0.0697719029121,0.999999933554,0.000134023462886,-0.000335208216511,-5.0654139563e-05,1793243206266906112
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,745,714,682,655.304862883,632.304862883,880,786.695137117,806,652,631,652,0.453052682075,0.00463500083059,0.0697620261204,0.999999928126,0.000135078244045,-0.00035038799523,-5.22595529796e-05,1793243206283572480
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,745,714,682,655,632,880,786.728416739,806,651.728416739,631,652,0.453196778185,0.00463608834414,0.0697583833081,0.999999925659,0.000136401874261,-0.000356715944448,-5.31946407479e-05,1793243206300238848
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.44849976,682.44849976,654,632,880,786,805.55150024,651.44849976,631,651.55150024,0.453834728826,0.00464573209021,0.0696707900885,0.999999862745,0.000154401664379,-0.000497986163756,-5.17719352227e-05,1793243207370891264
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.86286454,745,713,682,654,632,880,786,806.13713546,651,631,652,0.453766746658,0.00464520828717,0.0696563787045,0.999999852423,0.000156373956799,-0.000517778742637,-5.10431836963e-05,1793243207387558144
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.283224001,745,713,682,654,632,880,786,806.716775999,651,631,652,0.453690025203,0.00464590867006,0.0696490210672,0.999999846267,0.000160816296132,-0.00052832316199,-4.97891196591e-05,1793243207404224512
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,745,713,682.29606141,653.70393859,632,880,786,806.70393859,651,631,652,0.453605304073,0.00464646338115,0.0696448216913,0.99999984255,0.000163248770884,-0.00053468119642,-4.86462108633e-05,1793243207420891136
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,745,713,682.875007464,653.124992536,632,880,786,806.124992536,651,631,652,0.453512939312,0.0046468789038,0.069643640013,0.999999841252,0.000163760833582,-0.000537039168225,-4.76095102167e-05,1793243207437558016
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.446711209,745,713,682.553288791,653,632,880.446711209,786.446711209,806,651.446711209,631,652,0.453399842412,0.00464654551226,0.0696406975389,0.999999838975,0.00016563690292,-0.00054085249116,-4.575347798e-05,1793243207454224640
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713,682,653.017111992,632,880.982888008,786.982888008,806,652,631,652,0.453279891753,0.00464598219999,0.0696371591321,0.999999836282,0.000167895911509,-0.000545289103094,-4.36564531701e-05,1793243207470891264
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713.19969321,682,654,632,880,786,806,652,631,652,0.452954539676,0.0046442887625,0.0696240965681,0.999999823548,0.000174027433306,-0.000566692822921,-3.84283599484e-05,1793243207504224256
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,713.644205697,682,654.355794303,632,880.355794303,786,806,652,631,652,0.452570482806,0.00464633518721,0.0696166255757,0.999999814334,0.000184185252316,-0.000579941493486,-3.27870791068e-05,1793243207537557760
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,713.069970172,682,654.930029828,632,880.930029828,786,806,652,631,652,0.452357331768,0.00464600322218,0.0696110772186,0.999999807475,0.000187769643572,-0.000590696679677,-2.94875457914e-05,1793243207554224384
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,713.501945591,682.501945591,655,632,880.498054409,786.501945591,806,652,631,652,0.452114996313,0.00464398958521,0.0696098829177,0.999999803956,0.000191241906923,-0.000595734394628,-2.47861326198e-05,1793243207570891008
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,655,632.076723139,880.076723139,786.923276861,806,651.923276861,631,652,0.451862448129,0.00464219757671,0.0696097159263,0.999999801029,0.000195420382309,-0.000599464234013,-1.98741429892e-05,1793243207587557632
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,655,632.673062707,880.673062707,786.326937293,806,651.326937293,631,652,0.451568158852,0.00464348691572,0.0696124148026,0.999999799157,0.000204487134629,-0.00059970930405,-1.48534078923e-05,1793243207604224512
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.738768828,655.261231172,632.738768828,880.738768828,786,806,651.261231172,631,652,0.45126132316,0.0046458781686,0.069616487453,0.999999798989,0.000214336961566,-0.000596634299314,-1.04809852349e-05,1793243207620891136
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.160516566,655.839483434,632.160516566,880.160516566,786,806,651.839483434,631,652,0.450939261589,0.00464960666586,0.0696222272676,0.99999980086,0.000225137100155,-0.000589530166933,-6.89533237308e-06,1793243207637558016
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,713.585255654,682,656,632.414744346,880,786.414744346,806,652,631,652,0.450590834347,0.00466412309077,0.0696298749169,0.999999800261,0.0002477692246,-0.000581426268901,-5.62636800644e-06,1793243207654224640
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,713.011144192,682,656,632.988855808,880,786.988855808,806,652,631,652,0.450232276001,0.00468278481841,0.0696382556588,0.999999798059,0.000274947834847,-0.000572938206845,-5.24760021078e-06,1793243207670891264
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.578420797,713.578420797,682.578420797,656.578420797,633,879.421579203,787,806.578420797,651.421579203,631,652,0.449847858014,0.00466212770098,0.0696488229719,0.999999810787,0.000257100248293,-0.00055886149433,7.3828782594e-08,1793243207687557888
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.834741143,714,682.834741143,657,633,879.165258857,787,806.834741143,651,631,651.834741143,0.449449105735,0.00463907882897,0.0696636400643,0.999999827792,0.000236843781447,-0.000536918734848,6.19470451588e-06,1793243207704224512
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.255500584,714,682.255500584,657,633,879.744499416,787,806.255500584,651,631,651.255500584,0.44901572774,0.00461198826189,0.0696889946359,0.999999854478,0.000212785737876,-0.000495548269735,1.40731338264e-05,1793243207720891136
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,764.101560642,745,714,682,657.898439358,633.898439358,880,787,806,651,631,651.898439358,0.448063875117,0.00461897736748,0.0697136861603,0.999999872098,0.000214998348418,-0.000457477857388,1.71330659301e-05,1793243207754224384
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,745.482932607,714,682,658,633.517067393,880.482932607,787,806,651.482932607,631,652,0.447537996664,0.00461390012677,0.0697090591716,0.99999987583,0.000181474285105,-0.000463968290702,1.18632043432e-05,1793243207770891264
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.648183049,745.351816951,713.351816951,682,658.648183049,633.648183049,880.351816951,787,806,652,631,652,0.446419931525,0.00459992640685,0.069704551548,0.999999884693,0.000132866169405,-0.000461382741201,9.27410729813e-06,1793243207804224512
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713.227247441,682,659,634,880,786.772752559,806,652,631,652,0.445840531428,0.00459727838591,0.069722468978,0.999999900793,0.000124537266501,-0.000427511642015,1.1718742005e-05,1793243207820891392
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713.80521746,682,659,634,880,786.19478254,806,652,631,652,0.445260190077,0.00459916515308,0.069765166175,0.999999928828,0.000118763145615,-0.000357839779075,1.37907738024e-05,1793243207837558016
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713.612446097,682,659.775107807,634,880,786,806,651.612446097,631,652,0.444649445736,0.00459381033714,0.0697971924919,0.999999947538,0.000103382167613,-0.000306527556326,1.66318715016e-05,1793243207854224640
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,713.027890124,682,660.944219753,634,880,786,806,651.027890124,631,652,0.444023246913,0.00458477446709,0.0698237945673,0.999999961356,8.31178155855e-05,-0.00026454793971,1.98639020395e-05,1793243207870891264
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714.103292564,682,659.896707436,634,879.448353718,786.551646282,806,651,631,651.448353718,0.443306210047,0.00458589149252,0.0698227519179,0.99999996026,7.37485656427e-05,-0.000271262558737,2.13876390888e-05,1793243207887557888
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714.868962237,681.868962237,659,634,879,787,806,651.131037763,631,651.131037763,0.442576425476,0.00458687113609,0.0698186424652,0.999999957947,6.30948002415e-05,-0.000282161640415,2.25976994698e-05,1793243207904224512
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714.289205962,681.289205962,659,634,879,787,806,651.710794038,631,651.710794038,0.441818573319,0.00458563843611,0.0698087741391,0.999999953958,4.61731742756e-05,-0.000299035447376,2.30267089308e-05,1793243207920891136
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.289045693,659.578091386,634,879.289045693,786.710954307,806,652,631,652,0.441058459768,0.00458143042269,0.0698115640677,0.999999957403,3.67847595466e-05,-0.000288492403086,2.47772563386e-05,1793243207937558016
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.865799759,660.731599518,634,879.865799759,786.134200241,806,652,631,652,0.440296095196,0.00457426086148,0.0698269536842,0.999999967588,3.48947003084e-05,-0.000250659358154,2.78432274055e-05,1793243207954224640
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.559033509,661,634.440966491,879.559033509,786.440966491,806,651.559033509,631,652,0.43946788243,0.00457348748107,0.0698078965281,0.999999950395,0.000133191076451,-0.000284100013959,2.75140697285e-05,1793243207970891008
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764.983919219,745,714,681,660.967838438,634.983919219,879,786.983919219,805.983919219,651,631,652,0.438619683047,0.00457450956035,0.0697779309867,0.999999908854,0.000257630507214,-0.000339458284776,2.61937467166e-05,1793243207987557632
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764.393484635,745,714,681,659.78696927,634.393484635,879,786.393484635,805.393484635,651,631,652,0.43777081114,0.00457038409146,0.0697314381958,0.999999890746,0.000230719365299,-0.000405694135485,2.62440753422e-05,1793243208004224512
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,745,714,681,659.385927368,634,879,786,805,651,631,652,0.436929585392,0.00456552564863,0.0697113379743,0.999999885197,0.000202884680172,-0.000433254387626,2.70954908404e-05,1793243208020891392
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,745,714,681,660.542895684,634,879,786,805,651,631,652,0.43610363589,0.00455920280374,0.0697439672418,0.99999991101,0.000173204859146,-0.00038354499468,2.95473910282e-05,1793243208037557760
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764.347417888,745,714,681,660.652582112,634,879,786.347417888,805.347417888,651,631,652,0.435261864189,0.00455459683941,0.0697858258178,0.999999936236,0.000145151230526,-0.000324757127478,3.15006028196e-05,1793243208054224384
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764.921745862,745,714,681,660.078254138,634,879,786.921745862,805.921745862,651,631,652,0.434409758521,0.00455111222667,0.0698337123586,0.99999995866,0.000118159722649,-0.000260039810376,3.31281045914e-05,1793243208070891264
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.504111075,634,879,786.504111075,805.504111075,651.495888925,631,652,0.433539404686,0.00454430312771,0.0698459476981,0.999999964813,9.6958338477e-05,-0.000244596577116,3.38432529399e-05,1793243208087558144
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.927739799,659.144520401,634,879.072260201,786.072260201,805.072260201,652,631,652,0.432663194941,0.00453738136198,0.0698510672074,0.999999967688,8.13982171194e-05,-0.000238361720221,3.43820375113e-05,1793243208104224768
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.335112743,660.329774513,634,879.664887257,786.664887257,805.664887257,652,631,652,0.431765545107,0.00453342480996,0.0698454426593,0.999999965015,9.98850142115e-05,-0.000242464608196,3.46871916701e-05,1793243208120891648
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,634,880,787,805.750925598,652,631,652,0.43082083611,0.00452946730002,0.0698097931639,0.999999949575,0.000104751992394,-0.000297737635384,3.5056931886e-05,1793243208137558272
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,634,880,787,805.177721537,652,631,652,0.429814887171,0.00452550854296,0.069735071102,0.999999907115,9.18950018132e-05,-0.000419600240489,3.55107199872e-05,1793243208154224896
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.400016391,660.199967217,634,879.599983609,786.599983609,805,652,631,652,0.42887452208,0.00451844715988,0.069728420506,0.999999904286,8.23135507885e-05,-0.000428314521361,3.46330653606e-05,1793243208170891520
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.97979171,659.04041658,634,879.02020829,786.02020829,805,652,631,652,0.427963629046,0.00450999152236,0.0697523597951,0.999999922129,7.4204059162e-05,-0.000386182326471,3.31570885375e-05,1793243208187558400
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,744.430697824,714,680.430697824,660.707906528,634.569302176,879,786.569302176,805,652,631,652,0.427122502796,0.00450747093024,0.0698199421776,0.999999957097,6.63061055487e-05,-0.000283051660461,3.5924301887e-05,1793243208204224768
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.879772134,634,879,786.060113933,805,652,631,652,0.421486708301,0.0044682337249,0.0696844902243,0.999999854546,4.0846700886e-05,-0.000536348220025,3.96150646613e-05,1793243208304224256
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.728383229,634,879,786.635808385,805,652,631,652,0.420654098254,0.00445780609152,0.0697146370159,0.99999988841,1.0776684102e-05,-0.0004708724971,3.66509901877e-05,1793243208320891392
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.428170189,634,879,787,805,652,631,652,0.419842287171,0.00444915094892,0.0697632192014,0.999999926078,-8.35782970976e-06,-0.000382801212461,3.51622898462e-05,1793243208337558016
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.593616691,634,879,787,805,652,631,652,0.419066290177,0.00444354789819,0.0698435457301,0.999999966584,-8.66224863208e-06,-0.000255822086892,3.6214070306e-05,1793243208354224384
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.629791044,634.370208956,879.370208956,787,805,651.629791044,631,652,0.418252934695,0.00443489605871,0.0698755269715,0.999999976465,-1.33123052108e-05,-0.000213106935444,3.84432656465e-05,1793243208370891008
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.061381575,634.938618425,879.938618425,787,805,651.061381575,631,652,0.41741957847,0.00442461197517,0.0698816253637,0.99999997572,-2.02889063319e-05,-0.000215504593729,4.13028192877e-05,1793243208387557888
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.468382919,659.468382919,634.468382919,880,787,805,651.531617081,631,652,0.416564485075,0.00441730571713,0.0698452424933,0.999999966142,-3.97640935811e-05,-0.000254216633261,3.88312699003e-05,1793243208404224512
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745.123551414,714,679.123551414,659.123551414,634,879.876448586,787,804.876448586,652,631,652,0.41570915119,0.00441164826293,0.0698063788773,0.999999952918,-5.24904579316e-05,-0.000300124294629,3.65196387021e-05,1793243208420891136
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745.700651038,714,679.700651038,659.700651038,634,879.299348962,787,804.299348962,652,631,652,0.414862594692,0.00441072007776,0.0697772876418,0.999999935223,-3.48879138087e-05,-0.000356308154552,3.71642408708e-05,1793243208437557760
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.724339983,745.724339983,714,680,659.448679965,634,879,787,804.275660017,651.724339983,631,652,0.414054870999,0.00442106739317,0.0697579000062,0.999999920866,-1.92986308044e-05,-0.000395539344432,3.80104268736e-05,1793243208454224384
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.151584256,745.151584256,714,680,658.303168512,634,879,787,804.848415744,651.151584256,631,652,0.413288999858,0.00444356700725,0.0697489705371,0.999999912483,-5.87916401416e-06,-0.000416499599189,3.90738721862e-05,1793243208470891008
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764.435559481,745,714,680,658.871118963,634,879,786.564440519,804.564440519,651.435559481,631,652,0.412613097996,0.00446631831727,0.0697894183444,0.999999941745,1.8044778014e-05,-0.000338781610991,3.75564375647e-05,1793243208487557632
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.02728217,634,879,786.02728217,804.02728217,652,631,652,0.411968818691,0.00448751720283,0.0698462478937,0.999999972171,4.41178841847e-05,-0.000229062636852,3.52540922815e-05,1793243208504224256
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.606868466,634,879,786.606868466,804.606868466,652,631,652,0.411309187748,0.0044754546696,0.0698749443813,0.999999980523,3.71623811483e-05,-0.000190489975614,3.58664400449e-05,1793243208520890880
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.815653077,660.631306155,634,879,786.815653077,804.815653077,652,631,652,0.410641497271,0.00446533213321,0.0698836842622,0.999999982264,2.75261782618e-05,-0.000182724237834,3.6424683647e-05,1793243208537557504
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.2426188,659.4852376,634,879,786.2426188,804.2426188,652,631,652,0.4099568135,0.0044592999923,0.0698503465234,0.999999970466,1.22378367143e-05,-0.00023991353219,3.68688511389e-05,1793243208554224384
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.332480059,659.332480059,634.332480059,879.332480059,786.332480059,804.332480059,652,631,652,0.409296261421,0.00445691652805,0.0698133385457,0.999999953445,1.11929910362e-05,-0.000302795665931,3.60618792936e-05,1793243208570891264
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.909094872,659.909094872,634.909094872,879.909094872,786.909094872,804.909094872,652,631,652,0.408653428894,0.00445721222869,0.0697736355727,0.999999930801,2.06069159693e-05,-0.000369857955971,3.43362158842e-05,1793243208587558400
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745.495993768,714,680.495993768,660,635,879.504006232,786.504006232,805,652,631,652,0.408082574487,0.00445641451986,0.069774110532,0.999999933648,1.45167926817e-05,-0.000362466428503,3.33374612608e-05,1793243208604225024
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745.916425983,714,680.916425983,660,634.916425983,879,786,805,652,631,652,0.407531953343,0.00445670264744,0.0697840163917,0.999999941471,7.48674029028e-06,-0.000340484189841,3.27335360512e-05,1793243208620891392
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745.336234373,714,680.336234373,660,634.336234373,879,786,805,652,631,652,0.407021512989,0.00446465911779,0.0698052792154,0.999999949872,1.21141858529e-05,-0.000314603953249,3.36673554921e-05,1793243208637558016
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.758074585,745,714,679.758074585,659.758074585,634.241925415,878.758074585,786,805,652,631,652,0.406517775533,0.00447277685326,0.0698153960507,0.9999999523,2.74748589589e-05,-0.000305711212632,3.44309295621e-05,1793243208654224640
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.182715206,745,714,679.182715206,659.182715206,634.817284794,878.182715206,786,805,652,631,652,0.406023276398,0.00448111685188,0.0698101509138,0.999999946454,5.76286140782e-05,-0.000320231508739,3.49598626876e-05,1793243208670891776
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.39072448,745,714,679.39072448,659,635,878,786.39072448,804.60927552,652,631,652,0.405577790881,0.00448259587089,0.0698084080162,0.999999944785,5.95183157501e-05,-0.000325132291103,3.42952354837e-05,1793243208687558912
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.963270896,745,714,679.963270896,659,635,878,786.963270896,804.036729104,652,631,652,0.405155113596,0.00448088216365,0.06980829487,0.999999945295,4.82554658845e-05,-0.000325556675985,3.30751902324e-05,1793243208704225792
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.554652035,635,878.554652035,786.445347965,804.554652035,652,631,652,0.404784898122,0.00447806859649,0.0698264220974,0.999999957087,3.47380354412e-05,-0.00028912731617,3.20138818489e-05,1793243208720892416
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.856177335,660.143822665,634.856177335,879,786.143822665,805,652,631,652,0.404423178395,0.00447531927393,0.0698428029326,0.999999966272,2.29329351435e-05,-0.000256819910041,3.1203965223e-05,1793243208737559040
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.277591546,660.722408454,634.277591546,879,786.722408454,805,652,631,652,0.404076269648,0.00447299206264,0.0698501249248,0.999999969458,1.67712339078e-05,-0.000244609404472,3.11210909077e-05,1793243208754225152
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.297144182,660.702855818,634,879,787,805,652,631,652,0.403746447122,0.00446986325466,0.0698492982069,0.999999969503,7.99779382715e-06,-0.000244944413264,3.05460083256e-05,1793243208770891776
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.868329165,660.131670835,634,879,787,805,652,631,652,0.403432382361,0.00446599517544,0.0698409563523,0.999999966573,-3.18431832201e-06,-0.00025684950556,2.95169873715e-05,1793243208787558912
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.57311204,745,714,680,660,634.42688796,879,787,805,652,631,652,0.403140411906,0.00446464080115,0.0698325961049,0.999999962191,-1.1947114799e-05,-0.000273189033908,2.9044023109e-05,1793243208804225280
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.018335841,745,714,680,660,634.981664159,879,787,805,652,631,652,0.402855060528,0.00446403948939,0.0698242303476,0.999999957088,-1.99851260035e-05,-0.000290857042192,2.87376438097e-05,1793243208820891648
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.601784171,745,714,680,659.398215829,635,879,786.398215829,805,652,631,651.398215829,0.402604171989,0.0044639843342,0.0698150874276,0.999999952496,-2.45663338911e-05,-0.00030588870396,2.89278883588e-05,1793243208837558528
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.794248008,745,714,680,659.205751992,635,879,786.205751992,804.794248008,652,631,651.205751992,0.402373048983,0.0044648037724,0.0698082131302,0.999999949031,-2.55143633415e-05,-0.000316888628379,2.94787073036e-05,1793243208854225152
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.222945301,745,714,680,659.777054699,635,879,786.777054699,804.222945301,652,631,651.777054699,0.402174949748,0.00446714389654,0.0698054165927,0.999999947842,-2.02174022973e-05,-0.000320885634747,3.06399846974e-05,1793243208870891776
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.351896018,745,714,679.648103982,660,634.648103982,878.648103982,787,804,652,631,652,0.401997346919,0.00447309186942,0.0698054027099,0.999999947883,-8.20860805159e-06,-0.000321140456823,3.21882192296e-05,1793243208887558656
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.929002072,745,714,679.070997928,660,634.070997928,878.070997928,787,804,652,631,652,0.401832861572,0.00448134883069,0.0698071696988,0.999999948509,8.0956947941e-06,-0.000319000317618,3.3984102681e-05,1793243208904225024
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.47947639,745,714,679.52052361,660,634.52052361,878.52052361,786.47947639,804.52052361,652,631,652,0.401696323517,0.00449926756245,0.0698083909866,0.999999945363,9.02916521997e-05,-0.000316148235438,3.42268632708e-05,1793243208920891648
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.110941057,745,714,679.889058943,660,634.889058943,878.889058943,786,805,652,631,651.889058943,0.401568564219,0.00451439482572,0.0698095279644,0.999999937487,0.000161024935013,-0.000312955500287,3.39837728661e-05,1793243208937558528
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.688217336,745,714,679.311782664,660,634.311782664,878.311782664,786,805,652,631,651.311782664,0.4014612263,0.00451209104947,0.0698106323328,0.999999941333,0.000144721200661,-0.000308750666349,3.26142613369e-05,1793243208954225152
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.74430296,634.25569704,878,786.25569704,805,652,631,651.25569704,0.401365054027,0.00450753841174,0.0698104152279,0.999999945883,0.000114019361375,-0.000307378571781,2.74147429612e-05,1793243208970891776
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.188327906,634.811672094,878,786.811672094,805,652,631,651.811672094,0.401281994147,0.00450034482196,0.0698086462499,0.999999949794,6.64090974456e-05,-0.000309333106636,1.77174531823e-05,1793243208987558144
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.605413512,745,714,679.394586488,659.394586488,634.605413512,878,786.605413512,804.605413512,652,631,652,0.401215339951,0.00450106340334,0.0698100260689,0.999999951059,5.54298277304e-05,-0.000307543850038,1.50545891023e-05,1793243209004225024
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.008699411,745,714,679.991300589,659.991300589,634.008699411,878,786.008699411,804.008699411,652,631,652,0.401157089599,0.00450583500834,0.0698130188646,0.999999951716,6.32148498157e-05,-0.000303836829947,1.59951220924e-05,1793243209020891904
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.587505517,745,714,679.412494483,659.412494483,634,878,786,804.587505517,652,631,652,0.401114632408,0.00450264456434,0.0698147685846,0.999999952935,5.94191059843e-05,-0.000300492244098,1.74531209157e-05,1793243209037558528
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.177178349,659,634.177178349,878,786.177178349,804.822821651,652,631,652,0.401077392783,0.00449982080242,0.0698169192924,0.999999954394,5.57908506434e-05,-0.000296227064224,1.86530031212e-05,1793243209054225152
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.752200564,659,634.752200564,878,786.752200564,804.247799436,652,631,652,0.401051344257,0.00449808490641,0.0698200116903,0.999999956398,5.29233983406e-05,-0.000289882703307,1.92561086207e-05,1793243209070891264
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.67344823,659.32655177,635,878.32655177,786.67344823,804.32655177,652,631,652,0.401029321609,0.00449861098788,0.0698219670688,0.999999957223,5.40980946593e-05,-0.000286776684901,1.96708083636e-05,1793243209087558144
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.099605105,659.900394895,635,878.900394895,786.099605105,804.900394895,652,631,652,0.401010347679,0.00450085002108,0.0698230614049,0.999999957167,5.83338318292e-05,-0.000286123000122,1.99428321265e-05,1793243209104225024
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,635,879,786,805,651.51021678,631,652,0.400997637967,0.00450126774393,0.0698238824193,0.999999957399,5.9344130862e-05,-0.000285102422973,1.9938166121e-05,1793243209120891648
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.080648538,660,634.919351462,878.919351462,786,804.919351462,651.080648538,631,652,0.400987307693,0.00450131016999,0.0698247724189,0.999999957808,5.95703767381e-05,-0.000283620558919,1.98824999359e-05,1793243209137558272
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.660447832,660,634.339552168,878.339552168,786,804.339552168,651.660447832,631,652,0.400983561205,0.00450139738394,0.0698264446817,0.999999958921,5.91368015506e-05,-0.000279760627704,1.98708606333e-05,1793243209154224896
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.763427123,660,634,878,786,804,652,631,651.763427123,0.400980757289,0.00450129836214,0.069827908791,0.999999959691,5.85894235525e-05,-0.00027711035814,1.9886170069e-05,1793243209170891776
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.192495096,660,634,878,786,804,652,631,651.192495096,0.400979285555,0.00450093612491,0.0698290787074,0.999999959991,5.78812029209e-05,-0.000276169758343,1.99395673764e-05,1793243209187558144
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.381353022,659.618646978,634.381353022,878.381353022,786,804.381353022,652,631,651.381353022,0.400978392368,0.00450138016251,0.0698303480604,0.99999996045,5.78866547406e-05,-0.000274504810786,1.98821841764e-05,1793243209204224768
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.956684416,659.043315584,634.956684416,878.956684416,786,804.956684416,652,631,651.956684416,0.400977793463,0.00450223431848,0.0698316679926,0.999999960987,5.82551219835e-05,-0.000272471417771,1.97684515523e-05,1793243209220891392
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634,878.858285922,786,804.858285922,652,631,652,0.400976096611,0.00450039653748,0.0698319057209,0.999999961213,5.43580712946e-05,-0.000272434848335,1.99541197288e-05,1793243209254224896
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..80326f56dfa38c986ab13de57d1c0312f1a99b24
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_04/simulation_data.csv
@@ -0,0 +1,410 @@
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+383,6.383333333,pose2_to_pose3_retreat,0.580766086377,0.010001937976,1.06004086568,0.551337804235,0.0186767602887,1.05967866154
+384,6.400000000,pose2_to_pose3_retreat,0.580757952292,0.0100018751937,1.06004094169,0.551329671964,0.0186767037084,1.05967873866
+385,6.416666667,pose2_to_pose3_retreat,0.580752867795,0.0100017945967,1.06004092276,0.5513245885,0.0186766264939,1.05967871687
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+388,6.466666667,pose2_to_pose3_retreat,0.580747285608,0.010001715021,1.06004076584,0.551319006563,0.0186765477347,1.05967855926
+389,6.483333333,pose2_to_pose3_retreat,0.580746577181,0.0100017873891,1.06004078255,0.55131829752,0.0186766181281,1.05967857867
+390,6.500000000,pose2_to_pose3_retreat,0.580746530598,0.0100017921476,1.06004078365,0.551318250897,0.0186766227567,1.05967857995
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+392,6.533333333,pose2_to_pose3_retreat,0.580746118846,0.0100018342095,1.06004079337,0.551317838786,0.0186766636709,1.05967859123
+393,6.550000000,pose2_to_pose3_retreat,0.580745902887,0.0100018562704,1.06004079846,0.551317622639,0.0186766851298,1.05967859715
+394,6.566666667,pose2_to_pose3_retreat,0.580745799368,0.0100018668451,1.0600408009,0.551317519031,0.018676695416,1.05967859999
+395,6.583333333,pose2_to_pose3_retreat,0.580745576711,0.0100018895903,1.06004080615,0.55131729618,0.0186767175405,1.05967860609
+396,6.600000000,pose2_to_pose3_retreat,0.580745299386,0.0100018972257,1.06004083787,0.55131701878,0.0186767249499,1.05967863843
+397,6.616666667,pose2_to_pose3_retreat,0.580745152555,0.010001882824,1.06004087709,0.551316872059,0.018676710916,1.0596786776
+398,6.633333333,pose2_to_pose3_retreat,0.580745128125,0.0100018804277,1.06004088362,0.551316847646,0.0186767085809,1.05967868412
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+401,6.683333333,pose2_to_pose3_retreat,0.580744732898,0.0100018416623,1.06004098919,0.551316452713,0.0186766708056,1.05967878956
+402,6.700000000,pose2_to_pose3_retreat,0.580744642594,0.010001832805,1.06004101331,0.551316362476,0.0186766621745,1.05967881365
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+404,6.733333333,pose2_to_pose3_retreat,0.580744018996,0.0100017741149,1.06004113396,0.551315739328,0.0186766049404,1.05967893263
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8e09d23e8d2673b5edfa0b29e5cb5ad1889787f9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50c98b1d429389d5d762189aa37de02910a849f877018ad82ea93d709742448d
+size 25869905
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0b63f367986a30b6b1b02a7c02e1f2fdcfb274fb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_05/franka_data.csv
@@ -0,0 +1,410 @@
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+10,0.166666667,BASELINE,765,745,714,679.116281225,660,634.116281225,879,786,804.116281225,652,631,652,0.400977901012,0.00450051634264,0.0698381651244,0.999999964035,5.70431259028e-05,-0.000261349520712,1.92851966962e-05,1793243209821527552
+11,0.183333333,BASELINE,765,745,714,679,660,634,879,786.46907159,804.46907159,652,631,652,0.400977809579,0.00450068895217,0.0698379138934,0.999999963954,5.74414513517e-05,-0.000261562313713,1.94448259178e-05,1793243209838194176
+12,0.200000000,BASELINE,765,745,714,679.056137298,660,634.056137298,879,787,804.943862702,652,631,651.943862702,0.400977952519,0.00450077808343,0.0698376543054,0.999999963938,5.74535243875e-05,-0.000261604916819,1.96366872267e-05,1793243209854861056
+13,0.216666667,BASELINE,765,745,714,679.635346574,660,634.635346574,879,787,804.364653426,652,631,651.364653426,0.400979417929,0.00450145026701,0.0698390664646,0.999999964662,5.51756110316e-05,-0.000259327681192,1.9493843387e-05,1793243209871527680
+14,0.233333333,BASELINE,765,745,713.786543695,679.786543695,660,635,878.786543695,787,804,652,631,651.213456305,0.400979747763,0.00450117649594,0.0698395712375,0.999999964938,5.34353535998e-05,-0.000258626155045,1.95142016631e-05,1793243209888194560
+15,0.250000000,BASELINE,765,745,713.21030263,679.21030263,660,635,878.21030263,787,804,652,631,651.78969737,0.400978147602,0.00449929500515,0.0698385338407,0.999999964463,5.26088817633e-05,-0.000260602663206,1.98119339692e-05,1793243209904861440
+16,0.266666667,BASELINE,765,745,713.365945394,679.365945394,660,635,878,787,804.365945394,652,631,652.365945394,0.400977901053,0.0044994383663,0.0698381863447,0.999999964228,5.34939654665e-05,-0.000261326452883,1.97523667809e-05,1793243209921528064
+17,0.283333333,BASELINE,765,745,713.942197382,679.942197382,660,635,878,787,804.942197382,652,631,652.942197382,0.400978432416,0.00450074539765,0.0698382353306,0.999999964131,5.53626697893e-05,-0.000261330312739,1.94874617262e-05,1793243209938194944
+18,0.300000000,BASELINE,765,745,714,679.469598477,660,635,879.060803045,786.469598477,805,652,631,652.469598477,0.400978888659,0.00450023056637,0.0698384266659,0.999999964298,5.52389062786e-05,-0.000260710575527,1.95721908495e-05,1793243209954861056
+19,0.316666667,BASELINE,764.882120121,745,714,679,659.882120121,634.882120121,879.764240242,786.117879879,805,652,631,652,0.400979049535,0.00449984991568,0.0698384948385,0.999999964441,5.5076023734e-05,-0.000260189544562,1.9633372201e-05,1793243209971527424
+20,0.333333333,BASELINE,764.302700898,745,714,679,659.302700898,634.302700898,878.605401796,786.697299102,805,652,631,652,0.400978086738,0.00450078991771,0.0698380186491,0.999999964378,5.5629741221e-05,-0.000260327198146,1.94497316673e-05,1793243209988194560
+21,0.350000000,BASELINE,764.274166573,745,714,679,659.274166573,634.274166573,878,787,805,652,631,652,0.400977880091,0.00450065023813,0.0698377659279,0.999999964353,5.47075462968e-05,-0.000260628352559,1.93627704357e-05,1793243210004861952
+22,0.366666667,BASELINE,764.848242657,745,714,679,659.848242657,634.848242657,878,787,805,652,631,652,0.400978500595,0.00449932949991,0.0698377576575,0.999999964362,5.21708577684e-05,-0.000261108359738,1.93815662445e-05,1793243210021529600
+23,0.383333333,BASELINE,765,745,714,679,660,635,878,786.567219333,805,652,631,652,0.400978049533,0.00450082389856,0.0698374768538,0.999999964092,5.45973990014e-05,-0.000261653405108,1.93075153688e-05,1793243210038195968
+24,0.400000000,BASELINE,765,745,714,679,660,634.979240268,878.020759732,786.020759732,804.979240268,652,631,652,0.40097727592,0.00450325952924,0.0698371398151,0.99999996373,5.86492458914e-05,-0.000262165386398,1.91985242464e-05,1793243210054862336
+25,0.416666667,BASELINE,765,745,714,679,660,634.399829792,878.600170208,786.600170208,804.399829792,652,631,652,0.400978184463,0.00450380152731,0.0698379248851,0.999999964009,5.84439562877e-05,-0.00026115868051,1.90471112206e-05,1793243210071528960
+26,0.433333333,BASELINE,765,745,714,679.179117612,660,634.179117612,878.820882388,787,804.179117612,652,631,652,0.400978884515,0.00450362798298,0.0698386041094,0.999999964254,5.78529036716e-05,-0.000260351124928,1.90383765181e-05,1793243210088195584
+27,0.450000000,BASELINE,765,745,714,679.757034116,660,634.757034116,878.242965884,787,804.757034116,652,631,652,0.400979120367,0.00450186130943,0.0698390476725,0.999999964426,5.6402963602e-05,-0.000259986970115,1.93473099199e-05,1793243210104862208
+28,0.466666667,BASELINE,765,745,714,679.667165439,660,635,878.332834561,787,804.667165439,652,631,652,0.400979677869,0.00450109427231,0.0698390532078,0.999999964566,5.55596186066e-05,-0.000259641101042,1.91920060927e-05,1793243210121529088
+29,0.483333333,BASELINE,765,745,714,679.092899973,660,635,878.907100027,787,804.092899973,652,631,652,0.400980468689,0.00450105234967,0.0698387410072,0.999999964684,5.51562844879e-05,-0.000259308496069,1.86999547225e-05,1793243210138195968
+30,0.500000000,BASELINE,765,745,714,679.988780094,660.494390047,634.505609953,879,787,804.494390047,652,631,652,0.400979732278,0.00450170702811,0.0698385307301,0.999999964509,5.60865633843e-05,-0.000259771815035,1.88339649238e-05,1793243210154862592
+31,0.516666667,BASELINE,765,745,714,680.917381779,660.917381779,634.082618221,878.917381779,787,805,652,631,652,0.400978634775,0.00450228078555,0.069838254713,0.999999964258,5.68975177294e-05,-0.00026054694078,1.9044185948e-05,1793243210171529216
+32,0.533333333,BASELINE,765,745,714,680.338614917,660.338614917,634.661385083,878.338614917,787,805,652,631,652,0.400977138821,0.00450156123874,0.0698374657797,0.999999963889,5.54462571009e-05,-0.000262272103888,1.89864832106e-05,1793243210188196096
+33,0.550000000,BASELINE,765,745,714,679.76034265,660,635,878.23965735,786.76034265,804.76034265,652,631,652,0.40097663388,0.00450079624318,0.0698374730963,0.99999996388,5.42869055369e-05,-0.000262540668593,1.91167105162e-05,1793243210204862720
+34,0.566666667,BASELINE,765,745,714,679.182767812,660,635,878.817232188,786.182767812,804.182767812,652,631,652,0.400977526272,0.00449996716484,0.0698386031274,0.99999996438,5.35391466356e-05,-0.00026075542562,1.95119196759e-05,1793243210221529088
+35,0.583333333,BASELINE,765,745,713.608749025,679.391250975,660,634.608749025,879,786.391250975,804,652,631,652.391250975,0.400978431774,0.00450066426979,0.0698390366035,0.999999964548,5.48361021129e-05,-0.000259846491368,1.93956267021e-05,1793243210238195456
+36,0.600000000,BASELINE,765,745,713.036376387,679.963623613,660,634.036376387,879,786.963623613,804,652,631,652.963623613,0.400979343345,0.0045020678901,0.0698391476237,0.99999996456,5.70796163606e-05,-0.000259343226217,1.90425442783e-05,1793243210254861312
+37,0.616666667,BASELINE,765,745,713.555282043,679.444717957,660,634.555282043,878.444717957,786.444717957,804,652,631,652.444717957,0.400977416585,0.00450127864044,0.0698379516648,0.999999964176,5.5289915051e-05,-0.000261197128019,1.91532931769e-05,1793243210271527680
+38,0.633333333,BASELINE,765,745,714,679,659.855464734,635,878.144535266,786,804,652,631,652,0.400976155537,0.0045003311954,0.0698372090566,0.999999963946,5.35643045173e-05,-0.000262423793821,1.92948864109e-05,1793243210288194304
+39,0.650000000,BASELINE,765,745,714,679,659.27735284,635,878.72264716,786,804,652,631,652,0.40097746934,0.00449935563554,0.0698380924923,0.999999964279,5.28520627583e-05,-0.000261288990376,1.94345764763e-05,1793243210304860928
+40,0.666666667,BASELINE,765,745,714,679.298516782,659.298516782,635,878.701483218,786.298516782,804.298516782,652,631,652,0.400977869491,0.00450008639724,0.0698384148,0.999999964366,5.35422489536e-05,-0.000260820745959,1.93456958686e-05,1793243210321527808
+41,0.683333333,BASELINE,765,745,714,679.872318601,659.872318601,635,878.127681399,786.872318601,804.872318601,652,631,652,0.400977427093,0.00450239068794,0.069838219649,0.999999964225,5.55257207119e-05,-0.000260967186407,1.90460328443e-05,1793243210338194688
+42,0.700000000,BASELINE,765,745,714,680,660,635,878.458219626,786.541780374,805,652,631,651.541780374,0.400978421983,0.0045014669844,0.0698383481262,0.999999964372,5.48319750175e-05,-0.000260542123966,1.9158691236e-05,1793243210354861312
+43,0.716666667,BASELINE,764.953141354,745,714,679.953141354,659.953141354,635,878.953141354,786,804.953141354,652,630.953141354,651.046858646,0.400979517084,0.00449980306157,0.0698384923656,0.999999964536,5.36713482967e-05,-0.000260138486984,1.93698063032e-05,1793243210371527936
+44,0.733333333,BASELINE,764.372755259,745,714,679.372755259,659.372755259,635,878.372755259,786,804.372755259,652,630.372755259,651.627244741,0.400977069489,0.00450023010306,0.0698377614693,0.999999963969,5.59190767883e-05,-0.000261841146549,1.93583122289e-05,1793243210388194304
+45,0.750000000,BASELINE,764.206015654,745,714,679,659.206015654,634.793984346,878.206015654,786.206015654,804,652,630.206015654,652,0.400976123352,0.00450095636393,0.069837679046,0.99999996387,5.70007228581e-05,-0.00026199438915,1.92492120483e-05,1793243210404860928
+46,0.766666667,BASELINE,764.781886803,745,714,679,659.781886803,634.218113197,878.781886803,786.781886803,804,652,630.781886803,652,0.400977872753,0.0045022198069,0.0698387608123,0.999999964617,5.59889258602e-05,-0.000259365996441,1.89648817145e-05,1793243210421527808
+47,0.783333333,BASELINE,765,745,714,679,660,634.356696885,879,787,804.356696885,652,631,652,0.400977643923,0.00450255000723,0.0698385106627,0.999999964562,5.57276922018e-05,-0.000259645536967,1.88346501955e-05,1793243210438194432
+48,0.800000000,BASELINE,765,745,714,679,660,634.930860125,879,787,804.930860125,652,631,652,0.40097620903,0.00450231124034,0.0698374484879,0.999999964017,5.59240522204e-05,-0.000261697948462,1.87983676267e-05,1793243210454861056
+49,0.816666667,BASELINE,765,745,714,679.520658816,660,634.479341184,878.479341184,787,804.479341184,652,631,652,0.400976725449,0.00450219909735,0.0698376673631,0.999999964058,5.66269057492e-05,-0.000261386798658,1.88103192264e-05,1793243210471527936
+50,0.833333333,BASELINE,765,745,714,680,660,634.110176258,878,786.889823742,804.110176258,652,631,652,0.400977321552,0.0045019906286,0.0698379431005,0.999999964126,5.73902866575e-05,-0.000260953141446,1.88973469711e-05,1793243210488194560
+51,0.850000000,BASELINE,765,745,714,680,660,634.689384005,878,786.310615995,804.689384005,652,631,652,0.400977119625,0.00450129829286,0.06983771429,0.999999963967,5.81161467226e-05,-0.000261375477774,1.92758698524e-05,1793243210504861440
+52,0.866666667,BASELINE,765,745,714,680,660,635,878,786.266293763,804.733706237,652,631,652,0.400977230105,0.004501100875,0.0698377659566,0.99999996395,5.78095328655e-05,-0.000261497851575,1.94035915611e-05,1793243210521528064
+53,0.883333333,BASELINE,765,745,714,680,660,635,878,786.840545953,804.159454047,652,631,652,0.400977701873,0.00450147581055,0.0698381419843,0.999999964098,5.63089028534e-05,-0.0002612733303,1.92412714027e-05,1793243210538194688
+54,0.900000000,BASELINE,765,745,714,679.574922021,660,634.574922021,878,786.574922021,804,652,631,652,0.400978466071,0.00450165314761,0.0698384576906,0.999999964269,5.72344483901e-05,-0.000260414200102,1.92513439714e-05,1793243210554861312
+55,0.916666667,BASELINE,765,745,714,679.013354067,660,634.013354067,878.013354067,786.013354067,804,652,631,652,0.400979328577,0.00450173247854,0.0698387649005,0.999999964452,5.90009496028e-05,-0.000259307990101,1.93266308739e-05,1793243210571528192
+56,0.933333333,BASELINE,765,745,714,679.592827864,660,634.592827864,878.592827864,786.592827864,804,652,631,652,0.400979593061,0.00450087718758,0.0698396949442,0.999999964895,5.68800429171e-05,-0.000258069194826,1.93571603135e-05,1793243210588194816
+57,0.950000000,BASELINE,765,745,714,679.828643905,660,634.828643905,878.828643905,787,804.171356095,652,630.828643905,652,0.400979774645,0.00450063268358,0.0698403098133,0.999999965199,5.55607543112e-05,-0.000257183321274,1.92980633021e-05,1793243210604861440
+58,0.966666667,BASELINE,765,745,714,679.252350258,660,634.252350258,878.252350258,787,804.747649742,652,630.252350258,652,0.400979760323,0.00450183155166,0.069840179882,0.999999965185,5.6135797596e-05,-0.000257131449518,1.90271669005e-05,1793243210621528832
+59,0.983333333,BASELINE,765,745,714,679.321780924,660,634,878.321780924,787,804.678219076,652,630.321780924,652,0.400978719335,0.00450181223299,0.0698394671665,0.999999964923,5.46371471034e-05,-0.000258475881008,1.89618592318e-05,1793243210638195968
+60,1.000000000,BASELINE,765,745,714,679.894227618,660,634,878.894227618,787,804.105772382,652,630.894227618,652,0.40097687858,0.00450084395293,0.069838300465,0.999999964455,5.15230993377e-05,-0.000260908025905,1.90567041538e-05,1793243210654862848
+61,1.016666667,BASELINE,765,745,714,679.516189433,660,634.483810567,879,787,804.483810567,652,631,652,0.400977322771,0.00450078752546,0.0698386892972,0.999999964491,5.31875134127e-05,-0.000260427757756,1.91333507711e-05,1793243210671529472
+62,1.033333333,BASELINE,765,745,714,679.075436669,660,635,878.924563331,787,805,652,631,652,0.400978187779,0.00450087913139,0.0698393879447,0.999999964622,5.57155143227e-05,-0.00025938593473,1.9230690827e-05,1793243210688196096
+63,1.050000000,BASELINE,765,745,714,679.654767047,660,635,878.345232953,787,805,652,631,652,0.400978404385,0.00450057904521,0.0698398010451,0.999999964657,5.67776034416e-05,-0.000259002378703,1.94938082419e-05,1793243210704862208
+64,1.066666667,BASELINE,765,745,714,679.76938891,660,634.76938891,878,786.76938891,805,652,631,651.76938891,0.400978719021,0.00450104196994,0.069840010857,0.999999964768,5.7472140555e-05,-0.000258423085414,1.94472052401e-05,1793243210721528832
+65,1.083333333,BASELINE,765,745,714,679.198686341,660,634.198686341,878,786.198686341,805,652,631,651.198686341,0.400979178227,0.00450263013766,0.0698399208714,0.999999964993,5.76246338324e-05,-0.000257555130509,1.8943845027e-05,1793243210738196224
+66,1.100000000,BASELINE,765,745,714,679.385745046,660,634,878.385745046,786,804.614254954,652,631,651.385745046,0.40097922185,0.00450268532236,0.0698398496115,0.999999964913,5.76814867006e-05,-0.000257856750675,1.88746918294e-05,1793243210754863104
+67,1.116666667,BASELINE,765,745,714,679.977508697,660,634,878.977508697,786,804.022491303,652,631,651.977508697,0.400979043518,0.00450192177186,0.0698397883527,0.999999964671,5.76872599613e-05,-0.000258783017195,1.90374398085e-05,1793243210771529472
+68,1.133333333,BASELINE,765,745,714,680,660,634.557004562,878.442995438,786.557004562,804,652,631,652,0.400977960881,0.00450250584962,0.0698394779407,0.999999964509,5.65547890948e-05,-0.000259662807852,1.89367018027e-05,1793243210788196096
+69,1.150000000,BASELINE,765,744.86429441,714,679.86429441,660,634.86429441,878,786.86429441,804.13570559,652,631,651.86429441,0.400977412633,0.00450282009664,0.0698393364407,0.99999996446,5.57667732509e-05,-0.000260025734489,1.8886221742e-05,1793243210804862464
+70,1.166666667,BASELINE,765,744.286603639,714,679.286603639,660,634.286603639,878,786.286603639,804.713396361,652,631,651.286603639,0.400978721224,0.00450208211044,0.0698397771385,0.999999964771,5.6247094574e-05,-0.000258711245449,1.90333337585e-05,1793243210821528320
+71,1.183333333,BASELINE,765,744.28953255,714,679.28953255,660,634.28953255,878.28953255,786,805,652,631,651.28953255,0.40097971307,0.00450143048012,0.0698402808539,0.99999996508,5.68609934129e-05,-0.00025736730112,1.92155530199e-05,1793243210838194432
+72,1.200000000,BASELINE,765,744.86413817,714,679.86413817,660,634.86413817,878.86413817,786,805,652,631,651.86413817,0.40098039305,0.00450086387551,0.0698408466164,0.999999965385,5.76064124181e-05,-0.000255994355028,1.94323388099e-05,1793243210854861056
+73,1.216666667,BASELINE,765,745,714,679.549049609,660,634.549049609,878.549049609,786.450950391,804.549049609,652,631,652,0.400979138621,0.00450143262141,0.069840117688,0.999999964934,5.92596710465e-05,-0.000257382053835,1.93470485686e-05,1793243210871527680
+74,1.233333333,BASELINE,765,745,714,679,660,634.040762552,878,787,804.040762552,652,631,652,0.400977408607,0.00450223533863,0.0698390641106,0.999999964297,6.08219544546e-05,-0.000259494899729,1.91942047851e-05,1793243210888194304
+75,1.250000000,BASELINE,765,745,714,679,660,634.620266687,878,787,804.620266687,652,631,652,0.400977309881,0.0045014837545,0.0698390185106,0.999999964389,5.74663796709e-05,-0.000259893333526,1.93848282963e-05,1793243210904860928
+76,1.266666667,BASELINE,765,745,714,679,659.802228606,635,878,787,805,652,631,652,0.400977595412,0.00450119631564,0.0698391823081,0.999999964473,5.5841371714e-05,-0.000259912663848,1.95147003232e-05,1793243210921527808
+77,1.283333333,BASELINE,765,745,714,679,659.228524538,635,878,787,805,652,631,652,0.400978611359,0.00450179114481,0.0698397441378,0.999999964561,5.75059024735e-05,-0.000259211377378,1.95290932113e-05,1793243210938194688
+78,1.300000000,BASELINE,765,745,714,679,659.353056718,635,878,786.646943282,805,652,631,652,0.400977911827,0.00450198946781,0.069839310496,0.999999964306,5.77665415965e-05,-0.000260152130524,1.92712243517e-05,1793243210954861312
+79,1.316666667,BASELINE,765,745,714,679,659.939853006,635,878,786.060146994,805,652,631,652,0.400976076572,0.0045019252857,0.0698382178069,0.999999963823,5.70977406772e-05,-0.00026217998844,1.88331058585e-05,1793243210971527936
+80,1.333333333,BASELINE,764.47841043,745,714,679,660,635,878,786.52158957,804.47841043,652,631,652,0.4009773287,0.00450149507154,0.0698394498099,0.999999964576,5.56371976624e-05,-0.000259608521257,1.88802006238e-05,1793243210988194560
+81,1.350000000,BASELINE,764,745,714,679.102162758,660,635,878,787,804,652,630.897837242,652,0.400978699158,0.00450147055356,0.0698406324047,0.999999965244,5.49724581599e-05,-0.000257163516063,1.89075403645e-05,1793243211004861184
+82,1.366666667,BASELINE,764,745,714,679.680009494,660,635,878,787,804,652,630.319990506,652,0.400978978819,0.00450352965586,0.0698403487617,0.999999964902,5.84341101048e-05,-0.000257753088563,1.85848793487e-05,1793243211021528064
+83,1.383333333,BASELINE,764.25680177,745,714,680,660,634.74319823,878,787,804.25680177,652,630.25680177,652,0.400979251834,0.00450426430438,0.0698402936686,0.999999964818,5.89842947381e-05,-0.000257957872557,1.85000412661e-05,1793243211038194688
+84,1.400000000,BASELINE,764.832285573,745,714,680,660,634.167714427,878,787,804.832285573,652,630.832285573,652,0.4009795166,0.00450335535226,0.0698405221978,0.999999965061,5.59214505104e-05,-0.000257685147527,1.87103331009e-05,1793243211054861312
+85,1.416666667,BASELINE,765,745,714,679.583022625,660,634,878,787,804.583022625,652.416977375,631,652,0.400979234885,0.00450276466553,0.0698406530078,0.999999964993,5.64823431915e-05,-0.000257798685085,1.90425403676e-05,1793243211071527936
+86,1.433333333,BASELINE,764.99462612,745,714,679.00537388,660.00537388,634,878.00537388,787,804.00537388,652.99462612,631,652,0.400978736296,0.0045023044044,0.0698407398546,0.999999964801,5.849817584e-05,-0.000258067942513,1.94190826913e-05,1793243211088194560
+87,1.450000000,BASELINE,764.415043371,745,714,679.584956629,660.584956629,634,878.584956629,787,804.584956629,652.415043371,631,652,0.400979081026,0.00450179327109,0.0698404237071,0.999999964925,5.67215199286e-05,-0.000258000738801,1.91749865322e-05,1793243211104860928
+88,1.466666667,BASELINE,764.163300424,745,714,680,661,634.163300424,878.836699576,786.836699576,804.836699576,652,631,652,0.400979324185,0.00450147205308,0.0698401545158,0.999999965012,5.59349392535e-05,-0.000257851136381,1.89832570071e-05,1793243211121527808
+89,1.483333333,BASELINE,764.738518979,745,714,680,661,634.738518979,878.261481021,786.261481021,804.261481021,652,631,652,0.400979311134,0.00450162988807,0.069840003769,0.999999965008,5.76457798807e-05,-0.000257493686854,1.89236200259e-05,1793243211138194432
+90,1.500000000,BASELINE,764.686075427,745,714,680,660.686075427,635,878,786.313924573,804.313924573,652,631,652,0.400979255368,0.00450259570957,0.0698400989751,0.999999965105,5.79862598551e-05,-0.000257048479484,1.88060732939e-05,1793243211154861312
+91,1.516666667,BASELINE,764.110513978,745,714,680,660.110513978,635,878,786.889486022,804.889486022,652,631,652,0.400979164001,0.00450423493828,0.0698403991678,0.999999965287,5.7184628192e-05,-0.000256530131353,1.86402623396e-05,1793243211171528192
+92,1.533333333,BASELINE,764.477819048,745,714,679.522180952,660,634.522180952,878.477819048,787,804.522180952,652,631,652,0.400979263005,0.00450409083162,0.069840262129,0.999999965018,5.71756879398e-05,-0.000257561749076,1.89023721291e-05,1793243211188194816
+93,1.550000000,BASELINE,765,745,713.932435281,679.067564719,660,634.067564719,879,786.932435281,804.067564719,652,631,651.932435281,0.400979472734,0.00450344880208,0.0698401341061,0.999999964715,5.73480442257e-05,-0.000258674643126,1.9213686825e-05,1793243211204861440
+94,1.566666667,BASELINE,765,745,713.354934752,679.645065248,660,634.645065248,879,786.354934752,804.645065248,652,631,651.354934752,0.400980176693,0.00450224728108,0.069840858331,0.999999964982,5.74669740033e-05,-0.000257621004877,1.9128868131e-05,1793243211221531648
+95,1.583333333,BASELINE,765,745,713.221439242,680,660,635,878.778560758,786.221439242,804.778560758,652,631,651.221439242,0.400980456889,0.00450151196981,0.0698408387463,0.999999965092,5.74464955995e-05,-0.000257202948166,1.90203359177e-05,1793243211238199296
+96,1.600000000,BASELINE,765,745,713.796016792,680,660,635,878.203983208,786.796016792,804.203983208,652,631,651.796016792,0.400980061294,0.00450152014228,0.0698396329779,0.999999964956,5.72036972266e-05,-0.000257798479436,1.88739867621e-05,1793243211254863360
+97,1.616666667,BASELINE,765,745,714,680,660,635,878,787,804,652,631,652,0.400979129718,0.00450130504374,0.0698392370426,0.99999996477,5.60703435894e-05,-0.00025876975897,1.87999004863e-05,1793243211271528704
+98,1.633333333,BASELINE,765,745,714,680,660,635,878,787,804,652,631,652,0.400977903126,0.00450096705199,0.069839286857,0.999999964555,5.44468090096e-05,-0.000259947858474,1.87655892776e-05,1793243211288194560
+99,1.650000000,BASELINE,764.448825143,745,714,679.448825143,660,634.448825143,878,787,804.551174857,652,631,652,0.400978821432,0.00450089945415,0.069839453183,0.999999964971,5.36945233618e-05,-0.000258493604574,1.88436703445e-05,1793243211304861184
+100,1.666666667,BASELINE,764.129271403,745,714,679,660,634.129271403,878,787,805,652,631,652,0.400979782675,0.00450073985149,0.0698397275386,0.999999965349,5.32340362803e-05,-0.000257117530379,1.892346464e-05,1793243211321527808
+101,1.683333333,BASELINE,764.70334771,745,714,679,660,634.70334771,878,787,805,652,631,652,0.400980515529,0.0045002162568,0.0698403531774,0.999999965493,5.36248053071e-05,-0.000256472071113,1.89894448073e-05,1793243211338194432
+102,1.700000000,BASELINE,764.722113589,745,714,678.722113589,660,635,878,787,805,652,631,652,0.40097990848,0.00450060959994,0.0698402765156,0.99999996528,5.44512089971e-05,-0.000257129938396,1.89763965034e-05,1793243211354861568
+103,1.716666667,BASELINE,764.147080482,745,714,678.147080482,660,635,878,787,805,652,631,652,0.400977868661,0.00450198343382,0.0698394488767,0.999999964681,5.57434411289e-05,-0.000259181465724,1.88788422672e-05,1793243211371528448
+104,1.733333333,BASELINE,764,745,714,678.439682332,660.439682332,634.560317668,878.439682332,786.560317668,804.560317668,652,631,652,0.400978066623,0.00450198833657,0.0698390532285,0.999999964655,5.61812431441e-05,-0.000259190726622,1.88048509682e-05,1793243211388195072
+105,1.750000000,BASELINE,764,745,714,679,660.970046832,634,879,786,804.029953168,652,631,651.970046832,0.400979019613,0.00450154061709,0.0698388562714,0.999999964833,5.62801302044e-05,-0.000258486489785,1.87390647121e-05,1793243211404861440
+106,1.766666667,BASELINE,764,745,714,679,660.3893977,634,879,786,804.6106023,652,631,651.3893977,0.400979714063,0.00450142121329,0.0698395826704,0.999999965112,5.55468835528e-05,-0.000257568923082,1.86752427929e-05,1793243211421528064
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,635,879,787,804,652,631,652,0.400980897203,0.00450165005894,0.0698411952816,0.999999965609,5.5208290909e-05,-0.000255700848863,1.87191054313e-05,1793243211461708800
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714.425964865,680,660,634.425964865,878.425964865,787,804.574035135,652,631,652,0.400979386183,0.00450080458597,0.0698403657628,0.999999965213,5.35476028244e-05,-0.000257585338928,1.88900184951e-05,1793243211478375424
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.152785919,878.152785919,787,805,652,631,652,0.400978797532,0.00450032636425,0.0698400352983,0.999999965095,5.23657049625e-05,-0.000258285898417,1.88984798808e-05,1793243211495042048
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.745102698,878.745102698,787,805,652,631,652,0.400980862333,0.00450090464194,0.069841140501,0.999999965788,5.25611789268e-05,-0.000255580555307,1.84396042207e-05,1793243211511708928
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879,786.670018301,805,652,631,652,0.400980306395,0.00450150039644,0.0698405991998,0.999999965574,5.44942240736e-05,-0.0002560153307,1.84079720982e-05,1793243211528375552
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879,786.090758068,805,652,631,652,0.400977770669,0.00450210935344,0.0698388140779,0.999999964664,5.77398850266e-05,-0.000258822250348,1.86990931833e-05,1793243211545042176
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.517183449,745,714,680,660,634.517183449,878.517183449,786,804.517183449,652,631,652.482816551,0.400978016446,0.00450122497387,0.0698395190506,0.999999964943,5.68716160518e-05,-0.000257918557515,1.88944819262e-05,1793243211561708800
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,679.942867743,660,634.057132257,878,786,804.057132257,652,631,652.942867743,0.400978762705,0.00450033091547,0.0698405499721,0.999999965378,5.55625169468e-05,-0.000256506502497,1.90212888604e-05,1793243211578375168
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,679.351752657,660,634.648247343,878,786,804.648247343,652,631,652.351752657,0.400979356719,0.00450193951299,0.0698403034038,0.999999965216,5.72769011477e-05,-0.000256786402521,1.86733358361e-05,1793243211595042048
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.234576497,745,714,679.234576497,660,635,878.234576497,786.234576497,805,652.234576497,631,651.765423503,0.400983337866,0.00450276851874,0.0698421571377,0.999999965966,5.75573099035e-05,-0.000253787953504,1.86152477903e-05,1793243211611708672
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.813872482,745,714,679.813872482,660,635,878.813872482,786.813872482,805,652.813872482,631,651.186127518,0.400992296541,0.00450245188325,0.0698470973491,0.999999968016,5.57304345755e-05,-0.000245971840194,1.89831278847e-05,1793243211628375552
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.391008076,635,878.608991924,787,804.608991924,652.608991924,631,651.391008076,0.401013516035,0.00450260251341,0.069856307186,0.999999971614,5.56576339943e-05,-0.000230909514698,1.88436553925e-05,1793243211645042432
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.967120984,635,878.032879016,787,804.032879016,652.032879016,631,651.967120984,0.401040539853,0.00450297434902,0.0698675382816,0.999999975678,5.64152194368e-05,-0.000212416801797,1.84640001265e-05,1793243211661709056
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.462054483,660.462054483,635,878,786.462054483,804,652,631,652,0.401088696558,0.00450253866517,0.0698828626017,0.999999981052,5.65255214225e-05,-0.000185390154519,1.81930172807e-05,1793243211678375424
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745.11328058,714,679,660,635,878.11328058,786.11328058,804.11328058,652,631,652,0.401140314011,0.00450181178815,0.069897405592,0.999999985308,5.57276202753e-05,-0.000161111434056,1.792902477e-05,1793243211695042304
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745.709196776,714,679,660,635,878.709196776,786.709196776,804.709196776,652,631,652,0.401201226637,0.00450005250564,0.0699075641987,0.99999998717,5.12272032221e-05,-0.000150740958052,1.76667917396e-05,1793243211711709184
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745.704302517,714,679.295697483,659.704302517,635,879,787,805,652,631,652,0.401269628437,0.00450029047235,0.0699139533851,0.999999988547,4.91807606333e-05,-0.000142158755569,1.66754766681e-05,1793243211728376064
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.126775748,714,679.873224252,659.126775748,635,879,787,805,652,631,652,0.401345168166,0.00450243201752,0.0699167499363,0.999999989513,4.94732015028e-05,-0.000135280957304,1.4989273483e-05,1793243211745042688
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.448963491,635,878.551036509,786.551036509,805,652,631,652,0.401431405801,0.00450325143435,0.0699136858193,0.999999988809,4.82751943499e-05,-0.000141044812675,1.26026180805e-05,1793243211761709312
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.024172998,635,878.024172998,786.024172998,805,652,631,652,0.401521742887,0.00450369893819,0.0699091068604,0.999999987596,4.66521129723e-05,-0.000150102886681,1.00451067489e-05,1793243211778376448
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.598768362,635,878.598768362,786.598768362,805,652,631,652,0.40163691349,0.00450414511111,0.0699075676548,0.999999987223,4.48951648637e-05,-0.000153211055943,8.08301991007e-06,1793243211795043072
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634.820908609,878.820908609,786.820908609,805,652.179091391,630.820908609,652,0.401762227464,0.00450481963791,0.0699080411504,0.99999998732,4.28479006674e-05,-0.000153268636768,5.76051196516e-06,1793243211811709696
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634.227329598,878.227329598,786.227329598,805,652.772670402,630.227329598,652,0.401911017155,0.00450602266495,0.0699131728249,0.999999988495,4.01287315855e-05,-0.000146265960743,2.60384869364e-06,1793243211828376064
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.356382222,745.356382222,714,679.643617778,660.643617778,634.356382222,878.356382222,786.356382222,805,652.643617778,630.356382222,652,0.402080810793,0.00450728030505,0.069917771551,0.999999989783,3.65939428611e-05,-0.000138176694166,-1.37162724041e-06,1793243211845042688
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.933969569,745.933969569,714,679.066030431,660.066030431,634.933969569,878.933969569,786.933969569,805,652.066030431,630.933969569,652,0.402263641518,0.00450857184338,0.0699220394785,0.999999991079,3.25529017775e-05,-0.000129412984164,-5.85533746949e-06,1793243211861709056
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.482161073,745.482161073,714,679.517838927,660,635,879,787,804.482161073,652,631,652,0.402468680612,0.0045106146772,0.0699225921015,0.99999999141,2.87469543562e-05,-0.000127452018221,-1.04353029204e-05,1793243211878375680
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679.898178539,660,635,878.898178539,787,804.101821461,652,631,652,0.40268425906,0.00451250832944,0.0699232476315,0.999999991754,2.44441669541e-05,-0.000125155973791,-1.51543066362e-05,1793243211895041792
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679.317477131,660,635,878.317477131,787,804.682522869,652,631,652,0.402935923578,0.00451324427384,0.0699266425901,0.999999992772,1.76619554825e-05,-0.00011715428028,-2.04687939945e-05,1793243211911708672
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679.261745482,660,635,878,786.738254518,805,652,631,652,0.403204153637,0.00451451085054,0.0699317759403,0.999999993934,1.22022670416e-05,-0.000106429735956,-2.56204832181e-05,1793243211928375296
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679.839184471,660,635,878,786.160815529,805,652,631,652,0.403492363522,0.00451641742744,0.0699390059798,0.999999995227,8.33768556122e-06,-9.24211380114e-05,-3.05758198725e-05,1793243211945041920
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.584374879,878.415625121,786.415625121,805,652,631,652,0.403812190293,0.00451858661176,0.0699474981672,0.999999996357,2.28137344297e-06,-7.71982558766e-05,-3.63440528274e-05,1793243211961708800
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.008319598,878.991680402,786.991680402,805,652,631,652,0.404144221089,0.00452085716178,0.06995647754,0.999999997198,-4.62094061654e-06,-6.15066636737e-05,-4.24260614073e-05,1793243211978375424
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.432895876,660,634,879,787.567104124,804.432895876,652,631,652,0.404507408474,0.00452157576628,0.0699571639457,0.999999996656,-9.33394335471e-06,-6.58061155441e-05,-4.76584331235e-05,1793243211995042048
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.146836428,660,634.146836428,879,787.853163572,804.146836428,652,631,652,0.404879964225,0.00451942724971,0.0699582369846,0.999999996727,4.37771603167e-06,-6.66077631619e-05,-4.57124354987e-05,1793243212011708672
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.73968392,660,634.73968392,879,787.26031608,804.73968392,652,631,652,0.405279589217,0.00450863902112,0.0699608535384,0.999999995461,7.39562634017e-05,-5.58951159689e-05,-2.20001823472e-05,1793243212028375296
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.324204114,714.324204114,679.675795886,660,635,878.675795886,787,805,652,631,652,0.405694661074,0.00449898035843,0.0699607936432,0.999999994206,9.17580020243e-05,-5.41332881238e-05,-1.54409259308e-05,1793243212045041920
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.902205497,714.902205497,679.097794503,660,635,878.097794503,787,805,652,631,652,0.406121825271,0.00449020595463,0.0699586385391,0.999999995606,6.90272191904e-05,-5.93784447332e-05,-2.23095772539e-05,1793243212061708544
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745.522665454,714.522665454,679.477334546,660,635,878,786.522665454,805,652,631,652,0.406573401043,0.00449892343816,0.0699463618648,0.999999993314,7.73229536459e-05,-8.16213475426e-05,-2.70348257947e-05,1793243212078375424
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.947048751,878.052951249,786.052951249,805,652,631,652,0.407035853379,0.00451054440081,0.0699325445061,0.999999990527,8.29707391258e-05,-0.000105317515213,-3.11302558181e-05,1793243212095042048
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.360625383,878.639374617,786.639374617,805,652,631,652,0.407557798864,0.00451552853788,0.0699239718785,0.999999993528,-1.7172026931e-06,-0.000108780126134,-3.32781042661e-05,1793243212111708672
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.22324846,879,787,805,652,631,652,0.408107973597,0.00452025590556,0.069925796791,0.999999993617,-4.32815843639e-05,-9.82997488931e-05,-3.50824084089e-05,1793243212128375552
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.803050382,879,787,805,652,631,652,0.408703233657,0.00452457318269,0.0699442277712,0.999999997064,-1.59726766608e-05,-6.55508169259e-05,-3.633803293e-05,1793243212145041920
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.619448186,879,787,805,652,631,652,0.409301619195,0.00453295204551,0.0699528782082,0.999999998079,1.66037324311e-05,-4.60409952189e-05,-3.80207204247e-05,1793243212161708544
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.043130207,879,787,805,652,631,652,0.409901612545,0.00454342029795,0.0699564972682,0.999999997301,5.18898861168e-05,-3.33417315802e-05,-3.99231006256e-05,1793243212178375168
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.534036827,879,787,805,652,631,652,0.410518609822,0.00454821438474,0.0699455644526,0.999999995497,6.86867558724e-05,-5.12685743499e-05,-4.07312431323e-05,1793243212195042048
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.113444393,634.886555607,879,787,805,652,631,652,0.411150299192,0.00455350810145,0.0699380162937,0.999999994,7.79952322483e-05,-6.47645777788e-05,-4.1490078883e-05,1793243212211708672
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.701946609,634.298053391,879,787,805,652,631,652,0.41183775286,0.0045628161182,0.0699495709525,0.999999995949,6.22084708248e-05,-4.93318205935e-05,-4.24130990179e-05,1793243212228375296
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.714316724,634.285683276,879,786.714316724,805,652,631,652,0.412558257548,0.00457011556575,0.0699726109729,0.999999996912,6.43672664007e-05,-1.36657996856e-05,-4.29644722307e-05,1793243212245041920
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.135470307,634.864529693,879,786.135470307,805,652,631,652,0.413312678696,0.00457535385614,0.0700074370701,0.999999994548,8.49414741059e-05,4.27632416443e-05,-4.31344679372e-05,1793243212261708800
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679.557829532,660,634.557829532,879.442170468,786,805,652,631,652,0.414049197774,0.00458162234682,0.0700180519013,0.999999992073,0.000102822316928,5.78810830681e-05,-4.39442691263e-05,1793243212278375680
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679.019733904,660,634,879.980266096,786.019733904,804.980266096,652,631,652,0.414779345669,0.00458821859172,0.0700192761989,0.999999990305,0.000118855598171,5.69370020392e-05,-4.49602921295e-05,1793243212295042048
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679.605648396,660,634,879.394351604,786.605648396,804.394351604,652,631,652,0.41548363479,0.00459518737208,0.0699633209926,0.999999992453,0.000105491680117,-4.26914879743e-05,-4.62842815256e-05,1793243212311708672
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.189446905,879,787,804.189446905,651.810553095,631,652,0.416221895388,0.00460214429121,0.0699229970815,0.999999987043,0.000104043100625,-0.000113149412137,-4.78217202022e-05,1793243212328375552
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.768889415,879,787,804.768889415,651.231110585,631,652,0.41703008966,0.00460907679242,0.069914851775,0.999999983047,0.00012712345263,-0.000123556772525,-4.97985665066e-05,1793243212345041920
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,713.653240696,680,660.693518607,635,879.346759304,786.653240696,805,651.346759304,631,652,0.417862193739,0.00461399938019,0.0699312056574,0.999999985046,0.000134146467478,-9.69830310378e-05,-5.00779729966e-05,1793243212361708544
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,713.076414231,680,661.847171538,635,879.923585769,786.076414231,805,651.923585769,631,652,0.418710161418,0.00461758843439,0.0699638142125,0.999999989219,0.000130515791561,-4.58731422204e-05,-4.92311653798e-05,1793243212378375424
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,713.499774927,680,661.500225073,635,880,786,805,652,631,652,0.419571649899,0.00461968057381,0.069988055672,0.999999990223,0.000130043107695,-1.27428227195e-05,-4.98043369916e-05,1793243212395041792
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.922400721,745,714,680.077599279,661,635,879.922400721,786,805,652,631,651.922400721,0.420438963074,0.00461880668523,0.0700097830383,0.999999990263,0.000129056361591,1.62557126716e-05,-5.05468621903e-05,1793243212411708672
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.333153365,745,714,680.666846635,661,635,879.333153365,786,805,652,631,651.333153365,0.421331067492,0.00459988354813,0.0700233581276,0.999999990667,0.000121500575689,3.61139928777e-05,-5.0976323714e-05,1793243212428375296
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.251903202,745,714,680.748096798,661,634.748096798,879,786,805,652,631,651.251903202,0.422194917471,0.00458267719968,0.0700144975856,0.99999999362,9.8772127418e-05,2.02075642269e-05,-5.09515088821e-05,1793243212445041920
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.831508042,745,714,680.168491958,661,634.168491958,879,786,805,652,631,651.831508042,0.423022011287,0.00456770422415,0.0699764504649,0.999999996257,5.63055153133e-05,-4.22252798043e-05,-5.03357244382e-05,1793243212461708544
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680.408140061,660.591859939,634,879,786,805,651.591859939,631,652,0.423835734727,0.0045702483455,0.0699128159829,0.999999987273,6.04359746964e-05,-0.000138047673808,-5.23918089278e-05,1793243212478375168
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680.983553655,660.016446345,634,879,786,805,651.016446345,631,652,0.424643978355,0.00457997173524,0.0698386946908,0.999999964316,8.36639407723e-05,-0.000247554551216,-5.55429409617e-05,1793243212495041536
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680.445284683,660.554715317,634,879,786.554715317,805,651.554715317,631,652,0.425573746735,0.00458420519926,0.0698776703476,0.999999977701,9.35353985381e-05,-0.000180736662433,-5.6428184988e-05,1793243212511708416
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.131310103,745,714,680.131310103,661.262620207,634,879.131310103,787,805,652,631,652,0.426514423636,0.00458799636826,0.0699228395682,0.999999987508,9.97096163949e-05,-0.000109067596385,-5.60924401424e-05,1793243212528375040
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.72758642,745,714,680.72758642,662.455172839,634,879.72758642,787,805,652,631,652,0.427481066239,0.00459079334936,0.0699781570252,0.999999993485,9.41835403319e-05,-3.85910659513e-05,-5.16692731253e-05,1793243212545041664
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.688429845,745,714,680.688429845,662.376859691,634,880,787,805,651.688429845,631,652,0.428431458917,0.00459426583207,0.0700184991538,0.999999993725,9.76350850557e-05,2.06303358904e-05,-5.09011009552e-05,1793243212561708544
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.114785909,745,714,680.114785909,661.229571817,634,880,787,805,651.114785909,631,652,0.429368183103,0.00459830650535,0.070046244948,0.999999990206,0.000108638056363,7.03846074277e-05,-5.3207287464e-05,1793243212578375168
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.537167487,745,714,680,661,634.462832513,880,786.537167487,805,651,631,652,0.43025558669,0.00459842224194,0.0700347262043,0.999999991512,0.000105791578788,5.35237563166e-05,-5.40309427697e-05,1793243212595041792
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.042270859,745,714,680.042270859,661,634.957729141,880,786.042270859,805.042270859,651.042270859,631,651.957729141,0.431122269271,0.00459732641156,0.0700090027839,0.999999993449,9.99409643804e-05,1.22120207397e-05,-5.44556600422e-05,1793243212611708416
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.632410267,745,714,680.632410267,661,634.367589733,880,786.632410267,805.632410267,651.632410267,631,651.367589733,0.431880297377,0.00459325317674,0.0699264790972,0.999999985055,0.000100057302802,-0.000130022848529,-5.45165052851e-05,1793243212628375040
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,661,634.21856297,880,787,805.78143703,652,631,651,0.432712130912,0.00458759250496,0.0698846330271,0.999999974521,9.54723220708e-05,-0.000196985819948,-5.51285929238e-05,1793243212645041664
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,661,634.798130845,880,787,805.201869155,652,631,651,0.433665870499,0.00457930983063,0.0699099749912,0.999999985194,8.31220793134e-05,-0.00013962069173,-5.66511802046e-05,1793243212661708288
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681,661.374486454,634.625513546,879.625513546,787,805.374486454,652,631,651.374486454,0.434592835182,0.0045746418229,0.0699574367627,0.999999993923,7.32621301251e-05,-6.02433475543e-05,-5.61994286879e-05,1793243212678375168
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681,661.949125164,634.050874836,879.050874836,787,805.949125164,652,631,651.949125164,0.43550548939,0.00457190575116,0.0700167209345,0.999999995932,6.47331716667e-05,3.08988908547e-05,-5.46924493668e-05,1793243212695041792
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681,661.475614666,634.524385334,880.048770668,787,806,652,631,652,0.436371119722,0.00457378776273,0.0700300077428,0.999999994253,7.45777223427e-05,5.45588139868e-05,-5.4358277466e-05,1793243212711708160
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.897369709,745.102630291,714,681,661,634.897369709,880.897369709,787,806,652,631,652,0.437220226984,0.00457621678504,0.0700325631806,0.999999993033,8.25855420334e-05,6.42617234768e-05,-5.46177395969e-05,1793243212728375040
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.305174758,745.694825242,714,681,661,634.305174758,880.305174758,787,806,652,631,652,0.43801230441,0.00457911539185,0.0700052406064,0.999999994931,7.33186047242e-05,3.8654619169e-05,-5.7165529816e-05,1793243212745041664
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.279399318,745.720600682,714,681,661.279399318,634.279399318,879.720600682,787,806,652,631,652,0.438774599444,0.00458227157162,0.0699605632481,0.999999995184,7.41443033952e-05,-2.69564914533e-05,-5.83791558694e-05,1793243212761708288
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.855870449,745.144129551,714,681,661.855870449,634.855870449,879.144129551,787,806,652,631,652,0.439505228249,0.00458570161612,0.0698974333869,0.999999985509,8.57010149005e-05,-0.000135101929974,-5.81742289034e-05,1793243212778374912
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681,661.13364128,634.56682064,879.43317936,786.56682064,806,651.56682064,631.43317936,652,0.440252509549,0.00458596048688,0.0698685701274,0.999999978855,8.37761685095e-05,-0.000178391208419,-5.87230603042e-05,1793243212795041792
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.010666512,634,880,786.010666512,805.989333488,651,631.989333488,652,0.441006830286,0.00458513150133,0.0698529148165,0.999999975771,7.72546586083e-05,-0.000197358463951,-5.9496423758e-05,1793243212811708672
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.582831848,634,880,786.582831848,805.417168152,651,631.417168152,652,0.441839478079,0.00458268731038,0.0699311981745,0.999999993384,6.53468267179e-05,-7.41441991681e-05,-5.88617234e-05,1793243212828375296
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.161320179,714,681.161320179,661.161320179,634,880,787,805.161320179,651,631,652,0.442643757939,0.00458065487967,0.0699979043906,0.999999996168,5.93424491533e-05,2.74657052486e-05,-5.82044422153e-05,1793243212845041664
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.756826711,714,681.756826711,661.756826711,634,880,787,805.756826711,651,631,652,0.443371686907,0.00457973068343,0.0700334512427,0.999999993436,6.92269656386e-05,7.09284239096e-05,-5.74863875869e-05,1793243212861708544
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.65998517,745.65998517,714,681.65998517,661.65998517,634,880,787,806,651.34001483,631,652,0.444065200368,0.00457723089598,0.0700338432236,0.999999993759,7.22774354995e-05,6.31089816134e-05,-5.72344020364e-05,1793243212878375168
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.085299004,745.085299004,714,681.085299004,661.085299004,634,880,787,806,651.914700996,631,652,0.444734960902,0.00457364366751,0.0700099720238,0.999999995667,7.06111844526e-05,1.98956300175e-05,-5.73040879176e-05,1793243212895042048
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.490303581,745,714,681,661.490303581,634,880,787,806,651.509696419,631,652,0.445355537515,0.00457473114573,0.0699822224993,0.999999995353,7.49647402479e-05,-1.95485311057e-05,-5.73805497293e-05,1793243212911708672
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681.655324318,661.344675682,634,880,787,806,651,631,652,0.446528356299,0.00458043062325,0.0699430924528,0.999999992233,8.77538666195e-05,-6.70769408149e-05,-5.77420969969e-05,1793243212945042176
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.7596107,745,714,682,660.7596107,634,880,787,806,651,631,652,0.447076129793,0.00458448793626,0.0699283109302,0.999999989548,9.50761087525e-05,-9.23994510055e-05,-5.76790162203e-05,1793243212961708544
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+199,3.316666667,POSE1_TO_POSE2_PRESS,764,745,713.601750574,682,659.601750574,634,880,787,806,651.398249426,631,652,0.44811370794,0.00459217992452,0.0698947854381,0.999999978577,0.000111486674115,-0.000165060817253,-5.63099830501e-05,1793243212995042560
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,682.125920956,659,633.874079044,880,786.874079044,806,651.874079044,631,652,0.44959526837,0.00459878669535,0.0699065759726,0.999999980792,0.000120677583329,-0.000143803450716,-5.63386388789e-05,1793243213045042176
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,682.720617422,659,633.279382578,880,786.279382578,806,651.279382578,631,652,0.450033842868,0.00460429614479,0.0699158813936,0.999999981749,0.000126255049095,-0.000131984206252,-5.60603458926e-05,1793243213061708800
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+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.884578442,713.115421558,682.115421558,658.115421558,633.884578442,880,786.884578442,806,651,631,652,0.450787605464,0.00461071349209,0.0698782056206,0.999999970857,0.000135395232616,-0.000191388499041,-5.76629924878e-05,1793243213095042048
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.54208958,713.45791042,682.45791042,657.54208958,633.54208958,880,787,806,651,631,652,0.45111460261,0.00461132651799,0.0698446087097,0.999999959057,0.000140493871747,-0.000242479345912,-5.78978673048e-05,1793243213111708672
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,682.377074169,657.622925831,633,880,786.377074169,806,651,631.622925831,652,0.451734289633,0.00461873869892,0.0697974733224,0.999999937382,0.000163263118258,-0.000308688355269,-5.73737286625e-05,1793243213145041920
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,681.789704841,657.579409681,633,880,786,806,651.210295159,631.789704841,652,0.452029600132,0.00462391226949,0.0697886763325,0.999999933336,0.000172346936881,-0.000316792270162,-5.7165202663e-05,1793243213161708544
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+211,3.516666667,POSE1_TO_POSE2_PRESS,764.632999132,745,714,681.367000868,656,633,880.367000868,786,806,652,631,652,0.452570824333,0.00462694027035,0.0697844516284,0.999999939969,0.000132836613079,-0.000315026811508,-5.63377951874e-05,1793243213195041792
+212,3.533333333,POSE1_TO_POSE2_PRESS,764.057167378,745,714,681.942832622,656,633,880.942832622,786,806,652,631,652,0.452811307683,0.00462716597076,0.0697802316946,0.999999943845,8.05951530709e-05,-0.000320717210722,-5.43620918938e-05,1793243213211708416
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,683,655,632.90716181,880,786,806,652,631,652,0.453215654565,0.00463306973416,0.0697690822913,0.999999933227,0.00010931669796,-0.000345269653111,-4.88404093815e-05,1793243213245041664
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+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,713.586850978,683,654,632,880,786,806,651.413149022,631,652,0.454039969596,0.00464211294459,0.0697665142388,0.999999928404,0.000126011850362,-0.000352544159412,-5.50066606167e-05,1793243213345042176
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+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.257567592,714,683,653,632,880.742432408,786,806,652,631,652,0.454479089335,0.00465295632417,0.0697256264537,0.999999899709,0.000149052748658,-0.000418776190004,-5.47053002316e-05,1793243213795042048
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+249,4.150000000,HOLD_POSE2,765,745,714,683,653,632,880,786,807,652,631,652,0.454476732964,0.00465188662561,0.0697239442188,0.999999898777,0.000144199657729,-0.000422658724552,-5.48894761376e-05,1793243213845356800
+250,4.166666667,HOLD_POSE2,765,745,714,683,653,632,880,786,806.411362974,651.411362974,631,652,0.454475913603,0.00465278762861,0.0697228364389,0.999999897878,0.000146380708113,-0.000424049887762,-5.47482663601e-05,1793243213862023424
+251,4.183333333,HOLD_POSE2,765,745,714,682.825563863,653,632,880.174436137,786,806,651,631,652,0.45447564421,0.00465333385653,0.0697222129785,0.999999897325,0.000147964430143,-0.000424820057189,-5.46219899994e-05,1793243213878690304
+252,4.200000000,HOLD_POSE2,765,745,714,682.246349997,653,632,880.753650003,786,806,651,631,652,0.454476651013,0.00465305683175,0.0697227133773,0.999999897586,0.000148162056713,-0.00042414921555,-5.4530366491e-05,1793243213895357184
+253,4.216666667,HOLD_POSE2,765,745.329784985,714,682.329784985,653,632,881,786,806,651,631,652,0.454476520482,0.00465205230959,0.0697219406011,0.999999897491,0.000146787906144,-0.000424858826123,-5.44583483075e-05,1793243213912023552
+254,4.233333333,HOLD_POSE2,765,745.903641273,714,682.903641273,653,632,881,786,806,651,631,652,0.454475548217,0.00465050937228,0.0697202255577,0.999999897127,0.000144250495518,-0.000426590098686,-5.44008398775e-05,1793243213928689920
+255,4.250000000,HOLD_POSE2,765,745.521362439,714,682.521362439,653,632,880.521362439,786,806,651.478637561,631,652,0.454477058225,0.00465056329601,0.0697219178463,0.999999897892,0.000145960606719,-0.000424265053771,-5.39422920521e-05,1793243213945356288
+256,4.266666667,HOLD_POSE2,764.944414859,745,714,682.055585141,653,632,880,786,806,652,631,651.944414859,0.45447882349,0.00465103364782,0.0697239824503,0.999999898729,0.00014827109909,-0.000421535978478,-5.35281332359e-05,1793243213962023168
+257,4.283333333,HOLD_POSE2,764.35080692,745,714,682.64919308,653,632,880,786,806,652,631,651.35080692,0.454478210911,0.00465241561573,0.0697229953586,0.99999989817,0.000148096285572,-0.000422819265294,-5.43269644356e-05,1793243213978690048
+258,4.300000000,HOLD_POSE2,764.236845281,745,714,683,653,632,880,786,806,651.763154719,631.236845281,651.236845281,0.454477329818,0.00465274433629,0.0697217714897,0.999999897514,0.000148014181593,-0.000424371345638,-5.45160025386e-05,1793243213995356672
+259,4.316666667,HOLD_POSE2,764.815892383,745,714,683,653,632,880,786,806,651.184107617,631.815892383,651.815892383,0.454476060767,0.00465155129045,0.0697202055175,0.999999896719,0.000148066027413,-0.000426311787568,-5.38239915261e-05,1793243214012023552
+260,4.333333333,HOLD_POSE2,765,745,714,683,653,632,880,786,806.391959242,651.391959242,631.608040758,652,0.4544751955,0.00465215698489,0.0697197301041,0.99999989605,0.000148156078928,-0.000427855747718,-5.37544045437e-05,1793243214028690176
+261,4.350000000,HOLD_POSE2,765,745,714,683,653,632,880,786,806.966636862,651.966636862,631.033363138,652,0.454474518463,0.00465360119219,0.0697197630727,0.99999989544,0.000148263940674,-0.000429214881405,-5.39749709065e-05,1793243214045356544
+262,4.366666667,HOLD_POSE2,765,745,713.445877569,683,653,632,880,786,806.445877569,652,631.554122431,652,0.454473366936,0.00465300023239,0.0697187188966,0.99999989458,0.000148869904577,-0.000431014959708,-5.3895739561e-05,1793243214062023424
+263,4.383333333,HOLD_POSE2,765,745,713.140235847,683,653,632,880.140235847,786,806.140235847,651.859764153,631.859764153,652,0.454472604348,0.004653173793,0.0697180657601,0.999999893918,0.000150143771085,-0.000432105430328,-5.39116016628e-05,1793243214078690048
+264,4.400000000,HOLD_POSE2,765,745,713.719581107,683,653,632,880.719581107,786,806.719581107,651.280418893,631.280418893,652,0.45447315119,0.00465616724116,0.0697188449311,0.999999893926,0.000153412860443,-0.000430888865863,-5.42830797741e-05,1793243214095356416
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,653,632,881,786,806,652,631,652,0.454475470751,0.00465308937922,0.0697198840072,0.999999896023,0.000145830284152,-0.000428672559474,-5.4103746526e-05,1793243214132400128
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,653,632,881,786.575607904,806,652,631,652,0.454474979266,0.00465381939151,0.0697191151771,0.99999989513,0.000148698220539,-0.000429793781736,-5.39158064411e-05,1793243214149066496
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,713.844797983,682.844797983,653,632,881,786.844797983,806,652,631,652,0.454474648667,0.00465409490803,0.0697183466966,0.999999894421,0.000150720678838,-0.000430761137855,-5.37183328622e-05,1793243214165732864
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,713.254016311,682.254016311,653,632,881,786.254016311,806,652,631,652,0.454474769595,0.00465309486712,0.0697175791974,0.999999894255,0.00015037027524,-0.000431296663762,-5.3494103171e-05,1793243214182399744
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.669653128,745,713.330346872,682,652.669653128,631.669653128,880.669653128,786,806,652,631,652,0.454474852755,0.00465296976578,0.0697178238219,0.999999894624,0.000149099354749,-0.000430869766755,-5.3589899303e-05,1793243214199066368
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.090131336,745,713.909868664,682,652.090131336,631.090131336,880.090131336,786,806,652,631,652,0.454474907428,0.00465350461625,0.0697188318737,0.999999895393,0.000147134104341,-0.000429716930792,-5.39270853804e-05,1793243214215732736
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.48528545,745.48528545,714,682.48528545,652.48528545,631.48528545,880.48528545,786,806,652,631,651.51471455,0.454474532795,0.00465309000151,0.0697181049418,0.999999895091,0.000147235048181,-0.000430395263307,-5.38424621464e-05,1793243214232399360
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,714,683,653,632,881,786,806.059982648,652,631,651,0.454474081623,0.0046526705646,0.0697172287195,0.999999894657,0.00014776049278,-0.000431240505718,-5.37145398591e-05,1793243214249066240
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,746,714,683,653,632,881,786,806.634992708,652,631,651,0.454473652154,0.00465371114979,0.0697178142465,0.99999989478,0.000148663463093,-0.000430623183762,-5.38818636335e-05,1793243214265732864
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.783676422,713.783676422,683,652.783676422,632,880.783676422,786,806.783676422,652,631.216323578,651.216323578,0.454470687854,0.00465426191352,0.0697169554215,0.999999894182,0.000149052898139,-0.000431844292087,-5.41320633329e-05,1793243214282399488
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.191359369,713.191359369,683,652.191359369,632,880.191359369,786,806.191359369,652,631.808640631,651.808640631,0.454463317747,0.00465396131516,0.0697135861587,0.999999892318,0.000148549753962,-0.000436260788594,-5.45263102204e-05,1793243214299065856
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,713.391038424,682.608961576,652.391038424,632,880.391038424,786,806,652,632,652,0.454438394843,0.00465500221343,0.0697035309353,0.999999884721,0.000150466859393,-0.000452726588383,-5.43637838199e-05,1793243214315732480
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713.968702244,682.031297756,652.968702244,632,880.968702244,786,806,652,632,652,0.454405094764,0.00465668334885,0.0696902847975,0.999999873973,0.000153539043128,-0.000474942989492,-5.39355340934e-05,1793243214332399360
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.542896023,714,682.542896023,653,632,880.457103977,786,806.542896023,652,631.457103977,652,0.454348285421,0.00465531739495,0.0696731895261,0.999999861869,0.000151540275525,-0.000500428686781,-5.35562352295e-05,1793243214349065984
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.882718427,714,683,653.117281573,632,880,786,806.882718427,652,631,652,0.45428870971,0.00465417067251,0.0696577789888,0.999999850914,0.000150127286171,-0.000522312472475,-5.31335115662e-05,1793243214365732608
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.30680547,714,683,653.69319453,632,880,786,806.30680547,652,631,652,0.454223582323,0.00465456382997,0.0696498188609,0.999999846926,0.000152140924778,-0.000529378588066,-5.25300091835e-05,1793243214382399488
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.722469121,745,713.722469121,682.722469121,653.722469121,632,880.277530879,786,806,652,631.277530879,652,0.454151573636,0.00465516261946,0.069645881509,0.999999844849,0.000154312741317,-0.000532740350067,-5.17500647872e-05,1793243214399066112
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.128529423,745,713.128529423,682.128529423,653.128529423,632,880.871470577,786,806,652,631.871470577,652,0.454071719686,0.00465599584697,0.0696465304643,0.999999844992,0.000156664894044,-0.000531878833345,-5.07689615193e-05,1793243214415732480
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.450488653,745.450488653,713.450488653,682,653,632,880.549511347,786.450488653,806,652,631.549511347,652,0.453973037275,0.00465642623015,0.0696463953047,0.99999984512,0.000159910786752,-0.000530806798323,-4.93174000115e-05,1793243214432399360
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.974590806,714,682,653,632,880,786.974590806,806,652,631,651.974590806,0.453867583466,0.00465672581974,0.0696460063461,0.999999845131,0.000163402142151,-0.000529869672481,-4.77016809263e-05,1793243214449065984
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.399166286,714,682,653,632,880,786.399166286,806,652,631,651.399166286,0.453728108942,0.00465660238386,0.0696448109553,0.999999842946,0.000166864149557,-0.000533111295248,-4.53449196209e-05,1793243214465732608
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.181186002,745.181186002,714,682.181186002,653.181186002,632,880,786,806,652,631.181186002,651.181186002,0.453580228319,0.00465633212439,0.0696417731357,0.999999839428,0.000170059667538,-0.000538881082189,-4.2799947836e-05,1793243214482399488
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.772697964,745.772697964,714,682.772697964,653.772697964,632,880,786,806,652,631.772697964,651.772697964,0.453413310696,0.0046557293584,0.0696345628288,0.999999832845,0.000172651675235,-0.000550376318654,-3.9828742307e-05,1793243214499066112
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.289197248,745.644598624,714,682.644598624,654,632,880,786,806.355401376,652,631.644598624,652,0.453223886724,0.00465590430376,0.0696270453092,0.999999825414,0.000177281662285,-0.000562476284871,-3.69266229449e-05,1793243214515732480
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.134785076,745.067392538,714,682.067392538,654,632,880,786,806.932607462,652,631.067392538,652,0.453020416604,0.0046565646159,0.0696193360584,0.999999817356,0.000183183545091,-0.000574953661797,-3.40676197161e-05,1793243214532399104
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.509201601,745,714,682.509201601,654.509201601,632,880.509201601,786,807,651.490798399,631,652,0.452787105846,0.00465738763776,0.0696177345599,0.999999813413,0.000187223561065,-0.000580649630745,-3.10991917944e-05,1793243214549065728
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713.914822718,682.914822718,655,632.085177282,880.914822718,786.085177282,806.914822718,651.085177282,631.085177282,651.914822718,0.452544436926,0.00465854943558,0.0696167802336,0.999999809957,0.000192052558339,-0.000585164766277,-2.79901117077e-05,1793243214565732608
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.341924865,682.341924865,655,632.658075135,880.341924865,786.658075135,806.341924865,651.658075135,631.658075135,651.341924865,0.452270770437,0.00466152788921,0.0696149085249,0.99999980624,0.000202808498903,-0.000588051471457,-2.41584889423e-05,1793243214582399232
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.759974942,745,713.240025058,682.240025058,655.240025058,633,880,787,806,652,632,651.240025058,0.451979969273,0.00467110782659,0.0696122792848,0.999999799444,0.000219487009731,-0.000593684315598,-2.18370108016e-05,1793243214599065856
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.164624669,745,713.835375331,682.835375331,655.835375331,633,880,787,806,652,632,651.835375331,0.451663802514,0.00469046038363,0.0696085286201,0.999999787732,0.000244933098437,-0.000603382453324,-2.17511014133e-05,1793243214615732480
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764.416457915,745,713.583542085,683,655.583542085,633,880,787,806,652,631.583542085,652,0.451327080731,0.00469671036112,0.0696108259348,0.999999784958,0.000258193293518,-0.000602575760031,-1.79499009251e-05,1793243214632399104
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.992087329,745,713.007912671,683,655.007912671,633,880,787,806,652,631.007912671,652,0.450982502761,0.00469795249185,0.0696154348061,0.999999785674,0.000266796001895,-0.000597754087734,-1.27287047204e-05,1793243214649065728
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+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.208109554,714,682,659,634,880,787,806,651.791890446,631.208109554,652,0.446734675369,0.00460544925223,0.0697043742561,0.999999884228,0.000134711858481,-0.000461800058766,1.16808966884e-05,1793243214799065600
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.796917049,714,682,659,634,880,787,806,651.203082951,631.796917049,652,0.44613769213,0.00460295259516,0.0697083797749,0.999999891722,0.000121225759679,-0.00044911071187,1.26578577494e-05,1793243214815732224
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.619284543,746,714,682,659.380715457,634,880,787,806,651.380715457,632,652,0.445542757175,0.00460132363326,0.0697373761236,0.999999914178,0.000107909639048,-0.000399771067454,1.35490895265e-05,1793243214832398848
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764.038123425,746,714,682,659.961876575,634,880,787,806,651.961876575,632,652,0.444948900654,0.00460015151061,0.0697795300768,0.999999940589,9.46830114635e-05,-0.000331135138948,1.43951849827e-05,1793243214849065728
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764.535098473,745.464901527,714,682,660.535098473,634,880,787,806,651.464901527,632,652,0.444290094843,0.00459601508942,0.069804606131,0.999999955503,7.82897688409e-05,-0.000287367563433,1.68577440239e-05,1793243214865732352
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,713.88927303,682,660.77854606,634,880,787,806,651.11072697,632,652,0.443609992171,0.00459249435297,0.0698237594463,0.99999996509,6.34066257397e-05,-0.000255772488865,1.94703358545e-05,1793243214882399232
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,713.300857828,682,659.601715656,634,880,787,806,651.699142172,632,652,0.44285768375,0.00459252753934,0.0698225337582,0.999999961962,5.59972875132e-05,-0.00026915910267,2.22406101942e-05,1793243214899065856
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,713.283253091,682,659,634,880.283253091,787,806,651.716746909,631.716746909,652,0.442100042089,0.00458985660149,0.0698185505136,0.999999959873,4.23815879229e-05,-0.000279085513528,2.38453207722e-05,1793243214915732480
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,713.862860713,682,659,634,880.862860713,787,806,651.137139287,631.137139287,652,0.441336820415,0.00458435646429,0.0698116821659,0.999999958734,2.22724602949e-05,-0.000285391676643,2.42305565548e-05,1793243214932398848
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,659.880413886,634,880.559793057,787,806,651.440206943,631,652,0.440566566185,0.00458082664823,0.0698199599398,0.999999954935,0.000136053088732,-0.000266360670906,2.59135177634e-05,1793243214949065472
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.983198551,660.983198551,634,880,787,805.983198551,651.983198551,631,652,0.439790994255,0.00457796361125,0.0698311777568,0.999999929275,0.000285994648896,-0.000242645119109,2.79233382749e-05,1793243214965732352
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.408291181,660.408291181,634,880,787,805.408291181,651.408291181,631,652,0.438911182835,0.00457696391169,0.0697841194816,0.999999913627,0.000258651746994,-0.000324179843873,2.74299060315e-05,1793243214982398720
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,713.828959796,681,659.828959796,634,880,787,805.171040204,651,631,652,0.438033970558,0.00457433407119,0.0697421923108,0.999999896234,0.000229591359729,-0.000392552460629,2.68768328166e-05,1793243214999065344
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,713.238787448,681,659.238787448,634,880,787,805.761212552,651,631,652,0.437163127502,0.0045677095883,0.069712838858,0.999999888507,0.000196322298679,-0.000428671475623,2.61776104671e-05,1793243215015732224
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764.654945589,745,713.345054411,681,659.345054411,634,879.654945589,787,805.654945589,651.345054411,631,652,0.436315930235,0.00456395573934,0.0697281901783,0.999999904426,0.000168186016126,-0.000402650447297,2.70912135321e-05,1793243215032399104
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764.075405706,745,713.924594294,681,659.924594294,634,879.075405706,787,805.075405706,651.924594294,631,652,0.435484801757,0.00456215266111,0.0697739211135,0.999999933363,0.000143537769773,-0.000334401475204,2.91008295633e-05,1793243215049065728
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764.502113306,745,714,681,660,634.502113306,879.502113306,787.502113306,805.502113306,652,631,651.497886694,0.434633112253,0.00455777531527,0.0698135386925,0.999999952079,0.000122301977091,-0.000282639542342,3.16108086781e-05,1793243215065732352
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.921346462,660,634.921346462,879.921346462,787.842692923,806,652,631.078653538,651,0.433776283052,0.0045527229207,0.0698483708916,0.999999965773,0.000103530412517,-0.000237891557678,3.37972436578e-05,1793243215082399232
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.349052341,660,634.349052341,879.349052341,786.698104682,806,652,631.650947659,651,0.432906498456,0.00454585042581,0.0698589082845,0.99999997016,9.70212517607e-05,-0.000221686882054,3.34833531717e-05,1793243215099065600
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.231155154,660,634,879,786.231155154,805.768844846,652,631.768844846,651,0.431991591089,0.00454068311928,0.0698517053979,0.999999967325,9.74134005329e-05,-0.000233972004536,3.34336059413e-05,1793243215115732224
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.823735791,660,634,879,786.823735791,805.176264209,652,631.176264209,651,0.431006131325,0.00453818197992,0.0698167644809,0.999999951249,0.000108596175489,-0.000290802698221,3.3796863033e-05,1793243215132398848
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,713.594516096,680.594516096,659.594516096,634,879.405483904,786.594516096,805,652,631,651.405483904,0.430024106715,0.00453446536724,0.0697636766034,0.999999924379,0.000105183286258,-0.000372864071268,3.39310193792e-05,1793243215149065728
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,713.017354399,680.017354399,659.017354399,634,879.982645601,786.017354399,805,652,631,651.982645601,0.429043536572,0.00453023413557,0.069702905488,0.999999886459,9.55907387799e-05,-0.000465607853439,3.39681765404e-05,1793243215165732352
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.440086625,745,713.559913375,680.559913375,659,634,879.440086625,786,805,651.440086625,631,651.440086625,0.428173948501,0.00451877617714,0.069754484958,0.999999921902,8.18660511329e-05,-0.000385060879415,3.4948297252e-05,1793243215182398976
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764.139647622,745,714,680.860352378,659.279295244,634,879.139647622,786.139647622,805.139647622,651,631,651.139647622,0.42731009598,0.00450947279418,0.0698080959456,0.999999951345,6.98434819917e-05,-0.000301890396222,3.59764826105e-05,1793243215199065600
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764.727283718,745,714,680.272716282,660.454567436,634,879.727283718,786.727283718,805.727283718,651,631,651.727283718,0.42645360595,0.0045077999702,0.0698570507693,0.999999971398,6.36922387068e-05,-0.000227537474368,3.70650818996e-05,1793243215215732224
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764.689538946,745,714,680,660.379077891,634,879.689538946,787,806,651.310461054,631,652,0.425542338052,0.00450090652849,0.0698695432084,0.999999975382,5.89493192341e-05,-0.000210629828607,3.7373058776e-05,1793243215232398848
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764.110222865,745,714,680,659.22044573,634,879.110222865,787,806,651.889777135,631,652,0.424583633312,0.00448949210334,0.0698504597186,0.999999968141,5.54259894071e-05,-0.000243469010557,3.70050273651e-05,1793243215249065472
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764.46695428,745,714,680,659.46695428,634,879.46695428,787,805.53304572,652,631,652,0.423623747887,0.00448428697762,0.0698110686294,0.999999951217,4.41934697329e-05,-0.000307069765957,3.6337464553e-05,1793243215265732096
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.955652272,634,879.955652272,787,805,652,631,651.955652272,0.422664540332,0.00448033733118,0.0697663201217,0.999999926678,3.2721616781e-05,-0.000379855799248,3.58070126346e-05,1793243215282398976
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.369476155,634,879.369476155,787,805,652,631,651.369476155,0.421717005199,0.00447390113382,0.0697144152358,0.999999884915,4.04572111298e-05,-0.000476554669295,3.78116412047e-05,1793243215299065344
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.214103869,879,786.785896131,805,652,631,651.214103869,0.420819984101,0.00446527234754,0.0697024175447,0.999999873648,3.01067230075e-05,-0.000500367620793,3.78165669071e-05,1793243215315731968
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.793257615,879,786.206742385,805,652,631,651.793257615,0.420009089938,0.00445290516761,0.0697584621307,0.999999919383,-1.10807691286e-05,-0.000399909152503,3.44119737625e-05,1793243215332398848
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.627571647,680,659.744856706,635,879.372428353,786.372428353,805,652,631,652,0.419198101871,0.00444510666338,0.0698215461591,0.999999955881,-1.09198273294e-05,-0.000294716658638,3.55071854537e-05,1793243215349065728
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,713.04839151,680,660.90321698,635,879.95160849,786.95160849,805,652,631,652,0.418387061724,0.00443984443793,0.0698885380962,0.999999981696,1.21954983391e-05,-0.00018689609817,3.91004418473e-05,1793243215365732096
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,713.527033205,679.472966795,660.472966795,634.472966795,879.472966795,787,805,652,631,652,0.417535009418,0.00443069934908,0.0698740105406,0.999999975418,-1.06572486377e-05,-0.000217844446685,3.99371659621e-05,1793243215382398976
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.104290642,659.895709358,634,879,787,805,652,631,652,0.416687189066,0.00442199112635,0.0698500395726,0.999999965018,-3.46155577009e-05,-0.000259174382011,3.99207044861e-05,1793243215399065600
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.691622431,659.308377569,634,879,787,805,652,631,652,0.415876287854,0.00441694593123,0.0698167526464,0.999999956283,-4.42837138467e-05,-0.000289991107911,3.71165489613e-05,1793243215415732224
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.275504703,634.275504703,879.275504703,787,805,652,631,651.724495297,0.415042981954,0.00441762981825,0.0697841002041,0.999999941131,-4.07343336827e-05,-0.000338727455711,3.66502563942e-05,1793243215432398848
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.855573574,634.855573574,879.855573574,787,805,652,631,651.144426426,0.414184908235,0.00442464707534,0.0697521491717,0.999999916058,-2.25732676514e-05,-0.000407273534071,3.876841812e-05,1793243215449065472
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.566781676,634.566781676,879.566781676,787,805,652,631,651.433218324,0.413421680991,0.00445135466997,0.069758566319,0.999999920497,3.07531789666e-06,-0.000396923175848,3.80481523342e-05,1793243215465732096
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.019962046,634.009981023,879,787,805,652,631,652,0.412691778184,0.00448400732388,0.0697783693029,0.999999934306,3.10928322246e-05,-0.000359297891668,3.64084442623e-05,1793243215482398720
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.164648316,634.582324158,879,787,805,652,631,652,0.4120678288,0.00448382401958,0.069835686583,0.999999964516,5.27224736107e-05,-0.000258637604334,3.59839434933e-05,1793243215499065600
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.839968903,634.839968903,879,787,805,652,631,652,0.411433910759,0.00448105613936,0.0698795126341,0.999999980536,6.13779457924e-05,-0.000184016257896,3.60285147903e-05,1793243215515732224
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.247776989,634.247776989,879,787,805,652,631,652,0.410773072418,0.00447130866288,0.0698869059005,0.999999982542,3.49969363837e-05,-0.00017971254096,3.73398067167e-05,1793243215532399360
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,713.662904661,680,659.325809322,634,879,787,804.662904661,652,631,652,0.410095797965,0.00446548580177,0.0698648485752,0.999999974941,1.76634241655e-05,-0.000220097036186,3.6910818446e-05,1793243215549066240
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,713.083298183,680,658.166596366,634,879,787,804.083298183,652,631,652,0.40940669918,0.00446248636489,0.0698216040785,0.99999995654,6.83881048852e-06,-0.000292630860682,3.52298478442e-05,1793243215565732608
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.491450268,680,658.982900536,634,879,787,804.491450268,652,631,652,0.408768612187,0.00446046996657,0.06979073613,0.999999941169,1.51533076871e-05,-0.000340983218622,3.41146151224e-05,1793243215582399232
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.932924077,745,714,680,660,634.067075923,878.932924077,787,805,652,631,652,0.408151568826,0.00445939693667,0.0697671022847,0.999999928246,2.44182934563e-05,-0.000376578933297,3.3163784816e-05,1793243215599065856
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764.344133785,745,714,680,660,634.655866215,878.344133785,787,805,652,631,652,0.407631610353,0.00446437811813,0.0697835784719,0.999999939987,1.60915782954e-05,-0.000344520852467,3.27531461812e-05,1793243215615732224
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.240805216,745,714,680,659.759194784,634.759194784,878.240805216,786.759194784,805,652,631,652,0.407120071168,0.00447054580512,0.0698000590774,0.99999994851,1.60796506267e-05,-0.000318831781417,3.26842701329e-05,1793243215632398848
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.820326942,745,714,680,659.179673058,634.179673058,878.820326942,786.179673058,805,652,631,652,0.406620374593,0.00447838242988,0.0698165458963,0.999999953434,2.77633001043e-05,-0.000302101359752,3.30961172534e-05,1793243215649065472
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878.600840169,786.399159831,804.600840169,652,631,651.600840169,0.40612874212,0.00448227964998,0.0698153310593,0.999999950001,4.71343634554e-05,-0.000310865713416,3.37362534943e-05,1793243215665732096
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878.02231676,786.97768324,804.02231676,652,631,651.02231676,0.40564073323,0.00448440668834,0.0698061619355,0.999999942149,6.99597885401e-05,-0.000331086213438,3.44789720982e-05,1793243215682398720
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.530265247,878.530265247,787,804,652,631,651.530265247,0.405241721147,0.00448492440814,0.0698152160273,0.999999948749,5.70437833751e-05,-0.000313287648289,3.31538341933e-05,1793243215699065600
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.091213535,634.908786465,879,787,804.091213535,652,631,652,0.404852805779,0.00448509261835,0.069826161035,0.999999956024,4.33246341326e-05,-0.000291654946624,3.18142854026e-05,1793243215715732224
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.706178102,634.293821898,879,787,804.706178102,652,631,652,0.404501362076,0.00448362470187,0.0698437653293,0.999999966007,3.32282104279e-05,-0.000256765654284,3.08683984563e-05,1793243215732399104
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.697258712,745,714,680,659.697258712,634,878.697258712,787,805,652,631,652,0.404157076036,0.00447960705461,0.0698541794947,0.999999971335,2.08356672111e-05,-0.000236601671451,3.02740666797e-05,1793243215749065728
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.117531471,745,714,680,659.117531471,634,878.117531471,787,805,652,631,652,0.403819338752,0.00447325659179,0.0698580152213,0.9999999731,6.34234459255e-06,-0.0002299102632,3.0001382037e-05,1793243215765732352
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.459055866,745,714,680,659.459055866,634,878.459055866,787,804.540944134,652,631,652,0.403496963976,0.00447138764868,0.0698461500178,0.999999968328,-1.70500255818e-06,-0.000249960302265,2.93254899981e-05,1793243215782398976
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.964514849,659.964514849,634.035485151,878.964514849,786.964514849,804,652,631,652,0.403181309879,0.00447069820652,0.0698308745276,0.999999961477,-8.0112315349e-06,-0.000275978344822,2.8584533423e-05,1793243215799065856
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.378143755,659.378143755,634.621856245,878.378143755,786.378143755,804,652,631,652,0.402909343837,0.00447062815929,0.0698246387869,0.999999957732,-1.27343580284e-05,-0.000289079120952,2.84252271386e-05,1793243215815732736
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.794184936,745,714,679.205815064,659,634.794184936,878.205815064,786.205815064,804.205815064,652,631,652,0.40265264443,0.00446967747897,0.0698178531243,0.999999954155,-1.68099210443e-05,-0.000300984619264,2.85465377128e-05,1793243215832399104
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.214606903,745,714,679.785393097,659,634.214606903,878.785393097,786.785393097,804.785393097,652,631,652,0.40242366947,0.00446712755695,0.0698100687968,0.999999951107,-1.97094994227e-05,-0.000310719475357,2.91774523611e-05,1793243215849065472
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.364295459,745,714,680,659.364295459,634.364295459,878.635704541,786.635704541,805.364295459,652,631,652,0.40221733884,0.00446779309052,0.0698058586095,0.999999948767,-1.80981278365e-05,-0.000318132335523,3.05100252223e-05,1793243215865732096
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.942800574,745,714,680,659.942800574,634.942800574,878.057199426,786.057199426,805.942800574,652,631,652,0.402024323299,0.00447034934638,0.0698037500544,0.999999946838,-1.38342693224e-05,-0.000324179837979,3.22551807357e-05,1793243215882398976
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.483123979,745.516876021,714,679.483123979,659.483123979,635,878,786.516876021,804.966247958,652,631,652,0.401865266719,0.00447905722511,0.0698036016282,0.999999947057,8.95560698342e-06,-0.000323533096011,3.36592284695e-05,1793243215899065600
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.093020736,745.906979264,714,679.093020736,659,635,878.093020736,787,804,652,631,652,0.401715241999,0.00448966342223,0.0698041321422,0.999999946862,4.2580076966e-05,-0.000321327996952,3.48061879739e-05,1793243215915732480
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.682812099,745.317187901,714,679.682812099,659,635,878.682812099,787,804,652,631,652,0.401593552297,0.00450680279118,0.0698071399116,0.999999942279,0.000123210243988,-0.000314723227867,3.47800654586e-05,1793243215932399104
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.732146001,659,635,878.732146001,787,804.267853999,652,631,652,0.401482911693,0.00451502471545,0.0698093766886,0.999999938717,0.0001598457699,-0.000309581113791,3.42617205116e-05,1793243215949065728
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.152630375,659,635,878.152630375,787,804.847369625,652,631,652,0.401385127277,0.00451287074239,0.069810716377,0.999999942034,0.000145291309629,-0.000306140874712,3.31706501586e-05,1793243215965732352
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,713.575747486,679.424252514,659,635,878,786.575747486,804.575747486,652,631,652,0.401300165701,0.00450720367393,0.0698079532723,0.999999946332,9.9993468134e-05,-0.0003110529464,2.41652516127e-05,1793243215982398976
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,713.000197524,680,659,635,878.000197524,786,804,652,631,652,0.40121979792,0.00450028436897,0.0698037255732,0.999999948105,4.37256656176e-05,-0.000318946493892,1.23343141234e-05,1793243215999065600
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,713.586392079,680,659,635,878.586392079,786,804,652,631,652,0.401166312157,0.00450478831553,0.0698064270559,0.999999949683,5.31935894425e-05,-0.000312469394483,1.29147562677e-05,1793243216015732480
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.829426819,879,786,804,652.170573181,631,651.829426819,0.401118714579,0.00450708110941,0.0698098501203,0.999999951466,5.91281475617e-05,-0.000305581534799,1.381784627e-05,1793243216032399104
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.250071087,879,786,804,652.749928913,631,651.250071087,0.401085228183,0.00450407482441,0.0698150024711,0.999999953963,5.65949121746e-05,-0.000297709279674,1.54941692023e-05,1793243216049065472
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.329267396,634,879,786.329267396,804.329267396,652.670732604,631,651.329267396,0.401056058078,0.00450273202595,0.0698176511832,0.999999955209,5.55285257737e-05,-0.000293632720706,1.66627029017e-05,1793243216065732096
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.90859284,634,879,786.90859284,804.90859284,652.09140716,631,651.90859284,0.401030165922,0.00450265254144,0.0698183985383,0.999999955543,5.55761194152e-05,-0.000292438755386,1.74456025304e-05,1793243216082398976
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634.484426966,879,786.515573034,805,652,631,652,0.401015078596,0.00450224081413,0.0698217498381,0.999999957161,5.52320334868e-05,-0.000286893922792,1.78566758355e-05,1793243216099065856
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.939132812,659.939132812,634.939132812,878.939132812,786.060867188,805,652,631,652,0.40100234237,0.00450182223272,0.0698250975826,0.999999958763,5.50022508106e-05,-0.00028128152212,1.81765223733e-05,1793243216115732224
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.35179242,659.35179242,634.35179242,878.35179242,786.64820758,805,652,631,652,0.400992433757,0.00450188273725,0.0698241951072,0.999999958442,5.63958218248e-05,-0.000282134894079,1.83098123161e-05,1793243216132398848
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.232367067,659.232367067,634,878.232367067,786.767632933,805,652.232367067,631,652,0.400985938645,0.0045019655005,0.0698248665813,0.999999958827,5.70631255111e-05,-0.000280631305676,1.8309642095e-05,1793243216149065728
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.811775816,659.811775816,634,878.811775816,786.188224184,805,652.811775816,631,652,0.400984541617,0.0045020815073,0.0698278887588,0.999999960252,5.6645744275e-05,-0.000275607582042,1.81101482681e-05,1793243216165732608
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.609345437,745,714,680,659.609345437,634,878.609345437,786,805,652.609345437,631,652,0.400981912769,0.00450255532493,0.0698285254071,0.999999960687,5.69684129042e-05,-0.000273956722861,1.8135363248e-05,1793243216182399232
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.030721725,745,714,680,659.030721725,634,878.030721725,786,805,652.030721725,631,652,0.400978691213,0.00450320130848,0.0698280142232,0.999999960653,5.76471673488e-05,-0.00027392876683,1.82687001588e-05,1793243216199065856
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.543077359,745,713.456922641,679.456922641,659,634.543077359,878,786.543077359,805,652,631,652,0.400978330115,0.00450249318227,0.0698297005225,0.999999961277,5.59147901842e-05,-0.000272007710683,1.81926905061e-05,1793243216215732736
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.119920445,679,659,634.880079555,878.119920445,786.880079555,804.880079555,652,631,652.119920445,0.400978079493,0.00450234585281,0.0698310701077,0.999999961741,5.51007338807e-05,-0.000270467933846,1.81122791322e-05,1793243216232399360
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,713.709751424,679,659,634.290248576,878.709751424,786.290248576,804.290248576,652,631,652.709751424,0.400977633284,0.00450469353781,0.0698307158165,0.999999961454,5.84149035485e-05,-0.00027083815495,1.80606166581e-05,1793243216249065984
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.294361996,659,634,879,786.294361996,804.294361996,652,631,652.705638004,0.400977605192,0.00450518630921,0.0698311057533,0.999999961566,5.9144827848e-05,-0.000270261575058,1.81009781502e-05,1793243216265732352
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.873914877,659,634,879,786.873914877,804.873914877,652,631,652.126085123,0.400977982192,0.00450388195877,0.0698322167311,0.99999996207,5.73710216459e-05,-0.000268767692648,1.82304965133e-05,1793243216282398976
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.566242564,745,714,679.566242564,659,634,878.566242564,787,805,652,631,652,0.40097820762,0.00450288797203,0.0698326869463,0.999999962284,5.6153987884e-05,-0.000268214739508,1.84392649534e-05,1793243216299065600
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.011880425,745,714,679.011880425,659,634,878.011880425,787,805,652,631,652,0.400978390904,0.00450198028088,0.0698329789998,0.999999962417,5.50917628141e-05,-0.000267923408475,1.86700685861e-05,1793243216315732224
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.58416949,745,714,679.58416949,659.58416949,634.58416949,878,787,805,652,631,652,0.400977846984,0.00450223915719,0.0698328877445,0.99999996249,5.40692570205e-05,-0.00026789791211,1.81162218296e-05,1793243216332399104
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.820381394,635,878,786.640762788,804.820381394,652.179618606,630.820381394,652,0.400977651016,0.00450263289291,0.0698328846961,0.999999962541,5.42142311114e-05,-0.000267696861856,1.78376153937e-05,1793243216349065728
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.228407509,635,878,785.456815018,804.228407509,652.771592491,630.228407509,652,0.40097829041,0.00450327757781,0.0698331034181,0.999999962541,5.70374233718e-05,-0.0002670794225,1.8230335282e-05,1793243216365732352
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.644931714,745,714,680,659,634.644931714,878.355068286,785.710136573,804.355068286,652.644931714,630.355068286,652,0.400978680103,0.00450348667526,0.069833520599,0.999999962622,5.7627353018e-05,-0.000266653746785,1.81786439312e-05,1793243216382398976
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.066794793,745,714,680,659,634.066794793,878.933205207,786.866410413,804.933205207,652.066794793,630.933205207,652,0.400978912924,0.00450342211856,0.06983406246,0.999999962756,5.68142542963e-05,-0.000266348544972,1.78477549805e-05,1793243216399065856
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,659,634.509328857,878.490671143,786.490671143,804.490671143,652,631,652,0.400977707885,0.00450347599163,0.0698335901732,0.999999962614,5.64003935782e-05,-0.000266975265451,1.7738453293e-05,1793243216415732224
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.086952541,745,714,680,659,634.913047459,878.086952541,786.086952541,804.086952541,652,631,652,0.400976628038,0.0045035030496,0.069833272134,0.999999962541,5.61887793232e-05,-0.000267298021877,1.77054318559e-05,1793243216432399104
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.67473057,745,714,680,659,634.32526943,878.67473057,786.67473057,804.67473057,652,631,652,0.400977351074,0.00450328655525,0.069834605544,0.999999963066,5.68416783805e-05,-0.000265168862629,1.79450491036e-05,1793243216449065984
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.258847834,745,714,679.741152166,659,634.258847834,878.741152166,786.741152166,805,652,631,652,0.400977849545,0.00450350477827,0.069835162235,0.999999963214,5.74770340346e-05,-0.000264471099859,1.80037206649e-05,1793243216465732352
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.838429192,745,714,679.161570808,659,634.838429192,878.161570808,786.161570808,805,652,631,652,0.40097806976,0.00450426165144,0.0698347565082,0.999999962896,5.80906520729e-05,-0.00026554695349,1.78381858322e-05,1793243216482398976
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.58538253,745,714,679.41461747,659.41461747,635,878,786,805,652,631,652,0.40097882527,0.00450378996439,0.0698353415883,0.999999963201,5.81125698935e-05,-0.000264389363829,1.78598023443e-05,1793243216499065600
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.010505792,745,714,679.989494208,659.989494208,635,878,786,805,652,631,652,0.400979787683,0.00450284341026,0.0698363096383,0.999999963744,5.79057818195e-05,-0.000262368496469,1.79537572019e-05,1793243216515732480
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cc064dcb27aa273edae503b609f7dbdbe68b0598
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_11/depth_05/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+1,0.016666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+2,0.033333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+3,0.050000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+4,0.066666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+5,0.083333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+6,0.100000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+7,0.116666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+8,0.133333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+9,0.150000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+10,0.166666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+11,0.183333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+12,0.200000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+13,0.216666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+14,0.233333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+15,0.250000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+16,0.266666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+17,0.283333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+18,0.300000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
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+383,6.383333333,pose2_to_pose3_retreat,0.580779352052,0.0100018008176,1.06004098255,0.551351070039,0.018676623414,1.05967877454
+384,6.400000000,pose2_to_pose3_retreat,0.580767094519,0.0100019722239,1.06004086761,0.55133881073,0.0186767889135,1.05967866255
+385,6.416666667,pose2_to_pose3_retreat,0.58075931782,0.0100019283646,1.06004089922,0.551331035733,0.0186767507481,1.05967869217
+386,6.433333333,pose2_to_pose3_retreat,0.580753807847,0.0100017928963,1.06004096763,0.551325528602,0.0186766247535,1.05967875667
+387,6.450000000,pose2_to_pose3_retreat,0.580749990766,0.0100017938483,1.06004087688,0.551321711997,0.0186766274088,1.05967866802
+388,6.466666667,pose2_to_pose3_retreat,0.580747788491,0.0100018118169,1.06004087427,0.551319509539,0.0186766449616,1.05967867039
+389,6.483333333,pose2_to_pose3_retreat,0.580746596155,0.0100018300366,1.0600408971,0.551318316879,0.0186766622744,1.05967869775
+390,6.500000000,pose2_to_pose3_retreat,0.58074558529,0.010001840225,1.06004093103,0.551317305733,0.0186766715954,1.05967873384
+391,6.516666667,pose2_to_pose3_retreat,0.580745047446,0.0100018321021,1.06004098663,0.551316767717,0.0186766627571,1.05967878624
+392,6.533333333,pose2_to_pose3_retreat,0.580744958918,0.010001830765,1.06004099578,0.55131667916,0.0186766613023,1.05967879487
+393,6.550000000,pose2_to_pose3_retreat,0.580744943623,0.010001830534,1.06004099736,0.551316663861,0.018676661051,1.05967879636
+394,6.566666667,pose2_to_pose3_retreat,0.58074490474,0.0100018299468,1.06004100138,0.551316624965,0.018676660412,1.05967880015
+395,6.583333333,pose2_to_pose3_retreat,0.580744878058,0.0100018295438,1.06004100414,0.551316598274,0.0186766599735,1.05967880275
+396,6.600000000,pose2_to_pose3_retreat,0.580744872336,0.0100018294574,1.06004100473,0.551316592551,0.0186766598795,1.0596788033
+397,6.616666667,pose2_to_pose3_retreat,0.580744833852,0.0100018288762,1.06004100871,0.551316554054,0.0186766592471,1.05967880705
+398,6.633333333,pose2_to_pose3_retreat,0.580744774858,0.0100018279852,1.06004101481,0.551316495041,0.0186766582777,1.0596788128
+399,6.650000000,pose2_to_pose3_retreat,0.580744709678,0.0100018270008,1.06004102155,0.551316429841,0.0186766572066,1.05967881915
+400,6.666666667,pose2_to_pose3_retreat,0.58074469231,0.0100018267385,1.06004102334,0.551316412468,0.0186766569212,1.05967882084
+401,6.683333333,pose2_to_pose3_retreat,0.580744564581,0.0100018248095,1.06004103655,0.551316284698,0.0186766548222,1.05967883329
+402,6.700000000,pose2_to_pose3_retreat,0.580744447296,0.0100018230382,1.06004104867,0.551316167375,0.0186766528949,1.05967884472
+403,6.716666667,pose2_to_pose3_retreat,0.580744343592,0.010001821472,1.06004105939,0.551316063638,0.0186766511908,1.05967885482
+404,6.733333333,pose2_to_pose3_retreat,0.58074424647,0.0100018299533,1.0600410674,0.551315966479,0.0186766595185,1.0596788621
+405,6.750000000,pose2_to_pose3_retreat,0.580744125602,0.0100018508781,1.06004107524,0.551315845561,0.0186766802266,1.05967886888
+406,6.766666667,pose2_to_pose3_retreat,0.580743783823,0.0100019100473,1.06004109741,0.551315503638,0.0186767387833,1.05967888805
+407,6.783333333,pose2_to_pose3_retreat,0.580743587022,0.0100018552927,1.06004086409,0.551315306173,0.0186766819117,1.05967865801
+408,6.800000000,pose2_to_pose3_retreat,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3f84a03bb13105914e3de1c28b30d06d673a4202
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e8624a315e7224b38e607a260793b60f070106b525b959a957256c8252ff19a
+size 25710676
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0b7bb1eab5f1f86b1cc5d120be4f5a92a470be80
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_01/franka_data.csv
@@ -0,0 +1,406 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,745,714,680,658,635,879,787,805,652,631,652,0.401036844619,0.00449600790837,0.0798692040853,0.999999981927,0.000120105837738,-0.000138763105639,4.96428209548e-05,1793243217779939584
+1,0.016666667,BASELINE,764.408992871,745,714,679.408992871,658,634.408992871,878.408992871,786.408992871,804.408992871,652,631,652,0.40103767376,0.00449581141003,0.0798695535025,0.99999998198,0.000120994519973,-0.000137637206624,4.95704127849e-05,1793243217796606464
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+3,0.050000000,BASELINE,764.759079598,745,714.759079598,679.759079598,658,634,878,786.759079598,804.759079598,652,631,652,0.40103409225,0.00449729215875,0.0798678407933,0.999999981007,0.000124847315895,-0.000141141349743,4.97914491667e-05,1793243217829940224
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+9,0.150000000,BASELINE,765,745,714,680,658,634,878,786.240537758,805,652.759462242,631,652,0.401032962981,0.00449932766629,0.0798675076612,0.999999980869,0.000124181947671,-0.000142853644329,4.93275345209e-05,1793243217929940224
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+16,0.266666667,BASELINE,764.69524871,745,714,680,659,634,878,786.30475129,805,652,631,652,0.401035720924,0.00449654298599,0.079871272606,0.999999981166,0.000126089105294,-0.000138713701557,5.02765887445e-05,1793243218046605056
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+19,0.316666667,BASELINE,765,745,714,679.972066496,659,634,878.972066496,786.027933504,804.027933504,652,631,652,0.401032280414,0.0044978789245,0.0798679190189,0.99999998058,0.00012628292483,-0.000142929530437,4.96428903179e-05,1793243218096604928
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+21,0.350000000,BASELINE,765,745,714,679,658.790444873,634.209555127,878.209555127,787,805,652,631,652,0.401033365428,0.00449739279782,0.0798681561697,0.99999998074,0.000124647613964,-0.000143318916294,4.94332697023e-05,1793243218129938432
+22,0.366666667,BASELINE,765,745,714,679,658.214074676,634.785925324,878.785925324,787,805,652,631,652,0.40103355942,0.0044975721331,0.0798686858362,0.999999981006,0.000123968853486,-0.000142039346194,4.94412495641e-05,1793243218146605056
+23,0.383333333,BASELINE,765,745,714,679.359904701,658.359904701,635,878.640095299,786.640095299,805,652,631,652,0.401033658294,0.00449851451071,0.0798688530645,0.999999981003,0.000124523513519,-0.000141629627644,4.92925403259e-05,1793243218163271936
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+25,0.416666667,BASELINE,764.479783919,745.520216081,714.520216081,679.479783919,659,634.479783919,878,786,805,652,631,652,0.40103395145,0.00449942138072,0.0798686280037,0.999999980749,0.000126240410123,-0.000141947098235,4.91597892796e-05,1793243218196605184
+26,0.433333333,BASELINE,764,745.891461242,714.891461242,679,659,634.108538758,878,786,805,652,631,652,0.401034216799,0.00449877962965,0.0798686192411,0.999999980774,0.00012602776433,-0.000141939158388,4.92070335466e-05,1793243218213271808
+27,0.450000000,BASELINE,764,745.309469496,714.309469496,679,659,634.690530504,878,786,805,652,631,652,0.401034425783,0.00449855642081,0.0798694257938,0.999999981258,0.000123492691312,-0.000140903017058,4.87828443819e-05,1793243218229938176
+28,0.466666667,BASELINE,764,745,714,679,659,634.730383565,878,786,805,652,631,652,0.401034068938,0.00449889598466,0.0798694193969,0.999999981273,0.000123328858398,-0.000140977095976,4.86696062263e-05,1793243218246605056
+29,0.483333333,BASELINE,764,745,714,679,659,634.15459744,878,786,805,652,631,652,0.401033069554,0.00449987461913,0.0798684898346,0.999999980758,0.00012585774667,-0.000142311913335,4.89094762945e-05,1793243218263271680
+30,0.500000000,BASELINE,764,745,714,679.419385773,658.580614227,634.419385773,878,786.419385773,805,652,630.580614227,652,0.401032911106,0.00449978751274,0.0798688574955,0.999999980725,0.000126255722254,-0.000142134845814,4.90648672795e-05,1793243218279939328
+31,0.516666667,BASELINE,764,745,714,679.992707214,658.007292786,634.992707214,878,786.992707214,805,652,630.007292786,652,0.401033061324,0.00449930922584,0.0798697013026,0.999999980871,0.000125871545666,-0.000141402840484,4.91892501875e-05,1793243218296607232
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+39,0.650000000,BASELINE,764,745,714,679.638719925,658.361280075,634.638719925,878.638719925,787,805,652.361280075,631,652,0.401032180011,0.00449826639975,0.0798687394202,0.999999980708,0.000125340896291,-0.000142963986046,4.93499690703e-05,1793243218429938944
+40,0.666666667,BASELINE,764,745,714,679.768570906,658.231429094,635,878.768570906,787,804.768570906,652,631,651.768570906,0.401031841827,0.00449841853823,0.0798686195874,0.999999980656,0.00012570808319,-0.000142981088085,4.94103406855e-05,1793243218446605568
+41,0.683333333,BASELINE,764,745,714,679.18808934,658.81191066,635,878.18808934,787,804.18808934,652,631,651.18808934,0.401032473339,0.00449915093301,0.0798690961493,0.999999980502,0.000127646766589,-0.000142374200812,4.93127503484e-05,1793243218463272192
+42,0.700000000,BASELINE,764.387498079,745,714,679.387498079,658.612501921,634.612501921,878.387498079,786.612501921,804.387498079,652,631,651.387498079,0.401033580605,0.00449874781822,0.0798698315535,0.999999980746,0.000126589923372,-0.00014170280049,4.90242424276e-05,1793243218479938816
+43,0.716666667,BASELINE,764.96073952,745,714,679.96073952,658.03926048,634.03926048,878.96073952,786.03926048,804.96073952,652,631,651.96073952,0.401034915919,0.00449780040815,0.0798706910313,0.999999981176,0.000124097204117,-0.000141000476492,4.86442200586e-05,1793243218496605440
+44,0.733333333,BASELINE,765,745,714,680,658.547821303,634,878.452178697,786.547821303,805,652,631,652,0.401033793085,0.00449818123257,0.0798695730762,0.999999980964,0.000124283820635,-0.00014227427092,4.88147307371e-05,1793243218513272064
+45,0.750000000,BASELINE,764.866019403,745.133980597,714.133980597,679.866019403,659,634,878,787,805,652.133980597,631,652,0.401033012505,0.00449853584205,0.0798687041862,0.999999980805,0.000124619293056,-0.000143033791263,4.9001178105e-05,1793243218529938944
+46,0.766666667,BASELINE,764.286314489,745.713685511,714.713685511,679.286314489,659,634,878,787,805,652.713685511,631,652,0.401033971789,0.0044984783555,0.079869147559,0.999999980982,0.000124794614411,-0.000141599077126,4.91059836272e-05,1793243218546605312
+47,0.783333333,BASELINE,764,746,714.708661164,679,659,634,878,786.708661164,805,652.708661164,631,652,0.401033630718,0.00449858791731,0.0798689783588,0.999999980892,0.000125169477169,-0.00014190234141,4.91195797971e-05,1793243218563271936
+48,0.800000000,BASELINE,764,746,714.133009879,679,659,634,878,786.133009879,805,652.133009879,631,652,0.401032020653,0.00449886049867,0.0798682113593,0.999999980538,0.000125739068895,-0.000143901668114,4.90441663761e-05,1793243218579938816
+49,0.816666667,BASELINE,764.443363921,745.556636079,714.443363921,679,659,634,878,786.443363921,805,652,631,652,0.401033474971,0.00449908311464,0.0798697413216,0.99999998069,0.000127340319142,-0.000141390934649,4.91217533139e-05,1793243218596605696
+50,0.833333333,BASELINE,765,745,714.979489363,679,659,634.020510637,878,787,805,652,631,652,0.401035677695,0.0044992835741,0.0798718230382,0.99999998096,0.000129114891881,-0.000137787083108,4.92368335317e-05,1793243218613272064
+51,0.850000000,BASELINE,765,745,714.386837504,679,659,634.613162496,878,787,805,652,631,652,0.401033070965,0.0044992847992,0.0798700423621,0.999999980709,0.000127076746682,-0.000141494902447,4.91153100416e-05,1793243218629938688
+52,0.866666667,BASELINE,765,745,714.200334514,679.200334514,658.799665486,634.799665486,878,786.799665486,804.799665486,652,631,652,0.401031655895,0.00449893804872,0.0798688230495,0.999999980646,0.000125015509965,-0.000143808309566,4.89793898968e-05,1793243218646605056
+53,0.883333333,BASELINE,765,745,714.777206886,679.777206886,658.222793114,634.222793114,878,786.222793114,804.222793114,652,631,652,0.401032480606,0.00449793726225,0.0798686588455,0.999999980959,0.00012291087181,-0.000143500855101,4.88164105913e-05,1793243218663271680
+54,0.900000000,BASELINE,765,745.3539005,714.6460995,680,658,634.3539005,878.3539005,786,804.3539005,652,631,652,0.401032395752,0.00449898481322,0.0798684149746,0.99999998086,0.000123527021366,-0.000143703937029,4.86929521108e-05,1793243218679938560
+55,0.916666667,BASELINE,765,745.930481616,714.069518384,680,658,634.930481616,878.930481616,786,804.930481616,652,631,652,0.401031738583,0.0045013212153,0.079868120976,0.999999980499,0.000125855139992,-0.000144228257729,4.85943608567e-05,1793243218696605184
+56,0.933333333,BASELINE,764.482715237,745.482715237,714,680,658.517284763,635,879,786,805,652,631,652,0.401030638577,0.00450009372844,0.0798678043872,0.999999980436,0.00012515560513,-0.000145199385962,4.8806238555e-05,1793243218713272064
+57,0.950000000,BASELINE,764,745,714,680,658.896156203,634.896156203,879,786,805,652,631,652,0.401029929926,0.00449868642639,0.0798676186971,0.999999980408,0.000124501587299,-0.000145876820364,4.9029937555e-05,1793243218729938944
+58,0.966666667,BASELINE,764,745,714,680,658.317127347,634.317127347,879,786,805,652,631,652,0.401031289928,0.00449869215647,0.0798680461658,0.999999980359,0.00012595529734,-0.000144930011887,4.91129529681e-05,1793243218746605824
+59,0.983333333,BASELINE,764.260263264,745,714,679.739736736,658,634.260263264,878.739736736,786.260263264,805,652,631,652,0.401031885186,0.00449862744955,0.0798683172998,0.999999980339,0.000126673190108,-0.000144416030032,4.91825253469e-05,1793243218763272448
+60,1.000000000,BASELINE,764.835670257,745,714,679.164329743,658,634.835670257,878.164329743,786.835670257,805,652,631,652,0.401031554445,0.00449847745292,0.0798683991334,0.999999980357,0.000126500107538,-0.000144426142745,4.92358200348e-05,1793243218779938816
+61,1.016666667,BASELINE,765,745,714,679.409095724,658.409095724,634.590904276,878,786.590904276,805,652,631,652,0.401032485642,0.00449845003499,0.0798690173694,0.99999998058,0.000126459572093,-0.000142967296195,4.90722492002e-05,1793243218796605184
+62,1.033333333,BASELINE,765,745,714,679.981729034,658.981729034,634.018270966,878,786.018270966,805,652,631,652,0.401033921304,0.00449847161838,0.0798698500342,0.999999980881,0.000126472022878,-0.00014092122754,4.88219855371e-05,1793243218813271808
+63,1.050000000,BASELINE,765,745.57551425,714,679.42448575,658.42448575,634.57551425,878,786.57551425,805,652,631,652,0.401033694795,0.00449998485633,0.0798693646629,0.999999980434,0.00012854029941,-0.000142135738302,4.90679883283e-05,1793243218829938432
+64,1.066666667,BASELINE,765,746,714.165199877,679.165199877,658.165199877,635,878.165199877,787,805,652,631,652,0.401033788356,0.00450052218979,0.0798692510903,0.999999980331,0.000128647374493,-0.000142723291821,4.91788093502e-05,1793243218846605056
+65,1.083333333,BASELINE,765,746,714.742907934,679.742907934,658.742907934,635,878.742907934,787,805,652,631,652,0.401034817931,0.00449849990492,0.0798701743802,0.999999981147,0.000123688090065,-0.000141476977528,4.89112362721e-05,1793243218863271936
+66,1.100000000,BASELINE,765,745.681438101,714.681438101,679.681438101,659,635,878.681438101,786.681438101,804.681438101,652,631,652,0.401034313588,0.00449763440069,0.0798700117444,0.999999981325,0.000122132950861,-0.000141630552343,4.87256836843e-05,1793243218879938816
+67,1.116666667,BASELINE,765,745.107431276,714.107431276,679.107431276,659,635,878.107431276,786.107431276,804.107431276,652,631,652,0.401032579245,0.00449769648314,0.0798689783384,0.999999981005,0.00012330749057,-0.000142906654958,4.86059008019e-05,1793243218896605440
+68,1.133333333,BASELINE,764.531253691,745,714,679.468746309,659,635,878.468746309,786,804,652,631.468746309,652,0.401032840647,0.00449857295406,0.0798688626096,0.999999980664,0.000126048189962,-0.000142818103587,4.88507395463e-05,1793243218913272064
+69,1.150000000,BASELINE,764,745,714,679.954990349,658.954990349,634.954990349,879,786.045009651,804.045009651,652,631.954990349,652,0.401033629308,0.00449944082795,0.0798690460954,0.999999980382,0.000128756192422,-0.000142270157965,4.91565314765e-05,1793243218929938432
+70,1.166666667,BASELINE,764,745,714,679.383570256,658.383570256,634.383570256,879,786.616429744,804.616429744,652,631.383570256,652,0.401035210076,0.00449801505036,0.0798702577926,0.999999980939,0.000126864202136,-0.000140024305725,4.9193294936e-05,1793243218946605056
+71,1.183333333,BASELINE,764.196249807,745,714,679.196249807,658.196249807,634.196249807,878.803750193,786.803750193,805,652,631,652,0.401035509035,0.00449728735112,0.079870759754,0.999999981141,0.000125845424741,-0.000139478852052,4.92666258082e-05,1793243218963271936
+72,1.200000000,BASELINE,764.793221862,745,714,679.793221862,658.793221862,634.793221862,878.206778138,786.206778138,805,652,631,652,0.401033190668,0.004497985057,0.0798698125067,0.999999980624,0.000126609659361,-0.000142405439774,4.94146236437e-05,1793243218979938560
+73,1.216666667,BASELINE,765,745.375815401,714,680,659,635,878,786,805,652,631,652,0.401031766821,0.00449909305006,0.0798690013345,0.999999980197,0.000128148376245,-0.000144015979225,4.94241260231e-05,1793243218996605184
+74,1.233333333,BASELINE,765,745.950789198,714,680,659,635,878,786,805,652,631,652,0.401030817014,0.00450041846934,0.0798682622736,0.999999979817,0.000130097519707,-0.000144929096142,4.93602345597e-05,1793243219013271808
+75,1.250000000,BASELINE,765,745.460985753,714,680,658.460985753,635,878.539014247,786,805,652,631,652,0.401031514139,0.00449958073762,0.0798685269821,0.999999980021,0.000128974483794,-0.000144559308239,4.92531013234e-05,1793243219029938688
+76,1.266666667,BASELINE,764.873678358,745,714,679.873678358,658.126321642,635,878.873678358,786,805,652,631,652,0.401032242964,0.00449898789782,0.0798688885486,0.999999980275,0.000127608480874,-0.000144071061564,4.90953974635e-05,1793243219046605568
+77,1.283333333,BASELINE,764.294113742,745,714,679.294113742,658.705886258,635,878.294113742,786,805,652,631,652,0.401032532436,0.00450000019017,0.079869260543,0.999999980513,0.000126402450714,-0.000143588626117,4.87707678689e-05,1793243219063271936
+78,1.300000000,BASELINE,764,745,714,679.284468004,658.715531996,635,878.284468004,786.284468004,805,652,631,652,0.401032918825,0.00449996838754,0.0798697006603,0.9999999807,0.000125627745962,-0.000142999959434,4.86788842088e-05,1793243219079938560
+79,1.316666667,BASELINE,764,745,714,679.862037017,658.137962983,635,878.862037017,786.862037017,805,652,631,652,0.401033405075,0.00449886080376,0.0798702109678,0.999999980833,0.000125297456509,-0.000142301837649,4.88268098523e-05,1793243219096605184
+80,1.333333333,BASELINE,764,745,714,680,658.445148004,634.554851996,878.554851996,786.554851996,804.554851996,652,631,652,0.401033013004,0.00449819868873,0.0798699137165,0.999999980843,0.000124956476677,-0.000142538116002,4.88116161945e-05,1793243219113271808
+81,1.350000000,BASELINE,764.029701015,745.029701015,714.029701015,679.970298985,659,634,878,786,804.029701015,652,631,652,0.401032380174,0.00449776024305,0.0798693791328,0.999999980792,0.000124782452115,-0.000143058569424,4.87725218738e-05,1793243219129938176
+82,1.366666667,BASELINE,764.608755541,745.608755541,714.608755541,679.391244459,659,634,878,786,804.608755541,652,631,652,0.401032392639,0.0044988730022,0.0798691424542,0.999999980343,0.000127758507103,-0.000143411248372,4.92382162586e-05,1793243219146605312
+83,1.383333333,BASELINE,765,745.812651814,714.812651814,679.187348186,659,634,878,786,805,652,631,652,0.40103242748,0.0044997981993,0.0798691397164,0.999999980116,0.000129425242776,-0.000143416324147,4.94772611322e-05,1793243219163272192
+84,1.400000000,BASELINE,765,745.235021248,714.235021248,679.764978752,659,634,878,786,805,652,631,652,0.401032508935,0.00450033266872,0.0798696243222,0.999999980368,0.000128364414512,-0.000142697275582,4.92441514771e-05,1793243219179938816
+85,1.416666667,BASELINE,765,745,714,680,658.658241315,634,878.341758685,786.341758685,805,652.341758685,631.341758685,652,0.401032712155,0.0044999596392,0.0798701026066,0.999999980566,0.00012741275723,-0.000142185121304,4.91606422819e-05,1793243219196605696
+86,1.433333333,BASELINE,765,745,714,680,658.082044929,634,878.917955071,786.917955071,805,652.917955071,631.917955071,652,0.401032998902,0.00449896408863,0.0798705765546,0.999999980729,0.000126535988507,-0.00014181489125,4.9179755183e-05,1793243219213272576
+87,1.450000000,BASELINE,765,745,714,679.49519081,658.50480919,634.50480919,878.49519081,786.49519081,805,652.49519081,631.49519081,652,0.401031984674,0.00450026709766,0.0798698416279,0.99999998042,0.000127766320794,-0.000142978623956,4.89246192856e-05,1793243219229938944
+88,1.466666667,BASELINE,765,745,714,679.091960324,659,634.908039676,878.091960324,786.091960324,805,652,631,652,0.401031385171,0.00450157754143,0.0798692725495,0.999999980173,0.000128888627815,-0.000143780180738,4.86744775693e-05,1793243219246605056
+89,1.483333333,BASELINE,765,745,714,679.671307201,659,634.328692799,878.671307201,786.671307201,805,652,631,652,0.401034128504,0.00450090474025,0.0798706462274,0.999999980691,0.000127584232427,-0.000141312386181,4.8692133807e-05,1793243219263271680
+90,1.500000000,BASELINE,765,745,714,679.750766005,659,634,878.750766005,787,805,652,631,652,0.40103447343,0.0045001161676,0.0798707018536,0.999999980861,0.000126452694796,-0.000141125071948,4.87015258278e-05,1793243219279938560
+91,1.516666667,BASELINE,765,745,714,679.174701465,659,634,878.174701465,787,805,652,631,652,0.401031673225,0.00449917577921,0.0798690290655,0.999999980575,0.000125547832585,-0.000143928243313,4.87000806481e-05,1793243219296605184
+92,1.533333333,BASELINE,764.600129897,745,714,679,659,634.399870103,878,786.600129897,805,652,631,652,0.401031278392,0.0044982751636,0.0798687482837,0.999999980565,0.000124942106432,-0.000144466371695,4.88797807302e-05,1793243219313272320
+93,1.550000000,BASELINE,764.026208126,745,714,679,659,634.973791874,878,786.026208126,805,652,631,652,0.401031930544,0.00449739185984,0.0798690734011,0.999999980676,0.000124466585308,-0.000144018593881,4.91383280051e-05,1793243219329939200
+94,1.566666667,BASELINE,764.564843239,745,714,679,659,634.435156761,878,786,804.435156761,652,631,652,0.401032458652,0.00449889015989,0.079869591391,0.999999980611,0.000126398563588,-0.00014285706472,4.89272146801e-05,1793243219346605568
+95,1.583333333,BASELINE,765,745,714,679.153349949,658.846650051,634.153349949,878,786.153349949,804.153349949,652,631,652,0.401032819173,0.00449988185425,0.0798699675437,0.999999980569,0.000127687372394,-0.000142041581165,4.88076822308e-05,1793243219363271936
+96,1.600000000,BASELINE,765,745,714,679.732514945,658.267485055,634.732514945,878,786.732514945,804.732514945,652,631,652,0.401032730828,0.00449915039126,0.079869924223,0.999999980629,0.00012687037925,-0.000142281815356,4.90048500426e-05,1793243219379938560
+97,1.616666667,BASELINE,765,745,714,680,658.309226711,635,878.309226711,786.690773289,805,652,631,652,0.40103239617,0.00449854661308,0.0798699339717,0.999999980615,0.000126553033945,-0.000142638014098,4.90866689554e-05,1793243219396605184
+98,1.633333333,BASELINE,765,745,714,680,658.883833069,635,878.883833069,786.116166931,805,652,631,652,0.401031850124,0.00449805241458,0.0798699892648,0.999999980536,0.000126664488541,-0.000143093734086,4.90694949523e-05,1793243219413271808
+99,1.650000000,BASELINE,765,745.469153629,714,680,658.530846371,635,878.530846371,786,805,652,631,652,0.401032572088,0.00449765652061,0.0798704163687,0.99999998078,0.000125504827809,-0.000142437965195,4.89819159028e-05,1793243219429938432
+100,1.666666667,BASELINE,764.943668105,745.943668105,714,680,658,635,878,786,805,652,631,652,0.401033502651,0.0044974006589,0.0798708789328,0.999999981078,0.000124201296415,-0.000141519296075,4.8885943281e-05,1793243219446605056
+101,1.683333333,BASELINE,764.364446886,745.364446886,714,680,658,635,878,786,805,652,631,652,0.401033386996,0.00449821339594,0.0798707961123,0.99999998114,0.00012455210647,-0.000140774643263,4.88776588109e-05,1793243219463271936
+102,1.700000000,BASELINE,764,745,714,679.785864157,658.214135843,634.785864157,878,786,805,652,631,652,0.401033577644,0.00449882915018,0.0798707725706,0.999999981148,0.000124832086695,-0.000140483898422,4.88402157746e-05,1793243219479938816
+103,1.716666667,BASELINE,764,745,714,679.208364928,658.791635072,634.208364928,878,786,805,652,631,652,0.40103428805,0.00449911064765,0.0798708496182,0.999999981065,0.000124991876984,-0.000140963382192,4.87532940758e-05,1793243219496605184
+104,1.733333333,BASELINE,764,745,714,679,658.635714818,634,878.364285182,786,804.635714818,652,631,652,0.401033905036,0.00449968136042,0.0798709267816,0.999999980866,0.000126120372643,-0.000141397422263,4.86580533132e-05,1793243219513271808
+105,1.750000000,BASELINE,764,745,714,679,658.065801833,634,878.934198167,786,804.065801833,652,631,652,0.40103290482,0.00450041532637,0.0798710040102,0.999999980601,0.000127795672767,-0.000141805810806,4.85581166863e-05,1793243219529938432
+106,1.766666667,BASELINE,764,745,714,679.52627954,658,634,878.47372046,786,804.52627954,652,631,652,0.40103153514,0.00449966725592,0.0798696006827,0.999999980412,0.000127057871336,-0.000143708254842,4.87813796914e-05,1793243219546605056
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,635,879,786,805,652,631,652,0.401029830102,0.00449803428663,0.079868091331,0.999999980358,0.000124233502976,-0.000146536745873,4.87459715857e-05,1793243219588663552
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.423374818,745,714,680,658.576625182,635,878.423374818,786,805,652,631,652,0.401029890932,0.00449882498121,0.0798684106424,0.999999980177,0.00012575337712,-0.000146458470012,4.88009066463e-05,1793243219605330432
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.155814585,745,714.155814585,680,659,635,878.155814585,786.155814585,805,652,631,652,0.401030258271,0.00449984255774,0.0798687846573,0.999999980067,0.000127260649625,-0.000145914337775,4.87735108626e-05,1793243219621997056
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.74208813,745,714.74208813,680,659,635,878.74208813,786.74208813,805,652,631,652,0.401031472382,0.00450148692664,0.0798693097979,0.999999980157,0.000128733108734,-0.000144083213998,4.8518664949e-05,1793243219638663680
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.675454975,745,714.675454975,680,659,635,878.675454975,786.675454975,805,652,631,652,0.401032326991,0.00450189676081,0.0798698941776,0.999999980232,0.000129661053486,-0.000142713929765,4.85535829968e-05,1793243219655330048
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.095995905,745,714.095995905,680,659,635,878.095995905,786.095995905,805,652,631,652,0.401032899231,0.00450133692898,0.0798705250868,0.999999980297,0.000130161309088,-0.000141707397731,4.88160963023e-05,1793243219671996672
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634.518227183,878,786.481772817,804.518227183,652,631,651.518227183,0.401032139178,0.00450020751552,0.0798699585202,0.999999980184,0.000129142062458,-0.000143423243294,4.88321149576e-05,1793243219688663552
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.059134704,745,714,679.940865296,659,634,878,787,804.118269407,652,631,651.059134704,0.40103128591,0.00449905003464,0.0798692923044,0.999999980083,0.000127673876656,-0.00014544570327,4.87784034621e-05,1793243219705329920
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.635873387,745,714,679.364126613,659,634,878,787,805.271746775,652,631,651.635873387,0.401031932232,0.00449863680148,0.0798698350502,0.999999980446,0.00012491700486,-0.000145420513701,4.85427489119e-05,1793243219721997056
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714.216821056,679,658.783178944,634,878,786.783178944,805.566357888,652,630.783178944,652,0.401032887449,0.00449822982017,0.0798704740756,0.999999980429,0.00012338856861,-0.000146811322195,4.86255340829e-05,1793243219738663680
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714.804977113,679,658.195022887,634,878,786.195022887,804.390045774,652,630.195022887,652,0.40103437169,0.00449783354601,0.0798712779927,0.999999979759,0.000123963992499,-0.000150627216392,4.92536898085e-05,1793243219755330560
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.613805331,745,714.613805331,679.386194669,658.386194669,634,878,786,804.386194669,652,630.386194669,652,0.401049716801,0.0044981703184,0.0798776775804,0.999999980085,0.000124985433523,-0.000147524058449,4.9453618055e-05,1793243219771996672
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.036029728,745,714.036029728,679.963970272,658.963970272,634,878,786,804.963970272,652,630.963970272,652,0.401071937921,0.0044988707357,0.0798868530318,0.999999980872,0.000126228131866,-0.000140988542567,4.94411140607e-05,1793243219788663040
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.460124675,634,878,786.539875325,804.460124675,652,631,652,0.401113378227,0.00449883681188,0.0798975070949,0.999999982504,0.000125044822114,-0.000130183011441,4.9076700714e-05,1793243219805329920
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.115407715,745.115407715,714,679.884592285,658.115407715,634,878,786.884592285,804.115407715,652,631,652,0.40116123759,0.00449898238176,0.0799086270429,0.999999984248,0.000123979756648,-0.000117412163645,4.84464697615e-05,1793243219821996544
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.689952603,745.689952603,714,679.310047397,658.689952603,634,878,786.310047397,804.689952603,652,631,652,0.401229549295,0.00450003634713,0.0799212092416,0.999999986414,0.000124027009797,-9.79523138629e-05,4.68518235645e-05,1793243219838663168
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745.726914112,714,679.273085888,659,634.273085888,878.273085888,786.273085888,804.726914112,652,631,652,0.401304207027,0.00450084559621,0.0799302637382,0.999999987859,0.000123498639899,-8.37627844782e-05,4.48702938638e-05,1793243219855329792
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.13371343,714,679.86628657,659,634.86628657,878.86628657,786.86628657,804.13371343,652,631,652,0.401386303649,0.00450136798567,0.0799351830163,0.999999988752,0.000122295517292,-7.57511936854e-05,4.24352544503e-05,1793243219871996416
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,786.555056449,804.444943551,652,631,652,0.401481105001,0.00450340978715,0.0799374411776,0.999999989204,0.000121011290794,-7.34554621334e-05,3.94143320385e-05,1793243219888663296
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.980486993,745,714,680,659,634.980486993,879,786.019513007,805,652,631,652,0.40158068181,0.00450580145378,0.0799391122976,0.999999989555,0.000119660022883,-7.2531076335e-05,3.62175098299e-05,1793243219905329664
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.401768261,745,714,680,659,634.401768261,879,786.598231739,805,652,631,652,0.401711160933,0.00450554819418,0.0799461527662,0.999999990608,0.000117063854627,-6.32384639836e-05,3.28658041363e-05,1793243219921996544
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.180139584,745,714,680,659,634.180139584,878.819860416,787,805,652,631,652,0.401849900749,0.00450614638555,0.0799524500764,0.999999991622,0.000113783502215,-5.45969088245e-05,2.87725717873e-05,1793243219938663424
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.769288271,745,714,680,659,634.769288271,878.230711729,787,805,652,631,652,0.402007396552,0.00450867780669,0.0799570600353,0.999999992676,0.000108949701773,-4.74335881704e-05,2.29956946591e-05,1793243219955330048
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714.35246532,679.64753468,658.64753468,635,878,786.64753468,804.64753468,652,631,652,0.402181822294,0.00451052502076,0.079962222884,0.999999993465,0.00010594800703,-3.92249963338e-05,1.75046890386e-05,1793243219971996416
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714.931798719,679.068201281,658.068201281,635,878,786.068201281,804.068201281,652,631,652,0.402367145189,0.00451193183789,0.0799677416066,0.999999994044,0.000104125566261,-3.0343603798e-05,1.2197687105e-05,1793243219988663040
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.491519595,745,714.491519595,679,658,634.491519595,878,786,804.508480405,652,631,652,0.402566448511,0.00451420392301,0.0799645767782,0.999999994717,9.48178474304e-05,-3.93527051911e-05,5.19673549392e-06,1793243220005329920
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.08442212,745,714.08442212,679.08442212,658.08442212,634.08442212,878,786,805,652,631,652,0.40277128028,0.0045166637568,0.0799594091964,0.999999995034,8.4961420551e-05,-5.20450215513e-05,-2.11547990306e-06,1793243220021996544
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.658126085,745,714.658126085,679.658126085,658.658126085,634.658126085,878,786,805,652,631,652,0.40299734171,0.0045195425853,0.0799493495464,0.999999994321,7.77134194626e-05,-7.2248830316e-05,-9.92170297446e-06,1793243220038663424
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.760578392,745,714.760578392,679.760578392,659,635,878,786,804.760578392,652,631,652,0.40325008015,0.00451742621503,0.0799447905767,0.999999994337,6.57452451587e-05,-8.20859799919e-05,-1.62684716917e-05,1793243220055330304
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.168087826,745,714.168087826,679.168087826,659,635,878,786,804.168087826,652,631,652,0.403542158482,0.00450794355197,0.0799483433209,0.999999995758,4.68163518849e-05,-7.66356798889e-05,-2.04630197131e-05,1793243220071996928
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634.585118074,878,786,804.414881926,652,631,652,0.403862822083,0.00449978616779,0.0799523254969,0.999999996741,3.17005755488e-05,-7.13828011875e-05,-2.04393536776e-05,1793243220088663552
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634.005919124,878,786,804.994080876,652,631,652,0.404194807082,0.00449215367024,0.0799564777524,0.999999997469,1.80950125437e-05,-6.62081128021e-05,-1.87450329779e-05,1793243220105330176
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,714.570138809,679,659,634.570138809,878.570138809,786.570138809,805,652,631,652,0.404559580497,0.00450756046038,0.0799549512734,0.999999997205,2.65315278737e-05,-6.64464285222e-05,-2.1701292298e-05,1793243220121996800
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745.148979955,714.851020045,679,659,634.851020045,878.851020045,786.851020045,805,652,631,652,0.404934041838,0.00452028148529,0.0799532850154,0.999999996827,3.65849305101e-05,-6.64249090789e-05,-2.43828439473e-05,1793243220138663424
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745.73610165,714.26389835,679,659,634.26389835,878.26389835,786.26389835,805,652,631,652,0.405335999138,0.0045244042268,0.0799513801121,0.999999996229,5.07241927579e-05,-6.54748613826e-05,-2.61152788755e-05,1793243220155330048
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.318605235,745.681394765,714.318605235,679.318605235,658.681394765,634.318605235,878,786,805,652,631,652,0.405764416821,0.0045296007861,0.0799455597211,0.999999995357,5.53272283258e-05,-7.32971248684e-05,-2.92107235293e-05,1793243220171996928
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.897338389,745.102661611,714.897338389,679.897338389,658.102661611,634.897338389,878,786,805,652,631,652,0.406214438351,0.0045356740734,0.0799365424972,0.999999994185,5.2144333064e-05,-8.82816153865e-05,-3.34190091076e-05,1793243220188663808
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,679.524904333,658.475095667,634.524904333,878.475095667,786,805,652,631,652,0.406686835795,0.00454694322924,0.0799299280752,0.999999992045,7.1348451043e-05,-9.9441572538e-05,-3.05203011715e-05,1793243220205330432
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714.947704035,679,659,634.052295965,878.947704035,786,805,652,631,652,0.407167157085,0.00455901967495,0.0799241972447,0.999999989223,9.41269064586e-05,-0.000109414924532,-2.6872535848e-05,1793243220221997056
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714.373958734,679,659,634.626041266,878.373958734,786,805,652,631,652,0.407678375519,0.00456797353243,0.0799221102918,0.999999987365,0.000104408865943,-0.000115780030928,-3.10373170255e-05,1793243220238663936
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.205817519,786,805.205817519,652,631,652,0.408200844592,0.00457794855984,0.0799182488452,0.999999985272,0.000113223822138,-0.000124404055738,-3.40475236762e-05,1793243220255330560
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.796882419,786,805.796882419,652,631,652,0.408744372479,0.00458983500338,0.0799110659176,0.999999982856,0.000119292854158,-0.00013725630336,-3.48966078602e-05,1793243220271996928
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.620673387,635,879,786,805.620673387,652,631,652,0.409362985269,0.0045986523054,0.079925632413,0.999999984392,0.000128976592309,-0.000115150649265,-3.63459027753e-05,1793243220288663296
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.042742755,635,879,786,805.042742755,652,631,652,0.410020910241,0.00460586269674,0.0799515862533,0.999999986603,0.000140552881643,-7.4742087332e-05,-3.81094499227e-05,1793243220305329920
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.533683811,658,635,879,786.533683811,804.466316189,652,631,652,0.410695069656,0.0046058688029,0.0799794840398,0.9999999896,0.000135863413715,-2.86317145796e-05,-3.89989267885e-05,1793243220321996800
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.112071065,714,680,658.112071065,634.887928935,879,787,804.112071065,652,631,652,0.411360840314,0.00460361389655,0.0799971306998,0.999999990937,0.000128529566259,2.92943484093e-07,-4.00664182277e-05,1793243220338663680
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.699279991,714,680,658.699279991,634.300720009,879,787,804.699279991,652,631,652,0.411985548785,0.00459421251928,0.0799706583371,0.999999991403,0.000115492104812,-4.5573791441e-05,-4.21845795472e-05,1793243220355330304
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.717304581,714,680,659,634.282695419,879,786.717304581,805,652,631,652,0.41264177898,0.00458988797526,0.0799409726764,0.99999998866,0.000112647288884,-8.94089555004e-05,-4.46803283624e-05,1793243220371996928
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.137871021,714,680,659,634.862128979,879,786.137871021,805,652,631,652,0.413331096799,0.00459089245194,0.0799079140957,0.999999983013,0.000120501430379,-0.000131111637281,-4.75724213802e-05,1793243220388663552
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.56011363,879,786,805,652,630.56011363,652,0.414092788623,0.00459621347067,0.0799108793988,0.9999999837,0.000127651886098,-0.00011798576661,-4.88249542882e-05,1793243220405329920
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.017073378,879,786,805,652,630.017073378,652,0.414876991918,0.0046027991228,0.0799254221912,0.999999985961,0.000133995808506,-8.75664235159e-05,-4.95489152712e-05,1793243220421996544
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.592723051,879,786,805,652,630.592723051,652,0.415658377182,0.00460666477584,0.0799507480499,0.999999990102,0.000121141269941,-5.1450754269e-05,-4.97283225509e-05,1793243220438663168
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.831578684,878.831578684,786,805,652,630.831578684,652,0.416433933473,0.00461067221548,0.0799632610651,0.999999991273,0.000116895329764,-3.59542646661e-05,-4.99643414395e-05,1793243220455330048
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.25576292,878.25576292,786,805,652,630.25576292,652,0.417195390008,0.0046150226226,0.0799447810817,0.999999987352,0.000133472735843,-7.03335267692e-05,-5.0337298286e-05,1793243220471996928
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.67039421,745,714,679.67039421,659,634,878.32960579,786,805,652,630.32960579,652,0.418012686176,0.00461613556562,0.0799517347992,0.999999987537,0.000139234225227,-5.32486062515e-05,-5.1997129233e-05,1793243220488663552
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.077391512,745,714,679.077391512,659,634,878.922608488,786,805,652,630.922608488,652,0.41887460527,0.00461466136321,0.0799790132764,0.999999989196,0.000136352421738,4.96273751495e-06,-5.46853359983e-05,1793243220505330176
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.499920535,745,714,679.499920535,659,634,879,786,805,652,631,652,0.419731171691,0.00461222577772,0.0799823323914,0.999999990239,0.000127390912795,1.38574311352e-05,-5.56847033554e-05,1793243220521996800
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.925010931,745.074989069,714.074989069,680,659,634,879,786,805,652,631,652,0.420583991207,0.0046099027741,0.0799799718263,0.99999999119,0.000119650658426,1.14616991652e-05,-5.63208049449e-05,1793243220538663424
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.34919732,745.65080268,714.65080268,680,659,634,879,786,805,652,631,652,0.421417151865,0.00460929539417,0.079963696594,0.999999990318,0.000126161264113,-1.69016419704e-05,-5.62237481519e-05,1793243220555329792
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.231294788,745.768705212,714.768705212,680,659,634,879.231294788,786,805,652,631,652,0.422266443899,0.00460862189894,0.0799633839581,0.99999998996,0.000129100015883,-1.81514096294e-05,-5.55265655682e-05,1793243220571996416
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.81899617,745.18100383,714.18100383,680,659,634,879.81899617,786,805,652,631,652,0.423140593211,0.00460784652526,0.0799876683921,0.999999990291,0.000126534830104,2.23786461951e-05,-5.39046375699e-05,1793243220588663040
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.597779004,745,714,680,659.402220996,634.402220996,879.597779004,786,805,652,631,652,0.424004777147,0.00460733707312,0.0799914518795,0.99999999019,0.000128747167405,1.81996693711e-05,-5.2094849996e-05,1793243220605330176
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.016546538,745,714,680,659.983453462,634.983453462,879.016546538,786,805,652,631,652,0.424864525866,0.00460694597141,0.0799861112656,0.999999989867,0.000133085777313,-5.87739997994e-06,-5.02014542064e-05,1793243220621997056
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745.557075158,714,680.557075158,659.442924842,635,879,786,805.557075158,652,631,651.442924842,0.425723095843,0.0046074691887,0.0799415503186,0.999999987589,0.000126387563845,-7.7915494778e-05,-5.27023835404e-05,1793243220638663424
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745.868802109,714,681,659,634.868802109,879,786,805.868802109,652,631,651.131197891,0.426589839006,0.00460755637094,0.0799058886035,0.999999982629,0.000120325127518,-0.000131316731052,-5.49539949002e-05,1793243220655329792
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745.292221447,714,681,659,634.292221447,879,786,805.292221447,652,631,651.707778553,0.427484445223,0.00460607237696,0.0799043388498,0.999999984724,0.000117518861682,-0.000116679825331,-5.59221189384e-05,1793243220671996416
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.292852215,745.292852215,714,681,659.292852215,634,879,786,805.292852215,651.707147785,631,652,0.4283594532,0.00460641542706,0.0799075779985,0.999999984961,0.000120437151374,-0.000111777918894,-5.54826046208e-05,1793243220688663296
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.886653662,745.886653662,714,681,659.886653662,634,879,786,805.886653662,651.113346338,631,652,0.429214321016,0.00460863603693,0.0799157384572,0.999999983382,0.00012923827396,-0.000116880173856,-5.35965323591e-05,1793243220705329920
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.53302767,714.46697233,681.46697233,659.53302767,634,879.46697233,786,805.53302767,651.46697233,631,652,0.430132975429,0.00460929471346,0.0799539223846,0.999999988829,0.000124744062369,-6.18840914127e-05,-5.43280974113e-05,1793243220721996544
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714.956136027,682,659.043863973,634,880,786,805,651.956136027,631,651.956136027,0.431064100493,0.00460956656285,0.0799974745896,0.999999991502,0.000117882870866,4.66090762972e-06,-5.54795767754e-05,1793243220738663168
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714.382220501,682,659.617779499,634,880,786,805,651.382220501,631,651.382220501,0.431964077827,0.00460961673885,0.0800203064114,0.999999990513,0.000120321315442,3.94351856582e-05,-5.42429681351e-05,1793243220755329792
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,805.19751749,651.19751749,631,651.19751749,0.432816272996,0.00461009289138,0.0800142187462,0.999999990766,0.000121523698447,2.84848866596e-05,-5.37421591935e-05,1793243220771996160
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,805.788864995,651.788864995,631,651.788864995,0.433573195493,0.00461141839828,0.0799504685359,0.999999988561,0.000120261498799,-7.3635615489e-05,-5.47084603824e-05,1793243220788662784
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.364369963,714,682,660,634,879.635630037,786,805.635630037,651.635630037,631,651.635630037,0.434365328417,0.00461286456076,0.0799124546983,0.999999983956,0.000116024226711,-0.000124039671478,-5.69196899459e-05,1793243220805329664
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.931077411,714,682,660,634,879.068922589,786,805.068922589,651.068922589,631,651.068922589,0.435177013921,0.00461437772414,0.0798887324732,0.999999981528,0.000110134874172,-0.000145725175491,-5.98222380874e-05,1793243220821996288
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.483726519,745.483726519,714,682,660,634,879.516273481,786,805,651.516273481,631,651.516273481,0.436030576922,0.00461140695334,0.0799238457425,0.999999987383,0.000109240602628,-9.94332011707e-05,-5.84237027004e-05,1793243220838663168
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,745,714,682,660,634.101163663,880,786,805,652,631,652,0.436885796364,0.0046082727936,0.0799646411911,0.999999991356,0.000109413606479,-4.59441374099e-05,-5.66180528007e-05,1793243220855329792
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,745,714,682,660,634.672728166,880,786,805,652,631,652,0.437721756569,0.00460726573153,0.0799939788209,0.999999992248,0.000111333409113,-2.75449207453e-06,-5.56884791872e-05,1793243220871996416
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.254847909,745,714,682,660,634.745152091,880,786,805.254847909,652,631,652,0.438529831103,0.00460645535913,0.0800140322081,0.999999992237,0.000107323840841,2.98013160755e-05,-5.58442219201e-05,1793243220888663040
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.851108155,745,714,682,660,634.148891845,880,786,805.851108155,652,631,652,0.439300547946,0.00460590848623,0.0800216477628,0.999999992644,9.53708667013e-05,4.81112780943e-05,-5.74539315886e-05,1793243220905329664
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.567551973,745,714,682.432448027,660,634.432448027,879.567551973,786,806,651.567551973,631,652,0.440003157381,0.00460789154278,0.0799927386875,0.999999993176,0.00010105339331,7.08476065138e-06,-5.81962848083e-05,1793243220921996288
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,745,714,683,660,634.991200828,879.008799172,786.008799172,806,651,631,652,0.44068220195,0.00461064023053,0.0799512179968,0.999999990498,0.000112249293135,-5.44524241859e-05,-5.86416233572e-05,1793243220938663168
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,745,714,683,660,634.41633048,879.58366952,786.58366952,806,651,631,652,0.441303501002,0.00460847568155,0.0798803880585,0.999999979612,0.000100541390731,-0.00016504098919,-5.85502061575e-05,1793243220955329536
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.161938846,745,714,683,660,634.161938846,880,787,805.838061154,651.161938846,631,652,0.441946418388,0.00460728876307,0.0798350756264,0.99999996687,9.24979699922e-05,-0.000232878586144,-5.89223132397e-05,1793243220971996416
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.749134119,745,714,683,660,634.749134119,880,787,805.250865881,651.749134119,631,652,0.442646106321,0.00460866913213,0.0798567729407,0.999999975987,9.40775917452e-05,-0.000188450845359,-6.05116509881e-05,1793243220988663040
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.331961781,714,683,660.331961781,635,880,787,805.331961781,651.668038219,631,652,0.443351261852,0.00460886997119,0.0799091799463,0.999999988105,9.48754875423e-05,-0.000105429519552,-6.06068629219e-05,1793243221005329664
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.911531637,714,683,660.911531637,635,880,787,805.911531637,651.088468363,631,652,0.444060495585,0.00460819100664,0.0799844931044,0.999999993683,9.50902982445e-05,6.37850180531e-06,-5.95876157652e-05,1793243221021996544
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,746,714,682.511107359,660.511107359,634.511107359,880,786.511107359,806,651.488892641,631,652,0.444670385875,0.00460695445853,0.0800054583356,0.999999993018,9.60178052539e-05,3.60783650041e-05,-5.86790745045e-05,1793243221038663168
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.93425842,745.93425842,714,682.06574158,660,634,879.93425842,786.06574158,806,651.93425842,631,652,0.445254177172,0.00460619624851,0.080012546628,0.99999999256,9.79111702368e-05,4.41145530922e-05,-5.7853124816e-05,1793243221055330048
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.358295443,745.358295443,714,682.641704557,660,634,879.358295443,786.641704557,806,651.358295443,631,652,0.445774304929,0.00460992997983,0.0799879191058,0.999999992695,0.00010630415874,-1.18673796206e-06,-5.75133921155e-05,1793243221071996928
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.215928487,745,714,683,660,634,879.215928487,786.784071513,806,651.215928487,631,652,0.44628156091,0.00461420052163,0.0799628457735,0.999999991206,0.000111186479261,-4.30389961473e-05,-5.80866093626e-05,1793243221088663296
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.787289774,745,714,683,660,634,879.787289774,786.212710226,806,651.787289774,631,652,0.446767629029,0.00461935468917,0.0799370386104,0.999999988971,0.000110290003766,-7.92139099972e-05,-6.01626037117e-05,1793243221105329664
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,683.374257563,659.625742437,634,880,786,806,652,631,652,0.447235266353,0.00462250659403,0.0799189641027,0.999999987173,0.000111161384233,-9.78231574202e-05,-6.10612486508e-05,1793243221121997312
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,683.970481377,659.029518623,634,880,786,806,652,631,652,0.447691972709,0.004624470989,0.0799054757084,0.99999998611,0.000113081252127,-0.000106014488927,-6.12616264711e-05,1793243221138664960
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764.138351295,745.138351295,714,684,658.861648705,633.861648705,880.138351295,786,806,651,631,651.861648705,0.448464062566,0.00462883076235,0.0798677510326,0.999999976823,0.000117513423405,-0.000169565857555,-6.15763092893e-05,1793243221171997184
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.703164149,714,684,658,633.296835851,881,786,806,651.296835851,631,651.296835851,0.449178592296,0.00463589379011,0.0798301490173,0.999999963091,0.00012829596621,-0.000231389506553,-6.17777017732e-05,1793243221205330432
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.154422772,713.845577228,684.154422772,656,632.154422772,880,786,806,652,631,652,0.452294668263,0.00464711070389,0.0797673785558,0.99999993051,0.000139673859105,-0.000340197680345,-6.11338578709e-05,1793243221488662784
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.742618537,713.257381463,684.742618537,656,632.742618537,880,786,806,652,631,652,0.452342548378,0.00464721498905,0.079766427009,0.999999929286,0.000140421749317,-0.00034359167441,-6.04448909308e-05,1793243221505329664
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,746,713.325954361,684.674045639,655.674045639,632.674045639,880.325954361,786,805.674045639,652,631,652,0.452380893863,0.00464783683868,0.0797635287418,0.999999927324,0.000140019301794,-0.000349456803658,-6.0221066163e-05,1793243221521996288
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,746,713.905509097,684.094490903,655.094490903,632.094490903,880.905509097,786,805.094490903,652,631,652,0.45241182118,0.00464886136598,0.0797591158789,0.999999924745,0.000138721863774,-0.000357244536168,-6.03591331748e-05,1793243221538662912
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.518407611,713.518407611,684.481592389,655,632,880.518407611,786,805.481592389,651.518407611,631,652,0.452437216286,0.00464768197442,0.0797568431979,0.999999923879,0.000137257810619,-0.000360213182116,-6.04046584357e-05,1793243221555329792
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.058119681,745.058119681,713.058119681,685,655.058119681,632,880,786,806.058119681,651.058119681,631,652,0.452460476752,0.00464613963846,0.0797550774521,0.99999992339,0.000135790621779,-0.000362121685591,-6.04033562659e-05,1793243221571996672
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.644835862,745.644835862,713.644835862,685,655.644835862,632,880,786,806.644835862,651.644835862,631,652,0.452474124207,0.00464520103576,0.0797541304864,0.999999923277,0.000134590106465,-0.000362926245637,-6.01401172099e-05,1793243221588663296
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.77137653,745.77137653,714,685,656,632,880,786,806.77137653,652,631,652,0.452485630684,0.00464540412016,0.0797531377227,0.999999922697,0.000135089405628,-0.000364372744122,-5.99083503676e-05,1793243221605329920
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.192080922,745.192080922,714,685,656,632,880,786,806.192080922,652,631,652,0.452493853241,0.00464735837155,0.0797520747124,0.999999921395,0.000138195950646,-0.000366803874297,-5.97248569245e-05,1793243221621996288
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,714,685,655.612355241,632,880,786,806,652,631,652,0.45249763077,0.0046472295828,0.0797500829,0.999999920082,0.0001379806668,-0.000370488634206,-5.94668872163e-05,1793243221638662912
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714,685,655.032416235,632,880,786,806,652,631,652,0.452499203307,0.00464606748546,0.0797476303481,0.99999991875,0.000136117563402,-0.000374795266975,-5.91719729727e-05,1793243221655329792
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,713.457742185,684.457742185,655,632.542257815,880,786,806,652,631,652,0.452501592765,0.00464575971475,0.0797462983071,0.999999918095,0.000136416843405,-0.000376449377076,-5.90372271556e-05,1793243221671996416
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,713.116499376,684,655,633,880,786,806,652,631,652,0.452503478175,0.00464565226101,0.0797451377911,0.99999991751,0.000136683243034,-0.000377920608218,-5.89401568407e-05,1793243221688663296
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,713.690266739,684,655,633,880,786,806,652,631,652,0.452503195323,0.00464613253268,0.0797443901328,0.99999991704,0.000136318079961,-0.000379290432384,-5.89537447732e-05,1793243221705329920
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,684,655,632.726491894,880.547016213,786,806,651.726491894,630.726491894,652,0.452502351176,0.00464691834565,0.0797430885354,0.999999916148,0.000136983085335,-0.000381385639446,-5.90275125846e-05,1793243221721996288
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,684,655,632.13213668,881.73572664,786,806,651.13213668,630.13213668,652,0.452500848587,0.00464806258333,0.0797411371223,0.999999914753,0.000138856561482,-0.000384331779431,-5.91718762575e-05,1793243221738662912
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,713.551429877,684.448570123,655,632,881.102859753,786,806,651.448570123,630.448570123,652,0.452501177022,0.00464642607143,0.0797401642362,0.999999914372,0.000137481886499,-0.000385882251792,-5.87406497361e-05,1793243221755329792
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,713.025226849,684.974773151,655,632,880,786,806,652,631,652,0.452502102965,0.00464416209215,0.0797395442172,0.999999914315,0.000135356450217,-0.000386863741642,-5.817937382e-05,1793243221771996416
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,713.598660786,684.401339214,655,632,880,786,806,652,631,652,0.452504638398,0.00464553761509,0.0797405134122,0.999999915113,0.000137094877982,-0.000384151030209,-5.83677633705e-05,1793243221788663040
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,684,655,632,880,785.826221076,806,651.826221076,631,652,0.452505976754,0.00464614365485,0.0797407876407,0.999999915483,0.000137711064331,-0.000382958827745,-5.84090413591e-05,1793243221805329664
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,684,655,632,880,785.247175276,806,651.247175276,631,652,0.452504523428,0.00464495519585,0.0797394411496,0.99999991487,0.00013571009045,-0.000385312578569,-5.81072429641e-05,1793243221821996544
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,684,655,632,880,785.338349756,806,651,631,652,0.452503556391,0.00464500796985,0.0797383695309,0.999999914117,0.000136487743345,-0.000387028361238,-5.78403094155e-05,1793243221838663168
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,684,655,632,880,785.928700455,806,651,631,652,0.45250295154,0.00464598520706,0.0797375026356,0.999999913258,0.000139334901502,-0.000388268988806,-5.75993430167e-05,1793243221855329792
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714,684,655,632.50553849,880.50553849,786,806,651.50553849,631,652,0.452503491111,0.00464579729427,0.0797373915961,0.999999913656,0.000136708887306,-0.000388085004441,-5.82181164063e-05,1793243221871996416
+245,4.083333333,HOLD_POSE2,765,745,713,684,655,633,880,786,806,652,631,652,0.452503031542,0.00464649017999,0.0797364680271,0.999999912758,0.000140167100855,-0.00038922697644,-5.77866390752e-05,1793243221915399424
+246,4.100000000,HOLD_POSE2,765,745,713.59251474,684.59251474,655,633,880,786,806.59251474,652,631,652,0.452501777751,0.00464457985202,0.0797349468161,0.999999912319,0.000135176688888,-0.000392083287248,-5.7957310877e-05,1793243221932066048
+247,4.116666667,HOLD_POSE2,765,745,713.819085487,685,655,633,880,786,806.819085487,651.819085487,631,652,0.452501019725,0.00464313233627,0.0797339665492,0.999999912028,0.000131906388343,-0.000393934596494,-5.79639365317e-05,1793243221948732928
+248,4.133333333,HOLD_POSE2,765,745,713.23974788,685,655,633,880,786,806.23974788,651.23974788,631,652,0.452501353509,0.00464270405883,0.0797341775883,0.999999912123,0.000132424241283,-0.000393572618808,-5.76092878709e-05,1793243221965399552
+249,4.150000000,HOLD_POSE2,765,745,713.337597154,685,655,633,880,786,806,651.337597154,631,652,0.452501604074,0.00464392373051,0.0797346596501,0.999999911859,0.000134544275467,-0.000393535736796,-5.75341064351e-05,1793243221982065920
+250,4.166666667,HOLD_POSE2,765,745,713.913535411,685,655,633,880,786,806,651.913535411,631,652,0.452501795887,0.00464630684215,0.0797353330518,0.999999911333,0.00013779543777,-0.000393728369953,-5.76562268213e-05,1793243221998732544
+251,4.183333333,HOLD_POSE2,765,745,714,685,655,632.501459402,880.498540598,786,806,652,631,652,0.452502513288,0.00464574967658,0.0797354216345,0.999999911646,0.000137608936971,-0.000393029991636,-5.74330033455e-05,1793243222015399168
+252,4.200000000,HOLD_POSE2,765,745.084118634,714,684.915881366,655,632,880.915881366,785.915881366,806,652,631,652,0.452503013734,0.00464501467629,0.0797351374905,0.999999911877,0.000137093705325,-0.000392647546915,-5.72651391986e-05,1793243222032065792
+253,4.216666667,HOLD_POSE2,765,745.663637706,714,684.336362294,655,632,880.336362294,785.336362294,806,652,631,652,0.452501689677,0.0046462912255,0.0797332666526,0.999999910745,0.000138218797403,-0.000395052682296,-5.77825763562e-05,1793243222048732416
+254,4.233333333,HOLD_POSE2,765,745.757899911,714,684.242100089,655,632,880,785.242100089,806,652,631,652,0.452501244299,0.00464685110607,0.0797325745132,0.999999910244,0.000138661062755,-0.000396141114472,-5.79451465583e-05,1793243222065399296
+255,4.250000000,HOLD_POSE2,765,745.180899309,714,684.819100691,655,632,880,785.819100691,806,652,631,652,0.452502014408,0.00464641960857,0.0797335128845,0.999999910622,0.000138158764047,-0.000395408132091,-5.76168241865e-05,1793243222082065920
+256,4.266666667,HOLD_POSE2,765.394138371,745,714,684.605861629,655.394138371,632,880,786,806,652,631,652,0.452501450722,0.00464555429148,0.0797331163984,0.999999910683,0.000136370257603,-0.00039586229399,-5.77047442035e-05,1793243222098732544
+257,4.283333333,HOLD_POSE2,765.968279637,745,714,684.031720363,655.968279637,632,880,786,806,652,631,652,0.452500277892,0.00464449084907,0.0797321102834,0.999999910593,0.000133994340367,-0.000396858624314,-5.79827619851e-05,1793243222115399168
+258,4.300000000,HOLD_POSE2,765.441824232,745,714,684.558175768,655.441824232,632,880.558175768,786,806,652,631,651.441824232,0.452502086588,0.00464277711116,0.0797326058219,0.99999991113,0.000132819306173,-0.00039592779224,-5.77918252661e-05,1793243222132065792
+259,4.316666667,HOLD_POSE2,765,745,714,685,655,632.146096528,880.853903472,786,806,651.853903472,631,651.146096528,0.452503312575,0.00464189426904,0.0797328213784,0.999999911333,0.000132702356188,-0.000395482718235,-5.75922759217e-05,1793243222148732416
+260,4.333333333,HOLD_POSE2,765,745,714,685,655,632.725427551,880.274572449,786,806,651.274572449,631,651.725427551,0.452502293564,0.0046435881345,0.0797319462687,0.999999910438,0.000135514797483,-0.000396812307927,-5.74485100624e-05,1793243222165399040
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,684,655,632,880,786,806,652,631,652,0.452501623853,0.00464400219018,0.0797319012886,0.999999910543,0.000133458969413,-0.000397231430845,-5.75295326859e-05,1793243222202578176
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745.593752284,713.406247716,684.593752284,655,632,880,785.406247716,806,652,631,652,0.452501133594,0.00464464914012,0.0797319000152,0.999999910082,0.000135819371382,-0.00039761656932,-5.73617532574e-05,1793243222219244800
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745.816912891,713.183087109,685,655,632,880.183087109,785,806.183087109,652,631,652,0.452501124992,0.00464533071359,0.0797317965496,0.999999909792,0.000137183608669,-0.000397867442963,-5.74219623533e-05,1793243222235911424
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745.237148831,713.762851169,685,655,632,880.762851169,785,806.762851169,652,631,652,0.452502159948,0.0046460873026,0.0797314716744,0.999999909885,0.000136389553727,-0.000397827418197,-5.79761318775e-05,1793243222252578048
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,685,655,632,880.657569606,785.342430394,806.657569606,652,631,652,0.452502962903,0.00464558071823,0.0797319252049,0.999999910259,0.000136268892809,-0.000396962240669,-5.77416587429e-05,1793243222269244928
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,685,655,632,880.078118353,785.921881647,806.078118353,652,631,652,0.452503605273,0.00464419980009,0.0797329175265,0.999999910826,0.000136614336682,-0.000395525915194,-5.69613089123e-05,1793243222285911552
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,685,654.504606463,632,880,786,806,652.495393537,631,652,0.452502743834,0.00464498566229,0.0797320008346,0.999999910118,0.000137738435202,-0.000396898746501,-5.71276384639e-05,1793243222302578176
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,713.929972319,685,654.070027681,632,880.070027681,786,806.070027681,652.929972319,631,652,0.452501854189,0.00464578751839,0.0797311192526,0.99999990944,0.000138556963679,-0.000398284721268,-5.73641315614e-05,1793243222319245056
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,713.340138098,685,654.659861902,632,880.659861902,786,806.659861902,652.340138098,631,652,0.452502494541,0.00464420190667,0.0797327063317,0.999999910484,0.000136206660282,-0.000396519070299,-5.70264708121e-05,1793243222335912704
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.245396605,745,713.245396605,685,655.245396605,632,881,786,806.754603395,652,631,652,0.452499796678,0.00464417890312,0.0797315001694,0.999999909911,0.000135144919993,-0.00039829723094,-5.72055305465e-05,1793243222352580096
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.82507442,745,713.82507442,685,655.82507442,632,881,786,806.17492558,652,631,652,0.452492551472,0.004646284497,0.0797264890313,0.999999907114,0.00013583847083,-0.000404902800138,-5.80884710684e-05,1793243222369246720
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.597926313,745,714,684.597926313,655.597926313,632,881,786,806,652,631,652,0.452473774262,0.00464632688013,0.0797158522935,0.999999900434,0.000136278205487,-0.000420907848183,-5.82878566146e-05,1793243222385913088
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.022084611,745,714,684.022084611,655.022084611,632,881,786,806,652,631,652,0.452450013157,0.00464547758598,0.0797027842863,0.999999891746,0.000136608246003,-0.000440975158974,-5.81918237517e-05,1793243222402579200
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,684.553604742,655,632.553604742,880.446395258,786,806,651.446395258,631,652,0.452398508202,0.0046464666638,0.079682697554,0.999999875544,0.000136323914332,-0.000476466937817,-5.75111792445e-05,1793243222419245568
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,684.867339347,655,633,880,786,806,651.132660653,631,652,0.452341488713,0.00464705624954,0.0796626047152,0.999999858506,0.000136659999433,-0.000510972541909,-5.67437001716e-05,1793243222435911936
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,684.276638519,655,633,880,786,806,651.723361481,631,652,0.452269249372,0.0046460133584,0.0796434572606,0.999999842981,0.000139222809371,-0.000539949232005,-5.57569062514e-05,1793243222452578560
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713.691949073,684.308050927,655,632.691949073,880.308050927,785.691949073,806,652,631,652,0.452192193613,0.00464464816465,0.0796304620914,0.999999832617,0.000140383394288,-0.000558666751798,-5.43109594911e-05,1793243222469245184
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.112554726,684.887445274,655,632.112554726,880.887445274,785.112554726,806,652,631,652,0.452110895367,0.00464299907411,0.0796228860992,0.999999827271,0.000140308843952,-0.000568347587827,-5.24605728654e-05,1793243222485911808
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,713,685,655,632.463291311,881,785.463291311,806,652,631,652,0.452018541301,0.00464316990934,0.0796214420202,0.999999826309,0.000143891257685,-0.000569353582834,-5.01419492576e-05,1793243222502578432
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.039118643,745,713,685,655,632.960881357,880.960881357,786,806,652,631,652,0.451921581246,0.00464367029502,0.0796214737093,0.999999826263,0.000148118958003,-0.000568562923734,-4.76509681531e-05,1793243222519245568
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.626677778,745,713,685,655,632.373322222,880.373322222,786,806,652,631,652,0.451797416377,0.00464263924974,0.0796214684963,0.999999824374,0.000149032277544,-0.000571905960918,-4.43262796228e-05,1793243222535912192
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.78867697,745,713.21132303,684.78867697,655,632,880,786,805.78867697,652,631,652,0.451663692019,0.00464233345226,0.0796220894989,0.99999982316,0.000152111912214,-0.000573475469468,-4.08491874077e-05,1793243222552578816
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.209109418,745,713.790890582,684.209109418,655,632,880,786,805.209109418,652,631,652,0.451513309622,0.00464329144771,0.0796238017242,0.99999982311,0.000158966495892,-0.000571954485312,-3.71065219188e-05,1793243222569245184
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713.63103247,683.63103247,655,632.36896753,880,786,805.36896753,651.63103247,631,652,0.451349716648,0.00464042010164,0.079630498241,0.999999828602,0.000160537714416,-0.00056211321283,-3.24474621095e-05,1793243222585911808
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,684.097137492,655.194274983,632.097137492,880,786,806,652,631,652,0.450761379303,0.00463220211225,0.0796538401934,0.999999850039,0.000165843217269,-0.00052167426114,-1.65663300209e-05,1793243222635911936
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,684.683910662,656.367821325,632.683910662,880,786,806,652,631,652,0.450506183635,0.00463393461332,0.0796572960862,0.999999849741,0.000176649663617,-0.00051885824486,-9.91992190051e-06,1793243222652578816
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,684.731596168,656.731596168,633,880,786,806,652,631,652,0.450229749699,0.00463807790576,0.0796588359218,0.999999848533,0.000189216865626,-0.000516825648232,-4.73910256425e-06,1793243222669245440
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.99522564,714,684,656.00477436,633,880.99522564,785.00477436,806,651.99522564,631,652,0.449258675658,0.0046775939929,0.079651799977,0.999999831249,0.000251346751245,-0.000523739728624,4.92711025294e-06,1793243222719245056
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,684,657.156623163,633,880,786,806,651.156623163,631,652,0.44848665667,0.00465450643284,0.0796518930915,0.99999983642,0.000215825545758,-0.000529545617169,1.26842331073e-05,1793243222752578560
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,684,658,633.333998577,880,786,806,652,631,652,0.447613245773,0.00464793757119,0.0796463689249,0.999999842099,0.000169808541832,-0.00053564352274,7.29720558548e-06,1793243222785911808
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,684,658,634,880.966699084,786,806,652,631,652,0.446703217757,0.00464041960557,0.0796802975345,0.999999863221,0.000200610361961,-0.000482834833867,1.35559923898e-05,1793243222819245824
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.189664456,745,713.810335544,684,659,634,880,787,806,652,631,652,0.444570053034,0.00461256086039,0.0797966789121,0.999999936267,0.000168592529504,-0.000313910860008,2.24029294638e-05,1793243222885911552
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.969791369,745.969791369,714,684,659,634,880,786.030208631,806,652,631,652,0.443332499946,0.00459700957265,0.0798202842004,0.999999948563,0.000142639697814,-0.00028600853854,2.69667073014e-05,1793243222919245312
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,659,634,880,786.936183721,805,651.936183721,631.936183721,652,0.434082407917,0.00450495178063,0.0798298129236,0.999999962279,7.61986897649e-05,-0.000259961832027,4.53313262165e-05,1793243223119245056
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,659.260875625,634.739124375,879,786,805,652,631,652,0.430442441823,0.00447187765522,0.0797289871738,0.999999895243,5.77002808675e-05,-0.000451088578342,5.19928750351e-05,1793243223185911296
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,659.83997868,634.16002132,879,786,805,652,631,652,0.429624414939,0.00445799633368,0.0797947767033,0.999999940686,4.61080427342e-05,-0.000337106396461,5.34840031581e-05,1793243223202578176
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.41654561,683,660,634,879.833091219,786,805,652,631,652,0.428753807797,0.00445069502152,0.079839828204,0.999999962555,4.27087019085e-05,-0.000264683129458,5.48603767754e-05,1793243223219244800
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.992144116,683,660,634,880.984288232,786,805,652,631,652,0.427863123569,0.00444590620711,0.0798769611357,0.999999975862,4.24377204149e-05,-0.000208128637858,5.61929327068e-05,1793243223235911680
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745.865582923,714,681,658.865582923,634.134417077,879.865582923,787,805.865582923,652,631,651.865582923,0.413305391607,0.00446098981649,0.0798032238804,0.999999950414,6.57934504609e-05,-0.000303051194943,5.47986827882e-05,1793243223519246080
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745.558120747,714,681,658.558120747,634.441879253,879.558120747,787,805.558120747,652,631,652,0.412579217638,0.00446375104841,0.0798083757572,0.999999951932,6.16222579922e-05,-0.000298927834465,5.45928674468e-05,1793243223535912960
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,634.981734119,879,787,805,652,631.018265881,652,0.411848149902,0.0044690292023,0.0798088376256,0.999999949504,6.1765832888e-05,-0.000306897091924,5.46926251465e-05,1793243223552579072
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,634.392771285,879,787,805,652,631.607228715,652,0.411139989687,0.00447403848608,0.0797942357318,0.99999993924,9.1613738138e-05,-0.000331755108789,5.53632908001e-05,1793243223569245696
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.807032125,658.192967875,634.192967875,879.192967875,786.807032125,805,652,631.807032125,652,0.410457684802,0.0044766790539,0.0797890618751,0.999999934299,0.000107688318164,-0.000341571367987,5.59758689731e-05,1793243223585912064
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.22774659,658.77225341,634.77225341,879.77225341,786.22774659,805,652,631.22774659,652,0.409827141622,0.00447457750269,0.0798027627493,0.999999942171,9.61889939085e-05,-0.000321274347225,5.64721574615e-05,1793243223602578688
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.650984078,635,879.301968156,786.349015922,805,652,631,651.650984078,0.409233922066,0.00447099678593,0.0798237078237,0.999999953943,8.49069851992e-05,-0.000285755889384,5.6990023476e-05,1793243223619245312
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.075856155,635,878.151712311,786.924143845,805,652,631,651.075856155,0.408664882874,0.00446645778328,0.0798493460947,0.999999966735,7.37657661957e-05,-0.000240376135554,5.75218685008e-05,1793243223635911936
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764.500795502,745,714,680.499204498,658,635,878.998408997,786.500795502,805,652,631,651.499204498,0.408077164371,0.00447020003785,0.0798374105036,0.999999959785,8.31854020531e-05,-0.000264795250788,5.82488430838e-05,1793243223652578816
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.07641366,745,714,681,658.07641366,635,879.92358634,786.07641366,805,652,631,652,0.407490715179,0.00447447173761,0.0798177287543,0.999999948145,9.43057176453e-05,-0.000302272166594,5.87125456135e-05,1793243223669245696
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.668181877,745,714,681,658.668181877,635,879.331818123,786.668181877,805,652,631,652,0.406931966908,0.00447382850821,0.0797843060469,0.9999999303,9.58275518554e-05,-0.000356292834287,5.72007242706e-05,1793243223685912576
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.756129577,658.756129577,634.756129577,878.756129577,786.756129577,805,652,631.243870423,652,0.406420198318,0.00447395685294,0.0797706935713,0.999999923663,9.48486451511e-05,-0.000374888311812,5.6012532614e-05,1793243223702579456
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.200966271,658.200966271,634.200966271,878.200966271,786.200966271,805,652,631.799033729,652,0.405968397849,0.00447507008769,0.0797823682328,0.999999933719,9.06776218468e-05,-0.000348264650828,5.52374442724e-05,1793243223719245824
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.383404326,634.383404326,878,786.383404326,805,652,631.616595674,652,0.405547715052,0.0044781301085,0.0798018790685,0.999999945196,9.55904875347e-05,-0.00031217389065,5.4931913351e-05,1793243223735912448
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.984346772,634.984346772,878,786.984346772,805,652,631.015653228,652,0.405144687934,0.00448229470794,0.0798258360383,0.999999956269,0.000105657421158,-0.000270711631174,5.48928024421e-05,1793243223752578560
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.557005339,659,634.442994661,878.557005339,787,805,652,631,652,0.404752028391,0.00448246435621,0.0798306637592,0.999999957404,0.000100465779309,-0.000268427567122,5.51881203527e-05,1793243223769245184
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.870739057,659,634.129260943,879,787,805,652,631,652,0.404365060144,0.00448223675288,0.0798341038011,0.999999957506,9.61256221949e-05,-0.000269486286234,5.59058807611e-05,1793243223785911808
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.297268579,659,634.702731421,879,787,805,652,631,652,0.403996697257,0.00448101114972,0.0798345331724,0.999999954934,9.61140064537e-05,-0.000278431795809,5.80446422331e-05,1793243223802578688
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745.288131438,714,680,658.711868562,635,879,787,805,652,631,652,0.403657311278,0.0044807952367,0.0798355873834,0.999999953861,9.5715315006e-05,-0.000282609163867,5.70003210996e-05,1793243223819245568
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745.886370855,714,680,658.113629145,635,879,787,805,652,631,652,0.403349112374,0.00448166602562,0.0798373140923,0.999999954453,9.49000245774e-05,-0.000281654711214,5.25301351684e-05,1793243223835912704
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745.533787301,714,680,658,634.533787301,879,787,805,652,631,652,0.403076294867,0.00448256436747,0.0798379806389,0.999999953769,0.000100328486217,-0.000282012342197,5.35340209298e-05,1793243223852579072
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.957354346,745,714,680,658,634,879,786.957354346,805,652,631,652,0.402814394706,0.00448324481499,0.0798383518356,0.99999995291,0.000106063050179,-0.000282548218357,5.56511974862e-05,1793243223869245440
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.369349491,745,714,680,658,634,879,786.369349491,805,652,631,652,0.402586015884,0.00448105617864,0.0798381249537,0.99999995415,9.69901676934e-05,-0.000281429230288,5.55912694197e-05,1793243223885911808
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.216412779,745,714,680,658,634,878.783587221,786,804.783587221,652,631,652,0.402370919495,0.00447943573285,0.0798378754142,0.999999955047,9.05469524831e-05,-0.00028043581717,5.53447182942e-05,1793243223902578432
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.798386845,745,714,680,658,634,878.201613155,786,804.201613155,652,631,652,0.402178259622,0.00447877506643,0.0798375876017,0.999999955476,8.8545733541e-05,-0.00027965452356,5.47829262504e-05,1793243223919245312
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878,786,804.375656227,652,631.375656227,652,0.402012616799,0.00448056783177,0.0798422692003,0.999999957069,9.55157568484e-05,-0.000271551489252,5.47514983531e-05,1793243223935911936
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878,786,804.950431909,652,631.950431909,652,0.401861294551,0.00448366105731,0.0798495848733,0.999999959049,0.000107241055492,-0.000259567510178,5.50011939621e-05,1793243223952578304
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.525819059,658,634,878.525819059,786,805,652,631.474180941,652,0.401729143454,0.00448962312773,0.0798511681372,0.999999957577,0.000125087279026,-0.000257257171285,5.49285235818e-05,1793243223969244928
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.896291914,658,634.103708086,879,786.103708086,805,652,631,651.896291914,0.401601683586,0.00449621306969,0.0798513196397,0.999999955325,0.000141606413302,-0.000257489246069,5.47407114782e-05,1793243223985912064
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.306957569,658,634.693042431,879,786.693042431,805,652,631,651.306957569,0.401487718499,0.00450447525209,0.0798473001038,0.999999952197,0.000149206224793,-0.000265351351848,5.41561992737e-05,1793243224002578688
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.722240734,745,714,680,658.277759266,635,878.722240734,786.722240734,805,652,631,651.277759266,0.401385641449,0.00450815049279,0.0798428041602,0.999999950224,0.00014810135308,-0.000273477251963,5.31858527808e-05,1793243224019245312
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.142543396,745,714,680,658.857456604,635,878.142543396,786.142543396,805,652,631,651.857456604,0.401296487292,0.0045068395003,0.079837790338,0.99999994947,0.000137534059357,-0.000281889909096,5.17960853494e-05,1793243224035911680
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.432398674,745,714,680,658.567601326,634.567601326,878,786,804.567601326,652,631,652,0.401226722161,0.00450537443719,0.0798344319451,0.999999949069,0.000132050203465,-0.000286005206828,5.1244359984e-05,1793243224052578304
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.005948515,878.005948515,786,804.005948515,652,631,652,0.401163482301,0.00450386828263,0.0798316316653,0.999999948802,0.00012824382621,-0.000288707006767,5.09717218388e-05,1793243224069244928
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.595020039,878.595020039,786,804.595020039,652,631,652,0.401120148459,0.00450325874878,0.079830627739,0.999999948588,0.000126389673128,-0.00029020778596,5.12701642841e-05,1793243224085911552
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714.180884747,680,658,634.819115253,879,786,805,652,631,652,0.401080977806,0.00450253260397,0.0798305949943,0.999999948683,0.00012511046885,-0.000290374978819,5.16081747111e-05,1793243224102578432
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714.759694758,680,658,634.240305242,879,786,805,652,631,652,0.40105096569,0.0045015499288,0.0798326987352,0.999999949462,0.000125096084871,-0.000287608437676,5.20332300257e-05,1793243224119245312
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714.662027306,680,658,634.337972694,879,786.337972694,805,652.337972694,631,652,0.401026764086,0.00450208898316,0.0798328250009,0.999999949149,0.000126955679891,-0.000287839904987,5.22788448071e-05,1793243224135912192
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714.084127033,680,658,634.915872967,879,786.915872967,805,652.915872967,631,652,0.401006687375,0.00450370831665,0.0798315474525,0.99999994805,0.000130145616837,-0.000290199664998,5.2397074391e-05,1793243224152578816
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.490772115,635,878.509227885,787,805,652.509227885,631,652,0.400996761413,0.00450284688798,0.0798330652394,0.999999948806,0.000128959862796,-0.000288155902677,5.21915227143e-05,1793243224169245184
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.933094834,635,878.066905166,786.933094834,805,652,631,652,0.400988538202,0.00450176155505,0.0798346776539,0.999999949702,0.000127246864938,-0.000285834784513,5.19805062908e-05,1793243224185912064
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.343322484,635,878.656677516,786.343322484,805,652,631,652,0.400980106388,0.00450222952267,0.0798333076116,0.9999999493,0.000127239643125,-0.000287209386139,5.21578958108e-05,1793243224202578688
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.757474831,658.242525169,634.757474831,879,786,804.757474831,652,631,652,0.400975426797,0.0045038734148,0.0798335696212,0.999999949324,0.000128985721608,-0.000286377272356,5.19887252724e-05,1793243224219245312
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.177094597,658.822905403,634.177094597,879,786,804.177094597,652,631,652,0.400975974323,0.00450715545458,0.0798361051967,0.99999994992,0.000133174273938,-0.000282471044658,5.13367715496e-05,1793243224235911936
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.600661255,745,714,679.798677491,658.600661255,634.399338745,879,786,804,652,631,652,0.400975978845,0.00450647754644,0.0798373125465,0.999999950585,0.000132441889901,-0.00028048881368,5.11387094701e-05,1793243224252578560
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.025961124,745,714,680.948077752,658.025961124,634.974038876,879,786,804,652,631,652,0.400975744917,0.00450406070864,0.0798379366333,0.999999951282,0.000129548577901,-0.00027935146634,5.11399645745e-05,1793243224269244928
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.549172809,745,714,680.450827191,658,634.450827191,879,786.549172809,804.549172809,652,631,652,0.400975767441,0.00450260129194,0.0798379118338,0.999999951729,0.00012749768964,-0.000278645872575,5.14118887818e-05,1793243224285911808
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.127796468,878.872203532,787,804.872203532,652,631,652,0.400975629529,0.00450182896223,0.0798380111898,0.99999995208,0.000126221256647,-0.000277936243186,5.15678941557e-05,1793243224302578432
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.718999782,878.281000218,787,804.281000218,652,631,652,0.400974865863,0.00450338385127,0.0798386720694,0.999999952142,0.000127608579741,-0.000277137911138,5.12571280809e-05,1793243224319245056
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,635,878,786.697166855,804.302833145,652,631,652,0.400974042522,0.00450439687106,0.0798389592988,0.999999951977,0.00012883458199,-0.00027720452279,5.10430845363e-05,1793243224335911680
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,635,878,786.12000956,804.87999044,652,631,652,0.400973165125,0.00450491903383,0.0798389080541,0.999999951608,0.000129914450448,-0.000278054651442,5.09166579371e-05,1793243224352578304
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,635,878,786,804.544152915,652,631,652,0.400972406515,0.00450548911931,0.0798378274716,0.999999951297,0.000129812085948,-0.000279262369955,5.06609409263e-05,1793243224369244928
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.032123059,634.967876941,878,786,804.032123059,652.032123059,631,652,0.40097177069,0.00450597904677,0.0798366391553,0.999999951052,0.000129369412569,-0.000280393644628,5.03948306306e-05,1793243224385911552
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.621599518,634.378400482,878,786,804.621599518,652.621599518,631,652,0.400972724199,0.00450485990757,0.0798382700626,0.999999951678,0.000128407066344,-0.000278569812225,5.05372876066e-05,1793243224402578432
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.792468388,634,878,786,805,652.792468388,631,652,0.400973715435,0.00450435220043,0.0798396265887,0.999999952222,0.000128226593503,-0.000276676064887,5.06326804006e-05,1793243224419245056
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.21289039,634,878,786,805,652.21289039,631,652,0.400974774308,0.00450494062078,0.0798404912254,0.999999952621,0.00012944780196,-0.000274656979651,5.06437002143e-05,1793243224435911680
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.364560061,634,878.364560061,786,804.635439939,652,631,652,0.400974226873,0.00450457682522,0.0798402526657,0.999999952601,0.000129149531947,-0.000274870161959,5.0634024323e-05,1793243224452578560
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fcebb0c92bcc3509cdad3666a20285fbac402d2a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_01/simulation_data.csv
@@ -0,0 +1,406 @@
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+349,5.816666667,pose2_to_pose3_retreat,0.586616826858,0.0100018713946,1.0700409068,0.557188544824,0.0186766943156,1.06967870678
+350,5.833333333,pose2_to_pose3_retreat,0.586130537747,0.0100018361281,1.07004065742,0.556702256613,0.0186766618265,1.06967845076
+351,5.850000000,pose2_to_pose3_retreat,0.585674508859,0.0100018792343,1.07004075892,0.556246228809,0.0186767086064,1.06967855222
+352,5.866666667,pose2_to_pose3_retreat,0.585251554588,0.0100018153043,1.07004074647,0.555823274967,0.0186766462152,1.06967854172
+353,5.883333333,pose2_to_pose3_retreat,0.584858662524,0.0100017743464,1.07004076232,0.555430383391,0.0186766069294,1.06967855805
+354,5.900000000,pose2_to_pose3_retreat,0.584488361085,0.0100017915343,1.07004073904,0.555060081594,0.0186766229181,1.06967853514
+355,5.916666667,pose2_to_pose3_retreat,0.584133111408,0.0100018440967,1.07004062815,0.554704830153,0.0186766695127,1.06967842496
+356,5.933333333,pose2_to_pose3_retreat,0.583792613113,0.0100019721561,1.07004083413,0.554364331172,0.0186767951199,1.06967862885
+357,5.950000000,pose2_to_pose3_retreat,0.583469326406,0.0100018599537,1.07004091977,0.554041045627,0.018676687,1.0696787178
+358,5.966666667,pose2_to_pose3_retreat,0.583167828513,0.0100019348713,1.07004069389,0.553739547059,0.018676759651,1.06967849247
+359,5.983333333,pose2_to_pose3_retreat,0.582888919526,0.0100017356906,1.07004081601,0.55346064115,0.0186765706813,1.06967860895
+360,6.000000000,pose2_to_pose3_retreat,0.582635267954,0.010001879623,1.07004092146,0.553206987564,0.0186767077832,1.0696787141
+361,6.016666667,pose2_to_pose3_retreat,0.582404089503,0.010001935397,1.07004087581,0.552975808041,0.0186767598771,1.06967866736
+362,6.033333333,pose2_to_pose3_retreat,0.582193838789,0.0100017892818,1.0700407582,0.552765559065,0.0186766197476,1.06967855197
+363,6.050000000,pose2_to_pose3_retreat,0.582002939375,0.0100017262635,1.07004086369,0.552574661392,0.0186765626419,1.06967865771
+364,6.066666667,pose2_to_pose3_retreat,0.581832022224,0.0100017913088,1.07004104207,0.552403743925,0.0186766265427,1.06967883437
+365,6.083333333,pose2_to_pose3_retreat,0.581678569352,0.0100017802681,1.07004091971,0.552250289841,0.0186766114956,1.06967871464
+366,6.100000000,pose2_to_pose3_retreat,0.581540849466,0.010001806403,1.0700408051,0.552112570963,0.018676641197,1.06967860367
+367,6.116666667,pose2_to_pose3_retreat,0.581417410539,0.0100017499119,1.07004059745,0.551989130258,0.0186765786817,1.06967839628
+368,6.133333333,pose2_to_pose3_retreat,0.581305521526,0.010001790471,1.07004079023,0.551877240211,0.0186766152697,1.0696785779
+369,6.150000000,pose2_to_pose3_retreat,0.581204920383,0.0100018518124,1.07004081434,0.551776640058,0.0186766803238,1.06967861113
+370,6.166666667,pose2_to_pose3_retreat,0.581115550393,0.0100018267707,1.07004086125,0.55168726997,0.0186766550995,1.06967866174
+371,6.183333333,pose2_to_pose3_retreat,0.581037782753,0.0100018533879,1.07004086973,0.551609500904,0.0186766767664,1.0696786674
+372,6.200000000,pose2_to_pose3_retreat,0.580972818933,0.0100019959191,1.07004078633,0.551544535913,0.0186768156139,1.06967859082
+373,6.216666667,pose2_to_pose3_retreat,0.580919160365,0.0100020376054,1.07004083364,0.551490878047,0.0186768599696,1.0696786449
+374,6.233333333,pose2_to_pose3_retreat,0.580876046272,0.0100018755029,1.07004097599,0.551447766751,0.0186767069694,1.06967877802
+375,6.250000000,pose2_to_pose3_retreat,0.580841272411,0.010001761468,1.07004083953,0.551412993899,0.0186765958574,1.0696786296
+376,6.266666667,pose2_to_pose3_retreat,0.580814117782,0.0100018220741,1.07004090218,0.551385836745,0.0186766483077,1.06967870195
+377,6.283333333,pose2_to_pose3_retreat,0.580793004597,0.0100018146435,1.07004092802,0.55136472464,0.0186766443868,1.06967872416
+378,6.300000000,pose2_to_pose3_retreat,0.580777409891,0.0100018234328,1.07004092451,0.551349129826,0.0186766528825,1.06967872246
+379,6.316666667,pose2_to_pose3_retreat,0.580765603305,0.0100018286403,1.07004090486,0.551337322798,0.018676656781,1.06967870734
+380,6.333333333,pose2_to_pose3_retreat,0.580757228788,0.0100018149298,1.07004090463,0.551328948367,0.0186766433494,1.06967870685
+381,6.350000000,pose2_to_pose3_retreat,0.580752377231,0.01000178912,1.07004093308,0.55132409745,0.0186766194464,1.06967872893
+382,6.366666667,pose2_to_pose3_retreat,0.580749265745,0.0100018650527,1.07004093588,0.551320985398,0.0186766934299,1.06967873117
+383,6.383333333,pose2_to_pose3_retreat,0.580747366593,0.0100019158779,1.07004093571,0.551319085834,0.018676742863,1.06967873112
+384,6.400000000,pose2_to_pose3_retreat,0.580746750381,0.0100019184221,1.0700409308,0.551318469521,0.0186767451265,1.06967872768
+385,6.416666667,pose2_to_pose3_retreat,0.580746721589,0.0100019185409,1.07004093057,0.551318440725,0.0186767452322,1.06967872752
+386,6.433333333,pose2_to_pose3_retreat,0.580746564167,0.0100019191909,1.07004092932,0.551318283277,0.0186767458105,1.06967872664
+387,6.450000000,pose2_to_pose3_retreat,0.580746289172,0.0100019203263,1.07004092713,0.551318008237,0.0186767468206,1.0696787251
+388,6.466666667,pose2_to_pose3_retreat,0.580745922793,0.0100019218389,1.07004092421,0.551317641798,0.0186767481664,1.06967872305
+389,6.483333333,pose2_to_pose3_retreat,0.580745445478,0.0100019238097,1.07004092041,0.551317164406,0.0186767499196,1.06967872038
+390,6.500000000,pose2_to_pose3_retreat,0.58074489745,0.0100019260723,1.07004091604,0.551316616288,0.0186767519326,1.06967871731
+391,6.516666667,pose2_to_pose3_retreat,0.580744675946,0.0100019098613,1.07004086817,0.551316395109,0.0186767367835,1.06967866843
+392,6.533333333,pose2_to_pose3_retreat,0.580744642149,0.0100019073786,1.07004086084,0.551316361362,0.0186767344633,1.06967866094
+393,6.550000000,pose2_to_pose3_retreat,0.580744475879,0.0100018951639,1.07004082479,0.551316195337,0.0186767230488,1.06967862412
+394,6.566666667,pose2_to_pose3_retreat,0.58074428779,0.0100018813463,1.070040784,0.551316007525,0.0186767101364,1.06967858247
+395,6.583333333,pose2_to_pose3_retreat,0.580744186927,0.0100018739367,1.07004076212,0.551315906811,0.0186767032122,1.06967856013
+396,6.600000000,pose2_to_pose3_retreat,0.580744167993,0.0100018725457,1.07004075802,0.551315887904,0.0186767019123,1.06967855594
+397,6.616666667,pose2_to_pose3_retreat,0.580744054718,0.0100018642243,1.07004073345,0.551315774797,0.018676694136,1.06967853085
+398,6.633333333,pose2_to_pose3_retreat,0.580743903359,0.0100018522474,1.07004070981,0.551315623643,0.0186766828121,1.06967850622
+399,6.650000000,pose2_to_pose3_retreat,0.580743873039,0.0100018469364,1.07004073625,0.551315593299,0.0186766773759,1.06967853148
+400,6.666666667,pose2_to_pose3_retreat,0.580743763118,0.0100018276828,1.07004083209,0.551315483298,0.0186766576685,1.06967862306
+401,6.683333333,pose2_to_pose3_retreat,0.580743635173,0.010001805272,1.07004094366,0.551315355258,0.0186766347293,1.06967872965
+402,6.700000000,pose2_to_pose3_retreat,0.580743570096,0.0100018098824,1.07004099165,0.551315289815,0.0186766379735,1.06967877474
+403,6.716666667,pose2_to_pose3_retreat,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+404,6.733333333,pose2_to_pose3_retreat,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7293171244ff481e5673764a5f4f42ac6dba0eb0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1af2eaa18571d2eb2b0f4085d926edcc7a8865416882da126825e01d5969ede6
+size 25705903
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5b87bcf29c3034044fb334b1919090dc73de4782
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_02/franka_data.csv
@@ -0,0 +1,406 @@
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+27,0.450000000,BASELINE,764.683283862,745,714,680,658.683283862,634.316716138,878,786,804,652,631,652,0.4009738352,0.00450761662276,0.0798424657469,0.999999953241,0.000133065662206,-0.000270810299596,4.9725973622e-05,1793243225151061248
+28,0.466666667,BASELINE,765,745,714,680,658.730469317,634,878,786,804,652,631,652,0.400973062792,0.00450752714838,0.0798423266283,0.999999953301,0.000132021623394,-0.000271120730534,4.96227346723e-05,1793243225167728128
+29,0.483333333,BASELINE,765,745,714,680,658.155212762,634,878,786,804,652,631,652,0.40097265233,0.00450554045194,0.0798422248349,0.999999953644,0.000129047824058,-0.000271253060381,4.9804523563e-05,1793243225184394752
+30,0.500000000,BASELINE,765,745,714,680,658,634,878,786,804.41913518,651.58086482,631,652,0.400973727951,0.00450488152383,0.0798424441225,0.999999953991,0.000127649923606,-0.000270671433346,4.96042702965e-05,1793243225201061376
+31,0.516666667,BASELINE,765,745,714,680,658,634,878,786,804.993147362,651.006852638,631,652,0.400975352702,0.00450471322692,0.0798427820545,0.99999995434,0.000126834342495,-0.000269825988078,4.92628464758e-05,1793243225217727744
+32,0.533333333,BASELINE,765,745,714,679.415695451,658,634.584304549,878,786,804.415695451,651.584304549,631,652,0.400975059693,0.00450600875578,0.0798428468828,0.999999953967,0.00012977729875,-0.000269719852022,4.97555522704e-05,1793243225234394368
+33,0.550000000,BASELINE,765,745,714,679.171803377,658.171803377,634.828196623,878,786,804.171803377,652,631,652,0.400974463286,0.00450647102361,0.0798426273837,0.999999953619,0.000131489136539,-0.000270107908101,5.01528435141e-05,1793243225251060992
+34,0.566666667,BASELINE,765,745,714,679.75015494,658.75015494,634.24984506,878,786,804.75015494,652,631,652,0.400973203759,0.00450491964531,0.0798417428726,0.999999953366,0.000130180246445,-0.000271644261637,5.03005009688e-05,1793243225267727616
+35,0.583333333,BASELINE,765,745,714,680,659,634.32733127,878,786,805,652,631,652,0.400973141577,0.00450464420232,0.0798421821853,0.999999953519,0.000129741777044,-0.000271300315745,5.02428274602e-05,1793243225284394496
+36,0.600000000,BASELINE,765,745,714,680,659,634.903613838,878,786,805,652,631,652,0.400973990033,0.00450533916981,0.07984362833,0.999999953981,0.000129965304638,-0.000269526311154,5.00289898161e-05,1793243225301061376
+37,0.616666667,BASELINE,765,744.510699347,714,680,658.510699347,634.510699347,878,786,805,652,631.489300653,652,0.400973984948,0.00450513289323,0.0798433766851,0.999999954051,0.000129459798938,-0.000269541442324,4.9861854768e-05,1793243225317728000
+38,0.633333333,BASELINE,765,744.075824977,714,680,658,634.075824977,878,786,805,652,631.924175023,652,0.400974004456,0.00450488388089,0.0798429883557,0.999999954082,0.000129050189407,-0.000269641912846,4.97598044049e-05,1793243225334394624
+39,0.650000000,BASELINE,765,744.655365545,714,680,658,634.655365545,878,786,805,652,631.344634455,652,0.400975326179,0.00450555346235,0.0798439573041,0.999999954375,0.000130250350401,-0.000267922133067,5.00278069648e-05,1793243225351060992
+40,0.666666667,BASELINE,765,745,714,680,658.233893969,634.766106031,878,786.233893969,805,652,631,652,0.400975406491,0.00450598351593,0.0798439532861,0.999999954292,0.000130920792016,-0.000267908393652,5.00074113533e-05,1793243225367727616
+41,0.683333333,BASELINE,765,745,714,680,658.810937428,634.189062572,878,786.810937428,805,652,631,652,0.400973665511,0.0045060621544,0.0798425218136,0.999999953658,0.000130814073998,-0.000270397612758,4.95639022715e-05,1793243225384394240
+42,0.700000000,BASELINE,764.613023698,745,714,680,659,634.386976302,878,786.613023698,805,652,631,652,0.40097363468,0.0045050997804,0.0798423825273,0.999999953843,0.000129142969258,-0.000270553339812,4.93658162162e-05,1793243225401060608
+43,0.716666667,BASELINE,764.037474373,745,714,680,659,634.962525627,878,786.037474373,805,652,631,652,0.400974437203,0.00450363012244,0.0798428729217,0.999999954423,0.00012670954101,-0.000269571959303,4.92873244792e-05,1793243225417727488
+44,0.733333333,BASELINE,764.551172073,745,714,679.448827927,659,635,878.551172073,786.551172073,805,652,631,652,0.400976217865,0.00450401668674,0.0798441867981,0.999999955158,0.000126535897181,-0.000266892038123,4.94188780045e-05,1793243225434394368
+45,0.750000000,BASELINE,765,745.138414562,714,679.138414562,658.861585438,635,878.861585438,786.861585438,805,652,631,652,0.400976947411,0.00450464162227,0.0798449096674,0.999999955443,0.000126976004123,-0.000265592309644,4.95206637302e-05,1793243225451060992
+46,0.766666667,BASELINE,765,745.718270237,714,679.718270237,658.281729763,635,878.281729763,786.281729763,805,652,631,652,0.400974107402,0.00450561448817,0.0798435647463,0.999999954272,0.000128871589219,-0.000269071661394,4.94808572315e-05,1793243225467727616
+47,0.783333333,BASELINE,765,745.70420228,714.29579772,680,658,635,878,786,805,652,631.29579772,652,0.400974109995,0.00450571331753,0.0798435930653,0.999999954068,0.000129494809565,-0.000269524420183,4.95113630925e-05,1793243225484394240
+48,0.800000000,BASELINE,765,745.128874877,714.871125123,680,658,635,878,786,805,652,631.871125123,652,0.400976798854,0.00450498618002,0.0798449190998,0.999999954784,0.000128915641848,-0.000267117040467,4.96083143278e-05,1793243225501060608
+49,0.816666667,BASELINE,765,745,714.546634932,680,658,635,878.453365068,786.453365068,805,652,631.546634932,652,0.400975562692,0.00450485531519,0.0798445078529,0.999999954635,0.000128427309,-0.00026789684289,4.96788780186e-05,1793243225517727488
+50,0.833333333,BASELINE,765,745.037472058,714,680,658,635,878.962527942,787,805,652.037472058,631,652,0.40097336902,0.0045048872252,0.0798436948743,0.999999954272,0.000127992677192,-0.000269443624329,4.97410109769e-05,1793243225534394112
+51,0.850000000,BASELINE,765,745.619713517,714,680,658,635,878.380286483,787,805,652.619713517,631,652,0.400973726805,0.00450478323742,0.0798443321973,0.999999954456,0.000127957553445,-0.000268765415059,4.97913159798e-05,1793243225551060736
+52,0.866666667,BASELINE,765,745.799785966,714.200214034,680,658.200214034,635,878.200214034,787,804.799785966,652.799785966,631.200214034,652,0.400973796799,0.00450482984771,0.0798442120518,0.999999954429,0.000127965677762,-0.00026888480598,4.96795152524e-05,1793243225567727360
+53,0.883333333,BASELINE,765,745.222563722,714.777436278,680,658.777436278,635,878.777436278,787,804.222563722,652.222563722,631.777436278,652,0.400973324874,0.00450516003807,0.0798426655735,0.999999954001,0.000128055239302,-0.000270506098747,4.92624652345e-05,1793243225584394496
+54,0.900000000,BASELINE,764.646373387,745,714.646373387,680.353626613,659,635,878.646373387,786.646373387,804.353626613,652,631.646373387,652,0.400973983188,0.00450520963767,0.0798430856958,0.999999954081,0.000128763867909,-0.000269868254111,4.92948927718e-05,1793243225601060864
+55,0.916666667,BASELINE,764.07083064,745,714.07083064,680.92916936,659,635,878.07083064,786.07083064,804.92916936,652,631.07083064,652,0.400975350776,0.00450508315431,0.0798447399457,0.999999954476,0.000129860988115,-0.000267812702096,4.9609387107e-05,1793243225617727488
+56,0.933333333,BASELINE,764.516702612,745,714,681,659,635,878,786,805,652,631,652,0.400973591071,0.0045052268165,0.079843117758,0.99999995384,0.00012987247436,-0.000270181885899,4.95432852508e-05,1793243225634394368
+57,0.950000000,BASELINE,765,745,714,680.895788225,658.895788225,635,878.104211775,786.104211775,805,652,631,652,0.400971961767,0.00450559716661,0.0798415460384,0.999999953231,0.000129958382947,-0.000272412625912,4.93895492134e-05,1793243225651060992
+58,0.966666667,BASELINE,765,745,714,680.31606732,658.31606732,635,878.68393268,786.68393268,805,652,631,652,0.400972930036,0.00450682888513,0.0798423026773,0.999999953436,0.000131079063211,-0.000271178264972,4.90796621314e-05,1793243225667727616
+59,0.983333333,BASELINE,764.738447607,745,714,680,658,634.738447607,878.738447607,786.738447607,805,652,631,652,0.400973194423,0.00450662426423,0.0798427092096,0.999999953777,0.000130163552512,-0.000270378222736,4.8975640888e-05,1793243225684393984
+60,1.000000000,BASELINE,764.163346719,745,714,680,658,634.163346719,878.163346719,786.163346719,805,652,631,652,0.400972614998,0.00450469776262,0.0798426960349,0.999999954277,0.000126807060244,-0.000270098840743,4.91184111659e-05,1793243225701060864
+61,1.016666667,BASELINE,764.396782384,745,714,680,658.396782384,634.396782384,878.396782384,786,805,652,631,652,0.400973414485,0.00450455701912,0.0798431923981,0.999999954633,0.00012635702104,-0.000268982909785,4.91601761569e-05,1793243225717727488
+62,1.033333333,BASELINE,764.950972006,745,714,680,658.950972006,634.950972006,878.950972006,786,805,652,631,652,0.400974760998,0.00450512470248,0.0798438908999,0.999999954932,0.000127059998828,-0.000267535112139,4.91618714088e-05,1793243225734394368
+63,1.050000000,BASELINE,765,745,714,680,659,634.438660177,879,786.561339823,805,652,631,652,0.40097395213,0.00450497467851,0.0798436684264,0.999999954447,0.000128291882002,-0.000268721521,4.93474129919e-05,1793243225751061248
+64,1.066666667,BASELINE,765,745,714,680,659,634,879,787,805,652,631,652,0.400973227466,0.00450493238448,0.0798432254927,0.999999953972,0.000129328082344,-0.000269971596601,4.94566129128e-05,1793243225767728128
+65,1.083333333,BASELINE,765,745,714,680,659,634,879,787,805,652,631,652,0.400973229264,0.00450532931118,0.0798424580066,0.999999953713,0.000129752656013,-0.00027074628256,4.93326050892e-05,1793243225784394752
+66,1.100000000,BASELINE,765,745,714,680,659,634.316113669,879,787,805,652,631,652,0.400973796949,0.00450508182739,0.0798428474239,0.999999953956,0.000129685541284,-0.000269874295233,4.93766474471e-05,1793243225801061120
+67,1.116666667,BASELINE,765,745,714,680,659,634.892215246,879,787,805,652,631,652,0.400974830049,0.00450430434773,0.0798441883373,0.999999954606,0.00012921403707,-0.000267648000272,4.95589027997e-05,1793243225817727488
+68,1.133333333,BASELINE,765,745,714,680,658.537148287,634.537148287,878.537148287,787,805,652,631,652,0.400974199017,0.00450476845852,0.079843818838,0.999999954536,0.000128386603924,-0.000268293600071,4.96237783582e-05,1793243225834394368
+69,1.150000000,BASELINE,765,745,714,680,658.034077304,634.034077304,878,786.965922696,805,652,631,652,0.400973242229,0.00450555576759,0.0798430805041,0.999999954305,0.000127614073602,-0.000269519248752,4.96298051259e-05,1793243225851060736
+70,1.166666667,BASELINE,765,745,714,680,658.636083031,634.636083031,878,786.363916969,805,652,631,652,0.400973239572,0.00450696707824,0.0798427558678,0.999999954171,0.00012912178925,-0.000269396163458,4.9105299728e-05,1793243225867727616
+71,1.183333333,BASELINE,765,745,714.227462298,680,658.772537702,634.772537702,878,786.227462298,804.772537702,652,631,652,0.400973439104,0.00450731206178,0.0798428469733,0.999999954172,0.000129411341715,-0.00026931079137,4.8782942111e-05,1793243225884394496
+72,1.200000000,BASELINE,765,745,714.802599186,680,658.197400814,634.197400814,878,786.802599186,804.197400814,652,631,652,0.400973947681,0.00450602717173,0.0798435735371,0.999999954383,0.000127838940193,-0.000269283063649,4.87695659352e-05,1793243225901061120
+73,1.216666667,BASELINE,765,745,714.622019335,680,658,634,878,786.622019335,804.377980665,652,631,652,0.400974470101,0.00450562185829,0.0798443163236,0.999999954519,0.000128232558268,-0.000268562033676,4.89117459993e-05,1793243225917728000
+74,1.233333333,BASELINE,765,745,714.046510071,680,658,634,878,786.046510071,804.953489929,652,631,652,0.400974999757,0.00450567620214,0.0798450675878,0.999999954615,0.000129653596975,-0.000267478691459,4.91352180695e-05,1793243225934394624
+75,1.250000000,BASELINE,765,745,714,680,658.540799204,634,878,786.540799204,804.459200796,652,631.540799204,652,0.400974333231,0.00450657507701,0.0798442152405,0.999999954163,0.000130582569077,-0.000268703973978,4.91915674175e-05,1793243225951060992
+76,1.266666667,BASELINE,765,745,714,680,658.872797526,634.127202474,878,786.872797526,804.127202474,652,631.872797526,652,0.40097370467,0.0045072441849,0.0798435304875,0.999999953845,0.000130876260046,-0.000269741125519,4.91983125586e-05,1793243225967727616
+77,1.283333333,BASELINE,765,745,714,680,658.293304628,634.706695372,878,786.293304628,804.706695372,652,631.293304628,652,0.400973585044,0.00450683230094,0.0798439429625,0.999999954182,0.000129064927733,-0.000269387627353,4.90809269043e-05,1793243225984394240
+78,1.300000000,BASELINE,764.715909493,745,714,680,658.284090507,635,878,786,805,652,631,652,0.400973566191,0.00450575193389,0.0798437799001,0.999999954354,0.000127573731568,-0.00026944998677,4.91245055693e-05,1793243226001061120
+79,1.316666667,BASELINE,764.14066432,745,714,680,658.85933568,635,878,786,805,652,631,652,0.400973650617,0.00450398646135,0.079843026989,0.99999995436,0.000126410632128,-0.000269938544454,4.93330510802e-05,1793243226017728512
+80,1.333333333,BASELINE,764.443495548,745,714,679.556504452,659,634.556504452,878,786,804.556504452,652,631,652,0.400974356644,0.00450461854591,0.0798434751688,0.999999954729,0.000126647793112,-0.000268462924483,4.92858047555e-05,1793243226034395136
+81,1.350000000,BASELINE,764.969828691,745.030171309,714,679.030171309,658.969828691,634,878.030171309,786.030171309,804.030171309,652,631,652,0.400975152283,0.00450604692975,0.0798441955478,0.999999955132,0.000127460192272,-0.0002665944599,4.91606483161e-05,1793243226051061760
+82,1.366666667,BASELINE,764.389888455,745.610111545,714,679.610111545,658.389888455,634,878.610111545,786.610111545,804.610111545,652,631,652,0.400973914631,0.0045078445259,0.079842791879,0.999999954057,0.000130495705167,-0.000269152325361,4.91244882602e-05,1793243226067728128
+83,1.383333333,BASELINE,764.189708743,745.810291257,714,680,658.189708743,634.189708743,878.810291257,786.810291257,805,652,631,652,0.400973117624,0.00450852692055,0.0798421026762,0.99999995343,0.000132247560491,-0.000270605755587,4.92248019884e-05,1793243226084394752
+84,1.400000000,BASELINE,764.768602307,745.231397693,714,680,658.768602307,634.768602307,878.231397693,786.231397693,805,652,631,652,0.400973224592,0.00450692149531,0.07984287919,0.999999953747,0.000131366010904,-0.000269793452917,4.96050897626e-05,1793243226101061120
+85,1.416666667,BASELINE,765,745,714,679.655191559,658.655191559,634.655191559,878,786,805,652,631,652,0.40097360746,0.00450591606678,0.0798434474794,0.99999995396,0.000130737941624,-0.000269289026715,4.97045880156e-05,1793243226117727488
+86,1.433333333,BASELINE,765,745,714,679.08077502,658.08077502,634.08077502,878,786,805,652,631,652,0.40097417405,0.00450531017641,0.0798438771122,0.999999954105,0.000130278665048,-0.000268989615641,4.9617108377e-05,1793243226134394112
+87,1.450000000,BASELINE,765,745,714,679.506377006,658,634.506377006,878,786,805,652,631,652,0.400973982137,0.00450551646682,0.0798436955701,0.999999954252,0.000129533712471,-0.000268804417693,4.96006593567e-05,1793243226151060992
+88,1.466666667,BASELINE,765,745,714,680,658,634.906490197,878,786,805,652,631,652,0.400973890454,0.00450591803774,0.079843615905,0.999999954405,0.000129176377156,-0.000268417420454,4.95615220076e-05,1793243226167727616
+89,1.483333333,BASELINE,765,745,714,680,658,634.330215375,878,786,805,652,631,652,0.400974956999,0.00450664167265,0.079844578511,0.999999954578,0.000131061535231,-0.000266892104711,4.93452458417e-05,1793243226184394496
+90,1.500000000,BASELINE,765,745,714,680,658.247729115,634,878.247729115,786.247729115,805,652,631,652,0.400975971261,0.00450625632188,0.0798451785761,0.999999954865,0.000131090961158,-0.000265808348614,4.93072641495e-05,1793243226201061120
+91,1.516666667,BASELINE,765,745,714,680,658.827914276,634,878.827914276,786.827914276,805,652,631,652,0.400976915357,0.00450438269624,0.0798452921061,0.999999955305,0.000128629967612,-0.000265317172057,4.95085562313e-05,1793243226217728000
+92,1.533333333,BASELINE,764.596802624,745,714,680,658.596802624,634.403197376,878.596802624,786.596802624,804.596802624,652,631,652,0.400975703739,0.00450412333651,0.0798439057413,0.999999954877,0.000128075290312,-0.00026718313973,4.95561073327e-05,1793243226234394368
+93,1.550000000,BASELINE,764.023586557,745,714,680,658.023586557,634.976413443,878.023586557,786.023586557,804.023586557,652,631,652,0.400973583109,0.00450454467395,0.0798418869067,0.999999954078,0.000128324460772,-0.000270043058709,4.95388295563e-05,1793243226251060992
+94,1.566666667,BASELINE,764,745,714,680,658.568240588,635,878.568240588,786.568240588,804.568240588,652,631,652,0.40097396371,0.00450578770551,0.0798430023662,0.999999954405,0.000129393155023,-0.000268363420991,4.92823612318e-05,1793243226267727616
+95,1.583333333,BASELINE,764.156970183,745,714,680,659,635,879,786.843029817,805,652,631,652,0.400974153307,0.00450630823275,0.0798438299129,0.999999954634,0.000130110884705,-0.000267187138971,4.91413853395e-05,1793243226284394496
+96,1.600000000,BASELINE,764.735242604,745,714,680,659,635,879,786.264757396,805,652,631,652,0.400973542168,0.00450479494362,0.0798435237096,0.999999954479,0.000129792247102,-0.0002678847038,4.93379364452e-05,1793243226301061376
+97,1.616666667,BASELINE,765,745,714,680,659,634.687755708,879,786,805,652,631,652,0.400973557166,0.00450492199278,0.0798435286817,0.999999954485,0.000129634107986,-0.000267939069787,4.93239474844e-05,1793243226317728256
+98,1.633333333,BASELINE,765,745,714,680,659,634.111827163,879,786,805,652,631,652,0.400974100925,0.0045064342759,0.0798437964355,0.999999954629,0.00012961150675,-0.000267450266776,4.91321615065e-05,1793243226334395136
+99,1.650000000,BASELINE,765,745,714,680,659,634.473755084,878.526244916,786,804.526244916,652,631,652,0.400974493141,0.00450634706073,0.0798445038466,0.999999954414,0.000131288996408,-0.000267392768534,4.93619897069e-05,1793243226351061504
+100,1.666666667,BASELINE,764.939207008,745,714,680,659,635,878,786,804.060792992,652,631.060792992,652,0.400974887977,0.00450598324965,0.0798451743792,0.999999954185,0.000133024504626,-0.000267342028486,4.96176255605e-05,1793243226367727872
+101,1.683333333,BASELINE,764.359597527,745,714,680,659,635,878,786,804.640402473,652,631.640402473,652,0.400975616795,0.00450654803826,0.0798446261003,0.999999954607,0.000131759188952,-0.000266462055078,4.92265261613e-05,1793243226384394496
+102,1.700000000,BASELINE,764,745,714,680,658.781405836,635,878,786.218594164,805,652,631.781405836,652,0.400975811242,0.00450636642106,0.0798441438174,0.999999954799,0.000130880421967,-0.000266218647455,4.89988534096e-05,1793243226401061120
+103,1.716666667,BASELINE,764,745,714,680,658.205531503,635,878,786.794468497,805,652,631.205531503,652,0.400975132291,0.00450496484444,0.0798437694011,0.999999954616,0.000130633447733,-0.000267015671769,4.90382925856e-05,1793243226417727744
+104,1.733333333,BASELINE,764.370427295,745,714,680.370427295,658,635,878,786.629572705,805,652,631.370427295,652,0.400975725668,0.00450554834891,0.0798446495511,0.999999954814,0.000131101804219,-0.000266041829426,4.90568981576e-05,1793243226434394112
+105,1.750000000,BASELINE,764.946433024,745,714,680.946433024,658,635,878,786.053566976,805,652,631.946433024,652,0.400977025159,0.00450723352656,0.0798462259559,0.999999955218,0.000131967152402,-0.000264085197826,4.90639415731e-05,1793243226451060736
+106,1.766666667,BASELINE,765,745,714,680.464698804,658.535301196,634.464698804,878.535301196,786.535301196,805,652,631.464698804,652,0.40097533075,0.0045084363984,0.0798446640054,0.99999995443,0.000133727511348,-0.000266195992596,4.89645461638e-05,1793243226467727616
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878,787,806,652,631,652,0.400972909733,0.00450835062599,0.0798432666537,0.999999953704,0.000133719808154,-0.000268950024482,4.87522255294e-05,1793243226509664768
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745.574087138,714,680,658.425912862,634,878.574087138,787,805.425912862,652,631,652,0.400974871927,0.00450681903906,0.0798447998151,0.999999954851,0.00013018411624,-0.000266352052942,4.90612508925e-05,1793243226526331136
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.851167533,745.851167533,714,680,658.148832467,634,879,786.851167533,805,652,631,652,0.400976277986,0.00450585992051,0.0798456734922,0.999999955571,0.000128016731908,-0.000264670413768,4.91835969146e-05,1793243226542997760
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.274530162,745.274530162,714,680,658.725469838,634,879,786.274530162,805,652,631,652,0.40097608549,0.00450654630798,0.079844651544,0.999999955111,0.000129782417998,-0.000265622685065,4.87693508322e-05,1793243226559664384
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.309912251,745,714,680,658.690087749,634,878.690087749,786.309912251,805,652,631,652,0.400975420115,0.00450712611188,0.0798439878849,0.99999995468,0.00013117753175,-0.000266554554632,4.8804873857e-05,1793243226576331264
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.901447208,745,714,680,658.098552792,634,878.098552792,786.901447208,805,652,631,652,0.400974325029,0.00450760906136,0.0798436498094,0.999999954275,0.000132235899804,-0.00026746788473,4.92491099938e-05,1793243226592997888
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714.480398945,680,658.480398945,634.480398945,878.480398945,787,804.519601055,652,631,652,0.400974320446,0.00450644874318,0.0798436061823,0.999999954273,0.00013192793941,-0.000267602422996,4.93813181924e-05,1793243226609664512
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714.943300543,680,658.943300543,635,878.943300543,786.943300543,804.056699457,652,631,652,0.400974621883,0.00450525067757,0.079843706931,0.999999954346,0.000131484079044,-0.000267537869883,4.94325851863e-05,1793243226626331648
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714.368240546,680,658.368240546,635,878.368240546,786.368240546,804.631759454,652,631,652,0.400975727979,0.00450671081796,0.0798445894527,0.999999954368,0.00013229494438,-0.000267076525294,4.93141424347e-05,1793243226642998272
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.788219279,745,714,680,658.211780721,635,878.211780721,786,805,652,631,652,0.400980067818,0.00450702685425,0.0798470021782,0.999999955138,0.000132322308411,-0.000264151529083,4.93761121766e-05,1793243226659664896
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.199364567,745,714,680,658.800635433,635,878.800635433,786,805,652,631,652,0.400990165309,0.0045053058216,0.07985213942,0.999999957204,0.000130954654132,-0.000256840019626,4.9759305025e-05,1793243226676331264
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,635,879,786.383308494,804.616691506,652,631,652,0.401017455532,0.00450540011404,0.0798623741029,0.999999962113,0.000129079118577,-0.000238098879354,4.92161930506e-05,1793243226692997632
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,635,879,786.962817465,804.037182535,652,631,652,0.401053546037,0.00450642359953,0.0798752179649,0.999999967988,0.000126943618471,-0.000213507361759,4.81989422371e-05,1793243226709664256
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.537761834,745,714.537761834,680,658.462238166,635,878.462238166,787,804,652,631,652,0.401112105972,0.00450649764225,0.0798928118639,0.999999974872,0.000126613179179,-0.000178889544237,4.71540901875e-05,1793243226726330880
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.115033571,635,878,786.884966429,804.115033571,652.115033571,631,652,0.401173603059,0.00450671413386,0.0799090224751,0.999999979976,0.00012645113101,-0.00014811094279,4.60522824876e-05,1793243226742997760
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.703164307,635,878,786.296835693,804.703164307,652.703164307,631,652,0.40124084403,0.00450778418832,0.0799182046898,0.999999981761,0.0001264726492,-0.00013594895121,4.47240165984e-05,1793243226759664640
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714.712879118,680,659,634.712879118,878.287120882,786,805,652.712879118,631,652,0.401316533646,0.00450912231203,0.0799246570926,0.999999983184,0.000126277829923,-0.000125918297014,4.27788136922e-05,1793243226776331264
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.133176134,680,659,634.133176134,878.866823866,786,805,652.133176134,631,652,0.401400832602,0.00451073360377,0.0799283277601,0.999999984302,0.000125862558311,-0.000118059520319,4.02049393219e-05,1793243226792997888
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.555622239,745,714,679.555622239,658.555622239,634.444377761,879,786,805,652,631,652,0.401502936417,0.00451157331888,0.0799316308159,0.999999985363,0.000123033407739,-0.000113051089311,3.68253209148e-05,1793243226809664512
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.021290439,745,714,679.021290439,658,634.978709561,878.978709561,786.021290439,804.978709561,652,631,652,0.401611507308,0.00451233697409,0.0799349898534,0.999999986395,0.00011972534242,-0.000108507983967,3.31792538086e-05,1793243226826330880
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.598196716,745,714,679.598196716,658,634.401803284,878.401803284,786.598196716,804.401803284,652,631,652,0.4017502671,0.00451712117939,0.0799426711119,0.999999987645,0.000122707217343,-9.39231103682e-05,2.88511034696e-05,1793243226842997504
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.821359789,745.178640211,714,680,658.178640211,634.178640211,878.178640211,786.821359789,804.178640211,652,631,652,0.401894260952,0.00452000887117,0.0799491417326,0.999999988862,0.000122535914974,-8.16547593228e-05,2.43407502993e-05,1793243226859664128
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.232799633,745.767200367,714,680,658.767200367,634.767200367,878.767200367,786.232799633,804.767200367,652,631,652,0.40205026521,0.00451854469373,0.0799528343409,0.999999990394,0.000115129117724,-7.47020601187e-05,1.9412302759e-05,1793243226876331008
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.348932668,746,714,680.348932668,658.651067332,635,878.651067332,786,805,652,631,652.348932668,0.402228562549,0.00451926956267,0.0799571939184,0.999999991835,0.000108393278567,-6.62768850888e-05,1.3716278473e-05,1793243226892997632
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.926197071,746,714,680.926197071,658.073802929,635,878.073802929,786,805,652,631,652.926197071,0.40242144787,0.0045214268819,0.0799619899421,0.999999993142,0.000102096494791,-5.68881625537e-05,7.51797303993e-06,1793243226909664512
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745.496996985,714,680.496996985,658,635,878.503003015,786.503003015,805,652,631,652.496996985,0.40263204949,0.00452493821735,0.0799589916556,0.99999999331,9.59410290965e-05,-6.46148551904e-05,2.38977787555e-07,1793243226926331392
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.920581628,745,714,680.079418372,658.079418372,635,879,787,805,652,631,652,0.40284937831,0.00452845086865,0.0799549316956,0.999999993204,8.94752897492e-05,-7.43906462853e-05,-7.24135194436e-06,1793243226942998016
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.346181526,745,714,680.653818474,658.653818474,635,879,787,805,652,631,652,0.403092448722,0.00453073463806,0.0799513759649,0.999999993307,8.09466270073e-05,-8.13002777956e-05,-1.49891566544e-05,1793243226959664384
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.236122035,745,714,681,659,635,879,786.763877965,805,652,631,652,0.403353786023,0.00453222350359,0.0799488857276,0.999999993315,7.5403138564e-05,-8.48525421699e-05,-2.20209185908e-05,1793243226976330752
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.830414206,745,714,681,659,635,879,786.169585794,805,652,631,652,0.403642832094,0.00453250659064,0.0799480117222,0.999999993372,7.43878188118e-05,-8.33120639937e-05,-2.79665250316e-05,1793243226992997376
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680.588782082,659,635,879,786.411217918,805,652,631,652,0.403966377958,0.00451973584715,0.0799515133558,0.999999993387,8.13253359845e-05,-7.80962455343e-05,-2.26726934642e-05,1793243227009664512
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680.013364341,659,635,879,786.986635659,805,652,631,652,0.404303699626,0.004501752693,0.0799567621874,0.999999993187,9.14384307614e-05,-7.14128591866e-05,-1.28909402866e-05,1793243227026331392
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.4384652,745,714,680,659,635,878.4384652,786.4384652,804.4384652,652,631,652,0.404692734325,0.00451004870506,0.0799578870029,0.999999997231,2.98534564667e-05,-6.55423508691e-05,-1.87355882928e-05,1793243227042998016
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.139821189,745,714,680,659,635,878.139821189,786,804.139821189,652,631,652,0.405085626683,0.0045192697351,0.079956855659,0.999999997684,-9.8379061664e-06,-6.29773851676e-05,-2.38511847503e-05,1793243227059664896
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.72903386,745,714,680,659,635,878.72903386,786,804.72903386,652,631,652,0.4054869656,0.00452945548977,0.0799492094909,0.999999996812,2.63171326382e-05,-7.09744591192e-05,-2.54293660144e-05,1793243227076331520
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.686849899,659,634.686849899,879,786.313150101,805,652,631,652,0.405912748969,0.00453566934083,0.0799421091499,0.999999995118,4.67034251879e-05,-8.26219524652e-05,-2.75013456715e-05,1793243227092997888
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.107072871,659,634.107072871,879,786.892927129,805,652,631,652,0.406359345243,0.00453850137565,0.0799354735442,0.999999993369,5.36636608108e-05,-9.73775412337e-05,-2.99937627078e-05,1793243227109664256
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.470493384,659,634,878.529506616,786.529506616,804.529506616,652,631,652,0.406837574533,0.00455358030449,0.0799293217389,0.999999990753,7.8578204957e-05,-0.000106935167423,-2.97247491806e-05,1793243227126330880
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745.045668674,714,680,658.954331326,634,878.045668674,786,804.045668674,652,631,652,0.407325712728,0.00457038052218,0.0799235809827,0.999999987317,0.000105939334957,-0.000115329676327,-2.90121800365e-05,1793243227142997504
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745.599799422,714,680,658.400200578,634,878.599799422,786,804.599799422,652,631,652,0.407844398489,0.0045754594873,0.0799211966233,0.999999985224,0.000115260866519,-0.000123883186134,-3.03252770673e-05,1793243227159664384
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.170408659,745.829591341,714,680,658.170408659,634.170408659,879,786,805,652,631.170408659,652,0.408379872446,0.0045815187292,0.0799190910337,0.999999983634,0.000121878988257,-0.000129903187273,-3.16527169256e-05,1793243227176331520
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.783860013,745.216139987,714,680,658.783860013,634.783860013,879,786,805,652,631.783860013,652,0.408958993729,0.00459012657641,0.0799177102135,0.999999983714,0.000121468558314,-0.000129336360028,-3.30174463993e-05,1793243227192998656
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.625351124,745,714,680,659,635,879,786,805,652,631.625351124,652,0.409587031312,0.00460161710039,0.0799382238762,0.999999985905,0.000133178748708,-9.61777812309e-05,-3.47002876156e-05,1793243227209665280
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.046890824,745,714,680,659,635,879,786,805,652,631.046890824,652,0.410241679662,0.004614675819,0.07997064828,0.999999986833,0.000151482635051,-4.52890775054e-05,-3.65561835598e-05,1793243227226332160
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680.528281119,659,635,879,786,805,652,631,652,0.410907307761,0.00461722786555,0.0799882955842,0.999999988314,0.000147192241319,-1.76683796912e-05,-3.73310903397e-05,1793243227242998272
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680.89480954,659.10519046,634.89480954,878.89480954,786.10519046,805,652,631,652,0.411570195671,0.00461617556598,0.079996141952,0.999999989335,0.000140865546179,-5.99182606251e-06,-3.80901705819e-05,1793243227259664384
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680.30862965,659.69137035,634.30862965,878.30862965,786.69137035,805,652,631,652,0.412216124975,0.00460288010031,0.0799651333805,0.999999988535,0.000134341254315,-5.78355397542e-05,-3.92129048326e-05,1793243227276331008
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680.275844574,660,634.275844574,878.275844574,786.724155426,805,652,631,652,0.412892102906,0.00459202856548,0.0799361205648,0.999999986485,0.000124936705629,-9.83297668642e-05,-4.18532443729e-05,1793243227292997632
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680.858422208,660,634.858422208,878.858422208,786.141577792,805,652,631,652,0.413601494327,0.00458389462599,0.0799093269813,0.999999984661,0.000112329374497,-0.000126203622756,-4.61811276108e-05,1793243227309664256
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.564346522,634.564346522,879,786,805,652,631,652,0.414351976919,0.00458774366,0.0799174296598,0.999999986007,0.000119085466843,-0.000107884928286,-4.65280052077e-05,1793243227326331136
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.011123614,714,680.988876386,659,634.011123614,879,786.011123614,805,652,631,652,0.415115960527,0.00459547178531,0.0799367341934,0.999999987489,0.000131615884817,-7.49666429427e-05,-4.56095435527e-05,1793243227342997760
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.584334417,714,680.415665583,659,634.584334417,879,786.584334417,805,652,631,652,0.415895569729,0.00460482193597,0.079955979276,0.999999990114,0.000121807970627,-5.36694791103e-05,-4.53336132838e-05,1793243227359664384
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,746,714,680.158582723,659,635,879,786.841417277,805,652,631,652,0.41668222439,0.00461230550446,0.0799660734403,0.999999990867,0.000119594493902,-4.31343848545e-05,-4.58542443765e-05,1793243227376331264
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,746,714,680.735568329,659,635,879,786.264431671,805,652,631,652,0.417487467666,0.00461486430292,0.0799520239229,0.999999987523,0.000137418096751,-6.09938159427e-05,-4.84765141125e-05,1793243227392997632
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.67873428,714,681,659,634.67873428,879,786,805,652,631,652,0.41832923335,0.00461366031058,0.0799628306281,0.999999988214,0.000141003609709,-3.38851770467e-05,-5.04093307644e-05,1793243227409664256
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.085666441,714,681,659,634.085666441,879,786,805,652,631,652,0.419201898237,0.00460927286451,0.0799946665742,0.999999989388,0.000132543195592,3.12680346187e-05,-5.17588455322e-05,1793243227426330624
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.491536243,714,680.508463757,659.491536243,634.491536243,879,786,805,652,631,652,0.420026104756,0.00460498202229,0.0799904411074,0.999999990882,0.000122484783452,2.37331390717e-05,-5.16817138788e-05,1793243227442997248
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.934060014,714,680.131879973,660,634.934060014,879,786,805,652,631,652,0.420846330902,0.00460145969189,0.0799803840417,0.999999992103,0.000114508256302,4.58885581587e-06,-5.15790964361e-05,1793243227459664128
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.360583043,714,681.278833914,660,634.360583043,879,786,805,652,631,652,0.421698891756,0.00460372702603,0.0799723034193,0.999999990777,0.000124632512046,-9.4537810483e-06,-5.31342501938e-05,1793243227476330752
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,681.779280989,660,634,879,786,805.220719011,652,631,652,0.422574667011,0.00460632555684,0.0799780615354,0.999999990067,0.000130462311481,-1.94000242775e-06,-5.33168217886e-05,1793243227492997376
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,681.184725325,660,634,879,786,805.815274675,652,631,652,0.423489761148,0.00460948504312,0.0800072586265,0.999999989482,0.00012901849716,4.20843498006e-05,-5.11746209333e-05,1793243227509664512
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.601446224,745.398553776,714,681.398553776,660,634.398553776,879,786,805.601446224,651.601446224,630.601446224,652,0.42435015103,0.00461199428561,0.0799997274305,0.999999989344,0.000136131409925,1.71050931828e-05,-4.98712027126e-05,1793243227526331136
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.023249911,745.976750089,714,681.976750089,660,634.976750089,879,786,805.023249911,651.023249911,630.023249911,652,0.425185883679,0.00461421043962,0.0799756414713,0.999999987223,0.000147101147471,-3.89765771664e-05,-4.89458540464e-05,1793243227542997760
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.55182093,745.44817907,714,682,660,634.44817907,879.55182093,786,805.55182093,651.55182093,630.55182093,652,0.426045183557,0.0046172656871,0.0799395193021,0.999999985849,0.00013789178411,-8.06190400267e-05,-5.28103094887e-05,1793243227559664384
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,806,652,631,652,0.426914891033,0.00461908209246,0.0799113329076,0.999999983613,0.000131195795289,-0.000111631288293,-5.56698903377e-05,1793243227576330752
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,806,652,631,652,0.427817904888,0.00461639412057,0.0799129873541,0.999999983483,0.00013637525026,-0.000107197906672,-5.42671058054e-05,1793243227592997376
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.303475771,714,682,659.696524229,634.303475771,880,786.303475771,805.696524229,652,631.303475771,652,0.428715777753,0.00461406754356,0.0799227084826,0.999999984278,0.000138324693851,-9.73713938843e-05,-5.31813386838e-05,1793243227609664256
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.882467535,714,682,659.117532465,634.882467535,880,786.882467535,805.117532465,652,631.882467535,652,0.429608983227,0.00461206906561,0.0799397530947,0.999999985781,0.00013734171262,-8.26486291986e-05,-5.23833816483e-05,1793243227626331136
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,746,714,682,659,635,879.540141712,786.540141712,805.459858288,652,631.540141712,652,0.430533902984,0.00461042207903,0.0799794467281,0.999999990116,0.000128186642209,-2.29945465466e-05,-5.29900741384e-05,1793243227642998016
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.96331417,745.96331417,714,682,659.03668583,635,879.03668583,786,806,651.96331417,631,652,0.43146129674,0.00460924575958,0.0800221500835,0.999999990632,0.000118122120479,4.34081493071e-05,-5.38476360841e-05,1793243227659664384
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.388766192,745.388766192,714,682,659.611233808,635,879.611233808,786,806,651.388766192,631,652,0.432306534178,0.00461365749868,0.0800244039633,0.999999989906,0.000125240056764,4.09719068745e-05,-5.31380378073e-05,1793243227676331008
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.191193962,745,714,682,660,635,879.808806038,786,805.808806038,651.191193962,631,651.808806038,0.433135629981,0.00461801212219,0.0800024410646,0.999999990039,0.000130592109579,4.96859577992e-06,-5.33266347122e-05,1793243227692997632
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.782479725,745,714,682,660,635,879.217520275,786,805.217520275,651.782479725,631,651.217520275,0.433930948011,0.00462224722664,0.0799298022228,0.999999984592,0.000132248881333,-0.000101277043706,-5.53947911173e-05,1793243227709664000
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634.633529759,879.366470241,786,805.366470241,651.633529759,631,651.366470241,0.434770000076,0.00462225026546,0.0799100072172,0.999999982519,0.000127851943138,-0.000123819705862,-5.73100598658e-05,1793243227726330880
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634.053784893,879.946215107,786,805.946215107,651.053784893,631,651.946215107,0.435634503983,0.00461979036951,0.0799209657347,0.999999986292,0.00011993192879,-9.76497543978e-05,-5.91363527031e-05,1793243227742997504
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.522020379,714,682,660,634,880,786.522020379,806,651.522020379,631,652,0.436471490574,0.00461823607622,0.0799553280354,0.999999989073,0.000124073342033,-5.68872663746e-05,-5.67771783525e-05,1793243227759664384
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.900615468,714,682,660,634.099384532,880,786.900615468,806,652,631,652,0.43730068517,0.00461713522986,0.0799895106605,0.999999990172,0.000128201427523,-1.54977739872e-05,-5.45845886859e-05,1793243227776331008
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.313626541,714,682,660,634.686373459,880,786.313626541,806,652,631,652,0.438105456169,0.00461780474947,0.0800110697409,0.999999990271,0.000126212734504,2.16466673878e-05,-5.53092124864e-05,1793243227792997888
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,682.269905424,660,634.730094576,880,786.269905424,806,651.730094576,631,652,0.43890069498,0.00461692140837,0.0800201052928,0.999999990583,0.000119545564128,3.68277063143e-05,-5.64560117747e-05,1793243227809664512
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,682.849471203,660,634.150528797,880,786.849471203,806,651.150528797,631,652,0.439684997533,0.00461425648243,0.0800147726979,0.999999992174,0.000107510814003,2.68103050298e-05,-5.80871696642e-05,1793243227826331136
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682.573809253,660,634,879.573809253,786.573809253,805.573809253,651.426190747,631,652,0.440375018873,0.00461114802627,0.0799681085529,0.9999999914,0.000108676109373,-4.4494166969e-05,-5.83982926186e-05,1793243227842997760
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,682.001906047,660.001906047,634,879.001906047,786,805.001906047,652,631,651.998093953,0.441031946877,0.00460790920169,0.0799069774679,0.999999982342,0.000114415720101,-0.000137228232224,-5.82505849883e-05,1793243227859664128
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,682.575916232,660.575916232,634,879.575916232,786,805.575916232,652,631,651.424083768,0.441684502154,0.0046122479138,0.0798561572624,0.999999971292,0.000103059767435,-0.000208006139944,-5.93958504901e-05,1793243227876330752
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.154754746,714,683,661,634,880,786,806,652,631,651.154754746,0.442357594676,0.00461577275715,0.0798344219508,0.99999996582,9.78699736459e-05,-0.0002348435649,-6.02569612079e-05,1793243227892997632
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.747250865,714,683,661,634,880,786,806,652,631,651.747250865,0.443088779273,0.00461699548128,0.0798949565533,0.99999998268,0.000110121858671,-0.000137390361164,-6.03143084945e-05,1793243227909664256
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,746,714,683,661,634,880,786,806,652,631,652,0.443802067404,0.00461398388015,0.0799532224358,0.999999990931,0.000110344688843,-4.90224953945e-05,-5.9660521745e-05,1793243227926330880
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,746,714,683,661,634,880,786,806,652,631,652,0.444502041713,0.00460782222334,0.0800098005382,0.999999992596,0.000101618703688,3.2586478747e-05,-5.84776986869e-05,1793243227942997504
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.515195754,745.515195754,714,683,660.515195754,634,880,786,806,652,631,651.515195754,0.445097575329,0.00461253391201,0.0800118268381,0.999999992249,0.000104689079087,3.33923025065e-05,-5.85418775399e-05,1793243227959664128
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.061511237,745,714,683,660,634,880,786,806,652,631,651.061511237,0.44566745856,0.00461896366123,0.080002017621,0.999999992048,0.000110365576344,1.64175087853e-05,-5.87669799149e-05,1793243227976330752
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.636147471,745,714,683,660,634,880,786,806,652,631,651.636147471,0.44618897148,0.00462248430434,0.0799799759108,0.999999990992,0.000119077587377,-2.07586745039e-05,-5.83572159762e-05,1793243227992997376
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.216978536,714,683,659.783021464,634,880,786,806,652,631,652,0.446697395687,0.00462600625239,0.0799574934654,0.999999988916,0.000126159989598,-5.3086948588e-05,-5.85927583266e-05,1793243228009664000
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.808502989,714,683,659.191497011,634,880,786,806,652,631,652,0.44718322625,0.00462953045267,0.0799342502302,0.999999986729,0.00013042937863,-7.70468122827e-05,-5.9942221304e-05,1793243228026330624
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.608502866,714,683,659,634,880,786,806,652,631,652,0.447651105046,0.00463422820122,0.0799133533736,0.999999984559,0.000128177457278,-0.000103592214989,-6.10076704825e-05,1793243228042997248
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.02959221,714,683,659,634,880,786,806,652,631,652,0.448110390197,0.00463948773916,0.0798935797493,0.999999981912,0.000122803720939,-0.000131375342678,-6.19371595573e-05,1793243228059664128
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,683.540126834,659,633.459873166,880,786,806,652,630.459873166,652,0.448496693966,0.00464330462394,0.0798678950438,0.999999974099,0.000129166059605,-0.000177031904341,-6.14616878333e-05,1793243228076331008
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,684,658.888493054,633,880,786,806,652,630.111506946,652,0.448877967838,0.00464743793056,0.079844240632,0.999999965036,0.000137186820432,-0.000217639450762,-6.11580640957e-05,1793243228092997888
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,684,658.308044769,633,880,786,806,652,630.691955231,652,0.449254622802,0.00465322878457,0.0798304637648,0.99999995977,0.000149523219169,-0.000232964150239,-6.18954437326e-05,1793243228109664512
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,684,658,633,880,786,806,652,631,652,0.449624065018,0.00465647525062,0.0798289219717,0.999999958946,0.000157285253432,-0.000231257261902,-6.23619717348e-05,1793243228126330880
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,684,658,633,880,786,806,652,631,652,0.449985350748,0.00465684442116,0.0798412160881,0.999999963155,0.000159874413591,-0.000210290375451,-6.25222098872e-05,1793243228142997504
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,684,657.548475808,633,880.451524192,786,805.548475808,651.548475808,631.451524192,652,0.450320742843,0.00466077735477,0.0798502655832,0.999999963734,0.000170720875408,-0.000198892466838,-6.1873153345e-05,1793243228159663872
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,713.971077512,683.971077512,657,633,880.971077512,786,805.057844976,651.028922488,631.971077512,652,0.450645989034,0.00466564478206,0.079857957883,0.999999963142,0.000183345104119,-0.000190699807106,-6.11052456117e-05,1793243228176330496
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,713.398299419,683.398299419,657,633,880.398299419,786,806.203401161,651.601700581,631.398299419,652,0.4509164541,0.00466936635243,0.0798571713719,0.999999962221,0.000186028389803,-0.000192519100232,-6.2353137558e-05,1793243228192997376
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.820115946,745,713.179884054,683.179884054,657,633,880.179884054,786,806.820115946,652,631,652,0.451170937697,0.00467175906077,0.0798540757853,0.999999962749,0.000175005436522,-0.000199623456322,-6.344407308e-05,1793243228209664256
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.229593163,745,713.770406837,683.770406837,657,633,880.770406837,786,806.229593163,652,631,652,0.451388938809,0.0046711182467,0.0798457090489,0.999999965202,0.00013269392533,-0.000218792536268,-6.41767087344e-05,1793243228226331136
+211,3.516666667,POSE1_TO_POSE2_PRESS,764.353500723,745,714,684,656.646499277,633,880.646499277,786.353500723,806.353500723,652,631,652,0.451584415466,0.00466999245991,0.0798318855148,0.999999960954,0.000120102038781,-0.000243975856166,-6.43649135768e-05,1793243228242998016
+212,3.533333333,POSE1_TO_POSE2_PRESS,764.931869025,745,714,684,656.068130975,633,880.068130975,786.931869025,806.931869025,652,631,652,0.451765563972,0.004668558174,0.0798145908217,0.999999952688,0.000126415286308,-0.000272984934165,-6.42067971833e-05,1793243228259664896
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,684,656,632.492118442,880,786.492118442,806.492118442,652,631,652,0.45192516423,0.00465139038489,0.0797986727493,0.999999946623,0.000125933262122,-0.000295369303307,-6.04378834556e-05,1793243228276331264
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,684,656,632.083713146,880.083713146,786,805.916286854,651.916286854,631,651.916286854,0.452078610133,0.00463413586991,0.0797843511671,0.999999940989,0.000123794403531,-0.000315366948992,-5.69314580718e-05,1793243228292997632
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,684,656,632.660331705,880.660331705,786,805.339668295,651.339668295,631,651.339668295,0.452212760674,0.00462874064653,0.0797783474373,0.999999938148,0.000117242612532,-0.000326519964949,-5.78094393589e-05,1793243228309664256
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714,684,656,633,881,786,805.242856415,651.242856415,631,651.242856415,0.452338081914,0.00462912494075,0.0797745474241,0.999999935799,0.000116872648711,-0.000333515559502,-5.92514888722e-05,1793243228326330880
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,684,656,633,881,786,805.833847561,651.833847561,631,651.833847561,0.452450746343,0.00463779417519,0.0797739064397,0.999999934288,0.000125364336087,-0.000334551488821,-6.15021302822e-05,1793243228342997760
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,713.582660759,684.417339241,656,632.582660759,881,786,806,652,631,652,0.452548504797,0.00463944338701,0.0797719675495,0.99999993291,0.000127087891198,-0.000337853451925,-6.23218625039e-05,1793243228359664384
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,713.002102098,684.997897902,656,632.002102098,881,786,806,652,631,652,0.452640433592,0.0046383471007,0.0797695210545,0.999999931587,0.000126164461325,-0.000342041650192,-6.25819728009e-05,1793243228376331008
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,713.57322011,684.42677989,655.42677989,632,880.42677989,786,806,652,631,652,0.452707678293,0.00464307448786,0.0797649973096,0.999999928791,0.000129679073406,-0.000348554844161,-6.41113327218e-05,1793243228392997888
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,713.848556192,684,655,632,880.302887617,786,806,652,631,652,0.452769741599,0.00464733340634,0.0797607573043,0.999999926093,0.000133018009793,-0.000354749869254,-6.53603794473e-05,1793243228409664512
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,713.261940518,684,655,632,881.476118964,786,806,652,631,652,0.452817173973,0.00465018537331,0.0797573543128,0.999999923812,0.000135805800827,-0.000360006360982,-6.57906957521e-05,1793243228426331136
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,713,684,655,632.320758057,881.679241943,786,806,652,631,652,0.452858504325,0.00465143249137,0.0797545946807,0.999999921967,0.000137614272755,-0.000364351808661,-6.61530965992e-05,1793243228442997760
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,713,684,655,632.900296469,881.099703531,786,806,652,631,652,0.45289491171,0.00465138485391,0.0797523540962,0.999999920484,0.000138632652453,-0.000367962247158,-6.64607048369e-05,1793243228459664128
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,713.477876979,684,655,632.522123021,881,785.522123021,806,652,631,652,0.452921313198,0.00465387484967,0.0797501756588,0.999999919268,0.000141730592842,-0.000370159485989,-6.60130286889e-05,1793243228476330752
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,684.054872944,655,632,881,785.054872944,806,651.945127056,631,652,0.452944515666,0.00465669133846,0.0797479570244,0.999999917987,0.000144969562984,-0.000372445870068,-6.55228812901e-05,1793243228492997376
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714,684.630183704,655,632,881,785.630183704,806,651.369816296,631,652,0.452957096331,0.00465760340968,0.0797452346673,0.999999915657,0.000145447846919,-0.000378362794972,-6.61183876028e-05,1793243228509664256
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714,684.789485395,655,632.210514605,880.789485395,786,806,651.210514605,631,652,0.45296730498,0.00465883429734,0.079742436094,0.99999991339,0.000146341510735,-0.000383894477061,-6.65479352693e-05,1793243228526330880
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714,684.200120075,655,632.799879925,880.200120075,786,806,651.799879925,631,652,0.452973244852,0.00466063894009,0.0797395003588,0.999999911271,0.000147982709189,-0.000388732860048,-6.66788169187e-05,1793243228542997504
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,713.617043352,684,655,632.617043352,879.617043352,786,806,651.617043352,631,652,0.452979365727,0.00466294737109,0.0797383165925,0.999999910535,0.00015001124545,-0.00038985470457,-6.66321741898e-05,1793243228559664128
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,713.03719976,684,655,632.03719976,879.03719976,786,806,651.03719976,631,652,0.45298557966,0.00466551481133,0.0797380335542,0.999999910515,0.00015223892106,-0.000389065789857,-6.64942620347e-05,1793243228576330752
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,713.537369002,684.537369002,655,632,880.074738003,786,806.537369002,651.537369002,631,652,0.452987530415,0.00466700208237,0.079737381131,0.999999910036,0.000152629042849,-0.000390050928296,-6.70295585849e-05,1793243228592997376
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,685,654.885733828,632,881,786.114266172,806.885733828,652,631,652,0.452988591518,0.00466757216652,0.0797363253688,0.999999909387,0.000152578370599,-0.000391691128811,-6.72531991118e-05,1793243228609664000
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,685,654.29768315,632,881,786.70231685,806.29768315,652,631,652,0.452987175608,0.00466464632635,0.0797337022276,0.999999908161,0.000151222333831,-0.000395543167622,-6.59932585262e-05,1793243228626330624
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.713817441,745,713.713817441,684.713817441,654,632,881,786.713817441,806,652,631,652,0.452987365445,0.00466383808634,0.0797325409933,0.999999907641,0.000150407297669,-0.000397279078626,-6.53046562986e-05,1793243228642997248
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.134242068,745,713.134242068,684.134242068,654,632,881,786.134242068,806,652,631,652,0.452989201486,0.00466520079822,0.0797328784977,0.999999907859,0.000150146892242,-0.000396845547314,-6.52017869152e-05,1793243228659663872
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,713.976274823,684.023725177,654.023725177,632,881,785.976274823,806.976274823,651.976274823,631,652,0.452987872524,0.00466634908584,0.0797307332385,0.99999990608,0.000153340804563,-0.000400038758177,-6.55474052135e-05,1793243228692997120
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,713.402297018,684.597702982,654.597702982,632,881,785.402297018,806.402297018,651.402297018,631,652,0.452986678731,0.0046663506253,0.0797293013639,0.999999905517,0.000152503534361,-0.000401733251781,-6.57229752975e-05,1793243228709663744
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.176035801,713,684.823964199,654.823964199,632,881,785.176035801,806,651.176035801,631,652,0.452986371528,0.00466684371221,0.0797284442259,0.999999905109,0.000152258499777,-0.000402819570134,-6.5840798491e-05,1793243228726330624
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.764573621,713,684.235426379,654.235426379,632,881,785.764573621,806,651.764573621,631,652,0.452988141856,0.00466848863476,0.0797289338597,0.999999905072,0.000153401241978,-0.000402480760548,-6.58233042622e-05,1793243228742997248
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.652184913,713.347815087,684,654.347815087,632,881,786,806,652,631,652,0.452987537917,0.0046682111146,0.0797278903548,0.999999904585,0.000152888207132,-0.000403911463484,-6.56598820753e-05,1793243228759663872
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.072474656,713.927525344,684,654.927525344,632,881,786,806,652,631,652,0.452985351009,0.00466665186396,0.0797258246761,0.99999990379,0.000151271233057,-0.00040652193529,-6.53991668441e-05,1793243228776330752
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714,684,655,632,880.497278489,786,806,652,631,652,0.452985990117,0.00466703808316,0.0797266857955,0.999999903896,0.000151701383955,-0.000406124066211,-6.52537542222e-05,1793243228792997120
+245,4.083333333,HOLD_POSE2,765,745,713,684,654,632,881,786,806,652,631,652,0.4529868794,0.00466760087386,0.0797265386771,0.999999903831,0.000152629527624,-0.000405936490491,-6.52553070361e-05,1793243228835759360
+246,4.100000000,HOLD_POSE2,765,745.579153504,713.579153504,684.579153504,654.579153504,632,880.420846496,786,806.579153504,652,631,652,0.452985208985,0.00466733254704,0.0797251055432,0.999999902777,0.000151696599279,-0.000408834153239,-6.54962654712e-05,1793243228852426240
+247,4.116666667,HOLD_POSE2,765,745.841976103,714,685,655,632.158023897,880.158023897,786,806.841976103,652,631,652,0.452984119259,0.00466764297954,0.0797239949873,0.999999901914,0.000151275877694,-0.000411063368232,-6.56846094791e-05,1793243228869093120
+248,4.133333333,HOLD_POSE2,765,745.263858214,714,685,655,632.736141786,880.736141786,786,806.263858214,652,631,652,0.452984573254,0.00466949199773,0.0797237419792,0.999999901582,0.000152216816942,-0.000411515568543,-6.57330822604e-05,1793243228885759488
+249,4.150000000,HOLD_POSE2,765,745,714,684.687228068,655,632.687228068,881,786,806,652,631,652,0.452985245503,0.00466936534965,0.0797238493711,0.999999901694,0.000152544931592,-0.000411144134928,-6.55992064598e-05,1793243228902425856
+250,4.166666667,HOLD_POSE2,765,745,714,684.111847092,655,632.111847092,881,786,806,652,631,652,0.452986101002,0.00466757989588,0.0797242593614,0.999999902177,0.000152358507429,-0.000410081163154,-6.53122274468e-05,1793243228919092480
+251,4.183333333,HOLD_POSE2,765,745,713.525538987,684.474461013,655,632,880.525538987,786,806,651.525538987,631,652,0.452985722828,0.0046663442404,0.0797241726719,0.999999902404,0.000150618989556,-0.000410182304325,-6.52390781603e-05,1793243228935759104
+252,4.200000000,HOLD_POSE2,765,745,713.062380804,684.937619196,655,632,880.062380804,786,806.062380804,651.062380804,631,652,0.452985129176,0.00466561189809,0.079723883964,0.999999902451,0.000149083373241,-0.000410633964358,-6.52081634689e-05,1793243228952425728
+253,4.216666667,HOLD_POSE2,765,745,713.641805366,684.358194634,655,632,880.641805366,786,806.641805366,651.641805366,631,652,0.452985216827,0.00466795170052,0.0797229141616,0.999999901544,0.000152343909021,-0.000411662732769,-6.50996613716e-05,1793243228969092352
+254,4.233333333,HOLD_POSE2,765,745,714,684.220400728,655,632.220400728,881,786,806.779599272,652,631,652,0.452985880176,0.00466870763601,0.0797229658225,0.99999990145,0.000153739680037,-0.000411397107042,-6.49331082523e-05,1793243228985758976
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+256,4.266666667,HOLD_POSE2,765,745,713.620070448,685,654.620070448,632.620070448,880.620070448,786,805.620070448,651.620070448,631,652,0.45298751874,0.00466708557688,0.0797248985434,0.999999902468,0.000152116068436,-0.000409584870415,-6.45411387362e-05,1793243229019092480
+257,4.283333333,HOLD_POSE2,765,745,713.035083095,685,654.035083095,632.035083095,880.035083095,786,805.035083095,651.035083095,631,652,0.452986723987,0.00466834876433,0.0797243278625,0.999999901467,0.000152992099946,-0.000411704911608,-6.44794014344e-05,1793243229035759104
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+260,4.333333333,HOLD_POSE2,765,745,713,684,654.702249856,632,880.702249856,786,806,652,631,652,0.452985445747,0.00466889937747,0.0797216799971,0.999999900216,0.000154710226931,-0.000414044046818,-6.48106827824e-05,1793243229085758976
+261,4.350000000,HOLD_POSE2,765,745,713,684.279036295,654.720963705,632,880.720963705,786,806,652,631,652,0.45298450982,0.00466933430593,0.0797209321806,0.999999899531,0.000155834988828,-0.000415250239748,-6.4965145886e-05,1793243229102425856
+262,4.366666667,HOLD_POSE2,765,745,713,684.854190198,654.145809802,632,880.145809802,786,806,652,631,652,0.452984468296,0.00466950387823,0.0797207489012,0.999999899471,0.000155178530311,-0.000415651705442,-6.48957889652e-05,1793243229119092480
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,684.734699479,654,632,881,786,806,652,631,652,0.452986217568,0.00467033221248,0.0797214165657,0.999999899887,0.000157627036756,-0.00041375064952,-6.47266280456e-05,1793243229201639168
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,713.684515619,685,654,632,881,786,806,652,631,652,0.452985179301,0.00466843551134,0.0797207343693,0.999999899727,0.000155659210359,-0.000414902611866,-6.45847762413e-05,1793243229218306048
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,713.100230903,685,654,632,881,786,806,652,631,652,0.452983165324,0.00466530510519,0.079719305177,0.999999899547,0.000150246030427,-0.000417341235611,-6.44799589465e-05,1793243229234972672
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.519025747,745,713,684.519025747,654,632.480974253,880.519025747,786,806,652,631,652,0.452982971854,0.00466720946489,0.079719222132,0.999999899137,0.00015200879959,-0.000417678012741,-6.45296024691e-05,1793243229251639296
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.06136323,745,713.06136323,684,654,632.93863677,880,786,806,652,631,652,0.452982991411,0.00466983091002,0.0797192664742,0.999999898687,0.000154825720305,-0.000417707096462,-6.46175407002e-05,1793243229268305920
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.640246746,745,713.640246746,684,654,632.359753254,880,786,806,652,631,652,0.452981628378,0.00466970767302,0.079718034341,0.999999898343,0.000154001460151,-0.00041881170523,-6.47587056876e-05,1793243229284972544
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.217653333,713.782346667,684,654,632,880.217653333,786,806,652,631,652,0.452973317307,0.00466931744062,0.079713355601,0.999999895658,0.000153617105278,-0.000425314909375,-6.4751642744e-05,1793243229301639168
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.792635139,713.207364861,684,654,632,880.792635139,786,806,652,631,652,0.45295359942,0.00466848887331,0.0797030184557,0.999999888969,0.000153954957102,-0.00044068116094,-6.4501229216e-05,1793243229318306048
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.631024663,713.368975337,684,654.368975337,632,880.631024663,785.631024663,806,652,631,652,0.452913001227,0.00466766431395,0.0796849941441,0.999999875416,0.00015277411466,-0.000470851823031,-6.42423484864e-05,1793243229334972672
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.05391817,713.94608183,684,654.94608183,632,880.05391817,785.05391817,806,652,631,652,0.452860624894,0.00466684201531,0.0796626336642,0.999999856862,0.000150736608879,-0.000509373339764,-6.3978691492e-05,1793243229351639296
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.53514059,745,713.46485941,684,654.46485941,632,880.53514059,785.53514059,806,652,631,652,0.452793314709,0.00466956876033,0.0796426949735,0.999999838818,0.000155041318473,-0.000542501491182,-6.3388460664e-05,1793243229368305920
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.877105038,745,713.122894962,684,654.122894962,632,881,786,806,652,631,652,0.452722898692,0.00467181983442,0.0796259482625,0.999999823401,0.000159077519107,-0.000569188934207,-6.2572541759e-05,1793243229384972544
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.298749722,745,713.701250278,684,654.701250278,632,881,786,806,652,631,652,0.452646675962,0.00467095251095,0.0796201063497,0.999999820609,0.000159696264869,-0.000574066448077,-6.1044932674e-05,1793243229401639168
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,684,654.722756197,632,880.722756197,786,806,652,631,652,0.452561155297,0.0046702597141,0.0796161903673,0.999999817512,0.000161548139803,-0.000579113823391,-5.91975430468e-05,1793243229418306304
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,684.436949123,654.436949123,632,880.436949123,786,806,652,631,652,0.45235761446,0.00466766630537,0.0796162771492,0.999999815948,0.000165918941563,-0.000581097144357,-5.38522999716e-05,1793243229451640320
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,684.972857097,655,632,881,786,806,652,631,652,0.452243361661,0.00466514115855,0.0796193656141,0.999999819403,0.000166521570539,-0.00057526474038,-5.03549340301e-05,1793243229468306432
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,684.393529715,655,632,881,786,806,652,631,652,0.452094076151,0.00466502210387,0.0796184875477,0.999999817875,0.000169034423774,-0.000577480378375,-4.68407988601e-05,1793243229484973056
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713.815682812,684,655,632.184317188,880.815682812,786,806,652,631,652,0.451933693158,0.00466433690621,0.0796173442963,0.999999815733,0.000172160504798,-0.000580566929358,-4.28594404425e-05,1793243229501639680
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713.240971723,684,655,632.759028277,880.240971723,786,806,652,631,652,0.451749805105,0.0046624525867,0.079615639369,0.999999812287,0.000176585435561,-0.000585498121487,-3.78884780337e-05,1793243229518306304
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713.33390473,684,655,632.66609527,880,786,806,651.66609527,631,652,0.451552746,0.00466154946008,0.0796180719189,0.999999812311,0.000181459365929,-0.000584302998468,-3.22679075452e-05,1793243229534973184
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.90890064,684,655,632.09109936,880,786,806,651.09109936,631,652,0.451346176906,0.00466135478972,0.0796234918756,0.999999814799,0.000186657490554,-0.000578684456861,-2.61782962297e-05,1793243229551640064
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.495433622,745,714,684,655.990867243,632,880,786,806,651.495433622,631,652,0.451123239156,0.00465937197095,0.0796330528013,0.999999823153,0.000191472451752,-0.000562691602605,-2.02740605456e-05,1793243229568306688
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.917033785,745,714,684,656.917033785,632.082966215,880,786,806,652,631,652,0.450890247183,0.00465740360536,0.0796438796838,0.999999832597,0.000196775634965,-0.000543949453353,-1.42657858621e-05,1793243229584973312
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.336531541,745,714,684,656.336531541,632.663468459,880,786,806,652,631,652,0.450615441313,0.00465754069531,0.0796576232555,0.999999843445,0.000205439198781,-0.000520432571367,-7.42431707881e-06,1793243229601639936
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,684,656,633,880.241642247,786,806,652,631,651.758357753,0.450315626136,0.00465617941534,0.0796667798533,0.999999850669,0.000212137353817,-0.000503646507144,-6.19981383651e-07,1793243229618306560
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,684,656,633,880.816604144,786,806,652,631,651.183395856,0.449981313309,0.00465275129423,0.0796696092102,0.999999853546,0.000216124437154,-0.000496144888272,6.13313277085e-06,1793243229634972928
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.390323875,745,714,684,656,633,880.609676125,786,806,652,631,651.390323875,0.449617315114,0.00465191491303,0.0796644594713,0.999999849473,0.000219545066151,-0.00050272131708,1.11523964045e-05,1793243229651639808
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.963461804,745,714,684,656,633,880.036538196,786,806,652,631,651.963461804,0.44923941334,0.00465229241227,0.0796555726028,0.999999842012,0.000222700387603,-0.000515891411263,1.53595848949e-05,1793243229668306432
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.441973816,745,714,684,656.558026184,633,880,786,805.441973816,652,631,652,0.448822780832,0.00465373641625,0.0796503659544,0.99999984108,0.000193463523282,-0.000529491578196,7.16993092799e-06,1793243229684973312
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.850827882,745,713.850827882,684,657.149172118,633,880,786,805.149172118,651.850827882,631,651.850827882,0.448392812038,0.00465456031807,0.0796448775855,0.999999838843,0.000170135120555,-0.000541630940913,1.74229191979e-06,1793243229701640192
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.273675544,745,713.273675544,684,657.726324456,633,880,786,805.726324456,651.273675544,631,651.273675544,0.447932147417,0.00465339677307,0.079637861988,0.999999834541,0.000170086409233,-0.000549495183917,6.66080639845e-06,1793243229718307072
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.301472051,745,713.301472051,684,658,633.301472051,880,786,806,651.301472051,631,651.301472051,0.447462664349,0.00465127922394,0.0796441034676,0.999999841419,0.00016860720456,-0.00053722611664,1.10005275531e-05,1793243229734973440
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764.874811834,745,713.874811834,684,658,633.874811834,880,786,806,651.874811834,631,651.874811834,0.446985228745,0.004648301353,0.0796623001888,0.999999857716,0.00016583797974,-0.000506800814886,1.48182929883e-05,1793243229751639808
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,684,659,634,879.94747967,786,806,652,631,652,0.445985320454,0.00463613686378,0.0797276428823,0.999999884358,0.00024260858039,-0.000414978557492,1.47829620095e-05,1793243229784972800
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,684,659,634,879.369111489,786,806,652,631,652,0.445430420667,0.00462729117988,0.0797609247301,0.999999911382,0.000213633796394,-0.000362300200174,1.83069514698e-05,1793243229801639680
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,684,659,634,879.207870997,786,806,652,631,652,0.444855768575,0.00461832999625,0.0797907460828,0.999999931716,0.000186420810816,-0.000318367333374,2.13754731805e-05,1793243229818306816
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,684,659,634,879.782409195,786,806,652,631,652,0.444246275085,0.0046091650812,0.0798144634069,0.999999944538,0.000162315494223,-0.000289860791423,2.36405874133e-05,1793243229834973696
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,684,659,634,880,786,806.366043434,652,631,652,0.443596594096,0.00460429187017,0.079820246218,0.999999947806,0.000151771474767,-0.000284058562087,2.57896989726e-05,1793243229851640576
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,684,659,634,880,786,806.955222487,652,631,652,0.44292241532,0.00460203482998,0.0798150963675,0.999999945777,0.000149494257816,-0.000292096606345,2.78680966452e-05,1793243229868306944
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.464620679,745,714,683.464620679,659.535379321,634,880,786.535379321,806.464620679,652,631,652,0.442222865252,0.00459433667871,0.0798119453464,0.999999945298,0.000155858436076,-0.000290325641506,2.86955885356e-05,1793243229884973312
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764.114067532,745,714,683,659.885932468,634,880,786.885932468,806,651.885932468,631,652,0.441507058224,0.00458688853613,0.0798040131684,0.999999943118,0.000158388658042,-0.000296320971168,2.95210593129e-05,1793243229901639424
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764.689814984,745,714,683,659.310185016,634,880,786.310185016,806,651.310185016,631,652,0.440733898741,0.00458226365732,0.0797760641926,0.999999932581,0.000142524464073,-0.000337015267757,3.07547816312e-05,1793243229918306048
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,683.264235241,659,634,880,786,805.735764759,651,631,652,0.439934922136,0.00457616752662,0.0797374126724,0.99999991134,0.000137252967205,-0.000396812758451,3.19614607064e-05,1793243229934972928
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,683.837105368,659,634,880,786,805.162894632,651,631,652,0.439105790239,0.00456835292787,0.079686260248,0.999999874348,0.000144354063763,-0.000478923371283,3.31365524988e-05,1793243229951639552
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764.575450268,745,714,683.575450268,659,634.424549732,879.575450268,786,805,651.424549732,631,652,0.438330404839,0.00455915534749,0.0797091066594,0.999999891742,0.000131248036122,-0.000445090274979,3.44220398994e-05,1793243229968306688
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764.017371626,745,714,683,659,634.982628374,879.017371626,786,805,652,631,652,0.437575845438,0.00454946964755,0.0797616989951,0.999999926751,0.000110485201395,-0.000364706020455,3.57783556524e-05,1793243229984973568
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764.596824506,745,714,683,659,634.403175494,879.596824506,786,805,652,631,652,0.436804168798,0.00454176987229,0.0798254263588,0.999999958006,0.000101760290139,-0.000268677146677,3.80071693562e-05,1793243230001640192
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745.174926379,714,683,659,634,880,786.174926379,805.174926379,652,631,651.825073621,0.4360072646,0.0045338563925,0.0798671205846,0.999999972998,9.64277286461e-05,-0.000207591877438,4.01495230253e-05,1793243230018306560
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745.749938244,714,683,659,634,880,786.749938244,805.749938244,652,631,651.250061756,0.435152660864,0.00452545413568,0.0798584213858,0.999999968593,9.88540330249e-05,-0.000226428406864,4.20941288757e-05,1793243230034973184
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745.675429914,714,683.324570086,659,634,879.675429914,786.675429914,806,652,631,651.324570086,0.434275847207,0.00451682736093,0.0798374357673,0.99999996186,9.19407817023e-05,-0.000256833404093,4.31779584919e-05,1793243230051639552
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,659,634,879.079989941,786.079989941,805.079989941,651.079989941,631,652,0.431426227343,0.00448991906911,0.0797083969218,0.99999987775,7.74767993197e-05,-0.00048606672761,4.72933280533e-05,1793243230101639424
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.764933081,659,634,880,787,805.764933081,651.764933081,631,652,0.429709973038,0.00446527478867,0.0797673160634,0.999999924378,4.78623421125e-05,-0.000382746980598,4.95723170044e-05,1793243230134973696
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+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,634,879.609372977,787,805,651.390627023,631,652,0.428006183527,0.00444657727186,0.0798597896875,0.999999971508,4.07140767364e-05,-0.000229223903421,5.27503392117e-05,1793243230168306688
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,634,879.022490002,787,805,651.977509998,631,652,0.427075307738,0.00443721683936,0.0798498810587,0.999999969002,2.99162971403e-05,-0.000241178973001,5.41634260618e-05,1793243230184973056
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.559822994,659,634,879,786.440177006,805,651.440177006,631,652,0.426111465965,0.00443052426566,0.0797973168569,0.999999946441,1.89450083339e-05,-0.000322447884906,5.27784215595e-05,1793243230201639424
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764.859808405,745,714,682.859808405,659,634.140191595,878.859808405,786,805,651.140191595,631,652,0.425149938122,0.00443337400461,0.0797525537118,0.999999921432,2.23687923481e-05,-0.000392342441744,5.19849132848e-05,1793243230218306048
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.28490442,745,714,682.28490442,659,634.71509558,878.28490442,786,805,651.71509558,631,652,0.424199658839,0.00446548332681,0.0797372510803,0.999999908564,7.04509042242e-05,-0.000418402272838,5.33712841997e-05,1793243230234972672
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764.290240188,745,714,682,659,634.709759812,878.290240188,786,805,652,631,651.709759812,0.42329306185,0.00448989503547,0.0797367531416,0.999999906164,0.000102040503116,-0.000417565454244,5.38476331934e-05,1793243230251639808
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764.865621158,745,714,682,659,634.134378842,878.865621158,786,805,652,631,651.134378842,0.42242937973,0.00450674437274,0.079750799784,0.999999915509,0.000117427353256,-0.000390304548591,5.34299489892e-05,1793243230268306944
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,634,879.451261011,786,805,651.548738989,631,651.451261011,0.421607116018,0.00449762673908,0.0798043525463,0.999999948506,0.000108830147225,-0.000297133875061,5.34452887974e-05,1793243230284973312
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,634.039458792,879.960541208,786.039458792,805,651.039458792,631,652,0.420792942169,0.00448144903872,0.0798653734777,0.999999975741,9.35286198205e-05,-0.000192088552573,5.35971184735e-05,1793243230301639936
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,634.619867963,879.380132037,786.619867963,805,651.619867963,631,652,0.419916654743,0.00447695702158,0.0798637452972,0.999999974894,8.65064055797e-05,-0.000199580948835,5.38112241842e-05,1793243230318306304
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,635,879,787,805,652,631,652,0.41903165322,0.00447248870756,0.0798473693846,0.999999969068,7.83270321351e-05,-0.000229978745417,5.32713862213e-05,1793243230334972928
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,635,879,787,805,652,631,652,0.418130111922,0.00446806538201,0.079803001824,0.999999950213,6.79513335409e-05,-0.000303851694425,5.13005399025e-05,1793243230351640064
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,634.651446718,878.651446718,786.651446718,805,651.651446718,631,652,0.417284773119,0.00447265187016,0.07979495104,0.999999943395,7.45216686182e-05,-0.000324039214724,5.15295031487e-05,1793243230368306944
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,634.078299461,878.078299461,786.078299461,805,651.078299461,631,652,0.41647564904,0.00448304392682,0.0798103013558,0.999999946417,9.20113595288e-05,-0.000309633960483,5.3175937055e-05,1793243230384973312
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764.488355301,745.511644699,714,681.488355301,659,634,878.511644699,786.511644699,805,651.511644699,631.511644699,652,0.415636583678,0.00449044585404,0.0797966495667,0.999999936016,0.000106003331682,-0.000337301481556,5.43953178072e-05,1793243230401639680
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764.101899372,745.898100628,714,681,658.898100628,634.101899372,879,787,805,652,631.898100628,652,0.414811141691,0.0044942712993,0.079782138596,0.999999926419,0.000113764239772,-0.000362234280415,5.48325014034e-05,1793243230418306816
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764.681158075,745.318841925,714,681,658.318841925,634.681158075,879,787,805,652,631.318841925,652,0.414071713776,0.004483558718,0.0797851003194,0.999999935264,9.49276738483e-05,-0.000343169777986,5.19219431528e-05,1793243230434973696
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.258264154,634.741735846,879,787,805,652,631,652,0.413344506126,0.00447648550496,0.0797943615181,0.999999944116,7.88694526512e-05,-0.00032089106086,5.07541829152e-05,1793243230451640320
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.83273462,634.16726538,879,787,805,652,631,652,0.412632260439,0.00447386816163,0.0798113354936,0.999999953053,6.62129056251e-05,-0.000294677013987,5.17202216629e-05,1793243230468306432
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,879,787,805,652,631,652,0.41191949355,0.00447593149266,0.0798063919385,0.999999947987,7.96020364253e-05,-0.00030813360804,5.23708566829e-05,1793243230484973056
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,879,786.994599543,805,652,631,652,0.411206749897,0.00447993994869,0.0797925573859,0.999999936243,0.000103499653394,-0.000337644556919,5.28872965247e-05,1793243230501639680
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,879,786.411992054,805,652,631,652,0.410519378622,0.00448635001853,0.0797906877758,0.99999993459,0.000107073315044,-0.000341403882717,5.29079654679e-05,1793243230518306304
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.831582178,634.168417822,879,786,804.831582178,651.831582178,631,652,0.409862874223,0.00448970858256,0.0797973609602,0.999999938552,0.000107723952115,-0.000329322838022,5.32730517034e-05,1793243230534972928
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.256478849,634.743521151,879,786,804.256478849,651.256478849,631,652,0.409280905209,0.00448569855012,0.0798246627847,0.999999954466,0.000101316240918,-0.000278991393189,5.44698165942e-05,1793243230551640064
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.314799155,634.685200845,879,786,804.314799155,651.314799155,631,652,0.408703806358,0.00448155046791,0.0798403778495,0.999999961748,9.26095014198e-05,-0.000254689944912,5.53190238107e-05,1793243230568306688
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.882997906,634.117002094,879,786,804.882997906,651.882997906,631,652,0.408130627811,0.00447729126189,0.0798467660763,0.999999963486,8.20521448945e-05,-0.00025134151243,5.58884622571e-05,1793243230584973312
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.526479029,659,634,878.526479029,786.473520971,805,652,631,652,0.40754794049,0.00448018491404,0.0798168538301,0.999999947078,9.37292061668e-05,-0.000306576882726,5.53975053685e-05,1793243230601639936
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.932033475,634,878,786.932033475,805,652,631,652,0.406972230102,0.00448408155018,0.0797813968354,0.999999924587,0.000108227911404,-0.00036894546974,5.46993367467e-05,1793243230618306304
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.351659951,634,878,786.351659951,805,652,631,652,0.406467709229,0.00448155592218,0.0797751049646,0.999999924803,0.000100530914875,-0.000370560570314,5.45120557857e-05,1793243230634972928
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.226213751,634.226213751,878.452427503,785.773786249,805,652,631,652,0.405997119162,0.00448204469127,0.0797797340615,0.999999930988,9.72931225463e-05,-0.000354498549078,5.37506708159e-05,1793243230651639552
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.800243786,634.800243786,879.600487572,785.199756214,805,652,631,652,0.405578699653,0.00448716826457,0.0798011547568,0.99999994511,0.000100911606431,-0.00031125696471,5.21065688037e-05,1793243230668306176
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879.616879409,785.383120591,805,652,631,652,0.40517784681,0.00449117490067,0.0798165603098,0.999999951325,0.000108760206218,-0.000287757047688,5.21255404684e-05,1793243230684972800
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879.02928088,785.97071912,805,652,631,652,0.404786369555,0.00449458540897,0.0798287554816,0.999999953773,0.000118866490772,-0.000274793588512,5.30321225489e-05,1793243230701639936
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.453942222,879,786,805,652,631,652,0.404410976042,0.00449462777941,0.0798339505637,0.999999954434,0.000114282537395,-0.000274050715509,5.44818720137e-05,1793243230718306560
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.122356029,659,634.122356029,879,786,805,652,631,652,0.404042339287,0.00449398720379,0.079837843249,0.999999954789,0.000108970910693,-0.000274784680524,5.51393442313e-05,1793243230734973184
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.70467886,659,634.70467886,879,786,805,652,631,652,0.403695931808,0.00449144330299,0.0798382199922,0.999999954395,0.000103820004896,-0.000278661119671,5.2711362067e-05,1793243230751639552
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.716575295,659,635,878.716575295,786,805,652,631.283424705,652,0.403381395409,0.0044883434423,0.0798392094239,0.999999954447,0.000100456192146,-0.000279834149078,5.20318007995e-05,1793243230768306432
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.14151016,659,635,878.14151016,786,805,652,631.85848984,652,0.40309965397,0.00448467150606,0.0798408293043,0.999999954989,9.89312758121e-05,-0.000278225403886,5.31513426326e-05,1793243230784973056
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714.445070614,680,658.554929386,635,878.445070614,786.445070614,804.554929386,652,631.554929386,652,0.402846638041,0.0044846997078,0.0798391428567,0.999999954494,9.44217255514e-05,-0.000281479967677,5.3525710793e-05,1793243230801639424
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714.965315887,680,658.034684113,634.965315887,878.965315887,787,804.034684113,652,631,652,0.402605024395,0.00448584024096,0.0798364375341,0.999999953696,8.8887653088e-05,-0.000286061265375,5.36299209857e-05,1793243230818306048
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714.38707851,680,658.61292149,634.38707851,878.38707851,787,804.61292149,652,631,652,0.402395167821,0.00448548610236,0.079834677106,0.999999954113,8.25644748377e-05,-0.000286558160895,5.33119865706e-05,1793243230834972928
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.190123864,878,786.809876136,805,652,631,652,0.402198544177,0.00448507023694,0.0798360512816,0.999999955521,7.7660834206e-05,-0.000282987478107,5.33281225674e-05,1793243230851639808
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.765230388,878,786.234769612,805,652,631,652,0.402028715974,0.00448452938065,0.0798437727302,0.999999958911,7.56316223973e-05,-0.000271180337787,5.40207192689e-05,1793243230868306432
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878,786.338469325,804.661530675,652,631,652,0.401879331156,0.00448571361582,0.0798506762417,0.999999959095,0.000104759526455,-0.000260506854155,5.45126059875e-05,1793243230884973056
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878,786.91042003,804.08957997,652,631,652,0.401744048483,0.00448808784573,0.0798570155282,0.999999955019,0.000155380091013,-0.000250615382723,5.48660398109e-05,1793243230901639680
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878,786.496215967,804.503784033,652,631,652,0.401621697108,0.00449910860821,0.0798556698302,0.999999952373,0.000167717780332,-0.000253437535489,5.3799219798e-05,1793243230918306304
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.902373875,659,634.902373875,878,786.097626125,805,652,631,651.902373875,0.401504906448,0.00451038343978,0.0798524052901,0.999999950548,0.000170346322505,-0.000259166192679,5.21394698967e-05,1793243230934972928
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.325698755,659,634.325698755,878,786.674301245,805,652,631,651.325698755,0.401403618218,0.0045150257194,0.0798467280819,0.999999950174,0.000160218096212,-0.000267571538994,4.88644521543e-05,1793243230951639552
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.249384656,658.750615344,634,878,786.750615344,804.750615344,652,631,651,0.401311551796,0.00451480912388,0.0798406326111,0.999999949282,0.000150214443378,-0.000276791005788,4.75234776118e-05,1793243230968305920
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.822402429,658.177597571,634,878,786.177597571,804.177597571,652,631,651,0.401231452766,0.00450828703629,0.0798339943501,0.999999947759,0.000140372453458,-0.000287066977935,4.86923626832e-05,1793243230984972800
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.8126542,634.4063271,878.4063271,786,804.4063271,652,631,651.4063271,0.401171707193,0.00450150793023,0.0798310500679,0.999999947694,0.000132097468835,-0.000290850807996,5.06682568711e-05,1793243231001640192
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.990300879,634.995150439,878.995150439,786,804.995150439,652,631,651.995150439,0.4011211031,0.00449461338803,0.0798297648858,0.999999948292,0.000124526283399,-0.000291718781273,5.30066080954e-05,1793243231018307584
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.423212222,635,878.423212222,786.576787778,805,652,631,652,0.401086706066,0.00447780467394,0.0798306994815,0.999999951021,0.000101856566757,-0.000290723212711,5.53454069117e-05,1793243231034973696
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878.156567169,787,805,652,631,652,0.40105455189,0.00446655205072,0.0798312872638,0.99999995239,8.68801858578e-05,-0.000290546311104,5.70433952876e-05,1793243231051640064
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878.731540802,787,805,652,631,652,0.401028031807,0.00447036741893,0.0798308989674,0.999999951261,9.27983750492e-05,-0.000292598553262,5.70288864816e-05,1793243231068306176
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,786.687601443,804.687601443,652,631,652,0.401008789511,0.0044729932724,0.0798306841417,0.999999950853,9.66148291318e-05,-0.00029277520639,5.69489729198e-05,1793243231084972800
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,786.101590043,804.101590043,652,631,652,0.400995921429,0.00447457729529,0.0798306212493,0.999999951096,9.85904888328e-05,-0.000291309133712,5.68117749024e-05,1793243231101639424
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.52088152,878.52088152,786,804.47911848,652,631,652,0.400988769348,0.00447224741505,0.0798324578591,0.999999952474,9.44415163682e-05,-0.000287961377146,5.66734853799e-05,1793243231118306304
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.058628178,680,659,634.058628178,878,786.058628178,804.941371822,652,631,652,0.400983120188,0.00446972906444,0.0798345222513,0.999999953895,8.98963634549e-05,-0.000284489294199,5.65109326425e-05,1793243231134973184
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.637368748,680,659,634.637368748,878,786.637368748,804.362631252,652,631,652,0.400980169638,0.00447282035343,0.0798350734546,0.999999953916,9.32311325007e-05,-0.000283415047678,5.61351625245e-05,1793243231151640064
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b78cdd1085c54d47b9403e5ba79fa47f38f75194
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_02/simulation_data.csv
@@ -0,0 +1,406 @@
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+390,6.500000000,pose2_to_pose3_retreat,0.580745579609,0.0100018037528,1.0700410341,0.551317297585,0.0186766263427,1.06967882701
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+392,6.533333333,pose2_to_pose3_retreat,0.580745157676,0.0100017903655,1.07004101888,0.551316876033,0.0186766142772,1.06967881248
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4ee3e2adcfc4f9b290b698e6ef5b7e2eef2aa3df
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9df89fec73cef4f451b253281521244314f3b254cc2cea3fa1a48591d3b4a51b
+size 25826332
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e9f25160907d5c18f18b1d6d719db2949e57d2c5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+15,0.250000000,BASELINE,765,745,714,680,659,634,879,786,805,652,631,652,0.400973043077,0.0044742890746,0.0798413519774,0.999999956447,9.64940535053e-05,-0.000273547365298,5.44631358629e-05,1793243231900121856
+16,0.266666667,BASELINE,765,745,714,680,659,634.273377376,878.726622624,786.273377376,805,652,631,651.726622624,0.400972673372,0.00447460476016,0.0798413652832,0.999999956322,9.67543712735e-05,-0.00027392327828,5.4404297771e-05,1793243231916788480
+17,0.283333333,BASELINE,765,745,714,680,659,634.865972389,878.134027611,786.865972389,805,652,631,651.134027611,0.400971920623,0.00447467624469,0.0798406192989,0.999999955983,9.59194213821e-05,-0.000275423119985,5.45420150207e-05,1793243231933454848
+18,0.300000000,BASELINE,765,745,714,680,659,634.569252013,878,786.569252013,805,652,631,651.430747987,0.400972589336,0.00447397615728,0.0798403986536,0.999999956169,9.50783899771e-05,-0.000275053193385,5.44793687691e-05,1793243231950121216
+19,0.316666667,BASELINE,765,745,714,680,659,634.012607334,878,786.012607334,805,652,631,651.987392666,0.400973673506,0.00447305055898,0.0798403315516,0.999999956507,9.4235581115e-05,-0.000274136780993,5.43581613546e-05,1793243231966788096
+20,0.333333333,BASELINE,764.416433927,745,714,680,659,634.583566073,878,786,804.416433927,652,631,652,0.400975073762,0.00447395725642,0.0798420785678,0.999999957361,9.38714827169e-05,-0.000271195015669,5.40374580112e-05,1793243231983454720
+21,0.350000000,BASELINE,764.174302198,745,714,680,659,634.825697802,878.174302198,786,804,652,631,651.825697802,0.400976026168,0.00447463904734,0.0798432783365,0.999999957945,9.36630299835e-05,-0.000269142662248,5.38524847144e-05,1793243232000121344
+22,0.366666667,BASELINE,764.750393061,745,714,680,659,634.249606939,878.750393061,786,804,652,631,651.249606939,0.400975929336,0.00447470452208,0.0798431197232,0.999999957897,9.37877884349e-05,-0.000269248707184,5.39910431474e-05,1793243232016788224
+23,0.383333333,BASELINE,765,745,714,680.335996175,659.335996175,634.335996175,878.664003825,786.335996175,804,652,631,651.335996175,0.400975559008,0.00447395149249,0.0798427563833,0.999999957836,9.32062950288e-05,-0.000269616128979,5.42843534471e-05,1793243232033454848
+24,0.400000000,BASELINE,765,745,714,680.928871757,659.928871757,634.928871757,878.071128243,786.928871757,804,652,631,651.928871757,0.400974979586,0.00447257269116,0.0798422365234,0.999999957765,9.20848503721e-05,-0.000270183381431,5.46959763223e-05,1793243232050121472
+25,0.416666667,BASELINE,764.491767382,745.508232618,714.508232618,680.491767382,660,634.491767382,878,787,804,652,631,652,0.400974754537,0.00447257259477,0.0798421121023,0.999999957482,9.38182357928e-05,-0.000270626133173,5.47264870952e-05,1793243232066788352
+26,0.433333333,BASELINE,764.085329241,745.914670759,714.914670759,680,659.914670759,634.085329241,877.914670759,787,804.085329241,652,631,652,0.400974597613,0.00447296219513,0.079842065882,0.999999957193,9.59563294868e-05,-0.000270952515557,5.46823421333e-05,1793243232083454976
+27,0.450000000,BASELINE,764.660007059,745.339992941,714.339992941,680,659.339992941,634.660007059,877.339992941,787,804.660007059,652,631,652,0.400974554316,0.00447450875171,0.0798421589711,0.999999957053,9.81834164886e-05,-0.000270708875918,5.45080172961e-05,1793243232100121344
+28,0.466666667,BASELINE,765,745,714,680,659,634.765721201,877.468557598,786.765721201,805,652,631,651.765721201,0.400974835457,0.00447487283106,0.0798426007437,0.999999957192,9.86185070792e-05,-0.000270062841275,5.43707107531e-05,1793243232116787712
+29,0.483333333,BASELINE,765,745,714,680,659,634.192037788,878.615924424,786.192037788,805,652,631,651.192037788,0.400975586619,0.00447352383072,0.0798435476616,0.999999957739,9.64574947234e-05,-0.000268833848557,5.42870334005e-05,1793243232133454848
+30,0.500000000,BASELINE,765,745.394022837,714,680,659,634,878.605977163,786,805,652,631,651.394022837,0.400974682602,0.00447299673572,0.0798426303461,0.999999957451,9.55309248501e-05,-0.000270206550006,5.4402714654e-05,1793243232150121728
+31,0.516666667,BASELINE,765,745.986311452,714,680,659,634,878.013688548,786,805,652,631,651.986311452,0.400972945727,0.00447288320995,0.0798407749792,0.99999995674,9.52255060955e-05,-0.000272888380997,5.46187098653e-05,1793243232166788352
+32,0.533333333,BASELINE,765,745.433703637,714,680,659,634,878,786,805,652,631,652,0.400973761052,0.00447454867194,0.079842011326,0.999999957056,9.68571534272e-05,-0.000271189268008,5.44407333077e-05,1793243232183455232
+33,0.550000000,BASELINE,765,745,714,680.144574219,659,634.144574219,878,786,804.855425781,652,631,651.855425781,0.400974129348,0.00447565124211,0.0798428590081,0.999999957244,9.78815506895e-05,-0.0002701661898,5.42287026763e-05,1793243232200121856
+34,0.566666667,BASELINE,765,745,714,680.718645439,659,634.718645439,878,786,804.281354561,652,631,651.281354561,0.400972990246,0.00447495655686,0.0798423347617,0.999999956999,9.69658041705e-05,-0.000271459361309,5.39431945826e-05,1793243232216787968
+35,0.583333333,BASELINE,765,745,714,680.699947032,659,635,878,786.300052968,804.300052968,652,631,651,0.400972022134,0.00447420580772,0.0798415458964,0.999999956749,9.58935896432e-05,-0.00027278256248,5.38214987719e-05,1793243232233454592
+36,0.600000000,BASELINE,765,745,714,680.11148789,659,635,878,786.88851211,804.88851211,652,631,651,0.400971218373,0.00447340117077,0.0798405026834,0.999999956494,9.46709804302e-05,-0.000274134627842,5.38572567066e-05,1793243232250121472
+37,0.616666667,BASELINE,765,745,714,680,659,635,878,786.530515178,804.530515178,652,631,651.469484822,0.400972732904,0.00447271665274,0.0798411250048,0.999999956859,9.43772625368e-05,-0.000272769575476,5.45074403711e-05,1793243232266788096
+38,0.633333333,BASELINE,765,745,714,680,659,635,878,786,804.048426146,652,631,652,0.40097464808,0.00447217473302,0.079842068825,0.99999995735,9.43171295844e-05,-0.000270850750577,5.51684991031e-05,1793243232283454720
+39,0.650000000,BASELINE,765,745,714,680,659,635,878,786,804.624301831,652,631,652,0.400975024947,0.00447288016272,0.0798422741209,0.999999957661,9.44363269096e-05,-0.000269817758746,5.43837587844e-05,1793243232300121856
+40,0.666666667,BASELINE,765,745,714,680,659.199993579,634.800006421,878,786.199993579,805,652,631,652,0.400974854217,0.00447355991375,0.0798421965931,0.999999957647,9.50051955808e-05,-0.000269760949783,5.39368816063e-05,1793243232316788480
+41,0.683333333,BASELINE,765,745,714,680,659.775340073,634.224659927,878,786.775340073,805,652,631,652,0.400973655741,0.00447419147034,0.0798415882548,0.999999957021,9.64180185913e-05,-0.000271536265127,5.41241144062e-05,1793243232333455104
+42,0.700000000,BASELINE,764.639524377,745,714,680,660,634,878.360475623,787,805,652,631,652,0.400973606766,0.00447357943944,0.0798415468983,0.9999999571,9.4869108034e-05,-0.000271783665447,5.4164852981e-05,1793243232350121728
+43,0.716666667,BASELINE,764.048117698,745,714,680,660,634,878.951882302,787,805,652,631,652,0.400974294194,0.0044721707306,0.0798418687667,0.999999957622,9.14228256803e-05,-0.000271052239371,5.41117431327e-05,1793243232366788608
+44,0.733333333,BASELINE,764,745,714,680,659.468917027,634,878.468917027,786.468917027,804.468917027,652,631,652,0.400974228605,0.00447481858492,0.0798418535525,0.999999957401,9.43732978489e-05,-0.000270913942136,5.38243548309e-05,1793243232383455232
+45,0.750000000,BASELINE,764.107757745,745,714,680,659,634,878,786.107757745,804.107757745,652,631,652,0.400974142799,0.00447687397207,0.0798419134777,0.999999957186,9.69704551239e-05,-0.000270825617118,5.3649821738e-05,1793243232400121344
+46,0.766666667,BASELINE,764.678228185,745,714,680,659,634,878,786.678228185,804.678228185,652,631,652,0.400974256558,0.00447484255073,0.0798424242476,0.999999957322,9.56177294048e-05,-0.000270726300891,5.40489882399e-05,1793243232416787712
+47,0.783333333,BASELINE,765,745,714,680,659,634.258922463,878.258922463,786.741077537,804.741077537,652,631,651.741077537,0.400973948952,0.00447332430028,0.0798423950764,0.999999957336,9.41680097532e-05,-0.000271138691449,5.42570534484e-05,1793243232433454592
+48,0.800000000,BASELINE,765,745,714,680,659,634.852844651,878.852844651,786.147155349,804.147155349,652,631,651.147155349,0.400973096173,0.00447247000162,0.0798416673172,0.999999957194,9.25927969774e-05,-0.000272213139781,5.42178675466e-05,1793243232450121472
+49,0.816666667,BASELINE,765,745,714,680,659,634.564142385,878.564142385,786.435857615,804.435857615,652,631,651.435857615,0.400973685697,0.00447375955993,0.0798421415389,0.999999957275,9.4571803037e-05,-0.000271285106902,5.39582127548e-05,1793243232466788096
+50,0.833333333,BASELINE,765,745,714,680,659,634.015079333,878.015079333,787,805,652,631,652,0.400974703835,0.00447565375558,0.0798429942083,0.999999957424,9.75411922622e-05,-0.000269741555881,5.36440900174e-05,1793243232483454976
+51,0.850000000,BASELINE,765,745,714,680,659,634.586991492,878.586991492,787,805,652,631,652,0.400974006702,0.00447379977199,0.0798432021801,0.999999957735,9.38526795142e-05,-0.000269824849644,5.40001801596e-05,1793243232500121344
+52,0.866666667,BASELINE,765,745,714,680,659,634.839821013,878.839821013,786.839821013,804.839821013,652,631,651.839821013,0.400973557871,0.00447284582574,0.0798432099686,0.999999957889,9.17077618977e-05,-0.000269956892458,5.41779947981e-05,1793243232516788224
+53,0.883333333,BASELINE,765,745,714,680,659,634.26331881,878.26331881,786.26331881,804.26331881,652,631,651.26331881,0.400973754401,0.00447423117794,0.0798426974586,0.999999957661,9.35748219764e-05,-0.000270215639546,5.3892451319e-05,1793243232533454848
+54,0.900000000,BASELINE,765,745,714,679.677455593,659,634,878.322544407,786,804.322544407,652,631,651.322544407,0.400973509337,0.00447484418336,0.0798424060284,0.999999957495,9.43175583013e-05,-0.000270624033329,5.36282722349e-05,1793243232550121472
+55,0.916666667,BASELINE,765,745,714,679.083721837,659,634,878.916278163,786,804.916278163,652,631,651.916278163,0.400972892989,0.00447480781386,0.0798423004779,0.999999957383,9.41149839993e-05,-0.000271158247258,5.3382055952e-05,1793243232566788352
+56,0.933333333,BASELINE,764.502503621,745,714,679.497496379,659,634.497496379,878.502503621,786.497496379,804.502503621,652,631.497496379,652,0.400973299942,0.00447521053501,0.0798417849551,0.999999957169,9.52676084116e-05,-0.000271520076415,5.35101126022e-05,1793243232583454976
+57,0.950000000,BASELINE,764.075990363,745,714,680,659,634.924009637,878,787,804,652,631.924009637,652,0.400973877024,0.00447532167601,0.0798414335175,0.999999957047,9.60733831537e-05,-0.000271644571412,5.371336723e-05,1793243232600121600
+58,0.966666667,BASELINE,764.650094073,745,714,680,659,634.349905927,878,787,804,652,631.349905927,652,0.400974468175,0.00447304904362,0.0798425987972,0.999999957646,9.31473266865e-05,-0.000270398844498,5.40068087285e-05,1793243232616788480
+59,0.983333333,BASELINE,765,744.76978875,714,680,659,634,878,787,804.23021125,652,631,652,0.400974576847,0.00447252419041,0.0798432076301,0.999999957788,9.29738785677e-05,-0.00026989403051,5.41893367295e-05,1793243232633454848
+60,1.000000000,BASELINE,765,744.180286249,714,680,659,634,878,787,804.819713751,652,631,652,0.400973932513,0.00447472710001,0.079842948015,0.99999995722,9.70964324451e-05,-0.000270545560907,5.4198761814e-05,1793243232650121216
+61,1.016666667,BASELINE,765,744.401910244,714,680,659,634,878,787,804.598089756,652,631.401910244,652,0.400973600449,0.00447608573079,0.0798424146668,0.999999957032,9.81407994415e-05,-0.000270902834586,5.39954896199e-05,1793243232666787840
+62,1.033333333,BASELINE,765,744.980887934,714,680,659,634,878,787,804.019112066,652,631.980887934,652,0.40097340596,0.00447707240205,0.0798417607214,0.999999957017,9.78290258702e-05,-0.000271130469119,5.36985105237e-05,1793243232683454464
+63,1.050000000,BASELINE,764.443825495,745,714,680,659,634.556174505,878,786.443825495,804.556174505,652,631.443825495,652,0.400973351289,0.00447512365451,0.0798423273308,0.999999957364,9.55926542162e-05,-0.000270584728431,5.40147804986e-05,1793243232700121088
+64,1.066666667,BASELINE,764.131389577,745,714,680,659,635,878,786.131389577,805,652,631,652,0.400973562429,0.00447359885645,0.0798429863645,0.999999957698,9.39045820411e-05,-0.000269902272545,5.42182949807e-05,1793243232716787712
+65,1.083333333,BASELINE,764.706788808,745,714,680,659,635,878,786.706788808,805,652,631,652,0.400974655705,0.0044738453566,0.079843816928,0.999999957959,9.42914203581e-05,-0.000268847026554,5.39700262158e-05,1793243232733454592
+66,1.100000000,BASELINE,765,745,714,680,659,635,878.290326073,786.709673927,805,652,631,652,0.400975281963,0.00447383785664,0.0798442742005,0.999999958077,9.46099533985e-05,-0.000268320472431,5.38461668432e-05,1793243232750121472
+67,1.116666667,BASELINE,765,745,714,680,659,635,878.882319233,786.117680767,805,652,631,652,0.400975422958,0.00447356643454,0.0798443435998,0.999999958047,9.48575129277e-05,-0.000268343262544,5.38515766852e-05,1793243232766788096
+68,1.133333333,BASELINE,765,745,714,680.462507439,659,635,879,786,805,652,631,652,0.400974068173,0.00447413133185,0.0798431920787,0.999999957618,9.47063717389e-05,-0.000270006840378,5.37734599143e-05,1793243232783454720
+69,1.150000000,BASELINE,765,745,714,680.960472865,659,634.960472865,879,786.039527135,804.960472865,652,631,652,0.400972547507,0.0044748788756,0.0798418817867,0.999999957143,9.44891426268e-05,-0.000271854455039,5.36759096096e-05,1793243232800121600
+70,1.166666667,BASELINE,765,745,714,680.386692287,659,634.386692287,879,786.613307713,804.386692287,652,631,652,0.400973800827,0.00447529052657,0.0798425198368,0.999999957442,9.47156881018e-05,-0.000270687216753,5.35957965358e-05,1793243232816787968
+71,1.183333333,BASELINE,765,745.192770434,714,680,659,634.192770434,879,787,804.192770434,652,631,652,0.400974872912,0.00447551450101,0.079843368136,0.999999957734,9.5079214288e-05,-0.000269468115434,5.36601043101e-05,1793243232833454336
+72,1.200000000,BASELINE,765,745.783977669,714,680,659,634.783977669,879,787,804.783977669,652,631,652,0.400975570403,0.00447535056731,0.079844650999,0.999999958009,9.57258656569e-05,-0.000268141818305,5.40229152139e-05,1793243232850121472
+73,1.216666667,BASELINE,765,745.632127344,714,679.632127344,659.367872656,634.632127344,879,786.632127344,805,652,631,652,0.400974544244,0.00447574306282,0.0798437150818,0.999999957647,9.64116913457e-05,-0.000269258099467,5.39571000592e-05,1793243232866788096
+74,1.233333333,BASELINE,765,745.052442608,714,679.052442608,659.947557392,634.052442608,879,786.052442608,805,652,631,652,0.40097252565,0.00447645593668,0.0798415016452,0.999999956913,9.7120072611e-05,-0.000271780757568,5.36444924774e-05,1793243232883454720
+75,1.250000000,BASELINE,765,745,714,679.522297953,659.477702047,634.522297953,879,786,805,652,631,652,0.400972609654,0.00447606069086,0.0798422744985,0.99999995711,9.62239211853e-05,-0.000271396936722,5.35167774883e-05,1793243232900121344
+76,1.266666667,BASELINE,764.903043793,745,714,680,659,634.903043793,878.903043793,786.096956207,805,652,631,652,0.400972937005,0.00447571807785,0.0798431002008,0.999999957349,9.5424323875e-05,-0.000270818059809,5.34196682707e-05,1793243232916788224
+77,1.283333333,BASELINE,764.326359548,745,714,680,659,634.326359548,878.326359548,786.673640452,805,652,631,652,0.400973433627,0.00447618124224,0.0798427177039,0.999999957337,9.58921289257e-05,-0.000270704479172,5.3382998768e-05,1793243232933454848
+78,1.300000000,BASELINE,764.255160021,745,714,680,659,634.255160021,878,786.744839979,805,652,631,652,0.400974010839,0.00447594971894,0.0798427704388,0.999999957534,9.5791266997e-05,-0.000269997477528,5.34558204002e-05,1793243232950121216
+79,1.316666667,BASELINE,764.842983574,745,714,680,659,634.842983574,878,786.157016426,805,652,631,652,0.40097469312,0.0044748125002,0.079843390605,0.999999958001,9.49490084552e-05,-0.000268516806385,5.36713905252e-05,1793243232966788096
+80,1.333333333,BASELINE,765,745.425888904,714,680,659,635,878.425888904,786,804.574111096,652,631,652,0.400973847585,0.00447482142888,0.0798428665942,0.999999957625,9.53733111642e-05,-0.000269753981669,5.37344092274e-05,1793243232983454720
+81,1.350000000,BASELINE,765,745.993083126,714,680,659,634.993083126,878.993083126,786,804,652,630.993083126,652,0.400972480159,0.00447524540108,0.0798419562449,0.999999956951,9.62570431421e-05,-0.000271927515955,5.37427312619e-05,1793243233000121088
+82,1.366666667,BASELINE,765,745.419013389,714,680,659,634.419013389,878.419013389,786,804,652,630.419013389,652,0.400973978801,0.004475448537,0.0798435615341,0.999999957494,9.69608086677e-05,-0.000269655610081,5.38251611176e-05,1793243233016787968
+83,1.383333333,BASELINE,765,745,714,680,659,634,878.155487233,786.155487233,804.155487233,652,630.155487233,652,0.400975055756,0.00447523397034,0.0798446402156,0.99999995785,9.73876065132e-05,-0.000268153265081,5.39459078178e-05,1793243233033454848
+84,1.400000000,BASELINE,765,745,714,680,659,634,878.731152375,786.731152375,804.731152375,652,630.731152375,652,0.400974993176,0.00447389063323,0.0798442958293,0.999999957714,9.70659462722e-05,-0.000268730527501,5.41701993192e-05,1793243233050121472
+85,1.416666667,BASELINE,765,745,714,680,659,634,878.68317178,786.68317178,805,652,631,652,0.400974697056,0.00447374516471,0.0798435300672,0.999999957601,9.58445876991e-05,-0.000269637073601,5.39155575458e-05,1793243233066788096
+86,1.433333333,BASELINE,765,745,714,680,659,634,878.088724133,786.088724133,805,652,631,652,0.400974196299,0.0044746493237,0.0798423950764,0.999999957505,9.38348721761e-05,-0.000270832153139,5.32412524438e-05,1793243233083454720
+87,1.450000000,BASELINE,765,745,714,680,659,634,878.492019694,786,805,652,631.492019694,652,0.400974201964,0.00447470569706,0.0798430336134,0.999999957694,9.33525087344e-05,-0.000270289673681,5.32978488472e-05,1793243233100121088
+88,1.466666667,BASELINE,765,745,714,679.930565616,659,634.069434384,879,786,805,652,632,652,0.400974162108,0.00447457686411,0.0798437706704,0.999999957861,9.32142953838e-05,-0.000269679867058,5.34948208681e-05,1793243233116787712
+89,1.483333333,BASELINE,765,745,714,679.359828787,659,634.640171213,879,786,805,652,632,652,0.400973152156,0.00447418471914,0.0798429725989,0.999999957509,9.36261691056e-05,-0.000270784836703,5.37794864634e-05,1793243233133454592
+90,1.500000000,BASELINE,764.787518506,745,714,679.212481494,659,634.787518506,878.787518506,786,805,652,631.787518506,652,0.400973451574,0.00447422226701,0.0798429191585,0.999999957536,9.43516707927e-05,-0.000270405628087,5.39203415116e-05,1793243233150121472
+91,1.516666667,BASELINE,764.212523825,745,714,679.787476175,659,634.212523825,878.212523825,786,805,652,631.212523825,652,0.400975984899,0.00447499291087,0.0798441361284,0.999999958204,9.56122509065e-05,-0.000267494273245,5.38158423653e-05,1793243233166788352
+92,1.533333333,BASELINE,764.376706028,745,713.623293972,680,659,634,878.376706028,786,805,652,631,652,0.400975655976,0.00447509439913,0.0798437677751,0.999999957941,9.64845317722e-05,-0.000268152521399,5.38817288986e-05,1793243233183454976
+93,1.550000000,BASELINE,764.974282302,745,713.025717698,680,659,634,878.974282302,786,805,652,631,652,0.400973648861,0.0044748035482,0.0798424699154,0.999999957128,9.71291451764e-05,-0.000270903698595,5.40475159386e-05,1793243233200121600
+94,1.566666667,BASELINE,765,745,713.549668274,680,659,634,878.450331726,786.549668274,805,652,631,652,0.40097343305,0.00447735509871,0.0798423510253,0.999999957158,9.78340595069e-05,-0.000270678714963,5.33518532165e-05,1793243233216788224
+95,1.583333333,BASELINE,765,745,714,680,659,634,878,786.875733345,804.875733345,652,631,652,0.40097376179,0.00447898476425,0.0798425793968,0.999999957345,9.84022404226e-05,-0.000269858298062,5.29423105957e-05,1793243233233454848
+96,1.600000000,BASELINE,765,745,714,680,659,634,878,786.300371205,804.300371205,652,631,652,0.400975774846,0.00447680390576,0.0798438758801,0.999999957969,9.84642267362e-05,-0.000267362285114,5.37120340849e-05,1793243233250121472
+97,1.616666667,BASELINE,765,745,714,680,659,634.281645006,878,786,804.281645006,652,631,652,0.400975821089,0.00447500088633,0.0798439091086,0.999999958023,9.70473861466e-05,-0.000267607298923,5.40636737238e-05,1793243233266788096
+98,1.633333333,BASELINE,765,745,714,680,659,634.87092939,878,786,804.87092939,652,631,652,0.400973718992,0.00447361057865,0.0798425624902,0.999999957446,9.4015230601e-05,-0.000270846322178,5.3958642496e-05,1793243233283454720
+99,1.650000000,BASELINE,765,745,714,680,659.452808505,635,878,786,805,652,631,652,0.400972625173,0.00447477117082,0.0798417167432,0.999999957138,9.53017310138e-05,-0.000271583686479,5.370453304e-05,1793243233300121344
+100,1.666666667,BASELINE,765,745,714,680,659.967668382,635,878.032331618,786.032331618,805,652,631,652,0.400972001799,0.00447646053077,0.0798411690996,0.99999995697,9.75611052005e-05,-0.000271449452876,5.34453763229e-05,1793243233316788224
+101,1.683333333,BASELINE,765,745,714,680,659.3928289,635,878.6071711,786.6071711,805,652,631,652,0.400974527363,0.00447501796102,0.079843266407,0.999999957926,9.58214656407e-05,-0.000268462912262,5.38030822453e-05,1793243233333454848
+102,1.700000000,BASELINE,765,745,714,680.186129131,659,635,879,787,804.813870869,652,631,652,0.400976255288,0.00447401397812,0.0798448114793,0.999999958561,9.46010260886e-05,-0.000266466962733,5.40684279069e-05,1793243233350121472
+103,1.716666667,BASELINE,765,745,714,680.77397605,659,635,879,787,804.22602395,652,631,652,0.400976261686,0.00447395658629,0.0798451646764,0.999999958529,9.45011629828e-05,-0.000266608981234,5.41344347131e-05,1793243233366788096
+104,1.733333333,BASELINE,765,745,714,680.64323542,659,635,879,786.64323542,804.35676458,652,631,652,0.400975498605,0.00447428395091,0.0798442034906,0.999999958033,9.52929613985e-05,-0.000268208495565,5.40047341814e-05,1793243233383454720
+105,1.750000000,BASELINE,765,745,714,680.063606714,659,635,879,786.063606714,804.936393286,652,631,652,0.400974254843,0.00447485166565,0.0798424212346,0.999999957241,9.66417639939e-05,-0.000270718480153,5.37527789609e-05,1793243233400121088
+106,1.766666667,BASELINE,765,745,714,680,659,634.484019514,878.484019514,786,804.484019514,652,631,652,0.400973794793,0.00447601097668,0.0798428356387,0.999999957314,9.68970399108e-05,-0.000270390437969,5.35897996917e-05,1793243233416787712
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878,787,805,652,631,652,0.400973284403,0.00447339241049,0.0798422329458,0.999999957277,9.53340663999e-05,-0.000270961479687,5.41915577393e-05,1793243233459717120
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680.569992488,659,635,878,786.430007512,804.430007512,652,631,652,0.400974499796,0.00447254783153,0.0798431891187,0.999999957838,9.3659014256e-05,-0.000269491905683,5.41004740277e-05,1793243233476383744
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680.852965108,659,635,878,786,804,652,631,652,0.400975368921,0.00447244409559,0.0798438842851,0.999999958202,9.2765714103e-05,-0.000268482429429,5.39169534601e-05,1793243233493050368
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680.254266544,659,635,878,786,804,652,631,652,0.400975174375,0.00447461609056,0.0798437776884,0.999999957978,9.42738093541e-05,-0.00026888628701,5.34494841492e-05,1793243233509716736
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.668457201,878.331542799,786,804,652,631,652,0.400975142002,0.00447454705893,0.0798437293589,0.999999957974,9.45490052767e-05,-0.000268815925966,5.33858047064e-05,1793243233526383360
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.092162971,878.907837029,786,804,652,631,652,0.400975229349,0.00447282365715,0.0798437240432,0.999999958134,9.39140505123e-05,-0.000268395487357,5.36202109349e-05,1793243233543049728
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.481744212,634.481744212,879,786,804.481744212,652,631.481744212,652,0.400973298602,0.00447401303959,0.0798427751067,0.999999957436,9.50015800588e-05,-0.00027057113253,5.37967838278e-05,1793243233559716608
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.943267658,635,878.943267658,786,805,652,632,652,0.400971771368,0.00447541766722,0.0798420443589,0.999999956793,9.60105151689e-05,-0.000272551354241,5.39513681344e-05,1793243233576383232
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.353863655,635,878.353863655,786,805,652,632,652,0.400977639945,0.00447363696015,0.0798450488594,0.999999958271,9.32027392008e-05,-0.000268056459752,5.40028684962e-05,1793243233593050112
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.769782738,878,786.230217262,804.769782738,652,631.769782738,652,0.400988790479,0.00447336274711,0.0798499588296,0.999999960501,9.31508825071e-05,-0.000259657938414,5.38437856573e-05,1793243233609716992
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.193699004,878,786.806300996,804.193699004,652,631.193699004,652,0.401007876352,0.00447535181271,0.0798577314785,0.999999963739,9.72393762189e-05,-0.000245394810957,5.33683335296e-05,1793243233626383616
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878,786.614464024,804.385535976,652,631,652,0.401045732593,0.00447576512225,0.0798716676991,0.999999969832,9.65800051778e-05,-0.000219544226268,5.30007878649e-05,1793243233643049984
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878,786.033632711,804.966367289,652,631,652,0.401093097065,0.0044753802242,0.0798887261111,0.9999999766,9.35155778356e-05,-0.000187823950922,5.26879027196e-05,1793243233659716608
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878,786,804.448756378,652,631,652,0.401157499783,0.00447521863141,0.0799039568217,0.999999982127,9.13255479384e-05,-0.000157393712546,5.13017897919e-05,1793243233676383232
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.865018872,745,714,680,659,634,878.269962257,786.134981128,804.134981128,652,631.134981128,652,0.40122474073,0.00447545966307,0.0799172116253,0.999999985934,9.0037348367e-05,-0.000132472946264,4.97541468251e-05,1793243233693049856
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.285846972,745,714,680,659,634,879.428306055,786.714153028,804.714153028,652,631.714153028,652,0.401297875448,0.00447698046986,0.0799243338673,0.999999986798,9.15400004577e-05,-0.000125421609192,4.78920194298e-05,1793243233709716480
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879.414265262,787,804.707132631,652,631.707132631,652,0.40137974279,0.00447894948883,0.0799293626397,0.999999987689,9.25644023799e-05,-0.000118332606615,4.5287234989e-05,1793243233726383360
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.257728436,787,804.128864218,652,631.128864218,652,0.401470120123,0.00448135529323,0.0799323513128,0.9999999886,9.31227464932e-05,-0.000111206899195,4.19587268206e-05,1793243233743049984
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.446576798,745,714,680,659,634.446576798,878,786.553423202,804,652,631,652,0.401579073353,0.00448061949957,0.0799353995032,0.999999989763,8.81422489222e-05,-0.000105834894697,3.87897836439e-05,1793243233759716864
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714.021757847,680.021757847,659,635,878.021757847,786.021757847,804,652.021757847,631,652,0.40169457491,0.00447915535334,0.0799386034768,0.99999999095,8.17702229587e-05,-0.000100727258248,3.56079594291e-05,1793243233776383744
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714.611312214,680.611312214,659,635,878.611312214,786.611312214,804,652.611312214,631,652,0.401841960563,0.00448219236941,0.0799454274289,0.999999992284,8.05314278611e-05,-8.93957674118e-05,3.08959736319e-05,1793243233793050368
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.802598571,745,714.802598571,680.802598571,659,634.802598571,878.802598571,787,804.197401429,652.802598571,631,652,0.401998946124,0.00448563023856,0.0799525708311,0.999999993553,7.88306128593e-05,-7.75600103332e-05,2.57789827548e-05,1793243233809716992
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.223214684,745,714.223214684,680.223214684,659,634.223214684,878.223214684,787,804.776785316,652.223214684,631,652,0.40217450801,0.00448984377977,0.0799603323854,0.9999999948,7.62357644635e-05,-6.47484720819e-05,1.9878285656e-05,1793243233826383616
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.353609287,745,714,680,659,634,878.353609287,787,805,652,631,652,0.40236228909,0.00449372504082,0.0799639626813,0.999999995607,7.25390687588e-05,-5.78022465728e-05,1.35394917961e-05,1793243233843049984
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.928828988,745,714,680,659,634,878.928828988,787,805,652,631,652,0.402557728078,0.00449739805904,0.0799650038776,0.999999996167,6.81518342675e-05,-5.45318689461e-05,6.92613781566e-06,1793243233859716352
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.499127413,879,786.500872587,805,652,631,652,0.402772871571,0.00449886365234,0.0799592231192,0.999999996098,6.04177275526e-05,-6.44558830377e-05,-4.7600394816e-08,1793243233876383232
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.927893524,786,805,652,631,652,0.402996119795,0.00450023302966,0.0799526927028,0.999999995733,5.22588264754e-05,-7.58369243249e-05,-7.24073291955e-06,1793243233893049856
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.3303153,786,805,652,631,652,0.403258155391,0.00450317262896,0.0799477188308,0.99999999534,4.44481124077e-05,-8.42592442744e-05,-1.56618650777e-05,1793243233909716736
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.741360576,878,786,805,652,631,652,0.403544449853,0.00450824751692,0.0799467469692,0.999999994784,5.16148350271e-05,-8.57310740791e-05,-2.04710505103e-05,1793243233926383616
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.163063832,878,786,805,652,631,652,0.403860726286,0.00451596144803,0.0799507212679,0.999999993706,7.72924533115e-05,-7.86126620809e-05,-2.0816162656e-05,1793243233943050240
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878,786,805,652,631,652,0.404198489598,0.00452367830822,0.0799543716456,0.999999991491,0.000106153702051,-7.31419368687e-05,-1.99786168813e-05,1793243233959716608
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878,786,805,652,631,652,0.404544690894,0.00453139631848,0.079957894818,0.999999988208,0.000136265176004,-6.8318265733e-05,-1.8676636043e-05,1793243233976383232
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.576389433,714,680,659,634,878.576389433,786,805,652,631,652,0.404942971622,0.00453697500923,0.079955601691,0.999999996187,5.27329370706e-05,-6.57386541728e-05,-2.28955045509e-05,1793243233993049856
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.838447306,714,680,659.161552694,634,878.838447306,786,805,652,631,652,0.405348028686,0.00454375347604,0.0799519130649,0.999999997409,4.81958636642e-07,-6.69015734004e-05,-2.65840278827e-05,1793243234009716480
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.261338754,714,680,659.738661246,634,878.261338754,786,805,652,631,652,0.405767749247,0.00455373174101,0.0799449438662,0.999999995979,3.47324101894e-05,-7.75720383172e-05,-2.86150449369e-05,1793243234026383104
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.316566198,680,659.683433802,634.316566198,878,786,804.683433802,652,631,651.683433802,0.406213853263,0.00456223270475,0.0799387848691,0.999999993258,6.99904612678e-05,-8.8089134773e-05,-2.87395226842e-05,1793243234043049984
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.895130335,680,659.104869665,634.895130335,878,786,804.104869665,652,631,651.104869665,0.406681792919,0.0045695110189,0.0799332964139,0.999999989152,0.000106082430113,-9.84793008727e-05,-2.72861020187e-05,1793243234059716864
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714.531273096,680,659,635,878,786,804.468726904,652,631,651,0.407169790104,0.00457802536239,0.0799312630851,0.999999986968,0.000119886159185,-0.000104054129065,-2.94059880898e-05,1793243234076383488
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.957292786,745,714,680,659,634.957292786,878.042707214,786,805,652,630.957292786,651,0.407665179119,0.00458678603962,0.0799291656471,0.99999998516,0.000128748487524,-0.000109855364764,-3.21680236544e-05,1793243234093050112
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.364193375,745,714,680,659,634.364193375,878.635806625,786,805,652,630.364193375,651,0.408198604408,0.00459519480643,0.0799163840467,0.999999981246,0.00013751957361,-0.000132313264488,-3.30106750261e-05,1793243234109716736
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.223194721,745.223194721,714,680,659,634.223194721,879,786,805,651.776805279,630.223194721,651.223194721,0.40876033991,0.00460493911826,0.0799135202971,0.999999978977,0.000147320720997,-0.000138546313539,-3.38749878183e-05,1793243234126383360
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.80149598,745.80149598,714,680,659,634.80149598,879,786,805,651.19850402,630.80149598,651.80149598,0.409367117406,0.00461680830407,0.079926436015,0.999999979717,0.000158760712693,-0.00011896535214,-3.47737642557e-05,1793243234143049984
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.621785804,714,680.378214196,659,635,879,786.378214196,805,651.378214196,631,652,0.410017753926,0.00462390028616,0.0799534367059,0.999999982821,0.000165475761169,-7.51861481106e-05,-3.63830470967e-05,1793243234159716608
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.045894995,714,680.954105005,659,635,879,786.954105005,805,651.954105005,631,652,0.41069131369,0.00462849542493,0.0799877990178,0.999999984685,0.000169721280292,-1.87595434411e-05,-3.83636815575e-05,1793243234176383232
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714.529737963,680.470262037,659,634.470262037,879.529737963,786.470262037,805,652,631,651.470262037,0.411338570577,0.00462697162939,0.0799872390678,0.999999986338,0.000158840353219,-2.22903447697e-05,-3.99719753593e-05,1793243234193050112
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.107700353,715,680.107700353,659,634,879.892299647,786,805,651.892299647,631,651.107700353,0.411987428231,0.00462123309391,0.0799772680848,0.999999987684,0.000146092258263,-3.96444477652e-05,-4.14441832939e-05,1793243234209716736
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.696160513,715,680.696160513,659,634,879.303839487,786,805,651.303839487,631,651.696160513,0.412653598644,0.0045990457945,0.0799387866702,0.999999985974,0.000130856485748,-9.55274558119e-05,-4.24528494906e-05,1793243234226383360
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.718952694,714.718952694,681,659,634,879,786,805,651,631.281047306,652,0.413355269263,0.00458463845063,0.079915142135,0.999999984678,0.000115878199031,-0.000123727984278,-4.36652141502e-05,1793243234243049984
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.137880484,714.137880484,681,659,634,879,786,805,651,631.862119516,652,0.414094837308,0.00457853639766,0.0799073363283,0.999999986377,0.000101174783165,-0.000122376792963,-4.50950321565e-05,1793243234259716864
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680.561926743,659.438073257,634,879,786.438073257,805,651.438073257,631.561926743,652,0.414866633478,0.00458220541708,0.0799268938381,0.999999989403,0.000105974193733,-8.93432487074e-05,-4.45185665119e-05,1793243234276383232
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.012405573,879,786.987594427,805,652,631,652,0.415647839442,0.00458893442176,0.079954296599,0.999999991106,0.000116729443722,-4.7793374865e-05,-4.33334595636e-05,1793243234293049856
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.585427675,879,786.414572325,805,652,631,652,0.416401181551,0.0045965729818,0.0799515258299,0.999999989354,0.000122439391086,-6.68126333076e-05,-4.28501440404e-05,1793243234309716736
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680.16393035,659.83606965,635,879,786,805,652,631,652,0.417182227272,0.00460330849402,0.0799517181416,0.999999988128,0.000129105551547,-7.20106437684e-05,-4.34783318812e-05,1793243234326383360
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680.756772514,659.243227486,635,879,786,805,652,631,652,0.418035757431,0.00460768124695,0.0799596631384,0.999999988493,0.000138273573566,-4.10463651148e-05,-4.70146873003e-05,1793243234343049984
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.340579055,634.659420945,879,786,805,652,631,652,0.418895815908,0.00460514913218,0.0799750615073,0.99999999002,0.000132263797908,-7.9186616205e-06,-4.90188524702e-05,1793243234359716864
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.918099475,634.081900525,879,786,805,652,631,652,0.419760416113,0.00459781329027,0.0799956451982,0.999999991703,0.000115694804886,2.67141385269e-05,-4.99570703762e-05,1793243234376383744
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879,786,805,652,631,652,0.420590010897,0.00459166136322,0.0799786052044,0.999999992859,0.000108344041833,1.3130596214e-06,-5.04237989569e-05,1793243234393050624
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.928936797,745,714,681,659.928936797,634.071063203,879,786,805,652,631,652,0.421418705856,0.00458684637215,0.0799595652335,0.999999992881,0.000104451486123,-2.76239350386e-05,-5.06474772264e-05,1793243234409716736
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.339812767,745,714,681,659.339812767,634.660187233,879,786,805,652,631,652,0.422283011094,0.00459035159114,0.0799712698907,0.999999992142,0.000114664681789,-1.00162534063e-05,-4.96672810819e-05,1793243234426383360
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,714,681,659.245325864,635,879,786,805,652,631,652,0.42317137021,0.00459728571977,0.0799877394552,0.999999990889,0.00012509616034,1.28853563922e-05,-4.90642398201e-05,1793243234443049984
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,714,681,659.825032451,635,879,786,805,652,631,652,0.424092515037,0.00460889347473,0.0800107036204,0.999999988652,0.000135825161275,4.30026266927e-05,-4.89752629276e-05,1793243234459716608
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.401968215,745,714,681.401968215,659.598031785,635,879.803936431,786,805,652,630.598031785,652,0.424941606775,0.00461288076476,0.0799845607586,0.999999988734,0.000141323400777,-1.44910374698e-05,-4.84698935989e-05,1793243234476383488
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.977706126,745,714,681.977706126,659.022293874,635,880.955412252,786,805,652,630.022293874,652,0.425759550118,0.00461357374918,0.0799371890699,0.999999982375,0.000144560395568,-0.00010985865655,-4.77845186707e-05,1793243234493050368
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659,634.445584756,880.445584756,786,805,652,630.554415244,652,0.426671300254,0.00461067418594,0.0799252204011,0.999999984872,0.000132822672893,-9.97409408082e-05,-5.16242419142e-05,1793243234509716736
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.865952063,745,714,682,659,634,880.134047937,786,805.134047937,652,631,652.134047937,0.42757324744,0.00460815720284,0.0799175899292,0.999999986538,0.000124893470432,-9.14930775051e-05,-5.43518323779e-05,1793243234526383616
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.27652042,745,714,682,659,634,880.72347958,786,805.72347958,652,631,652.72347958,0.428429055285,0.00460743153236,0.0799198523235,0.999999984495,0.000131951677857,-0.000104032571558,-5.26820804778e-05,1793243234543049984
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.306977511,745,714,682,659.613955021,634,880.693022489,786,805.693022489,652,631,652.693022489,0.429330005485,0.00460772020076,0.079935532339,0.99999998586,0.000132707418945,-8.92238844026e-05,-5.2044509325e-05,1793243234559716608
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.885231774,745,714,682,660.770463548,634,880.114768226,786,805.114768226,652,631,652.114768226,0.430270848047,0.00460890524289,0.079963069538,0.999999989191,0.000127893655108,-5.02475440499e-05,-5.23190787746e-05,1793243234576383232
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.538769822,745,714,682,660.538769822,634.461230178,880,786.461230178,805,652,631,652,0.43119764385,0.00460876733395,0.0800023211172,0.999999990619,0.00012638538726,1.05962628807e-05,-5.17300963912e-05,1793243234593049856
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.037491678,745.037491678,714,682.037491678,660,634.962508322,880,786.962508322,805.037491678,652,631,652,0.432112091801,0.00460858420036,0.0800392255596,0.999999988438,0.000126099119597,6.80238727497e-05,-5.09395504714e-05,1793243234609716736
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.625825124,745.625825124,714,682.625825124,660,634.374174876,880,786.374174876,805.625825124,652,631,652,0.432896223283,0.00461254966406,0.0799990266228,0.999999990046,0.000131741152756,-4.29710145159e-06,-5.0329266134e-05,1793243234626383616
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.789053093,714,682.789053093,660,634,879.789053093,786,805.789053093,652,631,651.789053093,0.433697500869,0.00461675783791,0.0799556958724,0.999999987136,0.000133851666395,-7.1923443056e-05,-5.13748674834e-05,1793243234643050240
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.209542591,714,682.209542591,660,634,879.209542591,786,805.209542591,652,631,651.209542591,0.43452873603,0.0046213900723,0.0799068932529,0.999999981421,0.000129791958264,-0.000131347397653,-5.53136101688e-05,1793243234659716864
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.6321284,745,714,682,660,634,879.3678716,786,805.3678716,652,631,651.3678716,0.435395432126,0.00462086694208,0.0799110306369,0.999999983342,0.000125837231269,-0.000119516068456,-5.65379336322e-05,1793243234676383488
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.055901555,745,714,682,660,634,879.944098445,786,805.944098445,652,631,651.944098445,0.436282212549,0.00461742391437,0.0799451522016,0.999999988718,0.000121941963661,-6.73271429693e-05,-5.62248630983e-05,1793243234693049856
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745.520541847,714,682.520541847,660,634.520541847,880,786,806,651.479458153,631,652,0.437128070406,0.00461227540067,0.0799792550853,0.999999990617,0.000122873170563,-2.57090953303e-05,-5.4830835154e-05,1793243234709716736
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,745.904007785,714,682.904007785,660.095992215,634.904007785,880,786.095992215,806,651.095992215,631,652,0.437964155988,0.00460720376,0.0800104553542,0.99999999122,0.000120341514309,1.37310139448e-05,-5.37537157526e-05,1793243234726383104
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,745.333580431,714,682.333580431,660.666419569,634.333580431,880,786.666419569,806,651.666419569,631,652,0.438773672368,0.00460341766252,0.0800273195611,0.99999999253,9.81320577454e-05,4.80198813401e-05,-5.48168782121e-05,1793243234743049728
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.248361766,745,714,682.248361766,660.751638234,634,880,786.751638234,806,652,631,652,0.439549791702,0.00460151237741,0.0800263206895,0.999999993071,9.06085944072e-05,5.05685581708e-05,-5.55964488366e-05,1793243234759716608
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.84652167,745,714,682.84652167,660.15347833,634,880,786.15347833,806,652,631,652,0.440278873837,0.00460225606987,0.0800001630666,0.999999993014,0.000103769206839,8.41365401203e-06,-5.59766024586e-05,1793243234776383488
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.427867157,714,683,660,634.427867157,880,786.427867157,805.572132843,652,631,652,0.440951801151,0.00460456234762,0.0799320424768,0.999999987909,0.000107564890868,-9.69919104183e-05,-5.65999836247e-05,1793243234793050368
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,746,714,683,660,634.996591117,880,786.996591117,805.003408883,651.996591117,631,651.996591117,0.441605685779,0.00460740464617,0.0798499505511,0.999999967566,0.00010809691959,-0.000223380425793,-5.73097010124e-05,1793243234809716992
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,746,714,683,660,634.421124005,880,786.421124005,805.578875995,651.421124005,631,651.421124005,0.442316401113,0.00460969426692,0.0798537553786,0.999999971415,0.000103355747673,-0.000207542686418,-5.84203046704e-05,1793243234826383360
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.842084212,714,683,660.157915788,634,880,786,806,651.157915788,631,651.157915788,0.443030525041,0.00461064532722,0.0798764219754,0.999999979274,0.00010158776632,-0.000166334980403,-5.88685743828e-05,1793243234843049728
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.253296256,714,683,660.746703744,634,880,786,806,651.746703744,631,651.746703744,0.443753949451,0.00460794413486,0.0799505527841,0.999999990959,0.000107932113705,-5.59054856559e-05,-5.75096701957e-05,1793243234859716352
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,683,660.669170033,634,880,786.330829967,806,652,631,652,0.44443880897,0.00460490460256,0.0799956427955,0.999999992874,0.000104341032924,1.21737724131e-05,-5.67092208295e-05,1793243234876382976
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,683,660.088563455,634,880,786.911436545,806,652,631,652,0.445094551953,0.00460160962378,0.0800188070018,0.9999999929,9.32487045008e-05,4.82785966781e-05,-5.63304052262e-05,1793243234893049600
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,683,660,634,880.48619512,787,806,652,631,652,0.445679521685,0.00460215661403,0.0800059429565,0.999999993562,9.66140392344e-05,2.09301816276e-05,-5.57177640405e-05,1793243234909716480
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,683,659.939855625,634,880.939855625,786.939855625,806,652,631,652,0.446245558212,0.00460431935811,0.0799855200083,0.999999992975,0.000103316187517,-1.77255701489e-05,-5.53362950657e-05,1793243234926383872
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,683,659.363819691,634,880.363819691,786.363819691,806,652,631,652,0.446758459903,0.00461440975993,0.0799558836266,0.999999990058,0.000116319070495,-5.54061333038e-05,-5.72987181349e-05,1793243234943050752
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,683.217807967,659,633.782192033,880,786.217807967,806,651.782192033,631,652,0.447257725498,0.00462191484031,0.0799292818626,0.999999987032,0.000121241251858,-8.82656202941e-05,-5.87037554341e-05,1793243234959717376
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,683.809021913,659,633.190978087,880,786.809021913,806,651.190978087,631,652,0.447733613567,0.00462498769206,0.0799078825946,0.999999985575,0.000112310025593,-0.000112859939039,-5.91532207013e-05,1793243234976383488
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,684,658.608078768,633.391921232,880,786.608078768,806,651.391921232,631,652,0.448180366539,0.0046272287547,0.0798837018969,0.999999981146,0.000108920843038,-0.000149255011718,-5.97208341512e-05,1793243234993049856
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,684,658.029146837,633.970853163,880,786.029146837,806,651.970853163,631,652,0.448613217335,0.00462907291781,0.0798581939992,0.999999974034,0.000108176123245,-0.000191280981225,-6.03448236234e-05,1793243235009716480
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.121851814,714,684,658.878148186,633.878148186,880,786,806,651.121851814,631,652,0.449424187163,0.00464470465265,0.0798243618648,0.999999958372,0.000145417925556,-0.00024185026891,-6.01449421784e-05,1793243235043049984
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.712596254,714,684,658.287403746,633.287403746,880,786,806,651.712596254,631,652,0.449812095724,0.00464760602438,0.0798316481144,0.99999996058,0.00015264670776,-0.000227965635804,-5.97545186374e-05,1793243235059717120
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.702688937,745.702688937,714,684,657.702688937,633,880.297311063,786,806,652,631,652,0.450186972644,0.0046499759574,0.0798429023743,0.999999963074,0.000159890380714,-0.000211650958038,-5.90839197345e-05,1793243235076383744
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.12368701,745.12368701,714,684,657.12368701,633,880.87631299,786,806,652,631,652,0.450549502559,0.00465184237241,0.0798579161718,0.999999965709,0.00016714816163,-0.000193033906677,-5.81478654049e-05,1793243235093050368
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.452725552,745,714,684,657,633,881,786,806,652,631,652,0.4508722671,0.0046563283878,0.0798611009183,0.999999965233,0.000174673155508,-0.000188448806032,-5.92409305888e-05,1793243235109716736
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.028380589,714,684,657,633,881,786,806,652,631,652,0.451181266162,0.00466181765841,0.0798604556854,0.999999963819,0.000181490720504,-0.000188957810244,-6.0972014921e-05,1793243235126383360
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.602994118,714,684,657,633,881,786,806,652,631,652,0.451433234376,0.00467291997665,0.0798479429482,0.999999959983,0.000173295513265,-0.000214146936343,-6.43738228305e-05,1793243235143049728
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.817962863,714,684.182037137,656.817962863,633,880.817962863,786,806,652,631,652,0.451669054556,0.004685771928,0.0798331510114,0.999999954626,0.00016629499132,-0.000242017143786,-6.72503308138e-05,1793243235159716352
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.229018697,714,684.770981303,656.229018697,633,880.229018697,786,806,652,631,652,0.451868779051,0.00470253482716,0.0798132643887,0.999999946451,0.00016196494678,-0.000275880360487,-6.8952637138e-05,1793243235176382976
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,684.645604365,656,632.645604365,880,786.354395635,806,652,631,652,0.452060516244,0.0047093818236,0.0797966033735,0.999999937825,0.000172419243634,-0.000300139884252,-6.73586163837e-05,1793243235193049856
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,684.065708581,656,632.065708581,880,786.934291419,806,652,631,652,0.452247171177,0.00470991938297,0.0797819947941,0.999999928833,0.000192280741646,-0.000318288630102,-6.36671595554e-05,1793243235209716992
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,713.489298655,684.510701345,655.489298655,632.510701345,880,786.489298655,806,652,631,652,0.452410998395,0.00470393642226,0.079774059217,0.999999924552,0.000192061753113,-0.000331481644544,-6.42498931893e-05,1793243235226383616
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,713.086675734,684.913324266,655,632.913324266,880.086675734,786,806,652,631,652.086675734,0.452569097395,0.00469442989252,0.0797680799947,0.999999922052,0.00018549893243,-0.00034238397604,-6.52581322492e-05,1793243235243050240
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,713.662706387,684.337293613,655,632.337293613,880.662706387,786,806,652,631,652.662706387,0.45271132586,0.00466973440781,0.079768331511,0.999999926286,0.000157607793692,-0.000343929032238,-6.55849315358e-05,1793243235259716864
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.244764726,714,684.244764726,655,632,881,786,806,652,631,652.755235274,0.452841027653,0.00465101734367,0.0797674386442,0.999999928827,0.000135957825022,-0.000345689204555,-6.60364867543e-05,1793243235276383232
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745.835339095,714,684.835339095,655,632,881,786,806,652,631,652.164660905,0.452953031444,0.00464074674107,0.0797649289647,0.999999929732,0.000123125537157,-0.000347753298396,-6.66643002604e-05,1793243235293049856
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.58267449,713.58267449,684.58267449,655,632,880.58267449,786,806,652,631,652,0.453046174536,0.00464813921572,0.0797610003893,0.999999927,0.000129000048181,-0.000352926586055,-6.92965057095e-05,1793243235309716480
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.004008247,713.004008247,684.004008247,655,632,880.004008247,786,806,652,631,652,0.453132025957,0.00466236035015,0.0797565232597,0.999999922711,0.000142106728535,-0.000359301907985,-7.27036219808e-05,1793243235326383360
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,713.852106872,685,655,632,880.852106872,786,806,652,631,652,0.453256810109,0.00465498792719,0.0797470221762,0.999999917804,0.000138334822999,-0.000374735599766,-6.94949791042e-05,1793243235359716864
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,713.262091894,685,655,632,880.262091894,786,806,652,631,652,0.453301891998,0.00465617738793,0.0797420208089,0.999999914229,0.000137730098364,-0.000384306878833,-6.98672597239e-05,1793243235376383488
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,713.32180518,684.67819482,655,632,880.32180518,786,806,652,631,652,0.453342843525,0.00465818401642,0.0797388743748,0.999999912104,0.00013974715592,-0.000389087616894,-6.9804401625e-05,1793243235393050112
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,713.900812593,684.099187407,655,632,880.900812593,786,806,652,631,652,0.453380493872,0.00466084376496,0.0797372104923,0.999999911179,0.000143859668289,-0.000390039524406,-6.93937597025e-05,1793243235409716736
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,713.950349611,685,654.049650389,632,880.950349611,786,806.950349611,652,631,651.049650389,0.453432009449,0.00466257541831,0.0797391585582,0.999999909997,0.00015061612637,-0.000390775709452,-6.79393937922e-05,1793243235443049984
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,713.372126202,685,654.627873798,632,880.372126202,786,806.372126202,652,631,651.627873798,0.453445209693,0.00465928853264,0.0797375459086,0.999999909792,0.00014444915268,-0.000393695409263,-6.74830985123e-05,1793243235459716864
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,713.209222088,684.790777912,654.790777912,632,880,786,806,652,631,652,0.453455662835,0.00465655636945,0.0797354030493,0.999999908933,0.000140969456651,-0.000397254139652,-6.67071805834e-05,1793243235476383488
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+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.536772259,713,685,654.463227741,632,880,786,806,652,631,652,0.453472033084,0.0046639243349,0.0797274959298,0.999999903209,0.000148000462916,-0.00040903548907,-6.60946153916e-05,1793243235543049984
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+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,684.861485183,654,632.138514817,881,786,806.138514817,652,631,652,0.453476524993,0.0046611189555,0.0797253384887,0.99999990259,0.000147159673372,-0.000411109737293,-6.44486500189e-05,1793243235609716736
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,713.559475079,684.559475079,654,632,881.440524921,786,806,651.559475079,631,652,0.453474507642,0.00466381246766,0.0797229536351,0.999999900766,0.000148652932522,-0.000414891294986,-6.50841408628e-05,1793243235626383360
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,713.019452179,684,654,632,881.961095642,786,806.019452179,651,631,652,0.453471710081,0.00466554290497,0.0797201129844,0.999999898732,0.000148383304032,-0.0004197563225,-6.57440099622e-05,1793243235643050240
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+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,684.173557977,654,632,880.173557977,786,806.826442023,651.173557977,631,652,0.453473291169,0.00465875766544,0.0797201255573,0.999999899607,0.000144006581701,-0.000419491437924,-6.38425844818e-05,1793243235676383744
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,684.761818252,654,632,880.761818252,786,806.238181748,651.761818252,631,652,0.453473967571,0.00465858378607,0.0797200337505,0.999999899951,0.000142918426288,-0.000419102597897,-6.34391676615e-05,1793243235693050112
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+253,4.216666667,HOLD_POSE2,765,745.367790658,713,684.632209342,653.367790658,632,880.632209342,785.632209342,806,652,631,652,0.453473618686,0.00466420384181,0.0797157117988,0.999999895939,0.000150509534613,-0.000425904613757,-6.38228073591e-05,1793243235919237376
+254,4.233333333,HOLD_POSE2,765,745,713,685,653.220317718,632,881,786,806,652,631,652,0.453474283732,0.00466425274885,0.0797159050111,0.999999895893,0.000150577002201,-0.000426043049144,-6.34688693142e-05,1793243235935904000
+255,4.250000000,HOLD_POSE2,765,745,713,685,653.796429968,632,881,786,806,652,631,652,0.453473956905,0.00466070246503,0.0797153497203,0.99999989657,0.000145140687842,-0.000426452039627,-6.27133965578e-05,1793243235952570880
+256,4.266666667,HOLD_POSE2,765,745,713.372421985,685,654,632,881,786,806,652,631,652,0.453473434452,0.00465911200705,0.0797144127299,0.999999896218,0.000144810907193,-0.000427441745995,-6.23427813988e-05,1793243235969237504
+257,4.283333333,HOLD_POSE2,765,745,713.948348356,685,654,632,881,786,806,652,631,652,0.453472805102,0.00465859246605,0.0797132671656,0.999999895309,0.000147271514484,-0.000428748775855,-6.21824658081e-05,1793243235985903872
+258,4.300000000,HOLD_POSE2,765,745,714,685,653.466098741,631.466098741,881,786,806,652,631,652,0.453473847448,0.00466178177156,0.0797151831139,0.999999895714,0.000149533944971,-0.000426936730843,-6.274308272e-05,1793243236002570752
+259,4.316666667,HOLD_POSE2,765,745.119001135,713.880998865,685,653,631.119001135,881,786,806,651.880998865,631,652,0.453474472709,0.00466461075606,0.0797165041251,0.999999895918,0.000151283074804,-0.000425763124421,-6.32711261434e-05,1793243236019237120
+260,4.333333333,HOLD_POSE2,765,745.698675987,713.301324013,685,653,631.698675987,881,786,806,651.301324013,631,652,0.453472845798,0.0046646303661,0.0797143544083,0.999999894872,0.000151120713144,-0.00042825060141,-6.33981168697e-05,1793243236035904000
+261,4.350000000,HOLD_POSE2,765,745.722978811,713,684.722978811,653,632,881,786,806,651.277021189,631,652,0.453472213831,0.00466416002786,0.0797131798197,0.999999894488,0.000149950192767,-0.000429541940055,-6.35022558028e-05,1793243236052570880
+262,4.366666667,HOLD_POSE2,765,745.146073033,713,684.146073033,653,632,881,786,806,651.853926967,631,652,0.453472658922,0.0046631593044,0.0797130608399,0.999999894821,0.000147688307284,-0.00042953841928,-6.35816569074e-05,1793243236069237760
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,713,685,654,632,881,786,806,652,631,652,0.453472523842,0.00466009234689,0.0797132926891,0.999999894551,0.00014904537012,-0.000430003303692,-6.14896201217e-05,1793243236102764544
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,713.597294057,685,654,632,881,786,806,652,631,652,0.453472517361,0.00466271003914,0.0797136114655,0.999999894398,0.000149213226142,-0.000430203208635,-6.21650864639e-05,1793243236119431168
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,713.811048533,685,654,632,881,786,806,652,631,652,0.453472777865,0.00466363653513,0.0797137228188,0.999999894557,0.000148660968472,-0.000429968448971,-6.25484711235e-05,1793243236136097792
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,713.231056228,685,654,632,881,786,806,652,631,652,0.4534735909,0.00466106304922,0.0797134049039,0.99999989536,0.000146618413526,-0.000428834137653,-6.23273839346e-05,1793243236152764160
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,713.345556823,684.654443177,654,632,880.654443177,786,806,652,631,652,0.453472829382,0.00465977759319,0.0797126594958,0.999999895265,0.000145509490219,-0.000429484001533,-6.19715477504e-05,1793243236169430784
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,713.919932186,684.080067814,654,632,880.080067814,786,806,652,631,652,0.453471025238,0.00465934503645,0.079711631013,0.999999894576,0.000145018793082,-0.00043131529886,-6.15264843772e-05,1793243236186097408
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,684.499952282,653.500047718,632,880.499952282,786,806,651.500047718,631,652,0.453470918662,0.00466195976217,0.0797112809537,0.999999893907,0.000147296344324,-0.000431974506118,-6.23580384483e-05,1793243236202764288
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,685,653.081730233,632,881.081730233,786,806,651.081730233,631,652,0.453470964524,0.00466430648347,0.0797110220062,0.999999893377,0.000149469694209,-0.000432337743423,-6.31520771846e-05,1793243236219431168
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,685,653.668722902,632,881.668722902,786,806,651.668722902,631,652,0.453470252873,0.00466194492103,0.0797106469653,0.999999893734,0.00014822681989,-0.000432044969279,-6.24358256379e-05,1793243236236097792
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,713.749568611,685,654,632,881.499137223,786,806,652,631,652,0.453464069464,0.00466083657263,0.0797074688484,0.999999891995,0.00014718154016,-0.000436449699626,-6.21287583466e-05,1793243236252764416
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,713.174705778,685,654,632,880.349411557,786,806,652,631,652,0.453450797447,0.00466135175113,0.0797006593739,0.999999887463,0.000146392242397,-0.000446940001651,-6.23517853562e-05,1793243236269430784
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.400942658,745,713.400942658,685,653.599057342,632,880.400942658,785.599057342,806,652,631,652,0.45341556138,0.00466106680939,0.0796849912989,0.999999875301,0.000146596731678,-0.000473349392875,-6.20268551077e-05,1793243236286097920
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.976934134,745,713.976934134,685,653.023065866,632,880.976934134,785.023065866,806,652,631,652,0.453370735957,0.00466043254069,0.0796654556189,0.999999858895,0.00014723510137,-0.000506708949823,-6.14626904379e-05,1793243236302764800
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,713.431841912,684.431841912,653,632,881,785.568158088,806,652,631,652,0.453302992373,0.00466123876675,0.0796431684119,0.999999839428,0.000148885001999,-0.000543397440107,-6.07994520965e-05,1793243236319431168
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.843416207,745,713,684.156583793,653.156583793,632,881,786,806,652,631,652,0.453232038086,0.00466174692387,0.0796233162334,0.999999822348,0.000150431425135,-0.000573649936499,-5.99958814434e-05,1793243236336097792
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.264256926,745,713,684.735743074,653.735743074,632,881,786,806,652,631,652,0.453154999124,0.00466128850655,0.0796103452713,0.99999981499,0.000151584714548,-0.000586158739978,-5.88247471947e-05,1793243236352764928
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,713.311928216,685,654,632,881,786,806,652,631,652,0.453069335565,0.0046603798255,0.0796039408489,0.999999811453,0.000152954048631,-0.000591982460375,-5.7051948693e-05,1793243236369431552
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,713.885617514,685,654,632,881,786,806,652,631,652,0.4529764345,0.00465909329625,0.0796030468764,0.999999811216,0.000154504681058,-0.000592196252896,-5.47742511349e-05,1793243236386098176
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,713.540762819,685,654,632,880.540762819,786,806,652,631,652,0.452863917165,0.00465791406807,0.0796017555814,0.999999807413,0.000157166384699,-0.000598178577353,-5.15257344873e-05,1793243236402765056
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.033926128,713.033926128,684.966073872,654,632,880,786,806,652,631,652,0.452745408361,0.00465687221856,0.0796006085727,0.999999803103,0.000160180769689,-0.000604836086987,-4.80546736333e-05,1793243236419431680
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.626508351,713.626508351,684.373491649,654,632,880,786,806,652,631,652,0.452608681062,0.00465765254294,0.0796034668364,0.999999806096,0.000164446439435,-0.000598956260881,-4.49001318949e-05,1793243236436098048
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.785783128,714,684.214216872,654,632,880,786,806,652,631,652,0.452458625903,0.00465754499757,0.0796064960547,0.999999808734,0.00016765704473,-0.000593918046668,-4.10530574521e-05,1793243236452764416
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.206383047,714,684.793616953,654,632,880,786,806,652,631,652,0.452285850276,0.00465592386861,0.0796098167051,0.999999810823,0.000169069043259,-0.000590314559175,-3.60253979111e-05,1793243236469431296
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713.629383516,685,654.370616484,632,880.370616484,786,805.629383516,652,631,652,0.452086383114,0.00465241497149,0.0796110652476,0.999999810014,0.000171100479018,-0.000591413411758,-3.0441190879e-05,1793243236486097920
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.05371211,685,654.94628789,632,880.94628789,786,805.05371211,652,631,652,0.451872148026,0.00464786160867,0.0796111673333,0.999999807572,0.000173474637527,-0.00059511397767,-2.45490564303e-05,1793243236502764544
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.532700145,745,713,685,655,632.532700145,881,786,805.532700145,652,631,652,0.451638746701,0.0046477887444,0.0796123797624,0.999999805654,0.000180060038099,-0.00059659650169,-1.8533121447e-05,1793243236519431424
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.881385713,745,713,684.881385713,655.118614287,632.881385713,881,786,806,652,631,652,0.451398169952,0.00464816830656,0.0796158767538,0.9999998064,0.000187503595831,-0.000593203820297,-1.23494964586e-05,1793243236536098048
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.301703986,745,713,684.301703986,655.698296014,632.301703986,881,786,806,652,631,652,0.451137367984,0.00464851429064,0.0796278099624,0.999999817211,0.000196598403047,-0.000571747875408,-5.56355983561e-06,1793243236552764672
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713.276727188,684,656,632.276727188,881.276727188,786,806,652,631,651.723272812,0.450854356424,0.00464687508306,0.0796404606728,0.999999828291,0.000203771910102,-0.000549448538329,1.23650602082e-06,1793243236569431040
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.853801036,684,656,632.853801036,881.853801036,786,806,652,631,651.146198964,0.450547239635,0.00464308124188,0.0796538901251,0.999999839695,0.000208860127885,-0.000526233824391,8.05190667293e-06,1793243236586097664
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,684,656,633,881.571104666,786,806,652,631,651.428895334,0.450197431921,0.00463849295191,0.0796614929645,0.999999848157,0.000206133936057,-0.00051090270022,1.31242616213e-05,1793243236602764288
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.003314793,714,684,656.003314793,633,880.996685207,786,806,652,631,652,0.449832866065,0.00463364687718,0.0796670447598,0.999999855519,0.000200649212264,-0.000498391376452,1.75568950348e-05,1793243236619430912
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.577191691,714,684,656.577191691,633,880.422808309,786,806,652,631,652,0.449421342453,0.00463082799307,0.079659853673,0.999999853824,0.000176739027666,-0.000510810978422,1.36769740685e-05,1793243236636097536
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,746,714,684,657,633,880,786,806,652,631,652,0.448998786773,0.00462823424477,0.0796527661097,0.999999850436,0.000157291432673,-0.000523692062881,1.15704952013e-05,1793243236652764160
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,746,714,684,657,633,880,786,806,652,631,652,0.448545354795,0.00462627060326,0.0796459682873,0.999999843947,0.000150333662346,-0.000537864735483,1.44274967803e-05,1793243236669431296
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.666710282,714,684,657.333289718,633,880,786,806,652,631,651.666710282,0.448066976397,0.00462182648052,0.0796384249512,0.999999839429,0.000138999915804,-0.000549125622129,1.67723431557e-05,1793243236686097920
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.089934281,714,684,657.910065719,633,880,786,806,652,631,651.089934281,0.447570373234,0.00461557023098,0.0796303369761,0.999999836251,0.000124469279658,-0.000558259292021,1.87430325661e-05,1793243236702764544
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,713.504809258,684,658,633,880,786,806,651.504809258,631,651.495190742,0.447076090081,0.0046086730884,0.0796501265055,0.999999852055,0.000139547016845,-0.000525323195188,2.1262290251e-05,1793243236719430912
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,713.080819947,684,658,633,880,786,806,651.080819947,631,652,0.446575549563,0.00460221559693,0.0796772670501,0.999999870553,0.000160651924015,-0.000482208262509,2.36501459749e-05,1793243236736097536
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,713.66004736,684,658,633,880,786,806,651.66004736,631,652,0.446033777397,0.00459919949225,0.0797179821765,0.999999892556,0.000185195587285,-0.000424247850279,2.46027279949e-05,1793243236752764416
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,713.761051155,684,658.238948845,633.238948845,879.761051155,786,805.761051155,652,631,652,0.445473455974,0.0045926120578,0.0797575525586,0.999999915371,0.000185602100155,-0.000366209354653,2.64547005885e-05,1793243236769431040
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713.182612773,684,658.817387227,633.817387227,879.182612773,786,805.182612773,652,631,652,0.4448867805,0.00458095061244,0.0797954965283,0.999999940603,0.000151715455667,-0.00030805992517,2.95844934776e-05,1793243236786098176
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,659,634,879.393698678,786,805.393698678,652,631,652.393698678,0.444254503586,0.00457155157708,0.0798170266749,0.999999952011,0.000125865310963,-0.000281162647796,3.29094834153e-05,1793243236802764544
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,659,634,879.969028861,786,805.969028861,652,631,652.969028861,0.443601188626,0.00456319629697,0.0798309843609,0.999999957866,0.000103722778322,-0.000268683443091,3.63245267649e-05,1793243236819430912
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.460233803,745.539766197,713.539766197,683.460233803,659,634,880,786,806,652,631,652.460233803,0.442890278018,0.00456102387345,0.0798178089516,0.999999953247,0.000109499147301,-0.000283241255531,3.59223862926e-05,1793243236836097792
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.699939621,714,684,659,634,880,786.699939621,806,652,631,651.699939621,0.440644895699,0.00453974982913,0.0797677609724,0.999999932518,0.00010466569302,-0.00034999351438,3.8915239192e-05,1793243236886097920
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,684,659,634,880,786,806,652,631,651.451363391,0.439004035142,0.0045253909379,0.0796943062315,0.99999988653,9.62440800743e-05,-0.000464615354208,4.25448722205e-05,1793243236919430912
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745.028282923,714,683.971717077,659,634,879.971717077,786.028282923,806,652,631,652,0.43820905929,0.00451500636667,0.0796972440296,0.999999889201,0.000105999728743,-0.000456641509689,4.28952150938e-05,1793243236936097792
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745.616356405,714,683.383643595,659,634,879.383643595,786.616356405,806,652,631,652,0.437454302461,0.00450938794423,0.079772213015,0.999999934132,8.22159025803e-05,-0.000350532954442,4.58697130084e-05,1793243236952764416
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745.79853273,714,683,659,634.20146727,879,786.79853273,805.79853273,652,631,652,0.436676384188,0.00450247562661,0.0798323336901,0.999999961985,7.01771566595e-05,-0.000262273609964,4.81505640519e-05,1793243236969431296
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745.218981697,714,683,659,634.781018303,879,786.218981697,805.218981697,652,631,652,0.435855000013,0.00449313511958,0.0798645892636,0.999999974048,8.01798305619e-05,-0.000207511017546,4.91296825394e-05,1793243236986097920
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,659,634.641811092,879.358188908,786.358188908,805,652,631,651.641811092,0.434993222985,0.00448242863356,0.0798594734326,0.999999973603,6.48071150545e-05,-0.00021471104731,4.99237323315e-05,1793243237002764544
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,659,634.066086193,879.933913807,786.933913807,805,652,631,651.066086193,0.434106914519,0.00447089255883,0.0798316611256,0.99999996446,3.40233678396e-05,-0.000259542340096,5.06053857492e-05,1793243237019431168
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745.509665977,714,683.509665977,659,634,879.490334023,786.490334023,805,652,631,651.509665977,0.433168283606,0.00446382355631,0.0797935224064,0.999999944384,4.49342231033e-05,-0.000326283067126,5.24647137722e-05,1793243237036097792
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745.912233138,714,683.912233138,659,634,879,786.087766862,805,652,631,651.912233138,0.432219249521,0.00445703201049,0.0797542576705,0.999999918395,5.55351418433e-05,-0.000396463814994,5.42503840318e-05,1793243237052764416
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745.320670788,714,683.320670788,659,634,879,786.679329212,805,652,631,651.320670788,0.431249445721,0.0044485080862,0.0797162158122,0.999999887458,3.33219625183e-05,-0.000470082705436,5.47366558656e-05,1793243237069431040
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745.264360274,714,682.735639726,659,634,879,786.735639726,805,652,631,651.264360274,0.430349284505,0.00444167407581,0.0797272320506,0.999999895312,1.99844551829e-05,-0.000453860996639,5.46534132026e-05,1793243237086097664
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745.841659928,714,682.158340072,659,634,879,786.158340072,805,652,631,651.841659928,0.429531563334,0.00443684051848,0.0797963213451,0.999999943524,1.71536191727e-05,-0.000331289497635,5.38960012503e-05,1793243237102764544
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745.582923227,714,682,659,634,879,786.417076773,805,652,631,652,0.428671915848,0.00443795567852,0.0798404066554,0.999999964064,2.03180693216e-05,-0.000261969468435,5.32168447679e-05,1793243237119430912
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745.008217998,714,682,659,634,879,786.991782002,805,652,631,652,0.427796422934,0.00444131907511,0.079875042048,0.99999997565,2.57483559627e-05,-0.000212775110849,5.25672639955e-05,1793243237136097536
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,634.58210032,879,786.41789968,805.58210032,652,631,652,0.42682110089,0.00444375869515,0.0798229289132,0.999999957057,3.25109307532e-05,-0.000286606614571,5.18237760607e-05,1793243237152764416
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.169196398,659,634.830803602,879,786.169196398,805.830803602,652,631,652,0.425854260284,0.00445090122339,0.079779168155,0.999999936382,4.52843762828e-05,-0.000350041217412,5.15462298982e-05,1793243237169431040
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.74794453,659,634.25205547,879,786.74794453,805.25205547,652,631,652,0.424911455159,0.00446945990872,0.0797586710932,0.999999922271,7.25607720562e-05,-0.000383989330124,5.23998265817e-05,1793243237186097664
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.672267459,659,634,879.327732541,786.672267459,805,652,631,652,0.423986575436,0.00448841785319,0.0797398497112,0.999999906925,9.96674145348e-05,-0.000416372215965,5.33949980723e-05,1793243237202764032
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.091677168,659,634,879.908322832,786.091677168,805,652,631,652,0.423075525866,0.00450768383995,0.079722321179,0.999999890346,0.000126643084777,-0.000447547469811,5.44993996955e-05,1793243237219430912
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,634,879.52196043,786,805,652,631,652,0.422234782113,0.00449791387735,0.0797663763931,0.999999926212,0.000108090838401,-0.00036475148188,5.33810298734e-05,1793243237236097792
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.047703717,682,659,634,879.047703717,786.047703717,805,652,631.047703717,652,0.421405529625,0.00448381049582,0.0798207802546,0.999999960376,8.36577856424e-05,-0.000263707054233,5.20332948981e-05,1793243237252764672
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714.640045569,682,659,634,879.640045569,786.640045569,805,652,631.640045569,652,0.420556960839,0.00448239352744,0.0798614943334,0.999999974931,8.95512428004e-05,-0.000198313296381,5.28254923003e-05,1793243237269431296
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.227150553,745.227150553,714.772849447,681.772849447,659,634,879.772849447,787,805,652,631.772849447,652,0.419682203514,0.00447881031889,0.0798692923835,0.999999976976,8.75521862496e-05,-0.000188510394307,5.3360384869e-05,1793243237286097408
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.806144026,745.806144026,714.193855974,681.193855974,659,634,879.193855974,787,805,652,631.193855974,652,0.418766881545,0.00447187173081,0.0798261054365,0.999999960817,7.33280885842e-05,-0.000264814466748,5.34967274815e-05,1793243237302764032
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.617710997,745.617710997,714,681.382289003,659,634,879,787,805,652,631,652,0.417896953269,0.00447105675607,0.079805522331,0.999999950565,7.10630788186e-05,-0.000301850844514,5.20152167667e-05,1793243237319430656
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.042999823,745.042999823,714,681.957000177,659,634,879,787,805,652,631,652,0.417049873608,0.00447332405449,0.0797963166943,0.999999945046,7.48175831032e-05,-0.000319122132151,4.97193723575e-05,1793243237336097536
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,634,879,786.455269244,805,652,631,652,0.416235296742,0.0044843214513,0.079800256477,0.999999941626,8.78935288954e-05,-0.0003260769208,5.19368714545e-05,1793243237352764160
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.868645489,659,634,879,786.131354511,805,652,631,651.868645489,0.415425193967,0.00449287094371,0.0798008274762,0.99999993778,9.94142131056e-05,-0.000334179273309,5.36765466992e-05,1793243237369431040
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.289386141,659,634,879,786.710613859,805,652,631,651.289386141,0.414621384421,0.00449066593026,0.0797862863009,0.999999932395,0.00010306113908,-0.000349039574955,5.25422933856e-05,1793243237386097664
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,879,787,805,652,631.28784293,651.28784293,0.413865801263,0.0044855666842,0.0797895094459,0.999999937831,9.58096579728e-05,-0.000335415595323,5.15332240143e-05,1793243237402764288
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,879,787,805,652,631.863045102,651.863045102,0.413158363499,0.00447757806908,0.079810467061,0.999999952672,7.76780829664e-05,-0.000293355197659,5.06491282237e-05,1793243237419431168
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634.437662719,879,786.562337281,804.562337281,652,631.562337281,652,0.412432394809,0.00447537591007,0.0798111194382,0.999999951808,7.24469769173e-05,-0.000297519951498,5.11558080155e-05,1793243237436097792
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.012494238,714,681,659,634.987505762,878.987505762,786.012494238,804.012494238,652,631,652,0.411701525228,0.00447517028212,0.079805292547,0.999999946083,7.17810551291e-05,-0.000316178446527,5.20798889671e-05,1793243237452764672
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.605757858,714,681,659,634.394242142,878.394242142,786.605757858,804.605757858,652,631,652,0.411012034511,0.00448371409311,0.0797932481202,0.999999937228,9.59235869022e-05,-0.000337072910832,5.22033183285e-05,1793243237469431296
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745.806387916,714,681,659,634,878.193612084,787,805,652,631.193612084,652,0.410341862912,0.00449006971375,0.0797904867818,0.999999934178,0.000111673378051,-0.000341224939273,5.23256461916e-05,1793243237486097408
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745.229249068,714,681,659,634,878.770750932,787,805,652,631.770750932,652,0.409709960489,0.00449209074305,0.0798061143392,0.999999943749,0.000110797968336,-0.000312211829992,5.24457921742e-05,1793243237502764032
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.655434992,634.344565008,879,787,805,652,632,652,0.409117090556,0.00449009370843,0.0798280286934,0.999999955362,0.000101515718952,-0.000275982971601,5.29576714053e-05,1793243237519430912
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.083811876,634.916188124,879,787,805,652,632,652,0.408549941912,0.00448544888888,0.079854085859,0.999999967186,8.6693611807e-05,-0.000234999150248,5.37276911476e-05,1793243237536098048
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745.494648897,714,681,658.494648897,634.505351103,879,787,805,652,631.505351103,652,0.407956459018,0.00448641584409,0.0798346866338,0.999999956849,9.45154537361e-05,-0.000272854318798,5.40240879852e-05,1793243237552764672
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745.92436558,714,680.92436558,658.92436558,634,878.92436558,786.92436558,805,652,631,652,0.407367651817,0.00448808706487,0.0798077270037,0.999999941035,0.000105077813513,-0.000322435067646,5.40673763895e-05,1793243237569431552
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745.334196409,714,680.334196409,658.334196409,634,878.334196409,786.334196409,805,652,631,652,0.406841433053,0.00448799017144,0.0797824650634,0.999999928118,0.000107816909471,-0.000359635105175,5.29423713153e-05,1793243237586097920
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.251397934,745,714,680,658,634.251397934,878.251397934,786.251397934,805,652,631,651.748602066,0.406345103684,0.00448762066928,0.0797741465002,0.999999925872,0.000104815310959,-0.000366847881267,5.18930400266e-05,1793243237602764544
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.831019363,745,714,680,658,634.831019363,878.831019363,786.831019363,805,652,631,651.168980637,0.405887797752,0.00448689525095,0.0797879491011,0.999999938172,9.43186992104e-05,-0.000334909482602,5.09425080574e-05,1793243237619431424
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.183867987,745,714,680,658,634.591933994,878.591933994,786.591933994,805,652,631,651.408066006,0.405466281454,0.0044909900944,0.0798049803988,0.999999946735,0.000104378015466,-0.000305065232999,5.07040763926e-05,1793243237636098048
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.031893675,745,714,680,658,634.015946838,878.015946838,786.015946838,805,652,631,651.984053162,0.405059492725,0.00449706849899,0.0798233403221,0.999999953049,0.000122896195259,-0.00027608273302,5.0758677355e-05,1793243237652764416
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.571003568,745,714,680.571003568,658.571003568,634.571003568,878,786,805,652,631,652,0.404686176027,0.00450185320838,0.0798334238302,0.999999955587,0.000125194354057,-0.000265436687154,5.1919027075e-05,1793243237669431040
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.843805408,745,714,680.843805408,659,634.843805408,878,786.156194592,805,652,631,652,0.404315460138,0.00450433978899,0.0798402772113,0.999999956725,0.000124334075325,-0.000261342722792,5.28328918218e-05,1793243237686097664
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.264229411,745,714,680.264229411,659,634.264229411,878,786.735770589,805,652,631,652,0.403949210457,0.00450069690892,0.0798390138033,0.999999954422,0.000116164437476,-0.000273593582118,5.29932892363e-05,1793243237702764288
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.891175427,745,714,680,659,634.891175427,878,786.108824573,805,652,631,652,0.40330262148,0.00449527975192,0.0798388494197,0.999999954426,0.000105294672818,-0.000278415006513,5.04550146878e-05,1793243237736097792
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.532255556,634.532255556,878,786,804.532255556,652,631,652,0.403028938385,0.00449520243829,0.0798386899343,0.999999953846,0.000102813956027,-0.000281386484551,5.05856162597e-05,1793243237752764160
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.045169036,634.045169036,878,786.045169036,804,652,631,652,0.402767559345,0.00449536794822,0.0798385628899,0.999999953144,0.000100291153897,-0.000284669021865,5.11559736669e-05,1793243237769431040
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878,787,804,652,631.219245643,652,0.402346327003,0.0044888233602,0.0798421663651,0.999999956703,8.21487618979e-05,-0.000277664030762,5.24294288599e-05,1793243237802764288
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.945775051,745.945775051,714,680.945775051,659,634.054224949,878,787,804.945775051,652,631.054224949,652,0.401844134049,0.00449252891614,0.0798557386116,0.999999963655,7.92407365883e-05,-0.000251992428494,5.3948587565e-05,1793243237852764160
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878.139702747,786,804.139702747,652,631,652,0.401288603033,0.00452005224414,0.0798369704061,0.999999945249,0.000166904864329,-0.000282020460742,4.59323478302e-05,1793243237936097792
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.968464024,659,634.031535976,878.968464024,787,805,652,631,652,0.400977019428,0.00447854359541,0.0798398314769,0.999999955751,9.86472350118e-05,-0.000275533358703,5.33635011778e-05,1793243238286097664
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.378865886,659,634.621134114,878.378865886,787,805,652,631,652,0.400973788171,0.00447684557163,0.0798376435267,0.999999954825,9.82838958782e-05,-0.000278987811895,5.34400545667e-05,1793243238302764544
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.208179709,634.791820291,878.208179709,787,804.791820291,652,631,652,0.400971846494,0.00447643740354,0.0798365542074,0.999999954262,9.84027817559e-05,-0.00028095953458,5.34201863029e-05,1793243238319431168
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.790636169,634.209363831,878.790636169,787,804.209363831,652,631,652,0.400972223293,0.00447834820794,0.0798374400661,0.99999995437,9.93886378882e-05,-0.00028026552389,5.32269659687e-05,1793243238336097792
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.487552376,878.487552376,786.487552376,804.487552376,652,631,651.487552376,0.40097406904,0.00447823185424,0.0798392091071,0.999999955132,0.000101163550035,-0.000276857515696,5.34040156607e-05,1793243238386097408
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,764.314965115,745,714,680,659,634.685034885,878,786.685034885,804.685034885,652,631,651.685034885,0.400974613711,0.00447823249063,0.0798400329176,0.99999995528,0.000102355093578,-0.000275882331633,5.34038677733e-05,1793243238419430656
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.272690188,745,714,680,659,634.727309812,878,787,804.727309812,652,631,652,0.40097504678,0.00447870702246,0.0798402408275,0.999999955387,0.000102578153522,-0.000275434074896,5.32920980969e-05,1793243238436097536
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.849455172,745,714,680,659,634.150544828,878,787,804.150544828,652,631,652,0.400975438743,0.00447818239963,0.0798405416739,0.999999955706,0.000100677637944,-0.00027498350694,5.32551710992e-05,1793243238452764416
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764.576092464,745,714,680,659,634.423907536,878,787,804.423907536,652,631,652,0.400975622966,0.00447965381477,0.0798404202735,0.999999955557,0.000103303164417,-0.000274571122218,5.31525307866e-05,1793243238469431040
+406,6.766666667,POSE2_TO_POSE3_RETREAT,764.002456973,745,714,680,659,634.997543027,878,787,804.997543027,652,631,652,0.400975733813,0.00448183024851,0.0798401497316,0.999999955228,0.000107527329777,-0.000274172224179,5.30266799412e-05,1793243238486097408
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b8a80b731c2c3918024681ce9dd24e7f420f0756
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..64f1618949ccbe5f9cdecc9968e95b3e5ad7bb7f
--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..13dca89b3fc948ab69f53f260114e486e4d01ae5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_04/franka_data.csv
@@ -0,0 +1,410 @@
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+61,1.016666667,BASELINE,765,745,714,680,659,635,878,786.592024902,804,652,631,651.592024902,0.400974278254,0.0044793379172,0.079842094938,0.999999956716,0.000101031940227,-0.000271396961617,5.19947356055e-05,1793243239617911552
+62,1.033333333,BASELINE,765,745,714,680,659,635,878,786.016943654,804,652,631,651.016943654,0.400974257292,0.00447897461791,0.0798420864767,0.999999956721,0.000100641533324,-0.000271506639693,5.20815114665e-05,1793243239634577920
+63,1.050000000,BASELINE,765,745,714,680,659,635,878,786,804,652,631,651.575850754,0.400973567176,0.00448022852801,0.0798415498666,0.999999956464,0.00010131984739,-0.00027222568663,5.1951045475e-05,1793243239651244544
+64,1.066666667,BASELINE,765,745,714,680,659,634.835041755,878.164958245,786,804.164958245,651.835041755,631,652,0.400973000518,0.00448061091102,0.0798412303549,0.999999956304,0.000101650525442,-0.000272703994305,5.18838746835e-05,1793243239667911424
+65,1.083333333,BASELINE,765,745,714,680,659,634.25652567,878.74347433,786,804.74347433,651.25652567,631,652,0.400972794307,0.00447868525391,0.0798414953153,0.999999956408,0.000101028326337,-0.000272532380033,5.19919216076e-05,1793243239684577792
+66,1.100000000,BASELINE,765,745.318634666,714,680.318634666,659,634,878.681365334,786,805,651.318634666,631,652,0.400973636297,0.00447858982319,0.0798422445417,0.999999956717,0.000101299974702,-0.000271289131286,5.20217209591e-05,1793243239701244416
+67,1.116666667,BASELINE,765,745.891121492,714,680.891121492,659,634,878.108878508,786,805,651.891121492,631,652,0.400975313375,0.00447995251051,0.0798433795766,0.999999957185,0.000102283739936,-0.000269192125073,5.19891814654e-05,1793243239717911296
+68,1.133333333,BASELINE,765,745.536051843,714,680.536051843,659,634,878,786,805,652,631.463948157,652,0.400973431436,0.00448081390755,0.0798423500074,0.999999956305,0.000103631696461,-0.000271919179514,5.20649566695e-05,1793243239734577664
+69,1.150000000,BASELINE,765,745,714,680,659,634.038435352,878,786,805,652,631.961564648,652,0.400971028417,0.00448143402569,0.0798409663167,0.99999995524,0.000104822173224,-0.000275347013776,5.21246382273e-05,1793243239751244544
+70,1.166666667,BASELINE,765,745,714,680,659,634.635913533,878,786,805,652,631.364086467,652,0.400973203518,0.00448025709504,0.079841825996,0.999999956294,0.000102478061705,-0.000272489188838,5.15802451554e-05,1793243239767911168
+71,1.183333333,BASELINE,765,745,714,680,659,635,878.224130118,786,805,651.775869882,631,651.775869882,0.400973566061,0.00447936996824,0.0798417614556,0.999999956618,0.000101259610093,-0.000271773269818,5.14707329682e-05,1793243239784577536
+72,1.200000000,BASELINE,765,745,714,680,659,635,878.797898884,786,805,651.202101116,631,651.202101116,0.400971101046,0.00447893492965,0.0798402551506,0.999999955817,0.000101797165798,-0.000274398682156,5.20396264644e-05,1793243239801244160
+73,1.216666667,BASELINE,765,745,714,680,658.630067299,634.630067299,878.630067299,786.369932701,804.630067299,651.369932701,631,651,0.400970582152,0.00447951317858,0.0798399746028,0.999999955657,0.00010213595215,-0.00027484056265,5.21219341108e-05,1793243239817910784
+74,1.233333333,BASELINE,765,745,714,680,658.058976928,634.058976928,878.058976928,786.941023072,804.058976928,651.941023072,631,651,0.400971121497,0.00448064242115,0.079840360583,0.999999955848,0.000102366654,-0.000274095107618,5.19396517688e-05,1793243239834577408
+75,1.250000000,BASELINE,765,745,714,680,658.537131444,634.537131444,878,786.462868556,804,652,631,651.537131444,0.400972461047,0.00448116301286,0.0798407509856,0.999999955946,0.000103605009319,-0.000273277677216,5.18991389707e-05,1793243239851244032
+76,1.266666667,BASELINE,765,745,714,680,659,635,878,786.13065714,804,652,631,652,0.400973817498,0.00448090928878,0.0798413164507,0.999999956215,0.000103752330364,-0.000272249765669,5.18151196035e-05,1793243239867910912
+77,1.283333333,BASELINE,765,745,714,680,659,635,878,786.705603446,804,652,631,652,0.400974918056,0.00447826091658,0.0798424754705,0.999999957099,9.97950740393e-05,-0.000270534315765,5.15276419226e-05,1793243239884577536
+78,1.300000000,BASELINE,765,745,714,680,659,634.718177715,878,786.718177715,804.281822285,652,631,652,0.400974721958,0.00447789722453,0.0798424032302,0.999999957124,9.97542198354e-05,-0.00027047686829,5.14156433472e-05,1793243239901244160
+79,1.316666667,BASELINE,765,745,714,680,659,634.140623573,878,786.140623573,804.859376427,652,631,652,0.400973165207,0.00447993097505,0.0798410389599,0.99999995625,0.000103823065255,-0.000272159255428,5.14877848115e-05,1793243239917911040
+80,1.333333333,BASELINE,765,745,714,680,659,634,878,786.43276628,805,652,631,652,0.400973289035,0.00447908140303,0.0798413895548,0.99999995656,0.000101637578627,-0.000271800256358,5.17112531918e-05,1793243239934577664
+81,1.350000000,BASELINE,764.994982498,745,714,680,659,634.005017502,878,786.994982498,804.994982498,652,631,652,0.400973958826,0.00447731913262,0.0798422923079,0.999999957235,9.74940385367e-05,-0.000270783177149,5.1981406562e-05,1793243239951244544
+82,1.366666667,BASELINE,764.398989054,745,714,680,659,634.601010946,878,786.398989054,804.398989054,652,631,652,0.400975226637,0.00447735686992,0.0798432231666,0.999999957313,9.98129416889e-05,-0.000269639866405,5.20137889303e-05,1793243239967911168
+83,1.383333333,BASELINE,764.190610261,745,714,680,659,634.809389739,878,786,804.190610261,652,631,652,0.40097553163,0.0044779409122,0.0798434876542,0.999999957184,0.000101747228381,-0.000269402667883,5.19692557635e-05,1793243239984577792
+84,1.400000000,BASELINE,764.767259783,745,714,680,659,634.232740217,878,786,804.767259783,652,631,652,0.400973886645,0.00447963137537,0.0798424025536,0.999999956645,0.00010290255925,-0.000271000600632,5.1768947064e-05,1793243240001244672
+85,1.416666667,BASELINE,765,745,714,680,659,634.341979236,878,786.341979236,805,652,631.341979236,652,0.400973233807,0.0044791057967,0.0798419607911,0.999999956602,0.000101539762518,-0.000271645360109,5.19141640081e-05,1793243240017911552
+86,1.433333333,BASELINE,765,745,714,680,659,634.915392482,878,786.915392482,805,652,631.915392482,652,0.400973252405,0.00447708051443,0.0798419544069,0.999999956889,9.84728260785e-05,-0.000271645060695,5.2293215002e-05,1793243240034578176
+87,1.450000000,BASELINE,765,745,714,680,659,634.497250846,878,786.497250846,804.497250846,652,631.497250846,652,0.400972648475,0.00447918474246,0.0798416689088,0.999999956298,0.00010301112146,-0.000272167194008,5.21237471589e-05,1793243240051244544
+88,1.466666667,BASELINE,765,745,714,680,659,634,878,786,804,652,631,652,0.400972163563,0.00448134273217,0.0798413896343,0.999999955765,0.000107190922651,-0.000272559208364,5.18780349092e-05,1793243240067911168
+89,1.483333333,BASELINE,765,745,714,680,659,634,878,786,804,652,631,652,0.400972897447,0.00447994804724,0.0798414034651,0.999999956494,0.000102368943446,-0.000271765878996,5.17328209301e-05,1793243240084577792
+90,1.500000000,BASELINE,764.750177489,745.249822511,714,680,659,634.249822511,878.249822511,786.249822511,804,652,631,652,0.400973579926,0.00447914508828,0.0798416871195,0.999999956906,0.000100158695911,-0.000271083518218,5.16693257304e-05,1793243240101244416
+91,1.516666667,BASELINE,764.171369648,745.828630352,714,680,659,634.828630352,878.828630352,786.828630352,804,652,631,652,0.400974194711,0.0044791213593,0.0798423260983,0.999999956925,0.000101387776135,-0.000270547289409,5.17134440623e-05,1793243240117911040
+92,1.533333333,BASELINE,764.402430352,745.597569648,714.402430352,680,659,635,878.597569648,786.597569648,804,652,631,652,0.40097440061,0.00447897548093,0.0798426906716,0.999999956988,0.000101061346023,-0.000270400942184,5.18938443482e-05,1793243240134577408
+93,1.550000000,BASELINE,764.97412409,745.02587591,714.97412409,680,659,635,878.02587591,786.02587591,804,652,631,652,0.400974434529,0.00447877822616,0.0798429398293,0.99999995707,0.000100080663812,-0.000270418580251,5.21315652272e-05,1793243240151244032
+94,1.566666667,BASELINE,764.434930475,745,714.434930475,680,659,634.434930475,877.434930475,786,804.565069525,652,631,652,0.400973912596,0.00447939377631,0.0798427432906,0.999999956911,0.000100527387058,-0.000270831021535,5.2189465498e-05,1793243240167910912
+95,1.583333333,BASELINE,764.153592387,745,714,680,659,634,877.153592387,786,805,652,631,652,0.400973514805,0.00447950222,0.0798423531958,0.999999956758,0.000100681044706,-0.0002713393738,5.21700906753e-05,1793243240184577792
+96,1.600000000,BASELINE,764.73287162,745,714,680,659,634,877.73287162,786,805,652,631,652,0.400973534106,0.00447809840399,0.0798414852142,0.999999956658,9.98349111252e-05,-0.000272061672982,5.19601721147e-05,1793243240201244416
+97,1.616666667,BASELINE,765,745,714,680,659,634.310112605,878.310112605,786.310112605,805,652,631,652,0.400974107731,0.00447764694172,0.0798417308564,0.999999956929,9.93295731187e-05,-0.000271261195041,5.18976026871e-05,1793243240217911040
+98,1.633333333,BASELINE,765,745,714,680,659,634.88560929,878.88560929,786.88560929,805,652,631,652,0.400975155727,0.00447801047225,0.0798429295008,0.999999957515,9.91158767098e-05,-0.000269157574909,5.19611297721e-05,1793243240234577664
+99,1.650000000,BASELINE,765,745,714.470488242,680,659,634.529511758,879,787,804.529511758,652,631,652,0.400974970599,0.00447937909269,0.0798429042249,0.999999957308,0.000100834035543,-0.000269328069702,5.17505880086e-05,1793243240251244032
+100,1.666666667,BASELINE,765.056897822,745,714.943102178,680,659,634.056897822,878.943102178,787,804.056897822,652,631,652,0.400974580933,0.00448073762369,0.0798426621244,0.999999956944,0.000102810979097,-0.00026997228308,5.15471417307e-05,1793243240267910912
+101,1.683333333,BASELINE,765.635993518,745,714.364006482,680,659,634.635993518,878.364006482,787,804.635993518,652,631,652,0.400975121675,0.00447971514303,0.0798432166985,0.999999956974,0.00010276450762,-0.000269786440205,5.20328230395e-05,1793243240284577536
+102,1.700000000,BASELINE,765.785456329,745,714,680,659,635,878,787,804.785456329,652,631.214543671,652,0.400974849993,0.00447924042322,0.0798430545316,0.999999956836,0.000102539376645,-0.000270364386151,5.21317507021e-05,1793243240301244160
+103,1.716666667,BASELINE,765.207829487,745,714,680,659,635,878,787,804.207829487,652,631.792170513,652,0.400973203405,0.0044796927071,0.0798416793874,0.999999956411,0.000102011891117,-0.000272234930805,5.15761554393e-05,1793243240317911040
+104,1.733333333,BASELINE,765,745,714,680.36740028,659,634.63259972,878,786.63259972,804.36740028,652,631.63259972,652,0.400972643946,0.00448050121527,0.0798411783636,0.999999956154,0.00010301997526,-0.000272807663465,5.15287136304e-05,1793243240334577920
+105,1.750000000,BASELINE,765,745,714,680.941282923,659,634.058717077,878,786.058717077,804.941282923,652,631.058717077,652,0.400972695463,0.00448150992483,0.0798411686034,0.99999995599,0.000104891063739,-0.00027265101393,5.17668587197e-05,1793243240351244544
+106,1.766666667,BASELINE,765,745,714,680.469428201,659,634.530571799,878.530571799,786.530571799,805,652,631,652,0.400972978754,0.00448079019436,0.0798415924943,0.999999956343,0.000102984098126,-0.00027211005856,5.16142714691e-05,1793243240367911424
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,635,878,786,805,652,631,652,0.400974748169,0.00447985976358,0.0798431783787,0.999999957082,0.00010202746268,-0.000269646512582,5.21316640245e-05,1793243240409984512
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714.423711295,680,658.423711295,635,878,786.576288705,805,652,631,652,0.400974824189,0.00447992821619,0.0798432132161,0.999999957147,0.000101882018346,-0.000269463845458,5.21067289417e-05,1793243240426651392
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745.152174665,714.152174665,680,658.152174665,635,878.30434933,786.847825335,805,652,631,652,0.400974722334,0.0044797657733,0.0798430904296,0.99999995715,0.000101520414787,-0.000269598904392,5.20525823115e-05,1793243240443318016
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745.726942319,714.726942319,680,658.726942319,635,879.453884639,786.273057681,805,652,631,652,0.400974126519,0.00447896212766,0.0798425299177,0.99999995698,0.000100558531425,-0.000270616296779,5.19173144513e-05,1793243240459984896
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.31100436,745.68899564,714.68899564,680,659,634.68899564,879.68899564,786.31100436,804.68899564,652,631,652,0.400973732015,0.00447888605137,0.079842439303,0.999999956894,0.000100648880965,-0.00027089170865,5.1958042395e-05,1793243240476651520
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.903478097,745.096521903,714.096521903,680,659,634.096521903,879.096521903,786.903478097,804.096521903,652,631,652,0.400973519707,0.00447946844981,0.0798427739611,0.999999956885,0.000101691536631,-0.000270495603209,5.21580524523e-05,1793243240493317888
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.516448444,745,714,680,659.483551556,634.483551556,879,786.516448444,804.483551556,652,631,652,0.400973881352,0.004478811532,0.0798431508882,0.999999957131,0.000100388580808,-0.000270073980811,5.21607298252e-05,1793243240509984512
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745.060562073,714.060562073,680,659.939437927,635,878.939437927,786.060562073,805,652,631.060562073,652,0.400974415231,0.00447805849867,0.0798435672779,0.999999957407,9.88137308424e-05,-0.000269646084894,5.2084084935e-05,1793243240526651136
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745.632091824,714.632091824,680,659.367908176,635,878.367908176,786.632091824,805,652,631.632091824,652,0.40097545982,0.00447852951503,0.0798442472112,0.999999957549,9.8796431961e-05,-0.000269207158144,5.16622156298e-05,1793243240543317760
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.205365678,746,715,680.205365678,659,635,878,787,805,652,631.794634322,652,0.400978443168,0.00447907111313,0.0798454530168,0.999999957934,9.98154302901e-05,-0.000267425336223,5.15002017292e-05,1793243240559984128
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.781790753,746,715,680.781790753,659,635,878,787,805,652,631.218209247,652,0.400984929511,0.00447974023987,0.0798476089805,0.999999958742,0.000102706834084,-0.000263217140683,5.18077005529e-05,1793243240576651008
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.629180098,746,714.629180098,680.629180098,659,634.629180098,878,787,805,652,631,652,0.40100736709,0.00447927849675,0.0798571192026,0.999999962998,0.000102586616145,-0.000246577696756,5.17618237366e-05,1793243240593317632
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.032473048,746,714.032473048,680.032473048,659,634.032473048,878,787,805,652,631,652,0.401039521459,0.00447812787759,0.0798711093154,0.999999968887,0.000100631851142,-0.000222365683396,5.15006860523e-05,1793243240609984256
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.455809989,745.455809989,714,680,659,634.544190011,878,787,805,652.544190011,631,652,0.401094018213,0.00448038540477,0.0798894590315,0.999999976272,0.000101582115901,-0.000186018318886,5.03502158682e-05,1793243240626651136
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.1197115,745,714,680,659,635,878,787,805,652.8802885,631,652,0.401151956319,0.00448239047258,0.0799062960716,0.999999981773,0.000102373823812,-0.000153480226655,4.916936743e-05,1793243240643317760
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.695278892,745,714,680,659,635,878,787,805,652.304721108,631,652,0.401218102463,0.00448268726806,0.0799164174783,0.999999984114,0.000101925097469,-0.000138107206488,4.80677433779e-05,1793243240659984384
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.276825029,787,805,652,631,652,0.401289321887,0.00448239985677,0.0799234753564,0.999999985853,0.000100174042122,-0.000126920464831,4.63745371096e-05,1793243240676651008
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.865097638,787,805,652,631,652,0.401366249104,0.00448145517185,0.0799270865491,0.999999987078,9.695777532e-05,-0.000120443581147,4.40157594171e-05,1793243240693317632
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680.44534095,659.44534095,634.55465905,879,786.55465905,805,652,631,652,0.401460312606,0.00448435536658,0.0799310370674,0.999999987925,9.64875540973e-05,-0.00011478217045,4.07960428269e-05,1793243240709984512
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.977018522,745,714,680.977018522,659.977018522,634.022981478,878.977018522,786,805,652,631,652,0.401560565188,0.00448830872763,0.0799351272485,0.999999988659,9.6767181474e-05,-0.000109211287447,3.73046522791e-05,1793243240726650880
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.404486321,745,714,680.404486321,659.404486321,634.595513679,878.404486321,786,805,652,631,652,0.401686885163,0.00449008853965,0.0799401427354,0.999999989886,9.54386837628e-05,-0.00010000279307,3.34426674898e-05,1793243240743317760
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.17378366,745,714,680,659,635,878,786.17378366,805,652,631,652,0.401822823625,0.00449140636395,0.0799461746753,0.999999991303,9.27929206822e-05,-8.90550936042e-05,2.92151610423e-05,1793243240759984640
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.765864391,745,714,680,659,635,878,786.765864391,805,652,631,652,0.401981913758,0.00449161218406,0.0799546532156,0.999999993195,8.69765015694e-05,-7.39211308265e-05,2.41078449434e-05,1793243240776651264
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.649568399,878.350431601,787,805,652,631,652,0.402157436726,0.00449311039839,0.0799621213847,0.999999994667,8.16512352684e-05,-6.04146210146e-05,1.87059962333e-05,1793243240793317888
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.069915805,878.930084195,787,805,652,631,652,0.4023437086,0.00449545398138,0.0799689286602,0.999999995826,7.6647236605e-05,-4.79726437933e-05,1.31114901386e-05,1793243240809984512
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.505626411,634,878.494373589,787,805,652,631,652,0.402539418998,0.00449942882427,0.0799655573353,0.999999995828,7.26719774247e-05,-5.49943596729e-05,6.14077056181e-06,1793243240826650880
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.919150148,634.080849852,878,787,805,652,631,652,0.402740951048,0.00450364562414,0.0799602495734,0.999999995524,6.84080013851e-05,-6.53456996487e-05,-1.15229551961e-06,1793243240843317760
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.342423764,634.657576236,878,787,805,652,631,652,0.402970248989,0.00450797412795,0.0799516277773,0.999999994886,6.15078117679e-05,-7.97448526474e-05,-9.26467708e-06,1793243240859984384
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878,786.760154601,804.760154601,652,631,652,0.403220118166,0.00451194078316,0.0799457774313,0.999999994347,5.62969210043e-05,-8.85971890284e-05,-1.696850081e-05,1793243240876651008
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878,786.169784929,804.169784929,652,631,652,0.403500051352,0.00451537861115,0.079943977447,0.999999994285,5.35548720818e-05,-8.93430782137e-05,-2.4075233443e-05,1793243240893317888
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878,786.41230039,804.41230039,652,631,651.58769961,0.403816977954,0.00452059431364,0.0799487189444,0.999999992319,9.17521261079e-05,-8.10963686819e-05,-1.91533140717e-05,1793243240909984512
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878,786.991041402,804.991041402,652,631,651.008958598,0.404148838339,0.00452652772223,0.0799561011579,0.999999986833,0.000146476075568,-6.92194568508e-05,-9.37557485815e-06,1793243240926651392
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.567786952,714,680,659,635,878.567786952,787,805,652,631,651.567786952,0.404507658506,0.00453691701186,0.0799567109163,0.999999985646,0.000154203579487,-6.82131548164e-05,-1.66077501702e-05,1793243240943318016
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,746,714,680,659,635,879,787,805,652,631,652,0.404879700442,0.00454549143073,0.0799569307161,0.999999988164,0.000136799929781,-6.65499234346e-05,-2.3007793826e-05,1793243240959984128
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,746,714,680,659,635,879,787,805,652,631,652,0.405290021673,0.00454842789116,0.0799563026179,0.999999996633,4.6437400812e-05,-6.24105461706e-05,-2.61189280908e-05,1793243240976650752
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.701466379,714,680.298533621,658.701466379,635,878.701466379,786.701466379,805,651.701466379,631,652,0.405711599063,0.00455589450192,0.0799508603213,0.999999996885,2.24410896094e-05,-7.00502019666e-05,-2.86153580641e-05,1793243240993317376
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.110737014,714,680.889262986,658.110737014,635,878.110737014,786.110737014,805,651.110737014,631,652,0.40614419369,0.00456779508817,0.0799407060319,0.999999993545,6.34020291175e-05,-8.92188214325e-05,-3.05101344203e-05,1793243241009984000
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680.528233417,658.471766583,634.528233417,878,786.471766583,805,651.471766583,631,652,0.406616919498,0.00457676615199,0.0799353574231,0.999999989897,9.92866532778e-05,-9.70637692884e-05,-3.04464898973e-05,1793243241026651136
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745.051826765,714,680,659,634.051826765,878,786.948173235,805,652,631,652,0.407100888029,0.00458521833586,0.079931401814,0.999999985598,0.000132002990567,-0.000102314575904,-3.01973750187e-05,1793243241043318272
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745.626383517,714,680,659,634.626383517,878,786.373616483,805,652,631,652,0.40760487001,0.00459525381968,0.0799303136936,0.999999983211,0.000144575879481,-0.000107749915508,-3.26346797238e-05,1793243241059984640
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.20533119,745.79466881,714,680.20533119,659,635,878.20533119,786,804.79466881,652,631,652,0.408125620251,0.00460562395139,0.0799256275546,0.999999980858,0.00015231351162,-0.000117820732147,-3.46899787021e-05,1793243241076651520
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.792443046,745.207556954,714,680.792443046,659,635,878.792443046,786,804.207556954,652,631,652,0.408677548372,0.00461661630696,0.0799142514728,0.999999978624,0.000151060752619,-0.00013651048023,-3.6034998687e-05,1793243241093318144
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.625389048,745,714,680.625389048,659,634.625389048,879,786,804.374610952,652,631,652,0.409284949507,0.00462394314557,0.0799269839298,0.999999979904,0.000158300626351,-0.000117199009479,-3.73708679006e-05,1793243241109984512
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.045924725,745,714,680.045924725,659,634.045924725,879,786,804.954075275,652,631,652,0.409922685651,0.00462926552159,0.0799528999724,0.999999981797,0.000170184636537,-7.71068380887e-05,-3.8701732986e-05,1793243241126651136
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.532710942,714,680.532710942,659,634,879,786,805,652,631.532710942,652,0.410599778142,0.00463714390861,0.0799827779537,0.999999982908,0.000178416530361,-2.79753006109e-05,-3.96033798132e-05,1793243241143317504
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.889324272,714,680.889324272,659.110675728,634.110675728,878.889324272,786,805,652,631.889324272,652,0.411272322692,0.00464194854423,0.0800032837763,0.999999982602,0.00018200011531,4.96620565128e-06,-4.05913523211e-05,1793243241159984384
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.313877406,714,680.313877406,659.686122594,634.686122594,878.313877406,786,805,652,631.313877406,652,0.411911542502,0.00463292137082,0.0799830000875,0.999999984549,0.000167383726341,-3.33480614953e-05,-4.20969880982e-05,1793243241176651264
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.267391579,714,680.267391579,659.732608421,635,878.534783157,786,805,652,631,651.732608421,0.412572024994,0.00461836240472,0.0799550356504,0.999999984813,0.000150643988693,-7.58348910896e-05,-4.39299207723e-05,1793243241193317888
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.855647051,714,680.855647051,659.144352949,635,879.711294102,786,805,652,631,651.144352949,0.413258022312,0.00459716541034,0.0799178544853,0.999999982703,0.00013135627831,-0.000123328706988,-4.61556025606e-05,1793243241209984768
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.563457041,745.563457041,714,681,659,635,879.563457041,786,805,652,631.436542959,651.436542959,0.414000801007,0.00458741911904,0.0799157423872,0.999999985276,0.000117146222251,-0.000117020056977,-4.50701746211e-05,1793243241226651392
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.015023221,745,714,680.984976779,659.015023221,635,879,786,805,652,631.984976779,652,0.414762709912,0.00458163478258,0.0799254420143,0.999999989267,0.0001048394233,-9.28838691698e-05,-4.29688804559e-05,1793243241243317760
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.59266658,745,714,680.40733342,659.59266658,635,879,786,805,652,631.40733342,652,0.415549541222,0.00458477452442,0.079950406023,0.999999992283,0.000101971929667,-5.63337219025e-05,-4.31473779487e-05,1793243241259984384
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879,786,805,652,631,651.82718265,0.416323732122,0.0045898072569,0.0799635735408,0.999999992557,0.000106730305949,-4.04203450832e-05,-4.31348042674e-05,1793243241276651008
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879,786,805,652,631,651.241034893,0.417067690678,0.00459936748941,0.0799485271749,0.999999987947,0.000129727614731,-7.38643108291e-05,-4.26652422364e-05,1793243241293317888
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680.341363158,660,635,879.341363158,786,805.341363158,652,631,651.341363158,0.417902416156,0.004603098122,0.079956962831,0.9999999882,0.000136911732425,-5.38148999956e-05,-4.42664186638e-05,1793243241309984512
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680.921142304,660,635,879.921142304,786,805.921142304,652,631,651.921142304,0.418800535336,0.00460275722573,0.0799817988791,0.999999990023,0.000133051547651,3.59553344179e-06,-4.73138470374e-05,1793243241326651392
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,635,879.499512173,786,805.499512173,652,631,652,0.419652946761,0.00459752181639,0.0799860575777,0.999999991719,0.000118131975133,1.40589085485e-05,-4.9092152755e-05,1793243241343318016
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.07898076,745,714,681,659.92101924,634.92101924,879.07898076,786,805,652,631,652,0.420497371034,0.00459210412705,0.0799848157211,0.999999993189,0.000104417138479,1.28370559618e-05,-5.05406769004e-05,1793243241359984896
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.65256176,745,714,681,659.34743824,634.34743824,879.65256176,786,805,652,631,652,0.421336837744,0.0045903701688,0.0799694138273,0.999999992617,0.000109149524384,-1.52786569018e-05,-5.11751681127e-05,1793243241376651264
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.773805096,745.226194904,714,681,659.226194904,634,879.773805096,786,805,652,631.226194904,652,0.4221979423,0.00459255285966,0.0799705115673,0.999999991995,0.000114846152767,-1.5023676719e-05,-5.09419987028e-05,1793243241393317632
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.200091751,745.799908249,714,681,659.799908249,634,879.200091751,786,805,652,631.799908249,652,0.423092290661,0.00460075296166,0.0799969588017,0.999999990921,0.000122024212388,2.88191027066e-05,-4.9375784011e-05,1793243241409984256
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.611742853,714,681,659.611742853,634,879,786,805,652,631.611742853,652,0.423976510663,0.00460729082058,0.0800016395994,0.999999989397,0.000134681744262,2.77997995584e-05,-4.78902666651e-05,1793243241426650880
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.015555971,714,681,659.015555971,634,879,786,805,652,631.015555971,652,0.424855306405,0.00461293847064,0.0799946634578,0.999999987626,0.000150273787573,2.75476505264e-06,-4.64479665901e-05,1793243241443317504
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681.55877227,659.55877227,634,879,786,805,652,631,652,0.425696706833,0.00461273195685,0.0799477714439,0.999999986104,0.000140244104562,-7.57081702622e-05,-4.89035443949e-05,1793243241459984640
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.132749043,714,682,659.867250957,634,879,786,805,651.867250957,631,652,0.426554462123,0.00461157304548,0.0799113372508,0.999999981421,0.000131135315911,-0.000131665697313,-5.12486151692e-05,1793243241476651520
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.707505444,714,682,659.292494556,634,879,786,805,651.292494556,631,652,0.427470009166,0.00460776521483,0.079913284648,0.999999984666,0.000127378399961,-0.000107922963839,-5.28780224803e-05,1793243241493318144
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,746,714,682,659.290234632,634,879.290234632,786,805.290234632,651.290234632,631,652,0.428361995108,0.00460615085456,0.0799190677901,0.999999985555,0.00012914309282,-9.71122822569e-05,-5.27389343668e-05,1793243241509984512
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,746,714,682,659.881225604,634,879.881225604,786,805.881225604,651.881225604,631,652,0.429229565743,0.00460680948351,0.079928825732,0.999999984407,0.000136629566448,-9.97024722486e-05,-5.07672385116e-05,1793243241526651136
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,746,714,681.536968861,660,634,879.536968861,786,805.536968861,652,631,651.536968861,0.430181406466,0.00460667913981,0.079966621111,0.999999989134,0.000130179378186,-4.65837368004e-05,-5.11304422712e-05,1793243241543318016
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.957743659,714.042256341,681.042256341,660,634,879.042256341,786,805,652,631,651.042256341,0.431148310188,0.00460654561542,0.0800094687763,0.999999991126,0.000121419323478,1.75483584073e-05,-5.19390641025e-05,1793243241559984640
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.38192776,714.61807224,681.61807224,660,634,879.61807224,786,805,652,631,651.61807224,0.432037772505,0.00460887766144,0.0800270649848,0.999999989581,0.000127755252244,4.38148071648e-05,-5.09563561411e-05,1793243241576651264
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714.802484876,682.197515124,660,634,879.802484876,786,805.197515124,652,631,652,0.432886162964,0.00461206882825,0.0800159385782,0.999999989484,0.00013336904541,2.60916944656e-05,-5.06306207005e-05,1793243241593317888
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714.215897322,682.784102678,660,634,879.215897322,786,805.784102678,652,631,652,0.43365364875,0.00461695232264,0.0799482333295,0.999999986143,0.000137560350087,-7.82836422178e-05,-5.15990129981e-05,1793243241609984768
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682.633806016,660,634.366193984,879.732387968,786.366193984,806,652,631,652,0.4344880337,0.00461935497898,0.0799166369149,0.999999982602,0.00013257779541,-0.000119625859079,-5.39306786492e-05,1793243241626651392
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682.054333448,660,634.945666552,880.891333104,786.945666552,806,652,631,652,0.435361381994,0.0046203127461,0.0799060710003,0.99999998318,0.000122252204805,-0.000124256340444,-5.70563416973e-05,1793243241643318272
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,635,880.477424648,787,806,652,631,652,0.436242738984,0.00461781554976,0.0799428929965,0.999999987679,0.000124943600469,-7.72371155704e-05,-5.5361254683e-05,1793243241659984640
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,682.099114424,660,635,880,786.900885576,806,652,631,652,0.437118533564,0.00461449898314,0.0799818551989,0.999999990067,0.000127576749746,-2.68314020204e-05,-5.35812465599e-05,1793243241676651008
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,682.675150796,660,635,880,786.324849204,806,652,631,652,0.437963575559,0.00460895981719,0.0800075233783,0.999999990833,0.000123449049662,1.41554311616e-05,-5.37926501025e-05,1793243241693317632
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745.249457806,714,683,660,634.750542194,880,786.249457806,806,652,631,652,0.438786247929,0.00460497568734,0.0800240185246,0.999999991149,0.00011428155454,4.0931611557e-05,-5.44703499895e-05,1793243241709984000
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745.821528265,714,683,660,634.178471735,880,786.821528265,806,652,631,652,0.439579990596,0.00460300261673,0.0800286505942,0.999999992369,9.85963178014e-05,4.93297854333e-05,-5.57510902026e-05,1793243241726650880
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,746,714,683,660,634.411165766,880,786.588834234,806,652,631,652,0.440299431562,0.00460309477231,0.0799896487514,0.999999992902,0.000104807409382,-8.99635985011e-06,-5.59450217659e-05,1793243241743317760
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.991606682,714,683.008393318,660,634.991606682,880,786,805.991606682,652,631,652,0.440985126602,0.00460415095393,0.0799308070944,0.999999986438,0.000120408072124,-9.75983358381e-05,-5.56844141209e-05,1793243241759984384
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.419596008,714,683.580403992,660,634.419596008,880,786,805.419596008,652,631,652,0.441667132581,0.00460705905527,0.0798682967925,0.999999975743,9.98139776215e-05,-0.000187585692757,-5.79929318915e-05,1793243241776651264
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,683.846043989,660,634,880,786,805.153956011,652,631,652,0.442370957264,0.00460966750571,0.0798377386309,0.999999968039,8.90317698509e-05,-0.000229000471199,-5.96118284506e-05,1793243241793318144
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,683.268248537,660,634,880,786,805.731751463,652,631,652,0.443134848789,0.00461145102071,0.079895144396,0.999999983357,0.000105261590481,-0.000136695422618,-5.93322056987e-05,1793243241809984768
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,683,660,634,880,786.315829248,806.315829248,652,631,652,0.443861216749,0.00461165884373,0.0799517852835,0.99999999076,0.000111173973197,-5.19367159961e-05,-5.8507371487e-05,1793243241826651136
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,683,660,634,880,786.905351167,806.905351167,652,631,652,0.444555067331,0.00461050119668,0.0800077633368,0.99999999217,0.000108145425179,2.62824432037e-05,-5.7210065648e-05,1793243241843317760
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,683,660,634,880.48765264,786.51234736,806.51234736,652,631,652,0.445190761793,0.00460437618371,0.0800138937059,0.999999993252,9.58440551168e-05,3.25482325791e-05,-5.7012441782e-05,1793243241859984640
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,683,660,634,880.932877748,786,806,651.932877748,631,651.932877748,0.445807611321,0.00459845183524,0.0800077584136,0.999999994525,8.51864215512e-05,2.10950295443e-05,-5.69998025572e-05,1793243241876651264
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,683,660,634,880.36424848,786,806,651.36424848,631,651.36424848,0.446366765095,0.00460112512153,0.0799812119542,0.999999993182,0.000100060893656,-1.99251541309e-05,-5.67978399737e-05,1793243241893317888
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,683,659.786895043,634,880,786,806,651.213104957,631,651,0.446910018,0.0046056881757,0.079954590114,0.999999990715,0.000110463534568,-5.57721019812e-05,-5.70757275375e-05,1793243241909984512
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,683,659.193993413,634,880,786,806,651.806006587,631,651,0.447424932239,0.00461361918295,0.0799278339327,0.999999988538,0.000112896455165,-8.23992798504e-05,-5.82088064817e-05,1793243241926651392
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,683,659,634,880.390332292,786,806,652,631,651.390332292,0.447909703251,0.00461983156206,0.0799030588435,0.999999985701,0.000106616061182,-0.000117173884719,-5.91668252966e-05,1793243241943318016
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,683,659,634,880.970487483,786,806,652,631,651.970487483,0.448379815325,0.00462520815406,0.079879247179,0.999999981426,9.60982863003e-05,-0.000155910675454,-6.00397104742e-05,1793243241959984640
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.127502316,714,684.127502316,658,633,880,786,806,651,631,651.127502316,0.449234048945,0.00463339937463,0.0798314545806,0.999999962085,0.000127622698328,-0.000236596904065,-5.97080229675e-05,1793243241993317888
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.699356626,714,684.699356626,658,633,880,786,806,651,631,651.699356626,0.449665610256,0.00463719977372,0.0798298548205,0.999999961391,0.000138881952219,-0.000233004688392,-6.03135908391e-05,1793243242009984512
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.719482867,714,684.719482867,657.719482867,633,880,786,806,651.280517133,631,652,0.450079969035,0.00464141989955,0.0798364359642,0.999999962692,0.000150020496522,-0.00022020691507,-6.01540469929e-05,1793243242026651136
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.12800627,714,684.12800627,657.12800627,633,880,786,806,651.87199373,631,652,0.450475258401,0.00464610530156,0.0798520858213,0.999999965841,0.000161025230838,-0.00019720457702,-5.91463597766e-05,1793243242043317504
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,684,657,633,880.453476742,786,806,652,631,652,0.450836321523,0.00464882116911,0.0798612526712,0.999999967339,0.000166534330584,-0.000184796626761,-5.86429079297e-05,1793243242059984384
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,684,657,633,880.96798243,786,806,652,631,652,0.451184358522,0.00465103171968,0.0798675850634,0.999999968132,0.000170140090339,-0.000177146955253,-5.83776956616e-05,1793243242076651264
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,684,657,633,880.392531347,786,806,652,631,652,0.451471748649,0.00465389828408,0.0798561991909,0.999999964115,0.000167202836949,-0.000200595267383,-5.97923731893e-05,1793243242093317888
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.182400678,714,684,657,633,880,786,806,652,631,652,0.451740718303,0.00465627800436,0.0798393960855,0.999999959241,0.000155711516369,-0.00023168204492,-5.99571626725e-05,1793243242109984768
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.756218771,714,684,657,633,880,786,806,652,631,652,0.451970159042,0.00465761299531,0.0798109680288,0.999999951464,0.000125863845028,-0.00027916036122,-5.74397911184e-05,1793243242126651136
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.658653976,713.658653976,684.341346024,656.658653976,633,880,786,806,652,631,652,0.45219152391,0.0046613939706,0.0797904735467,0.999999942674,0.000122255130718,-0.000310635646481,-5.66621202762e-05,1793243242143317760
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.065173165,713.065173165,684.934826835,656.065173165,633,880,786,806,652,631,652,0.45240692357,0.0046669816691,0.0797758391862,0.999999934294,0.000138027784071,-0.000330290319478,-5.71694768495e-05,1793243242159984384
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.51450297,713,685,655.48549703,633,880,786,806,652,631,652,0.452603556606,0.00468075525906,0.0797709037761,0.99999992917,0.000154118513624,-0.000337717779776,-6.20883818791e-05,1793243242176651008
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,746,713.091919741,685,655,633,880.091919741,786,806,652,631,652,0.452793858519,0.00469546841762,0.0797680382806,0.99999992458,0.000170797371931,-0.000342277866005,-6.71825343395e-05,1793243242193317632
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,746,713.666415692,685,655,633,880.666415692,786,806,652,631,652,0.452963076449,0.00470981271573,0.0797697582745,0.999999921709,0.000190357895443,-0.000339703246684,-7.03396027235e-05,1793243242209984768
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,714,685,655,633,881,785.758826283,806,652,631,652,0.453118699525,0.00470723773193,0.0797681492438,0.999999920619,0.000192179446081,-0.00034167550607,-7.13242465816e-05,1793243242226651904
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,746,714,685,655,633,881,785.183705405,806,652,631,652,0.453255498142,0.00468123504459,0.0797619305968,0.999999922014,0.000169438287485,-0.000349943713811,-6.93007888357e-05,1793243242243318272
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.594941287,713.594941287,684.594941287,654.594941287,632.594941287,881,785.405058713,806,652,630.594941287,652,0.453370230044,0.00466170658115,0.0797553934547,0.999999921173,0.000149463555542,-0.000361425312292,-6.84509348888e-05,1793243242259984640
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+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,713.574580021,684.574580021,654,632,881,786,806,652,630.574580021,652,0.453559702379,0.00465627350908,0.0797461158632,0.999999915355,0.000143435117828,-0.00037933078426,-6.94641024136e-05,1793243242293317888
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.057270493,714,684.942729507,654,632,881,786,806,652,631,652,0.453879138416,0.00466241559056,0.079730332096,0.999999904678,0.000152387600527,-0.000403707084804,-6.66547428032e-05,1793243242393317888
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+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.788039615,714,684.211960385,654,632,881.211960385,786,806,652,631,652,0.453911330764,0.00465851419728,0.0797206501049,0.99999989784,0.000149616626606,-0.000421572245817,-6.49011088076e-05,1793243242426651136
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765.517302281,745,714,685,653.517302281,632,881,786,806,652,631,652,0.45394882974,0.00466218066724,0.0796998997729,0.99999988546,0.000147987980136,-0.000450688769229,-6.37137053233e-05,1793243242693317888
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,713.958845756,685,653,632,881,786,806,652,631,652,0.453950684479,0.00465990520669,0.0797003197229,0.999999886429,0.000145393285158,-0.000449477229885,-6.30366845475e-05,1793243242709984512
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,713.361049122,685,653,632,881,786,806,652,631,652,0.453949730838,0.00466086638341,0.0797001083303,0.999999885595,0.000146525562758,-0.000450899671099,-6.34877478233e-05,1793243242726651136
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745,713,685,653,631.766164463,881,786,806,652,631,652,0.453949724184,0.00466246196484,0.0797001162525,0.999999885043,0.000148117882162,-0.000451546974882,-6.388178114e-05,1793243242743317504
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745,713,685,653,631.175720592,881,786,806,652,631,652,0.453951161724,0.00466502503839,0.0797004586384,0.999999884922,0.000150411783472,-0.000451012163994,-6.41888416081e-05,1793243242759984384
+249,4.150000000,HOLD_POSE2,765,745,713,685,654,632,880,785,806,652,631,652,0.453948264853,0.00465977890353,0.0796972883714,0.999999884509,0.00014361789694,-0.000454177018739,-6.38716545484e-05,1793243242793720064
+250,4.166666667,HOLD_POSE2,765,745,713.576757359,684.423242641,653.423242641,632,880.576757359,785.576757359,806.576757359,652,631,652,0.453947967203,0.00466018812478,0.0796971250033,0.999999884056,0.000144722772902,-0.00045489245558,-6.33777573175e-05,1793243242810386432
+251,4.183333333,HOLD_POSE2,765,745,714,684.152817783,653,632,881,786.152817783,806.847182217,652,631,652,0.4539475909,0.00466094654337,0.0796965957644,0.999999883397,0.000146220916733,-0.000455908833303,-6.30290758778e-05,1793243242827052800
+252,4.200000000,HOLD_POSE2,765,745,714,684.726956874,653,632,881,786.726956874,806.273043126,652,631,652,0.453946997749,0.00466266770523,0.0796950578133,0.999999882169,0.000148803307216,-0.000457754910472,-6.30807568081e-05,1793243242843719168
+253,4.216666667,HOLD_POSE2,765.310477266,745,713.689522734,684.689522734,653,632,880.689522734,786.689522734,806,652,631,652,0.453947559577,0.00466314322928,0.0796949768665,0.999999882069,0.000149775069943,-0.000457631422297,-6.32653620952e-05,1793243242860385792
+254,4.233333333,HOLD_POSE2,765.902504877,745,713.097495123,684.097495123,653,632,880.097495123,786.097495123,806,652,631,652,0.453949168776,0.0046624891705,0.079696217176,0.999999882995,0.000149286265668,-0.000455721871508,-6.35705072795e-05,1793243242877052416
+255,4.250000000,HOLD_POSE2,765.516417726,745,713.483582274,684,653.483582274,632,880,786,806,652,631,652,0.453948025102,0.00466188355577,0.0796950732697,0.999999882446,0.00014800459184,-0.000457352722576,-6.34908356198e-05,1793243242893719040
+256,4.266666667,HOLD_POSE2,765,745,714,684.062003292,653.937996708,632,880.062003292,785.937996708,806,652,631,652,0.453946543311,0.00466123847454,0.0796936718122,0.999999881697,0.000146621735654,-0.000459455559029,-6.33153407774e-05,1793243242910385664
+257,4.283333333,HOLD_POSE2,765,745,714,684.636312985,653.363687015,632,880.636312985,785.363687015,806,652,631,652,0.453946752046,0.00466018838662,0.0796940260465,0.999999881746,0.000145694384352,-0.000459691131077,-6.29749410703e-05,1793243242927052544
+258,4.300000000,HOLD_POSE2,765,745,713.788698144,684.788698144,653,632,880.788698144,785.211301856,806,652,631,651.788698144,0.453946976639,0.00466069540699,0.0796940018713,0.999999881727,0.00014593570896,-0.00045964943817,-6.3018944901e-05,1793243242943719168
+259,4.316666667,HOLD_POSE2,765,745,713.212536582,684.212536582,653,632,880.212536582,785.787463418,806,652,631,651.212536582,0.453947228613,0.00466389112164,0.0796933242876,0.999999881589,0.000148195012859,-0.000459128985555,-6.37267070728e-05,1793243242960386048
+260,4.333333333,HOLD_POSE2,765,745,713,684,653.373764898,632,880.373764898,786,806,652,631,651.373764898,0.453946319771,0.00466469056077,0.0796924412033,0.999999881017,0.000148939032911,-0.000460156256752,-6.35502536158e-05,1793243242977052672
+261,4.350000000,HOLD_POSE2,765,745,713,684,653.965993153,632,880.965993153,786,806,652,631,651.965993153,0.453944732438,0.00466408939142,0.0796914380051,0.999999880191,0.000148797378789,-0.000462088163251,-6.2856981455e-05,1793243242993719040
+262,4.366666667,HOLD_POSE2,765,745,713,684,653.454870527,632,881,786,806,651.454870527,631,652,0.453945591205,0.00466113391754,0.0796925171642,0.999999881125,0.000145546665997,-0.000461135306022,-6.2617010102e-05,1793243243010385664
+263,4.383333333,HOLD_POSE2,765,745,713,684.12296219,653.12296219,632,881,786,806,651.12296219,631,652,0.453946581568,0.00465906415058,0.0796936631853,0.999999881913,0.000143488791534,-0.000460083850519,-6.25061798238e-05,1793243243027052288
+264,4.400000000,HOLD_POSE2,765,745,713,684.698930755,653.698930755,632,881,786,806,651.698930755,631,652,0.453947507752,0.0046607858163,0.0796945881779,0.99999988181,0.000146523249912,-0.000459316592681,-6.27693825197e-05,1793243243043718912
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,713,685,653,632,881,786,806,652,631,652,0.453946073622,0.00466026678881,0.0796916157858,0.999999879729,0.000145882880566,-0.000464085317995,-6.23294068165e-05,1793243243080919552
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,713,685.57979165,653,632,880.42020835,786,806,652,631,652,0.45394608513,0.0046601821655,0.0796918081025,0.999999879722,0.000145766036816,-0.000464129645897,-6.23817844886e-05,1793243243097586176
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,713.158832482,685.682335037,653,632,880,786,806,652,631,652,0.453946307365,0.00466014112706,0.0796919917522,0.999999879833,0.000145788925931,-0.000463864596017,-6.25191769916e-05,1793243243114252544
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,713.735896414,684.528207173,653,632,880,786,806,652,631,652,0.453947084478,0.00466021485458,0.0796921525801,0.999999880254,0.00014617975411,-0.000462784904722,-6.28804272186e-05,1793243243130919424
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.31172216,745,714,684,653,632,880,786,806.31172216,651.68827784,631,652,0.453946394257,0.00466109249629,0.0796914627167,0.999999879763,0.000147022295352,-0.000463554901057,-6.30531400837e-05,1793243243147586048
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.886502981,745,714,684,653,632,880,786,806.886502981,651.113497019,631,652,0.453944465771,0.00466264855173,0.0796900549651,0.999999878498,0.000148246031906,-0.000465885827075,-6.30667484664e-05,1793243243164252416
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.051636862,745,713.525818431,684.948363138,653,631.525818431,880,786,806.525818431,651,631,652,0.45394518201,0.00466388016646,0.0796907867725,0.999999879002,0.000148424510883,-0.000464711721018,-6.33155536401e-05,1793243243180919296
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.063740946,745,713,685.872518107,653,631.063740946,880,786,806,651.063740946,630.936259054,652,0.453946309018,0.00466451499667,0.0796918465884,0.99999987986,0.00014826406421,-0.000462890054479,-6.34935156459e-05,1793243243197586432
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.642848816,745,713,684.714302368,653,631.642848816,880,786,806,651.642848816,630.357151184,652,0.453945495899,0.00466097005475,0.0796913021003,0.999999880075,0.000147442687948,-0.000462805429285,-6.26307948462e-05,1793243243214252800
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.220479099,745,713,684.220479099,653,632,880.220479099,786,806,652,630.220479099,652,0.45394010044,0.00465950803075,0.0796882821814,0.999999878217,0.000147476342851,-0.00046684862476,-6.22067984901e-05,1793243243230919424
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.795731738,745,713,684.795731738,653,632,880.795731738,786,806,652,630.795731738,652,0.453927331524,0.00466139763617,0.0796812790399,0.999999872945,0.000148885830878,-0.000477533908064,-6.24887549497e-05,1793243243247586048
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.62972031,745,713,684.62972031,653.37027969,632,881,786,806,651.62972031,631,652,0.453898851663,0.00466244079253,0.0796683247431,0.999999862442,0.000150051409719,-0.00049872362433,-6.22465135299e-05,1793243243264252928
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.055560313,745,713,684.055560313,653.944439687,632,881,786,806,651.055560313,631,652,0.45386172117,0.00466301788438,0.0796520936704,0.999999848504,0.000151082689369,-0.000525697204348,-6.17156426489e-05,1793243243280919552
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,684.533563322,653.466436678,632,880.466436678,786,806,651.533563322,631,652,0.453803964885,0.00466080207815,0.0796339782125,0.999999831311,0.000149122872724,-0.00055808669307,-6.0664266791e-05,1793243243297586176
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,713.121947597,684.878052403,653.121947597,632,880.121947597,786,806,652,631,652,0.453741585312,0.00465881191514,0.0796170365944,0.999999815162,0.00014753988576,-0.000586808665522,-5.96931735399e-05,1793243243314252544
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,713.701541109,684.298458891,653.701541109,632,880.701541109,786,806,652,631,652,0.453670148173,0.00465879145431,0.0796052577994,0.999999807455,0.000148573662461,-0.000599589655038,-5.92326386019e-05,1793243243330919168
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,713.722938405,684.277061595,654,632,881,785.722938405,805.722938405,652,631,652,0.453591787383,0.00465987273071,0.0795995342926,0.99999980313,0.000151789767761,-0.000606094657616,-5.78730253222e-05,1793243243347586048
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,713.151741972,684.848258028,654,632,881,785.151741972,805.151741972,652,631,652,0.453506076293,0.00466212363621,0.079600239217,0.999999802502,0.000157322682288,-0.000605936930166,-5.55589302251e-05,1793243243364252928
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,713.434619572,685,653.565380428,632,881,785.434619572,805.434619572,652,631,652,0.453405264075,0.00465993295006,0.0796010446431,0.999999804134,0.00015791828152,-0.000603332519435,-5.27581776517e-05,1793243243380919552
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713.974103625,684.974103625,653,632,880.974103625,786,806,652,631,652,0.453297420517,0.00465628059385,0.0796017084184,0.999999806294,0.000156960866775,-0.000600248220903,-4.97686069107e-05,1793243243397586176
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713.395021349,684.395021349,653,632,880.395021349,786,806,652,631,652,0.453156074537,0.00465572825097,0.0795985696642,0.999999802452,0.000160983049713,-0.000605820144045,-4.65063591712e-05,1793243243414252800
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713.183466771,684.183466771,653.366933542,632,880.183466771,786,806,652,631,652,0.45300508581,0.00465513109367,0.0795956328063,0.999999798527,0.000164093180365,-0.000611701540896,-4.29100895516e-05,1793243243430919424
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.760679674,684.760679674,654.521359347,632,880.760679674,786,806,652,631,652,0.452833402377,0.00465443775824,0.0795931292475,0.999999794487,0.00016524591486,-0.000618247112242,-3.85969612614e-05,1793243243447586048
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.336441182,745,714,684.663558818,654.663558818,632,880.663558818,786,805.663558818,652,631,652,0.452640541077,0.00465348739619,0.0795908581788,0.999999790569,0.000169349418176,-0.000623752109999,-3.34052514275e-05,1793243243464252672
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.911174766,745,714,684.088825234,654.088825234,632,880.088825234,786,805.088825234,652,631,652,0.452432680036,0.00465235498891,0.0795887517766,0.999999786693,0.000175542873205,-0.000628520097615,-2.75912650527e-05,1793243243480919552
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.500372234,745,713.500372234,684,654,632,880.499627766,786,805.499627766,652,631,652,0.452211653908,0.00464859842798,0.079595157266,0.999999791074,0.000177748852182,-0.000621119019853,-2.16523848641e-05,1793243243497586176
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.088683648,745,713.088683648,684.088683648,654,632,881,785.911316352,806,652,631,652,0.451981395306,0.0046447999677,0.0796027681808,0.999999796307,0.000180048785078,-0.000612152058163,-1.54594067599e-05,1793243243514252800
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.667217037,745,713.667217037,684.667217037,654,632,881,785.332782963,806,652,631,652,0.451713433525,0.00464341973468,0.0796084427071,0.999999798386,0.000186893916885,-0.000606823193399,-7.98900830109e-06,1793243243530919424
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.755337534,745,713.755337534,684.755337534,654.244662466,632,880.755337534,785.244662466,806,652,631,652,0.451432586141,0.00464165054897,0.0796155439803,0.999999802996,0.000193910133368,-0.000596997049217,-6.38839355969e-07,1793243243547586048
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.179365401,745,713.179365401,684.179365401,654.820634599,632,880.179365401,785.820634599,806,652,631,652,0.451134289737,0.00463935466306,0.0796245772824,0.999999810919,0.000201158023725,-0.000581080914576,6.54852035047e-06,1793243243564252672
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764.604516327,745,713.395483673,684.395483673,655,632.395483673,880,786,806.395483673,652,631,652,0.450810086393,0.00463526220694,0.0796382608729,0.999999826079,0.00020212301785,-0.000553922077393,1.25916562223e-05,1793243243580919808
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.030175172,745,713.969824828,684.969824828,655,632.969824828,880,786,806.969824828,652,631,652,0.450474166646,0.00463035725205,0.0796540475561,0.999999843712,0.000200246571932,-0.000521678728219,1.81173166848e-05,1793243243597586688
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.560840478,745,714,684.439159522,655.560840478,633,880,786,806.439159522,652,631,652,0.450090228104,0.00462831976101,0.0796607526021,0.999999856248,0.000168950870835,-0.000508758535906,1.11128357986e-05,1793243243614253056
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,684.149270463,656.149270463,633,880,786.149270463,806,652,631,652,0.449689087905,0.00462515861026,0.0796645126295,0.999999863502,0.000144056485822,-0.000502185762471,7.22646418826e-06,1793243243630919680
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,684.727610185,656.727610185,633,880,786.727610185,806,652,631,652,0.449246156523,0.00461831050893,0.0796612549297,0.999999859333,0.000142251569741,-0.000510778284325,1.43001466478e-05,1793243243647586304
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,684.6968228,657,633,880,786.6968228,806,652,631,652,0.448772711867,0.00461441080874,0.0796517094527,0.999999850582,0.000136573734958,-0.000529003847923,1.8392804349e-05,1793243243664252928
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,684.123724287,657,633,880,786.123724287,806,652,631,652,0.448272100926,0.00461313609512,0.0796365659121,0.999999837222,0.000127447806488,-0.000555805793569,1.98314304159e-05,1793243243680919552
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.461613989,714,684.461613989,657,633,880,786.461613989,806,652,631,652,0.447758327992,0.00460787363547,0.0796308810073,0.999999836958,0.000114776538504,-0.000559024249462,2.00417575083e-05,1793243243697586432
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.950467506,713.950467506,684.950467506,657.049532494,633.049532494,880.049532494,786.950467506,805.950467506,652,631,652,0.447240058678,0.00460142866594,0.0796308420492,0.999999841624,0.000107570882324,-0.000552063624809,2.01657423261e-05,1793243243714253312
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.37099734,713.37099734,684.37099734,657.62900266,633.62900266,880.62900266,786.37099734,805.37099734,652,631,652,0.446712453827,0.00459407878003,0.0796633460318,0.999999857557,0.000169283975134,-0.000505667915143,2.29841102386e-05,1793243243730919680
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.791926345,745,713.208073655,684,658.208073655,634,880.791926345,786.208073655,805,651.791926345,631,652,0.446170808155,0.00458760683496,0.0797008361383,0.999999878184,0.000198715490694,-0.000451106934788,2.54421700032e-05,1793243243747586048
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764.213565745,745,713.786434255,684,658.786434255,634,880.213565745,786.786434255,805,651.213565745,631,652,0.445604175533,0.00458269726991,0.0797471995269,0.999999912092,0.000170698852962,-0.000382015080629,2.7259026941e-05,1793243243764252928
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.358312459,745,714,684,659,634,880,787,805.358312459,651.358312459,631,652,0.445004792973,0.0045725537512,0.079786440889,0.999999936568,0.000140119956746,-0.000326083586681,2.99881003202e-05,1793243243780919552
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764.926395584,745,714,684,659,634,880,787,805.926395584,651.926395584,631,652,0.444386237291,0.00455934606361,0.0798215127261,0.999999955009,0.000108041011299,-0.000277856704404,3.32512221701e-05,1793243243797586176
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,684,659,634,880,786.48017013,806,652,631,652,0.443692488513,0.00455458685289,0.0798247446699,0.999999956465,9.59666172945e-05,-0.000276689123993,3.60984619386e-05,1793243243814253056
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.112723408,714,684,659,634,880.112723408,786,805.887276592,652,631,652,0.442984135117,0.00455031354278,0.0798224516416,0.999999955197,9.4227906407e-05,-0.000281524521168,3.83442319045e-05,1793243243830919936
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745.687916389,714,684,659,634,880.687916389,786,805.312083611,652,631,652,0.442261783803,0.00454287428083,0.0798169358539,0.999999951907,0.000122676629545,-0.000282249348337,3.83763325603e-05,1793243243847586304
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.264713736,745.735286264,714,684,659,634,880.735286264,786.264713736,805.264713736,652,631,652,0.441507853765,0.00453667903927,0.0798024053359,0.999999946697,0.000125475630303,-0.000298975680509,3.84230125661e-05,1793243243864252928
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.843414156,745.156585844,714,684,659,634,880.156585844,786.843414156,805.843414156,652,631,652,0.440716466949,0.00453195937499,0.0797771821145,0.999999938466,9.78505569135e-05,-0.000334681985342,3.84869856503e-05,1793243243880919552
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.584100587,745,714,684,659,634,880,787,805.584100587,652,631,652,0.439876110734,0.00452445164198,0.0797273831427,0.999999909983,7.88017786899e-05,-0.000414929700543,4.07182601274e-05,1793243243897585920
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.013920914,745,714,684,659,634,880,787,805.013920914,652,631,652,0.439017589089,0.00451590965925,0.0796684676575,0.999999866144,6.29344271209e-05,-0.000511700300598,4.37535070959e-05,1793243243914252800
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,713.415464123,684,659,634,880,787,805,652,631,652,0.438228051638,0.00450542906994,0.0797106044021,0.999999897614,7.40473812279e-05,-0.000444205087823,4.43939908016e-05,1793243243930919424
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,713.176599799,683.823400201,659,634,879.823400201,787,805.176599799,652,631,652,0.437444064851,0.00449675645028,0.079763006116,0.999999930535,7.54756251401e-05,-0.000362171334436,4.54532437482e-05,1793243243947586048
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,713.752604836,683.247395164,659,634,879.247395164,787,805.752604836,652,631,652,0.43666872723,0.00449228253305,0.0798329039664,0.999999964528,5.34734583963e-05,-0.000256554038309,4.75951451637e-05,1793243243964252928
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,659,634,879,786.671322278,806,651.671322278,631,652,0.435842721055,0.00448358840596,0.0798631579099,0.999999974505,4.82391035994e-05,-0.000214961600883,4.95520217276e-05,1793243243980919552
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,659,634,879,786.095198338,806,651.095198338,631,652,0.434978568909,0.00447171707875,0.0798635657908,0.999999972587,5.56284582925e-05,-0.000221570517342,5.13696018606e-05,1793243243997585920
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,659,634,879.490234443,786,806,651.490234443,631,652,0.434067701664,0.00446207950551,0.0798348522037,0.999999964389,3.46965922107e-05,-0.000259489497825,5.18020130338e-05,1793243244014252544
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,658.926481978,634,879.926481978,786,806,652,631,652,0.433137221798,0.00445311829921,0.0797977545035,0.999999949924,1.31495631344e-05,-0.000311848593244,5.22433768915e-05,1793243244030919424
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,658.369452306,634,879.369452306,786,806,652,631,652,0.432138571095,0.0044456973749,0.0797434284779,0.999999910678,2.44270479734e-05,-0.000418415738918,5.45469182703e-05,1793243244047586048
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745.201413187,714,682.798586813,658.201413187,634,879,786,806,652,631,652,0.431183388,0.00443705071935,0.0797141450268,0.999999884563,2.42640417633e-05,-0.000476568998142,5.62806735801e-05,1793243244064252672
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745.799529816,714,682.200470184,658.799529816,634,879,786,806,652,631,652,0.430313818535,0.00442598986205,0.0797341854243,0.999999901859,1.56784518608e-06,-0.000439366286118,5.68921795374e-05,1793243244080919296
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745.615858055,714,682.384141945,659,634.384141945,879,786.384141945,806,652,631.384141945,652,0.429469759474,0.00441553294444,0.0797887595769,0.999999937933,-6.86885533367e-06,-0.000347494860437,5.77464128732e-05,1793243244097585920
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745.038054144,714,682.961945856,659,634.961945856,879,786.961945856,806,652,631.961945856,652,0.428638561322,0.00440538049868,0.0798607436337,0.999999972237,-8.11674805415e-06,-0.000228062655657,5.87230145132e-05,1793243244114252800
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,659,634.448445883,879,787,805.448445883,652,631.448445883,652,0.427702017369,0.00440075660203,0.0798566573831,0.999999971644,-1.18206081158e-05,-0.000230127502609,6.01213717267e-05,1793243244130919424
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.861123965,659,634,879,786.861123965,805,652,631,652,0.426753367825,0.00440188213668,0.0798371037347,0.99999996484,-1.075200442e-05,-0.000257938671468,6.05998255388e-05,1793243244147586048
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,634,879,786.868281632,805,652,631,652,0.423860496193,0.0044694894987,0.079729016859,0.999999901949,8.4079008215e-05,-0.000430748327615,5.90659406299e-05,1793243244197585920
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,764.956626071,745.956626071,714,682,659,634.043373929,879.956626071,786.043373929,805,652,631,652,0.422128642585,0.00449160541383,0.0797571444659,0.999999923501,9.34383177608e-05,-0.000376103011649,5.30395580832e-05,1793243244230919424
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764.377616828,745.377616828,714,682,659,634.622383172,879.377616828,786.622383172,805,652,631,652,0.421306282005,0.00448728207916,0.0798284950851,0.99999996163,9.39751637179e-05,-0.00025519068182,5.27783985549e-05,1793243244247586304
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764.200130766,745,714,682,659,635,879.200130766,787,805.200130766,652,631,652,0.420465664742,0.00448215487347,0.079873204344,0.999999978328,8.99999774843e-05,-0.000180136570353,5.2866137211e-05,1793243244264252928
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764.775512829,745,714,682,659,635,879.775512829,787,805.775512829,652,631,652,0.419590815498,0.00447552038433,0.0798679602512,0.999999977301,7.75645953326e-05,-0.00019106800318,5.36080717559e-05,1793243244280919552
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.641342635,659,634.641342635,879.641342635,786.641342635,805.641342635,652,631,651.641342635,0.418710214188,0.00447194591313,0.0798381309592,0.999999966629,7.02942116214e-05,-0.000243006057626,5.2436141944e-05,1793243244297586176
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.053232044,659,634.053232044,879.053232044,786.053232044,805.053232044,652,631,651.053232044,0.417825933011,0.00447032910738,0.0797925731372,0.999999944971,6.63281674262e-05,-0.000321178345415,5.00398054925e-05,1793243244314252800
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,879,786.526920631,805,652,631,651.526920631,0.416989453703,0.00447467616963,0.0798011480018,0.999999945707,7.23800684706e-05,-0.000317318729317,5.1529314423e-05,1793243244330919680
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.106065321,659,634.106065321,879,787,805,652,631,652,0.416154579514,0.00448039560042,0.0798090989172,0.999999946196,8.10943773917e-05,-0.000313398087933,5.30373279331e-05,1793243244347586304
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.684248537,659,634.684248537,879,787,805,652,631,652,0.415305674253,0.00448958177659,0.0797902922101,0.999999934174,9.72217335876e-05,-0.000345545215088,5.29063139101e-05,1793243244364252928
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.260858946,745,714,681.739141054,659,635,879,786.739141054,805.260858946,652,631,652,0.41451218827,0.00449080501584,0.0797838821263,0.999999931861,0.000100291664034,-0.000351419988977,5.21786573347e-05,1793243244380919552
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.835576952,745,714,681.164423048,659,635,879,786.164423048,805.835576952,652,631,652,0.413785381459,0.00448244744483,0.0797923873559,0.999999941837,8.7651220254e-05,-0.000325684512263,5.07331351742e-05,1793243244397586176
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.579383174,745,714,681,659,635,879,786.420616826,806,652,631,652,0.413082590502,0.00447800157095,0.0798077352917,0.999999951552,7.65838291226e-05,-0.000297433602754,5.06461534686e-05,1793243244414252544
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.009633902,658.990366098,635,879.009633902,787,805.990366098,652,631,652,0.412388609925,0.00447519722024,0.0798252478812,0.999999960215,6.65989730719e-05,-0.000269295493107,5.11230505233e-05,1793243244430919424
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.589228301,658.410771699,635,879.589228301,787,805.410771699,652,631,652,0.411646485804,0.00447676707409,0.0798085933771,0.999999947865,8.33639201198e-05,-0.000307468820628,5.27507932014e-05,1793243244447586048
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.83311724,658.16688276,635,879.83311724,787,805,652,631,652,0.410925538474,0.00447948615945,0.0797962467851,0.999999937887,9.67418620002e-05,-0.000334659073946,5.35835715634e-05,1793243244464252928
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.260182835,658.739817165,635,879.260182835,787,805,652,631,652,0.410256117411,0.00448500150367,0.0797943820085,0.999999937279,0.000101878698629,-0.000335125812872,5.24820789451e-05,1793243244480920064
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634.108441945,879,786.108441945,805,651.108441945,631,652,0.409058856266,0.00448854724609,0.0798403256845,0.999999961586,0.000102074880344,-0.000251951986792,5.41156012487e-05,1793243244514253312
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634.480906991,879,786,805,651.480906991,631,652,0.408484097648,0.00448766620356,0.0798473827374,0.999999963854,9.32616715137e-05,-0.000246241375466,5.44066230125e-05,1793243244530919936
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745.071228329,714,681,658.928771671,635,879,786,805,652,631.071228329,652,0.407908081711,0.00448640281884,0.0798436410539,0.999999961028,8.57081005691e-05,-0.000260077195771,5.43962360241e-05,1793243244547586816
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745.647723652,714,681,658.352276348,635,879,786,805,652,631.647723652,652,0.407318093569,0.00448498078399,0.0798014249726,0.999999938052,9.92967472687e-05,-0.000333341940141,5.40370498688e-05,1793243244564253696
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.292793258,878.292793258,786,804.707206742,652,631.292793258,652,0.404262778666,0.00450218855483,0.0798379811052,0.999999954584,0.000122739220112,-0.00027016683376,5.27052908635e-05,1793243244680919808
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878.284472248,786,805,652,631,652,0.403909500305,0.00450121695537,0.0798411332399,0.999999955512,0.00011589351997,-0.000269810566021,5.24042065566e-05,1793243244697586432
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878.860138569,786,805,652,631,652,0.403573389103,0.00449985597006,0.0798410172062,0.99999995492,0.000109923276438,-0.000274705094771,5.11241396817e-05,1793243244714253312
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714.445488309,680,659,634.445488309,878.554511691,786,805,652,631,652,0.403280269206,0.00449785180139,0.0798396297346,0.999999954371,0.000105934937201,-0.000278256369069,5.10738724702e-05,1793243244730919936
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714.966570595,680,659,634.966570595,878,786,805,652,631,651.966570595,0.403003068513,0.00449554807448,0.0798381142901,0.999999953977,0.000102067748115,-0.000281041222353,5.14104304011e-05,1793243244747586816
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714.387063432,680,659,634.387063432,878,786,805,652,631,651.387063432,0.402760533529,0.00449172282408,0.0798411737849,0.999999955898,8.9789604162e-05,-0.000278348298339,5.16187497998e-05,1793243244764252928
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878,786,804.80898445,652,631,651.19101555,0.402530315166,0.00448827300962,0.0798431624058,0.999999957388,7.88350654546e-05,-0.00027630590637,5.16086710692e-05,1793243244780919296
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878,786,804.23377805,652,631,651.76622195,0.402324869331,0.0044855783124,0.07984299717,0.999999958233,7.05427043105e-05,-0.000275571934233,5.11593267101e-05,1793243244797586176
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745.339712607,714,680,659,634,878.339712607,786,804.339712607,652,631.339712607,652,0.402143904237,0.00448568951671,0.0798459776064,0.999999960182,6.82272710261e-05,-0.000268904852742,5.16816386456e-05,1793243244814253312
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745.912028541,714,680,659,634,878.912028541,786,804.912028541,652,631.912028541,652,0.401979701236,0.0044877219389,0.0798511119038,0.999999962825,7.0004276444e-05,-0.000258175334419,5.28692496187e-05,1793243244830920704
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745.496244714,714,680,659,634.503755286,878.496244714,786,805,652,631.496244714,651.496244714,0.401836195592,0.00448950522987,0.0798552279552,0.999999963752,7.65235574044e-05,-0.000252348144523,5.44070196477e-05,1793243244847587072
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.096043168,659,635,878,786.096043168,805,652,631,651.096043168,0.40169888383,0.00449204090398,0.0798573854219,0.999999962733,9.34090238072e-05,-0.000250382591464,5.58265801145e-05,1793243244864253184
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.673472888,659,635,878,786.673472888,805,652,631,651.673472888,0.4015737748,0.00449857446557,0.0798506530662,0.999999951276,0.00015793458288,-0.000263309389838,5.63348802221e-05,1793243244880920832
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714.249839106,680.750160894,659,634.750160894,878,787,804.750160894,652,631,652,0.40146052426,0.00449847811515,0.0798442473354,0.999999945352,0.000176899608677,-0.000273961975275,5.42903375144e-05,1793243244897587968
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714.824821234,680.175178766,659,634.175178766,878,787,804.175178766,652,631,652,0.401362706481,0.00448975353285,0.0798382666776,0.999999949813,0.000136571713435,-0.000281654878112,4.89235006808e-05,1793243244914254592
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714.589869136,680,659,634.410130864,878,786.589869136,804.410130864,652,631,652,0.401280845319,0.00448373007164,0.0798335850051,0.99999995008,0.00012009113184,-0.000288200881282,4.85722034809e-05,1793243244930921216
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+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.268721738,878.731278262,786.731278262,805,652,631,651.731278262,0.401074942925,0.00448014940083,0.0798300898533,0.99999995013,0.00010789505431,-0.000292195773678,5.21610644982e-05,1793243244997587456
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.693167701,745.306832299,714,680,659,634.306832299,878.693167701,787,805,652,631,652,0.401046943973,0.00448056285492,0.0798309009255,0.999999950499,0.000107473774985,-0.000291052432334,5.23505458083e-05,1793243245014254080
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.117501266,745.882498734,714,680,659,634.882498734,878.117501266,787,805,652,631,652,0.401022367511,0.0044841346338,0.0798308628294,0.999999949573,0.000113209512909,-0.000292075739137,5.22433228117e-05,1793243245030920960
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.471231012,745.528768988,714,680,659,635,878.471231012,786.528768988,805,652,631,652,0.401006929249,0.00448353182707,0.0798307426993,0.99999994975,0.000112462225306,-0.000291689751801,5.26229887632e-05,1793243245047587328
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.938131995,879,786.061868005,804.938131995,652,631,652,0.40099440229,0.00448176901798,0.0798307746481,0.999999950222,0.000110021151523,-0.000290911341628,5.31223115434e-05,1793243245064253696
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.359572277,879,786.640427723,804.359572277,652,631,652,0.400986616611,0.00447925969859,0.0798322523898,0.999999950792,0.000107319957912,-0.000289874079378,5.3578115258e-05,1793243245080920320
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.217061059,878.782938941,786.782938941,804.217061059,652,631,652,0.400980925177,0.00447876709025,0.0798335093474,0.999999951275,0.000106275450553,-0.000288577954331,5.36408705175e-05,1793243245097586944
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.790531286,878.209468714,786.209468714,804.790531286,652,631,652,0.400978672445,0.00448158587432,0.0798344037824,0.999999951622,0.000107951183328,-0.000286856782705,5.30582494039e-05,1793243245114253824
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.363659983,680,659,635,878,786.363659983,805,652,631,651.636340017,0.40097763347,0.00448213132142,0.0798348091804,0.999999952158,0.000107624928994,-0.000285197402734,5.25591306451e-05,1793243245130920192
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.936592123,680,659,635,878,786.936592123,805,652,631,651.063407877,0.400977292965,0.00448136855152,0.0798349331565,0.999999952802,0.000106146608988,-0.000283573581512,5.21080642592e-05,1793243245147586560
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.472068254,680,659,635,878,786.472068254,805,652,631,651.527931746,0.400977082434,0.00448126999939,0.0798362912971,0.999999953264,0.000106711686013,-0.000281676650933,5.23709699127e-05,1793243245164252928
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.118572035,659,635,878.118572035,786,805,652,631,651.881427965,0.400976699092,0.0044813449781,0.0798374860841,0.999999953531,0.000107389689748,-0.00028041706328,5.26417400454e-05,1793243245180919552
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.69760073,659,635,878.69760073,786,805,652,631,651.30239927,0.400975581848,0.00448177284493,0.0798374500841,0.999999953141,0.000107518726066,-0.000281764485558,5.25980133192e-05,1793243245197586432
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,635,879,786,804.72590104,652,631,651.27409896,0.400975854045,0.00448252090431,0.0798380734187,0.999999953355,0.000107724492681,-0.000280961260886,5.24067242149e-05,1793243245214253312
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,635,879,786,804.152168933,652,631,651.847831067,0.400977645117,0.00448361898442,0.0798394175095,0.999999954223,0.00010801413756,-0.000277807041998,5.20541262848e-05,1793243245230920192
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.566480184,659,635,878.566480184,786,804.433519816,652,631,651.566480184,0.400977947885,0.00448220436695,0.0798394585846,0.999999954552,0.000106830813585,-0.000277094260127,5.19820246105e-05,1793243245247586560
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.976944698,878,786.023055302,804.976944698,652,631,651.023055302,0.400977655338,0.00447997100718,0.079839041061,0.999999954673,0.00010514323141,-0.000277295378458,5.20151433991e-05,1793243245264252928
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.398706284,878,786.601293716,804.398706284,652,631,651.601293716,0.400975963947,0.00447986274505,0.0798389063019,0.9999999545,0.000104116170858,-0.000278282254981,5.21438989748e-05,1793243245280919552
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878,787,804.179125717,652,631,652,0.400975237016,0.00448067698982,0.0798389653957,0.999999954455,0.000104411344536,-0.000278346480057,5.20665993352e-05,1793243245297586176
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878,787,804.75605512,652,631,652,0.400976651963,0.00448353994458,0.0798394549997,0.999999954691,0.000107642945598,-0.000276361674083,5.15316907785e-05,1793243245314252800
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.33082702,878,786.66917298,805,652,631,652,0.400977152461,0.00448415185446,0.0798397702213,0.999999954753,0.000109333781815,-0.000275488779098,5.14331024418e-05,1793243245330919936
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.904018307,878,786.095981693,805,652,631,652,0.400976983032,0.00448311464607,0.0798399576901,0.999999954696,0.000109895851742,-0.000275430471509,5.16541628391e-05,1793243245347587328
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878.493928469,786.493928469,804.506071531,652,631,652,0.400975338918,0.00448242364086,0.0798394410795,0.999999954519,0.000108494993032,-0.000276615328247,5.17209704444e-05,1793243245364253696
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.914776422,878.914776422,786.914776422,804.085223578,652,631,652,0.400973840996,0.00448213450329,0.0798389792964,0.999999954381,0.000107200934056,-0.000277611854123,5.17530300774e-05,1793243245380919552
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.334959338,878.334959338,786.334959338,804.665040662,652,631,652,0.400974912838,0.00448377348826,0.0798396575495,0.999999954634,0.000108817935759,-0.000276064307681,5.17634836941e-05,1793243245397586176
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.241971516,659,634,878,786,804.758028484,652,631,652.241971516,0.400975156473,0.0044843072574,0.0798397311744,0.999999954737,0.000109053507406,-0.000275611933136,5.16836506743e-05,1793243245414252800
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.814954159,659,634,878,786,804.185045841,652,631,652.814954159,0.40097426714,0.00448332911852,0.0798389776828,0.999999954638,0.000107399316696,-0.000276657726787,5.14803077417e-05,1793243245430919680
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,714.399241514,680.600758486,659,634,878.399241514,786.399241514,804.399241514,652,631.399241514,652.201516972,0.400975082839,0.00448296313975,0.0798395477979,0.999999954849,0.00010642226043,-0.000276310192125,5.12822257604e-05,1793243245447586560
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,745,714.988921181,680.011078819,659,634,878.988921181,786.988921181,804.988921181,652,631.988921181,651.022157639,0.400976711838,0.00448288916132,0.0798407492732,0.999999955207,0.000105768197309,-0.000275298039968,5.10866532643e-05,1793243245464253184
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..262f60c2ccb12d6ab9aafb5d1495e1341b700fbf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_04/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+2,0.033333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+3,0.050000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+4,0.066666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+5,0.083333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+6,0.100000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+7,0.116666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+8,0.133333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+9,0.150000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
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+12,0.200000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
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+16,0.266666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
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+18,0.300000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+19,0.316666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
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+388,6.466666667,pose2_to_pose3_retreat,0.580747023603,0.0100018089604,1.07004077807,0.551318744248,0.0186766407367,1.06967857401
+389,6.483333333,pose2_to_pose3_retreat,0.580746401192,0.010001782434,1.07004080387,0.551318122367,0.0186766159623,1.06967859864
+390,6.500000000,pose2_to_pose3_retreat,0.580745950425,0.0100017658834,1.07004081738,0.551317671857,0.0186766002549,1.06967861141
+391,6.516666667,pose2_to_pose3_retreat,0.580745711429,0.0100017696172,1.07004080022,0.551317432402,0.0186766024339,1.06967859434
+392,6.533333333,pose2_to_pose3_retreat,0.580745664131,0.0100017703562,1.07004079683,0.551317385013,0.0186766028652,1.06967859096
+393,6.550000000,pose2_to_pose3_retreat,0.580745547891,0.0100017721722,1.07004078849,0.551317268551,0.018676603925,1.06967858266
+394,6.566666667,pose2_to_pose3_retreat,0.580745419457,0.0100017741787,1.07004077927,0.55131713987,0.018676605096,1.06967857349
+395,6.583333333,pose2_to_pose3_retreat,0.580745368137,0.0100017749805,1.07004077558,0.551317088451,0.0186766055639,1.06967856982
+396,6.600000000,pose2_to_pose3_retreat,0.580745285264,0.0100017762752,1.07004076963,0.551317005418,0.0186766063195,1.06967856391
+397,6.616666667,pose2_to_pose3_retreat,0.580745151872,0.0100017783592,1.07004076006,0.551316871771,0.0186766075357,1.06967855438
+398,6.633333333,pose2_to_pose3_retreat,0.580745045038,0.0100017800283,1.07004075239,0.551316764731,0.0186766085098,1.06967854675
+399,6.650000000,pose2_to_pose3_retreat,0.58074495474,0.010001781439,1.07004074591,0.55131667426,0.0186766093331,1.0696785403
+400,6.666666667,pose2_to_pose3_retreat,0.580744870792,0.0100017827505,1.07004073988,0.551316590151,0.0186766100985,1.06967853431
+401,6.683333333,pose2_to_pose3_retreat,0.580744683292,0.0100017856799,1.07004072642,0.55131640229,0.018676611808,1.06967852092
+402,6.700000000,pose2_to_pose3_retreat,0.580744449708,0.0100017893291,1.07004070965,0.551316168258,0.0186766139377,1.06967850424
+403,6.716666667,pose2_to_pose3_retreat,0.580744208392,0.0100017917535,1.07004073657,0.551315927009,0.018676616568,1.0696785306
+404,6.733333333,pose2_to_pose3_retreat,0.580743924866,0.0100017920984,1.07004085051,0.551315644551,0.0186766204583,1.06967864269
+405,6.750000000,pose2_to_pose3_retreat,0.580743898132,0.0100017921309,1.07004086126,0.551315617918,0.0186766208251,1.06967865326
+406,6.766666667,pose2_to_pose3_retreat,0.580743614798,0.0100017931722,1.07004096607,0.551315335578,0.0186766251476,1.06967875589
+407,6.783333333,pose2_to_pose3_retreat,0.580743495345,0.0100017962269,1.07004097627,0.55131521627,0.0186766286023,1.06967876392
+408,6.800000000,pose2_to_pose3_retreat,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..72a900393029ac623bcf56c82802260a5e7fd9bb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48af996fa071beee389e577c4c66a72248988f3326d158a892907d4a2e863450
+size 26026555
diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8d938e8903a1260863fb62ced112dbafb6d2dc86
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
+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,765,745,714,680,659,635,879,787,806,652,631,652,0.400975732164,0.00448323258659,0.0798415479587,0.99999995555,0.0001069924151,-0.000273493916566,5.15170099653e-05,1793243245608265728
+1,0.016666667,BASELINE,765,745,714,680,659,634.426153912,878.426153912,787,805.426153912,652,631,652,0.400975937358,0.0044841028739,0.0798419423029,0.999999955794,0.000107383562567,-0.000272497786267,5.1235537553e-05,1793243245624932352
+2,0.033333333,BASELINE,765,745,714,680,659,634.151840845,878.151840845,786.848159155,805,652,631,651.848159155,0.40097595098,0.00448482296183,0.0798419114004,0.999999955819,0.000107715274558,-0.00027233935336,5.08980679662e-05,1793243245641598976
+3,0.050000000,BASELINE,765,745,714,680,659,634.741806388,878.741806388,786.258193612,805,652,631,651.258193612,0.400975411835,0.00448510966161,0.0798406534824,0.999999955209,0.000107875490302,-0.000274598029516,5.03990229143e-05,1793243245658265600
+4,0.066666667,BASELINE,765,745,714,680,659,635,878.674984346,786.325015654,805,652,631,651.325015654,0.400974402091,0.00448430220007,0.0798396745249,0.999999954922,0.000106963750393,-0.00027597238919,5.05446135576e-05,1793243245674931968
+5,0.083333333,BASELINE,765,745,714,680,659,635,878.097033026,786.902966974,805,652,631,651.902966974,0.400973026113,0.0044826432336,0.0798389126619,0.999999954884,0.000105217786602,-0.000276658550557,5.11918765567e-05,1793243245691598592
+6,0.100000000,BASELINE,765,745,714,680,659,635,878.482161642,787,805,652,631.482161642,652,0.400972917436,0.00448393687143,0.0798389407211,0.999999954717,0.000105905861618,-0.000277070857235,5.08187923777e-05,1793243245708265216
+7,0.116666667,BASELINE,765.060802763,745,714,680,659,634.939197237,878.939197237,786.939197237,805,652,631.939197237,651.939197237,0.400973172427,0.00448553300364,0.0798392082675,0.999999954573,0.000107101468497,-0.000277215786711,5.03498879447e-05,1793243245724931840
+8,0.133333333,BASELINE,765.63268243,745,714,680,659,634.36731757,878.36731757,786.36731757,805,652,631.36731757,651.36731757,0.400974334959,0.00448466430079,0.0798401491577,0.999999954859,0.000108435137761,-0.000275577722207,5.08060179795e-05,1793243245741598720
+9,0.150000000,BASELINE,765.788080593,745,714,680,659,634.211919407,878.211919407,786.211919407,805,652.211919407,631,651.211919407,0.400975328589,0.00448376023744,0.0798410857243,0.999999955272,0.000108418838385,-0.000274030438264,5.10747689444e-05,1793243245758265600
+10,0.166666667,BASELINE,765.195632683,745,714,680,659,634.804367317,878.804367317,786.804367317,805,652.804367317,631,651.804367317,0.400976018933,0.00448279267989,0.0798420145276,0.999999955915,0.000105978496856,-0.00027264616265,5.10070566828e-05,1793243245774932224
+11,0.183333333,BASELINE,765,745,714,680.387368759,659,635,878.612631241,786.612631241,805,652.612631241,631,652,0.400976327623,0.00448341475788,0.0798421855262,0.999999955935,0.000106773030934,-0.0002722702069,5.09697648861e-05,1793243245791598848
+12,0.200000000,BASELINE,765,745,714,680.965713078,659,635,878.034286922,786.034286922,805,652.034286922,631,652,0.400976448153,0.00448482053743,0.0798419829218,0.999999955645,0.000109162381526,-0.000272391359907,5.09474705891e-05,1793243245808265472
+13,0.216666667,BASELINE,765.541161165,745,714,681,659,635,878.541161165,786,804.458838835,652,631,652,0.400975724461,0.00448426361742,0.0798413215944,0.999999955395,0.000108650631866,-0.000273532841064,5.08340623586e-05,1793243245824932096
+14,0.233333333,BASELINE,765.883554503,745,714,680.883554503,659,634.883554503,878.883554503,786.116445497,804.116445497,652,631,652,0.400974743596,0.0044838945988,0.0798405890183,0.999999955098,0.000108283257979,-0.000274781177296,5.07302224086e-05,1793243245841598720
+15,0.250000000,BASELINE,765.308196038,745,714,680.308196038,659,634.308196038,878.308196038,786.691803962,804.691803962,652,631,652,0.400972958889,0.00448475356846,0.0798396895812,0.99999995461,0.000109205403842,-0.000276197216504,5.06867206853e-05,1793243245858265600
+16,0.266666667,BASELINE,765,745,714,680.273598345,659,634,878.273598345,786.726401655,805,652,631,652,0.400973530957,0.00448478260673,0.0798402365262,0.999999954969,0.000108516552399,-0.000275171891533,5.0652805357e-05,1793243245874932480
+17,0.283333333,BASELINE,765,745,714,680.862817105,659,634,878.862817105,786.137182895,805,652,631,652,0.400976821778,0.0044838542441,0.0798424520038,0.999999956294,0.000105969269926,-0.000271330232276,5.06299488034e-05,1793243245891599104
+18,0.300000000,BASELINE,765,745,714,680.556368125,659.443631875,634,878.556368125,786,805,652,631,652,0.400976578667,0.00448328503147,0.0798428350603,0.999999956473,0.000105246633207,-0.000270927711747,5.0738179574e-05,1793243245908265728
+19,0.316666667,BASELINE,765,745.021827967,714,680,659.978172033,634.021827967,878,786.021827967,805,652,631,652,0.400975309209,0.0044829008891,0.0798426493444,0.999999956303,0.000105163465759,-0.000271565389415,5.08687336718e-05,1793243245924932352
+20,0.333333333,BASELINE,765,745.598290011,714,680,659.401709989,634.598290011,878,786.598290011,805,652,631,652,0.400975211671,0.00448444979116,0.0798421416116,0.999999955947,0.000107258630339,-0.000272114022699,5.05556719007e-05,1793243245941598976
+21,0.350000000,BASELINE,765.178290262,745.821709738,714.178290262,680.178290262,659,634.821709738,878.178290262,786.821709738,804.821709738,652,631,652,0.400974969036,0.00448512622628,0.0798414428941,0.999999955635,0.000108167608956,-0.000272925244353,5.04063326727e-05,1793243245958265600
+22,0.366666667,BASELINE,765.766423863,745.233576137,714.766423863,680.766423863,659,634.233576137,878.766423863,786.233576137,804.233576137,652,631,652,0.400974392863,0.00448379708464,0.0798403051526,0.999999955432,0.000106349851634,-0.000274340088881,5.06333493959e-05,1793243245974932480
+23,0.383333333,BASELINE,765.650968914,745,715,681,659,634.349031086,879,786.349031086,804.349031086,652,631,652,0.40097365898,0.00448321611501,0.0798399352395,0.999999955263,0.000105903803418,-0.000275119546834,5.06769054083e-05,1793243245991599104
+24,0.400000000,BASELINE,765.072002312,745,715,681,659,634.927997688,879,786.927997688,804.927997688,652,631,652,0.4009728212,0.00448312802777,0.0798400711582,0.999999955119,0.000106361412758,-0.000275480423475,5.05996007667e-05,1793243246008265728
+25,0.416666667,BASELINE,765,745.505791464,714.494208536,680.494208536,659,635,878.494208536,787,805,652,631,652,0.400973259815,0.00448353239403,0.0798408045791,0.999999955254,0.000106640677654,-0.000274903387074,5.04855434953e-05,1793243246024933632
+26,0.433333333,BASELINE,765,745.917140842,714,680.082859158,659,635,878,787,804.917140842,652,631.082859158,652,0.400973908864,0.00448401894635,0.0798414624044,0.999999955433,0.000107025606517,-0.000274109327394,5.04398748897e-05,1793243246041601280
+27,0.450000000,BASELINE,765,745.34338768,714,680.65661232,659,635,878,787,804.34338768,652,631.65661232,652,0.400974730619,0.00448457804162,0.0798411696148,0.999999955641,0.000108186598951,-0.000272818711361,5.08302953379e-05,1793243246058267904
+28,0.466666667,BASELINE,765,745,714,680.762839002,659,634.762839002,878.237160998,787,804.237160998,652,631.762839002,652,0.400974883435,0.00448489607325,0.0798410480798,0.999999955682,0.00010860581928,-0.000272483752638,5.09288585186e-05,1793243246074934272
+29,0.483333333,BASELINE,765,745,714,680.172160819,659,634.172160819,878.827839181,787,804.827839181,652,631.172160819,652,0.400974039116,0.00448485477032,0.0798411818203,0.999999955476,0.000107919338393,-0.000273573316937,5.05923730772e-05,1793243246091600640
+30,0.500000000,BASELINE,765,745,714,680,659,634.410628047,878.589371953,786.589371953,805,652,631,652,0.400973776882,0.00448514359345,0.0798413369121,0.999999955395,0.000107592656686,-0.00027402892495,5.04127115104e-05,1793243246108267008
+31,0.516666667,BASELINE,765,745,714,680,659,634.990171557,878.009828443,786.009828443,805,652,631,652,0.400973754093,0.00448556821685,0.0798415007871,0.999999955367,0.000107413981558,-0.000274223749435,5.0297560834e-05,1793243246124933376
+32,0.533333333,BASELINE,765,745,714,680,659,635,878.564009466,786,805.564009466,652,631,652,0.400973006658,0.00448393124531,0.0798410959637,0.999999955522,0.000105930180656,-0.000274218164524,5.03988882891e-05,1793243246141599744
+33,0.550000000,BASELINE,765,745,714,680,659,634.861697825,879,786,805.861697825,652,631,652,0.400972883618,0.00448307495993,0.0798410138149,0.999999955649,0.000105560754084,-0.000273880965059,5.04844595044e-05,1793243246158266624
+34,0.566666667,BASELINE,765,745,714,680,659,634.285654191,879,786,805.285654191,652,631,652,0.40097477642,0.00448480220073,0.0798419840191,0.999999955677,0.000108789707666,-0.000272505112327,5.05083401491e-05,1793243246174935040
+35,0.583333333,BASELINE,765,745,714.298822243,680,659,634.298822243,878.701177757,786.298822243,805,652,631.298822243,652,0.400975677099,0.004485880833,0.0798424476561,0.9999999557,0.000110269576508,-0.000271839546221,5.04424920469e-05,1793243246191601664
+36,0.600000000,BASELINE,765,745,714.891594038,680,659,634.891594038,878.108405962,786.891594038,805,652,631.891594038,652,0.400975601833,0.00448632143338,0.0798424129862,0.999999955725,0.000110028882128,-0.00027187268442,5.02883783466e-05,1793243246208267008
+37,0.616666667,BASELINE,765,745,714.528890073,680,659.471109927,634.528890073,878,786.528890073,805,652,631.528890073,652,0.400975718897,0.00448383233778,0.0798424226932,0.999999956258,0.000107053122164,-0.000271054183083,5.05281999292e-05,1793243246224933376
+38,0.633333333,BASELINE,765,745,714,680,659.952381899,634,878.047618101,786.047618101,805.047618101,652,631.047618101,652,0.400975811248,0.00448117096059,0.0798424180523,0.999999956794,0.000103917928026,-0.0002702441037,5.08046358331e-05,1793243246241600000
+39,0.650000000,BASELINE,765,745,714,680,659.376327295,634,878.623672705,786.623672705,805.623672705,652,631.623672705,652,0.400975151667,0.0044838742125,0.0798421439676,0.999999956232,0.000105806530678,-0.000271642708566,5.05089753721e-05,1793243246258267136
+40,0.666666667,BASELINE,765,745,714,680,659,634.204676918,878.795323082,786.795323082,805.795323082,652,631.795323082,652,0.400975860258,0.00448525720793,0.07984261069,0.999999956251,0.000106907393339,-0.000271174229778,5.03302115956e-05,1793243246274933760
+41,0.683333333,BASELINE,765,745,714,680,659,634.795007173,878.204992827,786.204992827,805.204992827,652,631.204992827,652,0.400979146765,0.00448415256889,0.0798444732451,0.999999957363,0.000106523991997,-0.000267187781944,5.0371705192e-05,1793243246291599872
+42,0.700000000,BASELINE,765,745.377478411,714,680,659,635,878.377478411,786,804.622521589,652,631,652,0.400978339609,0.00448426462643,0.0798437902379,0.999999957013,0.000107242177634,-0.000268258348275,5.00996890934e-05,1793243246308266752
+43,0.716666667,BASELINE,765,745.955768769,714,680,659,635,878.955768769,786,804.044231231,652,631,652,0.400975354694,0.00448502394543,0.0798417530358,0.999999955879,0.000108546388391,-0.000272019158289,4.96608912896e-05,1793243246324933888
+44,0.733333333,BASELINE,765,746,714,680,659,635,879,786.530270696,804.530270696,652,631,652,0.400976094341,0.00448484646271,0.0798423982683,0.999999956148,0.000107384728344,-0.000271412665651,5.00676915614e-05,1793243246341600512
+45,0.750000000,BASELINE,765,745.894994321,714,680,659,635,878.894994321,786.894994321,804.894994321,652,631,652,0.400976606101,0.00448448536179,0.0798428650923,0.999999956413,0.000106150279169,-0.000270848940954,5.04666081312e-05,1793243246358267136
+46,0.766666667,BASELINE,765,745.317800589,714,680,659,635,878.317800589,786.317800589,804.317800589,652,631,652,0.400974705978,0.00448364746004,0.0798415306378,0.999999956138,0.000105506871684,-0.000272104038986,5.05151491556e-05,1793243246374934016
+47,0.783333333,BASELINE,765,745,714,680,659,635,878.26472423,786.26472423,804.26472423,652,631,652,0.400973902788,0.00448368986122,0.079841087859,0.999999955877,0.000106121704435,-0.000272824093914,5.05015558294e-05,1793243246391600640
+48,0.800000000,BASELINE,765,745,714,680,659,635,878.853780611,786.853780611,804.853780611,652,631,652,0.400974443527,0.00448481078293,0.0798417375343,0.999999955633,0.000108278095131,-0.000272888630315,5.04118373751e-05,1793243246408266752
+49,0.816666667,BASELINE,765,745,714,680.436322315,659,635,878.563677685,787,805,652,631,652,0.400975345709,0.00448475074322,0.0798422727455,0.999999955781,0.000108936941715,-0.000272066269434,5.05013266351e-05,1793243246424933120
+50,0.833333333,BASELINE,765,745,714,680.983448992,659,635,878,786.983448992,804.983448992,652,631,652,0.400976333278,0.00448432065956,0.0798427583275,0.999999956058,0.000109022135982,-0.000270985268896,5.06382589758e-05,1793243246441599744
+51,0.850000000,BASELINE,765,745,714,680.408680981,659,635,878,786.408680981,804.408680981,652,631,652,0.400976175598,0.00448456158001,0.0798428447652,0.99999995633,0.00010643677181,-0.000271057834354,5.03796025298e-05,1793243246458267136
+52,0.866666667,BASELINE,765,745,714,680,659,635,878,786,804,652,631,652,0.400976070082,0.00448463676445,0.0798428565776,0.999999956512,0.000104727524331,-0.000271075800376,5.02682045946e-05,1793243246474934272
+53,0.883333333,BASELINE,765,745,714,680,659,635,878,786,804,652,631,652,0.400976092925,0.00448430413168,0.0798426847638,0.999999956484,0.000105174087726,-0.00027095941666,5.05191573502e-05,1793243246491600640
+54,0.900000000,BASELINE,764.660828214,745,714,680,659,635,878,786.339171786,804,652,631,652,0.400976319919,0.004483328177,0.0798425195306,0.999999956496,0.000105592478545,-0.000270728950294,5.06463273695e-05,1793243246508266752
+55,0.916666667,BASELINE,764.081461486,745,714,680,659,635,878,786.918538514,804,652,631,652,0.400976691489,0.0044818966341,0.0798423589576,0.999999956536,0.000105990918069,-0.000270417692791,5.06858368225e-05,1793243246524932864
+56,0.933333333,BASELINE,764.496736728,745,714,680,659,635,878,786.503263272,804.496736728,652,631,652,0.400976606943,0.00448363866922,0.0798423622517,0.999999956674,0.000105936713767,-0.000270026918173,5.01428137336e-05,1793243246541599232
+57,0.950000000,BASELINE,764.926266648,745,714,680,659,634.926266648,878.073733352,786.073733352,805,652,631,652,0.400976406113,0.00448548525017,0.0798424298845,0.999999956772,0.000105929687368,-0.000269752616345,4.96883695739e-05,1793243246558265856
+58,0.966666667,BASELINE,764.356073579,745,714,680,659,634.356073579,878.643926421,786.643926421,805,652,631,652,0.400975924772,0.00448453972801,0.0798427502057,0.999999956485,0.000106738952647,-0.000270350143047,5.04720637542e-05,1793243246574932480
+59,0.983333333,BASELINE,764.223558446,745,714,680,659,634.223558446,879,786.776441554,805,652,631,652,0.400975784289,0.00448399735955,0.0798431168267,0.999999956415,0.000107398300014,-0.000270262617516,5.09191873684e-05,1793243246591599104
+60,1.000000000,BASELINE,764.818887234,745,714,680,659,634.818887234,879,786.181112766,805,652,631,652,0.400976210638,0.00448412542228,0.0798435604428,0.999999956708,0.00010780833895,-0.000269035872746,5.08066053251e-05,1793243246608265728
+61,1.016666667,BASELINE,765,745,714,680,659.402601487,634.597398513,878.597398513,786,805,652,631,652,0.400975647368,0.00448404127142,0.0798430236925,0.999999956618,0.000107096629889,-0.000269718527612,5.04644556557e-05,1793243246624932352
+62,1.033333333,BASELINE,765,745,714,680,659.981237338,634.018762662,878.018762662,786,805,652,631,652,0.400974651393,0.0044838643318,0.0798420582846,0.999999956358,0.000105894445227,-0.000271236052672,5.00219293361e-05,1793243246641598976
+63,1.050000000,BASELINE,765,745,714,680,659.444385562,634,878.555614438,786.555614438,805,652,631,652,0.400975522737,0.0044843636056,0.0798426289362,0.999999956445,0.000107623270419,-0.000270170976016,5.03444601167e-05,1793243246658265856
+64,1.066666667,BASELINE,765,745,714,680,659,634,878.869900266,786.869900266,805,652,631,652,0.400976095297,0.00448472227094,0.0798429040804,0.999999956465,0.000108815573223,-0.000269579238572,5.05600853619e-05,1793243246674932480
+65,1.083333333,BASELINE,765,745,714,680,659,634,878.294556274,786.294556274,805,652,631,652,0.400975431158,0.0044845221725,0.0798419917294,0.999999956225,0.000107835560729,-0.000270903623662,5.03220999116e-05,1793243246691599104
+66,1.100000000,BASELINE,765,745,714,680,659,634.289358157,878.289358157,786,805,652,631,652,0.400975400241,0.00448465002445,0.0798417037865,0.999999955986,0.000109060458321,-0.000271268964031,5.04630694332e-05,1793243246708265728
+67,1.116666667,BASELINE,765,745,714,680,659,634.882263246,878.882263246,786,805,652,631,652,0.400976033596,0.00448512190796,0.0798420708698,0.99999995574,0.000112598384579,-0.000270628232505,5.10015761274e-05,1793243246724932352
+68,1.133333333,BASELINE,765,745,714,680,659,634.53720254,878.53720254,786,805,652,631.46279746,652,0.400975999863,0.00448466042369,0.0798424737355,0.999999956426,0.000109015549555,-0.000269637761,5.05863093602e-05,1793243246741598720
+69,1.150000000,BASELINE,765,745,714,680,659,634,878,786,805,652,631.959968345,652,0.400975744004,0.00448412355022,0.0798427824063,0.999999957206,0.000104182063984,-0.000268771664129,4.99624508481e-05,1793243246758265344
+70,1.166666667,BASELINE,765,745,714,680,659,634,878,786,805,652,631.38586693,652,0.400974729894,0.00448566629872,0.0798417161203,0.99999995648,0.000106202282737,-0.000270720997273,4.97085885032e-05,1793243246774932224
+71,1.183333333,BASELINE,765,745,714,680,659,634.192853719,878,786,805,652,631,652,0.400974483731,0.00448608678788,0.0798414188829,0.999999956174,0.00010723489993,-0.000271437360513,4.97436591752e-05,1793243246791599104
+72,1.200000000,BASELINE,765,745,714,680,659,634.781043569,878,786,805,652,631,652,0.400975811804,0.00448420672713,0.0798426981394,0.999999956738,0.000106243005965,-0.000269626225283,5.0371021519e-05,1793243246808265728
+73,1.216666667,BASELINE,765,745.366282375,714,680,659,635,878,786,804.633717625,652,631,652,0.400975641593,0.0044835302016,0.0798425163909,0.999999956713,0.000105791654537,-0.000269860389714,5.05671809644e-05,1793243246824932352
+74,1.233333333,BASELINE,765,745.94977117,714,680,659,635,878,786,804.05022883,652,631,652,0.400974582896,0.00448356737575,0.0798414682624,0.999999956339,0.000105660846325,-0.000271307422379,5.05076359095e-05,1793243246841598720
+75,1.250000000,BASELINE,765,745.474638045,714,680,659,635,878,786,804.525361955,652,631,652,0.400974530519,0.00448469941781,0.0798413438192,0.999999956029,0.000107276186821,-0.0002718833023,5.01384521674e-05,1793243246858265344
+76,1.266666667,BASELINE,765,745,714,680,659,635,878.099959344,786,804.900040656,652,631,651.900040656,0.400974611134,0.00448549850245,0.0798412978372,0.999999955826,0.000108534725264,-0.000272184554808,4.98441702585e-05,1793243246874931968
+77,1.283333333,BASELINE,765,745,714,680,659,635,878.673375115,786,804.326624885,652,631,651.326624885,0.400974872707,0.00448423207375,0.0798412113933,0.999999956112,0.000107324248348,-0.000271573692984,5.00428022025e-05,1793243246891598592
+78,1.300000000,BASELINE,765,745,714,680,659,634.74592352,878.74592352,786.25407648,804,652,631,651.508152959,0.400975240104,0.00448341556766,0.0798417042226,0.999999956371,0.00010678981012,-0.000270775983727,5.03371876213e-05,1793243246908265472
+79,1.316666667,BASELINE,765,745,714,680,659,634.155579805,878.155579805,786.844420195,804,652,631,652.688840389,0.400975747559,0.00448319452898,0.0798429637132,0.999999956594,0.000107150101247,-0.000269730984137,5.07583016235e-05,1793243246924932352
+80,1.333333333,BASELINE,765,745,714,680,659.426360409,634,878,787,804,652,631,652.573639591,0.400976061643,0.00448371767628,0.0798435769837,0.999999956746,0.000107325168993,-0.000269124183963,5.06067043138e-05,1793243246941598976
+81,1.350000000,BASELINE,765,745,714,680,659.994734565,634,878,786.994734565,804.010530869,652,631,652,0.4009762804,0.00448451570246,0.0798439296559,0.99999995686,0.00010746215454,-0.000268713343017,5.02498272109e-05,1793243246958265600
+82,1.366666667,BASELINE,765,745,714,680,659.418869385,634,878,786.418869385,805.162261229,652,631,652,0.400973667602,0.00448624272043,0.0798411018511,0.999999955494,0.000110655068045,-0.000272545080208,4.98565791933e-05,1793243246974932224
+83,1.383333333,BASELINE,765,745,714.153928535,680,659.153928535,634.153928535,878.153928535,786,805.692142931,652,631,652,0.400972575909,0.0044870618663,0.0798399129477,0.999999954929,0.000112084209566,-0.000274057731381,4.97059944566e-05,1793243246991598592
+84,1.400000000,BASELINE,765,745,714.71854304,680,659.71854304,634.71854304,878.71854304,786,804.56291392,652,631,652,0.40097554257,0.00448545878239,0.0798430966818,0.999999956537,0.000108807554963,-0.000269382992002,5.02028425843e-05,1793243247008265472
+85,1.416666667,BASELINE,765,745.302486989,714.697513011,680,659.697513011,634.697513011,879,786.302486989,804,651.697513011,631,652,0.400976330979,0.00448469666611,0.0798440064257,0.999999956923,0.000108262099927,-0.00026811548655,5.04760098716e-05,1793243247024932096
+86,1.433333333,BASELINE,765,745.905644257,714.094355743,680,659.094355743,634.094355743,879,786.905644257,804,651.094355743,631,652,0.400974954218,0.00448477046679,0.0798426558364,0.999999956113,0.000110431441321,-0.000270234751767,5.05268396964e-05,1793243247041598720
+87,1.450000000,BASELINE,765,745.515187727,714,680,659,634,878.515187727,786.515187727,804.484812273,651.484812273,631,652,0.400975666313,0.00448588329933,0.079842652087,0.999999956231,0.000110546733333,-0.000269776236735,5.0382292464e-05,1793243247058265600
+88,1.466666667,BASELINE,765,745,714.059488637,680,659,634,878,786,804.940511363,652,631.059488637,652,0.400976692399,0.00448698903414,0.0798429092059,0.99999995652,0.000110095539763,-0.000268924374235,5.01912668697e-05,1793243247074932480
+89,1.483333333,BASELINE,765,745,714.63379362,680,659,634,878,786,804.36620638,652,631.63379362,652,0.400977083446,0.00448636584018,0.0798432623922,0.99999995679,0.000108038433943,-0.000268805458403,4.99115698251e-05,1793243247091599104
+90,1.500000000,BASELINE,765,745,714.784894152,680,658.784894152,634,878,786,804,652,631.784894152,652,0.400976944025,0.00448599381998,0.0798431193086,0.999999956697,0.000107671705838,-0.000269310495937,4.98488348106e-05,1793243247108265728
+91,1.516666667,BASELINE,765,745,714.191250825,680,658.191250825,634,878,786,804,652,631.191250825,652,0.400975871101,0.00448606380868,0.0798421029027,0.999999955964,0.000110279659133,-0.000270913549817,5.0167903764e-05,1793243247124932608
+92,1.533333333,BASELINE,765,745,714,680.391409578,658.391409578,634.391409578,878,786.391409578,804.391409578,652,631,652,0.400976796522,0.00448588974803,0.07984301215,0.999999956578,0.000108456825099,-0.000269387262881,5.01257096232e-05,1793243247141599232
+93,1.550000000,BASELINE,765,745,714,680.968850022,658.968850022,634.968850022,878,786.968850022,804.968850022,652,631,652,0.400978671724,0.00448559969454,0.07984483663,0.999999957814,0.000104528107203,-0.000266373649215,4.99118127972e-05,1793243247158265600
+94,1.566666667,BASELINE,765,745,714,681,659,634.469570731,878,786.469570731,805,652,631,652,0.40097661642,0.0044856463835,0.0798434663662,0.999999956898,0.000107681497039,-0.000268517419488,5.00688978658e-05,1793243247174932480
+95,1.583333333,BASELINE,765,745,714,680.901522597,659,634.098477403,878.098477403,786.098477403,805,652,631,652,0.400974829692,0.00448554888033,0.0798422738203,0.99999995608,0.000110384531725,-0.000270432136368,5.02166918146e-05,1793243247191599104
+96,1.600000000,BASELINE,765,745,714,680.295470573,659,634.704529427,878.704529427,786.704529427,805,652,631,652,0.400975582434,0.00448460921052,0.0798429362021,0.999999956478,0.000108684915182,-0.00026965051401,5.02075662806e-05,1793243247208265728
+97,1.616666667,BASELINE,765,745,714,680.294643844,659,634.705356156,878.705356156,786.705356156,804.705356156,652,631,652,0.400975566394,0.00448441172294,0.0798427752581,0.999999956404,0.00010832462947,-0.000270055699303,5.02852806775e-05,1793243247224932352
+98,1.633333333,BASELINE,765,745,714,680.869596041,659,634.130403959,878.130403959,786.130403959,804.130403959,652,631,652,0.400974818976,0.00448492030777,0.0798418310462,0.999999955881,0.000109238511394,-0.000271589949801,5.04456099288e-05,1793243247241598976
+99,1.650000000,BASELINE,764.551703535,745,714,680.551703535,659,634,878,786,804,652,631,652,0.400975974003,0.00448468172952,0.0798427606173,0.999999956311,0.000109413700114,-0.000269920238545,5.04911332694e-05,1793243247258265600
+100,1.666666667,BASELINE,764.027831531,745,714,680,659,634.027831531,878,786,804.027831531,652,631,652,0.400977543996,0.00448424794956,0.0798441496376,0.999999956978,0.000109285746539,-0.000267486904784,5.05020483769e-05,1793243247274932224
+101,1.683333333,BASELINE,764.602165863,745,714,680,659,634.602165863,878,786,804.602165863,652,631,652,0.400976304095,0.00448428487427,0.0798437673399,0.999999956901,0.000107460178536,-0.000268514019573,5.04946818653e-05,1793243247291598848
+102,1.700000000,BASELINE,764.824056181,745,714,680,659,634.824056181,878,786,804.824056181,652,631,652,0.400976308765,0.0044842432348,0.0798439408342,0.999999957003,0.000106861292248,-0.000268376294791,5.04868430447e-05,1793243247308265472
+103,1.716666667,BASELINE,764.251532383,745,714,680,659,634.251532383,878,786,804.251532383,652,631,652,0.400979118713,0.00448402451048,0.079845367092,0.999999957507,0.000109027364996,-0.000265613004197,5.04779396341e-05,1793243247324932352
+104,1.733333333,BASELINE,764.333825658,745,714,680,659.333825658,634.333825658,878.333825658,786.333825658,804.333825658,652,631,652,0.400979133356,0.00448377447492,0.0798450526413,0.999999957382,0.000109403114489,-0.000265946883167,5.03951880319e-05,1793243247341599232
+105,1.750000000,BASELINE,764.929240816,745,714,680,659.929240816,634.929240816,878.929240816,786.929240816,804.929240816,652,631,652,0.400976957567,0.00448349990351,0.079843374152,0.999999956763,0.000108375946994,-0.000268707738368,5.02545681645e-05,1793243247358265856
+106,1.766666667,BASELINE,765,745,714,680.510003869,659.489996131,634.489996131,878.489996131,787,804.489996131,652,631,652,0.400976128086,0.00448455650949,0.0798427756033,0.999999956599,0.000107782431699,-0.000269533469648,5.03721767853e-05,1793243247374932480
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878,786,805,652,631,652,0.400975512756,0.00448287651719,0.0798425801508,0.999999956522,0.000106992947316,-0.00027011778667,5.04435459936e-05,1793243247418062848
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.408930537,878,786.591069463,805,652,631,652,0.400975831057,0.00448256435367,0.0798430592328,0.999999956878,0.000105285809562,-0.000269525849394,5.01370145488e-05,1793243247434729472
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680.178433663,659,634,878,787,804.821566337,652,631,652,0.400976520409,0.00448285255065,0.0798437133794,0.99999995717,0.00010501129405,-0.00026860391439,4.98528133758e-05,1793243247451396096
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680.757479075,659,634,878,787,804.242520925,652,631,652,0.400978042829,0.00448448865172,0.079844760574,0.999999957313,0.000107953241371,-0.000266941082253,4.96187471297e-05,1793243247468062464
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680.666280251,659,634.333719749,878,786.666280251,804.333719749,652,631,652,0.400977757546,0.00448541572789,0.0798444491641,0.999999957128,0.000108760173094,-0.000267319693808,4.95535794666e-05,1793243247484729344
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680.092060885,659,634.907939115,878,786.092060885,804.907939115,652,631,652,0.400976169517,0.00448583183565,0.0798431586576,0.999999956708,0.000108028476982,-0.000269169499271,4.96101308493e-05,1793243247501395968
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.504975638,878,786.495024362,805,652,631,652,0.400976470496,0.00448492912353,0.0798434903993,0.999999956759,0.000108427681682,-0.000268767828663,4.98853787844e-05,1793243247518062592
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.082986421,878,786.917013579,804.917013579,652,631,652,0.40097710154,0.00448388685136,0.0798441030121,0.9999999569,0.000108737972863,-0.000268067555247,5.01628543668e-05,1793243247534729216
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.661515318,878,786.338484682,804.338484682,652,631,652,0.400977549785,0.00448351485757,0.0798445432148,0.999999957038,0.000107227940471,-0.000268151218381,5.02042867913e-05,1793243247551395840
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745.239041144,714,680,659,634.760958856,878,786,804,652,631.239041144,652,0.400982324688,0.00448392836766,0.0798469343554,0.999999958029,0.000107204904232,-0.000264453932636,5.01274143689e-05,1793243247568062720
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745.815152498,714,680,659,634.184847502,878,786,804,652,631.815152498,652,0.400993200579,0.00448544951117,0.0798520764995,0.999999960164,0.000109278670777,-0.000255425157846,4.98837211196e-05,1793243247584729344
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745.608848878,714,680,659,634.391151122,878.391151122,786,804.391151122,652,631.608848878,652,0.401019143799,0.00448575256939,0.0798622681291,0.999999964505,0.000110131966222,-0.000237441943002,4.98201778961e-05,1793243247601395968
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745.032903462,714,680,659,634.967096538,878.967096538,786,804.967096538,652,631.032903462,652,0.401052205384,0.00448548015909,0.0798748453233,0.999999969501,0.000110408666001,-0.000215228317734,4.98417441841e-05,1793243247618062848
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.442679211,786.557320789,805,652,631,652,0.401110286916,0.00448595734301,0.079892178725,0.999999976681,0.000109476113315,-0.0001797393027,4.8445546946e-05,1793243247634729216
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.854736832,878,787,805,652,631,652,0.401171700335,0.00448654592495,0.0799078596126,0.999999981853,0.000108482281218,-0.00014939764485,4.69726191698e-05,1793243247651395840
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.276181331,878,787,805,652,631,652,0.401238530256,0.00448733131082,0.0799177517739,0.999999983825,0.000107524214364,-0.000136808844116,4.55270530655e-05,1793243247668062720
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.30100087,878,786.69899913,804.69899913,652,631,652,0.401312336966,0.00448820178195,0.0799240621278,0.999999985363,0.000106029337207,-0.000127015208556,4.35724937497e-05,1793243247684729344
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.876928699,878,786.123071301,804.123071301,652,631,652,0.401392516102,0.00448914996785,0.0799271009443,0.999999986568,0.00010404415049,-0.000119774610425,4.11530323619e-05,1793243247701395968
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.537623605,878,786,804,652,631,652,0.401490652272,0.00449014836625,0.0799294468223,0.99999998724,0.00010257703135,-0.000116297922391,3.83688920707e-05,1793243247718062592
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.049578544,878,786,804,652,631,652,0.401596318292,0.00449125897175,0.0799320910305,0.999999987879,0.000101227358701,-0.000112896526293,3.53411081199e-05,1793243247734729216
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.62789991,878,786,804,652,631,652,0.401730243017,0.00449342070587,0.0799399252159,0.999999989625,9.96286959448e-05,-9.9389070154e-05,3.07718823867e-05,1793243247751396096
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680.206165418,659,634.793834582,878.206165418,786.206165418,804,652,631,652,0.401874026492,0.00449562209589,0.0799475600299,0.999999991191,9.75595420832e-05,-8.61501889534e-05,2.60524140274e-05,1793243247768062720
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680.784330075,659,634.215669925,878.784330075,786.784330075,804,652,631,652,0.402035598811,0.00449789503972,0.0799548351028,0.999999992606,9.46414471363e-05,-7.33959185024e-05,2.10618524854e-05,1793243247784729600
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680.640454657,659.359545343,634.359545343,878.640454657,786.640454657,804,652,631,652,0.402211892099,0.00450067103737,0.0799604032988,0.999999993819,9.05887255936e-05,-6.25899308907e-05,1.54410584102e-05,1793243247801396224
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680.066994103,659.933005897,634.933005897,878.066994103,786.066994103,804,652,631,652,0.402396943793,0.00450374633231,0.0799649559715,0.999999994868,8.58609459715e-05,-5.29430930274e-05,9.44530051075e-06,1793243247818062592
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.480410827,635,878.519589173,786.519589173,804.519589173,652,631,652,0.402598065933,0.00450584488824,0.0799602406699,0.999999995008,7.6212175566e-05,-6.45793216621e-05,2.44575740946e-06,1793243247834729216
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.893769974,786.893769974,804.893769974,652,631,652,0.402807816905,0.00450801511113,0.0799545461552,0.999999994754,6.64705369041e-05,-7.77860313208e-05,-4.78213561967e-06,1793243247851395840
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.31460061,786.31460061,804.31460061,652,631,652,0.403046519834,0.0045110796031,0.0799499500935,0.999999994519,5.9213430748e-05,-8.54509056895e-05,-1.24355193667e-05,1793243247868062720
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.263065341,634.736934659,878,786,804.263065341,652,631,651.736934659,0.403307320662,0.00451585479093,0.0799473030671,0.999999994243,5.75781034757e-05,-8.83401141278e-05,-1.98460105777e-05,1793243247884729600
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.838943539,634.161056461,878,786,804.838943539,652,631,651.161056461,0.403594398245,0.00452266417912,0.0799469736528,0.999999994016,6.26276736767e-05,-8.55505439788e-05,-2.6967676098e-05,1793243247901396480
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.584224934,634,878,786,805,652,631,651.415775066,0.403912292471,0.00452837815591,0.0799498177536,0.999999991038,0.00010404137973,-8.16817258172e-05,-2.06899023088e-05,1793243247918063104
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.007023286,634,878,786,805,652,631,651.992976714,0.404242151394,0.00453366683402,0.0799538939863,0.999999984231,0.000159573628398,-7.73938844894e-05,-9.20973434695e-06,1793243247934729472
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.582055219,634.582055219,878,786.582055219,805,652,631,652,0.404620198884,0.00454321041764,0.079955891186,0.999999984661,0.000159497642273,-7.01752642827e-05,-1.77118140943e-05,1793243247951397120
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.831853427,634.831853427,878.168146573,787,805,652,631,652,0.405008215299,0.00455121496275,0.0799564838187,0.999999988339,0.000135925696337,-6.51270953813e-05,-2.45949247516e-05,1793243247968064768
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.253408165,634.253408165,878.746591835,787,805,652,631,652,0.405419108691,0.0045553361712,0.0799537116207,0.999999995888,5.66920676834e-05,-6.54631898718e-05,-2.69269457407e-05,1793243247984730880
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.323653725,879,786.676346275,805,651.676346275,631,652,0.405847221875,0.00456391663392,0.0799477743356,0.999999995824,4.55202364044e-05,-7.3736882912e-05,-2.90268665872e-05,1793243248001397248
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.899637158,879,786.100362842,805,651.100362842,631,652,0.406288760146,0.00457597365936,0.0799393694579,0.999999991811,8.74113223708e-05,-8.81989551692e-05,-3.09458358205e-05,1793243248018063872
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,786.474912589,805,651.474912589,631,652,0.406755350848,0.0045849904019,0.0799318556083,0.999999987429,0.000117168870173,-0.000102049275599,-3.16258800764e-05,1793243248034730240
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.051524209,745.051524209,714,680.051524209,659,635,879,786.948475791,805,652,631,652,0.407232114828,0.0045934947509,0.0799252836403,0.999999982665,0.000143118783159,-0.0001146887045,-3.21516898754e-05,1793243248051397120
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.643725466,745.643725466,714,680.643725466,659,635,879,786.356274534,805,652,631,652,0.407760160062,0.00460335436323,0.0799266224286,0.999999980539,0.000155980170712,-0.000115976080452,-3.38023846514e-05,1793243248068063488
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.770845288,745.770845288,714,681,659,635,879,786,805.229154712,652,631,652,0.408299444717,0.00461356879555,0.079924775811,0.999999978932,0.000162004776884,-0.000121019103148,-3.52828083187e-05,1793243248084729856
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.195642535,745.195642535,714,681,659,635,879,786,805.804357465,652,631,652,0.408855702061,0.00462431904327,0.0799181188907,0.999999978221,0.00015770511366,-0.000131733552692,-3.65061043667e-05,1793243248101396480
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680.619202863,659,634.619202863,878.619202863,786,805.619202863,652,631,652,0.409472565284,0.00463189966825,0.0799340611879,0.999999979917,0.000165594244969,-0.000106147398035,-3.84223686876e-05,1793243248118063360
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680.042125644,659,634.042125644,878.042125644,786,805.042125644,652,631,652,0.410120667503,0.00463784652587,0.0799616521448,0.999999981101,0.000179766032567,-6.18502682551e-05,-4.06958201196e-05,1793243248134730240
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680.545038111,659,634,878.545038111,786,805,652,631,652,0.410779914806,0.0046439012292,0.0799852641562,0.999999982235,0.000182424717567,-2.31608021633e-05,-4.14197809893e-05,1793243248151397120
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.130618249,745,714,681,659,634,879,786,805,651.869381751,631,652,0.411439682903,0.00464578891034,0.0799969809953,0.999999982723,0.000181007248615,-4.52907559009e-06,-4.2079958853e-05,1793243248168063744
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.708063795,745,714,681,659,634,879,786,805,651.291936205,631,652,0.412098230139,0.00463339272134,0.0799690779142,0.999999983436,0.00016874722835,-5.3001559943e-05,-4.29393479146e-05,1793243248184729600
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.712595709,745,714,681,659,634.287404291,879,786,805,651.287404291,631,652,0.412775961502,0.00461765105784,0.0799393699475,0.999999982695,0.000152909059097,-9.60590292637e-05,-4.47322224139e-05,1793243248201395968
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.131317537,745,714,681,659,634.868682463,879,786,805,651.868682463,631,652,0.413473308916,0.0045984886103,0.0799078164631,0.999999981052,0.000133412193845,-0.000133579595182,-4.74795956274e-05,1793243248218062592
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,635,879,786,805,652,631,652,0.414221364177,0.00458628956221,0.0799153326467,0.99999998565,0.000115779847929,-0.000115034820689,-4.54033378035e-05,1793243248234729472
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.011086231,635,879,786,805,652,631,652,0.414984401789,0.00457645553824,0.0799342534784,0.999999990986,9.90764742469e-05,-8.03066791475e-05,-4.19953894002e-05,1793243248251396096
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.605159742,635,879,786,805,652,631,652,0.415757099737,0.00458412281632,0.0799533041027,0.999999992317,0.000102609779674,-5.4984581863e-05,-4.2586585644e-05,1793243248268062976
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.194071754,714,681,659.805928246,635,879,786.194071754,805,652,631,652,0.416537614964,0.00459261580402,0.0799600095144,0.999999991499,0.00011295068239,-4.88093604617e-05,-4.31468382278e-05,1793243248284729600
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.772754679,714,681,659.227245321,635,879,786.772754679,805,652,631,652,0.417333622418,0.00460274518157,0.0799422491972,0.999999986446,0.000136782873047,-8.05793962723e-05,-4.36457666681e-05,1793243248301396480
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.650103576,745.650103576,714,681,659,635,879.349896424,786.650103576,805,652,631,652,0.418183093686,0.00460548142868,0.0799558037994,0.999999987831,0.000140216454457,-5.10879563724e-05,-4.54582436628e-05,1793243248318062848
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.073958406,745.073958406,714,681,659,635,879.926041594,786.073958406,805,652,631,652,0.419067135501,0.00460343715639,0.0799896071411,0.99999999017,0.000130459960303,1.80161565495e-05,-4.81200824599e-05,1793243248334729216
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.02343187,745,714,681,659.511715935,635,879.488284065,786,805,652,631,652,0.419887683385,0.00459504720844,0.0799881161493,0.999999992298,0.000112878864769,1.67230248153e-05,-4.88114641355e-05,1793243248351396096
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.902795702,745,714,681,660,634.902795702,879.097204298,786,805,652,631,652,0.420706893728,0.00458728689917,0.0799804567824,0.999999993952,9.81420097019e-05,3.6455416169e-06,-4.95136317467e-05,1793243248368062464
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.325162914,745,714,681,660,634.325162914,879.674837086,786,805,652,631,652,0.421565709624,0.00458725750978,0.079968000843,0.999999993208,0.000103158156344,-1.64342116612e-05,-5.17033836966e-05,1793243248384729344
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.746580005,634,879.746580005,786,805.253419995,652,631,652,0.422457311476,0.00459215289086,0.0799734464662,0.99999999237,0.000111712138927,-1.01449264547e-05,-5.17490398502e-05,1793243248401396224
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.166773328,634,879.166773328,786,805.833226672,652,631,652,0.423391139391,0.00460339102118,0.0800019480097,0.999999990554,0.000124822599699,3.0105776247e-05,-4.90332554736e-05,1793243248418063104
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.59008785,745.40991215,714,681,659.40991215,634.40991215,879,786,805.59008785,651.59008785,631,652,0.424263077976,0.00461007073108,0.0799976748507,0.999999989316,0.000137795513413,1.0200837463e-05,-4.77096986406e-05,1793243248434729728
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.014662674,745.985337326,714,681,659.985337326,634.985337326,879,786,805.014662674,651.014662674,631,652,0.425110027029,0.0046149098558,0.0799801680247,0.999999986963,0.000150712887839,-3.39935575018e-05,-4.69482911197e-05,1793243248451396096
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.574380878,746,714,681.574380878,659.425619122,634.425619122,879.574380878,786,805,651.574380878,631,651.425619122,0.425960491661,0.00461537762429,0.0799412495577,0.999999984775,0.00014411920091,-8.48540381919e-05,-4.97902324831e-05,1793243248468062720
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.839324201,714,682,659.160675799,634.160675799,880,786.160675799,805.160675799,652,631,651.160675799,0.426830006087,0.00461430791638,0.079913081104,0.999999982297,0.000136921714783,-0.000118045859671,-5.21967588731e-05,1793243248484729344
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.261097597,714,682,659.738902403,634.738902403,880,786.738902403,805.738902403,652,631,651.738902403,0.427748786585,0.00460953977975,0.07991430382,0.999999984702,0.000129480914755,-0.000104868883407,-5.32269158374e-05,1793243248501396480
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.315577308,714,682,660,634.684422692,879.684422692,786.684422692,805.684422692,652,631,652,0.428668024076,0.00460562781984,0.0799243793839,0.999999985963,0.000127739252765,-9.47363270983e-05,-5.27510991099e-05,1793243248518063360
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.890974647,714,682,660,634.109025353,879.109025353,786.109025353,805.109025353,652,631,652,0.429587637773,0.00460242076466,0.0799417436444,0.999999986364,0.000130689785988,-8.71102928729e-05,-5.10353892276e-05,1793243248534729728
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,746,714,682,660,634,879.466680552,786,805.466680552,652,631,652,0.430528494974,0.00460470198716,0.0799795346602,0.999999990244,0.000126361116362,-2.97689202405e-05,-5.15556289733e-05,1793243248551396608
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,746,714,682,660,634,880,786.043712739,805.956287261,651.956287261,631,652,0.431467862218,0.00460834706116,0.0800192725147,0.999999990702,0.000121168629813,3.40756774748e-05,-5.24713844809e-05,1793243248568064000
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,746,714,682,660,634,880,786.636497627,805.363502373,651.363502373,631,652,0.432326133749,0.00461300753507,0.0800234831173,0.999999990093,0.000126500533206,3.36221570892e-05,-5.17895218844e-05,1793243248584730112
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.776979732,714,682.223020268,660,634,880.223020268,786.776979732,805.223020268,651,631,652,0.433164371181,0.0046177325807,0.0799984852183,0.999999989956,0.000131611089987,-6.1648759736e-06,-5.22369223465e-05,1793243248601396224
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.200385112,714,682.799614888,660,634,880.799614888,786.200385112,805.799614888,651,631,652,0.433970846863,0.00462255999851,0.0799271804208,0.999999983352,0.000136370725696,-0.000108310911178,-5.44746459609e-05,1793243248618062592
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.375911955,714,683,660,634.375911955,880.624088045,786,805.624088045,651.375911955,631,651.624088045,0.434843038768,0.00462223427251,0.0799100331292,0.999999981961,0.000131263161974,-0.000125246023981,-5.62285419475e-05,1793243248634729216
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.952050499,714,683,660,634.952050499,880.047949501,786,805.047949501,651.952050499,631,651.047949501,0.435750233861,0.00461916376412,0.0799217324175,0.999999986341,0.000120899911112,-9.6794193978e-05,-5.77247309304e-05,1793243248651395840
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.522483382,745.477516618,714,682.477516618,660,634.477516618,880,786,805,651.477516618,631,651,0.436603561362,0.00461526439045,0.079956551802,0.999999988722,0.000127437290374,-5.74618271885e-05,-5.49000927303e-05,1793243248668062720
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.903469042,745,714,682,660,634,879.903469042,786,805.096530958,651,631,651.096530958,0.437451110339,0.00461130951626,0.0799915414284,0.999999989884,0.000131159277976,-1.64438427885e-05,-5.25267208042e-05,1793243248684729088
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.30806381,745,714,682,660,634,879.30806381,786,805.69193619,651,631,651.69193619,0.43829406816,0.00460745668299,0.0800165638877,0.9999999918,0.000112402188376,2.81807599197e-05,-5.45126550479e-05,1793243248701396224
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,682.279097832,660,634,879.558195664,786,806,651.279097832,631,652,0.439113177923,0.00460586923261,0.0800255360061,0.999999992012,0.000104638696772,4.37380863789e-05,-5.58096840314e-05,1793243248718063104
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,682.85742134,660,634,880.714842679,786,806,651.85742134,631,652,0.439906719708,0.00460671053914,0.0800173002712,0.999999992112,0.00010866163559,2.81318738751e-05,-5.63681255817e-05,1793243248734729728
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.567234353,745,714,682.567234353,660,634,880.567234353,786,805.567234353,652,631,651.567234353,0.440622985895,0.00460914375682,0.0799581279749,0.999999989926,0.000113633292177,-6.2712675271e-05,-5.74664083423e-05,1793243248751396096
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.007350395,745,714,682.007350395,660,634,880,786,805.007350395,652,631,651,0.441314034715,0.00461203719567,0.0798827950371,0.999999975522,0.000118660766531,-0.000177270620614,-5.87461722735e-05,1793243248768062720
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.599043878,745,714,682.599043878,660,634,880,786,805.599043878,652,631,651,0.442010463777,0.00461010802292,0.0798477002452,0.999999968652,0.000103447349624,-0.000219874379899,-6.04108696147e-05,1793243248784729344
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.186645855,745.186645855,714,683,660,634,880,786,806,652,631,651.186645855,0.442733384458,0.00460830336947,0.0798472841301,0.999999970612,9.71272123788e-05,-0.000213573581576,-6.10649351836e-05,1793243248801395968
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.765647032,745.765647032,714,683,660,634,880,786,806,652,631,651.765647032,0.443511994304,0.00460676047241,0.0799197673691,0.999999986772,0.000109501972065,-0.000104468666482,-5.95945134497e-05,1793243248818062592
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.657660713,746,714,683,660,634,880.342339287,786,806,652,631,652,0.444246789237,0.00460610619602,0.0799749622704,0.999999992899,0.000101336276341,-2.25150620579e-05,-5.85335360516e-05,1793243248834729472
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.082538506,746,714,683,660,634,880.917461494,786,806,652,631,652,0.444951790979,0.00460605616154,0.0800184014916,0.999999994356,7.92035382292e-05,4.09762625814e-05,-5.77509716951e-05,1793243248851396352
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764.659397611,745,714,683,660,634,880,786,806,651,631,651.340602389,0.446751540233,0.00460278913739,0.0799696445492,0.999999991555,0.000111224219879,-3.53897100842e-05,-5.71622634316e-05,1793243248901396224
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.243652066,714,683,659.756347934,634,880,786,805.756347934,651.243652066,631,651.243652066,0.447284508984,0.004606764514,0.0799415045272,0.999999989935,0.000106553420912,-7.29449411867e-05,-5.87778510924e-05,1793243248918062592
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.817690661,714,683,659.182309339,634,880,786,805.182309339,651.817690661,631,651.817690661,0.447795374426,0.00461293307856,0.0799123174429,0.999999988017,9.03175156331e-05,-0.000110832280062,-5.93773683504e-05,1793243248934729216
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.604848369,714,683.395151631,658.604848369,633.604848369,879.604848369,786,805.395151631,652,631,651.604848369,0.44827734137,0.00461899368113,0.0798832566441,0.999999981785,9.22428377227e-05,-0.000156069843119,-5.96893368145e-05,1793243248951395840
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,684,657.849806355,633,880.150193645,786,806,651.150193645,631,651.150193645,0.449640692166,0.0046349064328,0.0798241429501,0.999999959997,0.000133058419569,-0.000242049760922,-6.09381541884e-05,1793243249001396224
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,684,657.305544236,633,880.694455764,786,806,652,631,652,0.450506829001,0.00464180886485,0.0798495417688,0.999999965951,0.000152123117827,-0.000203402240059,-5.98611128434e-05,1793243249034729984
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+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,684,656.96692926,633,880.96692926,786.96692926,806,652,631,652,0.451605000352,0.00464785765276,0.0798648124892,0.999999966691,0.00015783131939,-0.000195119870211,-6.02950258202e-05,1793243249084729088
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,684,656.375388886,633,880.375388886,786.375388886,806,652,631,652,0.451870918755,0.00465331411548,0.0798336413081,0.999999954361,0.000166907887062,-0.000244987746806,-5.8315607011e-05,1793243249101395712
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+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,684,656,633,880.788431281,786,806,652,631,652,0.452376876207,0.00465929950089,0.0797839893999,0.99999993912,0.000127290862099,-0.000319896133855,-5.67803231392e-05,1793243249134729728
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+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.761362611,714,685,653.761362611,632,881,785.238637389,806,652,631,652,0.454389250015,0.00466655489579,0.0797053728604,0.999999888376,0.000149545156372,-0.000442806939313,-6.93240775998e-05,1793243249434728960
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.184367997,714,685,653.184367997,632,881,785.815632003,806,652,631,652,0.454408227894,0.00466109770486,0.0797059936656,0.999999889684,0.00014508078687,-0.000441527388676,-6.81035089461e-05,1793243249451395584
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,713.610821285,684.610821285,653,631.610821285,880.610821285,785.610821285,806,652,631,651.610821285,0.454419612072,0.00466113960199,0.0797050603753,0.999999889117,0.00014400682568,-0.00044316443112,-6.80622240146e-05,1793243249468062464
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,713.038893641,684.038893641,653,631.038893641,880.038893641,785.038893641,806,652,631,651.038893641,0.45442743043,0.00466376373827,0.0797033973192,0.999999887671,0.0001445249185,-0.000446171035293,-6.85747022812e-05,1793243249484729088
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,713,684,653,631.550204387,880,785.550204387,806,652,630.449795613,651.550204387,0.454431462178,0.00466671395119,0.0797015046947,0.999999886298,0.00014615723453,-0.000448724934921,-6.84658665063e-05,1793243249501395712
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,713,684,653,632,880,786,806,651.862338531,630.137661469,652,0.454434418976,0.00466803004388,0.079699787596,0.99999988517,0.000146658407747,-0.000451117585133,-6.81438431539e-05,1793243249518062336
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,713,684,653,632,880,786,806,651.284142143,630.715857857,652,0.45443481997,0.0046640405952,0.0796986858083,0.999999884822,0.000143279599945,-0.000453099923036,-6.72846697841e-05,1793243249534729216
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,713,684,653,632,880.294579174,786,806,651.294579174,631,652,0.454435737151,0.00466253618762,0.079697517825,0.999999884297,0.000142620589396,-0.000454517472461,-6.69253754505e-05,1793243249551395584
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,713,684,653,632,880.873807795,786,806,651.873807795,631,652,0.45443715312,0.00466343305445,0.0796962858773,0.999999883609,0.000144589696292,-0.000455389271639,-6.70491100402e-05,1793243249568062208
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,713,684.448602619,653,631.551397381,881,785.551397381,805.551397381,652,631,652,0.454437675331,0.00466481168024,0.0796961572111,0.999999883193,0.000145161871639,-0.000456048342502,-6.75469894514e-05,1793243249584729088
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,713,684.977173132,653,631.022826868,881,785,805.022826868,652,631,652,0.454437930902,0.00466626448015,0.0796962875576,0.999999882836,0.000145359220695,-0.000456682641481,-6.81099334998e-05,1793243249601395968
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,713,684.386416589,653,631.613583411,881,785,805.613583411,652,631,652,0.454437746411,0.00466622402477,0.0796952161151,0.999999882101,0.000145911994816,-0.000458174876085,-6.76987689993e-05,1793243249618062592
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.200007272,713,684,653,632,881,785,806,652,631,652,0.45443783388,0.00466602632502,0.0796947949276,0.999999881733,0.000145593074542,-0.000459129995184,-6.73505360568e-05,1793243249634729216
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.778237787,713,684,653,632,881,785,806,652,631,652,0.454438435641,0.00466553126872,0.0796956034031,0.999999882061,0.000143625738762,-0.000459069403285,-6.71213097022e-05,1793243249651395840
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.645042042,713,684.354957958,653,632,881,785,806,652,631,652,0.454438517099,0.00466557837264,0.0796952095199,0.999999881665,0.000143362501813,-0.000460001547163,-6.71995148353e-05,1793243249668062208
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.069261493,713,684.930738507,653,632,881,785,806,652,631,652,0.454438274873,0.00466596275941,0.0796940676381,0.999999880818,0.000144159400405,-0.00046155128105,-6.74689759174e-05,1793243249684729088
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.517351893,745,713.517351893,685,653,632,881,785,806,652,631,652,0.454438430256,0.00466709213709,0.0796938796306,0.999999880283,0.00014667473468,-0.000461893823972,-6.76316750121e-05,1793243249701395712
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.896320763,745.103679237,714,684.896320763,653,632,880.896320763,785.103679237,806,652,631,652,0.454438315822,0.00466803913822,0.079693397572,0.999999879671,0.000148645993082,-0.000462566435671,-6.77811438286e-05,1793243249718062080
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.318082971,745.681917029,714,684.318082971,653,632,880.318082971,785.681917029,806,652,631,652,0.454436717534,0.00466768509049,0.0796909725738,0.999999878533,0.000147051375327,-0.000465505393517,-6.7936875887e-05,1793243249734728960
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.260731108,745.739268892,713.739268892,684,652.739268892,632,880,785.739268892,806,651.739268892,631,652,0.454435797115,0.00466626973571,0.0796900450139,0.999999878143,0.000145477510226,-0.000466871260937,-6.76933853775e-05,1793243249751396096
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.840249872,745.159750128,713.159750128,684,652.159750128,632,880,785.159750128,806,651.159750128,631,652,0.454435705506,0.00466355675441,0.0796909483242,0.999999878676,0.000143929018524,-0.000466313760986,-6.69617781179e-05,1793243249768063488
+249,4.150000000,HOLD_POSE2,765,745,713,684,652,631,881,785,807,652,631,652,0.454436165267,0.00466325192331,0.0796900962221,0.99999987838,0.000139213038635,-0.000468345773671,-6.71678338335e-05,1793243249801942016
+250,4.166666667,HOLD_POSE2,764.404966011,745,713,684.595033989,652.595033989,631.595033989,880.404966011,785,806.404966011,652,631,652,0.454435694328,0.00466636688268,0.0796896055461,0.999999877532,0.000143431063674,-0.000468880520836,-6.71976356306e-05,1793243249818608384
+251,4.183333333,HOLD_POSE2,764.184300633,745,713.184300633,684.815699367,653,631.815699367,880.184300633,785,806,652,631,652,0.454435675015,0.00466735708216,0.0796893164349,0.999999877342,0.000144967034719,-0.000468835755179,-6.70369404486e-05,1793243249835274752
+252,4.200000000,HOLD_POSE2,764.761279263,745,713.761279263,684.238720737,653,631.238720737,880.761279263,785,806,652,631,652,0.454436617952,0.00466382018737,0.0796894567856,0.999999878576,0.000140788519488,-0.000467556257396,-6.64703651059e-05,1793243249851941376
+253,4.216666667,HOLD_POSE2,765,745.337732716,714,684,653,631,880.662267284,785.337732716,805.662267284,652,631,651.662267284,0.454436333103,0.00466242549866,0.0796884438797,0.999999878245,0.000139200362895,-0.000468762568023,-6.62866785474e-05,1793243249868608256
+254,4.233333333,HOLD_POSE2,765,745.9138155,714,684,653,631,880.0861845,785.9138155,805.0861845,652,631,651.0861845,0.45443518176,0.00466254264168,0.0796866170793,0.999999876814,0.00013944031537,-0.000471723202705,-6.63732103439e-05,1793243249885275136
+255,4.250000000,HOLD_POSE2,765,745.498594229,714,684.501405771,652.498594229,631.501405771,880,786,805.501405771,652,631,651.501405771,0.454436541942,0.00466349831271,0.0796879668275,0.999999877221,0.000141860779033,-0.000470112708916,-6.65384588548e-05,1793243249901941760
+256,4.266666667,HOLD_POSE2,765,745,714,684.910575259,652,631.910575259,880,785.910575259,805.910575259,652,631,652,0.454437883046,0.00466435616639,0.079689452739,0.999999877734,0.000144160744192,-0.000468305694207,-6.6626962455e-05,1793243249918607872
+257,4.283333333,HOLD_POSE2,765,745,714,684.33129745,652,631.33129745,880,785.33129745,805.33129745,652,631,652,0.454436699343,0.00466387012388,0.0796886233639,0.999999877114,0.000143699331682,-0.000469827262647,-6.62192134113e-05,1793243249935274496
+258,4.300000000,HOLD_POSE2,765,745.247226516,713.752773484,684.247226516,652,631,880,785,805.247226516,652,631,652,0.454436058719,0.00466308872126,0.0796879945535,0.999999876666,0.000142710542059,-0.000471103392492,-6.60575370383e-05,1793243249951941120
+259,4.316666667,HOLD_POSE2,765,745.824743314,713.175256686,684.824743314,652,631,880,785,805.824743314,652,631,652,0.454436143636,0.00466191272276,0.0796876336942,0.999999876448,0.000141017185916,-0.000472051620565,-6.62246094627e-05,1793243249968608000
+260,4.333333333,HOLD_POSE2,765,745.601571748,713,685,652.398428252,631,880,785.398428252,806,652,631,652,0.454436251048,0.00466270181635,0.0796876190282,0.999999876228,0.000141997005844,-0.000472209480516,-6.63264505375e-05,1793243249985274624
+261,4.350000000,HOLD_POSE2,765,745.029556225,713,685,652.970443775,631,880,785.970443775,806,652,631,652,0.454436368261,0.0046643470614,0.0796877551917,0.999999876004,0.000144141475311,-0.000472022992866,-6.63998716239e-05,1793243250001941248
+262,4.366666667,HOLD_POSE2,765,745,713.562077597,684.437922403,652.437922403,631,880,786,806,651.437922403,631,652,0.454436141406,0.00466446153694,0.07968732151,0.999999875964,0.000143076090726,-0.000472448103111,-6.6284665711e-05,1793243250018607872
+263,4.383333333,HOLD_POSE2,765,745,713.848564309,684.151435691,652,631,880,786,806,651.151435691,631,652,0.454436168445,0.00466411244229,0.0796870349228,0.999999876115,0.000141703409935,-0.00047256290255,-6.61427722711e-05,1793243250035274752
+264,4.400000000,HOLD_POSE2,765,745,713.268669131,684.731330869,652,631,880,786,806,651.731330869,631,652,0.454436966872,0.00466268773977,0.079687252358,0.999999876778,0.000139956112204,-0.000471705452532,-6.59544495203e-05,1793243250051941376
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,746,714,684,652,632,881,786,806,651,631,651,0.454437702614,0.00466343569925,0.0796869184259,0.999999876999,0.000140507851277,-0.000470921565415,-6.70181520592e-05,1793243250088803328
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.577656452,745.422343548,714,684,652,632,881,785.422343548,805.422343548,651.577656452,631,651,0.454436232427,0.00466349494503,0.0796854499416,0.999999875745,0.000140571486186,-0.00047363009354,-6.65213392833e-05,1793243250105470208
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.840513333,745,713.840513333,684.159486667,652,631.840513333,880.840513333,785,805.159486667,652,631,651.159486667,0.45443513377,0.00466343223638,0.0796842789001,0.999999874748,0.000140726594119,-0.000475742545627,-6.60913356056e-05,1793243250122136576
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.247333243,745,713.247333243,684.752666757,652,631.247333243,880.247333243,785,805.752666757,652,631,651.752666757,0.454435045416,0.00466303789604,0.0796839166968,0.999999874474,0.000141130445431,-0.000476234083789,-6.58430063564e-05,1793243250138803200
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,713.336209261,685,652,631.336209261,880,785.336209261,806,651.663790739,631,651.663790739,0.454434955144,0.00466284136694,0.0796839152663,0.999999874575,0.000140025794037,-0.0004763425384,-6.58897898796e-05,1793243250155470080
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,713.912859386,685,652,631.912859386,880,785.912859386,806,651.087140614,631,651.087140614,0.4544348635,0.00466278630307,0.0796841718434,0.99999987494,0.000137842333265,-0.000476177029853,-6.61476240294e-05,1793243250172136960
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.512639607,685,652.487360393,631.512639607,880,785.512639607,806,651.487360393,631,651.487360393,0.454435974367,0.00466561187879,0.0796852451578,0.999999875112,0.000140538441337,-0.000474939852126,-6.67540539785e-05,1793243250188803584
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,713,684.937049794,652.937049794,631,880,785,806,652,631,652,0.454436996159,0.00466842570075,0.0796862136718,0.999999875185,0.000143688255026,-0.000473769703938,-6.72795371352e-05,1793243250205470464
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,713,684.349190864,652.349190864,631,880,785,806,652,631,652,0.454435490212,0.00466686554048,0.0796850959591,0.999999874809,0.000143378130346,-0.000474749247955,-6.66125976552e-05,1793243250222137088
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713.234934927,684.234934927,652.234934927,631.234934927,880,785.234934927,806,652,631,652,0.454430566638,0.00466509588536,0.0796822443227,0.999999873238,0.000142095683126,-0.000478491311671,-6.61700281085e-05,1793243250238803712
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,713.813598778,684.813598778,652.813598778,631.813598778,880,785.813598778,806,652,631,652,0.454420642797,0.00466301972236,0.0796768558147,0.999999869872,0.000139390648887,-0.000486275166512,-6.60557300972e-05,1793243250255470080
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,684.609094851,652.609094851,632,880.390905149,785.609094851,806,652,631,652,0.454393250047,0.00466288000459,0.0796636817237,0.999999859627,0.000139164747317,-0.000506999314472,-6.58132099357e-05,1793243250272136960
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,684.032433498,652.032433498,632,880.967566502,785.032433498,806,652,631,652,0.454357556157,0.00466366047589,0.0796468079615,0.999999845528,0.000140116917077,-0.000533872626474,-6.55097591905e-05,1793243250288803584
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.457646139,684,652,632,880.457646139,785,806,652,631,652,0.454296847281,0.00466435168127,0.0796254251188,0.999999824745,0.000141721262418,-0.000571135964947,-6.50293892154e-05,1793243250305470464
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.120481454,745,713,684,652.120481454,632,880.120481454,785.120481454,806,651.879518546,630.879518546,652,0.454232393874,0.00466485117599,0.0796054164905,0.999999804826,0.000143482303802,-0.000604653577777,-6.44514910086e-05,1793243250322137088
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.712107998,745,713,684,652.712107998,632,880.712107998,785.712107998,806,651.287892002,630.287892002,652,0.454159127107,0.00466462178594,0.0795918325853,0.999999794483,0.00014570412033,-0.000621102084056,-6.35334377679e-05,1793243250338803712
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.703350412,745,713.296649588,684.296649588,653,631.703350412,880.703350412,786,806,651,630.296649588,652,0.454080165092,0.00466350943864,0.0795837000064,0.999999788343,0.00014716395371,-0.000630736543005,-6.18740026838e-05,1793243250355470592
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.125524265,745,713.874475735,684.874475735,653,631.125524265,880.125524265,786,806,651,630.874475735,652,0.453995804892,0.00466156018851,0.0795807344174,0.999999786369,0.000147901548328,-0.00063391236956,-5.95118557669e-05,1793243250372137984
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,713.549581693,685,653,631.450418307,880,786,806,651,630.549581693,652,0.453896516574,0.00466150334388,0.0795805613612,0.999999786246,0.000150551913916,-0.000633677733717,-5.74046182953e-05,1793243250388804352
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713,684.973539698,653.026460302,632,880,785.973539698,806,651.026460302,630.026460302,652,0.453791786709,0.00466184775156,0.0795812237924,0.999999786634,0.000153642560996,-0.000632511114342,-5.52741494145e-05,1793243250405470208
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713,684.384264107,653.615735893,632,880,785.384264107,806,651.615735893,630.615735893,652,0.453659434339,0.00465955605862,0.0795831729583,0.999999787217,0.000154807049448,-0.000631652888842,-5.11448216371e-05,1793243250422137088
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713,684.201272594,653.798727406,632,880.201272594,785.201272594,806,652,631,652,0.453517202666,0.004657867598,0.0795852197286,0.999999788608,0.000156883332646,-0.000629250366092,-4.70700093645e-05,1793243250438803456
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713,684.779801224,653.220198776,632,880.779801224,785.779801224,806,652,631,652,0.453356453698,0.0046573098084,0.0795874494438,0.999999791505,0.000160668641591,-0.000623953284129,-4.30973788948e-05,1793243250455470592
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,713.35804172,684.64195828,653.35804172,632,880.64195828,786,806,652,631,652,0.453172930357,0.00465590455227,0.0795885677485,0.999999792414,0.00016380557095,-0.000621996007388,-3.82148652937e-05,1793243250472137216
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,713.93610521,684.06389479,653.93610521,632,880.06389479,786,806,652,631,652,0.452975411822,0.00465397851576,0.0795890030757,0.999999792096,0.000166544062125,-0.000622091088315,-3.27732150799e-05,1793243250488803840
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,713.49033944,684,653.49033944,632,880,785.49033944,805.49033944,651.49033944,631,652,0.452746717097,0.00465354007313,0.0795868663488,0.999999786769,0.000173447621674,-0.000629014833859,-2.67931203372e-05,1793243250505470720
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.085471475,745,713.085471475,684.085471475,653.085471475,632,880,785.085471475,805.085471475,651.085471475,631,652,0.452508249808,0.00465283981117,0.0795850351837,0.999999781566,0.000180390897628,-0.000635533879931,-2.05660892562e-05,1793243250522137344
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.677986742,745,713.677986742,684.677986742,653.677986742,632,880,785.677986742,805.677986742,651.677986742,631,652,0.452234791503,0.00464948970309,0.0795869128202,0.999999781522,0.000184499307453,-0.000634618047457,-1.32710914779e-05,1793243250538803456
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.736133822,745,713.736133822,685,654,632,880,786,806,652,630.736133822,652,0.451950021053,0.00464549424723,0.0795917943738,0.999999784109,0.00018897419813,-0.00062931648114,-5.54020885438e-06,1793243250555470080
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.158153901,745,713.158153901,685,654,632,880,786,806,652,630.158153901,652,0.451651784324,0.00464073055137,0.0796002518751,0.999999789748,0.000193885357694,-0.00061879401352,2.70956294957e-06,1793243250572136704
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,713.417466296,685,654.417466296,632.417466296,880.417466296,786,805.582533704,652,630.417466296,652,0.451331099638,0.00463935356584,0.0796112712254,0.999999799451,0.000201771918532,-0.000600242512349,9.7919586271e-06,1793243250588803584
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,713.992197541,685,654.992197541,632.992197541,880.992197541,786,805.007802459,652,630.992197541,652,0.451001958523,0.00463925239798,0.0796232556571,0.999999810224,0.000210779351277,-0.000578666370441,1.64345884402e-05,1793243250605470208
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,713.41819965,685,655,633,880.41819965,786,805.58180035,651.41819965,631,652,0.450645642213,0.0046348169272,0.0796385268178,0.999999828491,0.000205736095579,-0.000547968124104,2.05174004588e-05,1793243250622137088
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,685,655.168187136,633,880,786,806,651,631,652,0.450266344187,0.00463002887461,0.079653043775,0.999999846621,0.000189292033737,-0.000520092375814,2.07337745572e-05,1793243250638803712
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,713,685,655.746237775,633,880,786,806,651,631,652,0.449831952369,0.00462452696668,0.0796656125405,0.999999864642,0.000145536033058,-0.000499400862464,1.16136889862e-05,1793243250655470080
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745.324422952,713.324422952,684.675577048,656,633,880,786,806,651,631,652,0.449370535722,0.00461962235724,0.0796682420483,0.999999868472,0.000126060926636,-0.000497021424013,1.16096106046e-05,1793243250672136704
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.902713471,713.902713471,684.097286529,656,633,880,786,806,651,631,652,0.44888797155,0.00461518514544,0.0796630938858,0.999999862412,0.000125586109892,-0.000508971555451,1.87389925156e-05,1793243250688803328
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.521421832,713.521421832,684.478578168,656.478578168,633,880,786,805.521421832,651.478578168,631,652,0.448351983654,0.00461275989628,0.0796432062786,0.999999845456,0.000114951288721,-0.000543584828296,1.97264501217e-05,1793243250705470208
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.053828248,713.053828248,684.946171752,657.053828248,633.053828248,880,786,805,652,631,652,0.44780674863,0.00461017825081,0.0796231904801,0.999999827197,0.000110887051033,-0.000576994265116,1.96795067925e-05,1793243250722136832
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.627880505,713.627880505,684.372119495,657.627880505,633.627880505,880,786,805,652,631,652,0.447276572565,0.00460215228909,0.0796307472226,0.999999827963,0.00019018426849,-0.000554469181361,2.16413100741e-05,1793243250738803456
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.798732446,714,684,658,634,880,786,805.201267554,652,631,652,0.446737753089,0.00459535021889,0.0796511471644,0.999999838965,0.000231010387375,-0.000517841662736,2.33416937747e-05,1793243250755470080
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.226571269,714,684,658,634,880,786,805.773428731,652,631,652,0.446183005662,0.00459080352292,0.0796952144112,0.999999875894,0.00020094238806,-0.000455226338489,2.45603363982e-05,1793243250772136704
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.640798802,745,714,684,658.359201198,634,880,786.359201198,805.640798802,652,631,652,0.445596717203,0.00458152085628,0.0797458659199,0.999999913787,0.000167658251898,-0.000378912631004,2.72457728578e-05,1793243250788803840
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764.046102697,745,714,684,658.953897303,634,880,786.953897303,805.046102697,652,631,652,0.444989750236,0.00456913325315,0.0798008341167,0.99999994767,0.000132265593561,-0.000293618165024,3.08928498036e-05,1793243250805470976
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,745.531620271,714,684,659,634,880,786.468379729,805.531620271,652,631,652,0.444325647239,0.00456215708024,0.0798255392946,0.999999957843,0.000111486130559,-0.000266005595904,3.35468785495e-05,1793243250822137344
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764.110739439,746,714,684,659,634,880,786,805.889260561,652,631,652,0.443646340281,0.00455595809049,0.0798407039622,0.999999963313,9.33954435962e-05,-0.000251723912295,3.58568733532e-05,1793243250838803456
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764.702109018,746,714,684,659,634,880,786,805.297890982,652,631,652,0.442921885285,0.00455115845499,0.0798254991611,0.999999958371,8.16445300343e-05,-0.000274261858382,3.70359002706e-05,1793243250855470336
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745.71246808,714,683.71246808,659,634,879.71246808,786.28753192,805,652,631,652,0.442169063016,0.00454410211461,0.0798152524228,0.999999954606,8.81977278377e-05,-0.000285555833472,3.83028129463e-05,1793243250872136960
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745.133081191,714,683.133081191,659,634,879.133081191,786.866918809,805,652,631,652,0.441387446883,0.00453475513914,0.07981003829,0.999999952055,0.000113330238309,-0.000285436786939,3.96589328873e-05,1793243250888803840
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,659,634,879.442381082,787,805.442381082,652,631,652,0.44054242134,0.00452909200686,0.0797614307126,0.999999928494,0.000101978534347,-0.000361847174779,4.09836716305e-05,1793243250905470464
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,659,634,880,786.983241844,805.983241844,652,631,652,0.439679673178,0.00452429302265,0.0797013719794,0.999999890775,8.00604437163e-05,-0.000458534687823,4.22691800873e-05,1793243250922137088
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,659,634,880,786.406018886,805.406018886,652,631,652,0.438856556363,0.00451165753454,0.0796910806608,0.999999886206,6.85976984933e-05,-0.000470182921288,4.25556246214e-05,1793243250938803712
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,683.175159195,659.175159195,634,880,786.175159195,805,652,631,652,0.438052788619,0.00450047467908,0.0797058527121,0.999999897334,6.1211075364e-05,-0.000446844280681,4.37586667548e-05,1793243250955470336
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,683.765717012,659.765717012,634,880,786.765717012,805,652,631,652,0.437294908193,0.00449273681396,0.0797800637747,0.999999938892,6.34911759313e-05,-0.00034053254863,4.71354647339e-05,1793243250972136704
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745.349467408,714,683.650532592,659.650532592,634,880,787,805,652,631,652,0.436482613333,0.00448613497316,0.079834753549,0.999999964392,5.96803525741e-05,-0.000255418694288,4.91422977552e-05,1793243250988803328
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745.928741286,714,683.071258714,659.071258714,634,880,787,805,652,631,652,0.435634536085,0.00448028017154,0.0798766063054,0.99999998042,5.18641951195e-05,-0.000184244368996,5.02482546643e-05,1793243251005469952
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745.496851907,714,683,659,634,879.496851907,787,805.503148093,652,631,652,0.434740117994,0.00446911355688,0.0798582982837,0.999999975689,3.59109604607e-05,-0.000211555914413,5.07620160681e-05,1793243251022137344
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,683.079012417,658.920987583,634,879,787,806,652,631,652,0.433833747771,0.00445778227319,0.0798293542013,0.999999965269,2.22144041318e-05,-0.000257545926289,5.13759142466e-05,1793243251038804480
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,683.668709436,658.331290564,634,879,787,806,652,631,652,0.43289214007,0.00445020240477,0.0797862077289,0.999999942018,3.04806741011e-05,-0.000334973406898,5.31739192986e-05,1793243251055470848
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,683.492603538,658.253698231,634.253698231,879.253698231,786.746301769,805.746301769,652,631,651.746301769,0.431930695984,0.00444262188992,0.0797438868271,0.999999912364,2.78706343476e-05,-0.000414159845499,5.44629152286e-05,1793243251072136960
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.334698168,658.832650916,634.832650916,879.832650916,786.167349084,805.167349084,652,631,651.167349084,0.430943820481,0.00443504054525,0.0797026243445,0.999999875608,1.13165955668e-05,-0.000495601371373,5.50993350366e-05,1793243251088803584
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.409742173,659,634.590257827,880,786,805,652,631.409742173,651.409742173,0.430058533395,0.0044237017448,0.0797424913209,0.999999907423,4.27648984953e-07,-0.00042662705524,5.60619863293e-05,1793243251105470208
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.986076579,659,634.013923421,880,786,805,652,631.986076579,651.986076579,0.429214550003,0.0044108352452,0.0798153437689,0.999999954378,-8.15799364381e-06,-0.000296496927365,5.71572754769e-05,1793243251122136832
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,659,634,879.427333846,786,805,652,631.427333846,652,0.428348255791,0.00440410357234,0.0798533532993,0.999999969987,-1.16513340514e-05,-0.000237474685557,5.91278286727e-05,1793243251138803456
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.157311835,745,714,682.842688165,659,634.157311835,879.157311835,786,805.157311835,652,631,652,0.427454317129,0.00440134865485,0.0798663104002,0.999999974679,-1.22594650566e-05,-0.000216375092252,6.06137456886e-05,1793243251155470080
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.736069533,745,714,682.263930467,659,634.736069533,879.736069533,786,805.736069533,652,631,652,0.426487797474,0.0044088407659,0.0798144617841,0.999999955463,-5.47572645473e-06,-0.000292155896292,6.0743248223e-05,1793243251172136960
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.68504487,745,714,682,659,635,880,786,805.68504487,652,631,652,0.425517827124,0.00442951432085,0.0797742555228,0.999999935206,2.39591559755e-05,-0.000354077382719,6.03518910454e-05,1793243251188803584
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.106052081,745,714,682,659,635,880,786,805.106052081,652,631,652,0.424544963988,0.00446123833077,0.0797438094485,0.999999913847,7.23832667376e-05,-0.000404380125077,5.95238793338e-05,1793243251205470208
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.531579224,634.531579224,879.531579224,786.468420776,805,652,631,652,0.423589211469,0.00447819875556,0.0797314939452,0.999999903476,9.05176444967e-05,-0.000426121162864,5.72375419381e-05,1793243251222137088
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.043117246,634,879,786.956882754,805,651.956882754,631,652,0.42264911394,0.0044906425668,0.0797283689915,0.999999900155,0.000100580090459,-0.000431947786693,5.47176149729e-05,1793243251238803712
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.633516337,634,879,786.366483663,805,651.366483663,631,652,0.421859023099,0.0044877783546,0.0797902944735,0.999999943853,9.4398546896e-05,-0.000317068367199,5.33835209243e-05,1793243251255470080
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.780342919,659,634,879,786.219657081,805.219657081,651.219657081,631,651.780342919,0.421049645147,0.00448383675091,0.079840562468,0.999999968904,8.89685851725e-05,-0.000226959012115,5.25973606857e-05,1793243251272136704
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.201171744,659,634,879,786.798828256,805.798828256,651.798828256,631,651.201171744,0.420208699738,0.00447813177351,0.0798717505911,0.999999979284,8.47687425811e-05,-0.000177390960478,5.27080077156e-05,1793243251288803328
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745.360911301,714,681,658.639088699,634,879,787,805.639088699,652,631,651.360911301,0.419320626324,0.00447584345651,0.0798544110249,0.999999973387,7.95726564195e-05,-0.000210028159216,5.27474344246e-05,1793243251305469952
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745.913899989,714,681,658.086100011,634,879,787,805.086100011,652,631,651.913899989,0.418407471384,0.00447537349024,0.0798112449676,0.999999954865,7.38463682776e-05,-0.000286415084115,5.27489573854e-05,1793243251322136576
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745.492433562,714,681,658.507566438,634,879.507566438,787,805.507566438,651.492433562,631,652,0.417528853649,0.00447662076314,0.0798035703991,0.999999948312,7.72377853643e-05,-0.000307799634349,5.16707301782e-05,1793243251338803456
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,879.893276439,786.893276439,805.893276439,651.106723561,631,652,0.41666654397,0.00447930349184,0.0798022236013,0.999999944351,8.29124073995e-05,-0.000319088863314,5.10541036914e-05,1793243251355470336
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,879.303225798,786.303225798,805.303225798,651.696774202,631,652,0.415849245676,0.00448705290529,0.0797998927186,0.999999939757,9.13123923476e-05,-0.0003305945334,5.34297294756e-05,1793243251372136704
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745.281518486,714,681,659,634,879,786.281518486,805,652,631,652,0.415055050539,0.00448943428107,0.0797932343021,0.999999935441,9.68220005837e-05,-0.000341839516222,5.37446817471e-05,1793243251388803072
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.860652953,714,681,659,634,879,786.860652953,805,652,631,652,0.414285279671,0.0044861406692,0.0797820008994,0.999999931489,9.92759571014e-05,-0.00035280890473,5.18811290945e-05,1793243251405469952
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.562171167,714,681,658.562171167,634,879,787,805,652,631,652,0.413559243759,0.00448062200897,0.0797970427827,0.999999943395,8.56212485547e-05,-0.000321392322144,5.08458673838e-05,1793243251422136576
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.985355414,745,714,681,658.014644586,634,879,787,805,652,631,652,0.412846468965,0.0044745638642,0.0798196179321,0.999999957756,6.74638005553e-05,-0.000278254550826,5.01202335882e-05,1793243251438802944
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.398362275,745,714,681,658.601637725,634,879,787,805,652,631,652,0.412110389687,0.00447497484987,0.0798112363729,0.999999950464,7.28070145166e-05,-0.000301903056252,5.123864733e-05,1793243251455469824
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764.186060942,745,714,681,658.813939058,634,879.186060942,787,805,652,631,652,0.411386758167,0.00447677474807,0.0798015443994,0.999999942893,7.92565662522e-05,-0.000324389874427,5.19972665607e-05,1793243251472136448
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.76505695,745,714,681,658.23494305,634,879.76505695,787,805,652,631,652,0.410689414457,0.00448150783821,0.0797890850098,0.999999935459,8.80425519296e-05,-0.000344423373872,5.19960496207e-05,1793243251488803072
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.342400943,634,879.657599057,787,804.657599057,652,631,652,0.410051298031,0.00448480716935,0.0797968481272,0.999999940071,9.66371683303e-05,-0.000328308464192,5.22764380029e-05,1793243251505470208
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.918616791,634,879.081383209,787,804.081383209,652,631,652,0.40945362611,0.004487127431,0.0798184205634,0.999999951755,0.000105101103993,-0.000287508933773,5.27491258006e-05,1793243251522136832
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745.49400355,714,681,659,634.49400355,878.50599645,786.50599645,804.49400355,652,631,652,0.408870442289,0.00448632615684,0.0798378134476,0.999999960595,9.3595278614e-05,-0.000259264432984,5.3213795001e-05,1793243251538803456
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745.929266371,714,680.929266371,659,635,878.070733629,786.070733629,805.070733629,652,631.070733629,652,0.408287929184,0.00448535808504,0.0798508287661,0.999999965631,8.21923409328e-05,-0.000243120704935,5.36134421991e-05,1793243251555470080
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745.341725173,714,680.341725173,659,635,878.658274827,786.658274827,805.658274827,652,631.658274827,652,0.407692906898,0.00448692232996,0.0798198661614,0.999999948912,9.55378818694e-05,-0.000300303157038,5.35476489351e-05,1793243251572136960
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.756953788,879,786.756953788,805.756953788,652,631.756953788,652,0.407125215241,0.00448690398383,0.0797932189143,0.999999933566,0.000102185638629,-0.000345852644971,5.30262172254e-05,1793243251588803584
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.176032952,879,786.176032952,805.176032952,652,631.176032952,652,0.406595517747,0.00448468557302,0.0797725707338,0.999999923303,9.95223615535e-05,-0.000375230375756,5.18713725342e-05,1793243251605470464
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879,786.401060217,804.598939783,652,631,652,0.40613663618,0.00448535435664,0.0797786337088,0.999999931204,9.33705473183e-05,-0.000355398094396,5.06524273541e-05,1793243251622137088
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879,786.976489281,804.023510719,652,631,652,0.405708543191,0.00448727840486,0.0797963098841,0.999999945755,8.57020223291e-05,-0.000314170790722,4.94056130581e-05,1793243251638803456
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.551091325,879,787,804.551091325,652,631,652,0.40529832228,0.00449268548339,0.0798133039783,0.999999950011,0.000110269927384,-0.000291967234679,5.07351501308e-05,1793243251655470080
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714.129295123,680,659,634.870704877,879,786.870704877,805,652,631,652,0.404894378853,0.00449756298727,0.0798283018141,0.999999952781,0.000129729208489,-0.00027367633872,5.20567205002e-05,1793243251672136960
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714.720492061,680,659,634.279507939,879,786.279507939,805,652,631,652,0.404510141601,0.00450001855891,0.0798362718982,0.999999955153,0.000126032384391,-0.000266468223634,5.29577606132e-05,1793243251688803584
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714.694752562,680.305247438,659,634.305247438,878.694752562,786.305247438,805,652,631,652,0.404140666784,0.00450131052644,0.0798379685399,0.999999954906,0.000120051180748,-0.000270134261456,5.29477147914e-05,1793243251705469952
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714.115773705,680.884226295,659,634.884226295,878.115773705,786.884226295,805,652,631,652,0.403784430242,0.00450155902885,0.0798340394558,0.999999952167,0.000112021454135,-0.000283551723989,5.21206502755e-05,1793243251722136576
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.457131592,745,714,680.542868408,659,635,878,787,804.542868408,652,631,651.542868408,0.403480043062,0.00449890528294,0.0798352797202,0.999999953213,0.000105309994902,-0.000282656888998,5.08738382975e-05,1793243251738803968
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.970462049,745,714,680.029537951,659,634.970462049,878,787,804.029537951,652.029537951,631,651.029537951,0.403189922756,0.00449548384162,0.0798377395656,0.999999955077,9.8846584503e-05,-0.000278583528394,4.96595709146e-05,1793243251755471104
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.378656744,745,714,680.621343256,659,634.378656744,878,787,804.621343256,652.621343256,631,651.621343256,0.402924693493,0.00449125708422,0.0798388203254,0.999999954781,9.08329372352e-05,-0.000282099523112,5.10618450543e-05,1793243251772137728
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.791233356,745.208766644,714,680.791233356,659,634.208766644,878,786.791233356,805,652.791233356,631,652,0.402676272752,0.00448824995505,0.0798396758673,0.999999955097,8.2458622451e-05,-0.000283423626976,5.17421821854e-05,1793243251788803840
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.21159447,745.78840553,714,680.21159447,659,634.78840553,878,786.21159447,805,652.21159447,631,652,0.402457712242,0.00448740948595,0.0798401313112,0.999999956556,7.34435856206e-05,-0.00028085385423,5.11400039539e-05,1793243251805470464
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.366189512,745.633810488,714,680,659,634.633810488,878.366189512,786.366189512,805,652,631,652,0.402263111113,0.00448547170808,0.0798418223574,0.999999958158,6.82142475803e-05,-0.0002763572002,5.15480689551e-05,1793243251822137088
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.942907136,745.057092864,714,680,659,634.057092864,878.942907136,786.942907136,805,652,631,652,0.402082284589,0.00448290307004,0.0798442237709,0.999999959843,6.51613664784e-05,-0.000270752751566,5.25369386268e-05,1793243251838803712
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878.483089312,786.483089312,805,652,631.516910688,652,0.401931270559,0.0044828372487,0.079848148903,0.999999961117,6.92876584872e-05,-0.000264547267338,5.4586538458e-05,1793243251855470336
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878,786,805,652,631.906474565,652,0.401786153962,0.00448321849009,0.0798514158613,0.999999961166,8.38396052012e-05,-0.000259661107695,5.6708359819e-05,1793243251872136704
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878,786,805,652,631.314349092,652,0.40165501477,0.0044845170667,0.0798502814615,0.999999952704,0.000149767273708,-0.000262160547807,5.85938812378e-05,1793243251888803328
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878,786,805,652,631,652,0.401534511431,0.00448371077197,0.0798468846293,0.999999947519,0.000173085834085,-0.000267631766609,5.81048940746e-05,1793243251905470208
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878,786,805,652,631,652,0.401426044296,0.00448052247361,0.0798409274877,0.999999949295,0.000148185269809,-0.000276466036015,5.49287651521e-05,1793243251922136832
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.425633977,878,786,805,652,631,652,0.401335790982,0.00448174713586,0.0798357250562,0.999999949669,0.00013134547275,-0.000284256346471,5.10728480194e-05,1793243251938803968
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878.001152897,786.001152897,804.998847103,652,631,652,0.40125199927,0.00448451797846,0.0798307941474,0.999999949473,0.000117366745503,-0.000291669481357,4.69877095526e-05,1793243251955470592
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878.590315711,786.590315711,804.409684289,652,631,652,0.401193113906,0.00448344061967,0.0798288226843,0.999999948947,0.000115126710348,-0.000294178245489,4.80640560865e-05,1793243251972137216
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.176360339,634.823639661,879,786.823639661,804.176360339,652,631,652,0.40113915372,0.00448228107761,0.0798274751756,0.999999948601,0.000112950140635,-0.000295997613821,4.9258036054e-05,1793243251988803584
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.755287203,634.244712797,879,786.244712797,804.755287203,652,631,652,0.401096435929,0.00448093394118,0.0798275519279,0.999999948682,0.000110918439755,-0.000296243341892,5.07205302279e-05,1793243252005469952
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.668745009,634,878.668745009,786,805,652,631,652,0.401061541032,0.00448067830322,0.0798277795727,0.999999948707,0.000109496659035,-0.000296581075896,5.1344498687e-05,1793243252022137088
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.094943807,634,878.094943807,786,805,652,631,652,0.401032374083,0.0044812218646,0.0798281177016,0.999999948693,0.000108521464049,-0.000296986177033,5.13544954632e-05,1793243252038804736
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878,786,805,652,631,652,0.401013230897,0.00448170528234,0.0798275500253,0.999999948381,0.000109227217471,-0.000297750777053,5.15017480198e-05,1793243252055471616
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.050325218,659,634,878,786.050325218,804.949674782,652,631,652,0.400996736133,0.00448216974819,0.0798269253513,0.999999948071,0.000110190268476,-0.000298406214473,5.16768539232e-05,1793243252072138240
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.647513721,659,634,878,786.647513721,804.352486279,652,631,652,0.40098742411,0.00448255785354,0.0798276328944,0.999999948435,0.000110327604276,-0.000297100874817,5.18589083491e-05,1793243252088804352
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.762576819,745,714.237423181,680.762576819,659,634.237423181,878,787,804,652,631.237423181,652,0.400980566077,0.00448249360626,0.0798290939933,0.999999949101,0.000110047133529,-0.000294932202666,5.19939494237e-05,1793243252105470464
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.183152641,745,714.816847359,680.183152641,659,634.816847359,878,787,804,652,631.816847359,652,0.400977242942,0.00448177775852,0.0798316405668,0.999999950194,0.000109164824928,-0.000291519925924,5.20612691591e-05,1793243252122137088
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.393064193,745,714.606935807,680,659,635,878.393064193,786.606935807,804.393064193,652,631.606935807,652,0.400975343594,0.00448227535307,0.0798325795885,0.99999995092,0.000108663005627,-0.000289304254012,5.15355499391e-05,1793243252138803456
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.967798608,745,714.032201392,680,659,635,878.967798608,786.032201392,804.967798608,652,631.032201392,652,0.400974102305,0.00448333378818,0.0798327756162,0.999999951476,0.000108337044588,-0.000287641640629,5.07357342173e-05,1793243252155469824
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.462693661,879,786,805,652,631,652,0.40097504939,0.00448266449171,0.0798345797769,0.999999952296,0.000107193431363,-0.000285141439835,5.11126537191e-05,1793243252172136960
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879,786.112109747,804.887890253,652,631,652,0.400975554695,0.00448214382009,0.0798360299002,0.999999952897,0.000106691457496,-0.000283150540308,5.14612805547e-05,1793243252188803584
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879,786.711267178,804.288732822,652,631,652,0.400973576458,0.00448271433718,0.0798355272834,0.999999952508,0.000109187847314,-0.000283588217897,5.1383565317e-05,1793243252205469952
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.701860223,745,714,680,659,634.298139777,878.701860223,786.701860223,804.298139777,652,631,652,0.400971724088,0.00448343179791,0.0798344248822,0.999999951965,0.000110331383162,-0.000285099239182,5.11497308438e-05,1793243252222137088
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.126413953,745,714,680,659,634.873586047,878.126413953,786.126413953,804.873586047,652,631,652,0.400969988791,0.00448428593427,0.0798327646083,0.999999951278,0.000110216599478,-0.000287608601563,5.07706863594e-05,1793243252238804480
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.449792769,745,714,680,659,634.550207231,878,786,805,652,631,652,0.400970019731,0.0044848449711,0.079833712896,0.999999951636,0.000109856500314,-0.000286521325114,5.06435832725e-05,1793243252255471616
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.973277263,634,878,786,805,652,631,652,0.400970535687,0.00448524173635,0.0798353070911,0.999999952253,0.000109450245892,-0.00028452177547,5.06167736944e-05,1793243252272138496
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.385659571,634,878,786,805,652,631,652,0.40097079508,0.00448397627374,0.0798350443801,0.999999952185,0.000109524801045,-0.000284626866507,5.12063318962e-05,1793243252288805120
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745.19934767,714,680,658.19934767,634.19934767,878,786.19934767,805,652,631,652,0.400971282169,0.00448325668931,0.0798353091355,0.999999952329,0.000109491537922,-0.000284095342261,5.14098903965e-05,1793243252305471488
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745.779369954,714,680,658.779369954,634.779369954,878,786.779369954,805,652,631,652,0.400972204064,0.00448357951476,0.0798365811417,0.999999952878,0.00010925238485,-0.00028234813649,5.08763432413e-05,1793243252322137088
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diff --git a/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3254fe2f9d3715df565dc8483ed2bd94ea0eab49
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_15/position_12/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
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+346,5.766666667,pose2_to_pose3_retreat,0.591919967651,0.0100018789281,1.07004069037,0.562491686055,0.0186767030682,1.06967848351
+347,5.783333333,pose2_to_pose3_retreat,0.59124061699,0.0100018648551,1.07004085127,0.561812336738,0.0186766940353,1.06967865592
+348,5.800000000,pose2_to_pose3_retreat,0.590577979508,0.0100018862038,1.07004084491,0.561149698739,0.0186767133374,1.06967864262
+349,5.816666667,pose2_to_pose3_retreat,0.589937136448,0.0100018027887,1.07004083824,0.560508857614,0.0186766362232,1.06967862973
+350,5.833333333,pose2_to_pose3_retreat,0.589325157551,0.0100018637144,1.07004068858,0.559896877881,0.0186766943886,1.06967848186
+351,5.850000000,pose2_to_pose3_retreat,0.588739858165,0.0100019707936,1.07004065109,0.559311575917,0.0186767926244,1.0696784421
+352,5.866666667,pose2_to_pose3_retreat,0.588174018386,0.0100020210114,1.07004087622,0.558745735405,0.0186768401481,1.06967866231
+353,5.883333333,pose2_to_pose3_retreat,0.587621560414,0.0100020090219,1.07004100699,0.558193278362,0.0186768314725,1.06967879697
+354,5.900000000,pose2_to_pose3_retreat,0.587081919647,0.0100018778034,1.07004084728,0.557653638749,0.0186767044399,1.06967864379
+355,5.916666667,pose2_to_pose3_retreat,0.586565932347,0.0100017561668,1.07004091898,0.557137653458,0.0186765894578,1.06967871158
+356,5.933333333,pose2_to_pose3_retreat,0.586079057442,0.0100017048564,1.07004081404,0.556650778755,0.0186765389552,1.06967860961
+357,5.950000000,pose2_to_pose3_retreat,0.585627223793,0.0100018295533,1.07004082255,0.556198944136,0.0186766602327,1.0696786151
+358,5.966666667,pose2_to_pose3_retreat,0.585206252957,0.0100019626215,1.07004065982,0.555777971189,0.0186767867161,1.06967846616
+359,5.983333333,pose2_to_pose3_retreat,0.584812935565,0.0100018373819,1.07004068778,0.555384655526,0.018676666971,1.06967848517
+360,6.000000000,pose2_to_pose3_retreat,0.584436578958,0.0100017343497,1.07004077404,0.5550083012,0.0186765716501,1.06967857195
+361,6.016666667,pose2_to_pose3_retreat,0.584073809036,0.0100016804999,1.0700408269,0.554645531447,0.0186765181544,1.06967862019
+362,6.033333333,pose2_to_pose3_retreat,0.583731117985,0.0100018452085,1.07004083603,0.55430283776,0.0186766738397,1.06967862719
+363,6.050000000,pose2_to_pose3_retreat,0.583409965089,0.0100019624687,1.07004088522,0.553981682936,0.0186767846957,1.06967867944
+364,6.066666667,pose2_to_pose3_retreat,0.583111347851,0.0100018804736,1.07004098581,0.553683066841,0.018676706647,1.06967878123
+365,6.083333333,pose2_to_pose3_retreat,0.582835702152,0.0100017339107,1.07004106177,0.55340742348,0.0186765678942,1.06967885402
+366,6.100000000,pose2_to_pose3_retreat,0.582586112006,0.0100016806907,1.0700409841,0.553157833445,0.0186765148925,1.06967877279
+367,6.116666667,pose2_to_pose3_retreat,0.582357268961,0.0100017935162,1.07004075157,0.552928988355,0.0186766208073,1.06967854086
+368,6.133333333,pose2_to_pose3_retreat,0.582148972802,0.0100018284796,1.07004081611,0.552720693607,0.0186766609568,1.06967861509
+369,6.150000000,pose2_to_pose3_retreat,0.581962512592,0.0100017140807,1.07004093781,0.552534233429,0.0186765464356,1.06967873171
+370,6.166666667,pose2_to_pose3_retreat,0.58179543525,0.0100018724575,1.0700409417,0.552367155882,0.0186767042248,1.06967873815
+371,6.183333333,pose2_to_pose3_retreat,0.58164493028,0.0100019376812,1.07004104409,0.552216649693,0.0186767651762,1.06967883716
+372,6.200000000,pose2_to_pose3_retreat,0.581508498876,0.0100020254609,1.07004099271,0.552080217002,0.0186768485979,1.06967878601
+373,6.216666667,pose2_to_pose3_retreat,0.581385735001,0.0100019659425,1.07004082447,0.551957454072,0.0186767922621,1.06967861723
+374,6.233333333,pose2_to_pose3_retreat,0.581274462039,0.0100018465047,1.07004086227,0.551846182261,0.0186766767077,1.06967865491
+375,6.250000000,pose2_to_pose3_retreat,0.581174822262,0.0100018575777,1.07004102642,0.551746541277,0.0186766836392,1.06967881847
+376,6.266666667,pose2_to_pose3_retreat,0.581088872523,0.0100018905611,1.07004081358,0.551660591059,0.0186767149519,1.06967860426
+377,6.283333333,pose2_to_pose3_retreat,0.581015553343,0.0100018295307,1.07004058026,0.551587273595,0.0186766599377,1.06967837561
+378,6.300000000,pose2_to_pose3_retreat,0.580954602373,0.01000185334,1.07004093317,0.551526321235,0.0186766789057,1.06967872528
+379,6.316666667,pose2_to_pose3_retreat,0.580904016613,0.0100017763598,1.07004080166,0.551475737924,0.0186766104166,1.06967859816
+380,6.333333333,pose2_to_pose3_retreat,0.58086387422,0.0100017379866,1.07004070086,0.551435593859,0.0186765662753,1.069678495
+381,6.350000000,pose2_to_pose3_retreat,0.580831097734,0.0100016869608,1.07004094962,0.551402817994,0.0186765171549,1.06967873895
+382,6.366666667,pose2_to_pose3_retreat,0.580805327636,0.0100018188977,1.07004090956,0.551377047608,0.0186766486952,1.0696787128
+383,6.383333333,pose2_to_pose3_retreat,0.580785936068,0.0100019152303,1.07004093093,0.55135765528,0.0186767422163,1.06967872858
+384,6.400000000,pose2_to_pose3_retreat,0.580771639687,0.0100018967172,1.07004103394,0.551343359177,0.0186767243747,1.0696788251
+385,6.416666667,pose2_to_pose3_retreat,0.580762097607,0.0100018393677,1.07004092196,0.551333817111,0.018676667118,1.06967871432
+386,6.433333333,pose2_to_pose3_retreat,0.580755709583,0.0100017928173,1.0700406919,0.551327428915,0.0186766201647,1.0696784886
+387,6.450000000,pose2_to_pose3_retreat,0.580751961044,0.0100017817738,1.07004070757,0.551323681689,0.0186766134936,1.06967850232
+388,6.466666667,pose2_to_pose3_retreat,0.580749921235,0.0100017761902,1.07004072401,0.551321642537,0.0186766100925,1.06967851768
+389,6.483333333,pose2_to_pose3_retreat,0.580749149151,0.0100017764697,1.07004077466,0.551320870375,0.0186766100924,1.06967856787
+390,6.500000000,pose2_to_pose3_retreat,0.58074858427,0.0100017766741,1.07004081171,0.551320305438,0.0186766100923,1.06967860459
+391,6.516666667,pose2_to_pose3_retreat,0.580748026628,0.010001776876,1.0700408483,0.551319747739,0.0186766100922,1.06967864084
+392,6.533333333,pose2_to_pose3_retreat,0.580747392875,0.0100017771054,1.07004088987,0.551319113923,0.0186766100921,1.06967868204
+393,6.550000000,pose2_to_pose3_retreat,0.580746617976,0.010001777386,1.07004094071,0.551318338945,0.0186766100919,1.06967873241
+394,6.566666667,pose2_to_pose3_retreat,0.580745899924,0.010001804195,1.07004088841,0.551317620395,0.0186766352589,1.06967868131
+395,6.583333333,pose2_to_pose3_retreat,0.580745515215,0.0100018254013,1.07004083478,0.55131723531,0.0186766552292,1.06967862873
+396,6.600000000,pose2_to_pose3_retreat,0.58074545409,0.0100018287707,1.07004082625,0.551317174125,0.0186766584022,1.06967862037
+397,6.616666667,pose2_to_pose3_retreat,0.580745147683,0.0100018456608,1.07004078354,0.551316867418,0.0186766743078,1.06967857849
+398,6.633333333,pose2_to_pose3_retreat,0.58074484385,0.010001862409,1.07004074117,0.551316563287,0.0186766900798,1.06967853696
+399,6.650000000,pose2_to_pose3_retreat,0.58074468691,0.01000187106,1.07004071929,0.551316406193,0.0186766982266,1.06967851551
+400,6.666666667,pose2_to_pose3_retreat,0.580744505241,0.0100018809521,1.07004069512,0.55131622435,0.0186767075475,1.06967849183
+401,6.683333333,pose2_to_pose3_retreat,0.580744354506,0.0100018846157,1.07004071823,0.551316073612,0.0186767111991,1.06967851493
+402,6.700000000,pose2_to_pose3_retreat,0.580744288473,0.0100018862207,1.07004072835,0.551316007577,0.0186767127988,1.06967852505
+403,6.716666667,pose2_to_pose3_retreat,0.580744201413,0.0100018883367,1.0700407417,0.551315920515,0.0186767149079,1.06967853839
+404,6.733333333,pose2_to_pose3_retreat,0.580744026095,0.0100018925979,1.07004076858,0.551315745194,0.018676719155,1.06967856526
+405,6.750000000,pose2_to_pose3_retreat,0.580743946222,0.0100018945392,1.07004078082,0.551315665318,0.01867672109,1.0696785775
+406,6.766666667,pose2_to_pose3_retreat,0.580743895633,0.0100018957688,1.07004078858,0.551315614729,0.0186767223155,1.06967858525
+407,6.783333333,pose2_to_pose3_retreat,0.580743709512,0.0100018902334,1.07004082855,0.551315428776,0.0186767173147,1.06967862434
+408,6.800000000,pose2_to_pose3_retreat,0.580743539316,0.0100018254403,1.07004093304,0.55131525976,0.0186766562728,1.06967872279
+409,6.816666667,pose2_to_pose3_retreat,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ff1b1cbfbd0a6d5b693b3f86434d3ec60c61e273
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74959b481640110931ca5b93789c1a3834b1b9046d7351736150bccfd94ed9a5
+size 27699811
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6d662f55837ffb1f9d8913ff3359ce63f037ab5f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_01/franka_data.csv
@@ -0,0 +1,437 @@
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+21,0.350000000,BASELINE,767,747,716.699203998,679.699203998,665,637.699203998,881,789,804.398407997,654,633,655,0.400814330786,-0.00542289704011,0.0598985509581,0.999999949346,6.46036600465e-05,-0.000309140664032,-3.95864748544e-05,1793237367373250048
+22,0.366666667,BASELINE,767,747,716.122208051,679.122208051,665,637.122208051,881,789,803.244416102,654,633,655,0.400813676682,-0.00542523979577,0.0598982473307,0.999999949293,6.26191392558e-05,-0.000309719363998,-3.95903380025e-05,1793237367389916672
+23,0.383333333,BASELINE,767,746.547759724,716.452240276,679,665,637.452240276,881,789,803,653.547759724,633,654.547759724,0.400815044403,-0.00542659597577,0.0598993565455,0.999999949952,6.08933534688e-05,-0.000307973467891,-3.92516397301e-05,1793237367406583040
+24,0.400000000,BASELINE,766.973320387,746,717,679,665,637.973320387,881,789,803.026679613,653.026679613,633.026679613,654,0.400816761362,-0.00542759443947,0.0599006992526,0.999999950704,5.93938292568e-05,-0.000305865565417,-3.88594019161e-05,1793237367423250176
+25,0.416666667,BASELINE,766.384651031,746,717,679,665,637.384651031,881,789,803.615348969,653.615348969,633.615348969,654,0.400814390668,-0.00542664214478,0.0598989632167,0.999999949526,6.11958506234e-05,-0.000309290145096,-3.92783889662e-05,1793237367439917056
+26,0.433333333,BASELINE,766.200945019,746,717,679,665,637.200945019,881.200945019,789,804,654,633.799054981,654.200945019,0.400813373584,-0.00542571510032,0.0598982985912,0.999999949019,6.22240821498e-05,-0.00031068527983,-3.95475903542e-05,1793237367456583680
+27,0.450000000,BASELINE,766.780746835,746,717,679,665,637.780746835,881.780746835,789,804,654,633.219253165,654.780746835,0.400814908563,-0.00542483566188,0.0598996539762,0.999999949799,6.17934296556e-05,-0.000308254149577,-3.95343896122e-05,1793237367473250048
+28,0.466666667,BASELINE,767,746,717,679.35814089,665,638,881.64185911,789,804,654,633,655,0.400814557242,-0.00542456949579,0.0598993738569,0.999999949609,6.21391237632e-05,-0.000308806262836,-3.94942586642e-05,1793237367489917440
+29,0.483333333,BASELINE,767,746,717,679.934070729,665,638,881.065929271,789,804,654,633,655,0.400813058845,-0.00542467626662,0.0598980991716,0.999999948826,6.29569217938e-05,-0.000311172515549,-3.94377511974e-05,1793237367506585088
+30,0.500000000,BASELINE,767,746,716.491903861,679.491903861,665,638,880.491903861,789,803.491903861,654,633,654.491903861,0.400813785958,-0.00542498655612,0.0598978056277,0.999999949076,6.12419642598e-05,-0.000310702834318,-3.95089743145e-05,1793237367523251200
+31,0.516666667,BASELINE,767,746,716.084566649,679.084566649,665,638,880.169133298,788.915433351,803.084566649,653.915433351,633,654.084566649,0.400814755339,-0.00542549696269,0.0598977890794,0.999999949467,5.94858781639e-05,-0.000309782140854,-3.95275824744e-05,1793237367539917312
+32,0.533333333,BASELINE,767,746,716.677206313,679.677206313,665,638,881.354412626,788.322793687,803.677206313,653.322793687,633,654.677206313,0.400815451779,-0.00542705159849,0.0598986746899,0.999999949926,5.94497999857e-05,-0.000308354359262,-3.91308780174e-05,1793237367556583936
+33,0.550000000,BASELINE,767,746.263163177,717,680,665,638,881.736836823,788,803.736836823,653,633,655,0.400815639808,-0.00542680400806,0.0598992201274,0.999999950072,6.05676845481e-05,-0.000307686015001,-3.89559209248e-05,1793237367573250560
+34,0.566666667,BASELINE,767,746.841125936,717,680,665,638,881.158874064,788,803.158874064,653,633,655,0.400815219666,-0.00542440056856,0.059899358645,0.99999994984,6.30659559635e-05,-0.000307926120714,-3.9046221251e-05,1793237367589917184
+35,0.583333333,BASELINE,767,746.58407815,717,680,665,638,881.41592185,788.41592185,803.41592185,653.41592185,633,655,0.400814486446,-0.00542459722614,0.0598991585097,0.999999949786,6.14900024926e-05,-0.000308388419205,-3.9294729992e-05,1793237367606584320
+36,0.600000000,BASELINE,767,746.01048272,717,680,665,638,881.98951728,788.98951728,803.98951728,653.98951728,633,655,0.400813634539,-0.00542577956535,0.0598988299931,0.999999949792,5.83695340225e-05,-0.000308934949717,-3.96032146395e-05,1793237367623251200
+37,0.616666667,BASELINE,767,746,717,679.419936549,665,638,881.419936549,789,804,654,633,654.419936549,0.400813059765,-0.00542458335982,0.059898432639,0.999999949171,6.04788872337e-05,-0.000310521154922,-3.97134279655e-05,1793237367639917568
+38,0.633333333,BASELINE,766.832725102,746,716.832725102,679,665,638,880.832725102,789,803.832725102,654,632.832725102,654.167274898,0.400813132529,-0.00542406541887,0.0598984882301,0.999999948955,6.19338483874e-05,-0.000310932793157,-3.96949916953e-05,1793237367656583936
+39,0.650000000,BASELINE,766.254481693,746,716.254481693,679,665,638,880.254481693,789,803.254481693,654,632.254481693,654.745518307,0.40081478352,-0.00542532265332,0.0598996597859,0.999999949773,6.15418799201e-05,-0.00030841115226,-3.93695514191e-05,1793237367673250816
+40,0.666666667,BASELINE,766.320949694,746,716.320949694,679,665,637.679050306,880,789,803.320949694,654,632.320949694,654.679050306,0.400814858998,-0.00542609415864,0.0598997355843,0.999999949832,6.12903573988e-05,-0.000308278529961,-3.92790035066e-05,1793237367689917440
+41,0.683333333,BASELINE,766.894170754,746,716.894170754,679,665,637.105829246,880,789,803.894170754,654,632.894170754,654.105829246,0.400813696098,-0.00542648387336,0.0598989501005,0.999999949298,6.11492275614e-05,-0.00031002371295,-3.93730846021e-05,1793237367706583808
+42,0.700000000,BASELINE,766.528052284,746.471947716,716.528052284,679.471947716,665,637.471947716,880.471947716,789,803.528052284,653.528052284,633,654,0.400813071941,-0.00542624989775,0.0598983597891,0.999999948891,6.21389940669e-05,-0.000311151113226,-3.92743244934e-05,1793237367723250176
+43,0.716666667,BASELINE,766.051799654,746.948200346,716,679.948200346,665,638,881,788.948200346,803,653.051799654,633,654,0.400812712355,-0.00542583904435,0.059897984026,0.999999948583,6.34292211268e-05,-0.00031189841484,-3.91258272747e-05,1793237367739916800
+44,0.733333333,BASELINE,766.642506916,746.357493084,716,679.357493084,665,638,881,788.357493084,803,653.642506916,633,654,0.400813836176,-0.00542505720967,0.0598993805976,0.999999949023,6.51813432505e-05,-0.00031014657155,-3.89141482415e-05,1793237367756584192
+45,0.750000000,BASELINE,767,746.226352074,716.226352074,679,665,638,881,788.226352074,803,654,633,654,0.400814665126,-0.00542487316247,0.0599000247701,0.999999949434,6.53685596131e-05,-0.000308780614061,-3.8890631869e-05,1793237367773251072
+46,0.766666667,BASELINE,767,746.799678288,716.799678288,679,665,638,881,788.799678288,803,654,633,654,0.400815042071,-0.00542560546126,0.0598995155928,0.999999949805,6.31569383763e-05,-0.000308006179451,-3.91555492651e-05,1793237367789917696
+47,0.783333333,BASELINE,767,747,717,679,665.376915464,638,881,789,803.376915464,654,633,654.376915464,0.400812991352,-0.00542549262579,0.05989800077,0.999999949122,6.27631049434e-05,-0.000310277875463,-3.92916773931e-05,1793237367806584320
+48,0.800000000,BASELINE,767,747,717,679,665.956253071,638,881,789,803.956253071,654,633,654.956253071,0.400809636858,-0.00542492591173,0.0598959458661,0.999999947863,6.33455127673e-05,-0.000314185493374,-3.93586393735e-05,1793237367823250944
+49,0.816666667,BASELINE,767,747,717,679,665.466044681,637.466044681,881.533955319,789,803.466044681,654,633,655,0.400811911044,-0.00542492502846,0.0598975470793,0.999999948441,6.36636483254e-05,-0.000312274992855,-3.93571242163e-05,1793237367839917312
+50,0.833333333,BASELINE,767,747,717,679,665,637,882,789,803.114495318,654,633.114495318,654.885504682,0.400813958248,-0.00542498267028,0.0598989393818,0.999999949003,6.38687755581e-05,-0.000310429048239,-3.9352767411e-05,1793237367856583680
+51,0.850000000,BASELINE,767,747,717,679,665,637,882,789,803.707452299,654,633.707452299,654.292547701,0.400813135684,-0.00542509174635,0.0598982107321,0.999999948887,6.36918591312e-05,-0.000310838770112,-3.93599089869e-05,1793237367873250048
+52,0.866666667,BASELINE,767,746.708095379,716.708095379,679.291904621,665,637.291904621,881.708095379,789,804,654,633.708095379,654,0.400812525563,-0.00542479458131,0.0598978232782,0.999999948682,6.37438140531e-05,-0.000311482688071,-3.93891468427e-05,1793237367889916672
+53,0.883333333,BASELINE,767,746.131925187,716.131925187,679.868074813,665,637.868074813,881.131925187,789,804,654,633.131925187,654,0.400812122325,-0.00542410180634,0.0598977680912,0.99999994839,6.40186508451e-05,-0.000312354673255,-3.94399027255e-05,1793237367906583808
+54,0.900000000,BASELINE,767,746,716.442180521,680,665,638,881,789,804,654,633,654,0.400812431014,-0.00542457508727,0.0598981436953,0.999999948704,6.37950190771e-05,-0.000311404634172,-3.93513691115e-05,1793237367923250688
+55,0.916666667,BASELINE,767,746.016096709,717,679.983903291,665,638,881.016096709,789,804,654,633,654,0.400812939294,-0.00542537750697,0.059898640884,0.99999994918,6.34423182975e-05,-0.000309962208574,-3.92235427166e-05,1793237367939917312
+56,0.933333333,BASELINE,767,746.605088023,717,679.394911977,665,638,881.605088023,789,804,654,633,654,0.400813026697,-0.00542556993868,0.0598989122355,0.999999949072,6.37643713564e-05,-0.000310252726089,-3.91694359929e-05,1793237367956583936
+57,0.950000000,BASELINE,766.808969658,746.808969658,717,679,665,638,882,788.808969658,804,654,633,654.191030342,0.400812912311,-0.00542556734256,0.0598988237648,0.99999994888,6.37162851138e-05,-0.000310870354272,-3.92430485277e-05,1793237367973250304
+58,0.966666667,BASELINE,766.229231492,746.229231492,717,679,665,638,882,788.229231492,804,654,633,654.770768508,0.400812387326,-0.00542516790454,0.0598980031291,0.999999948518,6.29150407707e-05,-0.000312153585977,-3.95765437369e-05,1793237367989916928
+59,0.983333333,BASELINE,766.347980433,746.347980433,717,679,665,637.652019567,881.652019567,788.347980433,804,653.652019567,633,655,0.40081177966,-0.00542553790507,0.0598974775989,0.999999948349,6.20968835999e-05,-0.000312868225408,-3.94779770003e-05,1793237368006583808
+60,1.000000000,BASELINE,766.923540252,746.923540252,717,679,665,637.076459748,881.076459748,788.923540252,804,653.076459748,633,655,0.400811117923,-0.00542641111877,0.0598971450678,0.999999948308,6.12676653514e-05,-0.00031321100532,-3.90968415556e-05,1793237368023250432
+61,1.016666667,BASELINE,767,746.501361229,717,679.498638771,665,637.498638771,881,789,804,653.498638771,632.501361229,655,0.400812384466,-0.00542572284729,0.0598977169457,0.999999948648,6.34609444549e-05,-0.000311678358571,-3.91560056438e-05,1793237368039917056
+62,1.033333333,BASELINE,767,746.075802661,717,679.924197339,665,638,881,789,803.924197339,654,632.075802661,655,0.400813650366,-0.00542484427074,0.0598983385259,0.999999948955,6.56897850617e-05,-0.000310212607149,-3.92888847361e-05,1793237368056583680
+63,1.050000000,BASELINE,767,746.667504315,717,679.332495685,665,638,881,789,803.332495685,654,632.667504315,655,0.400812901427,-0.00542429854574,0.0598983554167,0.999999948699,6.50093400881e-05,-0.000311157486894,-3.94643902035e-05,1793237368073250560
+64,1.066666667,BASELINE,767,746.747469662,716.747469662,679,665,637.747469662,881,788.747469662,803.252530338,654,633,655,0.400813112715,-0.00542400563654,0.0598987456268,0.999999948886,6.42997402085e-05,-0.00031068629189,-3.95819406875e-05,1793237368089916928
+65,1.083333333,BASELINE,767,746.171006821,716.171006821,679,665,637.171006821,881,788.171006821,803.828993179,654,633,655,0.400814555734,-0.00542403702606,0.0598996147113,0.999999949641,6.35527420046e-05,-0.000308398631356,-3.96251495867e-05,1793237368106583552
+66,1.100000000,BASELINE,767,746.405474175,716.405474175,679,665.405474175,637.405474175,881,788.405474175,803.594525825,654,633,654.594525825,0.400813668502,-0.00542398941495,0.0598988863496,0.999999949134,6.40678038685e-05,-0.000309920075915,-3.97146128368e-05,1793237368123250432
+67,1.116666667,BASELINE,767,746.981962812,716.981962812,679,665.981962812,637.981962812,881,788.981962812,803.018037188,654,633,654.018037188,0.400811798455,-0.00542390848422,0.0598974842426,0.999999948088,6.51151574194e-05,-0.00031304806443,-3.98235845114e-05,1793237368139917312
+68,1.133333333,BASELINE,767,746.42853797,717,679,665.42853797,637.42853797,881,788.42853797,803,654,633,654,0.400812224087,-0.00542412374303,0.0598976589243,0.999999948245,6.51683006265e-05,-0.000312576376504,-3.94931090439e-05,1793237368156583424
+69,1.150000000,BASELINE,767,746.158236602,717,679,665,637,881,788.158236602,803.158236602,654,633,654.158236602,0.400812810913,-0.00542424374602,0.0598981652018,0.999999948528,6.52875509177e-05,-0.000311676631238,-3.92292009359e-05,1793237368173250048
+70,1.166666667,BASELINE,767,746.736660083,717,679,665,637,881,788.736660083,803.736660083,654,633,654.736660083,0.400813628886,-0.00542408540022,0.0598994167742,0.999999949042,6.56676144026e-05,-0.000309948940517,-3.91797480783e-05,1793237368189916928
+71,1.183333333,BASELINE,767,747,717,679,665,637,881,789,804,654,632.68682311,654.68682311,0.400814368388,-0.00542497448937,0.0598999989132,0.999999949423,6.39997643114e-05,-0.000309076451294,-3.91186098813e-05,1793237368206583808
+72,1.200000000,BASELINE,767,747,717,679,665,637,881,789,804,654,632.111899795,654.111899795,0.400815042307,-0.00542673900185,0.0599000215546,0.999999949685,6.06203126924e-05,-0.000308918720662,-3.90477053266e-05,1793237368223250432
+73,1.216666667,BASELINE,767,746.537365793,717,679.462634207,665,637,881.462634207,788.537365793,803.537365793,654,632.462634207,654,0.400813920143,-0.00542636400855,0.0598989295186,0.9999999493,6.06054608378e-05,-0.00031013525543,-3.92866039821e-05,1793237368239917056
+74,1.233333333,BASELINE,767,746,716.961903823,680,665,637.038096177,881.961903823,788.038096177,803.038096177,654,633,654.038096177,0.40081239521,-0.00542557294296,0.0598976131103,0.999999948747,6.13592381544e-05,-0.000311729414908,-3.95647290937e-05,1793237368256583936
+75,1.250000000,BASELINE,767,746,716.371627265,680,665,637.628372735,881.371627265,788.628372735,803.628372735,654,633,654.628372735,0.400811323855,-0.00542624560903,0.0598969491488,0.999999948045,6.14680135296e-05,-0.000313983118108,-3.93262127137e-05,1793237368273250304
+76,1.266666667,BASELINE,767,746,716.215242288,680,665,638,881,788.784757712,804,654,633,655,0.400810410156,-0.00542645797779,0.0598964023698,0.999999947607,6.17650414661e-05,-0.000315323960262,-3.92606328465e-05,1793237368289916928
+77,1.283333333,BASELINE,767,746,716.796321088,680,665,638,881,788.203678912,804,654,633,655,0.400809764417,-0.00542588800226,0.05989605476,0.999999947626,6.2382032825e-05,-0.000315113258186,-3.94889845031e-05,1793237368306584832
+78,1.300000000,BASELINE,767,746,716.627208765,679.627208765,665,637.627208765,881,788,803.627208765,654,633,654.627208765,0.400810580286,-0.00542483127717,0.0598967705706,0.999999947872,6.42630036789e-05,-0.000313970379936,-3.93593854628e-05,1793237368323251456
+79,1.316666667,BASELINE,767,746,716.05322588,679.05322588,665,637.05322588,881,788,803.05322588,654,633,654.05322588,0.40081218497,-0.00542351185829,0.0598980602984,0.999999948232,6.68261314324e-05,-0.000312324415658,-3.90366040523e-05,1793237368339917056
+80,1.333333333,BASELINE,767,746,716.521319425,679,665,637.521319425,881,788.521319425,803,654,633,654,0.400811746608,-0.00542382573439,0.0598978717996,0.999999948111,6.7178922083e-05,-0.000312641155748,-3.89839605517e-05,1793237368356583680
+81,1.350000000,BASELINE,767,746,717,679,664.901116937,637.901116937,881,789,803,654,633,654.098883063,0.400811057575,-0.00542451475507,0.0598975878383,0.99999994799,6.66659444283e-05,-0.000313134622158,-3.9006579189e-05,1793237368373250048
+82,1.366666667,BASELINE,767,746,717,679,664.308777969,637.308777969,881,789,803,654,633,654.691222031,0.400810159672,-0.00542624279382,0.059897581462,0.999999948103,6.29599114142e-05,-0.000313508924702,-3.92669940045e-05,1793237368389916928
+83,1.383333333,BASELINE,767,746,717,679,664.277176293,637.277176293,881,789,803.277176293,654,633,655,0.4008103582,-0.00542678586642,0.0598976503193,0.999999948248,6.14997977711e-05,-0.000313330520146,-3.93152253446e-05,1793237368406583808
+84,1.400000000,BASELINE,767,746,717,679,664.856178134,637.856178134,881,789,803.856178134,654,633,655,0.400811750663,-0.00542603859419,0.0598978011007,0.999999948438,6.24853323736e-05,-0.000312550256367,-3.91324037918e-05,1793237368423250432
+85,1.416666667,BASELINE,767,746,717,679,665,638,881,788.569327228,803.569327228,654,633,655,0.400812869484,-0.00542590732231,0.0598984568736,0.999999948828,6.17775326008e-05,-0.000311424866716,-3.92689370212e-05,1793237368439917312
+86,1.433333333,BASELINE,767,746.003790996,717,679,665,638,881,788.003790996,803.003790996,654,633,655,0.400813885941,-0.00542597842949,0.0598992684911,0.999999949277,6.05273942624e-05,-0.00031019732738,-3.9509301679e-05,1793237368456584192
+87,1.450000000,BASELINE,767,746.594432416,717,679,665,638,881,788.594432416,803.594432416,654,633,655,0.400813056019,-0.00542586349761,0.0598983696838,0.999999948999,6.19535288707e-05,-0.00031081351345,-3.94847152583e-05,1793237368473250816
+88,1.466666667,BASELINE,767,746.818692607,717,679.181307393,664.818692607,638,881,788.818692607,804,654,633,654.818692607,0.400812265979,-0.0054259747048,0.0598977636781,0.999999948759,6.2372367134e-05,-0.000311512117881,-3.93952341337e-05,1793237368489917184
+89,1.483333333,BASELINE,767,746.24007138,717,679.75992862,664.24007138,638,881,788.24007138,804,654,633,654.24007138,0.400811563339,-0.00542658146922,0.0598977993127,0.999999948604,6.05838338049e-05,-0.000312391332424,-3.91635438975e-05,1793237368506584064
+90,1.500000000,BASELINE,767,746,717,679.663201397,664.336798603,638,881,788,803.663201397,654,633,654.336798603,0.400812335206,-0.00542511662994,0.059898540981,0.999999948736,6.24363717086e-05,-0.000311590536692,-3.92579356761e-05,1793237368523250688
+91,1.516666667,BASELINE,767,746,717,679.087573275,664.912426725,638,881,788,803.087573275,654,633,654.912426725,0.40081415267,-0.00542218278183,0.0598997833097,0.999999949055,6.68708541609e-05,-0.000309598417549,-3.9583557671e-05,1793237368539917056
+92,1.533333333,BASELINE,767,746,717,679,665,638,881,788.498756874,803,654,633,654.501243126,0.400812809264,-0.00542326215408,0.0598986503817,0.999999948632,6.60597637118e-05,-0.000311137889486,-3.95606455997e-05,1793237368556583424
+93,1.550000000,BASELINE,767.085775095,746.085775095,717,679,665,637.914224905,880.914224905,789,803,654,633,654,0.400811055385,-0.00542476188083,0.059897344334,0.999999948131,6.46723657014e-05,-0.000313050403082,-3.94213722096e-05,1793237368573250048
+94,1.566666667,BASELINE,767.665694305,746.665694305,717,679,665,637.334305695,880.334305695,789,803,654,633,654,0.400810204194,-0.00542453476446,0.0598974962642,0.999999947974,6.53872617414e-05,-0.000313461368843,-3.89720300974e-05,1793237368589916672
+95,1.583333333,BASELINE,767.755558671,747,717,679.244441329,665,637.244441329,880.244441329,789,803,653.755558671,633,654.244441329,0.400810190382,-0.0054246407513,0.0598975424943,0.999999947946,6.52034881429e-05,-0.000313596113072,-3.89119960407e-05,1793237368606583296
+96,1.600000000,BASELINE,767.178407033,747,717,679.821592967,665,637.821592967,880.821592967,789,803,653.178407033,633,654.821592967,0.40081131633,-0.00542520012654,0.0598974448554,0.999999948094,6.37965309256e-05,-0.000313354890853,-3.93818510534e-05,1793237368623249920
+97,1.616666667,BASELINE,767,747,717,679.603257787,665,638,881,788.603257787,803,653,633,654.603257787,0.400811849824,-0.00542544880582,0.0598977231513,0.999999948269,6.33945044631e-05,-0.000312874828093,-3.93940849684e-05,1793237368639916800
+98,1.633333333,BASELINE,767,747,717,679.02900449,665,638,881,788.02900449,803,653,633,654.02900449,0.400812118241,-0.00542555847294,0.0598981696487,0.999999948457,6.34421059355e-05,-0.0003122879029,-3.9201569235e-05,1793237368656583680
+99,1.650000000,BASELINE,767,746.438833396,716.438833396,679.561166604,665.561166604,637.438833396,880.438833396,788.561166604,803.561166604,653.561166604,633,654.561166604,0.400812790037,-0.00542481663417,0.0598989754016,0.999999948734,6.50906056399e-05,-0.000311087909728,-3.89730675982e-05,1793237368673250304
+100,1.666666667,BASELINE,767,746.149249908,716.149249908,680,665.850750092,637.149249908,880.149249908,789,803.850750092,654,633,654.850750092,0.400812836162,-0.0054242824022,0.0598992479096,0.999999948734,6.61974450768e-05,-0.0003108654179,-3.88849400036e-05,1793237368689916672
+101,1.683333333,BASELINE,767,746.728871262,716.728871262,680,665.271128738,637.728871262,880.728871262,789,803.271128738,654,633,654.271128738,0.400811016253,-0.00542447743085,0.0598979276659,0.999999947928,6.54968097747e-05,-0.000313555651524,-3.92071096674e-05,1793237368706583296
+102,1.700000000,BASELINE,767,747,717,680,665,638,881,789,803.61147087,654,633,654,0.400810432507,-0.00542521807424,0.0598973172243,0.999999947797,6.35732347535e-05,-0.00031435659381,-3.92933956493e-05,1793237368723249920
+103,1.716666667,BASELINE,767,747,717,680,665,638,881,789,804.76035268,654,633,654,0.400810935202,-0.00542643824876,0.0598973306151,0.999999948258,6.05748396653e-05,-0.000313497071189,-3.91723676149e-05,1793237368739916544
+104,1.733333333,BASELINE,767,747,716.547292841,679.547292841,665,637.547292841,880.547292841,789,804.094585682,654,633,654.452707159,0.400812180795,-0.00542549006545,0.0598979751189,0.999999948599,6.15804427264e-05,-0.000312197298561,-3.92850914727e-05,1793237368756583424
+105,1.750000000,BASELINE,767,747,716,679,665,637,880,789,803,654,633,655,0.400813586754,-0.00542403758731,0.0598987550917,0.999999948896,6.35784671717e-05,-0.000310819059927,-3.94532737759e-05,1793237368773250048
+106,1.766666667,BASELINE,767,747,716,679,665,637,880,789,803,654,633,655,0.400814208524,-0.00542407246742,0.0598988519291,0.999999949026,6.41844111618e-05,-0.000310272140434,-3.94853407437e-05,1793237368789916672
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679,665,638,881,789,804,653,633,655,0.400810468978,-0.00542710208705,0.0598963130124,0.999999948038,6.02920781145e-05,-0.000314237899732,-3.92960230793e-05,1793237368829360896
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,716.574576817,679.574576817,664.425423183,637.425423183,880.425423183,789,804,653,633,654.425423183,0.400810739289,-0.00542732047385,0.0598967670648,0.999999948195,6.0604599808e-05,-0.000313695036427,-3.91533515076e-05,1793237368846027776
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,717,679.847150833,664.152849167,637,880.152849167,789,803.847150833,653.152849167,633,654,0.400811298426,-0.00542722691867,0.0598972449609,0.999999948401,6.10387497613e-05,-0.000312958755276,-3.9110315802e-05,1793237368862694400
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,717,679.258337769,664.741662231,637,880.741662231,789,803.258337769,653.741662231,633,654,0.400812681368,-0.00542624362732,0.059897790865,0.999999948746,6.18198138775e-05,-0.00031167079813,-3.93514663705e-05,1793237368879361024
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,717,679.325238891,665,637.325238891,881,788.674761109,803.325238891,653.674761109,633,654,0.40081298344,-0.00542509732401,0.0598981817685,0.999999948762,6.2609185097e-05,-0.00031143626777,-3.95326237533e-05,1793237368896027904
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,717,679.904722137,665,637.904722137,881,788.095277863,803.904722137,653.095277863,633,654,0.400812440579,-0.00542382359175,0.0598984515058,0.999999948523,6.3405050063e-05,-0.000312025217774,-3.96668835049e-05,1793237368912694528
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,717,680,665,638,881,788.479820293,804,653,633,654,0.400812310578,-0.00542522419044,0.0598979622029,0.999999948469,6.25227040748e-05,-0.000312415053213,-3.93639187442e-05,1793237368929361152
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746.054114214,716.945885786,679.945885786,665,637.945885786,881,789,803.945885786,653.054114214,633,654,0.400812504245,-0.0054268131536,0.0598974950729,0.999999948486,6.16917197593e-05,-0.00031256909721,-3.90188002263e-05,1793237368946027776
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746.628972333,716.371027667,679.371027667,665,637.371027667,881,789,803.371027667,653.628972333,633,654,0.4008150308,-0.00542515079673,0.0598986785908,0.999999948846,6.45327565079e-05,-0.000310831139909,-3.90959374156e-05,1793237368962694400
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,747,716.209273265,679.209273265,665,637,881,789,803,654,633,654,0.400818485212,-0.00542399983993,0.0599004064385,0.999999949263,6.62807625186e-05,-0.000309116800374,-3.90808850725e-05,1793237368979361280
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,747,716.799481554,679.799481554,665,637,881,789,803,654,633,654,0.400823628579,-0.00542377977239,0.0599031251165,0.999999949802,6.60391510088e-05,-0.000307445451874,-3.88980223627e-05,1793237368996027904
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,747,717,680,665,637.382171196,881,789,803,654,633,654.382171196,0.400835492218,-0.00542510289746,0.0599073302002,0.999999951042,6.46133399045e-05,-0.000303742710114,-3.84961768412e-05,1793237369012694784
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,747,717,680,665,637.960992102,881,789,803,654,633,654.960992102,0.400850813835,-0.00542722008648,0.059912300128,0.999999952622,6.25781879631e-05,-0.000298994696078,-3.79816516787e-05,1793237369029361408
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,747,717,679.461957528,665.538042472,638,881,789,803.538042472,654,633,654.461957528,0.400881531565,-0.00542918684576,0.0599211203708,0.999999956064,6.18998170485e-05,-0.000287501074812,-3.72044652669e-05,1793237369046028032
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746.883142668,717,679,665.883142668,638,881,789,804,654,633,654,0.400915450607,-0.00543055953387,0.0599289872195,0.999999959071,6.16153215272e-05,-0.000276973002725,-3.67198577244e-05,1793237369062694656
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746.296723365,717,679,665.296723365,638,881,789,804,654,633,654,0.400957762817,-0.00542958877582,0.0599319050937,0.999999960274,6.2519552218e-05,-0.000272283441869,-3.74871729575e-05,1793237369079361280
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746.286505375,716.713494625,679,665,638,881.286505375,789,804,654,633,654.286505375,0.401004095205,-0.00543023117365,0.059931463212,0.999999960498,6.16839553665e-05,-0.000271547075396,-3.82327356999e-05,1793237369096028160
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746.866466121,716.133533879,679,665,638,881.866466121,789,804,654,633,654.866466121,0.401054545291,-0.00543252585907,0.0599275800741,0.999999959723,5.90663265028e-05,-0.000274859799451,-3.89560182378e-05,1793237369112694784
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746.554652097,716.445347903,679.445347903,665,637.554652097,881.554652097,789,804,654,633,654.554652097,0.401118501471,-0.00543342576739,0.0599257779137,0.999999959393,5.80767658279e-05,-0.000276173078247,-3.96287311489e-05,1793237369129361152
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746.023786872,717,679.976213128,665,637.023786872,881,789,804,654,633,654,0.401187381059,-0.00543399913152,0.0599246692682,0.999999959248,5.76216265115e-05,-0.000276693480467,-4.02929765754e-05,1793237369146027776
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746.599440209,717,679.400559791,665,637.599440209,881,789,804,654,633,654,0.401276758391,-0.00543667578943,0.059925209227,0.999999960276,5.8267080705e-05,-0.000272694236617,-4.11117083768e-05,1793237369162694400
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746.821039514,716.821039514,679.178960486,665,637.821039514,881,789,804,654,633.178960486,654,0.401376370149,-0.00543956263634,0.0599276933418,0.99999996222,5.7465608324e-05,-0.000265528533398,-4.18683912518e-05,1793237369179361280
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746.232672961,716.232672961,679.767327039,665,637.232672961,881,789,804,654,633.767327039,654,0.401499395085,-0.00544293033009,0.0599346250823,0.999999966144,5.33540167597e-05,-0.000251118954062,-4.24831253166e-05,1793237369196027904
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746.350248041,716.350248041,679.649751959,665.350248041,637,881.350248041,789,804,654,633.649751959,654,0.401633056875,-0.00544572952905,0.0599406341722,0.999999969857,5.05927206043e-05,-0.000236248974576,-4.37429278898e-05,1793237369212694528
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746.929606955,716.929606955,679.070393045,665.929606955,637,881.929606955,789,804,654,633.070393045,654,0.401773676657,-0.00544815685378,0.0599460397211,0.999999973344,4.87147048085e-05,-0.000221077827985,-4.54246949331e-05,1793237369229361152
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746.497071094,717,679,665.497071094,637.502928906,881.497071094,788.497071094,804,654,633,654.502928906,0.401926885024,-0.0054494001097,0.0599456357813,0.999999973879,4.95852861551e-05,-0.000218138642456,-4.68873011786e-05,1793237369246028032
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,717,679,665,637.924066716,881,788,804,654,632.924066716,655,0.402085433228,-0.00545091643004,0.0599443127132,0.999999973992,5.03234943863e-05,-0.000217117993835,-4.84001400989e-05,1793237369262694656
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,717,679,665,637.347652027,881,788,804,654,632.347652027,655,0.402267701168,-0.00545531191557,0.0599422274472,0.999999973918,4.7683644932e-05,-0.000217592086813,-5.04438501693e-05,1793237369279361280
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716.76532897,679,665,637,881,788.23467103,804,654,632.23467103,654.76532897,0.40246646952,-0.00545841473931,0.0599406801377,0.999999974504,4.6283705199e-05,-0.000214630263191,-5.27645477513e-05,1793237369296027648
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716.174026964,679,665,637,881,788.825973036,804,654,632.825973036,654.174026964,0.402690313635,-0.00545955309689,0.0599399503641,0.999999976056,4.67680638867e-05,-0.000206446856405,-5.55061847964e-05,1793237369312694272
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.593388975,746,716,679,665,637.406611025,881,789,804,654,633,654,0.402934539601,-0.00546292913425,0.0599435448789,0.999999978095,4.36491303548e-05,-0.000196321091699,-5.79832187364e-05,1793237369329361152
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.01719849,746,716,679,665,637.98280151,881,789,804,654,633,654,0.403187265929,-0.00546723840875,0.0599489428631,0.999999980234,3.90274231266e-05,-0.000185385255671,-6.03498983598e-05,1793237369346027776
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.558007668,746.558007668,716.558007668,679,665,637.441992332,881,789,803.441992332,653.441992332,633,654,0.40345713268,-0.00547119448476,0.0599480676044,0.999999980098,3.25086649855e-05,-0.000186517770279,-6.29161095403e-05,1793237369362694656
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,747,717,679,665,637,881,788.863025363,803,653,633,654.136974637,0.40373201573,-0.00547466163207,0.0599448063272,0.999999979304,2.55902664681e-05,-0.000190789258985,-6.58461204655e-05,1793237369379361280
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,747,717,679,665,637,881,788.271477123,803,653,633,654.728522877,0.404021796037,-0.00547654224908,0.059934267174,0.999999976541,1.75392939964e-05,-0.000204245722207,-6.99630888672e-05,1793237369396028160
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,747,716.686387609,679,665,637.313612391,881,788.627224782,803.313612391,653.313612391,633,655,0.404333204201,-0.00547827524512,0.0599233807141,0.999999973027,4.1585802813e-06,-0.000220186528237,-7.37971978409e-05,1793237369412694784
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,747,716.106776178,679,665,637.893223822,881,789.786447644,803.893223822,653.893223822,633,655,0.404662956665,-0.00547988303257,0.0599121996752,0.999999968533,-1.37427020593e-05,-0.000238234499884,-7.7391392183e-05,1793237369429361408
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746.530438333,716.469561667,679.469561667,665,637.530438333,881,789.530438333,803.530438333,653.530438333,633,654.530438333,0.405022662633,-0.0054688695201,0.0599072895421,0.999999966214,-1.63193652359e-05,-0.00024637018735,-8.12816849292e-05,1793237369446028032
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.954898035,746,716.954898035,680,665.045101965,637.045101965,881,789,803,653.045101965,633,654,0.405394138184,-0.00545567445174,0.0599055107898,0.999999965206,-1.53346818994e-05,-0.000249237773218,-8.50450759349e-05,1793237369462694656
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.380042102,746,716.380042102,680,665.619957898,637.619957898,881,789,803,653.619957898,633,654,0.405824406508,-0.00545033254442,0.0599238791684,0.999999972729,-1.31669229424e-05,-0.000216519444357,-8.65325415319e-05,1793237369479361280
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.199604953,746,716.199604953,679.800395047,665.800395047,637.800395047,881,788.800395047,803.199604953,653.800395047,632.800395047,654,0.406265415328,-0.00545123715871,0.0599436657663,0.99999997969,-1.66468923313e-05,-0.000181077701371,-8.69166740837e-05,1793237369496027904
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.788598473,746,716.788598473,679.211401527,665.211401527,637.211401527,881,788.211401527,803.788598473,653.211401527,632.211401527,654,0.406727376643,-0.00546432746347,0.0599662190197,0.999999986045,-3.11444284134e-05,-0.000140323134767,-8.51484287623e-05,1793237369512694272
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746.372148742,717,679.372148742,665,637,881,788.372148742,803.627851258,653.372148742,632.372148742,654,0.407212228947,-0.00547109543877,0.0599818253431,0.999999988916,-3.81170877351e-05,-0.000117028818815,-8.3782860066e-05,1793237369529361152
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746.952651492,717,679.952651492,665,637,881,788.952651492,803.047348508,653.952651492,632.952651492,654,0.407709897159,-0.00547432374648,0.0599935423048,0.999999990392,-4.08768122002e-05,-0.000103509932229,-8.26427370558e-05,1793237369546028544
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,747,717,680,665,637,881.528047143,789,803,654,633,654.528047143,0.40818568092,-0.00547394245573,0.0599821527395,0.999999987472,-3.97613607821e-05,-0.000128781143515,-8.30063266603e-05,1793237369562695424
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746.894846475,716.894846475,679.894846475,665,637.105153525,881.894846475,789,803.105153525,653.894846475,633,654.894846475,0.40866549152,-0.00547334986422,0.0599697099108,0.999999983701,-3.85661896027e-05,-0.000155383672691,-8.34654213769e-05,1793237369579362048
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746.307822345,716.307822345,679.307822345,665,637.692177655,881.307822345,789,803.692177655,653.307822345,633,654.307822345,0.409172661407,-0.0054732579683,0.0599618440728,0.999999980905,-3.85827714596e-05,-0.000172300695575,-8.3750209939e-05,1793237369596028928
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,716,679,665,637.724415872,881,789,803.724415872,653,633,654,0.4097204721,-0.00547290931238,0.0599614595738,0.999999981474,-3.63199647215e-05,-0.000169311990599,-8.40637645313e-05,1793237369612695552
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,716,679,665,637.144997823,881,789,803.144997823,653,633,654,0.410313089703,-0.00547227757632,0.0599693233158,0.999999985518,-3.15441120366e-05,-0.000144377047962,-8.44090339406e-05,1793237369629362688
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716,679,665,637.433233163,881,789,803.433233163,653.433233163,632.566766837,654,0.410932940229,-0.00547423074754,0.0599773754177,0.999999988023,-3.27432465058e-05,-0.00012582404355,-8.39615209857e-05,1793237369646029056
+157,2.616666667,POSE1_TO_POSE2_PRESS,767.011010646,746.011010646,716.011010646,679,665.011010646,638,881,789,804,654,632.011010646,654.011010646,0.411561349233,-0.00547701865845,0.0599850869125,0.999999989815,-3.61132138978e-05,-0.000110142104834,-8.32780503647e-05,1793237369662695168
+158,2.633333333,POSE1_TO_POSE2_PRESS,767.585856031,746.585856031,716.585856031,679,665.585856031,638,881,789,804,654,632.585856031,654.585856031,0.412162561435,-0.00547837105751,0.0599721371422,0.999999986524,-4.85236017375e-05,-0.000132402577307,-8.40617849312e-05,1793237369679362560
+159,2.650000000,POSE1_TO_POSE2_PRESS,767.839785418,746.839785418,716.839785418,679.160214582,666,638,881,789,804,654,633,654.839785418,0.412760709861,-0.00547860957282,0.0599535532069,0.999999981048,-5.41132026242e-05,-0.000166618952392,-8.49305271881e-05,1793237369696029440
+160,2.666666667,POSE1_TO_POSE2_PRESS,767.266681519,746.266681519,716.266681519,679.733318481,666,638,881,789,804,654,633,654.266681519,0.413350962587,-0.00547597749604,0.0599204494546,0.999999968583,-4.21249391908e-05,-0.0002316469061,-8.60183427688e-05,1793237369712695552
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,716.319344181,679.680655819,665.680655819,637.680655819,881,789,804,654,633,654,0.413995122092,-0.00547616695889,0.0599107243458,0.999999964755,-3.74960884167e-05,-0.000248250781686,-8.63482785081e-05,1793237369729361920
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,716.916615785,679.083384215,665.083384215,637.083384215,881,789,804,654,633,654,0.414686197005,-0.00547881202709,0.0599213458319,0.999999970729,-3.92721854588e-05,-0.000222710848528,-8.60186263858e-05,1793237369746028032
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746.490932617,717,679,665.490932617,637.490932617,881,789,804,653.509067383,633,654,0.415451725543,-0.00548422081364,0.0599658949432,0.999999985307,-4.54671064977e-05,-0.000142106814481,-8.4409265772e-05,1793237369762694656
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,747,717,679.062262284,665.937737716,637.937737716,881.062262284,789,804,653,633,654,0.416221509684,-0.00548958666918,0.0600107997174,0.999999993285,-5.19779405238e-05,-6.23841981345e-05,-8.26832667487e-05,1793237369779361280
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,747,717,679.639693945,665.360306055,637.360306055,881.639693945,789,804,653,633,654,0.416926544882,-0.00549088678343,0.0600130966573,0.999999993099,-5.51700599452e-05,-6.38827314902e-05,-8.17103002238e-05,1793237369796027648
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746.777762301,717,680,665.222237699,637.222237699,882,789,804,653,633,654,0.417626900966,-0.00549152365405,0.0600054731974,0.999999992109,-5.59751646649e-05,-7.77730619431e-05,-8.12453716218e-05,1793237369812694528
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746.186735261,717,680,665.813264739,637.813264739,882,789,804,653,633,654,0.418319492469,-0.00549105991425,0.0599813874651,0.999999988976,-5.28191706287e-05,-0.00011222679245,-8.16234994498e-05,1793237369829361408
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746.396966725,717,679.603033275,666,638,882,789,804,653,633,654,0.419046565829,-0.00549125334598,0.0599646094218,0.99999998586,-4.86229178185e-05,-0.000138711767672,-8.17054649315e-05,1793237369846028032
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746.977285364,717,679.022714636,666,638,882,789,804,653,633,654,0.419789565706,-0.00549175031366,0.0599512066723,0.999999982657,-4.39461880547e-05,-0.000161516113603,-8.16506382302e-05,1793237369862694656
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.446740229,747,716.446740229,679.553259771,665.446740229,638,882,789,804,653.553259771,633.553259771,654,0.420546812686,-0.00549149406202,0.0599372679,0.999999980169,-4.62610568275e-05,-0.000175190393966,-8.26400239228e-05,1793237369879361280
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.128514055,746.871485945,716.128514055,680,665,638,882,789,804,654,633.871485945,654,0.421296328768,-0.00549142138508,0.0599222933819,0.999999976334,-4.82236091841e-05,-0.000195080882851,-8.3369116188e-05,1793237369896027904
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.701888144,746.298111856,716.701888144,680,665,638,882,789,804,654,633.298111856,654,0.422017074786,-0.00549209037642,0.0599038091462,0.999999967131,-4.79807028985e-05,-0.000237776632954,-8.30499398474e-05,1793237369912694784
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.715167414,746,717,680,665,637.715167414,882,789,804,654,633,654,0.422787324731,-0.00549474032226,0.0599128548674,0.999999970521,-5.0516057558e-05,-0.000222821499495,-8.22021679145e-05,1793237369929361408
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.121858219,746,717,680,665,637.121858219,882,789,804,654,633,654,0.423611187888,-0.00549953566208,0.0599517158152,0.999999984591,-5.60602971606e-05,-0.000145429864861,-8.07819213155e-05,1793237369946027776
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.458702135,746,716.541297865,680,665,637.458702135,882,789,804.458702135,654,633,654,0.424440387346,-0.00550433209972,0.0599959425936,0.999999992512,-6.19943001172e-05,-7.01973400605e-05,-7.87733012592e-05,1793237369962694656
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746.035818901,716.035818901,680,665.035818901,637.964181099,881.964181099,789,804.964181099,654,633,654,0.42526795067,-0.00550888916382,0.0600379651487,0.999999994769,-6.75770925939e-05,-1.08519348055e-06,-7.67669924936e-05,1793237369979361280
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746.610702633,716.610702633,680,665.610702633,637.389297367,881.389297367,789,804.389297367,654,633,654,0.426050131586,-0.00550983944465,0.0600259417236,0.999999994704,-6.63580880506e-05,-1.56842959154e-05,-7.70842343358e-05,1793237369996027904
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,747,717,680.190794445,666,637,881.190794445,789,804,653.809205555,633,654.190794445,0.42682160999,-0.00551091187823,0.0600107747629,0.999999994215,-6.64809043682e-05,-3.30032731704e-05,-7.78475293326e-05,1793237370012694528
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,747,717,680.781811152,666,637,881.781811152,789,804,653.218188848,633,654.781811152,0.427570638285,-0.00551224054719,0.0599890137247,0.999999992857,-6.94184071364e-05,-5.60276312819e-05,-7.95464931565e-05,1793237370029361152
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,747,716.635049826,680.635049826,665.635049826,637,882,789,804,653,633,654.635049826,0.428321807683,-0.00551518327776,0.0599753909773,0.999999991647,-7.11294576401e-05,-7.27751138309e-05,-7.96892219809e-05,1793237370046028032
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,747,716.05652107,680.05652107,665.05652107,637,882,789,804,653,633,654.05652107,0.429074230066,-0.0055190706002,0.0599665309763,0.9999999906,-7.21227553753e-05,-8.58491999025e-05,-7.89212004541e-05,1793237370062694656
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746.475606263,716,680,665.524393737,637,882,789,804,653.524393737,633,654,0.429799085103,-0.00551855857191,0.0599479451966,0.999999987519,-6.98947812416e-05,-0.000117607636322,-7.90294471596e-05,1793237370079361280
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,716.102627994,680,665.897372006,637,882,789,804,653.897372006,633,654,0.430536320475,-0.00551779862667,0.0599357219329,0.999999985208,-6.8181913555e-05,-0.000136525251575,-7.93461016391e-05,1793237370096027904
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,716.667621709,680,665.332378291,637,882,789,804,653.332378291,633,654,0.431342780156,-0.00551806781121,0.0599569078141,0.999999990397,-7.03611121908e-05,-8.84771704507e-05,-8.01742324777e-05,1793237370112694528
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746.244811549,717,680,665.244811549,637,882,789,804.244811549,653,633.244811549,654,0.432134908668,-0.00552093445965,0.0599849346687,0.999999993367,-7.53526785665e-05,-3.62856641841e-05,-7.91958520428e-05,1793237370129361152
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746.839428069,717,680,665.839428069,637,882,789,804.839428069,653,633.839428069,654,0.432906559668,-0.00552751255793,0.0600227364139,0.999999993343,-8.43627652225e-05,2.18262722819e-05,-7.56361937148e-05,1793237370146028032
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,747,717,680.422809638,666,637.422809638,882,789,804.577190362,653.422809638,633.577190362,654,0.433618678085,-0.00552936292741,0.0600185399016,0.999999993402,-8.65129507541e-05,1.16575836242e-05,-7.4667306204e-05,1793237370162694656
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,747,717,680.997987216,665.997987216,638,882,789,804.002012784,653.997987216,633,654,0.434308745309,-0.00552947129759,0.0599987926277,0.999999993221,-8.61377545875e-05,-2.37612690835e-05,-7.46631765484e-05,1793237370179361280
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,747,717,680.425073194,665.425073194,638,882,789,804.574926806,653.425073194,633,654,0.434990994706,-0.005531563073,0.0599751362891,0.999999991502,-8.92778180081e-05,-5.6398955217e-05,-7.64514420221e-05,1793237370196027904
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,747,717,680,665.152408947,637.847591053,882,789,805,653,633.152408947,654,0.435670442784,-0.00553339350593,0.0599552027,0.999999989189,-9.09363671583e-05,-8.55967295187e-05,-7.76255838345e-05,1793237370212694528
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,747,717,680,665.743025521,637.256974479,882,789,805,653,633.743025521,654,0.436341836647,-0.00553447252503,0.0599459727897,0.999999987629,-8.83352535771e-05,-0.000104904044886,-7.70339921585e-05,1793237370229361664
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,747,717,680,666,637,882,789,805,653,633.672532454,654,0.437003994864,-0.00553463315629,0.0599458744917,0.999999987428,-8.76763163459e-05,-0.000108008891752,-7.61040238195e-05,1793237370246028544
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,747,717,680,666,637,882,789,805,653,633.092846165,654,0.437659039655,-0.0055340864361,0.0599528094522,0.999999988412,-8.85132627242e-05,-9.86344359262e-05,-7.49134344731e-05,1793237370262695168
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746.516326469,717,680,665.516326469,637,882,789,805,653,633,654,0.438272838556,-0.00553305717031,0.0599445734989,0.99999998614,-8.75769605432e-05,-0.00012061370578,-7.41835827896e-05,1793237370279361792
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746.059468508,716.940531492,680,665.059468508,637.059468508,882,789,804.940531492,653,633,654,0.438883506761,-0.00553229212471,0.0599377854203,0.999999983779,-8.66076374698e-05,-0.000139771302662,-7.35259909434e-05,1793237370296028672
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746.634216704,716.365783296,680,665.634216704,637.634216704,882,789,804.365783296,653,633,654,0.439535205886,-0.0055346138728,0.0599686122919,0.999999990041,-8.82824370134e-05,-8.26687224323e-05,-7.2733157541e-05,1793237370312695040
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,747,716.214138645,680,666,637.785861355,882,789,804,653,633,654,0.44017407387,-0.00553885579146,0.0600005215073,0.999999992693,-9.33140735429e-05,-2.84525024313e-05,-7.13945247151e-05,1793237370329361664
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,747,716.803116922,680,666,637.196883078,882,789,804,653,633,654,0.440790481479,-0.00554645887819,0.0600343253114,0.999999991967,-0.000104221695525,2.07112733707e-05,-6.9100495949e-05,1793237370346028288
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746.614446169,716.614446169,680.385553831,666,637,882,789,804.385553831,653,633,654,0.441346127815,-0.00554991502541,0.0600349228588,0.99999999181,-0.000106383899261,1.98213304719e-05,-6.83355376878e-05,1793237370362695168
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746.035293832,716.035293832,680.964706168,666,637,882,789,804.964706168,653,633,654,0.441871264091,-0.00555128886668,0.0600188465203,0.999999992222,-0.000104154758943,-6.20212869325e-06,-6.83383728458e-05,1793237370379361792
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+202,3.366666667,POSE1_TO_POSE2_PRESS,767,747,717,681.118021501,666.881978499,637.118021501,882,789,805,653,633.881978499,654,0.442817666441,-0.00555418757302,0.0599570776055,0.999999986411,-0.000111547107126,-9.95892981243e-05,-6.94095564741e-05,1793237370412696576
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,747,717,681.705629042,666.294370958,637.705629042,882,789,805,653,633.294370958,654,0.443301206549,-0.00555417991257,0.0599523665216,0.999999986724,-0.000112789798614,-9.45227129974e-05,-6.9969676978e-05,1793237370429363712
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,747,717,681.710521396,665.710521396,637.710521396,882,789,805,653.289478604,633,654,0.443771513077,-0.00555393282371,0.059954775617,0.999999987634,-0.000112675808688,-8.49947365583e-05,-6.93697006433e-05,1793237370446029568
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,747,717,681.130444383,665.130444383,637.130444383,882,789,805,653.869555617,633,654,0.444228534804,-0.00555344538024,0.0599643324353,0.999999989012,-0.000111199889144,-7.09881108863e-05,-6.76051397691e-05,1793237370462694912
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746.552091883,716.552091883,681,665,637,882.447908117,789,805,653.552091883,633,654,0.444648871909,-0.00555190125721,0.0599672068834,0.999999989623,-0.000109358604806,-6.51267964254e-05,-6.74816963054e-05,1793237370479361536
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746.025681208,716.025681208,681.025681208,665,637,882.974318792,789,805,653,633,654,0.445055489837,-0.0055502429342,0.0599671935923,0.999999989889,-0.000107624409864,-6.35409051523e-05,-6.7828151598e-05,1793237370496028160
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746.601759093,716.601759093,681.601759093,665,637,882.398240907,789,805,653,633,654,0.445396173088,-0.00555270717863,0.0599468394074,0.999999986286,-0.00011045706083,-0.000102940502405,-6.80414903617e-05,1793237370512694784
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,747,717,681.818165089,664.818165089,636.818165089,882,788.818165089,805,653.181834911,633,654,0.445728734602,-0.00555491965793,0.0599251603904,0.999999981168,-0.000112707232664,-0.000142361906867,-6.85113327077e-05,1793237370529361408
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,747,717,681.229136542,664.229136542,636.229136542,882,788.229136542,805,653.770863458,633,654,0.446043108584,-0.00555656834441,0.0599005146014,0.999999974591,-0.00011365302447,-0.000181832140381,-6.95555787491e-05,1793237370546028032
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,747,716.647573008,681,664.352426992,636,882,788.352426992,804.647573008,653.647573008,633,654,0.446355728669,-0.00555852616822,0.0598892379533,0.999999971739,-0.000114137407843,-0.000196662368627,-6.9421343106e-05,1793237370562694656
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,747,716.070762254,681,664.929237746,636,882,788.929237746,804.070762254,653.070762254,633,654,0.446667232112,-0.00556068081424,0.0598864731882,0.999999971946,-0.000114328021151,-0.000195804764178,-6.85367900702e-05,1793237370579361536
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,747,716.506310956,681.506310956,664.493689044,636.506310956,882.506310956,788.493689044,804.506310956,653,633,654,0.446960988792,-0.00556356889329,0.059895079506,0.999999974831,-0.000116671697304,-0.000179452734528,-6.72515650264e-05,1793237370596028160
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,747,717,681.914935221,664,636.914935221,882.914935221,788.085064779,805,653,633,654,0.447246746223,-0.00556630438076,0.0599049091881,0.999999977711,-0.00011870168819,-0.000161651585771,-6.60041507668e-05,1793237370612695040
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,747,717,681.326452392,664,636.326452392,882.326452392,788.673547608,805,653,633,654,0.447499849919,-0.00556752987951,0.059912568796,0.999999980045,-0.000117093530032,-0.000148096705449,-6.53120741147e-05,1793237370629361408
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,747,717,681,664,636,882,788.741920237,805,653,633,654,0.447738529848,-0.00556821842757,0.0599134955401,0.999999980545,-0.000115956916773,-0.000145846852118,-6.47465711847e-05,1793237370646027520
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+226,3.766666667,POSE1_TO_POSE2_PRESS,767,747,717,682,663.957013753,635,882,788,804.957013753,653.042986247,633,654,0.449147862227,-0.00557270789874,0.0598377976555,0.999999956468,-0.000123700246106,-0.000259749403787,-6.55096520587e-05,1793237370812694272
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+228,3.800000000,POSE1_TO_POSE2_PRESS,767,747,717,682,663,635,882.203012663,788,804.203012663,653.796987337,633,654,0.449289604207,-0.00557320158554,0.0598367996362,0.999999956404,-0.000123806027246,-0.000260104466835,-6.48793782835e-05,1793237370846028032
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+231,3.850000000,POSE1_TO_POSE2_PRESS,767,747,717,682,663,635,883,788,805,653,633,654,0.449439468815,-0.0055753939866,0.0598331566436,0.999999955181,-0.000126851672975,-0.00026337227854,-6.467216592e-05,1793237370896027904
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+239,3.983333333,POSE1_TO_POSE2_PRESS,767,747,717,681.409250187,663,635,882.409250187,788,805,653.409250187,633,654.409250187,0.44956626144,-0.00557477207154,0.0598214030922,0.999999950242,-0.000124330290972,-0.000282841181458,-6.37015374081e-05,1793237371029361152
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,747,717,681.169923764,663,635,882,788,805,653,633,654,0.449568599218,-0.00557516199657,0.0598197519047,0.999999949689,-0.000124624938836,-0.000284695447362,-6.35522304312e-05,1793237371046027776
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+258,4.300000000,POSE1_TO_POSE2_PRESS,767,747,717,682,662.385821161,635,882,788,804.385821161,653,633,654,0.449575126569,-0.00557148841099,0.059812881079,0.999999947475,-0.0001207892715,-0.000294208031653,-6.24635023094e-05,1793237371346027776
+259,4.316666667,POSE1_TO_POSE2_PRESS,767,747,717,682,662.194724088,635,882,788,804.194724088,653.194724088,633,654.194724088,0.449575745894,-0.00557241337145,0.0598131304574,0.999999947448,-0.000122534469686,-0.000293553028454,-6.25757849704e-05,1793237371362694656
+260,4.333333333,POSE1_TO_POSE2_PRESS,767,747,717,682,662.78641003,635,882,788,804.78641003,653.78641003,633,654.78641003,0.449575438282,-0.0055724667518,0.0598123422139,0.999999946881,-0.000123287646461,-0.000295102208271,-6.28686393652e-05,1793237371379361280
+261,4.350000000,HOLD_POSE2,767,747,717,681,663,635,883,788,805,653,633,654,0.449576558525,-0.00556945968833,0.0598143685473,0.999999947715,-0.000120429187168,-0.000293473594579,-6.2764766215e-05,1793237371414198272
+262,4.366666667,HOLD_POSE2,767,747,716.426263686,681.573736314,663,635,882.426263686,788,805,653,633,654,0.44957613029,-0.0055693746704,0.059813848037,0.999999947634,-0.000119941384792,-0.000293935315262,-6.283368632e-05,1793237371430864896
+263,4.383333333,HOLD_POSE2,767,747,716.150771597,681.849228403,663,635,882,787.849228403,805,653,633,654,0.449575827434,-0.0055695134338,0.0598132917498,0.999999947547,-0.000119582019843,-0.00029437180728,-6.2856316315e-05,1793237371447531264
+264,4.400000000,HOLD_POSE2,767,747,716.737342553,681.262657447,663,635,882,787.262657447,805,653,633,654,0.449575886985,-0.00557029902827,0.0598126320505,0.999999947446,-0.000119593898102,-0.000294735376949,-6.27451465889e-05,1793237371464197888
+265,4.416666667,HOLD_POSE2,767,746.67818282,717,681.32181718,663,635,882.32181718,787.32181718,805,653,633,654,0.449575137999,-0.00557034154728,0.0598115159443,0.99999994706,-0.00011850850083,-0.000296524304387,-6.25240821913e-05,1793237371480864512
+266,4.433333333,HOLD_POSE2,767,746.095408114,717,681.904591886,663,635,882.904591886,787.904591886,805,653,633,654,0.449573733381,-0.00556978151566,0.0598100297437,0.999999946434,-0.000116533336553,-0.000299469036583,-6.22139055856e-05,1793237371497531136
+267,4.450000000,HOLD_POSE2,767,746.482036031,717,682,663,635,882.517963969,788,805,653.482036031,633,654,0.449575352463,-0.00556943845038,0.0598113734466,0.999999947068,-0.000116943692104,-0.000297162314937,-6.23048443161e-05,1793237371514198016
+268,4.466666667,HOLD_POSE2,767,747,716.941626982,682,663.058373018,635,882.058373018,788,805,653.941626982,633,654,0.44957725565,-0.00556909324747,0.0598130466989,0.999999947825,-0.000117611167333,-0.00029431247107,-6.24379654511e-05,1793237371530864384
+269,4.483333333,HOLD_POSE2,767,747,716.365854006,682,663.634145994,635,882.634145994,788,805,653.365854006,633,654,0.449576430395,-0.0055683526222,0.0598127305893,0.999999947549,-0.000116418370809,-0.000295760765803,-6.2248971957e-05,1793237371547531008
+270,4.500000000,HOLD_POSE2,767,746.785980829,716.214019171,681.785980829,663.785980829,635,883,788,804.785980829,653.214019171,633,654.214019171,0.449575881372,-0.0055680294733,0.0598124046476,0.999999947409,-0.000115521672058,-0.000296603538409,-6.21531306181e-05,1793237371564197632
+271,4.516666667,HOLD_POSE2,767,746.198961744,716.801038256,681.198961744,663.198961744,635,883,788,804.198961744,653.801038256,633,654.801038256,0.449575813775,-0.00556843391654,0.0598120615703,0.999999947512,-0.000115141022736,-0.000296390986238,-6.22196380542e-05,1793237371580864512
+272,4.533333333,HOLD_POSE2,767,746.383411313,717,681.383411313,663,635,882.616588687,788,804.766822625,654,633,654.616588687,0.449576211928,-0.00556926430781,0.0598121859122,0.999999947315,-0.000116953751523,-0.000296312992446,-6.23663838505e-05,1793237371597531136
+273,4.550000000,HOLD_POSE2,767,746.963402346,717,681.963402346,663,635,882.036597654,788,805.926804692,654,633,654.036597654,0.449576848876,-0.00557031308793,0.0598125499057,0.999999946959,-0.000119891052354,-0.000296303988376,-6.25542688518e-05,1793237371614197760
+274,4.566666667,HOLD_POSE2,767,747,717,682,663,635,882,788,805.4596539,654,633,654,0.449575032945,-0.00556985333533,0.0598106305394,0.999999946244,-0.00012004121616,-0.000298640933638,-6.25761681206e-05,1793237371630864640
+275,4.583333333,HOLD_POSE2,767,747,717,681.881044596,663,635,882,788,805,654,633,654.118955404,0.449573666843,-0.00556932470201,0.05980915397,0.999999945752,-0.000119704289309,-0.000300420393367,-6.25584678286e-05,1793237371647531008
+276,4.600000000,HOLD_POSE2,767,747,717,681.295090739,663,635,882,788,805,654,633,654.704909261,0.449574715246,-0.00556892451873,0.0598100194771,0.999999946249,-0.000118192062149,-0.000299390980083,-6.24291939864e-05,1793237371664197632
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767,747,717,682,663,635,883,787,805,654,633,654,0.449575764349,-0.00556765497827,0.0598103943164,0.999999946661,-0.000116454824164,-0.000298633149592,-6.27329941196e-05,1793237371701344512
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,747,717,681.426352727,663,635,882.426352727,787.573647273,804.426352727,653.426352727,633,654,0.449576195342,-0.00556892829893,0.0598112772742,0.999999946822,-0.000117367946569,-0.000297839630578,-6.22262737847e-05,1793237371718012416
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,747,717,681,663,635,882,787.851475783,804.148524217,653.148524217,633,654.148524217,0.449576613509,-0.00556976839936,0.0598118130532,0.999999946885,-0.000118355878845,-0.000297300019695,-6.19209129983e-05,1793237371734679552
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,747,717,681,663,635,882,787.273039354,804.726960646,653.726960646,633,654.726960646,0.44957699455,-0.00556935451828,0.0598113439027,0.999999946667,-0.000119560352971,-0.000297495360866,-6.21983993292e-05,1793237371751345408
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,747,717,681,663,635,882.309843939,787.309843939,805,653.690156061,633,655,0.449576539151,-0.00556908436406,0.0598109930618,0.999999946445,-0.000120102515057,-0.000298003582806,-6.22879090802e-05,1793237371768011776
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,747,717,681,663,635,882.896702901,787.896702901,805,653.103297099,633,655,0.449575335935,-0.00556894270841,0.0598107479951,0.99999994622,-0.000120052539024,-0.000298791534827,-6.22093589293e-05,1793237371784678656
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,747,716.520357269,681.479642731,663,635,882.520357269,787.520357269,805,653.479642731,632.520357269,654.520357269,0.449575290326,-0.00556915605327,0.0598102329789,0.999999946272,-0.000118659599682,-0.000299229463011,-6.19446610117e-05,1793237371801346816
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,746.939088977,716.060911023,682,663,635,882,787.060911023,805,653.939088977,632.060911023,654,0.449575607362,-0.00556957626913,0.0598098917155,0.999999946417,-0.000117287372394,-0.000299346917804,-6.16520216113e-05,1793237371818014976
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746.209361473,717,682,662.790638527,635,882.209361473,788,805,653,632.790638527,654,0.449576657813,-0.00557069634629,0.0598116886205,0.999999946996,-0.000118399028305,-0.000296981505064,-6.15815293007e-05,1793237371851344640
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,746.783534208,717,682,662.216465792,635,882.783534208,788,805,653,632.216465792,654,0.449573756506,-0.00556693067399,0.0598094002295,0.99999994656,-0.000115976071413,-0.00029925442894,-6.22538188009e-05,1793237371868011264
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,747,717,681.631176103,662.368823897,635,883,788,805,653,632.368823897,654,0.449566235892,-0.00556655023516,0.0598055979317,0.999999944837,-0.000116258659557,-0.000304805657596,-6.24800933137e-05,1793237371884677888
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,747,717,681.03915895,662.96084105,635,883,788,805,653,632.96084105,654,0.449555919912,-0.00556821836518,0.059800879495,0.999999942289,-0.000118178504194,-0.000312340747934,-6.24364625528e-05,1793237371901344512
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,747,717,681,663,635,882.459224428,788,805,653,633,654,0.449524893651,-0.00556810816278,0.0597865215904,0.999999935034,-0.000118214467203,-0.000334635408832,-6.306553267e-05,1793237371918011136
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,747,717,681.118953585,662.881046415,635,882,788,805,653,632.881046415,654,0.449488449889,-0.00556720060682,0.0597702060546,0.999999926726,-0.000117529978314,-0.000358685793357,-6.38627575516e-05,1793237371934677760
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,747,717,681.693680727,662.306319273,635,882,788,805,653,632.306319273,654,0.449436869327,-0.0055637205873,0.0597490058283,0.999999917025,-0.000114596321353,-0.000385457728908,-6.51217095896e-05,1793237371951344640
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,747,717,681.724943817,662.275056183,635,882,788,805,653,632.275056183,654,0.449380557525,-0.00556125124877,0.059729926055,0.999999907654,-0.000113805997431,-0.000409071266031,-6.63464965371e-05,1793237371968011264
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,747,717,681.135981039,662.864018961,635,882,788,805,653,632.864018961,654,0.449318846221,-0.00555993534548,0.0597132662403,0.999999898999,-0.000115461742635,-0.000429080294083,-6.75322926798e-05,1793237371984677632
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,747,717,681.445765137,663,635,882.445765137,788,805,653,633,654,0.449250227163,-0.00555765752621,0.0597049650803,0.999999894935,-0.00011240675759,-0.000439209273944,-6.77461995946e-05,1793237372001344512
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746.974756807,717,682,663,635,882.974756807,788,805,653,633,654,0.449178958542,-0.00555512077395,0.0596994325881,0.999999892382,-0.000108108934411,-0.000446067320189,-6.7624979574e-05,1793237372018011136
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,746.397503836,717,682,663,635,882.397503836,788,805,653,633,654,0.449095095922,-0.00555323623532,0.0596995742067,0.999999892429,-0.000107556618655,-0.000446255027419,-6.65552594187e-05,1793237372034677760
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,746.182257687,717,681.817742313,663,635,882,788,805,653.182257687,633,654,0.44900527466,-0.00555038653879,0.0596992569505,0.999999892082,-0.000105969769159,-0.000447532249513,-6.57351572741e-05,1793237372051344640
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,746.767566634,717,681.232433366,663,635,882,788,805,653.767566634,633,654,0.448902276253,-0.00554540245733,0.0596979249222,0.999999890846,-0.000102095114297,-0.000451218864263,-6.54670695929e-05,1793237372068011008
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767,747,717,681.349544992,663,635,882,788,804.650455008,654,633,654,0.448786991756,-0.00554194354048,0.0596984048995,0.999999891099,-9.94240046815e-05,-0.00045133917987,-6.4881353499e-05,1793237372084677632
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,747,717,681.929329603,663,635,882,788,804.070670397,654,633,654,0.448663614601,-0.00553948922433,0.0597000784154,0.999999892339,-9.75456504225e-05,-0.00044911043242,-6.40864206931e-05,1793237372101344256
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,747,717,682,663,635,882,788,804.507940729,653.492059271,633,654,0.448516513396,-0.00553577282262,0.0597019348289,0.999999893834,-9.43905716449e-05,-0.000446632033268,-6.27806696722e-05,1793237372118011136
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767,747,717,682,663,635.08560199,881.91439801,788,805,653,633,654,0.448363950131,-0.00553151401706,0.0597047354004,0.999999895919,-9.07285254726e-05,-0.000442894843833,-6.14416550151e-05,1793237372134677504
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,747,717,682,663,635.658780996,881.341219004,788,805,653,633,654,0.448199032983,-0.00552516361513,0.0597127691572,0.99999990116,-8.51882984671e-05,-0.000432185145153,-6.03170507663e-05,1793237372151344384
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,747,717,681.761139758,663,635.761139758,881.238860242,788,805,653,633,654,0.448022160954,-0.00551953434562,0.0597205413465,0.99999990595,-8.05769800365e-05,-0.000422105279965,-5.86016997797e-05,1793237372168011264
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,747,717,681.170910123,663,635.170910123,881.829089877,788,805,653,633,654,0.447827703005,-0.00551496588036,0.059727928763,0.999999910176,-7.7332109712e-05,-0.000412951916296,-5.60173456283e-05,1793237372184677888
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,747,717,681,663,635.411842469,882.411842469,788,804.588157531,653,633,654,0.447601573315,-0.00550816151115,0.0597298757904,0.999999911224,-7.11580385535e-05,-0.000411751295307,-5.43037941974e-05,1793237372201344256
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,747,717,681,663,635.991547484,882.991547484,788,804.008452516,653,633,654,0.447362534569,-0.00550044581174,0.0597296053738,0.999999910952,-6.37900568232e-05,-0.000413792126625,-5.29451726198e-05,1793237372218010880
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,747,716.946400588,681.946400588,664.053599412,636,883,789,805.946400588,653,633,654,0.445134176064,-0.00544130966434,0.0597289132102,0.999999909194,-7.38304928126e-06,-0.000424471369935,-3.7169858779e-05,1793237372334677760
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,747,716.374999713,681.374999713,664.625000287,636,883,789,805.374999713,653,633,654,0.444750352661,-0.00543233750316,0.0597385286663,0.999999918197,4.60022015578e-06,-0.000403028092973,-3.39681734339e-05,1793237372351344384
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,747,716.197250409,681.197250409,665,636.197250409,882.802749591,789,805,653,633,654,0.444361213459,-0.00542365632657,0.0597525094895,0.999999928096,1.66092577812e-05,-0.000377631904326,-3.04230014408e-05,1793237372368011264
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,747,716.771122011,681.771122011,665,636.771122011,882.228877989,789,805,653,633,654,0.443961924526,-0.00541553074362,0.059774825351,0.99999993984,2.86674953209e-05,-0.000344688202559,-2.62219914552e-05,1793237372384678912
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746.643118185,717,682,665,637,882,789,804.643118185,653,633.356881815,654,0.4435364794,-0.0054106196267,0.0597914878644,0.99999994865,3.50304295447e-05,-0.000317657720554,-2.37903742419e-05,1793237372401346048
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746.049471454,717,682,665,637,882,789,804.049471454,653,633.950528546,654,0.443093681574,-0.00540784107262,0.0598043997951,0.999999955659,3.76149471361e-05,-0.000294550227656,-2.25326195681e-05,1793237372418012672
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,746.529622527,717,681.470377473,665,637,882,789.529622527,804.529622527,653,634,654.529622527,0.442586557427,-0.00542482353623,0.0598033185341,0.999999953212,3.18307704097e-05,-0.000303684667862,-1.83956872229e-05,1793237372434679552
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,747,717,681.106689536,665,637,882,789.893310464,805,653,633.893310464,654.893310464,0.442063532485,-0.00543934653245,0.0597988755192,0.999999948838,3.28429753645e-05,-0.000317871818218,-1.42477683873e-05,1793237372451345920
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,747,717,681.680673035,665,637,882,789.319326965,805,653,633.319326965,654.319326965,0.441496476876,-0.00543522867086,0.0597852800888,0.999999939435,6.69552218054e-05,-0.000341351307535,-1.11981741767e-05,1793237372468012800
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,746.737969602,717,681.737969602,665,637,881.737969602,789,805,653,633,654,0.440930696612,-0.00542747468622,0.059776433529,0.999999930761,9.25732330998e-05,-0.000360339279548,-7.99251737559e-06,1793237372484679424
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746.14736569,717,681.14736569,665,637,881.14736569,789,805,653,633,654,0.440366515493,-0.00541516117762,0.0597735418227,0.999999924383,0.000107539886813,-0.000373695108563,-4.59116519555e-06,1793237372501345536
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,746.435109136,716.564890864,681,665,637,881.435109136,789,805,653,633,654,0.439805188381,-0.00541170036612,0.0597913921522,0.999999935092,0.00011476790432,-0.000341532733473,1.14891772376e-07,1793237372518011904
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,747,716,681,665,637,882,789,804.985202398,653,633,654,0.439243531027,-0.00541117706459,0.0598159337242,0.999999949345,0.000119563819847,-0.00029493460579,5.25714403464e-06,1793237372534678016
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,747,716,681,665,637,882,789,804.408687578,653,633,654,0.438633316625,-0.00541043390734,0.0598326947364,0.999999953768,0.000129704607368,-0.000274829396546,1.04910205854e-05,1793237372551344640
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,746.832707169,716,681,665,637,882,788.832707169,804.167292831,653,633,654,0.437994362365,-0.00540987837961,0.0598352749379,0.999999951956,0.000141607145495,-0.000275339280162,1.49504211989e-05,1793237372568011520
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,746.258028177,716,681,665,637,882,788.258028177,804.741971823,653,633,654,0.437285421753,-0.00540977976133,0.0598033224811,0.999999934242,0.000157799841731,-0.000326050380725,1.7523842411e-05,1793237372584678656
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,746.32562217,716,681.32562217,664.67437783,637,882,788.32562217,804.67437783,653,633,654,0.436596138834,-0.00540726151765,0.0597757819119,0.999999917706,0.000172980281508,-0.000366464737294,1.91990920659e-05,1793237372601345536
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,746.916582945,716,681.916582945,664.083417055,637,882,788.916582945,804.083417055,653,633,654,0.435922874344,-0.00540277160223,0.0597518364436,0.999999902853,0.000187335866701,-0.000398488619638,2.01424516739e-05,1793237372618012416
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,747,716.497920808,681.502079192,664.995841617,637,882,789,804.497920808,653,633.497920808,654,0.435260612693,-0.00540090101543,0.0597658842724,0.999999915365,0.000194217520084,-0.000361995662336,2.25377962616e-05,1793237372634678528
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,746.923314383,717,681,665.923314383,637,882,789,804.923314383,653,633.923314383,654,0.434594320027,-0.00539986635098,0.0597851285727,0.999999930423,0.000192704938955,-0.00031856268742,2.31483990089e-05,1793237372651344640
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746.350958472,717,681,665.350958472,637,882,789,804.350958472,653,633.350958472,654,0.433890283846,-0.00540145221369,0.0597975996206,0.999999943526,0.000144874619384,-0.000303059423797,1.06805333462e-05,1793237372668011008
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746,716.776747369,681,665,637,882,789,804,653.223252631,633,654,0.433163981158,-0.00540375444198,0.0598041246177,0.99999994866,0.000120275021695,-0.000296970220168,4.84763304766e-06,1793237372684677632
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,716.199595331,681,665,637,882,789,804,653.800404669,633,654,0.432402381564,-0.00540719225109,0.0598012239547,0.999999944418,0.000132500688323,-0.000305804155034,9.53245821954e-06,1793237372701344512
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,665,637,881.611760555,789,804,653.611760555,633.388239445,654,0.431666408694,-0.00540654262013,0.059803733696,0.999999944679,0.000143258820576,-0.000299908871452,1.314914642e-05,1793237372718010880
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,665,637,881.018278385,789,804,653.018278385,633.981721615,654,0.430943983434,-0.00540373216439,0.0598091036467,0.999999947164,0.000153241140248,-0.000286226988177,1.62011638878e-05,1793237372734677760
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746,716.558179865,681,665,637,881,789,804,653,633.441820135,654,0.430208251849,-0.00539946428472,0.0598301029205,0.999999951813,0.000169392379281,-0.00025938619517,1.99873981136e-05,1793237372751344384
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746,716.866281195,680.866281195,664.866281195,637,881,789,804,653.133718805,633,654,0.429451027821,-0.00539551585423,0.0598367459646,0.999999950218,0.000181449283206,-0.00025717569538,2.23654406635e-05,1793237372768011008
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,746,716.291988817,680.291988817,664.291988817,637,881,789,804,653.708011183,633,654,0.428624384194,-0.00539277252826,0.0597944520668,0.999999926761,0.000179370388125,-0.000337494230395,2.00269345137e-05,1793237372784677632
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746,716.290115808,680.290115808,664,637,881.290115808,789,804,654,633.290115808,654,0.427832705407,-0.00539267436466,0.0597723659792,0.999999917426,0.000172103696519,-0.000367721181967,1.75946025497e-05,1793237372801344512
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746,716.880300668,680.880300668,664,637,881.880300668,789,804,654,633.880300668,654,0.427077191077,-0.0053953121134,0.0597711809905,0.999999927265,0.000159471227312,-0.000346138013311,1.50652260462e-05,1793237372818010880
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,746,717,680.538440631,664.461559369,637,882,789,804.461559369,653.538440631,633.538440631,654,0.426321255813,-0.00539662620204,0.0597934867985,0.999999937824,0.0001647153929,-0.000311316436153,1.74057260835e-05,1793237372834677504
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746.040296938,717,680,665,637.040296938,882,789,805,653.040296938,633,654,0.425564570772,-0.00539724480278,0.0598208256267,0.999999946823,0.000174213356942,-0.000274901008751,2.0814322778e-05,1793237372851344128
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746.615711837,717,680,665,637.615711837,882,789,805,653.615711837,633,654,0.424799352051,-0.00539309973669,0.0598356362873,0.99999994926,0.000179803005245,-0.00026204615887,2.19537266666e-05,1793237372868011008
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746.809294397,717,680,665,637.809294397,882,789,804.809294397,654,633,654,0.424031106347,-0.00538978856239,0.059844700639,0.9999999505,0.000183976785598,-0.000254230035072,2.28143995098e-05,1793237372884677888
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746.235147276,717,680,665,637.235147276,882,789,804.235147276,654,633,654,0.423256774314,-0.00538815404875,0.0598422111985,0.999999949656,0.000185303757351,-0.000256545005033,2.31146430187e-05,1793237372901344256
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746,717,680,665,637.350701056,882,789,804,653.649298944,633,654,0.42248126428,-0.00538832923057,0.059844004248,0.999999949839,0.000184452696277,-0.000256370897679,2.39506393263e-05,1793237372918010880
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746,717,680,665,637.9446659,882,789,804,653.0553341,633,654,0.421704937171,-0.00538975970774,0.0598487678468,0.999999950727,0.000182090842648,-0.000254470241702,2.51582605449e-05,1793237372934677504
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746.522343359,717,679.477656641,665,637.477656641,882,789,804,653.522343359,633,654,0.420889901478,-0.00538619386813,0.059812816655,0.999999930983,0.000184682740756,-0.000321524136012,2.34407993259e-05,1793237372951344128
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,747,716.901949052,679.098050948,664.901949052,637,881.901949052,789,804,653.901949052,633,654,0.420084822693,-0.00538264465731,0.059776589297,0.999999908189,0.000187054318999,-0.000384930032383,2.15033875526e-05,1793237372968010752
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,747,716.327682261,679.672317739,664.327682261,637,881.327682261,789,804,653.327682261,633,654,0.419347416348,-0.00538166910309,0.059759335143,0.999999904032,0.000185884191598,-0.000396213649456,1.99571749269e-05,1793237372984677376
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767.252959499,746.747040501,716.252959499,680,664.252959499,637,881.252959499,789,804,653,633,654.252959499,0.418623783659,-0.00538237308995,0.0597653145614,0.999999911561,0.000185189002808,-0.000377072560961,2.00025686909e-05,1793237373001344000
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767.842072805,746.157927195,716.842072805,680,664.842072805,637,881.842072805,789,804,653,633,654.842072805,0.41791845462,-0.00538530899202,0.0598021687017,0.999999932215,0.000185124951944,-0.000317500569003,2.216302265e-05,1793237373018010880
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768,746,717,680,664.575772246,637.424227754,882,789.424227754,804,653,633,655,0.417215013729,-0.00538373515796,0.0598273957304,0.999999942111,0.000189453536271,-0.000281610844298,2.41014509349e-05,1793237373034677760
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767.996189019,746,716.996189019,680,664.003810981,637.996189019,882,789.992378039,804,653.003810981,633.003810981,655,0.41651222972,-0.00538052252377,0.0598482026738,0.999999948145,0.0001953803315,-0.00025468193965,2.5952545713e-05,1793237373051344384
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767.420087503,746,716.420087503,680,664.579912497,637.420087503,882,788.840175005,804,653.579912497,633.579912497,655,0.415804247304,-0.00537925401102,0.059844755116,0.99999994302,0.000199708421955,-0.000270836746188,2.69005191388e-05,1793237373068011008
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,767.745560439,746.745560439,716.745560439,680,664.254439561,637,882,788.745560439,804,654,633.254439561,654.254439561,0.414454366153,-0.00537990291408,0.0598411907284,0.999999941007,0.000197922113532,-0.000279442614194,2.69215170632e-05,1793237373101344512
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767.671663568,746.671663568,717,679.671663568,664.328336432,637.328336432,881.343327137,789.328336432,803.671663568,653.671663568,633.328336432,654.328336432,0.413778270624,-0.00538080931886,0.0598393896759,0.999999940078,0.000198799937678,-0.000282120256968,2.70308816802e-05,1793237373118011136
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767.091878427,746.091878427,717,679.091878427,664.908121573,637.908121573,880.183756855,789.908121573,803.091878427,653.091878427,633.908121573,654.908121573,0.413086771063,-0.00538146140113,0.0598368423688,0.999999937256,0.0002033283998,-0.000288761286648,2.76279154121e-05,1793237373134677760
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,747,717,680,664.0666594,637,881.0666594,789,804,653.9333406,633,654,0.411779651816,-0.00537288747441,0.0597711733444,0.999999897756,0.000213376422413,-0.000397965182543,2.41244240412e-05,1793237373168011008
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,747,717,680,664.63814835,637,881.63814835,789,804,653.36185165,633,654,0.411179113023,-0.00537273243141,0.0597751727288,0.999999906649,0.000213558771861,-0.000374905658728,2.32360232875e-05,1793237373184677888
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746.789078459,717,679.789078459,665,637,881.789078459,789,804,653.210921541,633,654,0.410603057766,-0.00537274443906,0.0597900602,0.999999918012,0.000213560978081,-0.00034325664756,2.32833145419e-05,1793237373201344768
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,717,679,664.627710575,637,881,789,803.627710575,654,633.372289425,654.372289425,0.409531678506,-0.00537255247846,0.0598481662872,0.99999994138,0.000217551865368,-0.000263024201566,2.69963824674e-05,1793237373234677760
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,717,679,664.034576927,637,881,789,803.034576927,654,633.965423073,654.965423073,0.408991845415,-0.00537158995464,0.0598671002283,0.999999946312,0.000224585194497,-0.00023681128347,2.92774294121e-05,1793237373251344384
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,717,679,664,637.544482395,881.544482395,789,803.544482395,653.455517605,633.455517605,654.455517605,0.408458315616,-0.00537054246222,0.0598560049058,0.999999940448,0.000228974345716,-0.000256587272294,2.89458850204e-05,1793237373268011264
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,717,679,664.12204562,637.87795438,881.87795438,789,804,653,633,654.12204562,0.407934325768,-0.00537011645963,0.0598437861119,0.999999934348,0.000231022420771,-0.000277713827799,2.84209769391e-05,1793237373284677888
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,717,679,664.697288769,637.302711231,881.302711231,789,804,653,633,654.697288769,0.407444311956,-0.00537201779485,0.0598342983376,0.999999931297,0.000224985093412,-0.000293283988153,2.77786019568e-05,1793237373301344512
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,716.720942601,679.279057399,665,637,881,789,804,653.279057399,633,655,0.406987469704,-0.00537199777181,0.0598324485323,0.999999932281,0.000223672182775,-0.000290953818497,2.74646834211e-05,1793237373318010880
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,716.131925913,679.868074087,665,637,881,789,804,653.868074087,633,655,0.406567472349,-0.00536984362555,0.0598390824998,0.999999937608,0.000227606855418,-0.000268741094731,2.75155935432e-05,1793237373334677760
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,716.449815297,679.550184703,665,637.449815297,881,788.550184703,804,654,633,654.550184703,0.406150964048,-0.00536703628816,0.0598479756658,0.999999941428,0.000229315755829,-0.000252579301039,2.75982630303e-05,1793237373351344384
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746.029646728,717,679.029646728,665,637.970353272,881,788.029646728,804,654,633,654.029646728,0.405737072817,-0.00536402920104,0.0598565959914,0.999999944332,0.00023050860963,-0.000239658375132,2.76690029774e-05,1793237373368011264
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746.613028502,717,679.613028502,665,637.386971498,881,788.613028502,804,654,633,654.613028502,0.40535325376,-0.00536081245176,0.0598479413882,0.99999993981,0.000234061543325,-0.000254650330093,2.73457174147e-05,1793237373384677632
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746.804923782,717,679.804923782,665,637,881,789,804,654,633,654.804923782,0.404973937664,-0.00535718092829,0.0598361678618,0.999999933843,0.000238206015607,-0.000273648147248,2.62460809582e-05,1793237373401344256
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746.225504524,717,679.225504524,665,637,881,789,804,654,633,654.225504524,0.404603493439,-0.00535273220881,0.059818249372,0.999999924909,0.000243515948514,-0.000300538391864,2.36168625848e-05,1793237373418010880
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,716.645970493,679.354029507,665,637,881,789,804,654,633,654,0.404255256847,-0.00535160785679,0.0598020518882,0.999999915109,0.000249081698632,-0.000327508238377,2.18702054153e-05,1793237373434677504
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,716.066363275,679.933636725,665,637,881,789,804,654,633,654,0.4039211703,-0.00535260169842,0.0597869509795,0.999999904477,0.00025481044878,-0.000354528807538,2.06858913245e-05,1793237373451344128
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,716.510528768,680,665,637,881,789,804,654,633,654.510528768,0.403653551938,-0.00536023615337,0.0598000390117,0.999999917073,0.000241349509067,-0.000327376677414,2.07310350452e-05,1793237373468011008
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746.086543002,717,680,664.913456998,637,881,789,804,654,633,654.913456998,0.403399246989,-0.00536823285533,0.0598167030114,0.999999930732,0.000226553231933,-0.000294562563019,2.10419715724e-05,1793237373484677632
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746.659596391,717,680,664.340403609,637,881,789,804,654,633,654.340403609,0.403171470113,-0.00537343902477,0.0598329796434,0.999999939693,0.000218198860548,-0.000269296190229,2.19534186967e-05,1793237373501344256
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746.7590883,717,680,664,637.2409117,881,789,804,654,633,654.2409117,0.402953735203,-0.00537675949375,0.0598467864936,0.999999946351,0.000214179973778,-0.000246774015326,2.29681696591e-05,1793237373518010880
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746.165684524,717,680,664,637.834315476,881,789,804,654,633,654.834315476,0.402750693301,-0.00537732088319,0.0598569796599,0.999999950219,0.000216504590119,-0.000228267039397,2.41340705001e-05,1793237373534677504
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,717,680,664.833131491,637.583434254,881,789,804,654,633,655,0.402550385594,-0.00537515036734,0.059858431449,0.999999949187,0.00022113378367,-0.000228319437657,2.44090001393e-05,1793237373551344384
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,717,680,665.988990993,637.005504503,881,789,804,654,633,655,0.402351137031,-0.00537192160033,0.059856497113,0.999999946273,0.000226655695335,-0.000235561133562,2.43387965209e-05,1793237373568011264
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,717,680,664.859068694,637,881,789,804,654,633,654.429534347,0.402165479616,-0.00537117574098,0.0598479205246,0.999999942077,0.000227734696687,-0.000251801456751,2.4063113984e-05,1793237373584677632
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,717,680,664.145844818,637,881,789,804,654,633,654.145844818,0.401992011185,-0.00537022415001,0.0598417263257,0.999999938598,0.000228553599024,-0.000264576721288,2.38068585073e-05,1793237373601344512
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,717,680,664.719545406,637,881,789,804,654,633,654.719545406,0.401853917433,-0.00536859897401,0.0598427085732,0.999999937935,0.00022873480048,-0.000266932905628,2.36133916367e-05,1793237373618011136
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,717,679.697754614,665,637,881.302245386,789,804,654,633,655,0.401729054041,-0.00536694494424,0.0598427056598,0.999999936742,0.000231823085745,-0.000268732242926,2.35876898203e-05,1793237373634677760
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,717,679.106447726,665,637,881.893552274,789,804,654,633,655,0.401616843888,-0.0053652633191,0.0598417605583,0.99999993502,0.000237691648412,-0.000269999023009,2.37224351559e-05,1793237373651344640
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716.525276812,679,664.525276812,637,881.525276812,789,804,654,633,654.525276812,0.401521164612,-0.00536458471398,0.0598440496834,0.999999935836,0.000238889084085,-0.000265885680011,2.3758696162e-05,1793237373668011008
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716.053495345,679,664.053495345,637.053495345,881,789,804,654,633,654.053495345,0.401430607333,-0.00536421570688,0.059846812038,0.999999937118,0.000238993320957,-0.000260923812578,2.37694635197e-05,1793237373684677632
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,716.630570066,679,664.630570066,637.630570066,881,789,804,654,633,654.630570066,0.401354660101,-0.00536472160729,0.0598472565048,0.999999937696,0.000238435120934,-0.000259217686583,2.37423337158e-05,1793237373701344256
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.21101671,664.78898329,637.78898329,881,789,804,654,633,654.78898329,0.401284349526,-0.00536442309104,0.0598465300141,0.999999937362,0.000239075597139,-0.000259917343669,2.36926244675e-05,1793237373718010880
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,717,679.797462452,664.202537548,637.202537548,881,789,804,654,633,654.202537548,0.401224067375,-0.005362693402,0.0598437202218,0.999999935391,0.00024184869053,-0.00026489723446,2.36027431459e-05,1793237373734677504
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767.379458438,746.379458438,717,680,664.379458438,637,881,789,804,654,633,654.379458438,0.401171444281,-0.00536275335906,0.0598406563744,0.999999933975,0.000241289310445,-0.000270718131512,2.32813844591e-05,1793237373751344128
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767.95910686,746.95910686,717,680,664.95910686,637,881,789,804,654,633,654.95910686,0.401122861859,-0.0053637574755,0.0598374584958,0.999999932826,0.000238971825182,-0.000276982716065,2.28379058131e-05,1793237373768011008
+402,6.700000000,POSE2_TO_POSE3_RETREAT,768,747,717,680,665,637.534963198,881,789,804,654,633,655,0.401090452608,-0.00536331465443,0.0598376295402,0.9999999323,0.000241855348071,-0.000276371900255,2.28947187448e-05,1793237373784677632
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767.8936543,747,716.8936543,680,665,637.8936543,881,789,803.8936543,654,633,654.8936543,0.401060845698,-0.00536290566973,0.0598378780705,0.999999931897,0.000244339664404,-0.00027564755712,2.28770803884e-05,1793237373801344512
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767.33988361,747,716.33988361,680,665,637.33988361,881,789,803.33988361,654,633,654.33988361,0.401037864193,-0.00536310111513,0.059837376758,0.999999931842,0.000243483497894,-0.000276641194487,2.23864401121e-05,1793237373818011136
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746.763522407,716.236477593,679.763522407,665,637,881,789,803.236477593,654,633,654,0.4010186061,-0.00536261136959,0.0598373643135,0.999999931613,0.000244232155387,-0.000276834314069,2.20726441077e-05,1793237373834677760
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746.151262985,716.848737015,679.151262985,665,637,881,789,803.848737015,654,633,654,0.401005264806,-0.0053610328008,0.059838128719,0.999999931101,0.000247531006584,-0.000275755346952,2.20398677344e-05,1793237373851344384
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746.438928773,717,679,664.561071227,637,881,789,804,654,633,654,0.400997546039,-0.00536155445917,0.059838884378,0.999999931695,0.00024757334086,-0.000273549189197,2.21006648019e-05,1793237373868011008
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767.02153875,747,717,679.02153875,664,637.02153875,880.97846125,789,804,654,633,654.02153875,0.400991697489,-0.00536274384459,0.0598396251883,0.99999993262,0.000246546897321,-0.00027107654437,2.21853173076e-05,1793237373884677632
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767.595407758,747,717,679.595407758,664,637.595407758,880.404592242,789,804,654,633,654.595407758,0.400986498823,-0.00536338437573,0.0598400588256,0.999999932828,0.000245514205639,-0.000271254638656,2.2094361604e-05,1793237373901344256
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767.830054461,746.830054461,717,679.830054461,664,637.830054461,880.169945539,789,803.830054461,654,633,655,0.40098229407,-0.00536355874606,0.059840700727,0.999999932985,0.000245222479001,-0.000270946991876,2.20030912415e-05,1793237373918010880
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767.253918268,746.253918268,717,679.253918268,664,637.253918268,880.746081732,789,803.253918268,654,633,655,0.400980464896,-0.00536261893495,0.0598418404047,0.99999993302,0.000246701749642,-0.000269478364434,2.19110688106e-05,1793237373934677760
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,717,679,664,637.329706172,881,789,803.329706172,654,633,655,0.400979524279,-0.00536318246405,0.0598425660673,0.999999933582,0.000245649293832,-0.00026834855354,2.19606030964e-05,1793237373951344384
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746,717,679,664,637.919231568,881,789,803.919231568,654,633,655,0.400979283873,-0.00536493067434,0.0598429654723,0.999999934553,0.000242601754888,-0.000267485741208,2.2121688699e-05,1793237373968011008
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746.49976126,717,679,664,638,881,789,803.50023874,654,633,655,0.400980628363,-0.00536501969639,0.0598447344449,0.999999935296,0.000242526198977,-0.00026476061888,2.21772089931e-05,1793237373984677632
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767,746.921790073,717,679,664.078209927,638,881,789,803.078209927,654,633,654.921790073,0.400981772385,-0.00536477871203,0.0598462973599,0.999999935808,0.000242968579029,-0.000262410003658,2.21764041642e-05,1793237374001344000
+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746.347483097,717,679,664.652516903,638,881,789,803.652516903,654,633,654.347483097,0.400980048797,-0.00536411527649,0.0598451740447,0.999999935134,0.000243703470531,-0.000264310317949,2.19246266688e-05,1793237374018010624
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,746,717,679,664.76746178,637.76746178,881,789,803.76746178,654,633,654,0.400980042544,-0.00536397876152,0.0598455548246,0.999999935257,0.000243863560004,-0.000263697972817,2.19250928876e-05,1793237374034677504
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746,717,679,664.178686283,637.178686283,881,789,803.178686283,654,633,654,0.400982667163,-0.00536464946322,0.0598482398052,0.99999993659,0.00024314308075,-0.000259236355584,2.23119842058e-05,1793237374051344128
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746,717,679,664.405440391,637,881,789,803.810880782,654,633,654,0.400982846741,-0.0053645681879,0.0598486077137,0.999999936429,0.000244546029534,-0.00025853834617,2.23114542807e-05,1793237374068010752
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767,746,717,679,664.987541419,637,881,789,804.975082839,654,633,654,0.400981960951,-0.00536415925713,0.0598479660151,0.999999935616,0.000246874209687,-0.00025948023618,2.21421150938e-05,1793237374084677376
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746,716.43743887,679,664.43743887,637.56256113,881,789,804.43743887,654,633,654.56256113,0.400981689634,-0.00536470702441,0.0598476934444,0.999999935887,0.000245366206325,-0.000259886822703,2.19247080094e-05,1793237374101344256
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,664.13995854,638,881,789,804,654,633,654.86004146,0.400981300566,-0.0053651981884,0.0598476567707,0.99999993623,0.000243740320628,-0.000260105678487,2.18215159668e-05,1793237374118011136
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,664.725417317,638,881,789,804,654,633,654.274582683,0.400980493907,-0.00536544257677,0.0598483452803,0.999999936734,0.00024200626853,-0.00025976423711,2.20852267137e-05,1793237374134677504
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746.307649525,716.307649525,679,664.692350475,637.692350475,881,789,804,654,633,654.307649525,0.400979676459,-0.00536621919123,0.0598483544871,0.999999936983,0.000240720424605,-0.000259997382754,2.2108970856e-05,1793237374151344128
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746.887031822,716.887031822,679,664.112968178,637.112968178,881,789,804,654,633,654.887031822,0.400978849481,-0.00536746589668,0.0598477636965,0.999999937008,0.000239830462578,-0.000260738034883,2.19207634446e-05,1793237374168011008
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746.534121026,717,679.465878974,664.465878974,637.465878974,881,789,804,654,633,654.534121026,0.400978400971,-0.00536664973198,0.059847391129,0.999999936371,0.00024172220116,-0.000261451801497,2.17126740109e-05,1793237374184677632
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746,716.955813086,680,664.955813086,637.955813086,881,789,804,654,633,654.044186914,0.400978115775,-0.00536544714207,0.0598471615489,0.999999935663,0.000244075999777,-0.000261989847781,2.15196105702e-05,1793237374201344512
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,746,716.382411307,680,664.382411307,637.382411307,881,789,804,654,633,654.617588693,0.400978688663,-0.00536560048466,0.059848011462,0.999999936095,0.00024389451545,-0.000260501328364,2.15641840659e-05,1793237374218011136
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diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d08e827d107652438d76e6a451b1b446d03948cf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,437 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f4e4be19d6abe94c803165df210f3601ca8e0525
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86883aeae7077dfad4d49a01f710cb1be9c89ec9705fc5a6f17b42d74af84756
+size 27775391
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bfea25b3ab7cd065a0e2d191fe7617c2a58c9f4e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_02/franka_data.csv
@@ -0,0 +1,438 @@
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+2,0.033333333,BASELINE,767,746,717,679.852003286,664.147996714,637.852003286,880.147996714,789,803.852003286,654,633,654.147996714,0.400977995237,-0.00536890178259,0.0598491811137,0.999999937972,0.000238200193103,-0.000258550409862,2.16283897771e-05,1793237374520546560
+3,0.050000000,BASELINE,767,746,717,679.275107098,664.724892902,637.275107098,880.724892902,789,803.275107098,654,633,654.724892902,0.400978355262,-0.0053692002612,0.0598489596324,0.999999937976,0.000238308518041,-0.000258444857003,2.15353455473e-05,1793237374537213184
+4,0.066666667,BASELINE,767.298492423,746,717,679,665,637.298492423,881,789,803.298492423,654,633,654.701507577,0.400979121829,-0.00536884602058,0.0598493150198,0.999999938223,0.000238230189969,-0.00025755894286,2.15176978015e-05,1793237374553879808
+5,0.083333333,BASELINE,767.86908671,746,717,679,665,637.86908671,881,789,803.86908671,654,633,654.13091329,0.400980258995,-0.00536789676947,0.0598501962732,0.999999938692,0.000237981711402,-0.000255961661384,2.1568780529e-05,1793237374570546432
+6,0.100000000,BASELINE,767.539009466,746.460990534,716.539009466,679,664.539009466,638,880.539009466,789,803.539009466,654,633,654,0.400979428381,-0.005367419091,0.0598499199632,0.999999938139,0.000239199784886,-0.000256994555179,2.1440416075e-05,1793237374587213312
+7,0.116666667,BASELINE,767,746.942897499,716.057102501,679,664,638,880.057102501,789,803.057102501,654,633,654,0.400978273853,-0.00536725582055,0.0598494106885,0.999999937424,0.000240593255162,-0.00025848321031,2.12983886874e-05,1793237374603880192
+8,0.133333333,BASELINE,767,746.366226902,716.633773098,679,664,638,880.633773098,789,803.633773098,654,633,654,0.400979503096,-0.00536867574498,0.0598499177143,0.999999938039,0.000239609525283,-0.000256993232898,2.1518193763e-05,1793237374620546560
+9,0.150000000,BASELINE,767.209263516,746.209263516,717,679.209263516,664.209263516,638,881.209263516,789,804,654,633,654,0.400980151546,-0.00536955671336,0.0598500656033,0.999999938448,0.000238978559495,-0.000255983479994,2.15951591223e-05,1793237374637213184
+10,0.166666667,BASELINE,767.782700058,746.782700058,717,679.782700058,664.782700058,638,881.782700058,789,804,654,633,654,0.400979789262,-0.00536949975768,0.0598495885006,0.9999999385,0.000238961495211,-0.00025580944298,2.14235461471e-05,1793237374653879808
+11,0.183333333,BASELINE,768,747,717,679.631059425,665,637.631059425,881.631059425,789,804,654,633,654.368940575,0.400980339799,-0.00536922667279,0.0598499563517,0.999999938357,0.000240512791561,-0.000254900775068,2.15822441873e-05,1793237374670546432
+12,0.200000000,BASELINE,768,747,717,679.037006391,665,637.037006391,881.037006391,789,804,654,633,654.962993609,0.400981447304,-0.0053688217147,0.059850839759,0.999999938087,0.00024302103747,-0.000253543865389,2.19424844932e-05,1793237374687213312
+13,0.216666667,BASELINE,767.458361313,746.458361313,717,679.541638687,664.458361313,637.541638687,881.541638687,789,804,654,633,654.458361313,0.400982080376,-0.00536994368387,0.0598516836791,0.999999938808,0.000240424324572,-0.000253172854359,2.20146364953e-05,1793237374703879680
+14,0.233333333,BASELINE,767,746,717,679.881432024,664.118567976,638,881.881432024,789,804,654,633,654,0.400982222881,-0.00537065199708,0.059852077839,0.999999939351,0.000238042169314,-0.000253283772455,2.19387333756e-05,1793237374720546560
+15,0.250000000,BASELINE,767,746,717,679.307162902,664.692837098,638,881.307162902,789,804,654,633,654,0.400980601091,-0.00536938060902,0.059850753484,0.999999938989,0.000237788075804,-0.000254995197411,2.13673558963e-05,1793237374737213184
+16,0.266666667,BASELINE,767,746,717,679.274445381,665.274445381,637.725554619,881,789.274445381,803.725554619,654,633,654.274445381,0.400980016285,-0.00536945863755,0.0598503952576,0.999999939099,0.000236968621781,-0.000255335819628,2.12379854592e-05,1793237374753879552
+17,0.283333333,BASELINE,767,746,717,679.864493411,665.864493411,637.135506589,881,789.864493411,803.135506589,654,633,654.864493411,0.400980623978,-0.00537108844834,0.0598511480454,0.999999939753,0.000235499022836,-0.000254100066236,2.16169077913e-05,1793237374770546176
+18,0.300000000,BASELINE,767,746,717,680,665.107063275,637.446468362,881,789.553531638,803.446468362,654,633,655,0.400980708402,-0.00537166344852,0.059851177065,0.999999940079,0.000234375539396,-0.000253852743146,2.16594350989e-05,1793237374787213056
+19,0.316666667,BASELINE,767,746.025821867,717,679.974178133,664,638,881,789,803.974178133,654,633,655,0.400980651987,-0.00537192588521,0.0598510053727,0.999999940292,0.000233431305396,-0.000253886091231,2.16227622327e-05,1793237374803879680
+20,0.333333333,BASELINE,767,746.600610577,717,679.399389423,664,638,881,789,803.399389423,654,633,655,0.400980917775,-0.00537222857974,0.0598511537642,0.999999940193,0.000234104226629,-0.000253621870085,2.20343503422e-05,1793237374820546560
+21,0.350000000,BASELINE,767.175861785,747,716.824138215,679,664,637.824138215,881,789,803.175861785,654,633,654.824138215,0.400981561306,-0.00537182799957,0.0598515974321,0.999999939949,0.000235891573049,-0.000252910337236,2.22325546643e-05,1793237374837213184
+22,0.366666667,BASELINE,767.752166034,747,716.247833966,679,664,637.247833966,881,789,803.752166034,654,633,654.247833966,0.400983064969,-0.00536982604214,0.0598527134534,0.999999939361,0.000240216498347,-0.000251180262502,2.19448777628e-05,1793237374853879552
+23,0.383333333,BASELINE,768,746.662970015,716,679.337029985,664.337029985,637,881,789,804,654,633,654,0.400982942873,-0.00536868611045,0.0598528206093,0.999999938841,0.000242418159005,-0.000251152158702,2.1751487162e-05,1793237374870546432
+24,0.400000000,BASELINE,768,746.071647623,716,679.928352377,664.928352377,637,881,789,804,654,633,654,0.400981594125,-0.00536819658538,0.0598521665668,0.999999938382,0.000243017796273,-0.000252408208368,2.16292364632e-05,1793237374887213056
+25,0.416666667,BASELINE,767.492052316,746,716.507947684,679.492052316,664.492052316,637,881,789,803.492052316,654,633,654,0.400980631292,-0.00536914435151,0.0598512726511,0.999999938796,0.000239969740909,-0.000253687724957,2.15472220399e-05,1793237374903879680
+26,0.433333333,BASELINE,767,746,717,679.085096239,664.085096239,637,881.085096239,789,803,654,633,654,0.400980040046,-0.00537023958523,0.0598506077404,0.99999993929,0.000236957428147,-0.000254576881697,2.15037322402e-05,1793237374920546560
+27,0.450000000,BASELINE,767,746,717,679.657492427,664.657492427,637,881.657492427,789,803,654,633,654,0.400981271995,-0.00537104453426,0.0598514435972,0.999999939616,0.000237029672446,-0.000253212132801,2.16490851753e-05,1793237374937213184
+28,0.466666667,BASELINE,767,746.237911239,717,680,664.762088761,637.237911239,881.762088761,789,803.237911239,654,633,654,0.400982139389,-0.00537127664092,0.0598521338757,0.999999939763,0.000237586081485,-0.000252095347553,2.17808291308e-05,1793237374953879808
+29,0.483333333,BASELINE,767,746.830282803,717,680,664.169717197,637.830282803,881.169717197,789,803.830282803,654,633,654,0.400982463638,-0.00537065527841,0.0598526072591,0.999999939644,0.000238863840179,-0.00025134799964,2.18922972666e-05,1793237374970546688
+30,0.500000000,BASELINE,767,747,717,680,664,638,881,789,804,654,633,654,0.400981836348,-0.00537045585078,0.0598523549241,0.999999939399,0.000239257828652,-0.000251930424046,2.2097365896e-05,1793237374987213056
+31,0.516666667,BASELINE,767,747,717,680,664,638,881,789,804,654,633,654,0.400980826968,-0.00537042585144,0.0598518111763,0.999999939103,0.000239296938488,-0.000253046819556,2.23400198719e-05,1793237375003879680
+32,0.533333333,BASELINE,767,747,717,679.431750869,664,638,881,789,803.431750869,654,633,654,0.400981815434,-0.00537108795321,0.0598523369138,0.999999940238,0.000235697630135,-0.000251970501752,2.19229412589e-05,1793237375020546304
+33,0.550000000,BASELINE,767,746.856313333,717,679.143686667,664,637.856313333,881,789,803.143686667,654,633,654,0.400982243578,-0.00537110042488,0.0598525938426,0.999999940793,0.000233876581826,-0.000251504543879,2.14973685508e-05,1793237375037212928
+34,0.566666667,BASELINE,767,746.280809797,717,679.719190203,664,637.280809797,881,789,803.719190203,654,633,654,0.400980912082,-0.00536913435319,0.0598520023953,0.999999939573,0.000237537579479,-0.000252955986196,2.10712731465e-05,1793237375053879552
+35,0.583333333,BASELINE,767.301421159,746.301421159,717,679.698578841,664,637,881,789,804,654,633,654.301421159,0.400981310987,-0.00536896385365,0.0598521870356,0.999999939383,0.00023864258075,-0.000252657991395,2.11568267735e-05,1793237375070546176
+36,0.600000000,BASELINE,767.890062656,746.890062656,717,679.109937344,664,637,881,789,804,654,633,654.890062656,0.400983358767,-0.00537050433144,0.0598531111997,0.999999940182,0.000237312006455,-0.000250692980695,2.17299241159e-05,1793237375087213056
+37,0.616666667,BASELINE,767.529885426,746.529885426,717,679.470114574,664.470114574,637.470114574,881,789.470114574,804,654,633,654.529885426,0.400983362769,-0.00537116775818,0.0598532083631,0.999999940723,0.000235273074693,-0.000250463167981,2.16486406694e-05,1793237375103879680
+38,0.633333333,BASELINE,767,746,717,679.952160734,665,638,881,790,803.952160734,654,633,654,0.400982843334,-0.00537146332113,0.0598530418332,0.999999941065,0.000233529993026,-0.000250748164127,2.14367813426e-05,1793237375120546560
+39,0.650000000,BASELINE,767,746,717,679.378334166,665,638,881,790,803.378334166,654,633,654,0.400981729402,-0.00536992885551,0.0598520642368,0.999999939896,0.000236828381191,-0.000252311975674,2.14415945735e-05,1793237375137213184
+40,0.666666667,BASELINE,767,746.201174593,716.798825407,679,665,638,881,789.798825407,803.201174593,654,633,654,0.400981160562,-0.00536923409619,0.059851828092,0.99999993927,0.000238800252144,-0.000252935973901,2.1393153443e-05,1793237375153879808
+41,0.683333333,BASELINE,767,746.791679996,716.208320004,679,665,638,881,789.208320004,803.791679996,654,633,654,0.400981646631,-0.00537016441063,0.0598530268698,0.999999939717,0.000238204929839,-0.000251741162446,2.12416497774e-05,1793237375170546432
+42,0.700000000,BASELINE,767,746.624869454,716.375130546,679.375130546,664.624869454,637.624869454,881,789,803.624869454,654,633,654,0.400982852496,-0.00537052281144,0.0598535249955,0.99999994012,0.000237621410086,-0.000250680181106,2.13249080194e-05,1793237375187213056
+43,0.716666667,BASELINE,767,746.045264352,716.954735648,679.954735648,664.045264352,637.045264352,881,789,803.045264352,654,633,654,0.400984450705,-0.005370569476,0.0598536412126,0.9999999405,0.000237044323637,-0.000249692147352,2.15361292843e-05,1793237375203879680
+44,0.733333333,BASELINE,767,746.531710197,716.468289803,679.468289803,664,637.531710197,881.531710197,789,803.531710197,654,633,654.531710197,0.400983373041,-0.00537037515341,0.059852810987,0.99999994022,0.000237166305528,-0.000250688101652,2.16197322009e-05,1793237375220547328
+45,0.750000000,BASELINE,767,746.891564143,716.108435857,679,664,637.891564143,881.891564143,789,804,654,633,655,0.400982144197,-0.0053699848575,0.059852055701,0.999999939844,0.000237592871439,-0.000251778956995,2.1676135315e-05,1793237375237214720
+46,0.766666667,BASELINE,767,746.31495113,716.68504887,679,664,637.31495113,881.31495113,789,804,654,633,655,0.400981241306,-0.00536883657645,0.0598519701253,0.999999939294,0.000239078814867,-0.000252553923387,2.16617773633e-05,1793237375253881344
+47,0.783333333,BASELINE,767.267341419,746,717,679.267341419,664,637,881,789,803.732658581,654,633,655,0.400980929954,-0.0053685087112,0.0598520046805,0.999999939117,0.000239467556803,-0.000252888470725,2.16366983294e-05,1793237375270547712
+48,0.800000000,BASELINE,767.856470261,746,717,679.856470261,664,637,881,789,803.143529739,654,633,655,0.400981330609,-0.00536916834518,0.0598521838322,0.99999993939,0.000238535644468,-0.000252692904606,2.15987147861e-05,1793237375287213568
+49,0.816666667,BASELINE,767.562388483,746.437611517,717,679.562388483,664,637.437611517,881,789,803.437611517,654,633,654.562388483,0.400980811066,-0.00536991588159,0.0598517083681,0.999999939602,0.000237125459213,-0.000253194204789,2.14455629848e-05,1793237375303879936
+50,0.833333333,BASELINE,767,746.983890483,717,679.016109517,664.016109517,638,881,789,803.983890483,654,633,654,0.400980024949,-0.00537066312138,0.0598510533257,0.999999939792,0.000235599770742,-0.000253884991785,2.12603669099e-05,1793237375320546816
+51,0.850000000,BASELINE,767,746.407838726,717,679.592161274,664.592161274,638,881,789,803.407838726,654,633,654,0.400980275602,-0.0053704159074,0.059851485413,0.999999939969,0.000235414050317,-0.000253360020439,2.125077054e-05,1793237375337213440
+52,0.866666667,BASELINE,767,746.167211488,717,679.832788512,665,638,881,789,803.167211488,654,633,654.167211488,0.400980570404,-0.00537021557316,0.0598518557411,0.999999940002,0.000235800309867,-0.000252870470169,2.12463936711e-05,1793237375353879808
+53,0.883333333,BASELINE,767,746.739833387,717,679.260166613,665,638,881,789,803.739833387,654,633,654.739833387,0.400980972245,-0.00537012890063,0.0598520763315,0.999999939684,0.00023757335594,-0.000252466799635,2.12546716748e-05,1793237375370546688
+54,0.900000000,BASELINE,767,747,717,679.323036065,665,638,881,789,803.676963935,654,633,654.676963935,0.400980608714,-0.00537046646035,0.0598517910483,0.999999939512,0.000237731025967,-0.000252987311141,2.13652094998e-05,1793237375387213824
+55,0.916666667,BASELINE,767,747,717,679.915048823,665,638,881,789,803.084951177,654,633,654.084951177,0.400979607894,-0.00537115725802,0.0598510845482,0.999999939463,0.000236543649473,-0.000254277344883,2.15608941909e-05,1793237375403880448
+56,0.933333333,BASELINE,767,747,717,680,665,638,881,789,803,654,633,654,0.400980511985,-0.00536949839375,0.05985163091,0.999999939042,0.000239413024664,-0.000253257399106,2.14261350787e-05,1793237375420546560
+57,0.950000000,BASELINE,767,746.925087471,716.925087471,680,665.074912529,638,881,789,803.074912529,654,633,654.074912529,0.400981600861,-0.00536788734591,0.0598523447792,0.999999938751,0.000242000966193,-0.000251954085654,2.12590442112e-05,1793237375437213184
+58,0.966666667,BASELINE,767,746.352045214,716.352045214,680,665.647954786,638,881,789,803.647954786,654,633,654.647954786,0.400981796341,-0.00536921184634,0.0598527767605,0.999999939819,0.000238198176143,-0.000251339909173,2.12450880649e-05,1793237375453879808
+59,0.983333333,BASELINE,767.227601066,746,716,679.772398934,665.772398934,638,881,789,804,654,633,654.772398934,0.40098208807,-0.0053700580598,0.0598530008339,0.999999940316,0.000236444131552,-0.00025102061447,2.12305679675e-05,1793237375470546688
+60,1.000000000,BASELINE,767.817767557,746,716,679.182232443,665.182232443,638,881,789,804,654,633,654.182232443,0.400982533124,-0.00537014236879,0.0598528937128,0.999999939921,0.00023795371021,-0.000251171062365,2.12151495019e-05,1793237375487213568
+61,1.016666667,BASELINE,767.599355843,746.400644157,716.400644157,679.400644157,665,638,881,789,804.400644157,654.400644157,633.400644157,654,0.400982880815,-0.00537126888082,0.0598531450004,0.999999940361,0.000236625835793,-0.00025066155228,2.13149229503e-05,1793237375503880448
+62,1.033333333,BASELINE,767.019735819,746.980264181,716.980264181,679.980264181,665,638,881,789,804.980264181,654.980264181,633.980264181,654,0.400983185012,-0.00537286096607,0.0598535563963,0.99999994117,0.000234030413477,-0.000249857225579,2.14661549624e-05,1793237375520547072
+63,1.050000000,BASELINE,767,747,717,679.443847957,665,638,881,789,804.443847957,654.443847957,633.443847957,654.556152043,0.40098296269,-0.00537071239843,0.059853216078,0.999999940558,0.000236169575204,-0.000250331082225,2.10066982947e-05,1793237375537213440
+64,1.066666667,BASELINE,767,747,717,679,665,638,881,789,804,654,633.134518463,654.865481537,0.400982555473,-0.00536964432227,0.0598529375063,0.999999940079,0.000237632624957,-0.000250878855164,2.08133433612e-05,1793237375553879808
+65,1.083333333,BASELINE,767,747,717,679,665,638,881,789,804,654,633.721667425,654.278332575,0.400981588563,-0.00537265558265,0.0598529558613,0.999999940226,0.000236259113228,-0.000251523738681,2.1587806433e-05,1793237375570546432
+66,1.100000000,BASELINE,767,746.695027472,717,679.304972528,664.695027472,638,881,789,804,654,633.695027472,654,0.400980903916,-0.00537312299269,0.0598526216777,0.999999940065,0.00023614644496,-0.000252257712913,2.17041952778e-05,1793237375587213056
+67,1.116666667,BASELINE,767,746.115186826,717,679.884813174,664.115186826,638,881,789,804,654,633.115186826,654,0.400980473669,-0.00537129766046,0.0598519697553,0.999999939627,0.000237170160009,-0.000253071983515,2.12274695935e-05,1793237375603879936
+68,1.133333333,BASELINE,767,746.464187684,717,680,664,638,881.464187684,789,804,654,633,654.464187684,0.400981942505,-0.00537107224303,0.0598528177803,0.999999940102,0.000237257076472,-0.000251108440237,2.11971060141e-05,1793237375620546560
+69,1.150000000,BASELINE,767.043014896,747,717,680,664,637.956985104,881.956985104,789,804,654,633,654.956985104,0.400983611037,-0.0053712391557,0.0598538632679,0.999999940705,0.000237078611333,-0.000248858707329,2.12647366073e-05,1793237375637213184
+70,1.166666667,BASELINE,767.616517026,747,717,680,664,637.383482974,881.383482974,789,804,654,633,654.383482974,0.40098193639,-0.00537135321246,0.0598527582914,0.999999940167,0.000236491307494,-0.000251571943575,2.11762584525e-05,1793237375653879808
+71,1.183333333,BASELINE,768,746.809442796,717,680,664.190557204,637.190557204,881,789,804,654,633,654,0.400981104118,-0.00537115563168,0.0598521958695,0.99999993984,0.000236573062324,-0.000252797563617,2.11304749963e-05,1793237375670546432
+72,1.200000000,BASELINE,768,746.234316664,717,680,664.765683336,637.765683336,881,789,804,654,633,654,0.400981971868,-0.00537032912632,0.0598527283925,0.999999939947,0.000238005063425,-0.000251020983482,2.11708549131e-05,1793237375687213056
+73,1.216666667,BASELINE,768,746.352056984,716.647943016,679.647943016,665,638,881.352056984,789,804,654,633,654,0.400982195131,-0.00537105304595,0.0598526848579,0.999999940214,0.000237024109363,-0.000250868725305,2.13866183305e-05,1793237375703879680
+74,1.233333333,BASELINE,768,746.946163601,716.053836399,679.053836399,665,638,881.946163601,789,804,654,633,654,0.40098197529,-0.00537284292887,0.0598522452664,0.999999940586,0.000234384176879,-0.000251833236819,2.17229631107e-05,1793237375720546304
+75,1.250000000,BASELINE,767.476336951,747,716.523663049,679.523663049,664.476336951,638,881.476336951,789,803.476336951,654,633,654.523663049,0.400981379497,-0.00537174029647,0.0598520074652,0.999999940051,0.000236161391343,-0.000252326581674,2.13839191023e-05,1793237375737213184
+76,1.266666667,BASELINE,767.09853548,746.90146452,717,680,664.09853548,638,881,789,803.09853548,654,633,655,0.400980636323,-0.00537038754156,0.0598517667984,0.99999993941,0.000238268519105,-0.000252912402171,2.10421494695e-05,1793237375753879808
+77,1.283333333,BASELINE,767.668754226,746.331245774,717,680,664.668754226,638,881,789,803.668754226,654,633,655,0.400979366973,-0.00536921720951,0.0598514161594,0.999999938716,0.000239847920828,-0.000254165646643,2.10094961921e-05,1793237375770546944
+78,1.300000000,BASELINE,768,746,717,679.75159776,665,638,881,789.24840224,803.75159776,654,633,655,0.400978932553,-0.00536949930172,0.0598516360368,0.999999938646,0.000239993369408,-0.000254294752891,2.10945794647e-05,1793237375787213568
+79,1.316666667,BASELINE,768,746,717,679.158879679,665,638,881,789.841120321,803.158879679,654,633,655,0.400979655451,-0.00537179463145,0.0598526467198,0.999999939444,0.000238151183666,-0.000252865666166,2.13428599777e-05,1793237375803880192
+80,1.333333333,BASELINE,768,746,717,679,665,638,881,789.57872897,803.42127103,654,633,655,0.40097977273,-0.0053714946106,0.0598524324338,0.999999939599,0.000237662542514,-0.000252717272823,2.12580683974e-05,1793237375820546816
+81,1.350000000,BASELINE,768,746,717,679,665,638,881,789.003180618,803.996819382,654,633,655,0.400979668221,-0.00537024412408,0.0598517695414,0.999999939521,0.000237669594524,-0.000253037893204,2.10512996149e-05,1793237375837213696
+82,1.366666667,BASELINE,768,746.57661743,717,679,664.42338257,637.42338257,881,789,804,654,633,654.42338257,0.400980606984,-0.00537028988874,0.0598525059262,0.999999939573,0.0002388070979,-0.000251757076504,2.10530072306e-05,1793237375853881088
+83,1.383333333,BASELINE,768,747,717,679,664.158367331,637.158367331,881,789,804,654,633,654.158367331,0.400981289726,-0.00537040799368,0.0598530445751,0.999999939692,0.00023931528871,-0.000250794097865,2.11116812073e-05,1793237375870548224
+84,1.400000000,BASELINE,768,747,717,679,664.745335889,637.745335889,881,789,804,654,633,654.745335889,0.400981263885,-0.00537070238395,0.0598530270333,0.999999939997,0.000238103323534,-0.000250715391916,2.13213921494e-05,1793237375887213824
+85,1.416666667,BASELINE,768,747,717,679.327949825,665,638,881,789,804,654,633.327949825,654.672050175,0.400981161049,-0.00537106082938,0.0598527030926,0.999999940266,0.000236347760339,-0.000251314340299,2.11785754464e-05,1793237375903880448
+86,1.433333333,BASELINE,768,747,717,679.907226527,665,638,881,789,804,654,633.907226527,654.092773473,0.400980999206,-0.00537146836396,0.0598521443408,0.999999940504,0.000234175606683,-0.000252432614307,2.07655964523e-05,1793237375920547072
+87,1.450000000,BASELINE,768,746.514431723,717,679.514431723,664.514431723,638,881,789,804,654,633.514431723,654.485568277,0.4009821174,-0.0053709318993,0.0598529835752,0.99999994048,0.000235938277113,-0.000250872991246,2.08946591793e-05,1793237375937213440
+88,1.466666667,BASELINE,767.936606212,746.063393788,717,679.063393788,664.063393788,638,881,789.063393788,804,654,633,654.936606212,0.400983172339,-0.00537036317461,0.059853835777,0.999999940378,0.000238050262279,-0.000249258434049,2.11175779575e-05,1793237375953879808
+89,1.483333333,BASELINE,767.361508553,746.638491447,717,679.638491447,664.638491447,638,881,789.638491447,804,654,633,654.361508553,0.400981746396,-0.00537098710636,0.0598526407952,0.999999940126,0.000236925165775,-0.00025132241964,2.12637473247e-05,1793237375970546432
+90,1.500000000,BASELINE,767,747,717,680,665,638,881,789.781163783,804.218836217,654,633,654.218836217,0.400981097322,-0.00537153581407,0.059852087792,0.999999940001,0.000236645846809,-0.000252075298999,2.13411824575e-05,1793237375987213056
+91,1.516666667,BASELINE,767,747,717,680,665,638,881,789.191938113,804.808061887,654,633,654.808061887,0.400981763132,-0.00537195720186,0.0598526213646,0.999999940097,0.000237798041823,-0.000250609076005,2.13022820085e-05,1793237376003879680
+92,1.533333333,BASELINE,767,747,717,679.608970481,665,638,881,789,804.608970481,654,633,655,0.400981538781,-0.00537181227863,0.0598529939037,0.999999940178,0.000237928599546,-0.000250152636177,2.13823020811e-05,1793237376020546560
+93,1.550000000,BASELINE,767,747,717,679.029026188,665,638,881,789,804.029026188,654,633,655,0.400980884374,-0.0053713937584,0.0598532886441,0.999999940254,0.000237565582417,-0.000250184044193,2.15197752128e-05,1793237376037213184
+94,1.566666667,BASELINE,767.547438911,747,717,679,664.452561089,638,881.547438911,789.547438911,804.547438911,654,633,655,0.40098054203,-0.00537186880906,0.0598526170434,0.999999939936,0.000237448609857,-0.000251564006922,2.14945120082e-05,1793237376053879808
+95,1.583333333,BASELINE,768,747,717,679.123202732,664,638,881.876797268,789.876797268,804.876797268,654,633,655,0.400980191378,-0.00537203421207,0.0598519791183,0.999999939642,0.0002375005614,-0.00025268658645,2.1437636246e-05,1793237376070546688
+96,1.600000000,BASELINE,768,747,717,679.697072017,664,638,881.302927983,789.302927983,804.302927983,654,633,655,0.400979750194,-0.00537089473343,0.0598516506143,0.999999939517,0.00023812300596,-0.000252607777381,2.12964874112e-05,1793237376087213312
+97,1.616666667,BASELINE,768,747,717,680,664.279915873,638,881,789,804,654,633,654.720084127,0.400980118433,-0.00537072200314,0.0598520945937,0.999999939837,0.000237601446457,-0.000251831355576,2.1277679148e-05,1793237376103879936
+98,1.633333333,BASELINE,768,747,717,680,664.872793783,638,881,789,804,654,633,654.127206217,0.400981391656,-0.00537163015315,0.059853402254,0.999999940651,0.000235800824619,-0.000250274962638,2.1395654684e-05,1793237376120546304
+99,1.650000000,BASELINE,767.546956505,747,717,679.546956505,664.546956505,638,881,789,804,654,633,654,0.400982893162,-0.00537194337597,0.0598540160899,0.99999994087,0.000236517156231,-0.000248713337439,2.14789285211e-05,1793237376137213184
+100,1.666666667,BASELINE,767,746.970298185,717,679,664,637.970298185,880.970298185,789,804,654,633,654.029701815,0.40098427227,-0.00537202262489,0.0598543862473,0.999999940899,0.000237851190183,-0.00024731679495,2.1537463021e-05,1793237376153879552
+101,1.683333333,BASELINE,767,746.39623827,717,679,664,637.39623827,880.39623827,789,804,654,633,654.60376173,0.400982265241,-0.00537079220788,0.0598537640024,0.99999994048,0.000237905113471,-0.000248971989829,2.13163213814e-05,1793237376170546432
+102,1.700000000,BASELINE,767.17535269,746,717,679,664.17535269,637,880.350705381,789,803.82464731,654,633,654.82464731,0.40098094846,-0.00537003284519,0.0598533659555,0.99999994016,0.000237931736501,-0.000250237199714,2.11973049298e-05,1793237376187213056
+103,1.716666667,BASELINE,767.741442029,746,717,679,664.741442029,637,881.482884057,789,803.258557971,654,633,654.258557971,0.400981169748,-0.0053703231283,0.0598534674871,0.999999940067,0.00023789752663,-0.000250633409711,2.13058530438e-05,1793237376203879936
+104,1.733333333,BASELINE,768,746.328676457,716.671323543,679.328676457,665,637,881.671323543,789,803,654,633,654,0.400981339379,-0.00537067272298,0.0598535820388,0.999999940106,0.000237659115065,-0.000250703161487,2.12938930329e-05,1793237376220546560
+105,1.750000000,BASELINE,768,746.933688754,716.066311246,679.933688754,665,637,881.066311246,789,803,654,633,654,0.400981465577,-0.0053710721841,0.0598537075373,0.999999940257,0.000237249020231,-0.000250498442453,2.11806154214e-05,1793237376237213184
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,746,717,679,665,638,882,790,803,654,633,655,0.400979812362,-0.00537140689405,0.0598518095272,0.999999939809,0.000237262926808,-0.000252249488314,2.14210717758e-05,1793237376268148224
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746.578617666,717,679.578617666,665,638,881.421382334,789.421382334,803.578617666,654,633,654.421382334,0.400980618995,-0.00537283285861,0.0598530900628,0.999999940563,0.000235880142219,-0.00025053565538,2.15834862581e-05,1793237376284815360
+108,1.800000000,POSE1_TO_POSE2_PRESS,767.15969429,747,717,680,665,638,881,789,804,654,633,654,0.400981206903,-0.00537364997404,0.0598538162641,0.999999940978,0.000235216552581,-0.000249496777897,2.16300925543e-05,1793237376301482240
+109,1.816666667,POSE1_TO_POSE2_PRESS,767.747360921,747,717,680,665,638,881,789,804,654,633,654,0.400981208639,-0.00537283540597,0.0598530568785,0.999999940494,0.000236480367472,-0.000250266745324,2.13663390079e-05,1793237376318148864
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.669165374,746.669165374,717,679.669165374,665,637.669165374,881,789,804,654,633,654.330834626,0.400981306642,-0.00537246289638,0.0598530219785,0.999999940383,0.000236692570381,-0.000250504323993,2.14216235402e-05,1793237376334815232
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.088853524,746.088853524,717,679.088853524,665,637.088853524,881,789,804,654,633,654.911146476,0.40098147724,-0.00537242373622,0.0598535334018,0.999999940555,0.000236111769047,-0.000250340436571,2.17174897188e-05,1793237376351481856
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,717,679,665,637,881,789,804,654,633,655,0.400981549387,-0.00537221584681,0.0598534475049,0.999999940373,0.000236610198547,-0.000250613134194,2.15062386147e-05,1793237376368148224
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,717,679,664.94336056,637,881,789,803.94336056,654,633,654.94336056,0.400981605114,-0.00537210125568,0.0598532193951,0.999999940183,0.000237110917306,-0.000250919452917,2.12666774752e-05,1793237376384815360
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,717,679,664.363360903,637,881,789,803.363360903,654,633,654.363360903,0.400981673575,-0.00537313063753,0.0598526750863,0.999999940506,0.000235829837725,-0.000250807083262,2.16127104543e-05,1793237376401481984
+115,1.916666667,POSE1_TO_POSE2_PRESS,767.22061123,746,717,679.22061123,664,637.22061123,881,789,803.22061123,654,633,654,0.400982274933,-0.00537376796593,0.0598526023649,0.999999940747,0.000235005466161,-0.000250615666866,2.17061656452e-05,1793237376418148608
+116,1.933333333,POSE1_TO_POSE2_PRESS,767.811246202,746,717,679.811246202,664,637.811246202,881,789,803.811246202,654,633,654,0.400983770098,-0.00537374771627,0.0598533206211,0.999999940848,0.000234947115613,-0.00025029166806,2.13759806336e-05,1793237376434815232
+117,1.950000000,POSE1_TO_POSE2_PRESS,768,746.376692328,717,679.623307672,664,637.623307672,881,789,804,654,633,654,0.400992506888,-0.00537282420868,0.0598577981373,0.999999942129,0.000236359698226,-0.000243757560967,2.1416712303e-05,1793237376451482368
+118,1.966666667,POSE1_TO_POSE2_PRESS,768,746.930307915,717,679.069692085,664,637.069692085,881,789,804,654,633,654,0.401004644894,-0.00537147646271,0.0598640412869,0.999999943884,0.000238463142478,-0.000234306716442,2.16316545192e-05,1793237376468150016
+119,1.983333333,POSE1_TO_POSE2_PRESS,767.476558659,746.476558659,716.476558659,679,664.523441341,637,881,789,803.476558659,654,633,654.523441341,0.401040290729,-0.00537387722312,0.0598798067238,0.999999950553,0.000237219803009,-0.000205188447622,2.27879481073e-05,1793237376484816640
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,716.114443012,679,664.885556988,637.114443012,881,789.114443012,803.114443012,654,633,654.885556988,0.401082606684,-0.00537648415228,0.0598971953362,0.999999956985,0.000235550550603,-0.000173115760426,2.4005371017e-05,1793237376501483264
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,716.674953341,679,664.325046659,637.674953341,881,789.674953341,803.674953341,654,633,654.325046659,0.4011377253,-0.00537779052406,0.059915565504,0.999999962408,0.000234099855528,-0.00014056746137,2.49326513183e-05,1793237376518149888
+122,2.033333333,POSE1_TO_POSE2_PRESS,767.257080166,746,717,679.257080166,664,637.742919834,881.257080166,789.742919834,803.742919834,654,633,654,0.40119888929,-0.00537905104604,0.0599332541604,0.999999966275,0.000233178476133,-0.000111425223826,2.57517888283e-05,1793237376534817024
+123,2.050000000,POSE1_TO_POSE2_PRESS,767.869047523,746,717,679.869047523,664,637.130952477,881.869047523,789.130952477,803.130952477,654,633,654,0.401268398634,-0.00538024827443,0.0599500020211,0.999999968726,0.000232987792633,-8.69848975741e-05,2.64216402157e-05,1793237376551484416
+124,2.066666667,POSE1_TO_POSE2_PRESS,768,746,717,679.546972152,664.453027848,637.453027848,881.546972152,789,803,654,633,654,0.401339689978,-0.00538220472518,0.0599570566043,0.999999969734,0.000232659982825,-7.5534536692e-05,2.63606952523e-05,1793237376568150016
+125,2.083333333,POSE1_TO_POSE2_PRESS,767.970667314,746,716.970667314,679.029332686,664.970667314,637.970667314,881,789,803.029332686,654,633,654,0.401412213247,-0.00538435333469,0.0599612407187,0.99999997039,0.000232198995353,-6.80014060507e-05,2.60553290745e-05,1793237376584815360
+126,2.100000000,POSE1_TO_POSE2_PRESS,767.395409031,746,716.395409031,679.604590969,664.395409031,637.395409031,881,789,803.604590969,654,633,654,0.401498635448,-0.00538623145472,0.0599611153171,0.999999970969,0.000229954166538,-6.75558243821e-05,2.49037398707e-05,1793237376601481728
+127,2.116666667,POSE1_TO_POSE2_PRESS,767.183971038,746,716.183971038,679.816028962,664,637.183971038,881,789,804,654,633,654,0.401593435457,-0.00538871726381,0.0599623864597,0.999999971774,0.000227550098371,-6.40348848858e-05,2.39230129335e-05,1793237376618148352
+128,2.133333333,POSE1_TO_POSE2_PRESS,767.772413019,746,716.772413019,679.227586981,664,637.772413019,881,789,804,654,633,654,0.401706654552,-0.00539253911211,0.0599667279853,0.999999973017,0.000224795933578,-5.37525938313e-05,2.33179366978e-05,1793237376634814976
+129,2.150000000,POSE1_TO_POSE2_PRESS,767.645156226,746.354843774,716.645156226,679,664,637.645156226,881,789,803.645156226,654,633,654,0.401829844345,-0.00539522158207,0.0599692471769,0.999999973679,0.000223178018397,-4.83438929557e-05,2.22989163047e-05,1793237376651481600
+130,2.166666667,POSE1_TO_POSE2_PRESS,767.066516623,746.933483377,716.066516623,679,664,637.066516623,881,789,803.066516623,654,633,654,0.40195932255,-0.00539718545977,0.0599706170441,0.999999974017,0.000222276722329,-4.60089075472e-05,2.10188261024e-05,1793237376668148480
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746.490494333,716.509505667,679.509505667,664,637.509505667,881,789,803.509505667,654,633,654,0.402107604778,-0.00540115986758,0.0599694623475,0.999999974845,0.000219071323835,-4.39251884852e-05,1.97088066983e-05,1793237376684814848
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746.086970597,716.913029403,679.913029403,664,638,881,789,804,654,633,654.086970597,0.402263469753,-0.00540544549401,0.0599682483781,0.999999975747,0.000215483360801,-4.16824845645e-05,1.83073792164e-05,1793237376701481472
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746.674699522,716.325300478,679.325300478,664,638,881,789,804,654,633,654.674699522,0.402448932156,-0.00541001948819,0.0599685811102,0.999999976782,0.000211415782275,-3.83364702615e-05,1.64020252017e-05,1793237376718148096
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,747,716.258786073,679.258786073,664,638,881,789,804,654,633,654.741213927,0.402649763263,-0.00541526774286,0.0599699200271,0.999999977969,0.000206931063761,-3.20943547763e-05,1.45128424414e-05,1793237376734814976
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,747,716.838357581,679.838357581,664,638,881,789,804,654,633,654.161642419,0.40286964506,-0.00542135179551,0.0599725061884,0.999999979285,0.000201929268066,-2.22622971466e-05,1.26437053201e-05,1793237376751481600
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746.583866666,717,679.583866666,664,637.583866666,881.416133334,789,803.583866666,654,633,654,0.403109519399,-0.00542781964064,0.0599768794697,0.999999980521,0.000196653865703,-1.30403654811e-05,1.07497178363e-05,1793237376768148480
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746.006785471,717,679.006785471,664,637.006785471,881.993214529,789,803.006785471,654,633,654,0.403357126248,-0.00543443592501,0.0599819439551,0.99999998166,0.00019127264061,-4.05441242094e-06,8.84611902208e-06,1793237376784815104
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,717,679,664.567438435,637.567438435,881.432561565,789,803.567438435,654,633,654.567438435,0.403615857768,-0.00544077480222,0.0599769625133,0.999999983548,0.000180829612563,-1.3065568467e-05,5.79414199747e-06,1793237376801482752
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746.145758621,717,679.145758621,664.854241379,637.854241379,881.145758621,789.145758621,804,654,633.145758621,655,0.403884777731,-0.00544774355539,0.0599709761393,0.999999985246,0.000170234130904,-2.28267862825e-05,2.64789865826e-06,1793237376818150144
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746.736693393,717,679.736693393,664.263306607,637.263306607,881.736693393,789.736693393,804,654,633.736693393,655,0.40418441094,-0.00545664615608,0.0599622855638,0.999999986717,0.000159356970038,-3.42248381707e-05,-7.44521048853e-07,1793237376834816512
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,747,716.679035536,679.679035536,664,637.320964464,881.679035536,789.679035536,804,654,633.679035536,654.679035536,0.404494008234,-0.00546436211071,0.0599532616506,0.999999987583,0.000149881480777,-4.85128315204e-05,-4.07617158087e-06,1793237376851482880
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,747,716.100119853,679.100119853,664,637.899880147,881.100119853,789.100119853,804,654,633.100119853,654.100119853,0.40481161345,-0.00547112438816,0.0599439698412,0.999999987837,0.000141532479195,-6.5123400726e-05,-7.35898379302e-06,1793237376868149248
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,747,716.475797637,679,664,637.524202363,881,789,804,653.524202363,633,654,0.405173535679,-0.00547944441273,0.0599425239808,0.99999998922,0.000129408341178,-6.85190206289e-05,-1.08935258632e-05,1793237376884815616
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746.947732286,717,679.052267714,664.052267714,637.052267714,881,789,803.947732286,653,633,654,0.405548492502,-0.00548805872334,0.0599440832268,0.999999991038,0.000115092032522,-6.68648217701e-05,-1.43615879698e-05,1793237376901482240
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746.359158931,717,679.640841069,664.640841069,637.640841069,881,789,803.359158931,653,633,654,0.40596210764,-0.00549635033181,0.0599596428343,0.99999999526,8.63823448501e-05,-4.17497165693e-05,-1.66074070997e-05,1793237376918148864
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,717,680,665,637.774111698,881,789,803.225888302,653,633,654.225888302,0.406404162014,-0.00550353078036,0.0599792646302,0.999999998612,4.83587985579e-05,-8.9704032813e-06,-1.89151536454e-05,1793237376934815232
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,717,680,665,637.194584808,881,789,803.805415192,653,633,654.805415192,0.406890739303,-0.00550897165614,0.060005245969,0.999999999123,-4.24602271654e-06,3.58075809058e-05,-2.13198502617e-05,1793237376951481600
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746.383926469,717,680,664.616073531,637,881,789,804,653.383926469,633,655,0.407370655453,-0.00550936899875,0.0600199120392,0.999999998011,-1.56883821885e-05,5.63221487447e-05,-2.36546626307e-05,1793237376968148224
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746.961924344,717,680,664.038075656,637,881,789,804,653.961924344,633,655,0.407847204441,-0.00550721688015,0.0600288583412,0.999999997558,-6.32348271145e-06,6.45717746991e-05,-2.59541490956e-05,1793237376984815104
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,747,717,679.464522963,664,637.535477037,881,789,804,653.464522963,633,654.464522963,0.408322586404,-0.00549560239467,0.0600194086473,0.999999998721,4.81496715589e-06,4.03659921365e-05,-3.00889825233e-05,1793237377001481984
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,747,717,679,664.111489176,638,881,789,804,653.111489176,632.888510824,654.111489176,0.408804173513,-0.0054865498432,0.0600088315373,0.999999999258,9.50591175885e-06,1.51827445384e-05,-3.41148925962e-05,1793237377018148352
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,747,717,679,664.699349302,638,881,789,804,653.699349302,632.300650698,654.699349302,0.409312625492,-0.00549129513234,0.0599989802979,0.999999999205,-1.38864544578e-05,-4.39752668537e-06,-3.71223661033e-05,1793237377034814976
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,747,717,679.284922131,665,637.715077869,881,789,804,654,632.284922131,655,0.409869540213,-0.00549906552771,0.059998593025,0.999999998663,-3.33965699077e-05,-2.81988050101e-06,-3.93791324639e-05,1793237377051481600
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,747,717,679.868100689,665,637.131899311,881,789,804,654,632.868100689,655,0.410477185785,-0.00551000260423,0.0600081126288,0.999999997754,-4.884274894e-05,2.0905866771e-05,-4.08500591155e-05,1793237377068147968
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746.556043417,717,679.556043417,665,637.443956583,881,789,804,654,633,654.556043417,0.411085483795,-0.00551134003566,0.0600161363297,0.999999998517,-1.70146171838e-05,3.90788838787e-05,-3.39007545242e-05,1793237377084814848
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,717,679.017699917,664.982300083,637.982300083,881,789,804,654,633,654.017699917,0.411693556782,-0.00550987659113,0.0600230105009,0.999999997862,2.6946488918e-05,5.41394457464e-05,-2.48896457048e-05,1793237377101481472
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,717,679.592315838,664.407684162,637.407684162,881,789,804,654,633,654.592315838,0.412288550723,-0.00550856718742,0.0600074723622,0.999999999186,1.79123223412e-05,2.23335944517e-05,-2.84406542107e-05,1793237377118148096
+158,2.633333333,POSE1_TO_POSE2_PRESS,767.171656679,746.171656679,716.828343321,679.828343321,664.171656679,637.171656679,881,789,804,653.828343321,633,654.828343321,0.412880998425,-0.0055065461198,0.0599869241668,0.999999999273,9.8567863674e-06,-1.79221403819e-05,-3.21951069364e-05,1793237377134814720
+159,2.650000000,POSE1_TO_POSE2_PRESS,767.762536777,746.762536777,716.237463223,679.237463223,664.762536777,637.762536777,881,789,804,653.237463223,633,654.237463223,0.413467227612,-0.00550278701223,0.0599541403106,0.999999996221,4.1912824379e-06,-7.88143500908e-05,-3.64464150378e-05,1793237377151481600
+160,2.666666667,POSE1_TO_POSE2_PRESS,767.654109294,746.654109294,716.345890706,679.345890706,664.654109294,637.654109294,881,789,804,653.345890706,633,654,0.414129146567,-0.00550242062299,0.0599473577094,0.999999995054,-1.08682086793e-07,-9.16368018329e-05,-3.86559993791e-05,1793237377168147968
+161,2.683333333,POSE1_TO_POSE2_PRESS,767.075812274,746.075812274,716.924187726,679.924187726,664.075812274,637.075812274,881,789,804,653.924187726,633,654,0.414841921966,-0.00550433382439,0.0599580455292,0.99999999661,-3.49113118022e-06,-7.21608544775e-05,-3.94937355456e-05,1793237377184814848
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,717,679.498759891,664.501240109,637,881,789,804.501240109,653.498759891,633,654,0.415598056934,-0.00551068712489,0.0600013854115,0.999999999237,-9.03482414363e-06,3.65297532125e-06,-3.78259167031e-05,1793237377201481472
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746.077401319,717,679.077401319,665,637,881,789,804.922598681,653.077401319,633,654,0.416351724245,-0.00551725981591,0.0600428742296,0.999999996388,-1.4608542959e-05,7.5559996635e-05,-3.6062772781e-05,1793237377218148096
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746.649070584,717,679.649070584,665,637,881,789,804.350929416,653.649070584,633,654,0.417047858376,-0.00552095565514,0.0600410837924,0.999999996853,-1.82917402515e-05,6.824002721e-05,-3.61048916558e-05,1793237377234814976
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746.770275322,717.229724678,680,664.770275322,637,881.459449355,789,804,653.770275322,633,654,0.417748068057,-0.00552272833256,0.0600309285178,0.999999997813,-2.03842498548e-05,5.09060302205e-05,-3.69603090064e-05,1793237377251481856
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746.17533717,717.82466283,680,664.17533717,637,882.64932566,789,804,653.17533717,633,654,0.418454757105,-0.00552144359152,0.0600074749269,0.999999998881,-1.99479042428e-05,1.76518538853e-05,-3.91086982773e-05,1793237377268148480
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746.406786168,717.593213832,680,664.406786168,637.406786168,882.186427665,789,804,653,633,654,0.419194828392,-0.00552087149127,0.0599912211976,0.999999998826,-2.24882444952e-05,-1.08044948762e-05,-4.15283407578e-05,1793237377284815104
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746.98355459,717.01644541,680,664.98355459,637.98355459,881.03289082,789,804,653,633,654,0.41994884895,-0.00552059717971,0.0599779760496,0.99999999799,-2.62724416496e-05,-3.72559908963e-05,-4.4061330687e-05,1793237377301481984
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746.442760716,717,680,665,637.442760716,881.557239284,789,804.557239284,653,633,654,0.420681533578,-0.0055224177497,0.0599618273724,0.999999997021,-2.95775532976e-05,-5.50960265879e-05,-4.52523285381e-05,1793237377318148352
+170,2.833333333,POSE1_TO_POSE2_PRESS,767.134502325,746.134502325,717,680,665,637,881.865497675,789,805,653,633,654,0.421409070101,-0.0055238618434,0.0599451630154,0.999999995288,-3.21716588078e-05,-7.90360086219e-05,-4.62951186823e-05,1793237377334814976
+171,2.850000000,POSE1_TO_POSE2_PRESS,767.724181303,746.724181303,717,680,665,637,881.275818697,789,805,653,633,654,0.422121303784,-0.00552382380992,0.0599270419109,0.999999990625,-3.24071944093e-05,-0.0001244744799,-4.69696436704e-05,1793237377351481600
+172,2.866666667,POSE1_TO_POSE2_PRESS,767.691587271,746.691587271,717,680,664.691587271,637.308412729,881,789,805,653,633,654,0.422907773274,-0.00552525962642,0.0599415168209,0.999999993167,-3.56026932758e-05,-0.00010092402476,-4.70460782216e-05,1793237377368148224
+173,2.883333333,POSE1_TO_POSE2_PRESS,767.112143155,746.112143155,717,680,664.112143155,637.887856845,881,789,805,653,633,654,0.423759480741,-0.00552799065406,0.0599846369277,0.999999997917,-4.13993912073e-05,-1.67464826847e-05,-4.65969139999e-05,1793237377384814848
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746.464939182,717,680.464939182,664.464939182,638,881.464939182,789,804.535060818,653.464939182,633,654,0.42460166558,-0.00553158726218,0.0600255797132,0.999999996898,-4.40724351042e-05,4.7565662851e-05,-4.47157490105e-05,1793237377401481472
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,747,717,680.958735866,665,638,882,789,804,654,633,654,0.425436164549,-0.00553520048099,0.0600622827433,0.999999992855,-4.57253511315e-05,0.00010184602828,-4.27443900159e-05,1793237377418148096
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,747,717,680.3848716,665,638,882,789,804,654,633,654,0.426200956339,-0.00553634699743,0.0600510069546,0.999999994179,-4.38867477593e-05,8.81773094232e-05,-4.40444457781e-05,1793237377434815232
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,747,716.804849445,680.195150555,665,637.804849445,882,789,804,653.804849445,633,654,0.426961783456,-0.005536806445,0.0600358875398,0.999999995496,-4.37057399605e-05,7.05869692669e-05,-4.59938084642e-05,1793237377451481856
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,747,716.212287033,680.787712967,665,637.212287033,882,789,804,653.212287033,633,654,0.427714536909,-0.00553586672017,0.0600129408194,0.999999996674,-4.69003211869e-05,4.5010490933e-05,-4.9265444186e-05,1793237377468148224
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.627980247,716,680.627980247,665,637,882,789,804,653,632.627980247,654,0.428471208145,-0.00553717734521,0.0599958161817,0.999999997193,-5.09343258993e-05,2.11611766409e-05,-5.07182442821e-05,1793237377484814592
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746.048282163,716,680.048282163,665,637,882,789,804,653,632.048282163,654,0.429230066422,-0.00553974421785,0.0599819416967,0.999999997153,-5.54369347433e-05,-1.72395466609e-06,-5.11556874773e-05,1793237377501481216
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746.52729669,716.52729669,680,665,637,882.52729669,789.52729669,803.47270331,653,632.52729669,654,0.429974860024,-0.00553846331553,0.0599611008796,0.999999996465,-5.14995191001e-05,-4.11000461068e-05,-5.22443769776e-05,1793237377518148096
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746.895171825,717,680,665,637,882.895171825,789.895171825,803.104828175,653,633,654,0.430726536747,-0.00553779560047,0.0599482460582,0.999999995279,-4.93974279527e-05,-6.45096825395e-05,-5.32870384964e-05,1793237377534815232
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746.306909494,717,680,665,637,882.306909494,789.306909494,803.693090506,653,633,654,0.431515849264,-0.00554156791795,0.0599751389822,0.999999996765,-5.92956186267e-05,-7.37744094701e-06,-5.38445632374e-05,1793237377551481600
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746.276778509,717,680,665.276778509,637,882,789,804,653,633.276778509,654.276778509,0.432300417703,-0.00554490295477,0.0600062398894,0.999999995188,-6.70308220263e-05,4.7712506428e-05,-5.34283081014e-05,1793237377568148224
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746.855476638,717,680,665.855476638,637,882,789,804,653,633.855476638,654.855476638,0.433079811085,-0.00554776099038,0.0600419310093,0.999999990972,-7.24065630908e-05,0.000100574644462,-5.19498200214e-05,1793237377584814848
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746.567169344,717,680,665.567169344,637,882,789,804.432830656,653.432830656,633.567169344,655,0.433800564846,-0.0055484126483,0.0600340439334,0.999999992561,-7.27399774806e-05,8.28684798918e-05,-5.21560436987e-05,1793237377601481472
+187,3.116666667,POSE1_TO_POSE2_PRESS,767.009712948,746.009712948,717,680,665.009712948,637.009712948,882,789,805,654,633.009712948,654.990287052,0.434501752534,-0.00554831563904,0.0600115245408,0.999999995184,-7.13843338378e-05,4.16069970916e-05,-5.29543944383e-05,1793237377618148352
+188,3.133333333,POSE1_TO_POSE2_PRESS,767.585176405,746.585176405,717,680,665.585176405,637.585176405,882,789,805,654,633.585176405,654.414823595,0.435200213513,-0.00554738964539,0.0599816380457,0.999999996041,-6.94099233394e-05,-3.45847555727e-06,-5.55781241109e-05,1793237377634814976
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,747,717,680.164210764,665.835789236,638,882,789,804.835789236,654,633.835789236,654,0.43588962589,-0.00554692218827,0.059959795961,0.999999995201,-6.94641332859e-05,-3.82802283363e-05,-5.751725005e-05,1793237377651481856
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,747,717,680.752466465,665.247533535,638,882,789,804.247533535,654,633.247533535,654,0.436555672017,-0.00554763881958,0.0599587271215,0.999999994454,-7.47568927049e-05,-4.66494158093e-05,-5.76885100655e-05,1793237377668148224
+191,3.183333333,POSE1_TO_POSE2_PRESS,767.663679305,747,717,681,665,638,882,789,804,654,633,654,0.437213417194,-0.00554817828021,0.0599592314607,0.999999993829,-7.89396071549e-05,-5.28209214825e-05,-5.76215242904e-05,1793237377684814848
+192,3.200000000,POSE1_TO_POSE2_PRESS,767.083022763,747,717,681,665,638,882,789,804,654,633,654,0.437865131717,-0.00554858902691,0.0599608787088,0.999999993319,-8.23158773784e-05,-5.73958182691e-05,-5.73814537463e-05,1793237377701481216
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,747,717,680.508531812,665,637.508531812,882,789,804,653.508531812,633.491468188,654,0.438500655597,-0.00554726825918,0.0599569521193,0.999999992632,-8.12241084362e-05,-6.87486927524e-05,-5.84155516422e-05,1793237377718148096
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,747,717,680.066621294,665.066621294,637.066621294,882.066621294,789,804.066621294,653.066621294,634,654,0.439136887442,-0.0055461160099,0.059956550318,0.999999992377,-7.98607539823e-05,-7.31619694168e-05,-5.928974231e-05,1793237377734814976
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,747,717,680.655016581,665.655016581,637.655016581,882.655016581,789,804.655016581,653.655016581,634,654,0.439799819422,-0.00554854605685,0.059991037459,0.999999994879,-8.22084866699e-05,-1.43683391785e-05,-5.72466667916e-05,1793237377751482624
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,747,717,680.759996011,666,638,883,789,805,653.759996011,633.759996011,654,0.440440984455,-0.005551356837,0.0600211128566,0.999999994417,-8.40460497879e-05,3.23740359193e-05,-5.52690013703e-05,1793237377768149760
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,747,717,680.179838578,666,638,883,789,805,653.179838578,633.179838578,654,0.441051299518,-0.00555470722343,0.0600449355646,0.999999993025,-8.51605585941e-05,6.20363734743e-05,-5.33840408936e-05,1793237377784815872
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746.602730485,717,680,665.602730485,638,883,788.602730485,804.602730485,653.397269515,633.397269515,654,0.44159821349,-0.00555577085545,0.0600341250009,0.99999999379,-8.74839737548e-05,4.31176933803e-05,-5.39112904261e-05,1793237377801481984
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746.026992221,717,680,665.026992221,638,883,788.026992221,804.026992221,653.973007779,633.973007779,654,0.442116645306,-0.00555580718972,0.0600077558415,0.999999994374,-9.03504761492e-05,2.3745539164e-06,-5.55221972598e-05,1793237377818148352
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,717,680.547801952,665.547801952,637.452198048,882.452198048,788.547801952,804.547801952,653.452198048,634,654,0.442613610941,-0.00555659899236,0.0599804616912,0.999999993112,-9.50490737695e-05,-3.66660146842e-05,-5.82810961282e-05,1793237377834815232
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746.122374279,717,681,666,637,882.122374279,789.122374279,804.877625721,653,633.877625721,654,0.443109070881,-0.00555717501595,0.0599583886065,0.999999990848,-0.000100169325302,-6.7703860269e-05,-6.07197429816e-05,1793237377851482112
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746.696299529,717,681,666,637,882.696299529,789.696299529,804.303700471,653,633.303700471,654,0.443602871245,-0.00555681771311,0.0599557487032,0.999999990003,-0.000106512915889,-6.95213525937e-05,-6.17683234315e-05,1793237377868149760
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746.720858786,717,681.279141214,665.720858786,637,882.720858786,789.720858786,804.279141214,653.279141214,633,654.279141214,0.444080554482,-0.00555618118743,0.0599585626059,0.999999989873,-0.000111271707847,-6.25103949444e-05,-6.296251259e-05,1793237377884816640
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746.127996125,717,681.872003875,665.127996125,637,882.127996125,789.127996125,804.872003875,653.872003875,633,654.872003875,0.44454012396,-0.00555523084859,0.0599675059364,0.999999990366,-0.00011424937467,-4.5577311851e-05,-6.4320348505e-05,1793237377901483264
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746.454529901,717,682,665,637,882,789,805,653.545470099,633,655,0.444957102319,-0.00555438621914,0.0599659494498,0.999999989968,-0.000114682493737,-5.08314740522e-05,-6.5792130034e-05,1793237377918149888
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,747,717,681.966090355,664.966090355,637,882,789,805,653,633.033909645,654.966090355,0.445358602961,-0.00555376629312,0.0599600727717,0.999999989095,-0.0001144392262,-6.47022778814e-05,-6.72912626347e-05,1793237377934815744
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,747,717,681.391497111,664.391497111,637,882,789,805,653,633.608502889,654.391497111,0.445700299416,-0.00555626513556,0.0599314081065,0.999999984046,-0.000114582268872,-0.000118556606397,-6.87262548998e-05,1793237377951482368
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,747,717,681,664,637,882,789,805,653.188576659,633.811423341,654,0.44604021492,-0.00556012346532,0.0599064733873,0.999999978132,-0.000112838560746,-0.000162133665423,-6.86778018381e-05,1793237377968148992
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,747,717,681,664,637,882,789,805,653.780368845,633.219631155,654,0.446376322341,-0.00556688865714,0.0598895140604,0.999999975247,-0.000107060593468,-0.000183735810713,-6.5457438944e-05,1793237377984815360
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,747,716.637204005,681,664,636.637204005,882,788.637204005,805,653.637204005,633,654,0.446709979936,-0.00557177940466,0.0598869194807,0.999999977512,-9.05213607514e-05,-0.000182398432934,-5.92712921904e-05,1793237378001482240
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,747,716.060303584,681,664,636.060303584,882,788.060303584,805,653.060303584,633,654,0.447042191794,-0.0055755639476,0.0598928022696,0.999999982363,-6.76313556873e-05,-0.000167523274236,-5.13348847388e-05,1793237378018149120
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,746.484553933,716.515446067,681.515446067,664,636,882,788.515446067,805.515446067,653,633,654,0.447340461207,-0.005577996743,0.059901582472,0.999999983474,-7.96029843752e-05,-0.000155136723996,-5.14618519907e-05,1793237378034816000
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,746.092851103,717,682,664,636,882,789,805.907148897,653,633,654,0.447629421733,-0.00557960728276,0.0599089617808,0.999999983472,-9.59535165196e-05,-0.000145225339924,-5.25175805288e-05,1793237378051482624
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,746.679779768,717,682,664,636,882,789,805.320220232,653,633,654,0.447889931592,-0.00557768209576,0.0599070869434,0.999999981281,-0.000113950543114,-0.000146938949913,-5.35068174986e-05,1793237378068148480
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+216,3.600000000,POSE1_TO_POSE2_PRESS,767,747,717,682,664,636,882.843172796,788.156827204,805,653,633,654,0.448352529752,-0.00555101235806,0.0598951317811,0.999999980225,-9.58627859998e-05,-0.00016444503007,-5.76038589067e-05,1793237378101481472
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,747,717,681.579259522,664,636,882.579259522,788,805,653,633,654.420740478,0.448545981079,-0.00554376895731,0.0598858112523,0.999999978567,-8.71033885329e-05,-0.000178188097423,-5.93926050909e-05,1793237378118148096
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,747,717,681.002495117,664,636,882.002495117,788,805,653,633,654.997504883,0.448729460709,-0.00554037164568,0.0598758217774,0.999999976178,-8.22110947299e-05,-0.000192802383434,-6.09376636525e-05,1793237378134814976
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+220,3.666666667,POSE1_TO_POSE2_PRESS,767,746.150932702,717,681.150932702,663.150932702,636,883,788.849067298,805,653.150932702,632.849067298,654,0.449020324614,-0.00555332396696,0.0598482749875,0.999999965006,-9.54283970948e-05,-0.000238693888237,-6.24959670837e-05,1793237378168147968
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,746.742015392,717,681.742015392,663.742015392,636,883,788.257984608,805,653.742015392,632.257984608,654,0.449154295765,-0.00555293573461,0.0598384800568,0.99999996135,-9.48590552339e-05,-0.000253440675639,-6.37981566208e-05,1793237378184814848
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+224,3.733333333,POSE1_TO_POSE2_PRESS,767,747,717,682,663,635,883,788,805,653,633,654.480267201,0.449501986896,-0.00556222811625,0.0598321452183,0.999999958223,-0.000103194332771,-0.000262290354184,-6.41006259123e-05,1793237378234815744
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+226,3.766666667,POSE1_TO_POSE2_PRESS,767,747,717,681.373530644,663,635,883,788,805,653.626469356,633,654.373530644,0.44967759002,-0.00556441089665,0.0598326916908,0.999999958081,-0.00010474601377,-0.000262216181724,-6.40936745058e-05,1793237378268148992
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+235,3.916666667,POSE1_TO_POSE2_PRESS,767,746.131990205,716.868009795,682,663,635,882.868009795,788,805,653,633,654,0.450019226562,-0.00556058336234,0.0598085129175,0.999999948004,-0.000101344809062,-0.000299219683883,-6.47268312293e-05,1793237378418148352
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,746.444828136,717,682,663,635,883,787.555171864,805,653,633,654,0.45003161595,-0.0055599215822,0.0598079979915,0.999999947918,-0.000100646324805,-0.000299705693112,-6.48840701165e-05,1793237378434814976
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,747,716.978461297,682,663,635,882.978461297,787.021538703,805.021538703,653,633,654,0.450043071654,-0.00555886734262,0.0598078064011,0.999999948093,-9.90728127291e-05,-0.000299589800481,-6.51572151045e-05,1793237378451481856
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,747,716.39120921,682,663,635,882.39120921,787.60879079,805.60879079,653,633,654,0.450047513268,-0.00555761592933,0.0598073805712,0.999999948057,-9.77454061199e-05,-0.000300216062208,-6.48192708363e-05,1793237378468148736
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,747,716.19368167,682,662.80631833,635,882.19368167,788,805.80631833,653,633,654,0.450050496914,-0.00555706228243,0.0598061959862,0.999999947545,-9.72593663589e-05,-0.000302140068056,-6.45066159615e-05,1793237378484815616
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,747,716.773860657,682,662.226139343,635,882.773860657,788,805.226139343,653,633,654,0.450050571143,-0.00555790104841,0.0598034972838,0.999999946072,-9.84522983141e-05,-0.000306653759421,-6.42444268149e-05,1793237378501482752
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,747,717,682,662.351948674,634.648051326,882.648051326,788,805,653,633,654,0.450051826897,-0.00555856422296,0.0598017950833,0.99999994537,-9.92591565163e-05,-0.000308722864464,-6.40200947771e-05,1793237378518149120
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,747,717,682,662.928701084,634.071298916,882.071298916,788,805,653,633,654,0.450053837339,-0.00555911524018,0.0598007293885,0.99999994517,-9.98194138823e-05,-0.000309230514001,-6.38199436042e-05,1793237378534815232
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,747,717,681.513351465,663,634.486648535,882,788,805,653,633,654,0.450055489912,-0.0055582705611,0.0598014342673,0.999999945483,-9.83956481667e-05,-0.000308695785853,-6.37062122059e-05,1793237378551481600
+244,4.066666667,POSE1_TO_POSE2_PRESS,767,746.954001474,717,681.045998526,662.954001474,635,882,788,805,653,633,654,0.450056819237,-0.00555714809139,0.0598022382764,0.999999945804,-9.66914041265e-05,-0.000308204759651,-6.36548931909e-05,1793237378568148224
+245,4.083333333,POSE1_TO_POSE2_PRESS,767,746.345020315,717,681.654979685,662.345020315,635,882,788,805,653,633,654,0.450054810104,-0.00555503529587,0.0598011987566,0.999999945362,-9.49796538034e-05,-0.000310048216461,-6.42182494656e-05,1793237378584814848
+246,4.100000000,POSE1_TO_POSE2_PRESS,766.747290242,746.252709758,717,682,662.252709758,635,882,788,805,653,633,654,0.450054771964,-0.00555507931068,0.0598007659114,0.999999945313,-9.44014442458e-05,-0.000310415216864,-6.40643780572e-05,1793237378601481728
+247,4.116666667,POSE1_TO_POSE2_PRESS,766.164266258,746.835733742,717,682,662.835733742,635,882,788,805,653,633,654,0.450057310085,-0.00555794246896,0.059801126044,0.999999945781,-9.53048734758e-05,-0.000308852357126,-6.29730260852e-05,1793237378618148608
+248,4.133333333,POSE1_TO_POSE2_PRESS,766.413524448,747,717,682,663,635,882,788,805,653.413524448,633,654,0.450057037184,-0.00555757615821,0.0597999616448,0.999999945202,-9.50104315428e-05,-0.000310780104565,-6.31287617556e-05,1793237378634815488
+249,4.150000000,POSE1_TO_POSE2_PRESS,766.989262259,747,717,682,663,635,882,788,805,653.989262259,633,654,0.450055661602,-0.00555594302247,0.0597981992169,0.999999944203,-9.42461002626e-05,-0.000314077113654,-6.37736929469e-05,1793237378651482112
+250,4.166666667,POSE1_TO_POSE2_PRESS,767,747,717,682,663,635,882,788,805,653.438985321,633,654,0.45005653869,-0.00555420890534,0.0597990147477,0.999999944944,-9.1904796779e-05,-0.000312441535032,-6.3604022609e-05,1793237378668148736
+251,4.183333333,POSE1_TO_POSE2_PRESS,767,747,717,682,663,635,882,788,805,653.137453486,633,654.137453486,0.450056987856,-0.0055534028983,0.0597993768344,0.999999945285,-9.10617388316e-05,-0.000311626830371,-6.3458417448e-05,1793237378684815360
+252,4.200000000,POSE1_TO_POSE2_PRESS,767,747,717,682,663,635,882,788,805,653.729646901,633,654.729646901,0.450055879683,-0.00555567372439,0.0597980766962,0.999999944202,-9.52745053408e-05,-0.000313837970416,-6.34436449054e-05,1793237378701481984
+253,4.216666667,POSE1_TO_POSE2_PRESS,767,747,717,682,663,635,882.31449265,788,805,653.68550735,632.68550735,654.68550735,0.450056457136,-0.00555609940949,0.0597978623437,0.999999944142,-9.5472953908e-05,-0.000314003900606,-6.3259447542e-05,1793237378718148608
+254,4.233333333,POSE1_TO_POSE2_PRESS,767,747,717,682,663,635,882.893166166,788,805,653.106833834,632.106833834,654.106833834,0.450058450553,-0.00555497513473,0.0597985600755,0.999999944947,-9.22992853316e-05,-0.000312451808626,-6.29329295374e-05,1793237378734815232
+255,4.250000000,POSE1_TO_POSE2_PRESS,767,747,717,681.530698928,663,635,883,788,805,653.469301072,632,654,0.450057315761,-0.00555396677853,0.0597979662885,0.999999944656,-9.16760263167e-05,-0.000313514453161,-6.31863219563e-05,1793237378751481856
+256,4.266666667,POSE1_TO_POSE2_PRESS,767,747,717,681,662.955196803,635,882.955196803,788,805,653.955196803,632.044803197,654,0.450055688745,-0.00555315419643,0.0597971638955,0.999999944153,-9.17693113364e-05,-0.000315016810772,-6.35347526448e-05,1793237378768148480
+257,4.283333333,POSE1_TO_POSE2_PRESS,767,747,717,681,662.380381197,635,882.380381197,788,805,653.380381197,632.619618803,654,0.450056617714,-0.00555434709393,0.0597973530685,0.999999944091,-9.35078939623e-05,-0.000314717312758,-6.34541766338e-05,1793237378784815104
+258,4.300000000,POSE1_TO_POSE2_PRESS,767,747,717,681.200781374,662,635,882,788,805,653.200781374,633,654.200781374,0.450057253491,-0.00555513577392,0.0597974926111,0.99999994405,-9.44523079785e-05,-0.000314593826432,-6.33191295695e-05,1793237378801481728
+259,4.316666667,POSE1_TO_POSE2_PRESS,767,747,717,681.794360914,662,635,882,788,805,653.794360914,633,654.794360914,0.45005731568,-0.00555513366415,0.0597975350595,0.999999944053,-9.38430524213e-05,-0.000314814680105,-6.30775181745e-05,1793237378818148352
+260,4.333333333,HOLD_POSE2,767,747,717,682,663,635,883,788,805,653,633,654,0.450058769335,-0.00555354638726,0.0597979570425,0.9999999442,-9.31066063267e-05,-0.000314581134336,-6.30130019739e-05,1793237378852831232
+261,4.350000000,HOLD_POSE2,767,747,717,682,663,635,882.425984081,788,804.425984081,653,632.425984081,654,0.450056769508,-0.00555309404689,0.0597967502639,0.999999943615,-9.29415363406e-05,-0.000316482582063,-6.30167745194e-05,1793237378869498112
+262,4.366666667,HOLD_POSE2,767,747,717,682,663,635,882,787.847960197,804,653,632.152039803,654,0.450055794502,-0.00555320527127,0.0597960818001,0.999999943264,-9.36050609911e-05,-0.000317393804615,-6.301405716e-05,1793237378886164736
+263,4.383333333,HOLD_POSE2,767,747,717,682,663,635,882,787.258402645,804,653,632.741597355,654,0.450057768577,-0.00555493823921,0.0597969624188,0.999999943589,-9.66529931903e-05,-0.000315455503462,-6.29926641088e-05,1793237378902831360
+264,4.400000000,HOLD_POSE2,767,747,717,681.674925877,663,635,882,787.325074123,804.650148247,653,632.674925877,654,0.450058453073,-0.00555481279587,0.0597970403339,0.999999943704,-9.70058290659e-05,-0.000314951395546,-6.31455207633e-05,1793237378919497984
+265,4.416666667,HOLD_POSE2,767,747,717,681.096194023,663,635,882,787.903805977,805.807611954,653,632.096194023,654,0.450058131301,-0.00555323722044,0.0597964918933,0.99999994366,-9.52556612692e-05,-0.000315566399281,-6.34343457462e-05,1793237378936164352
+266,4.433333333,HOLD_POSE2,767,747,717,681.480732244,663,635,882,788,805.519267756,653,632.480732244,654.480732244,0.45005762203,-0.00555233988488,0.0597964322327,0.999999943561,-9.45642169109e-05,-0.000316123948552,-6.3261759431e-05,1793237378952830976
+267,4.450000000,HOLD_POSE2,767,747,717,682,663,635,882,788,805,653,632.941649366,654.941649366,0.450057072814,-0.0055517527856,0.0597964740767,0.999999943437,-9.40726594687e-05,-0.000316710678185,-6.30062613486e-05,1793237378969497600
+268,4.466666667,HOLD_POSE2,767,747,717,682,663,635,882,788,805,653,632.354496598,654.354496598,0.450056500324,-0.00555275188526,0.0597965527711,0.999999943201,-9.34798754647e-05,-0.000317665652432,-6.28329661883e-05,1793237378986164224
+269,4.483333333,HOLD_POSE2,767,747,717,682,663,635,882,788,805,653,632.229873228,654,0.450056590852,-0.00555386742499,0.0597965067612,0.999999943165,-9.35563029829e-05,-0.000317806543245,-6.25854243824e-05,1793237379002830848
+270,4.500000000,HOLD_POSE2,767,747,717,682,663,635,882,788,805,653,632.810002652,654,0.450057691615,-0.00555516038354,0.0597962707401,0.999999943433,-9.46524033714e-05,-0.000316707020859,-6.2224753509e-05,1793237379019497728
+271,4.516666667,HOLD_POSE2,767,747,717,682,663,635,882.388513721,787.611486279,805,653,633,654.388513721,0.450057297926,-0.00555497963935,0.0597955227504,0.999999943264,-9.39000280378e-05,-0.000317459682328,-6.22360624613e-05,1793237379036164352
+272,4.533333333,HOLD_POSE2,767,747,717,682,663,635,882.966236692,787.033763308,805,653,633,654.966236692,0.450056176427,-0.0055540811904,0.059794525428,0.99999994288,-9.22474305344e-05,-0.000319114371854,-6.24285284925e-05,1793237379052830976
+273,4.550000000,HOLD_POSE2,767,747,717,682,663,635,882.457745488,787,805,653.542254512,633,654.457745488,0.450054607014,-0.00555158852745,0.0597937489017,0.999999942426,-8.97299667792e-05,-0.000321149638888,-6.29175991167e-05,1793237379069497856
+274,4.566666667,HOLD_POSE2,767,747,717,682,663,635,882,787.120149513,805,653.879850487,633,654,0.450053520732,-0.00554967179068,0.0597933234443,0.999999942101,-8.80724071475e-05,-0.000322563560112,-6.31990516121e-05,1793237379086164224
+275,4.583333333,HOLD_POSE2,767,747,717,682,663,635,882,787.705726376,805,653.294273624,633,654,0.450054413668,-0.00555036935257,0.0597942048455,0.99999994232,-8.99538364293e-05,-0.000321479046704,-6.26049308402e-05,1793237379102830848
+276,4.600000000,HOLD_POSE2,767,747,717,681.710524916,662.710524916,635,882.289475084,788,804.710524916,653,632.710524916,654,0.450055644772,-0.00555064403708,0.0597946355678,0.99999994255,-9.08293663635e-05,-0.000320570392708,-6.23329573213e-05,1793237379119497728
+277,4.616666667,HOLD_POSE2,767,747,717,681.128623038,662.128623038,635,882.871376962,788,804.128623038,653,632.128623038,654,0.450057217492,-0.00555049153218,0.0597946110159,0.999999942793,-9.06887399198e-05,-0.000319839391387,-6.23864159508e-05,1793237379136164352
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,747,717,682,663,635,882,788,805,653,632,654,0.450058620097,-0.00555270792869,0.0597953518172,0.999999943115,-9.33132497999e-05,-0.000318102912683,-6.22343920561e-05,1793237379168849920
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,747,716.427101005,682,663,634.427101005,882.572898995,788,804.427101005,653,632.572898995,654.572898995,0.450058879509,-0.00555309632856,0.0597956887561,0.99999994342,-9.40335084187e-05,-0.000316938259539,-6.21892704258e-05,1793237379185516800
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,747,716,681.849109916,662.849109916,634.150890084,882.849109916,788,804.150890084,653,633,654.849109916,0.450058366751,-0.00555294702051,0.0597953663352,0.999999943357,-9.38687679674e-05,-0.000317182517744,-6.2206334281e-05,1793237379202183424
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,747,716,681.256201895,662.256201895,634.743798105,882.256201895,788,804.743798105,653,633,654.256201895,0.450055591999,-0.00555122254907,0.0597931123839,0.999999942204,-9.11115083342e-05,-0.000321554045468,-6.2405564502e-05,1793237379218850048
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,747,716.329062018,681.329062018,662,635,882,788,805,653,632.670937982,654,0.450055023033,-0.00555100784926,0.0597925052248,0.999999941887,-9.03071912381e-05,-0.000322735461863,-6.25481310373e-05,1793237379235516672
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,747,716.908509443,681.908509443,662,635,882,788,805,653,632.091490557,654,0.450056132466,-0.0055519419445,0.0597931511206,0.99999994222,-9.09888808596e-05,-0.000321489501749,-6.26475817983e-05,1793237379252183296
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,747,717,682,662.483679149,635,882.483679149,788,805,653,632.483679149,654,0.450056675495,-0.00555213822742,0.0597932570869,0.999999942243,-9.1650650768e-05,-0.000321272539426,-6.24417283018e-05,1793237379268849920
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,747,717,682,662.941971725,635,882.941971725,788,805,653,632.941971725,654,0.450056873807,-0.00555203137099,0.0597931835913,0.999999942207,-9.20157646737e-05,-0.000321321025383,-6.22246860427e-05,1793237379285516544
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,747,717,682,662.367787294,635,882.367787294,788,805,653,632.367787294,654,0.450054950521,-0.00555045861968,0.0597924142773,0.999999942176,-8.9775372333e-05,-0.00032201451717,-6.24172981931e-05,1793237379302183168
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,747,717,682,662.213576814,634.786423186,882,788,805,653,632.213576814,654,0.450051559828,-0.00554948049927,0.0597910065288,0.999999941579,-8.89153331094e-05,-0.000324048964786,-6.26829412542e-05,1793237379318849792
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,747,717,682,662.807734615,634.192265385,882,788,805,653,632.807734615,654,0.450045554304,-0.00554956197538,0.0597884611287,0.999999939967,-9.05150000271e-05,-0.000328472914638,-6.30787209671e-05,1793237379335516416
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,747,717,681.458411226,662,635,882.458411226,788,805,653.458411226,632.458411226,654,0.449956354355,-0.00554806923435,0.0597459627535,0.999999916521,-9.09117073487e-05,-0.000392936749151,-6.55294927149e-05,1793237379385516544
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+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,747,717,681.70865304,662,634.29134696,882,788,805,653,632.70865304,654,0.449852794302,-0.00554587481825,0.0597105335367,0.999999896884,-9.0857719306e-05,-0.000439871850496,-6.70118023784e-05,1793237379418850048
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,747,716.12921798,682,662.87078202,634.87078202,881.12921798,788,805,653.87078202,632.12921798,654,0.449729289057,-0.00553804316034,0.0596928090611,0.99999988786,-8.31296544359e-05,-0.000461341761285,-6.73344151038e-05,1793237379452183296
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766.551799627,747,716,681.551799627,662.551799627,635,881.448200373,788,804.551799627,653.551799627,632.448200373,654,0.449654997823,-0.00553542070446,0.0596891258284,0.999999885862,-8.16373790051e-05,-0.00046586899414,-6.76495203908e-05,1793237379468850176
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,766.612894373,747,716.612894373,681.612894373,662,635,882,788,804.612894373,653.612894373,633,654.612894373,0.449487391807,-0.00553156510204,0.059689518109,0.999999886786,-7.83638028451e-05,-0.000464638331973,-6.63266913898e-05,1793237379502183424
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,747,717,681.802586848,662.197413152,635,882,788,805,653.802586848,633,655,0.449387288294,-0.00552958563148,0.0596912487879,0.999999888006,-7.59023806489e-05,-0.000462579360004,-6.51644077158e-05,1793237379518850048
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+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746.340616357,716.659383643,681.659383643,663,635,882,788,805,653,633,654.659383643,0.4484817437,-0.00550271189754,0.0596912610476,0.999999887017,-5.43137652361e-05,-0.000468505521394,-5.93097116083e-05,1793237379618850048
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,767.564876402,747,717,681,663,636,882,788,804.564876402,653,633,654.564876402,0.447321940708,-0.00546782322713,0.0597329505687,0.999999914693,-2.28467484889e-05,-0.000409593265295,-4.82313285661e-05,1793237379702183168
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,747,717,681.864094339,665.864094339,637,882.135905661,789,805,653,633.864094339,654,0.440323068179,-0.00540109612632,0.0597769471202,0.999999919316,0.00016033188416,-0.000368322395828,-7.59417936449e-07,1793237379968849920
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,747,717,681,665.016164901,637,882,789,804.016164901,653,633,654,0.439142072705,-0.00539718370877,0.0598228188149,0.999999945417,0.000159954119019,-0.000288948312948,9.4337133284e-06,1793237380002183168
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746.631943279,716.368056721,680,665,637.368056721,882,789,804.368056721,654,633.368056721,655,0.422204347072,-0.00538679167702,0.0598429296354,0.999999951028,0.000181725275645,-0.000253750437692,2.30297699793e-05,1793237380385516800
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746.055437028,716.944562972,680,665,637.944562972,882,789,804.944562972,654,633.944562972,655,0.421428539791,-0.00538632165627,0.0598414945858,0.999999947207,0.000185623798016,-0.000265592354027,2.42832619876e-05,1793237380402183680
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746.519066142,717,680,664.480933858,638,882,789.519066142,805,654,634,654.480933858,0.420610516408,-0.00538257687637,0.0597994135921,0.999999923724,0.000186744863503,-0.000342321419582,2.22453896692e-05,1793237380418850048
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,747,717,680,664,637.903641838,882,789.903641838,804.903641838,654,634,654,0.419801119649,-0.00537943375687,0.0597595599486,0.999999897965,0.0001868788741,-0.000410784680269,2.00744817209e-05,1793237380435516672
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,747,717,680,664,637.310884941,882,789.310884941,804.310884941,654,634,654,0.419059301776,-0.00538118499263,0.0597534580927,0.999999902551,0.000183450256368,-0.000401102255179,1.9022170401e-05,1793237380452183552
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,747,717,680,664.275322588,637,882,789,804,653.724677412,633.724677412,654,0.418340041005,-0.00538270792069,0.0597698202861,0.999999915947,0.000181921388887,-0.000366921392404,1.94497797029e-05,1793237380468850176
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,747,717,680,664.854306588,637,882,789,804,653.145693412,633.145693412,654,0.417645659174,-0.00538397904134,0.059810958743,0.999999936385,0.000182487811789,-0.000305720479038,2.15096371704e-05,1793237380485516800
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,747,717,680,664.571071984,637,881.571071984,789.428928016,804.428928016,653.428928016,633,654,0.416949872313,-0.00538272577013,0.0598345520205,0.999999943954,0.000187917637905,-0.000276030272443,2.42142913881e-05,1793237380502183168
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,747,716.997908803,679.997908803,664,637,881,790,804.997908803,653.997908803,633,654,0.416253561169,-0.00538062673512,0.0598521439246,0.999999947579,0.000194966425849,-0.000257086410619,2.7124746487e-05,1793237380518849792
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,747,716.422382591,679.422382591,664,637,881,790,804.422382591,653.422382591,633,654,0.415543048855,-0.00537936677913,0.0598418125105,0.999999941059,0.000197531274551,-0.000279524392709,2.7015710234e-05,1793237380535516416
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746.842529643,716,679.157470357,664,637,881,789.842529643,804,653,633,654,0.414842638788,-0.00537916723063,0.0598354090022,0.99999993694,0.000198392953879,-0.000293323437539,2.68593078552e-05,1793237380552183296
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746.250743068,716,679.749256932,664,637,881,789.250743068,804,653,633,654,0.41417009139,-0.00538189237309,0.059839838979,0.999999940593,0.000194557152543,-0.000283295586985,2.6572265805e-05,1793237380568849920
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746,716.332971758,680,664.332971758,637.332971758,881.332971758,789,804,653,633.332971758,654,0.413493603656,-0.00538076672727,0.0598341561078,0.999999937362,0.000197595091154,-0.000292493255759,2.60899283549e-05,1793237380585516288
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,716.910752014,680,664.910752014,637.910752014,881.910752014,789,804,653,633.910752014,654,0.412814218935,-0.00537680989315,0.0598210380379,0.999999928649,0.00020568676165,-0.000315825969109,2.54640052402e-05,1793237380602183168
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746.486441313,717,679.513558687,664.513558687,637.513558687,881.513558687,789,804,653,633.513558687,654,0.412162482192,-0.00537548110352,0.0597928105176,0.999999913373,0.000209516179703,-0.000358837699212,2.43540732387e-05,1793237380618850048
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746.937068442,717,679.062931558,664,637,881,789,804,653.062931558,633,654,0.411523619833,-0.00537471012082,0.0597667423882,0.999999898583,0.000212152514439,-0.000396590814955,2.32700506199e-05,1793237380635516672
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746.350739801,717,679.649260199,664,637,881,789,804,653.649260199,633,654,0.410949824801,-0.00537458536402,0.0597815908322,0.999999912344,0.000211342071891,-0.000360708420632,2.3136910813e-05,1793237380652183040
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746.233041658,717,680,664.233041658,637,881,789,804,654,633,654,0.410390235842,-0.00537457574677,0.0598034154729,0.999999925295,0.000211462635665,-0.000322667303279,2.40664112216e-05,1793237380668849664
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746.813030875,717,680,664.813030875,637,881,789,804,654,633,654,0.409851796639,-0.00537473754689,0.0598356261284,0.999999937372,0.000212969262373,-0.000281412327459,2.65779482362e-05,1793237380685516544
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,747,716.607427486,680,665,637,881,789,804,654,633,654,0.409314251193,-0.00537318387971,0.0598526606181,0.999999942245,0.000218784004692,-0.000258571895186,2.8005541679e-05,1793237380702183424
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,747,716.028098719,680,665,637,881,789,804,654,633,654,0.408777130881,-0.0053708141232,0.059862475441,0.999999944009,0.000226648222147,-0.000244491703695,2.89174771438e-05,1793237380718850048
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746.456264353,716.543735647,679.456264353,664.456264353,637,881,789,803.456264353,654,633.543735647,654,0.408264648337,-0.00537218692648,0.0598537135222,0.999999940428,0.000225572967699,-0.00025967862937,2.87783024226e-05,1793237380735517440
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,717,679.11919858,664.238397161,637.11919858,881,789,803.11919858,654,633.88080142,654.11919858,0.40775775122,-0.00537328999031,0.0598441369413,0.999999936411,0.000224195703148,-0.000275867478282,2.84960209522e-05,1793237380752185088
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.710547806,665.421095612,637.710547806,881,789,803.710547806,654,633.289452194,654.710547806,0.40726800339,-0.00537256893571,0.0598350843221,0.999999932569,0.00022342715433,-0.000290115596956,2.78591197848e-05,1793237380768851200
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,717,680,665.408414055,637.704207027,881,789,804.295792973,653.704207027,633,655,0.406813658257,-0.00537145376485,0.0598358039513,0.999999934526,0.000223092067064,-0.00028358644467,2.75010812193e-05,1793237380785517824
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,717,680,664.249628664,637.124814332,881,789,804.875185668,653.124814332,633,655,0.406393256469,-0.00536996072415,0.0598458929953,0.999999941662,0.000223172573052,-0.000257136506202,2.74104099414e-05,1793237380802184704
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746.45217382,716.54782618,680,664.45217382,637,881.45217382,789,804.54782618,653.45217382,633,654.54782618,0.405986871572,-0.00536760046506,0.059852109953,0.999999943518,0.000225766574394,-0.00024746793117,2.74326462093e-05,1793237380818851072
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767.028359953,747,716.028359953,680,664.971640047,637,881.971640047,789,804,654,633,654,0.405585264094,-0.0053649804369,0.0598564679696,0.999999943698,0.00022930022035,-0.000243458597998,2.74561974418e-05,1793237380835517440
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767.601820729,747,716.601820729,680,664.398179271,637,881.398179271,789,804,654,633,654,0.405201508393,-0.00536194417212,0.0598455305439,0.999999937692,0.000237629647896,-0.000259660988605,2.69091553973e-05,1793237380852183808
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767.818614394,746.818614394,717,679.818614394,664,637,881,789,804,654,633,654,0.404820287301,-0.00535822586577,0.0598315736019,0.999999929269,0.000247257549223,-0.00028220448606,2.62059089701e-05,1793237380868850176
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767.225183179,746.225183179,717,679.225183179,664,637,881,789,804,654,633,654,0.404444824018,-0.00535295819637,0.0598107573606,0.999999914997,0.000259835134429,-0.000319152791428,2.51478200637e-05,1793237380885516800
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767.358110127,746.358110127,717,679.358110127,664,637,881,789.358110127,804,654,633,654,0.404112078298,-0.00535126143644,0.059798875722,0.999999908427,0.000262141662415,-0.00033737517451,2.46161037346e-05,1793237380902183424
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767.935204171,746.935204171,717,679.935204171,664,637,881,789.935204171,804,654,633,654,0.40380545428,-0.0053517482829,0.0597924575804,0.999999907158,0.000258167452497,-0.000344146682149,2.44062635232e-05,1793237380918850304
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767.490781745,746.490781745,716.490781745,680,664.509218255,637.509218255,881,789.490781745,804,654,633,654,0.403554862934,-0.00535596041885,0.0598071766278,0.999999918231,0.00025164081698,-0.000315530783399,2.55890902818e-05,1793237380935516928
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746.08510427,716.08510427,680,664.91489573,637.91489573,881,789,804.08510427,654,633.08510427,654,0.403314593753,-0.00536076936281,0.0598241845299,0.999999929523,0.000244267081411,-0.000283844572586,2.68373097948e-05,1793237380952183552
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746.674388147,716.674388147,680,664.325611853,637.325611853,881,789,804.674388147,654,633.674388147,654,0.403093490118,-0.00536632257808,0.0598389140203,0.999999938369,0.000233787448649,-0.000260484960958,2.74294023896e-05,1793237380968850688
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746.740145929,717,680,664,637.259854071,881,789,804.740145929,654,633.740145929,654,0.402876800847,-0.00537123289778,0.059850971657,0.999999948704,0.000209790988394,-0.000240815085512,2.42347922256e-05,1793237380985517056
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746.159394879,717,680,664,637.840605121,881,789,804.159394879,654,633.159394879,654,0.402665562944,-0.00537534929753,0.0598597297878,0.999999960098,0.000169102432574,-0.000225701711747,1.63639363326e-05,1793237381002183424
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.582967159,664,637.582967159,881,789,804,654,633,654,0.40246669601,-0.00537783747908,0.0598582293197,0.999999960499,0.000159321360846,-0.000231034039539,1.55497976641e-05,1793237381018850048
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,717,679.008174925,664,637.008174925,881,789,804,654,633,654,0.402272508896,-0.00537970972173,0.059852848125,0.999999957058,0.000161232285198,-0.000244100774136,1.74051454109e-05,1793237381035516672
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746.567613731,717,679.567613731,664,637.567613731,881,789,803.432386269,654,633,654.567613731,0.402104688179,-0.00537574935135,0.0598489376423,0.999999949376,0.000192110495269,-0.000253035549201,1.77511974944e-05,1793237381052183552
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746.852778702,717,679.852778702,664,637.852778702,881,789,803.147221298,654,633,654.852778702,0.40194573567,-0.00537229249137,0.0598459997213,0.999999941379,0.000221413541727,-0.000260547267643,1.82613603219e-05,1793237381068850176
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746.26170098,717,679.26170098,664,637.26170098,881,789,803.73829902,654,633,654.26170098,0.40181237301,-0.00537060736695,0.0598459299974,0.999999935038,0.000244707624636,-0.000263948352486,1.9331950243e-05,1793237381085516800
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,717,679.321932514,664.321932514,637,881,789,804,654,633,654.321932514,0.401691171214,-0.0053690705433,0.0598455189617,0.999999932534,0.000253294678238,-0.000265290316405,1.98851658574e-05,1793237381102183680
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.899651379,664.899651379,637,881,789,804,654,633,654.899651379,0.401579631625,-0.0053676515495,0.059844836742,0.999999933389,0.000250196498546,-0.000264996239041,2.00273100786e-05,1793237381118850560
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,717,680,664.52602815,637,881,789,804,654,633.47397185,654.52602815,0.401487000937,-0.00536600613648,0.0598451694703,0.99999993366,0.000249800757491,-0.000264313677296,2.042303069e-05,1793237381135517184
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746.048833983,717,680,664,637,881.048833983,789,803.951166017,654,633.951166017,654,0.401399977468,-0.00536445497684,0.0598457355749,0.999999933911,0.000249816096925,-0.000263316175321,2.08460300786e-05,1793237381152183552
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746.637583523,717,680,664,637,881.637583523,789,803.362416477,654,633.362416477,654,0.401331001469,-0.0053644721218,0.0598465230543,0.999999935272,0.000248095592449,-0.000259739535027,2.09812842837e-05,1793237381168850176
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746.776144056,717,679.776144056,664.223855944,637.223855944,881.776144056,789,803,654,633,654.223855944,0.40126620287,-0.00536347455131,0.0598462532775,0.999999935472,0.000248057189674,-0.000258999108239,2.10481975765e-05,1793237381185516800
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746.193838167,717,679.193838167,664.806161833,637.806161833,881.193838167,789,803,654,633,654.806161833,0.401208093351,-0.00536085216492,0.0598442905663,0.999999933819,0.000250712256983,-0.000262800176352,2.10056797872e-05,1793237381202183424
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767.383234228,746.383234228,716.616765772,679.383234228,664.616765772,638,881,789,803.383234228,654,633,655,0.401156577809,-0.00536104521082,0.0598409044835,0.999999932237,0.000249999223514,-0.000269415475324,2.09986781212e-05,1793237381218850304
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767.957695191,746.957695191,716.042304809,679.957695191,664.042304809,638,881,789,803.957695191,654,633,655,0.40110835254,-0.00536264310503,0.0598368081647,0.99999993064,0.000247605570471,-0.000277435022889,2.10093983387e-05,1793237381235517440
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767.465994012,747,716.534005988,679.465994012,664.534005988,638,881,789,804,654,633,655,0.401078748765,-0.00536398657849,0.0598371516321,0.999999931559,0.000244833595728,-0.000276557735578,2.1330653815e-05,1793237381252183808
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767.113009843,747,717,679.113009843,665,638,881,789,804,654,633,655,0.401052438029,-0.00536488300195,0.0598379380216,0.999999932519,0.000242763417332,-0.000274886662497,2.15656246605e-05,1793237381268850432
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767.702753895,747,717,679.702753895,665,638,881,789,804,654,633,655,0.401033774157,-0.00536397885842,0.0598391039622,0.999999932834,0.000243780654974,-0.000272850627926,2.13324610584e-05,1793237381285517056
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767.712832334,746.712832334,717,680,664.712832334,637.712832334,881,789.287167666,804,654.287167666,633,654.712832334,0.40101853919,-0.00536364157353,0.0598404216703,0.999999933302,0.000243940913863,-0.000270983163775,2.13937749503e-05,1793237381302183424
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767.133835301,746.133835301,717,680,664.133835301,637.133835301,881,789.866164699,804,654.866164699,633,654.133835301,0.401006788787,-0.00536388034919,0.05984189361,0.999999933925,0.00024323028246,-0.000269287006264,2.17543466731e-05,1793237381318850048
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diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1ff73dd0ac31613299e161ed10f23b161dbbc307
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_02/simulation_data.csv
@@ -0,0 +1,438 @@
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+407,6.783333333,pose2_to_pose3_retreat,0.578279513648,1.3219956077e-06,1.05001176456,0.548850748142,0.00867498654897,1.04966129651
+408,6.800000000,pose2_to_pose3_retreat,0.578272427575,1.37872149044e-06,1.05001181488,0.548843661795,0.00867504230864,1.049661346
+409,6.816666667,pose2_to_pose3_retreat,0.578267287964,1.4331960274e-06,1.05001183999,0.548838521038,0.00867509266238,1.04966136535
+410,6.833333333,pose2_to_pose3_retreat,0.578263593885,1.46448526194e-06,1.05001185248,0.548834826263,0.00867512144466,1.04966137431
+411,6.850000000,pose2_to_pose3_retreat,0.578261045968,1.35711810456e-06,1.05001176992,0.548832279945,0.00867501980653,1.04966129921
+412,6.866666667,pose2_to_pose3_retreat,0.578259482623,1.29124000888e-06,1.05001171926,0.54883071758,0.00867495744363,1.04966125314
+413,6.883333333,pose2_to_pose3_retreat,0.578258761272,1.2608428453e-06,1.05001169588,0.548829996682,0.00867492866844,1.04966123188
+414,6.900000000,pose2_to_pose3_retreat,0.578258739818,1.2599387913e-06,1.05001169519,0.548829975241,0.00867492781262,1.04966123125
+415,6.916666667,pose2_to_pose3_retreat,0.578258293239,1.24112033113e-06,1.05001168072,0.548829528943,0.0086749099983,1.04966121808
+416,6.933333333,pose2_to_pose3_retreat,0.578257901698,1.22462111379e-06,1.05001166803,0.548829137647,0.00867489437947,1.04966120654
+417,6.950000000,pose2_to_pose3_retreat,0.578257863892,1.22302796233e-06,1.0500116668,0.548829099864,0.00867489287133,1.04966120543
+418,6.966666667,pose2_to_pose3_retreat,0.578257521928,1.22498868409e-06,1.05001164295,0.548828757761,0.00867489438374,1.04966118214
+419,6.983333333,pose2_to_pose3_retreat,0.578256923666,1.23430607386e-06,1.05001159661,0.548828159129,0.00867490247909,1.04966113666
+420,7.000000000,pose2_to_pose3_retreat,0.578256321823,1.24367923721e-06,1.05001155,0.548827556914,0.0086749106229,1.0496610909
+421,7.016666667,pose2_to_pose3_retreat,0.578255797857,1.25183954064e-06,1.05001150942,0.548827032624,0.00867491771292,1.04966105106
+422,7.033333333,pose2_to_pose3_retreat,0.578255469701,1.25695026534e-06,1.050011484,0.548826704265,0.00867492215334,1.04966102611
+423,7.050000000,pose2_to_pose3_retreat,0.578255403772,1.25797706257e-06,1.0500114789,0.548826638295,0.00867492304546,1.0496610211
+424,7.066666667,pose2_to_pose3_retreat,0.578254756067,1.2680644824e-06,1.05001142873,0.548825990189,0.00867493180985,1.04966097185
+425,7.083333333,pose2_to_pose3_retreat,0.578254423435,1.27181868273e-06,1.05001142685,0.548825657508,0.0086749353962,1.04966096998
+426,7.100000000,pose2_to_pose3_retreat,0.578254315545,1.27148838833e-06,1.05001145216,0.548825549771,0.00867493556673,1.04966099479
+427,7.116666667,pose2_to_pose3_retreat,0.5782542895,1.27140865394e-06,1.05001145827,0.548825523763,0.0086749356079,1.04966100077
+428,7.133333333,pose2_to_pose3_retreat,0.578254212057,1.27117157115e-06,1.05001147644,0.548825446431,0.00867493573031,1.04966101858
+429,7.150000000,pose2_to_pose3_retreat,0.578253795249,1.26989556029e-06,1.05001157422,0.548825030216,0.00867493638913,1.04966111442
+430,7.166666667,pose2_to_pose3_retreat,0.57825371701,1.26965603981e-06,1.05001159257,0.548824952089,0.0086749365128,1.04966113241
+431,7.183333333,pose2_to_pose3_retreat,0.578253337191,1.26849326492e-06,1.05001168167,0.54882457281,0.00867493711316,1.04966121975
+432,7.200000000,pose2_to_pose3_retreat,0.578252973025,1.26737841258e-06,1.0500117671,0.548824209163,0.00867493768877,1.04966130348
+433,7.216666667,pose2_to_pose3_retreat,0.578252675677,1.28502822428e-06,1.05001167723,0.548823911304,0.0086749535838,1.0496612131
+434,7.233333333,pose2_to_pose3_retreat,0.578252421637,1.31008377941e-06,1.05001151463,0.548823656325,0.00867497545497,1.04966105055
+435,7.250000000,pose2_to_pose3_retreat,0.578252230602,1.32638339964e-06,1.05001153117,0.548823464837,0.00867499024427,1.04966106775
+436,7.266666667,pose2_to_pose3_retreat,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537867,1.04966119859
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..df0cb93aaa22bf66aafdb967bfad2ad8fda84dbc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:243cf1901e20a8ad99a23996ed319c5b2c320bdba28ce21ad48e834e442c8c80
+size 27952302
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..09606cebf313390e0e5cf8aa6c807f2b0dae6862
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_03/franka_data.csv
@@ -0,0 +1,441 @@
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+0,0.000000000,BASELINE,767,746,716,680,664,638,881,789,804,654,633,654,0.40098101876,-0.00536671320481,0.0598506293734,0.999999938564,0.000239898945816,-0.000254720568045,2.09268372911e-05,1793237381925860096
+1,0.016666667,BASELINE,767,746,716.578369606,679.421630394,664,637.421630394,881,789,804,654,633,654,0.400984090239,-0.00536802042296,0.0598523402692,0.999999939565,0.000238700270113,-0.000251875179656,2.12161094122e-05,1793237381942527232
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+3,0.050000000,BASELINE,767,746.72447285,717,679,664.72447285,637,881,789,803.27552715,654,632.27552715,654,0.400983967706,-0.00536755685171,0.0598521312541,0.999999939055,0.000240220701604,-0.000252463475801,2.11260839935e-05,1793237381975860480
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+9,0.150000000,BASELINE,767.21043853,747,717,679,664.21043853,637.78956147,881,789,803.21043853,654,633,654,0.40098623549,-0.00536731830043,0.0598537891486,0.999999939994,0.000240103862867,-0.000248847826751,2.09053266476e-05,1793237382075859968
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+12,0.200000000,BASELINE,767.037416535,747,717,679,665,637.962583465,881,789,804,653.037416535,633,654,0.400984311676,-0.00536612947243,0.059852897041,0.999999938572,0.000244349145138,-0.000250428938618,2.08447144385e-05,1793237382125860352
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+16,0.266666667,BASELINE,767.273946301,747,716.726053699,679.726053699,665,637.726053699,881.726053699,789.726053699,803,654,633,654.726053699,0.400984463143,-0.00536780577211,0.0598541767356,0.999999939312,0.000242941325538,-0.000248830664554,2.09242925233e-05,1793237382192526592
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+18,0.300000000,BASELINE,767.551183375,747,716.448816625,679.448816625,664.551183375,637,881,789,803.448816625,654,633,654.448816625,0.400983615422,-0.0053678587211,0.0598526701736,0.99999993888,0.00024285211098,-0.000250643907232,2.09671192477e-05,1793237382225859840
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+20,0.333333333,BASELINE,767,746.39946916,717,679.39946916,664.60053084,637,881,789,803.39946916,654,633,655,0.40098489365,-0.00536961405827,0.059853730261,0.999999940044,0.000239772388423,-0.000248952944735,2.10722370335e-05,1793237382259193344
+21,0.350000000,BASELINE,767,746,717,679.1746222,664.8253778,637,881,789,803.1746222,654,633,655,0.400985621057,-0.00536887969856,0.0598542931666,0.999999939736,0.000241689464908,-0.000248330714621,2.11355448745e-05,1793237382275860224
+22,0.366666667,BASELINE,767,746,717,679.752071307,664.247928693,637,881,789,803.752071307,654,633,655,0.400984714576,-0.00536531865636,0.0598537684227,0.999999938196,0.000246937249651,-0.00024938857115,2.08779004727e-05,1793237382292526848
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+25,0.416666667,BASELINE,767.492585554,746.507414446,716.492585554,679.507414446,664.985171109,637,881,789,804,653.507414446,633,654,0.400983320723,-0.00536726918513,0.0598528812336,0.999999938676,0.000243707568506,-0.000250621892112,2.10682937532e-05,1793237382342526464
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+27,0.450000000,BASELINE,767,746.337106542,716,680,664.662893458,637,881,789,804,654,633,654.662893458,0.400983434058,-0.00536850762986,0.0598533434033,0.999999939439,0.000241735745708,-0.000249471031571,2.1221890172e-05,1793237382375859968
+28,0.466666667,BASELINE,767,746,716,679.75664839,664.75664839,637,881,789,803.75664839,654,633,655,0.400983315201,-0.00536826950976,0.0598533543293,0.999999939382,0.000242263518175,-0.000249207643363,2.09619307854e-05,1793237382392526336
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+30,0.500000000,BASELINE,767,746,716.411683001,679,664.411683001,637.411683001,880.588316999,789,803,654,633,654.588316999,0.400984323258,-0.00536780692718,0.0598537126039,0.999999939162,0.00024357149388,-0.000248835575212,2.07236158579e-05,1793237382425859584
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+39,0.650000000,BASELINE,767,746.627240918,716.627240918,679.372759082,664,637,881,789,804,654,633,654.372759082,0.400985194749,-0.00536896087097,0.0598541292938,0.999999940241,0.000239447228717,-0.000248491867814,2.08475011418e-05,1793237382575859712
+40,0.666666667,BASELINE,767,747,717,679.202355092,664,637.202355092,881,789,803.797644908,654,633.202355092,654.202355092,0.40098561694,-0.00536863885055,0.0598542858389,0.999999939984,0.00024095331416,-0.000248061101975,2.09378185201e-05,1793237382592526336
+41,0.683333333,BASELINE,767,747,717,679.779191485,664,637.779191485,881,789,803.220808515,654,633.779191485,654.779191485,0.400984820941,-0.00536677412188,0.0598543115322,0.999999939484,0.000242696388719,-0.000248415970529,2.05079548029e-05,1793237382609192960
+42,0.700000000,BASELINE,767,746.636395603,717,679.636395603,664.363604397,637.636395603,881,789,803.363604397,654,633.636395603,654.636395603,0.400983771619,-0.00536701079359,0.0598538342135,0.999999939392,0.000241947867896,-0.000249519784591,2.04293457007e-05,1793237382625859840
+43,0.716666667,BASELINE,767,746.047283754,717,679.047283754,664.952716246,637.047283754,881,789,803.952716246,654,633.047283754,654.047283754,0.400982565186,-0.00536855075391,0.0598530449267,0.999999939549,0.00023965405952,-0.00025108809465,2.05685847307e-05,1793237382642526464
+44,0.733333333,BASELINE,767,746,717,679.533194216,664.466805784,637.533194216,881.533194216,789,804,654,633,654,0.400983429536,-0.00536962373418,0.0598537362056,0.999999940012,0.000238836795254,-0.00025000306774,2.07490292418e-05,1793237382659193088
+45,0.750000000,BASELINE,767,746.1115401,717,679.8884599,664,638,881.8884599,789,804,654,633.1115401,654.1115401,0.400984101626,-0.00537033057816,0.0598542788706,0.999999940359,0.000238314783379,-0.000249105595542,2.08575811647e-05,1793237382675859712
+46,0.766666667,BASELINE,767,746.684186567,717,679.315813433,664,638,881.315813433,789,804,654,633.684186567,654.684186567,0.400983231854,-0.00536969228435,0.0598536730353,0.999999940115,0.000238480663333,-0.000249940696762,2.06540639768e-05,1793237382692526336
+47,0.783333333,BASELINE,767.26504453,746.73495547,716.73495547,679.26504453,664,638,881,789,804,654,633.73495547,654.73495547,0.400983311282,-0.00536936387099,0.0598535425166,0.999999940084,0.000238740170025,-0.000249823729239,2.05908888779e-05,1793237382709192960
+48,0.800000000,BASELINE,767.855999794,746.144000206,716.144000206,679.855999794,664,638,881,789,804,654,633.144000206,654.144000206,0.400984557892,-0.00536941650053,0.0598539964687,0.999999940313,0.000239114804411,-0.000248536055065,2.0700284728e-05,1793237382725859584
+49,0.816666667,BASELINE,768,746,716,679.561436008,664,637.561436008,881,789,803.561436008,654,633,654,0.400982593462,-0.00536899450494,0.0598533198203,0.999999939504,0.000240564134939,-0.00025037668202,2.07975764563e-05,1793237382742526464
+50,0.833333333,BASELINE,767.981693115,746,716.018306885,679.018306885,664,637.018306885,881,789,803,654,633,654.018306885,0.400979776031,-0.00536845424139,0.0598523514522,0.999999938424,0.000242240608944,-0.000253053417409,2.08865293293e-05,1793237382759193088
+51,0.850000000,BASELINE,767.405540715,746,716.594459285,679.594459285,664,637.594459285,881,789,803,654,633,654.594459285,0.400982490263,-0.00536896973713,0.0598535934463,0.99999993954,0.000240287802196,-0.000250496024955,2.08402132657e-05,1793237382775859712
+52,0.866666667,BASELINE,767,746,717,680,664,637.830199669,881,789,803.169800331,654,633,654.830199669,0.400984447943,-0.0053692827648,0.0598545695466,0.999999940352,0.000238853938267,-0.000248618626451,2.08128466986e-05,1793237382792526336
+53,0.883333333,BASELINE,767,746,717,680,664,637.256787231,881,789,803.743212769,654,633,654.256787231,0.400984607315,-0.00536911452977,0.0598549136222,0.999999940465,0.000238653591514,-0.000248357560584,2.08305227224e-05,1793237382809192960
+54,0.900000000,BASELINE,767,746,717,679.674148358,664,637,881,789,804,654,633,654,0.400984861725,-0.00536890405646,0.059855329759,0.999999940488,0.000239088885255,-0.000247831480086,2.09605126191e-05,1793237382825859584
+55,0.916666667,BASELINE,767,746,717,679.084026753,664,637,881,789,804,654,633,654,0.400985193211,-0.00536865932735,0.0598558043383,0.999999940439,0.000240039691799,-0.000247090469251,2.11815905415e-05,1793237382842526208
+56,0.933333333,BASELINE,767,746,716.502717126,679,664,637,881,789,804,654,633,654,0.400984461995,-0.00536821293528,0.0598552419309,0.99999994008,0.00024067341816,-0.000247937091706,2.10768931139e-05,1793237382859192832
+57,0.950000000,BASELINE,767,746,716.076555004,679.076555004,664.076555004,637,881,789,804,654,633,654.076555004,0.400983711942,-0.00536786336446,0.0598546224557,0.999999939737,0.000241132089699,-0.000248881828362,2.09335023491e-05,1793237382875859712
+58,0.966666667,BASELINE,767,746,716.652082725,679.652082725,664.652082725,637,881,789,804,654,633,654.652082725,0.400983989124,-0.00536836308878,0.0598547532018,0.999999939853,0.000240792912345,-0.000248747993511,2.08904538964e-05,1793237382892526336
+59,0.983333333,BASELINE,767,746,716.767567552,680,665,637,881,789,804.232432448,654,633,654.767567552,0.400983799872,-0.00536839190946,0.0598544322928,0.999999939649,0.000241185309867,-0.000249187881275,2.08843287332e-05,1793237382909192960
+60,1.000000000,BASELINE,767,746,716.179846999,680,665,637,881,789,804.820153001,654,633,654.179846999,0.400982897646,-0.00536770092338,0.0598534209995,0.999999938954,0.000242695967082,-0.000250504741324,2.09346432111e-05,1793237382925859584
+61,1.016666667,BASELINE,767,746.40171419,716.40171419,679.59828581,665,637.40171419,881.40171419,789.40171419,804.59828581,654,633.40171419,654,0.40098384,-0.00536784915784,0.0598538805197,0.999999939273,0.000242490111185,-0.000249436232753,2.08457039438e-05,1793237382942526464
+62,1.033333333,BASELINE,767,746.980559447,716.980559447,679.019440553,665,637.980559447,881.980559447,789.980559447,804.019440553,654,633.980559447,654,0.400985595701,-0.00536836743661,0.0598549885776,0.999999940036,0.000241527379275,-0.000247315924344,2.06953624004e-05,1793237382959193088
+63,1.050000000,BASELINE,767,747,717,679.556962575,664.443037425,637.443037425,881.443037425,789.443037425,803.443037425,654,633.443037425,654.556962575,0.400985431929,-0.00536801172212,0.0598555060471,0.999999939848,0.000242414744977,-0.000247215338237,2.05595830519e-05,1793237382975859712
+64,1.066666667,BASELINE,767.13272604,746.86727396,717,679.86727396,664.13272604,637.13272604,881.13272604,789.13272604,803.13272604,654,633,654.86727396,0.400985106069,-0.00536781978906,0.0598556820101,0.999999939735,0.000242758349252,-0.000247343717564,2.04566000444e-05,1793237382992526336
+65,1.083333333,BASELINE,767.706645286,746.293354714,717,679.293354714,664.706645286,637.706645286,881.706645286,789.706645286,803.706645286,654,633,654.293354714,0.400984463151,-0.00536827324334,0.0598547909997,0.999999939979,0.000241080719641,-0.000247999881184,2.04609527935e-05,1793237383009192960
+66,1.100000000,BASELINE,768,746.28847472,717,679,665,638,881.71152528,789.71152528,803.71152528,654,633,654,0.40098404845,-0.00536822186941,0.0598541293399,0.999999939807,0.00024108045602,-0.000248694271415,2.04483509332e-05,1793237383025859840
+67,1.116666667,BASELINE,768,746.878574909,717,679,665,638,881.121425091,789.121425091,803.121425091,654,633,654,0.400983872371,-0.00536764265354,0.0598537074863,0.9999999392,0.000242834024875,-0.000249428630858,2.04180215507e-05,1793237383042526464
+68,1.133333333,BASELINE,767.538393111,747,716.538393111,679,664.538393111,638,881,789,803.923213777,654,633,654,0.400982967312,-0.00536837129946,0.0598532450128,0.99999993922,0.000241605329011,-0.00025051917931,2.06470888402e-05,1793237383059193088
+69,1.150000000,BASELINE,767,747,716.042323072,679,664,638,881,789,804.957676928,654,633,654,0.400982059542,-0.00536928909619,0.0598528884299,0.999999939424,0.000239766754589,-0.000251450780568,2.09074334249e-05,1793237383075859712
+70,1.166666667,BASELINE,767,747,716.616944482,679,664,638,881,789,804.383055518,654,633,654,0.400983493048,-0.00536832421056,0.059853995994,0.999999939935,0.000239975361155,-0.00024922266467,2.07159153154e-05,1793237383092526592
+71,1.183333333,BASELINE,767,747,716.808585818,679.191414182,664.191414182,638,881.191414182,789,804,654,633,654,0.400984615085,-0.00536790941055,0.0598548650223,0.999999940318,0.000240114145592,-0.000247554937447,2.06351708812e-05,1793237383109193728
+72,1.200000000,BASELINE,767,747,716.234419374,679.765580626,664.765580626,638,881.765580626,789,804,654,633,654,0.40098511431,-0.00536859456289,0.0598552570739,0.999999940451,0.000240113313567,-0.000247007764386,2.07759297232e-05,1793237383125861376
+73,1.216666667,BASELINE,767.348085325,747,716.348085325,679.651914675,665,637.651914675,881.651914675,789,804,654,633,654,0.400985038165,-0.00536821137409,0.0598548990689,0.999999940355,0.000240337013458,-0.000247180921089,2.07060085864e-05,1793237383142528256
+74,1.233333333,BASELINE,767.936343233,747,716.936343233,679.063656767,665,637.063656767,881.063656767,789,804,654,633,654,0.400984565024,-0.00536709104919,0.0598540235385,0.999999940103,0.000240715636313,-0.000247851092345,2.0490722063e-05,1793237383159194624
+75,1.250000000,BASELINE,767.480876563,747,717,679.519123437,664.480876563,637.519123437,881,789,803.480876563,654,633,654,0.400983291033,-0.00536745508613,0.0598536660148,0.999999940131,0.000239565468357,-0.000248844555398,2.05833748059e-05,1793237383175860736
+76,1.266666667,BASELINE,767.100065292,747,717,679.799869417,664.100065292,637.899934708,881,789,803.100065292,654,633,654.100065292,0.400982224098,-0.00536795340776,0.059853500452,0.999999940222,0.000238424878575,-0.000249565748039,2.06705261869e-05,1793237383192527104
+77,1.283333333,BASELINE,767.675432303,747,717,678.649135394,664.675432303,637.324567697,881,789,803.675432303,654,633,654.675432303,0.400982602254,-0.00536823402898,0.0598539481238,0.999999940464,0.000238210933316,-0.000248807343442,2.05540596442e-05,1793237383209193472
+78,1.300000000,BASELINE,768,747,717,678.257024344,664.742975656,637,881,789,804,654,633,655,0.400983515271,-0.0053686043687,0.0598542518059,0.999999940441,0.00023913132372,-0.000248010241534,2.06106857265e-05,1793237383225860096
+79,1.316666667,BASELINE,768,747,717,678.846672356,664.153327644,637,881,789,804,654,633,655,0.400985120469,-0.00536909081609,0.0598543691461,0.999999940071,0.00024151969528,-0.000247163060217,2.08913166847e-05,1793237383242526720
+80,1.333333333,BASELINE,768,747,717,679.428338572,664.428338572,637,881,789,804,654,633,654.571661428,0.400984057071,-0.00536865903326,0.0598539730283,0.999999939732,0.000241882871377,-0.000248207302542,2.05582291839e-05,1793237383259193344
+81,1.350000000,BASELINE,767.992839538,746.992839538,716.992839538,680,664.992839538,637.007160462,881,789,804,654,633,654,0.400982099346,-0.0053679065104,0.0598534092957,0.999999939406,0.000241559410577,-0.000249873094528,2.00175423799e-05,1793237383275860224
+82,1.366666667,BASELINE,767.417152722,746.417152722,716.417152722,680,664.417152722,637.582847278,881,789,804,654,633,654,0.400983591187,-0.00536730769813,0.0598538634464,0.999999939438,0.000243223954493,-0.00024811548493,2.01174363868e-05,1793237383292526848
+83,1.383333333,BASELINE,767,746.158555622,716.158555622,679.841444378,664.158555622,637.841444378,881,789.158555622,804,654,633,654,0.400984270802,-0.00536686878497,0.059854144348,0.999999939515,0.000243925151814,-0.000247110315264,2.01977111361e-05,1793237383309193472
+84,1.400000000,BASELINE,767,746.734320736,716.734320736,679.265679264,664.734320736,637.265679264,881,789.734320736,804,654,633,654,0.400982813201,-0.00536685061632,0.0598539693771,0.999999939718,0.000242091482937,-0.000248085050299,2.02263614966e-05,1793237383325860864
+85,1.416666667,BASELINE,767,746.682807667,717,679.317192333,664.682807667,637,881,789.682807667,804,654,633,654.317192333,0.400982295515,-0.00536743932237,0.0598538247117,0.999999939778,0.000240781632481,-0.000249102302245,2.03777800092e-05,1793237383342527232
+86,1.433333333,BASELINE,767,746.093847324,717,679.906152676,664.093847324,637,881,789.093847324,804,654,633,654.906152676,0.40098258314,-0.00536854799412,0.0598537060119,0.999999939717,0.000239920585831,-0.000250155982303,2.06343853517e-05,1793237383359193088
+87,1.450000000,BASELINE,767,746,717,679.512756564,664,637,881,789,803.512756564,654,633,655,0.400982982278,-0.00536877765944,0.0598541436004,0.99999994015,0.000238662414067,-0.000249650705909,2.03418860046e-05,1793237383375859968
+88,1.466666667,BASELINE,767,746,717,679.066341482,664,637.066341482,881,789,803.066341482,653.933658518,633,654.933658518,0.400983490069,-0.00536858466127,0.0598546450089,0.999999940552,0.000237875620179,-0.00024882148166,1.99976369819e-05,1793237383392526592
+89,1.483333333,BASELINE,767,746,717,679.641595893,664,637.641595893,881,789,803.641595893,653.358404107,633,654.358404107,0.400984669198,-0.00536642747325,0.0598548271246,0.999999939994,0.000241282253796,-0.000247773999627,2.00548296785e-05,1793237383409193216
+90,1.500000000,BASELINE,767,746,717,679.778643093,664.442713813,637.778643093,881,789,804,653.221356907,633,654,0.400985043768,-0.00536564970245,0.0598547518474,0.999999939789,0.000242683948181,-0.000247224658072,2.01378858753e-05,1793237383425860096
+91,1.516666667,BASELINE,767,746,717,679.191433753,665.617132495,637.191433753,881,789,804,653.808566247,633,654,0.400984088586,-0.00536715179361,0.0598542511583,0.999999940181,0.000240771935379,-0.000247498629116,2.02636885283e-05,1793237383442526976
+92,1.533333333,BASELINE,767.390322232,746.390322232,717,679.390322232,665.219355537,637.390322232,881.780644463,789,804,654,633,654.390322232,0.400984463756,-0.00536800770106,0.0598547105591,0.999999940602,0.000239811194115,-0.000246731178081,2.02706822921e-05,1793237383459193600
+93,1.550000000,BASELINE,767.969440519,746.969440519,717,679.969440519,664.061118961,637.969440519,882.938881039,789,804,654,633,654.969440519,0.400985482407,-0.00536855105424,0.0598556343483,0.999999941035,0.00023931057588,-0.000245459998699,2.02202090618e-05,1793237383475860224
+94,1.566666667,BASELINE,768,747,717,680,664.54661034,638,881.906779319,789,804,654,633,654.45338966,0.400984966227,-0.00536942839102,0.0598557205075,0.999999941079,0.000238525847904,-0.000246002616079,2.07425776911e-05,1793237383492526848
+95,1.583333333,BASELINE,767.876606757,747,717,679.876606757,664.876606757,637.876606757,881.123393243,789,804,654,633,654,0.400984737946,-0.00537001587356,0.0598557632549,0.999999941167,0.000237836815792,-0.000246284583451,2.10770869046e-05,1793237383509193472
+96,1.600000000,BASELINE,767.300844229,747,717,679.300844229,664.300844229,637.300844229,881.699155771,789,804,654,633,654,0.400985878582,-0.00536947251775,0.0598558179226,0.9999999415,0.000237556636385,-0.000245240551724,2.06058961178e-05,1793237383525860096
+97,1.616666667,BASELINE,767,747,717,679.281850616,664.281850616,637.281850616,882,789,804,654,633,654.281850616,0.400985865834,-0.00536916580959,0.0598556019882,0.999999941407,0.000237532597721,-0.000245651262448,2.04647319673e-05,1793237383542526720
+98,1.633333333,BASELINE,767,747,717,679.872131487,664.872131487,637.872131487,882,789,804,654,633,654.872131487,0.400984590931,-0.00536911806593,0.0598550899329,0.999999940848,0.000237788854911,-0.000247653903718,2.06847173131e-05,1793237383559193344
+99,1.650000000,BASELINE,767.452889823,747,717,679.547110177,664.547110177,638,881.547110177,789,803.547110177,654,633,654.547110177,0.400983660045,-0.00536890444268,0.0598545162975,0.999999940374,0.000239327259642,-0.000248101388956,2.05070272251e-05,1793237383575860480
+100,1.666666667,BASELINE,768,747,717,679.030840005,664,638,881,789,803.030840005,654,633,654.030840005,0.400982890034,-0.0053686767914,0.059853946902,0.99999993994,0.000241097625381,-0.000248156383013,2.02478282994e-05,1793237383592527616
+101,1.683333333,BASELINE,768,747,717,679.60570441,664,638,881,789,803.60570441,654,633,654.60570441,0.400983279806,-0.00536901083626,0.0598537526848,0.999999939851,0.000240705571439,-0.000248873734174,2.04906400239e-05,1793237383609193984
+102,1.700000000,BASELINE,767.820008957,747,717,680,664.179991043,638,881.179991043,789,804,654,633,654.820008957,0.400983563311,-0.00536908433626,0.0598539476401,0.999999939834,0.000240765358244,-0.000248870422962,2.06739198931e-05,1793237383625860608
+103,1.716666667,BASELINE,767.246984038,747,717,680,664.753015962,638,881.753015962,789,804,654,633,654.246984038,0.400983614771,-0.00536858890257,0.0598549924039,0.999999939972,0.0002418117982,-0.000247293451541,2.07272041741e-05,1793237383642527488
+104,1.733333333,BASELINE,767,746.662396338,717,680,665,638,881.662396338,789,804,654,633,654,0.400983800291,-0.0053689494308,0.059855226744,0.999999940016,0.000242183540778,-0.00024673707449,2.08781969538e-05,1793237383659194112
+105,1.750000000,BASELINE,767,746.069049481,717,680,665,638,881.069049481,789,804,654,633,654,0.400984087366,-0.00536995837148,0.0598548471682,0.999999939992,0.000242044183378,-0.00024695382296,2.11032063637e-05,1793237383675859968
+106,1.766666667,BASELINE,767,746,716.487625421,680,665,638,881.512374579,789,804,654,633,654,0.400983872464,-0.00536979166489,0.0598544292372,0.999999939997,0.000241557718039,-0.000247446276279,2.06645487506e-05,1793237383692526848
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,717,679,664,637,881,789,804,654,633,655,0.400982965873,-0.00536788289821,0.0598538540728,0.999999940268,0.000239496710525,-0.000248417836725,1.98272083538e-05,1793237383735623168
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,717,679,664,637,881,789.589757324,803.410242676,654,633,655,0.400983659646,-0.00536731221726,0.0598544972557,0.999999940186,0.000240611021935,-0.000247646667306,2.0132293383e-05,1793237383752289792
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716.823467822,679,664.176532178,637,881,789.823467822,803.176532178,654,633,654.823467822,0.400984339023,-0.00536737277027,0.0598550209638,0.999999940304,0.000240863932494,-0.000246899669894,2.04334539133e-05,1793237383768956672
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716.243508656,679,664.756491344,637,881,789.243508656,803.756491344,654,633,654.243508656,0.400984985503,-0.00536887587494,0.0598552716374,0.99999994088,0.000239148293661,-0.000246207912342,2.07256458906e-05,1793237383785623040
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746.33445833,716.33445833,679,665,637,881,789,803.66554167,654,633,654,0.400984739226,-0.0053694490903,0.0598548631969,0.99999994089,0.000238832223256,-0.000246477107171,2.07047919958e-05,1793237383802289664
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746.910983426,716.910983426,679,665,637,881,789,803.089016574,654,633,654,0.40098384681,-0.0053693492911,0.0598539777176,0.99999994049,0.000239529101276,-0.000247441798653,2.04573687464e-05,1793237383818956032
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746.504239448,717,679.495760552,664.504239448,637,880.504239448,789,803.495760552,654,633,654,0.40098403379,-0.0053689473536,0.0598543174579,0.99999994068,0.000239198479942,-0.000246997427471,2.03863162144e-05,1793237383835622912
+114,1.900000000,POSE1_TO_POSE2_PRESS,767.081117996,746,716.918882004,679.918882004,664,637.081117996,880.162235991,789,803.918882004,654,633,654,0.40098416754,-0.0053684203948,0.0598547183988,0.999999940776,0.00023911976497,-0.000246688951736,2.0341184895e-05,1793237383852289536
+115,1.916666667,POSE1_TO_POSE2_PRESS,767.660781482,746,716.339218518,679.339218518,664,637.660781482,881.321562964,789,803.339218518,654,633,654,0.400982762835,-0.00536746412814,0.0598541205134,0.999999939625,0.000241742324403,-0.000248796951747,2.02574375784e-05,1793237383868956160
+116,1.933333333,POSE1_TO_POSE2_PRESS,767.760637486,746,716.239362514,679.239362514,664.239362514,637.760637486,881.521274971,789,803,654,633,654.239362514,0.400984429338,-0.00536752778466,0.0598549563977,0.999999939926,0.000241615250914,-0.000247712960562,2.02313256786e-05,1793237383885623040
+117,1.950000000,POSE1_TO_POSE2_PRESS,767.183583624,746,716.816416376,679.816416376,664.816416376,637.183583624,880.367167247,789,803,654,633,654.816416376,0.400990428688,-0.00536903034341,0.0598578150368,0.999999942253,0.000237609009859,-0.000242125725181,2.02865255211e-05,1793237383902289920
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,717,680,664.608030397,637.391969603,880.391969603,789,803.391969603,654,633,654.608030397,0.401003107961,-0.00537015501634,0.0598640379076,0.999999944797,0.000236995704188,-0.000231963359438,2.0803366952e-05,1793237383918956544
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,717,680,664.033177279,637.966822721,880.966822721,789,803.966822721,654,633,654.033177279,0.401018903925,-0.00537110337703,0.0598718304476,0.999999947328,0.000237965459531,-0.000219666348265,2.15355991586e-05,1793237383935623168
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,717,679.446839401,664,638,881,789,804,654,633.553160599,654.553160599,0.40105702111,-0.00537123422647,0.0598866710959,0.999999953072,0.000238291836583,-0.000191260203471,2.21955230789e-05,1793237383952289536
+121,2.016666667,POSE1_TO_POSE2_PRESS,767.139029985,746,717,679,664.139029985,637.860970015,881.139029985,789,804,654,634,655,0.401101516551,-0.00537157620468,0.0599032306252,0.999999958327,0.000238830742654,-0.000160557645545,2.29663107576e-05,1793237383968956416
+122,2.033333333,POSE1_TO_POSE2_PRESS,767.721164453,746,717,679,664.721164453,637.278835547,881.721164453,789,804,654,634,655,0.401161982939,-0.00537275065973,0.0599238925779,0.99999996297,0.000240172596486,-0.000125680790502,2.41045493307e-05,1793237383985623040
+123,2.050000000,POSE1_TO_POSE2_PRESS,767.700291683,746.299708317,717,679.299708317,664.700291683,637.299708317,881.700291683,789,803.700291683,654,633.700291683,654.700291683,0.401224559443,-0.00537417968519,0.0599394233231,0.999999965902,0.000239522841202,-0.000101080735907,2.46605605411e-05,1793237384002289664
+124,2.066666667,POSE1_TO_POSE2_PRESS,767.125048847,746.874951153,717,679.874951153,664.125048847,637.874951153,881.125048847,789,803.125048847,654,633.125048847,654.125048847,0.401289075862,-0.00537584274789,0.0599502367312,0.999999967909,0.000237042115588,-8.5928580318e-05,2.46813054861e-05,1793237384018956544
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746.550737892,716.550737892,680,664,637.550737892,881,789,803,654,633,654,0.401362315406,-0.00537901569035,0.0599540346359,0.999999968869,0.000235671116125,-7.82425177752e-05,2.4488760814e-05,1793237384035622912
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746.02399572,716.02399572,679.97600428,664,637,881,789,803,654,632.97600428,654,0.401438642866,-0.00538257954188,0.0599559225277,0.999999969558,0.000234541373517,-7.27089492796e-05,2.42300823305e-05,1793237384052289536
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746.614828291,716.614828291,679.385171709,664,637,881,789,803,654,632.385171709,654,0.401530677456,-0.00538547050821,0.0599587236552,0.999999970461,0.000231829212485,-6.90335860739e-05,2.38086669858e-05,1793237384068956160
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,747,717,679,664.20167062,637.20167062,881,789,803.20167062,654.20167062,632.20167062,654,0.4016310666,-0.00538788747889,0.0599621876923,0.999999971311,0.00022982891129,-6.33903135852e-05,2.31977079216e-05,1793237384085622784
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,747,717,679,664.781039765,637.781039765,881,789,803.781039765,654.781039765,632.781039765,654,0.401747102549,-0.00538941672717,0.0599668932583,0.999999972034,0.000229161816044,-5.40614454979e-05,2.22317622272e-05,1793237384102289408
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,747,716.642102893,679.357897107,665,638,881,789,803.642102893,654.642102893,633,654,0.401873300962,-0.00539280537111,0.059968548517,0.999999972951,0.0002262151142,-4.97858377987e-05,2.11086410447e-05,1793237384118956032
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,747,716.066771499,679.933228501,665,638,881,789,803.066771499,654.066771499,633,654,0.402005673417,-0.00539732365934,0.0599683506139,0.999999974006,0.00022188347616,-4.85802514276e-05,1.98900304803e-05,1793237384135622912
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.519828451,747,716.519828451,680,664.480171549,637.480171549,881,789,803.519828451,654,633,654,0.402163107781,-0.00540027145789,0.0599694810283,0.999999974715,0.000219964734917,-4.29793175597e-05,1.83769807542e-05,1793237384152289536
+133,2.216666667,POSE1_TO_POSE2_PRESS,767.893820821,747,717,679.893820821,664,637.106179179,881,789,804,654,633,654.106179179,0.402329912852,-0.00540364483001,0.0599709634305,0.999999975507,0.000217658623719,-3.64613649432e-05,1.6774033094e-05,1793237384168956160
+134,2.233333333,POSE1_TO_POSE2_PRESS,767.315162454,747,717,679.315162454,664,637.684837546,881,789,804,654,633,654.684837546,0.402523773822,-0.00540982947772,0.0599732360606,0.999999976966,0.000212219067738,-2.84307777313e-05,1.49430780468e-05,1793237384185622784
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746.737121748,716.737121748,679,664.262878252,638,881.262878252,789,804,654,633,654.737121748,0.402730077157,-0.00541573860069,0.0599753813865,0.999999978254,0.000207135107643,-2.04478908942e-05,1.30269867757e-05,1793237384202289664
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746.159819849,716.159819849,679,664.840180151,638,881.840180151,789,804,654,633,654.159819849,0.402951262556,-0.00542131817341,0.0599773744462,0.999999979363,0.000202476469313,-1.25220580455e-05,1.10090658064e-05,1793237384218956288
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746.415870242,716.415870242,679,664.584129758,638,881.584129758,789,804,654,633,654.415870242,0.403191290777,-0.0054266825265,0.0599780820593,0.999999980201,0.000198525631836,-1.02038938637e-05,8.97079929581e-06,1793237384235622912
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746.99094329,716.99094329,679,664.00905671,638,881.00905671,789,804,654,633,654.99094329,0.403438532374,-0.00543196448942,0.0599782975798,0.999999980943,0.000194845753698,-1.00324489408e-05,6.92474418283e-06,1793237384252289536
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,747,717,679,664.578793329,637.421206671,882.157586658,789,804,654,633,654.421206671,0.403712465094,-0.00544114600818,0.0599745970789,0.999999983305,0.000182119231678,-1.44056716096e-05,3.85658596455e-06,1793237384268956160
+140,2.333333333,POSE1_TO_POSE2_PRESS,767.164195145,747,717,679,665,637,882.671609711,789,804,653.835804855,633,654,0.403991605847,-0.00544970821351,0.0599685694823,0.999999985215,0.000170338892872,-2.35518049275e-05,6.8549169706e-07,1793237384285622784
+141,2.350000000,POSE1_TO_POSE2_PRESS,767.742900226,747,717,679,665,637,881.514199547,789,804,653.257099774,633,654,0.404282816056,-0.00545654944493,0.0599568253267,0.999999985993,0.000161312621055,-4.45635529875e-05,-2.70417694438e-06,1793237384302289408
+142,2.366666667,POSE1_TO_POSE2_PRESS,767.679539153,747,717,679,664.679539153,637.320460847,881,789,804,653.320460847,633,654,0.404594617872,-0.00546380125911,0.0599477571884,0.999999986519,0.000152896707692,-5.95630937226e-05,-6.12365045562e-06,1793237384318956288
+143,2.383333333,POSE1_TO_POSE2_PRESS,767.102893382,747,717,679,664.102893382,637.897106618,881,789,804,653.897106618,633,654,0.404922881197,-0.00547138130481,0.0599408283283,0.999999987013,0.000144968730163,-6.97563183053e-05,-9.56695113875e-06,1793237384335622912
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,747,717,679,664.473272399,637.526727601,881.473272399,789,804,654,633,654,0.405295274414,-0.0054797275985,0.0599424176654,0.999999988375,0.000136014659709,-6.77273191996e-05,-1.27613135055e-05,1793237384352289536
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746.949335592,717,679.050664408,664.949335592,637,881.949335592,789,804,654,633,654,0.40568215564,-0.00548811727199,0.0599472118587,0.999999989975,0.000126931680417,-6.07098321767e-05,-1.58695433872e-05,1793237384368956416
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746.357737965,717,679.642262035,664.357737965,637,881.357737965,789,804,654,633,654,0.406121390995,-0.00549519327764,0.0599664710244,0.99999999235,0.000118851740005,-2.87730745133e-05,-1.86354130671e-05,1793237384385623040
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746.228373701,716.771626299,680,664.228373701,637,881,789,804.228373701,654,633,654.228373701,0.406573123863,-0.00550232241032,0.0599861185255,0.999999994283,0.000104699799545,4.02801724225e-06,-2.13606375015e-05,1793237384402289408
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746.806093392,716.193906608,680,664.806093392,637,881,789,804.806093392,654,633,654.806093392,0.407043974298,-0.00550953281162,0.0600063600669,0.999999995682,8.12594482534e-05,3.81512892884e-05,-2.4023686251e-05,1793237384418956032
+149,2.483333333,POSE1_TO_POSE2_PRESS,767.382251388,746.617748612,716.382251388,679.617748612,665,637.382251388,881,789,804.617748612,654,633,655,0.407520841947,-0.00550874223467,0.0600196194939,0.999999998033,1.44244318232e-05,5.53878015881e-05,-2.56668680293e-05,1793237384435622912
+150,2.500000000,POSE1_TO_POSE2_PRESS,767.957620381,746.042379619,716.957620381,679.042379619,665,637.957620381,881,789,804.042379619,654,633,655,0.408000749546,-0.00550390947533,0.0600293514793,0.999999994824,-7.43340459549e-05,6.40929358239e-05,-2.67948015646e-05,1793237384452289536
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+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,717,680,665,638,881,789,804,654,633,655,0.408977106009,-0.00548333832977,0.0600013682647,0.999999998655,-3.6336344043e-05,1.47827974354e-06,-3.69896305917e-05,1793237384485622784
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+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746.864847311,717,679.135152689,665,637.135152689,881.864847311,789,803.135152689,654,633,654.135152689,0.410678718548,-0.00551864584799,0.0600124947974,0.999999996075,-6.96225956396e-05,3.03550020409e-05,-4.56287558389e-05,1793237384535622912
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,747,717,679.436965309,665,637,882,789,803.436965309,654,633,654,0.411281636147,-0.00552310077591,0.0600187537713,0.999999995417,-7.23646586075e-05,4.32113139049e-05,-4.54085945422e-05,1793237384552289536
+157,2.616666667,POSE1_TO_POSE2_PRESS,767.008429591,747,717,679.991570409,664.991570409,637.008429591,881.991570409,789,804,654,633,654,0.411886145984,-0.00552474276247,0.0600224414627,0.999999995365,-6.95540496452e-05,4.97708287351e-05,-4.42272040465e-05,1793237384568956416
+158,2.633333333,POSE1_TO_POSE2_PRESS,767.602674609,747,717,679.397325391,664.397325391,637.602674609,881.397325391,789,804,654,633,654,0.412488123857,-0.00551596035057,0.0599994983274,0.999999999477,-4.47296356079e-06,7.01725887585e-06,-3.12579112138e-05,1793237384585623040
+159,2.650000000,POSE1_TO_POSE2_PRESS,767.808250044,747,717,679,664.191749956,637.808250044,881.191749956,789,804,653.808250044,633,654,0.413091688292,-0.00550782531047,0.0599747175231,0.999999998218,3.617486218e-05,-4.06358583336e-05,-2.45668088387e-05,1793237384602289664
+160,2.666666667,POSE1_TO_POSE2_PRESS,767.229605595,747,717,679,664.770394405,637.229605595,881.770394405,789,804,653.229605595,633,654,0.413698453902,-0.00550099647499,0.0599462288493,0.999999994336,2.75236169096e-05,-9.81748051163e-05,-3.05432323387e-05,1793237384618956288
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,747,717,679,664.65290232,637,881.65290232,789,804,653,633,654,0.414369455079,-0.00550400112155,0.0599474682777,0.999999994704,1.32557899608e-05,-9.6343732871e-05,-3.36702037534e-05,1793237384635622912
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,747,717,679,664.077476017,637,881.077476017,789,804,653,633,654,0.415082711827,-0.00551347445297,0.0599682635183,0.999999997841,-4.70674977906e-06,-5.54577309587e-05,-3.49227415679e-05,1793237384652289536
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,747,717,679.509492501,664.509492501,637,881,789,804,653,633,654.509492501,0.41582856044,-0.00552220633115,0.0600119502598,0.999999999118,-1.40581657335e-05,2.09009385259e-05,-3.36083512861e-05,1793237384668956160
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,747,717,680,665,637,881,789,804,653.096668836,632.903331164,654.903331164,0.416574464979,-0.00552951186685,0.0600495424726,0.999999995639,-2.11257180114e-05,8.50700210892e-05,-3.22332528427e-05,1793237384685623040
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,747,717,680,665,637,881,789,804,653.675917346,632.324082654,654.324082654,0.417295333733,-0.00553027286807,0.0600389299638,0.999999997344,-2.34804335037e-05,6.08352531621e-05,-3.25488766327e-05,1793237384702289664
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,747,717,680,665,637,881,789,804,653.746145608,632,654,0.418014419943,-0.00552791968512,0.0600231179072,0.999999998558,-2.27018446855e-05,3.45470743277e-05,-3.42769172203e-05,1793237384718956288
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,747,717,680,665,637,881,789,804,653.169874159,632,654,0.418731242268,-0.00552161121873,0.0600007019731,0.999999999109,-1.79436884049e-05,5.65088254496e-06,-3.77988494809e-05,1793237384735622912
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746.593686862,716.593686862,680,665,637,881.406313138,788.593686862,804,653.406313138,632.406313138,654,0.4194649248,-0.00552148487722,0.0599851264089,0.999999998759,-2.13903120952e-05,-2.05795138987e-05,-4.00117073336e-05,1793237384752289792
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746.017534775,716.017534775,680,665,637,881.982465225,788.017534775,804,653.982465225,632.982465225,654,0.420205654858,-0.00552394266515,0.0599724101215,0.999999997688,-2.82665352379e-05,-4.56956057741e-05,-4.16773716753e-05,1793237384768956416
+170,2.833333333,POSE1_TO_POSE2_PRESS,767.569272301,746,716.569272301,679.430727699,665,637.569272301,881.430727699,788.569272301,804,654,633,654,0.420922899261,-0.00552576808735,0.0599547264663,0.999999996255,-3.13482124225e-05,-6.80531387002e-05,-4.33085338321e-05,1793237384785622784
+171,2.850000000,POSE1_TO_POSE2_PRESS,767.844690929,746.155309071,717,679,664.844690929,637.844690929,881.155309071,789,804.155309071,653.844690929,633,654,0.421656921595,-0.00552666307761,0.0599393359477,0.999999994339,-3.26114382114e-05,-9.08852189157e-05,-4.47032191094e-05,1793237384802289664
+172,2.866666667,POSE1_TO_POSE2_PRESS,767.26169645,746.73830355,717,679,664.26169645,637.26169645,881.73830355,789,804.73830355,653.26169645,633,654,0.422439176538,-0.00552505053401,0.0599306895785,0.999999991898,-2.91950671007e-05,-0.000115262540986,-4.54496838322e-05,1793237384818956288
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,747,717,679,664.316216332,637,882,789,804.683783668,653,633,654,0.423261881659,-0.0055269630584,0.059957126133,0.999999996034,-2.93605363527e-05,-7.11681899931e-05,-4.47882984764e-05,1793237384835622912
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,747,717,679,664.889990056,637,882,789,804.110009944,653,633,654,0.424117533308,-0.00553174674171,0.0600121376393,0.999999998138,-3.24434053474e-05,2.8696164928e-05,-4.29802224729e-05,1793237384852289536
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746.534959241,717,679.465040759,665,637.465040759,882,789,804,653,633,654,0.424923820976,-0.0055351508606,0.0600401961426,0.999999995819,-3.91667703329e-05,7.13832015101e-05,-4.1624812731e-05,1793237384868956160
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746.04143018,716.95856982,680,664.95856982,637.95856982,882,789,804,653,633,654,0.425716383915,-0.0055379673242,0.0600593088305,0.999999993383,-4.58891333085e-05,9.73654708018e-05,-4.0604476006e-05,1793237384885622784
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746.631536616,716.368463384,680,664.368463384,637.368463384,882,789,804,653,633,654,0.426482260064,-0.00553733510907,0.0600446208791,0.999999994905,-4.11616689663e-05,8.17413412034e-05,-4.25996020706e-05,1793237384902289408
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746.782649071,716,680,664.217350929,637,882,789,804,653,633,654,0.427257537338,-0.00553843375684,0.0600277115598,0.999999996229,-4.22514850101e-05,6.11850145761e-05,-4.48689181863e-05,1793237384918956032
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.20396997,716,680,664.79603003,637,882,789,804,653,633,654,0.428048443338,-0.00554240982277,0.0600071093954,0.999999996936,-5.30120539622e-05,3.24293105778e-05,-4.75940531805e-05,1793237384935622912
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746.372208911,716.372208911,680,665,637.372208911,882,789,804,653,633,654,0.428811121213,-0.00554267331726,0.0599930403161,0.99999999726,-5.40980647032e-05,1.29474839092e-05,-4.8851829309e-05,1793237384952289536
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746.947026783,716.947026783,680,665,637.947026783,882,789,804,653,633,654,0.429558433286,-0.00554091590278,0.059982527471,0.999999997537,-4.99178059942e-05,-1.48617966602e-06,-4.93108601542e-05,1793237384968956160
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746.477345173,717,680,665,637.477345173,882,789,804.522654827,653.522654827,633,654,0.430301774543,-0.00553953386997,0.0599646841291,0.999999996966,-4.83336642211e-05,-3.41809358705e-05,-5.06353608839e-05,1793237384985622784
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,717,680,665,637.100810471,882,789,804.899189529,653.899189529,633,654,0.431055812261,-0.0055391767443,0.0599558564227,0.999999996219,-4.85866757341e-05,-5.02910939819e-05,-5.16919704164e-05,1793237385002289408
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,717,680,665,637.690832913,882,789,804.309167087,653.309167087,633,654,0.43186371371,-0.00554360835891,0.0599943907991,0.999999996837,-5.64761221571e-05,2.30759736113e-05,-5.10222181028e-05,1793237385018957568
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746.275668511,717,680,665.275668511,637.724331489,882,789,804.275668511,653.275668511,633,654,0.432660031873,-0.00554746691188,0.0600253790821,0.999999993777,-6.52009091864e-05,7.5374058935e-05,-5.01344981499e-05,1793237385035624704
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746.854794365,717,680,665.854794365,637.145205635,882,789,804.854794365,653.854794365,633,654,0.43344359904,-0.00555069463531,0.0600480605831,0.99999999054,-7.48452432377e-05,0.000104479293296,-4.90068385177e-05,1793237385052290816
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,747,717,680,665.573821313,637.426178687,882,789,805,653.573821313,633,654,0.434158293279,-0.00555107086279,0.0600318075244,0.99999999306,-7.32274487017e-05,7.73452091687e-05,-5.03568564564e-05,1793237385068957184
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,747,717,680,665.005027545,637.994972455,882,789,805,653.005027545,633,654,0.434849940163,-0.005550492875,0.0600025255304,0.999999995826,-6.78409319224e-05,3.13913805675e-05,-5.25359963623e-05,1793237385085623808
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,747,717,680,665,638,882,789,804.409905117,653.590094883,633,654,0.435533380196,-0.0055514452498,0.059981194477,0.999999996033,-7.08715904897e-05,-5.32529299739e-06,-5.36831486617e-05,1793237385102290176
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746.820825721,716.820825721,680.179174279,665,638,882,789,804,653.820825721,633,654,0.436215994709,-0.00555181097403,0.0599655013968,0.999999995257,-7.37107695059e-05,-3.24355911496e-05,-5.47756707548e-05,1793237385118956544
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746.245622099,716.245622099,680.754377901,665,638,882,789,804,653.245622099,633,654,0.436896946473,-0.00555084985829,0.0599621132174,0.999999994819,-7.59608106472e-05,-3.84949751745e-05,-5.57677854294e-05,1793237385135622912
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,716.331863901,680.668136099,665,637.668136099,882,789,804.331863901,653,633,654,0.437566262014,-0.00554918802156,0.0599578890849,0.999999994,-7.68194708223e-05,-5.43379743279e-05,-5.60817115965e-05,1793237385152289792
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,716.911050821,680.088949179,665,637.088949179,882,789,804.911050821,653,633,654,0.43822690557,-0.00554700396951,0.059953041955,0.9999999925,-7.6641198105e-05,-7.74722548943e-05,-5.58902147418e-05,1793237385168956416
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746.497836028,716.502163972,680,665,637,882,789,804.502163972,653,633,654,0.438876599848,-0.0055466911198,0.0599598061579,0.999999993324,-7.65723922318e-05,-6.60405924647e-05,-5.59252954604e-05,1793237385185623552
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,747,716,680,665.084816687,637,882,789,804.084816687,653,633,654,0.439528602106,-0.00554709962465,0.05997364131,0.999999994678,-7.67122806142e-05,-4.07156964385e-05,-5.56847076935e-05,1793237385202290176
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,747,716,680,665.664888572,637,882,789,804.664888572,653,633,654,0.440205681215,-0.00554973775194,0.060016462918,0.999999995102,-7.79547853106e-05,2.91124236574e-05,-5.35944082527e-05,1793237385218956288
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,747,716.243576285,680.243576285,665.756423715,637,882.243576285,789,804.756423715,653.243576285,633,654,0.440842278745,-0.00555321515512,0.0600416473447,0.999999993202,-7.97835087905e-05,6.72026099324e-05,-5.21006475914e-05,1793237385235622912
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,747,716.820370371,680.820370371,665.179629629,637,882.820370371,789,804.179629629,653.820370371,633,654,0.441423496513,-0.00555784070627,0.0600427037096,0.999999993368,-8.24141929756e-05,6.18745878723e-05,-5.14229657636e-05,1793237385252289792
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,747,716.603910182,681,665,637,883,789,804.396089818,654,633,654,0.441969842497,-0.0055601686836,0.0600192952197,0.999999994389,-8.85682398427e-05,2.35451109925e-05,-5.31360517296e-05,1793237385268956416
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,747,716.028676722,681,665,637,883,789,804.971323278,654,633,654,0.442500416709,-0.00556145751385,0.0599848217569,0.999999993356,-9.63158344265e-05,-2.97102759109e-05,-5.59304347988e-05,1793237385285623040
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,747,716,681.557802819,665,637,883,789,804.442197181,653.442197181,633.557802819,654,0.442997854987,-0.00555631781874,0.0599661127267,0.999999991998,-9.93033370441e-05,-5.1778420067e-05,-5.88374630823e-05,1793237385302289920
+202,3.366666667,POSE1_TO_POSE2_PRESS,767.143706557,747,716.143706557,681.856293443,665,637,882.856293443,789,804.143706557,653,633.856293443,654,0.443495700718,-0.00555219874924,0.0599547571281,0.99999999081,-0.000102527816494,-6.41051413319e-05,-6.13043518918e-05,1793237385318956544
+203,3.383333333,POSE1_TO_POSE2_PRESS,767.726051851,747,716.726051851,681.273948149,665,637,882.273948149,789,804.726051851,653,633.273948149,654,0.44400009694,-0.00555222447975,0.0599633219086,0.999999990966,-0.000107237951077,-5.16925151759e-05,-6.24097538566e-05,1793237385335623168
+204,3.400000000,POSE1_TO_POSE2_PRESS,767.696353851,747,716.696353851,681,665,637,882,788.696353851,805,653,633,654,0.444477563855,-0.00555181481136,0.0599677894523,0.999999990938,-0.000109241268832,-4.58745202624e-05,-6.3925565261e-05,1793237385352289792
+205,3.416666667,POSE1_TO_POSE2_PRESS,767.12297988,747,716.12297988,681,665,637,882,788.12297988,805,653,633,654,0.444931109531,-0.00555101837964,0.0599686174344,0.999999990858,-0.000108840130319,-4.59145141503e-05,-6.58059418873e-05,1793237385368956160
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,747,716.449660472,681.449660472,665,637,882,788.449660472,804.550339528,653.449660472,633,654,0.445338944283,-0.00555468530234,0.0599524824338,0.999999988409,-0.000112163635996,-7.82514998029e-05,-6.69150839367e-05,1793237385385624320
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746.97703747,716.97703747,681.97703747,664.97703747,636.97703747,882,789,804.02296253,653.97703747,633,654,0.445732462292,-0.00555958402607,0.0599314909622,0.999999983765,-0.000116574575672,-0.000119472465881,-6.78727435881e-05,1793237385402292224
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746.382269478,716.382269478,681.382269478,664.382269478,636.382269478,882,789,804.617730522,653.382269478,633,654,0.446080275933,-0.00556480857349,0.0599049031503,0.999999976823,-0.000122739141009,-0.000162319604325,-7.03021651054e-05,1793237385418957568
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746.206931389,716.206931389,681.206931389,664,636,882.206931389,789,805,653,633,654,0.4464330429,-0.00557024713886,0.0598880670003,0.999999971821,-0.000127352506533,-0.00018708274168,-7.16868841166e-05,1793237385435622912
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746.786117337,716.786117337,681.786117337,664,636,882.786117337,789,805,653,633,654,0.446794720504,-0.00557607070644,0.0598887733853,0.999999973046,-0.000129175375787,-0.000179314068676,-7.11922590299e-05,1793237385452289792
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,747,717,681.63856985,664,636,883,788.63856985,805,653,633,654,0.44713753597,-0.00558111238496,0.0598940741981,0.999999979064,-0.00010000556857,-0.00016803378721,-6.02955151747e-05,1793237385468956416
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,747,717,681.065524677,664,636,883,788.065524677,805,653,633,654,0.447469307809,-0.00558569627304,0.0599020650188,0.999999985708,-5.26897490524e-05,-0.000154697480523,-4.33083976668e-05,1793237385485623552
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,746.479131375,717,681.520868625,663.479131375,636,882.479131375,788,804.479131375,653,633.520868625,654,0.447771601978,-0.00558227417901,0.0599048124953,0.999999986167,-5.59657364847e-05,-0.000150346397851,-4.3924107772e-05,1793237385502290432
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,746.106708807,717,681.893291193,663.106708807,635.893291193,882,788,804.106708807,653,633.893291193,654,0.448062081659,-0.00557739671853,0.059905609761,0.999999985437,-6.8832816156e-05,-0.000149107776535,-4.64277350326e-05,1793237385518957056
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,746.682541179,717,681.317458821,663.682541179,635.317458821,882,788,804.682541179,653,633.317458821,654,0.448317352813,-0.00557066518663,0.0599008094158,0.999999982119,-9.51495464351e-05,-0.000156452492254,-4.7239936317e-05,1793237385535623424
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,747,716.741379639,681.258620361,663.741379639,635.258620361,882,788,805,653.258620361,633,654,0.448553243643,-0.00555985216965,0.0598920826892,0.999999979257,-0.00010140377126,-0.000169492939026,-4.97459941662e-05,1793237385552289792
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,747,716.164997238,681.835002762,663.164997238,635.835002762,882,788,805,653.835002762,633,654,0.448765322216,-0.00554402430809,0.059878531691,0.999999977118,-8.30075662977e-05,-0.000189531624449,-5.4333262108e-05,1793237385568956416
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,747,716.411568265,682,663.411568265,635.588431735,882.411568265,788,805,653.588431735,633,654.411568265,0.448950430089,-0.00554254182909,0.0598602441251,0.999999971533,-7.9942817631e-05,-0.000217579787732,-5.65893683222e-05,1793237385585623296
+219,3.650000000,POSE1_TO_POSE2_PRESS,767,747,716.988207192,682,663.988207192,635.011792808,882.988207192,788,805,653.011792808,633,654.988207192,0.449124720623,-0.00554681295689,0.0598400568302,0.999999963916,-8.30271674971e-05,-0.000248840369645,-5.79104984827e-05,1793237385602289920
+220,3.666666667,POSE1_TO_POSE2_PRESS,767,747,717,682,663.418318885,635.581681115,883,788,805.581681115,653.581681115,633,654.418318885,0.44929197794,-0.0055549937929,0.0598341020083,0.999999960782,-9.13745052334e-05,-0.000258196561451,-5.84993357311e-05,1793237385618956544
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,747,716.829509728,682,663,635.829509728,883,788,805.829509728,653.829509728,633,654,0.4494537383,-0.00555978596051,0.0598303636975,0.999999958706,-9.63556110211e-05,-0.000264194434223,-5.92006975923e-05,1793237385635623680
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,747,716.252656849,682,663,635.252656849,883,788,805.252656849,653.252656849,633,654,0.449602746657,-0.00555630669836,0.0598312001871,0.999999959201,-9.30514218243e-05,-0.00026327778596,-6.02067018113e-05,1793237385652290560
+223,3.716666667,POSE1_TO_POSE2_PRESS,767,747,716.323794508,682,663,635.323794508,882.676205492,788,805,653,633,654,0.449737301784,-0.00555714746773,0.0598312046286,0.999999959168,-9.3051152355e-05,-0.000263298028999,-6.06590821695e-05,1793237385668957184
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,747,716.899933007,682,663,635.899933007,882.100066993,788,805,653,633,654,0.449860593036,-0.00556135498312,0.0598305606269,0.999999958726,-9.56257387092e-05,-0.000264048422957,-6.06800048712e-05,1793237385685623808
+225,3.750000000,POSE1_TO_POSE2_PRESS,767,746.526701396,717,682,663,635.526701396,882,788,805.473298604,653,633,654,0.44996052084,-0.00556256708226,0.0598250647111,0.999999956456,-9.52529772164e-05,-0.000272537359218,-6.11448259685e-05,1793237385702290176
+226,3.766666667,POSE1_TO_POSE2_PRESS,767,746.047744195,717,682,663,635,882,788,805.952255805,653,633,654.047744195,0.450054288601,-0.0055630586843,0.0598189330707,0.999999953838,-9.44179094123e-05,-0.000282153942573,-6.16332536925e-05,1793237385718956544
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,746.64119616,717,682,663,635,882,788,805.35880384,653,633,654.64119616,0.450133778231,-0.00556251153329,0.0598171917898,0.999999952654,-9.53796798599e-05,-0.00028606771558,-6.13250482932e-05,1793237385735623168
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,747,716.771974449,682,663,635,882.228025551,788,805,653,633,654.771974449,0.450206051911,-0.00556293130307,0.0598139778077,0.999999951088,-9.64809470329e-05,-0.000291159047484,-6.1177703367e-05,1793237385752290048
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,747,716.195271767,682,663,635,882.804728233,788,805,653,633,654.195271767,0.450267291574,-0.00556482960532,0.0598085118971,0.999999948923,-9.77955205852e-05,-0.0002980510013,-6.12763325088e-05,1793237385768957184
+230,3.833333333,POSE1_TO_POSE2_PRESS,767,747,716.381486352,681.618513648,662.618513648,635,882.618513648,788,804.618513648,653,632.618513648,654,0.450321659124,-0.00556455329333,0.0598066435868,0.999999948502,-9.70908909624e-05,-0.000299669704363,-6.1387123897e-05,1793237385785624064
+231,3.850000000,POSE1_TO_POSE2_PRESS,767,747,716.958272833,681.041727167,662.041727167,635,882.041727167,788,804.041727167,653,632.041727167,654,0.450372508528,-0.00556316369783,0.0598066170511,0.999999948985,-9.53525398074e-05,-0.000298588791494,-6.15041416873e-05,1793237385802290432
+232,3.866666667,POSE1_TO_POSE2_PRESS,767,747,717,681.547232145,662.547232145,634.452767855,882.547232145,787.452767855,804.547232145,653,632.547232145,654,0.450410127696,-0.00556144431809,0.0598067387883,0.999999949256,-9.39831491134e-05,-0.000298089889813,-6.16291451187e-05,1793237385818957056
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,747,717,682,663,634.134616607,883,787.134616607,805,653,632.865383393,654,0.450444163507,-0.00555997269892,0.0598068408377,0.999999949452,-9.26201458303e-05,-0.000297850980024,-6.16636240002e-05,1793237385835623936
+234,3.900000000,POSE1_TO_POSE2_PRESS,767,747,717,682,663,634.713667472,883,787.713667472,805,653,632.286332528,654,0.450469775307,-0.0055594039665,0.0598068397124,0.99999994946,-9.11832346732e-05,-0.000298320578638,-6.13971816571e-05,1793237385852290304
+235,3.916666667,POSE1_TO_POSE2_PRESS,767,747,717,682,663,635,882.71059679,788,805,653,632,654,0.450490807734,-0.00555998553177,0.0598060916144,0.999999949186,-9.18488893447e-05,-0.000299107175071,-6.10479842256e-05,1793237385868956416
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,747,717,682,663,635,882.138103789,788,805,653,632,654,0.45050736069,-0.00556169230058,0.0598046128391,0.99999994863,-9.4571241566e-05,-0.000300203853976,-6.06178370011e-05,1793237385885622784
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,747,717,682,663,634.551119005,882,788,805,653,632.448880995,654,0.450518054437,-0.00556041251897,0.0598040725516,0.999999948231,-9.37782165166e-05,-0.000301764418036,-6.06855769468e-05,1793237385902289920
+238,3.966666667,POSE1_TO_POSE2_PRESS,766.960531743,747,717,682,662.960531743,634.039468257,882.039468257,788,805,653,633,654.039468257,0.450526584852,-0.00555829507517,0.0598036869344,0.999999947845,-9.19198102738e-05,-0.000303564128581,-6.09096082764e-05,1793237385918956544
+239,3.983333333,POSE1_TO_POSE2_PRESS,766.38362683,747,717,682,662.38362683,634.61637317,882.61637317,788,805,653,633,654.61637317,0.45053102292,-0.00555770056064,0.0598013445679,0.999999947008,-9.07728868051e-05,-0.000306612039086,-6.11064048359e-05,1793237385935623168
+240,4.000000000,POSE1_TO_POSE2_PRESS,766.193656975,747.193656975,717,682,662,635,883,788,805,653,633,654.806343025,0.450534904018,-0.00555698122093,0.0597995853452,0.99999994635,-8.95721743985e-05,-0.000309096196665,-6.11190319126e-05,1793237385952289792
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.771692783,747.771692783,717,682,662,635,883,788,805,653,633,654.228307217,0.450537679616,-0.00555601412278,0.0597989835718,0.999999946065,-8.82646994257e-05,-0.0003104613926,-6.07661113332e-05,1793237385968956416
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,748,717,682,662,635,883,788,805.347094809,653,633,654.347094809,0.450539735989,-0.0055562959909,0.0597986074281,0.99999994572,-8.82344093067e-05,-0.000311636091781,-6.04796108483e-05,1793237385985623040
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,748,717,682,662,635,883,788,805.920777447,653,633,654.920777447,0.450541322843,-0.00555739319986,0.0597983785784,0.999999945336,-8.90378814701e-05,-0.000312686432249,-6.02364702446e-05,1793237386002289664
+244,4.066666667,POSE1_TO_POSE2_PRESS,767,747.490760541,717,682,662,634.490760541,882.490760541,787.490760541,805.490760541,653.509239459,632.490760541,654.490760541,0.450542592583,-0.00555674710739,0.0597978121696,0.999999945136,-8.92136190141e-05,-0.000313253802794,-6.03438551842e-05,1793237386018956288
+245,4.083333333,POSE1_TO_POSE2_PRESS,767,747,716.901939305,682,662.098060695,634.098060695,882.098060695,787.098060695,805,653.901939305,632,654,0.450543348602,-0.0055557106891,0.0597969541329,0.999999944871,-8.9268771757e-05,-0.000314043101136,-6.05404564523e-05,1793237386035622912
+246,4.100000000,POSE1_TO_POSE2_PRESS,767,747,716.322969484,682,662.677030516,634.677030516,882.677030516,787.677030516,805,653.322969484,632,654,0.4505418344,-0.0055541298388,0.0597949311333,0.999999944142,-8.92257965638e-05,-0.000316300272005,-6.08991660161e-05,1793237386052289792
+247,4.116666667,POSE1_TO_POSE2_PRESS,767,747,716.254557332,682,662.745442668,635,883,788,805,653,632.254557332,654,0.450541338596,-0.00555302257322,0.0597934965108,0.999999943694,-8.83980001465e-05,-0.000317882768043,-6.12261985103e-05,1793237386068956928
+248,4.133333333,POSE1_TO_POSE2_PRESS,767,747,716.830263736,682,662.169736264,635,883,788,805,653,632.830263736,654,0.450542127601,-0.00555251278105,0.0597928041833,0.999999943603,-8.65800746808e-05,-0.000318614095836,-6.15132673196e-05,1793237386085623552
+249,4.150000000,POSE1_TO_POSE2_PRESS,767,746.58474334,717,682,662,634.58474334,883,788,805,653,633,654,0.450542927795,-0.00555167440565,0.0597933702356,0.99999994376,-8.62974750349e-05,-0.00031820043669,-6.14882664462e-05,1793237386102289920
+250,4.166666667,POSE1_TO_POSE2_PRESS,767,746.004062819,716.995937181,681.995937181,662,634.004062819,883,788,805.004062819,653,633,654,0.450543728129,-0.00555071411908,0.0597944527455,0.999999944019,-8.66624261051e-05,-0.000317316327928,-6.13285601841e-05,1793237386118956800
+251,4.183333333,POSE1_TO_POSE2_PRESS,767,746.583044526,716.416955474,681.416955474,662,634.583044526,883,788,805.583044526,653,633,654,0.45054388609,-0.00555194288601,0.0597941666929,0.999999943873,-8.78241275538e-05,-0.00031760245534,-6.05704263174e-05,1793237386135623424
+252,4.200000000,POSE1_TO_POSE2_PRESS,767,747,716.160717487,681.160717487,662,634.839282513,882.839282513,788,805.839282513,653,633,654,0.450544361579,-0.00555306269454,0.0597940927289,0.999999943849,-8.85736229472e-05,-0.000317580199245,-5.99930211378e-05,1793237386152289792
+253,4.216666667,POSE1_TO_POSE2_PRESS,767,747,716.735022509,681.735022509,662,634.264977491,882.264977491,788,805.264977491,653,633,654,0.450545654186,-0.00555390211136,0.0597945645497,0.999999944142,-8.82623545032e-05,-0.000316764354471,-5.98807000087e-05,1793237386168956416
+254,4.233333333,POSE1_TO_POSE2_PRESS,767,747,717,682,662.311121647,634.311121647,882,787.688878353,805,653,633,654,0.450545013486,-0.00555332292853,0.0597933421817,0.999999943737,-8.73637847144e-05,-0.000318241496213,-6.01296170503e-05,1793237386185623296
+255,4.250000000,POSE1_TO_POSE2_PRESS,767,747,717,682,662.888757638,634.888757638,882,787.111242362,805,653,633,654,0.450542716668,-0.0055515285388,0.0597906685304,0.999999942724,-8.59621183735e-05,-0.000321682865821,-6.068797947e-05,1793237386202290176
+256,4.266666667,POSE1_TO_POSE2_PRESS,767,747,717,682,662.525033522,635,882.474966478,787,805,653.474966478,633,654,0.45054272805,-0.00555007177409,0.0597906337108,0.999999942597,-8.50997606918e-05,-0.000322306817448,-6.06810158517e-05,1793237386218956800
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+258,4.300000000,POSE1_TO_POSE2_PRESS,767,747,717,682,662,634.360668795,882.360668795,787,805,653.360668795,632.360668795,654,0.450542519614,-0.00555237872609,0.0597899056916,0.99999994189,-8.86940299139e-05,-0.000323585164119,-6.03875164404e-05,1793237386252290304
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+260,4.333333333,POSE1_TO_POSE2_PRESS,767,747,716.204118885,681.204118885,662,634,882,787,805,653,632,654,0.450542693638,-0.00555287314407,0.05978981925,0.999999942051,-8.73720631271e-05,-0.000323577803849,-5.96785849585e-05,1793237386285623296
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+263,4.383333333,HOLD_POSE2,767,747,717,682,662,635,883,788,805,653,633,654,0.450545224872,-0.00554807227379,0.0597905255008,0.999999942918,-8.30905323767e-05,-0.000321796797831,-6.08752618356e-05,1793237386348657152
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+270,4.500000000,HOLD_POSE2,767,747,716.942855025,682,663,635,882,788,805.942855025,653.057144975,633,654.942855025,0.450542927992,-0.00554903630713,0.0597885499565,0.99999994164,-8.60355238517e-05,-0.000325099012504,-6.02442793583e-05,1793237386465322240
+271,4.516666667,HOLD_POSE2,767,747,716.368900104,682,663,635,882,788,805.368900104,653.631099896,633,654.368900104,0.450543216393,-0.00554915289165,0.0597889905559,0.999999941726,-8.48572604486e-05,-0.00032515305209,-6.01838684063e-05,1793237386481988864
+272,4.533333333,HOLD_POSE2,767,747,716.207237395,682,662.792762605,635,882.207237395,787.792762605,805,654,633,654,0.450543448095,-0.00554905404754,0.0597891182912,0.999999941827,-8.40139287318e-05,-0.00032509440634,-6.00143950735e-05,1793237386498655744
+273,4.550000000,HOLD_POSE2,767,747,716.787301361,682,662.212698639,635,882.787301361,787.212698639,805,654,633,654,0.450543577793,-0.00554856764057,0.0597886831743,0.999999941954,-8.37731497444e-05,-0.000324833036131,-5.96487151054e-05,1793237386515322368
+274,4.566666667,HOLD_POSE2,767,747,717,682,662.373520876,635,882.626479124,787,805,653.626479124,633,654,0.450544011149,-0.0055484596037,0.0597885071954,0.999999941933,-8.3422284329e-05,-0.000324966758779,-5.97547895562e-05,1793237386531988992
+275,4.583333333,HOLD_POSE2,767,747,717,682,662.963304412,635,882.036695588,787,805,653.036695588,633,654,0.450544620317,-0.00554857063707,0.0597884812533,0.999999941827,-8.30076805957e-05,-0.000325329233898,-6.01340022952e-05,1793237386548655616
+276,4.600000000,HOLD_POSE2,767,746.456998891,717,682,662.456998891,634.456998891,882,787.543001109,804.456998891,653,632.456998891,654,0.45054403912,-0.00554747242684,0.059787537153,0.999999941451,-8.25598519736e-05,-0.000326549976994,-6.03871701244e-05,1793237386565322240
+277,4.616666667,HOLD_POSE2,767,746.121277935,717,682,662.121277935,634.121277935,882.121277935,787.878722065,804.121277935,653,632,654.121277935,0.4505434238,-0.00554683384409,0.0597869007892,0.999999941142,-8.25267853975e-05,-0.000327489698845,-6.04629147402e-05,1793237386581988864
+278,4.633333333,HOLD_POSE2,767,746.696743755,717,682,662.696743755,634.696743755,882.696743755,787.303256245,804.696743755,653,632,654.696743755,0.450542976455,-0.00554821703391,0.0597876450375,0.999999941155,-8.40552648468e-05,-0.000327163738243,-5.99055248737e-05,1793237386598655488
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,747,717,682,662,634,882,788,805,653,633,654,0.450543762193,-0.00554613770048,0.0597879969752,0.999999941856,-8.01474809051e-05,-0.000325871380493,-6.06059699333e-05,1793237386636378624
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,747,717,682,662,634,882.592342357,787.407657643,805,653,632.407657643,654,0.450543807366,-0.0055471688612,0.0597879137089,0.999999941841,-8.14108070964e-05,-0.000325687441206,-6.01451831407e-05,1793237386653045248
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,747,716.820503251,681.820503251,662.179496749,634.179496749,882.820503251,787,805,653.179496749,632,654,0.450543843545,-0.00554762903934,0.0597878643833,0.999999941805,-8.22899506018e-05,-0.000325622073853,-5.99017099825e-05,1793237386669711872
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,747,716.244800227,681.244800227,662.755199773,634.755199773,882.244800227,787,805,653.755199773,632,654,0.45054385987,-0.00554682887798,0.0597878899756,0.999999941725,-8.23210812761e-05,-0.000325818432342,-6.01379168727e-05,1793237386686378496
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,747,716.331309464,681.331309464,662.668690536,634.668690536,882,787,805,653.668690536,632.331309464,654,0.450543397278,-0.00554647337736,0.0597875201274,0.999999941437,-8.22163842465e-05,-0.000326696119304,-6.03031167417e-05,1793237386703044864
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,747,716.907719971,681.907719971,662.092280029,634.092280029,882,787,805,653.092280029,632.907719971,654,0.450542580384,-0.00554644683453,0.0597868577342,0.999999940995,-8.20112025755e-05,-0.000328077849568,-6.04157859661e-05,1793237386719711488
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,747,717,681.507266245,662,634.492733755,882,787.492733755,805,653,633,654,0.450542430134,-0.00554594266342,0.0597870199562,0.999999941202,-8.14552756642e-05,-0.000327580609497,-6.04353022579e-05,1793237386736378368
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,747,717,681.078267172,662,635,882,787.921732828,805,653.078267172,633,654.078267172,0.450542415108,-0.00554533104954,0.0597872314525,0.999999941468,-8.06373382682e-05,-0.000326971270223,-6.04258344351e-05,1793237386753045248
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,747,717,681.656642565,662,635,882,787.343357435,805,653.656642565,633,654.656642565,0.450542452198,-0.00554461463008,0.0597867534597,0.999999941322,-7.85724078598e-05,-0.000327934137157,-6.03446208232e-05,1793237386769711872
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,747,717,682,662,635,882.234760887,787.234760887,805,654,633,654.765239113,0.450540735917,-0.00554508605216,0.0597851792733,0.999999940624,-7.8871646187e-05,-0.000329994887394,-6.02947019874e-05,1793237386786378496
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,747,717,682,662,635,882.812503583,787.812503583,805,654,633,654.187496417,0.45053645799,-0.0055472928913,0.059782003566,0.999999939105,-8.26248964818e-05,-0.000333659627062,-6.02905043132e-05,1793237386803045120
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,747,717,682,662,635,882.611796205,788,805,653.611796205,633,654,0.450525162987,-0.00554662828729,0.0597772803639,0.999999936566,-8.22816330493e-05,-0.000341214256858,-6.05879450146e-05,1793237386819712000
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,747,717,682,662,635,882.037077267,788,805,653.037077267,633,654,0.450510496582,-0.00554458407919,0.0597718136571,0.999999933467,-7.99701721831e-05,-0.000350637811009,-6.10303099116e-05,1793237386836378624
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766.446417264,747,716.446417264,681.446417264,662,634.446417264,882,788,805,653,633,654.553582736,0.450473997789,-0.0055441954431,0.0597551662273,0.999999923613,-8.00386040008e-05,-0.000377569001225,-6.17225618137e-05,1793237386853044992
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766.142263592,747,716.142263592,681.142263592,662.142263592,634.142263592,882,788,805,653,632.857736408,654.857736408,0.450432413618,-0.00554345281686,0.0597374627387,0.999999912934,-7.97923184119e-05,-0.000404808863042,-6.2411728286e-05,1793237386869711616
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766.721489033,747,716.721489033,681.721489033,662.721489033,634.721489033,882,788,805,653,632.278510967,654.278510967,0.45037983424,-0.00554127223041,0.0597188838548,0.999999902821,-7.80752741533e-05,-0.00042928836867,-6.30384873826e-05,1793237386886378240
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767.29836886,747,717,682,663,634.70163114,882,788,805,653,632.29836886,654,0.450323157875,-0.0055393861059,0.0597039088528,0.99999989445,-7.71707621237e-05,-0.000448409067764,-6.3826824578e-05,1793237386903045120
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767.873076229,747,717,682,663,634.126923771,882,788,805,653,632.873076229,654,0.45026268703,-0.0055377727016,0.0596922716378,0.999999887953,-7.70187883512e-05,-0.00046256663158,-6.47648095775e-05,1793237386919712000
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767.553200335,747,717,681.553200335,662.553200335,634.446799665,882.446799665,788,805.446799665,653.446799665,633,654,0.450194851141,-0.00553564352893,0.0596877955902,0.999999884587,-7.49400310701e-05,-0.000470139724263,-6.46449544405e-05,1793237386936378368
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,747,717,681.020900248,662,635,883,788,805.979099752,653.979099752,633,654.020900248,0.450124290404,-0.00553334799835,0.0596853878463,0.999999882175,-7.23741980644e-05,-0.000475697228171,-6.42199182242e-05,1793237386953044992
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,747,717,681.61292828,662,635,883,788,805.38707172,653.38707172,633,654.61292828,0.450036316375,-0.00553050145984,0.0596840315861,0.999999881575,-7.14225037375e-05,-0.000477176885823,-6.36490287537e-05,1793237386969711616
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767,747,717,682,662.200667655,635,882.799332345,788,805,653,633,655,0.449941175271,-0.00552795691136,0.059681997961,0.999999880648,-7.03843509052e-05,-0.000479347223605,-6.30564948601e-05,1793237386986378496
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,747,717,682,662.780307589,635,882.219692411,788,805,653,633,655,0.449832498746,-0.00552598268858,0.0596786850939,0.9999998791,-6.91829163756e-05,-0.000482821949927,-6.24230843068e-05,1793237387003045376
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766.645071347,747,717,681.645071347,663,635,882.354928653,787.645071347,805,653,633,654.645071347,0.449712007156,-0.00552207816257,0.0596782005384,0.999999878872,-6.56604577395e-05,-0.000483853143653,-6.18986759315e-05,1793237387019712000
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766.073513475,747,717,681.073513475,663,635,882.926486525,787.073513475,805,653,633,654.073513475,0.449584304279,-0.00551699548386,0.0596794422307,0.999999879435,-6.07213716223e-05,-0.000483392937797,-6.14407965178e-05,1793237387036378624
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766.515815967,746.484184033,717,681.515815967,662.484184033,635,883,787,805,653,633,654,0.44943266274,-0.00551097593672,0.0596806118874,0.999999880359,-5.39403942892e-05,-0.000482462561217,-6.00268417566e-05,1793237387053044992
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746.105402032,717,682,662.105402032,635,882.894597968,787.105402032,804.894597968,653,632.894597968,654,0.449273207964,-0.00550515584972,0.0596816279334,0.999999881157,-4.8107304882e-05,-0.000481600446712,-5.85972666945e-05,1793237387069711872
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746.684355883,717,682,662.684355883,635,882.315644117,787.684355883,804.315644117,653,632.315644117,654,0.449094524841,-0.00550085319057,0.0596820016057,0.999999881341,-4.77543641983e-05,-0.000481356818601,-5.7731541619e-05,1793237387086378496
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,747,717,681.748180708,663,635,882.251819292,788,804.503638585,653,632.251819292,654,0.448903462865,-0.00549553566201,0.059683796582,0.99999988196,-4.47348886873e-05,-0.000480510516597,-5.64609542893e-05,1793237387103045120
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,747,717,681.194491568,663,635,882.805508432,788,805.611016864,653,632.805508432,654,0.44869756168,-0.00548900155309,0.0596872953549,0.999999883069,-3.85188890037e-05,-0.000478941755748,-5.47050360189e-05,1793237387119711744
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,747,717,681.38754761,663,635,882.61245239,788,805.61245239,653,632.61245239,654,0.448478203976,-0.00548247997306,0.0596917438975,0.999999886028,-3.21026991542e-05,-0.000473429833225,-5.26966225525e-05,1793237387136378624
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,747,717,681.984937216,663,635,882.015062784,788,805.015062784,653,632.015062784,654,0.448251560094,-0.00547596517715,0.0596967067034,0.999999889918,-2.55781142961e-05,-0.000465782841647,-5.05514927863e-05,1793237387153045248
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,747,717,682,663,635,882,788,805,653,632.578581426,654,0.447994745543,-0.0054684748906,0.0597094330738,0.999999899651,-1.96785962774e-05,-0.000444942881555,-4.83355461005e-05,1793237387169711872
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,747,717,681.832417501,663,635,882,788,804.832417501,653,633,654,0.447727896134,-0.00546122416609,0.0597220919955,0.999999908667,-1.33645041552e-05,-0.000424714409088,-4.58847606437e-05,1793237387186378240
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,747,717,681.254547003,663,635,882,788,804.254547003,653,633,654,0.447438389334,-0.00545462173267,0.0597340941282,0.999999916313,-5.99583713666e-06,-0.000406818519639,-4.28635104502e-05,1793237387203045120
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,747,716.677515324,681,663.644969352,635,882.322484676,788,804.322484676,653,633,654,0.447119809083,-0.00544688783445,0.059739922106,0.999999918379,2.87693383211e-06,-0.000401998698078,-4.03943230346e-05,1793237387219712000
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,747,716.101143971,681,664.797712057,635,882.898856029,788,804.898856029,653,633,654,0.446778339769,-0.0054382631526,0.0597408892786,0.999999916163,1.29338609363e-05,-0.000407473439519,-3.83597648944e-05,1793237387236378624
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766.516557613,747,716,681.483442387,664.033115226,635.483442387,882.516557613,788,805,653,633,654,0.446416156406,-0.00542983797303,0.0597352279298,0.999999910279,2.31496962388e-05,-0.000421407477589,-3.63681105733e-05,1793237387253045248
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,746,716.861268978,681,665,637,882.861268978,789,805,653,633.861268978,654,0.441255504478,-0.0053971037285,0.0597870371642,0.99999992553,0.000174771868749,-0.000344084084528,-9.5270574732e-07,1793237387436378624
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746,717,681.445006635,665,637,882.554993365,789,805,653,633.554993365,654,0.440659454288,-0.00539385691659,0.059777649364,0.999999914811,0.000188780454269,-0.000367057431594,2.91237643752e-06,1793237387453045248
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,746,716.968875714,681.968875714,665,637,882,789,804.968875714,653,633,654,0.440064350134,-0.00539436458642,0.0597737465714,0.999999910258,0.000182950794873,-0.000382045519365,7.35660684513e-06,1793237387469712128
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,746,716.389044892,681.389044892,665,637,882,789,804.389044892,653,633,654,0.439478914209,-0.00540061934219,0.0598062757694,0.999999933398,0.000172409099594,-0.000321454229945,1.21117151945e-05,1793237387486378752
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,746.190155118,716,681,665,637,882,789,804.190155118,653,633,654,0.438867396997,-0.00540659229691,0.0598317702009,0.999999948005,0.000164070264688,-0.000277097453101,1.69763323208e-05,1793237387503045376
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,746.768068763,716,681,665,637,882,789,804.768068763,653,633,654,0.438202695653,-0.00541199061116,0.0598429195489,0.999999951584,0.000160223437305,-0.000265845605598,2.20642562033e-05,1793237387519712000
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,747,716.344093454,681,664.655906546,637,882,789,805,653,633.344093454,654,0.437500811977,-0.00540875494778,0.0598235508634,0.99999993999,0.000171601802229,-0.000299939735379,2.46818168025e-05,1793237387536378368
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,747,716.918851852,681,664.081148148,637,882,789,805,653,633.918851852,654,0.436774002948,-0.00539973144969,0.0597837242453,0.999999914605,0.000193186458302,-0.00036443179043,2.56433554619e-05,1793237387553045248
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,747,717,681,664.504644751,637,882,789,805,653,633.495355249,654,0.436087147797,-0.00539374088914,0.0597655649986,0.999999900378,0.000219156072273,-0.000387920840993,2.70537897104e-05,1793237387569711872
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,747,716.908495771,681,665.091504229,637,882,789,805,653,633,654.091504229,0.435404186065,-0.0053893063532,0.0597566996437,0.999999893031,0.000240261751987,-0.000394200098,2.8615772693e-05,1793237387586378496
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,747,716.325650087,681,665.674349913,637,882,789,805,653,633,654.674349913,0.434706861493,-0.00539054973581,0.0597786119838,0.999999913505,0.000231379209856,-0.000344264891815,3.05952501636e-05,1793237387603045120
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,747,716.254014383,681,665.491971233,637,882,788.745985617,805,653,633,654.745985617,0.43398885995,-0.00539632164297,0.0597962821556,0.999999933801,0.00019039856045,-0.000309181626031,2.35171159092e-05,1793237387619711744
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,747,716.829651015,681,664.340697971,637,882,788.170348985,805,653,633,654.170348985,0.433244678004,-0.0054078273762,0.0598085810764,0.999999951175,0.000108776646046,-0.000292903250241,4.97061770765e-06,1793237387636378368
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,747,717,681,664,637,882,788.409021874,804.590978126,653.409021874,633,654,0.432502166916,-0.0054093742599,0.0598064149365,0.999999949548,0.000102977324569,-0.000300485674778,2.77454844291e-06,1793237387653045248
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,747,717,681,664,637,882,788.989962256,804.010037744,653.989962256,633,654,0.431760358161,-0.00540673527742,0.059798168897,0.999999941053,0.000129047469843,-0.000318097180784,7.45082993792e-06,1793237387669711872
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,747,717,681,664,637,882,789,804.573432369,654,633,654,0.431017381847,-0.00539960213483,0.05981506346,0.999999947761,0.000148472665101,-0.000286847802413,1.2330873339e-05,1793237387686378496
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,747,717,680.844137839,664.311724321,637,882,789,804.844137839,654,633,654,0.430259755013,-0.00539371333878,0.059827003166,0.999999950344,0.000166022066759,-0.000267341431782,1.66595195192e-05,1793237387703045376
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,747,717,680.264656467,665.470687067,637,882,789,804.264656467,654,633,654,0.429462365233,-0.00539142132616,0.0598242746274,0.999999944041,0.000178790772618,-0.000282086404563,1.94797806838e-05,1793237387719711744
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,747,716.687754707,680.312245293,665.375509415,637,881.687754707,789,804,653.687754707,633,654,0.428647169841,-0.00539092791189,0.0598027272225,0.999999932528,0.000177709507963,-0.00032093259005,1.91011725902e-05,1793237387736378368
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,747,716.11302152,680.88697848,664.226043041,637,881.11302152,789,804,653.11302152,633,654,0.427817006265,-0.00539194648302,0.0597653598047,0.999999914046,0.000164985313759,-0.000380039372702,1.60334462419e-05,1793237387753045248
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746.538614181,716,681,664.461385819,637,881.461385819,789,804.461385819,653.461385819,633,654,0.42705841459,-0.00539284700699,0.0597739651978,0.999999925001,0.000161076971285,-0.000351876885338,1.53228590854e-05,1793237387769711872
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.963258427,664.963258427,637,882,789,804.963258427,654,633,654,0.426316310737,-0.00539360215405,0.0597942363059,0.999999940911,0.000160211667528,-0.000303763252312,1.54152271467e-05,1793237387786378240
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.372396768,664.372396768,637,882,789,804.372396768,654,633,654,0.42555864161,-0.00539260059509,0.0598207227708,0.999999946563,0.00017269389545,-0.000276934778534,1.89153576925e-05,1793237387803045120
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746.213898752,716.213898752,680,664,637,882,789,804.213898752,653.786101248,633,654,0.424788809526,-0.0053914581445,0.0598392264867,0.999999949503,0.000180554158472,-0.000260615908133,2.17734119274e-05,1793237387819711744
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746.792410895,716.792410895,680,664,637,882,789,804.792410895,653.207589105,633,654,0.423998244255,-0.00539007552882,0.0598441227538,0.999999949049,0.000180535788231,-0.00026221178125,2.35369787325e-05,1793237387836378368
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746.630585737,716.630585737,680.369414263,664,637.369414263,882,789,804.630585737,653,633,654,0.423213842188,-0.00538926784075,0.0598489001415,0.999999951534,0.000179654394132,-0.000253100461499,2.44188939825e-05,1793237387853044992
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746.054426799,716.054426799,680.945573201,664,637.945573201,882,789,804.054426799,653,633,654,0.422432889439,-0.00538878191407,0.0598536109975,0.999999955477,0.000178290004065,-0.000237996803622,2.4807388095e-05,1793237387869711616
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,746,716.53256393,680.46743607,664,637.46743607,882,789,804,653.53256393,633,654,0.421647339462,-0.0053866875831,0.0598428621021,0.999999948249,0.00018250649474,-0.000263769906201,2.4886218716e-05,1793237387886378240
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746,716.881302029,680,664,637,882,789,804,653.881302029,633,654.118697971,0.420856052678,-0.00538454231183,0.0598230804855,0.999999935916,0.000186429880857,-0.000304654646985,2.44511648267e-05,1793237387903044864
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,716.302862723,680,664,637,882,789,804,653.302862723,633,654.697137277,0.420044403616,-0.00538284961476,0.0597745598252,0.999999907178,0.000186963056498,-0.000387553560075,2.21508515316e-05,1793237387919711488
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,746.274735691,716.274735691,680,664,637,882,789,804,653.274735691,633,654.725264309,0.419278462954,-0.00538195720325,0.0597548755592,0.99999989794,0.000186566004385,-0.000410962363612,2.05750328026e-05,1793237387936378368
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746.851409913,716.851409913,680,664,637,882,789,804,653.851409913,633,654.148590087,0.418562756546,-0.00538194431736,0.0597668829145,0.999999914587,0.000185146619202,-0.000368990665212,1.97954444201e-05,1793237387953044992
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,747,716.572887409,680.427112591,664,637,882,789.427112591,804,654,633,654.427112591,0.41785093678,-0.00538338833179,0.0597984698436,0.999999930867,0.00018513706528,-0.000321738032808,2.17896601802e-05,1793237387969712640
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767.002551348,746.997448652,716.002551348,680.997448652,664.002551348,637,881.997448652,789.997448652,804,653.997448652,633,655,0.417140507123,-0.00538530986319,0.059836733767,0.999999945243,0.000185653561024,-0.000272827740135,2.47400825746e-05,1793237387986380288
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767.594926527,746.405073473,716.594926527,680.405073473,664.594926527,637,881.405073473,789.405073473,804,653.405073473,633,655,0.416439577492,-0.00538071661761,0.059847446885,0.999999945743,0.000194652248283,-0.000264462509592,2.61659838356e-05,1793237388003045888
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767.817590384,746,717,679.817590384,664.817590384,637,881,789,804,653,633,655,0.415741597953,-0.00537737195621,0.0598519715229,0.999999944639,0.000201312588246,-0.000263556177152,2.70823905177e-05,1793237388019712000
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767.240687208,746,717,679.240687208,664.240687208,637,881,789,804,653,633,655,0.415049998385,-0.00537672758149,0.0598431124632,0.999999940191,0.000202915833861,-0.000278781050184,2.68969239232e-05,1793237388036378624
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,717,679.334683266,664,637,881,789,804,653.334683266,633,654.665316734,0.414371595736,-0.00537745107757,0.0598414926754,0.999999939168,0.000203972845709,-0.000281668451192,2.68532589441e-05,1793237388053044992
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.908956488,664,637,881,789,804,653.908956488,633,654.091043512,0.413702640417,-0.00537915379238,0.0598450552711,0.999999940688,0.000204638824709,-0.000275723816115,2.69111056053e-05,1793237388069711616
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,717,679.504927572,664.495072428,637.495072428,881,789,804,653.504927572,633,654,0.413017568161,-0.00537811856313,0.0598245898487,0.999999929508,0.000205931846808,-0.000312881493321,2.60840739835e-05,1793237388086379264
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,717,679,664.917573966,637.917573966,881,789,804,653,633,654,0.412336219533,-0.00537620387002,0.0597996346161,0.999999914592,0.000207924554807,-0.000356313744372,2.4985428593e-05,1793237388103046656
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,717,679,664.336234334,637.336234334,881,789,804,653,633,654,0.411695789232,-0.00537208824644,0.0597749046665,0.999999901458,0.000213437290215,-0.000388571367745,2.32518552711e-05,1793237388119713792
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,717,679.242287739,664.242287739,637,881.242287739,789,804,653,633.242287739,654,0.411093276646,-0.00536975851547,0.0597719063237,0.999999901476,0.000216380151022,-0.000386930641421,2.2622985775e-05,1793237388136380160
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,717,679.816944653,664.816944653,637,881.816944653,789,804,653,633.816944653,654,0.410542779456,-0.00536987866388,0.0597987192984,0.999999919051,0.000215797669458,-0.000338788316601,2.35095438899e-05,1793237388153046528
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.608454467,665,637,881.608454467,789,804,653.391545533,633.608454467,654,0.410007119386,-0.00536880400615,0.0598277086799,0.999999931716,0.000220287731058,-0.000295629138693,2.53913167446e-05,1793237388169712640
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,717,679.03387973,665,637,881.03387973,789,804,653.96612027,633.03387973,654,0.409478394926,-0.00536717083251,0.0598577154321,0.999999941356,0.000227148968877,-0.000254799344214,2.77383059531e-05,1793237388186378752
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746.556459284,717,679.556459284,664.443540716,637.556459284,881.556459284,789,804,654,633,654,0.408939772627,-0.0053700139081,0.0598614816968,0.999999942392,0.000227015512372,-0.000250675759819,2.90276929039e-05,1793237388203045120
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.27627284,746.27627284,716.27627284,680,664,637.27627284,881.27627284,789,804,654,633,654,0.407888152013,-0.00537270051026,0.0598459677672,0.999999936839,0.000223123566952,-0.00027522239813,2.8100645059e-05,1793237388236379648
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.299829282,746,716,680,664.299829282,637,881,789,803.700170718,653.700170718,633,654,0.407399822114,-0.00537232572507,0.0598368878205,0.999999933728,0.000221985634271,-0.00028727892151,2.71686916425e-05,1793237388253046784
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+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,716.44782354,679.55217646,665,637,881,789,803.44782354,653,633,654,0.406518665042,-0.00537046235261,0.0598408436369,0.999999937602,0.000224286957157,-0.000271591257382,2.70022775193e-05,1793237388286379776
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,717,679,665,637,881,789,804,653.023349063,633,654,0.40611109252,-0.00536952903316,0.0598531695815,0.999999943693,0.000226620759059,-0.00024597248029,2.74801098274e-05,1793237388303045376
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,717,679,665,637,881,789,804,653.614879989,633,654,0.405709394267,-0.0053671812764,0.0598558440629,0.999999943799,0.000227284244974,-0.00024484672406,2.81631139894e-05,1793237388319712000
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746.202220482,717,679,664.797779518,637.202220482,881.202220482,789,803.797779518,654,633,654,0.405314702537,-0.00536378221711,0.0598528563969,0.99999994151,0.000231959377552,-0.000249747658231,2.82905256797e-05,1793237388336378880
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746.78174243,717,679,664.21825757,637.78174243,881.78174243,789,803.21825757,654,633,654,0.404933083568,-0.00535842164568,0.0598393043383,0.999999934478,0.000244119410377,-0.0002658931464,2.73813170018e-05,1793237388353045504
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,747,717,679.358001426,664,637.641998574,881.641998574,789,803,654,633,654,0.40456533061,-0.00535383096405,0.0598211687517,0.999999922801,0.000255190286891,-0.000297575830818,2.68989368408e-05,1793237388369712128
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,747,717,679.932289168,664,637.067710832,881.067710832,789,803,654,633,654,0.404205954757,-0.00534970541031,0.0598002640284,0.999999907031,0.000265603151211,-0.000338645302831,2.66744247126e-05,1793237388386378752
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746.479213622,716.479213622,679.479213622,664,637,881.520786378,789,803,654,633,654.520786378,0.403907290938,-0.00535098516911,0.0597988140314,0.999999908359,0.000263594316846,-0.000336226985398,2.74182211232e-05,1793237388403045632
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,716.109000503,679.109000503,664,637.109000503,881.890999497,789,803.109000503,654,633,655,0.40362621961,-0.00535280703087,0.0598031729066,0.999999913283,0.000260378106041,-0.000323768513673,2.84748298119e-05,1793237388419712256
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746,716.687808484,679.687808484,664,637.687808484,881.312191516,789,803.687808484,654,633,655,0.403385997589,-0.00535385138739,0.059821360807,0.99999992302,0.000259114176353,-0.000293089243251,3.0321852957e-05,1793237388436379136
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,717,679.734814459,664,637.734814459,881,789,804,654,633,655.265185541,0.403156719251,-0.00535690519916,0.059838440113,0.999999931895,0.000255445072657,-0.000264425328467,3.21931710404e-05,1793237388453045504
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.159112962,664,637.159112962,881,789,804,654,633,655.840887038,0.40294025531,-0.00536231195938,0.059854221322,0.999999940078,0.000248959658306,-0.000238121273104,3.40929369002e-05,1793237388469712128
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746.415315189,717,679.415315189,664,637.415315189,881.415315189,789,804,654,633,655.169369623,0.402735349702,-0.00536584130189,0.0598613489091,0.999999945002,0.000240474244194,-0.000225796525826,3.44052746684e-05,1793237388486378496
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746.989256981,717,679.989256981,664,637.989256981,881.989256981,789,804,654,633,654.021486039,0.40253485872,-0.0053686535783,0.0598651713082,0.999999948747,0.000231224944944,-0.000218811073796,3.41113058288e-05,1793237388503045120
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746.420410583,717,680,664,638,881.420410583,789,804,653.420410583,633,654,0.40233395336,-0.00537268514218,0.05985414682,0.999999956099,0.000171066763428,-0.000241142346444,1.96862984066e-05,1793237388519712000
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,717,680,664.166789558,637.833210442,881,789,804,653.166789558,633,654,0.40214442611,-0.00537559129477,0.0598449228768,0.999999957704,0.000129482565612,-0.000260257866003,9.63298940675e-06,1793237388536378624
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,717,680,664.745481981,637.254518019,881,789,804,653.745481981,633,654,0.401983017748,-0.00537566069759,0.0598408449549,0.999999954205,0.00013616681217,-0.00027005073323,1.10416915498e-05,1793237388553045760
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716.676677928,680,664.353355855,637,881,789,803.676677928,654,633,654,0.401844761962,-0.0053736072246,0.0598414978866,0.999999947826,0.00017697617856,-0.000269939340831,1.26598511623e-05,1793237388569712640
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716.099506962,680,663.199013924,637,881,789,803.099506962,654,633,654,0.401724683871,-0.00536988702447,0.059845865139,0.999999935651,0.000244578098535,-0.00026205184673,1.44424615998e-05,1793237388586379520
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767.485765261,746.485765261,716.485765261,680,663.485765261,637,880.514234739,789,803,654,633,654.485765261,0.401619254192,-0.00536941420685,0.059846611403,0.99999993338,0.000254102951581,-0.000261601586734,1.53591904906e-05,1793237388603045632
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767.928207119,746.928207119,717,679.928207119,664,637,880.143585762,789,803.071792881,654,633,654.928207119,0.401518486056,-0.00536938959483,0.0598465279181,0.999999933597,0.000252119101945,-0.000262643772281,1.61528352159e-05,1793237388619712000
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767.348771141,746.348771141,717,679.348771141,664,637,881.302457717,789,803.651228859,654,633,654.348771141,0.401429101991,-0.00536775076448,0.0598459111096,0.999999932854,0.000254306478455,-0.00026328376926,1.73516186973e-05,1793237388636378624
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767.229070795,746,717,679,664,637.229070795,881.770929205,789,803.770929205,654,633,654.229070795,0.401348918225,-0.00536687898524,0.0598459864805,0.999999932772,0.000254890290641,-0.000262964506523,1.83229288169e-05,1793237388653045504
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767.804502468,746,717,679,664,637.804502468,881.195497532,789,803.195497532,654,633,654.804502468,0.401282645552,-0.00536716700691,0.0598471084443,0.999999933692,0.0002530494726,-0.000261194818626,1.89502933484e-05,1793237388669712896
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767.611634426,746,717,679,664,637.611634426,881,789,803.388365574,654,633,654.611634426,0.401222795014,-0.00536583401374,0.0598442185611,0.999999932823,0.000252184287251,-0.000265333113681,1.88745253702e-05,1793237388686379520
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767.02343289,746,717,679,664,637.02343289,881,789,803.97656711,654,633,654.02343289,0.40116624903,-0.00536366691714,0.0598392643566,0.999999930992,0.000251821119921,-0.000272511398774,1.84369560918e-05,1793237388703045376
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,717,679,664,637,880.44444439,789,803.44444439,654,633,654,0.401125492317,-0.00536400008001,0.0598376908919,0.999999930361,0.000251210599579,-0.000275343023251,1.88820377129e-05,1793237388719712000
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746,717,679,664,637.133827314,880.133827314,789,803.133827314,654,633,654,0.401088894252,-0.00536398677605,0.0598373081163,0.999999930238,0.000250732789608,-0.000276199364584,1.92450898421e-05,1793237388736378880
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,717,679,664,637.710990664,880.710990664,789,803.710990664,654,633,654,0.401063902516,-0.0053624820553,0.0598404051115,0.999999931633,0.000250728614238,-0.000271109538841,1.92150788824e-05,1793237388753045504
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.287836229,664,638,881,789,804,654,633,654,0.401043172747,-0.00536226159852,0.059842608518,0.999999932648,0.0002501470977,-0.000267864753724,1.94422458942e-05,1793237388769712128
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,717,679.864363135,664,638,881,789,804,654,633,654,0.401026717593,-0.00536332921791,0.0598439156834,0.999999933301,0.000248986526152,-0.000266470485666,1.99273543122e-05,1793237388786378752
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767.438218896,746.438218896,717,679.561781104,664,638,881.438218896,789.438218896,803.561781104,654,633,654.438218896,0.401015618407,-0.00536252948295,0.0598447148675,0.9999999335,0.000250083367067,-0.000264691667582,1.9899724006e-05,1793237388803045376
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767.988309056,747,717,679,664.011690944,637.988309056,882,789.988309056,803.011690944,654,633,655,0.401006274681,-0.0053612292244,0.0598453873366,0.999999933585,0.000251791729191,-0.000262759411787,1.97231873814e-05,1793237388819712256
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+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,747,716.804194087,679.195805913,664.804194087,637,881.804194087,789,804,654,633,654.804194087,0.400997216264,-0.00536503264439,0.0598483660601,0.999999935934,0.000247364085253,-0.000257958684671,2.00191376785e-05,1793237388853046528
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,747,716.228179435,679.771820565,664.228179435,637,881.228179435,789,804,654,633,654.228179435,0.400989933358,-0.00536454077042,0.0598466374384,0.999999935216,0.000246221149554,-0.000261837951784,1.95980524176e-05,1793237388869713408
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+415,6.916666667,POSE2_TO_POSE3_RETREAT,767,746.08465996,716.91534004,680,664.91534004,637.91534004,881,789,804,654,633,654.91534004,0.400986226667,-0.00536453903395,0.0598460138486,0.999999935545,0.000244560638337,-0.000262165585765,1.92346975713e-05,1793237388903045888
+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746.506317743,716.493682257,680,664.493682257,637.493682257,881,789,804,654,633,655,0.400985302075,-0.00536480552724,0.0598464758178,0.999999935871,0.000243983794442,-0.000261446195477,1.94052195434e-05,1793237388919712256
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,746.902107124,716.097892876,679.902107124,664.097892876,637,881,789.097892876,804,654,633,654.902107124,0.400984461212,-0.00536504812123,0.059847092829,0.999999936144,0.000243632215408,-0.000260711707906,1.96067791782e-05,1793237388936378624
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746.324893301,716.675106699,679.324893301,664.675106699,637,881,789.675106699,804,654,633,654.324893301,0.400984381929,-0.00536504910256,0.0598481075248,0.999999936214,0.000244233360977,-0.000259873906941,1.97103669546e-05,1793237388953045504
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.251839203,664.748160797,637,881.251839203,789.748160797,804,654,633,654.251839203,0.400984855218,-0.00536551855862,0.0598491254715,0.999999936485,0.000244759687629,-0.000258319209852,1.98341245082e-05,1793237388969712384
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767,746,717,679.827952031,664.172047969,637,881.827952031,789.172047969,804,654,633,654.827952031,0.400986040011,-0.00536659123288,0.0598501476043,0.999999937014,0.000245189675896,-0.000255841421629,1.99838531188e-05,1793237388986379264
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746,717,679.586991481,664,637,881.586991481,789,803.586991481,654,633,654.586991481,0.400986198315,-0.00536541705285,0.059850364598,0.999999936984,0.000246108723572,-0.000255099281825,1.96509339511e-05,1793237389003045888
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746.001844664,717,679,664,637,881.001844664,788.998155336,803.001844664,653.998155336,633,654,0.40098592371,-0.0053632965121,0.0598502424998,0.999999936721,0.00024722755945,-0.000255091975907,1.91150609369e-05,1793237389019712256
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746.581763531,717,679,664,637,881.581763531,788.418236469,803.581763531,653.418236469,633,654,0.400986953567,-0.00536441436734,0.0598512894827,0.999999937429,0.000245698433375,-0.000253770689297,1.93795964983e-05,1793237389036378880
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767.160797386,746.839202614,717,679.160797386,664,637,881.839202614,788.160797386,803.839202614,653.160797386,633,654.160797386,0.400987752753,-0.00536564414284,0.059852360207,0.99999993807,0.000244392518272,-0.000252477725112,1.9657283729e-05,1793237389053045248
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767.737541877,746.262458123,717,679.737541877,664,637,881.262458123,788.737541877,803.262458123,653.737541877,633,654.737541877,0.400987955245,-0.00536716343113,0.0598534923451,0.999999938549,0.000243664000444,-0.000251258024831,1.99689913901e-05,1793237389069711872
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767.68726713,746,717,679.68726713,664,637,881,789,803.31273287,654,633,654.68726713,0.400987948125,-0.00536731500536,0.0598538127563,0.999999938665,0.000243640122439,-0.000250817557876,1.99891601593e-05,1793237389086378752
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767.11337348,746,717,679.11337348,664,637,881,789,803.88662652,654,633,654.11337348,0.400987765962,-0.00536632441217,0.0598534553007,0.999999938479,0.00024420468369,-0.000251027822653,1.97658670597e-05,1793237389103045632
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,746,717,679,664,637.471849806,881,788.528150194,803.528150194,654,633,654,0.400987195608,-0.0053667957926,0.059852550846,0.99999993853,0.000243455185857,-0.000251574268733,1.94913956664e-05,1793237389119712256
+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,746.058869509,716.941130491,679,664,637.941130491,881,788.058869509,803.058869509,654,633,654.058869509,0.400986710562,-0.00536760890027,0.0598517247707,0.999999938696,0.000242363353637,-0.000251986036514,1.92768887752e-05,1793237389136378880
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,746.637129791,716.362870209,679,664,637.362870209,881,788.637129791,803.637129791,654,633,654.637129791,0.400987821324,-0.00536826152375,0.0598527783197,0.99999993937,0.000241105373634,-0.000250479374107,1.97025946881e-05,1793237389153046016
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746.78435022,716.21564978,679,664,637.21564978,881,789,803.78435022,654,633,654.78435022,0.400988492733,-0.00536772261185,0.05985352945,0.999999939641,0.000241327338333,-0.000249171197646,1.98339186994e-05,1793237389169712640
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746.205392608,716.794607392,679,664,637.794607392,881,789,803.205392608,654,633,654.205392608,0.400988423956,-0.00536517630575,0.0598537710921,0.999999939231,0.000244042583846,-0.000248197412654,1.94692939737e-05,1793237389186379008
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,746.37082522,716.62917478,679,664,638,881.37082522,789,803,654,633,654,0.400987536629,-0.00536531522795,0.0598536846148,0.999999939029,0.000244533034055,-0.000248533781713,1.94045306539e-05,1793237389203045376
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767,746.945536632,716.054463368,679,664,638,881.945536632,789,803,654,633,654,0.40098619925,-0.00536693053578,0.0598534177318,0.999999938943,0.000243800252733,-0.000249590496446,1.95046364018e-05,1793237389219712000
+435,7.250000000,POSE2_TO_POSE3_RETREAT,767,746.465486733,716.534513267,679,664.534513267,637.465486733,881.465486733,789,803,654,633,654,0.40098775206,-0.00536721991142,0.059854437151,0.999999939373,0.000243693811263,-0.00024794434772,1.97709449843e-05,1793237389236378880
+436,7.266666667,POSE2_TO_POSE3_RETREAT,767,746,717,679.122604343,665,637,881,789,803.122604343,654,633,654.122604343,0.400988966268,-0.00536724970717,0.0598551803346,0.999999939698,0.000243553274819,-0.000246755046196,1.99297868892e-05,1793237389253045760
+437,7.283333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.701835264,665,637,881,789,803.701835264,654,633,654.701835264,0.400987792517,-0.00536682970208,0.0598543931833,0.999999939441,0.000243041547611,-0.000248321059695,1.9623578888e-05,1793237389269712640
+438,7.300000000,POSE2_TO_POSE3_RETREAT,767,746.278398542,717,679.721601458,664.721601458,637.278398542,881,789,804,654,633,655,0.400986730106,-0.00536635375035,0.0598537807056,0.999999939031,0.000243427246546,-0.000249612376694,1.93642935501e-05,1793237389286379776
+439,7.316666667,POSE2_TO_POSE3_RETREAT,767,746.852131854,717,679.147868146,664.147868146,637.852131854,881,789,804,654,633,655,0.40098578581,-0.00536581844853,0.0598533535276,0.999999938458,0.000244764966102,-0.000250612286079,1.91547854102e-05,1793237389303046912
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4dcf4f0683bcbee83c72a52db7f1353d1584faff
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_03/simulation_data.csv
@@ -0,0 +1,441 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+1,0.016666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
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diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..06169d7c78e9fa32c9cda895790ee9b3d80ec401
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39f6db192b2eb2d0760da9c44ff02507b679b7c549b55914c99e184f1600b24f
+size 27965890
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5d552240a7591b8edca82579c3874b3d3d5e163c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_04/franka_data.csv
@@ -0,0 +1,441 @@
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+11,0.183333333,BASELINE,767,746,717,679.394251767,664,638,881.394251767,789.394251767,804,654,633,654,0.400986752819,-0.00536820312864,0.0598549002346,0.999999939725,0.000242668896652,-0.00024750201595,2.00987866881e-05,1793237389605700864
+12,0.200000000,BASELINE,767,746,717,679.969524043,664,638,881.969524043,789.969524043,804,654,633,654,0.400984867855,-0.00536721798798,0.0598546586698,0.99999993896,0.000244307798107,-0.000249001570442,1.9802009959e-05,1793237389622367488
+13,0.216666667,BASELINE,767,746,717,679.444074263,664,638,881.444074263,789.444074263,803.444074263,654,633,654,0.400986923271,-0.0053672750997,0.0598556488873,0.999999939756,0.00024323082373,-0.000246860362112,1.96622221881e-05,1793237389639034112
+14,0.233333333,BASELINE,767.141657101,746,717,679,664,637.858342899,881,789,803,654,632.858342899,654,0.400988791948,-0.00536749222111,0.0598565733244,0.999999940484,0.000242269694389,-0.000244851751768,1.96109611195e-05,1793237389655700480
+15,0.250000000,BASELINE,767.723372182,746,717,679,664,637.276627818,881,789,803,654,632.276627818,654,0.400989395771,-0.00536802529237,0.0598570793585,0.999999940747,0.000242140396919,-0.000243887741077,1.98074271174e-05,1793237389672366848
+16,0.266666667,BASELINE,767.699112241,746,717,679,664,637,881,789,803,654,632.300887759,654.300887759,0.400989235424,-0.00536872723569,0.0598569752966,0.999999940983,0.000241100645267,-0.000243946073313,1.98926699842e-05,1793237389689033728
+17,0.283333333,BASELINE,767.12540446,746,717,679,664,637,881,789,803,654,632.87459554,654.87459554,0.40098838219,-0.00536958229813,0.0598563180505,0.99999994119,0.000239235369408,-0.000244931381238,1.98770649445e-05,1793237389705701120
+18,0.300000000,BASELINE,767,746,717,679,664,637.448722858,881,789,803.448722858,653.551277142,633,654.551277142,0.400988131004,-0.00536835838915,0.0598563550379,0.999999940767,0.000240936954606,-0.000245009498304,1.96362325359e-05,1793237389722367744
+19,0.316666667,BASELINE,767,746,717,679,664,638,881,789,803.976308038,653.023691962,633,654,0.400988045599,-0.00536672665034,0.0598565742577,0.999999940221,0.000243392670047,-0.00024483179086,1.93582230848e-05,1793237389739034112
+20,0.333333333,BASELINE,767,746,717,679,664,638,881,789,803.383950664,653.616049336,633,654,0.400987897021,-0.00536926470267,0.0598565062544,0.99999994109,0.000240000610258,-0.000244604761788,1.97001034291e-05,1793237389755700480
+21,0.350000000,BASELINE,767,746,716.796150803,679,664.203849197,637.796150803,881,789,803.203849197,653.796150803,633,654,0.40098782851,-0.00537049672772,0.0598563883314,0.99999994138,0.000238644661958,-0.00024473274087,1.98747582167e-05,1793237389772366848
+22,0.366666667,BASELINE,767,746,716.216747378,679,664.783252622,637.216747378,881,789,803.783252622,653.216747378,633,654,0.400987907507,-0.00536932264015,0.0598561784406,0.999999940616,0.000241039870725,-0.00024551475647,1.97413309834e-05,1793237389789033472
+23,0.383333333,BASELINE,767,746.359810362,716.359810362,679.359810362,664.640189638,637,881,789,804,653.359810362,633,654.359810362,0.400987439124,-0.00536872699092,0.0598557326358,0.999999940492,0.000240763659019,-0.000246296077711,1.9680349951e-05,1793237389805700352
+24,0.400000000,BASELINE,767,746.934667386,716.934667386,679.934667386,664.065332614,637,881,789,804,653.934667386,633,654.934667386,0.400986643591,-0.00536847705491,0.0598551458331,0.999999940749,0.000238890828563,-0.000247076984032,1.96626675855e-05,1793237389822367232
+25,0.416666667,BASELINE,767,747,717,680,664,637.521098396,881,789,804,654,633,654.478901604,0.400988467806,-0.00536989211769,0.05985683318,0.999999941779,0.0002370698133,-0.000244637692102,1.980868228e-05,1793237389839034368
+26,0.433333333,BASELINE,767,746.892543734,716.892543734,680,664,638,881,789,804,654,633,654,0.400990037386,-0.00537103293418,0.0598582147848,0.999999942562,0.000235803350443,-0.000242644241009,1.99100066037e-05,1793237389855701504
+27,0.450000000,BASELINE,767,746.313026481,716.313026481,680,664,638,881,789,804,654,633,654,0.400989012666,-0.00537003109715,0.0598569722451,0.999999941863,0.000236943877739,-0.000244423293914,1.97227950671e-05,1793237389872367616
+28,0.466666667,BASELINE,767,746,716,680,664,637.734972623,881,789,803.734972623,654,633,654,0.400989108141,-0.00536963072921,0.0598565886855,0.999999941763,0.000237328091156,-0.000244483752591,1.9414516907e-05,1793237389889033984
+29,0.483333333,BASELINE,767,746,716,680,664,637.158637739,881,789,803.158637739,654,633,654,0.400990519423,-0.00536993686132,0.0598572141048,0.999999942368,0.000236823920094,-0.000242525509198,1.89640310009e-05,1793237389905700608
+30,0.500000000,BASELINE,767,746,716,680,664,637,881,789,803.417488481,654,633,654,0.400990167549,-0.00536892604396,0.0598570758056,0.999999941503,0.000240029494381,-0.000242936336173,1.90255894949e-05,1793237389922367232
+31,0.516666667,BASELINE,767,746,716,680,664,637,881,789,803.99353544,654,633,654,0.400989146044,-0.00536741506068,0.0598566474529,0.99999994006,0.000244643997544,-0.000244246915416,1.92816179881e-05,1793237389939033600
+32,0.533333333,BASELINE,767,746,716.583165693,679.416834307,664,637.583165693,880.416834307,789,804.583165693,654,633,654.583165693,0.400987902232,-0.00536792753684,0.0598560977215,0.999999940449,0.000241987726062,-0.000245278294092,1.95642837216e-05,1793237389955700480
+33,0.550000000,BASELINE,767,746.170082983,716.829917017,679.170082983,664,637.829917017,880.170082983,789,804.829917017,654,633,654.829917017,0.40098710921,-0.00536840417067,0.0598558747894,0.999999940755,0.000240064518216,-0.000245908138363,1.97127192359e-05,1793237389972366848
+34,0.566666667,BASELINE,767,746.750090003,716.249909997,679.750090003,664,637.249909997,880.750090003,789,804.249909997,654,633,654.249909997,0.400987408735,-0.00536873906916,0.0598564428098,0.999999940829,0.000240106984419,-0.000245577865131,1.95369122621e-05,1793237389989033472
+35,0.583333333,BASELINE,767,746.673615154,716,679.673615154,664,637,881,789,804,654,633,654,0.400987550687,-0.00536951221173,0.0598566149675,0.999999941042,0.000239455098609,-0.000245341145171,1.96027291197e-05,1793237390005700352
+36,0.600000000,BASELINE,767,746.100130665,716,679.100130665,664,637,881,789,804,654,633,654,0.400987573343,-0.00537061714046,0.059856487425,0.999999941359,0.000238277532347,-0.000245175252548,1.98514746791e-05,1793237390022367488
+37,0.616666667,BASELINE,767,746,716.474852589,679,664,637,881,789,803.525147411,654,633,654,0.400987703349,-0.00537078408747,0.0598568078159,0.999999941686,0.000237087372063,-0.000245000178093,1.9823609854e-05,1793237390039034368
+38,0.633333333,BASELINE,767,746.051497556,717,679,664,637,881,789,803.051497556,654,633,654,0.40098787789,-0.00537070775114,0.0598572076188,0.999999941968,0.000236151561334,-0.000244759813094,1.9728403253e-05,1793237390055700736
+39,0.650000000,BASELINE,767,746.642222901,717,679,664,637,881,789,803.642222901,654,633,654,0.40098828097,-0.00537016160626,0.0598574467857,0.999999941776,0.000237906923889,-0.000243856132081,1.95407472432e-05,1793237390072367360
+40,0.666666667,BASELINE,767,746.772289808,716.772289808,679.227710192,664.227710192,637,881,789,804,653.772289808,633,654,0.400988526089,-0.00536947861044,0.0598574599219,0.999999941545,0.000239180639165,-0.000243568352488,1.93985182289e-05,1793237390089033472
+41,0.683333333,BASELINE,767,746.194847498,716.194847498,679.805152502,664.805152502,637,881,789,804,653.194847498,633,654,0.400988528601,-0.00536858543011,0.0598571259053,0.999999941258,0.000239714609131,-0.000244226514401,1.93260589591e-05,1793237390105700352
+42,0.700000000,BASELINE,767,746,716.382089945,679.617910055,664.617910055,637.382089945,881,788.617910055,804,653.382089945,632.617910055,654,0.400987926517,-0.00536874768601,0.0598565086141,0.999999941249,0.00023877095609,-0.000245196586386,1.92331390136e-05,1793237390122367232
+43,0.716666667,BASELINE,767,746,716.958770254,679.041229746,664.041229746,637.958770254,881,788.041229746,804,653.958770254,632.041229746,654,0.400987016524,-0.00536944745338,0.0598557470571,0.999999941377,0.000237074780751,-0.000246325507583,1.91297988793e-05,1793237390139033856
+44,0.733333333,BASELINE,767,746.546131546,717,679.546131546,664.546131546,638,881,788.546131546,803.453868454,654,632.546131546,654,0.400987304957,-0.00536816523641,0.0598562926395,0.999999940705,0.000240402744589,-0.0002458190266,1.92292679547e-05,1793237390155700736
+45,0.750000000,BASELINE,767.132269676,746.867730324,716.867730324,680,664.867730324,637.867730324,881,789,803.132269676,654,633,654.132269676,0.400987824408,-0.00536771640501,0.0598569600749,0.999999940494,0.000242075332287,-0.000245020167155,1.94069364857e-05,1793237390172367872
+46,0.766666667,BASELINE,767.711495338,746.288504662,716.288504662,680,664.288504662,637.288504662,881,789,803.711495338,654,633,654.711495338,0.400988812679,-0.00537059938794,0.0598576991579,0.999999942071,0.000236846947274,-0.000243658844343,1.9796081302e-05,1793237390189034240
+47,0.783333333,BASELINE,767.710103266,746,716.289896734,680,664,637,881,789,804,654,633,655,0.400989616929,-0.00537124335991,0.0598582029443,0.999999942654,0.000235328994898,-0.000242744263955,1.9670796706e-05,1793237390205700608
+48,0.800000000,BASELINE,767.132519782,746,716.867480218,680,664,637,881,789,804,654,633,655,0.400990238561,-0.00536966539003,0.0598584732279,0.999999942269,0.000237493188612,-0.000242273020159,1.90350044207e-05,1793237390222366976
+49,0.816666667,BASELINE,767,746,716.560312018,679.560312018,664,637.439687982,881,789,804,654,633,654.560312018,0.400989968009,-0.00536905922164,0.0598582253449,0.999999941759,0.000239148253978,-0.000242732838504,1.92369359026e-05,1793237390239033600
+50,0.833333333,BASELINE,767,746,716.010749014,679,664,637.989250986,881,789,803.989250986,654,633,654.010749014,0.400989442004,-0.00536878819614,0.0598578225261,0.99999994123,0.000240582634173,-0.000243458852413,1.96851213733e-05,1793237390255700224
+51,0.850000000,BASELINE,767,746,716.60651644,679,664,637.39348356,881,789,803.39348356,654,633,654.60651644,0.400989471096,-0.005371009005,0.0598573843767,0.999999941751,0.000238256783421,-0.000243584421254,1.9960118948e-05,1793237390272366848
+52,0.866666667,BASELINE,767,746,717,679,664,637,881,789,803.195776581,654,633,655,0.400988938246,-0.00537161126948,0.0598568476992,0.999999941707,0.000237764486284,-0.000244243588856,1.99995722249e-05,1793237390289033728
+53,0.883333333,BASELINE,767,746,717,679,664,637,881,789,803.772378687,654,633,655,0.400987312306,-0.00536906513366,0.0598561193646,0.999999940563,0.000240838826397,-0.00024594071527,1.95808436101e-05,1793237390305701120
+54,0.900000000,BASELINE,767,746,717,679.348710581,664,637.348710581,881,789,804,654,633,654.651289419,0.40098756105,-0.00536790329964,0.0598564027892,0.999999940238,0.000243076064444,-0.00024507400991,1.94308859277e-05,1793237390322368256
+55,0.916666667,BASELINE,767,746,717,679.924866208,664,637.924866208,881,789,804,654,633,654.075133792,0.400989032549,-0.00536764437087,0.0598573461297,0.999999940444,0.00024476730598,-0.000242535055727,1.94562329997e-05,1793237390339034880
+56,0.933333333,BASELINE,767,746.510023161,717,680,664,637.489976839,881,789,804,654,633,654.510023161,0.400987857858,-0.00536889349753,0.0598563587047,0.999999940299,0.000243260000397,-0.000244628550629,1.95915573596e-05,1793237390355700992
+57,0.950000000,BASELINE,767,746.904081194,717,679.904081194,664,637.095918806,881,789,803.904081194,654,632.904081194,655,0.400986876086,-0.00537003848188,0.0598555644456,0.999999940352,0.000241129692387,-0.000246506225613,1.96563131706e-05,1793237390372367104
+58,0.966666667,BASELINE,767,746.321287929,717,679.321287929,664,637.678712071,881,789,803.321287929,654,632.321287929,655,0.4009888878,-0.00536950693597,0.0598572203538,0.999999941717,0.000238271781232,-0.000243762254634,1.92791565097e-05,1793237390389033728
+59,0.983333333,BASELINE,767,746,717,679,664,637.742541443,881,789,803.257458557,654,632.257458557,654.742541443,0.400989124205,-0.00536958311407,0.0598575310861,0.99999994203,0.000237397360429,-0.000243334493672,1.92802076788e-05,1793237390405700352
+60,1.000000000,BASELINE,767,746,717,679,664,637.168766791,881,789,803.831233209,654,632.831233209,654.168766791,0.400987179446,-0.00537040594773,0.0598561891223,0.999999941057,0.000238959874853,-0.000245752450575,1.97459286286e-05,1793237390422366976
+61,1.016666667,BASELINE,767,746,716.592558394,679,664,637.407441606,881,789,804.407441606,654,633,654,0.40098681354,-0.00537009918398,0.0598561157848,0.999999940779,0.000239756460854,-0.000246111233962,1.97076557205e-05,1793237390439033856
+62,1.033333333,BASELINE,767,746,716.015335891,679,664,637.984664109,881,789,804.984664109,654,633,654,0.400987105541,-0.00536932171698,0.0598565710839,0.999999940792,0.000240233884424,-0.0002456119597,1.94593685682e-05,1793237390455700736
+63,1.050000000,BASELINE,767.572960212,746.572960212,716.572960212,679,664,637.427039788,881,789,803.854079576,654,633,654,0.400987417984,-0.0053694167829,0.0598569904946,0.999999940888,0.000240407888066,-0.000245023470619,1.97795859199e-05,1793237390472366848
+64,1.066666667,BASELINE,767.841100481,746.841100481,717,679,664,637,881,789,803.158899519,654,633,654.158899519,0.400987609366,-0.00536931775929,0.0598572018451,0.999999940876,0.000240825523356,-0.000244658593892,1.98328298434e-05,1793237390489033472
+65,1.083333333,BASELINE,767.262189699,746.262189699,717,679,664,637,881,789,803.737810301,654,633,654.737810301,0.400987479276,-0.00536864276063,0.0598568658298,0.999999940571,0.000241909028016,-0.000244891216993,1.91393820061e-05,1793237390505700096
+66,1.100000000,BASELINE,767.315270867,746,717,679,664,637,881,789,804,654,633,654.684729133,0.400986757038,-0.005368449485,0.0598562418568,0.999999940221,0.000242350729568,-0.000245895362771,1.89687548377e-05,1793237390522366976
+67,1.116666667,BASELINE,767.89153088,746,717,679,664,637,881,789,804,654,633,654.10846912,0.400985544604,-0.00536865499184,0.0598553795052,0.999999939832,0.000242261130326,-0.000247538194395,1.92309317904e-05,1793237390539033600
+68,1.133333333,BASELINE,767.534181221,746.465818779,717,679.465818779,664.465818779,637,881.465818779,789,803.534181221,654,633.465818779,654,0.400985957694,-0.0053683155048,0.059855991459,0.999999940316,0.000241217492523,-0.000246600208137,1.92355880065e-05,1793237390555700224
+69,1.150000000,BASELINE,767,747,717,679.959045973,664.959045973,637.040954027,881.959045973,789,803,654,633.959045973,654,0.400986843722,-0.00536790144803,0.0598569546546,0.99999994097,0.000240116157734,-0.000245020781539,1.92100632624e-05,1793237390572366848
+70,1.166666667,BASELINE,767,747,717,679.366334489,664.366334489,637.633665511,881.366334489,789,803,654,633.366334489,654,0.400989023397,-0.00536818528394,0.0598580443145,0.999999941224,0.00024121787712,-0.000242861864686,1.95824077824e-05,1793237390589034496
+71,1.183333333,BASELINE,767,747,716.77894968,679.22105032,664.22105032,638,881.22105032,789,803.22105032,654,633,654.22105032,0.400990102218,-0.00536816221064,0.0598585558354,0.99999994138,0.000241671296894,-0.00024175574872,1.97080106044e-05,1793237390605701888
+72,1.200000000,BASELINE,767,747,716.200184672,679.799815328,664.799815328,638,881.799815328,789,803.799815328,654,633,654.799815328,0.400989399582,-0.00536764248153,0.0598581317829,0.999999941385,0.000241075605967,-0.000242353327499,1.94343237223e-05,1793237390622368000
+73,1.216666667,BASELINE,767,746.624338278,716.375661722,680,664.624338278,637.624338278,882,789,803.624338278,654,633,655,0.400989018366,-0.00536791942636,0.0598579232645,0.999999941398,0.000240509063615,-0.000242887058096,1.91215646032e-05,1793237390639034112
+74,1.233333333,BASELINE,767,746.050035215,716.949964785,680,664.050035215,637.050035215,882,789,803.050035215,654,633,655,0.400988807112,-0.0053686176342,0.0598578287157,0.999999941415,0.000239957934401,-0.000243387027196,1.87881449939e-05,1793237390655700224
+75,1.250000000,BASELINE,767.523432539,746,717,680,664.523432539,637.523432539,882,788.476567461,803.523432539,654,633,655,0.400989426781,-0.00536967026275,0.059857844298,0.999999941932,0.000238509125539,-0.00024265302351,1.91981105055e-05,1793237390672366848
+76,1.266666667,BASELINE,767.89941514,746.10058486,716.89941514,679.89941514,665.10058486,637.89941514,881.89941514,788.10058486,803.89941514,654,633,654.89941514,0.400989880185,-0.00537043164483,0.059857842028,0.999999942316,0.000237432079812,-0.000242093785043,1.96105640469e-05,1793237390689033472
+77,1.283333333,BASELINE,767.303734372,746.696265628,716.303734372,679.303734372,665.696265628,637.303734372,881.303734372,788.696265628,803.303734372,654,633,654.303734372,0.400989124868,-0.00536959296797,0.0598577001507,0.999999941821,0.000238606613095,-0.000242974446327,1.96860488906e-05,1793237390705700352
+78,1.300000000,BASELINE,767,746.717882179,716.282117821,679,665.717882179,637,881.282117821,789,803.282117821,654,633,654,0.400988781427,-0.00536941485902,0.0598578028716,0.999999941657,0.000239301645604,-0.000242984570605,1.94943400382e-05,1793237390722367744
+79,1.316666667,BASELINE,767,746.142255448,716.857744552,679,665.142255448,637,881.857744552,789,803.857744552,654,633,654,0.400988866492,-0.00536992398981,0.059858160067,0.999999941836,0.000239497816432,-0.000242089008097,1.90246489886e-05,1793237390739035136
+80,1.333333333,BASELINE,767.440145339,746,717,679,665,637.440145339,881.559854661,789.440145339,803.559854661,654,633,654,0.400989219953,-0.00536984578514,0.059858562247,0.999999941964,0.000239622247088,-0.000241421597943,1.91992514777e-05,1793237390755701760
+81,1.350000000,BASELINE,767.975454989,746,717,679,665,637.975454989,881.024545011,789.975454989,803.024545011,654,633,654,0.400989611709,-0.00536958280304,0.0598589036951,0.999999942036,0.000239791643079,-0.000240926989821,1.9568119125e-05,1793237390772368128
+82,1.366666667,BASELINE,767.396135545,746,717,679,665,637.396135545,881.603864455,789.396135545,803.603864455,654,633,654,0.400988877715,-0.00536950102918,0.0598575387056,0.999999941207,0.000241509620924,-0.000242645384153,1.95476346027e-05,1793237390789034240
+83,1.383333333,BASELINE,767,746.183527252,717,679,665,637.183527252,881.816472748,789,803.816472748,654,633,654,0.400988336268,-0.0053700864605,0.0598567412834,0.999999940994,0.000241122002496,-0.000243907441893,1.95278812122e-05,1793237390805700608
+84,1.400000000,BASELINE,767,746.763932664,717,679,665,637.763932664,881.236067336,789,803.236067336,654,633,654,0.400988211207,-0.00537211472475,0.0598571712263,0.999999942106,0.000236181026982,-0.000244182670894,1.95097088924e-05,1793237390822367232
+85,1.416666667,BASELINE,767.340577961,746.659422039,717,679.340577961,664.659422039,638,881,789,803,654,633,654.340577961,0.400988392478,-0.00537165373104,0.0598575104202,0.999999942217,0.00023648172543,-0.000243439938871,1.94973202389e-05,1793237390839033856
+86,1.433333333,BASELINE,767.91464541,746.08535459,717,679.91464541,664.08535459,638,881,789,803,654,633,654.91464541,0.400988783761,-0.00536948618063,0.0598577873995,0.999999941638,0.000240375950181,-0.000241999324925,1.94888966854e-05,1793237390855700480
+87,1.450000000,BASELINE,768,746.501258622,717,680,664,637.498741378,881.501258622,789,803,654,633,654.498741378,0.400987864943,-0.00537083037768,0.0598573154281,0.999999941919,0.000238128382294,-0.000243072630663,1.92939549461e-05,1793237390872367104
+88,1.466666667,BASELINE,768,747,717,680,664.08865054,637.08865054,882,789,803.08865054,654,633,654,0.400986874857,-0.00537220421405,0.0598569346816,0.999999942135,0.000235964298619,-0.000244303037226,1.91586896362e-05,1793237390889033472
+89,1.483333333,BASELINE,768,747,717,680,664.668220819,637.668220819,882,789,803.668220819,654,633,654,0.400986757193,-0.00537034573179,0.0598577834722,0.999999941199,0.000240202674644,-0.000243972036003,1.95342887981e-05,1793237390905700608
+90,1.500000000,BASELINE,767.755502537,747,717,679.755502537,664.755502537,638,881.755502537,789,804,654,633,654,0.400987220292,-0.00536994120725,0.0598582377515,0.999999941036,0.000241545457058,-0.00024329683978,1.9770514374e-05,1793237390922367488
+91,1.516666667,BASELINE,767.183635944,747,717,679.183635944,664.183635944,638,881.183635944,789,804,654,633,654,0.400988461001,-0.00537148345512,0.0598581638009,0.999999941919,0.00023901119291,-0.000242160784742,1.98201260825e-05,1793237390939033856
+92,1.533333333,BASELINE,767,746.609082231,716.609082231,679,664,638,881,789,804,654,633,654,0.400988787684,-0.00537071070521,0.0598581440732,0.999999941954,0.000239011589611,-0.000242025976157,1.97274557131e-05,1793237390955700480
+93,1.550000000,BASELINE,767,746.03325744,716.03325744,679,664,638,881,789,804,654,633,654,0.400988682026,-0.00536884294421,0.0598581499932,0.999999941588,0.000240210899584,-0.000242364764516,1.95674848633e-05,1793237390972366848
+94,1.566666667,BASELINE,767,746.560857826,716.560857826,679.560857826,664,638,881,789,804,654,632.439142174,654.560857826,0.400987782861,-0.00537017913537,0.0598574546825,0.999999941437,0.000239092244279,-0.000244095222206,1.94445884976e-05,1793237390989033472
+95,1.583333333,BASELINE,767,747,716.848716203,680,664,637.848716203,881,789,803.848716203,654,632.151283797,654.848716203,0.400987106391,-0.00537106944887,0.0598570017553,0.999999941392,0.000238101091147,-0.000245254716028,1.93167408161e-05,1793237391005700352
+96,1.600000000,BASELINE,767,747,716.271823371,680,664,637.271823371,881,789,803.271823371,654,632.728176629,654.271823371,0.400987193272,-0.00537015285888,0.0598573516536,0.999999941619,0.000237868365811,-0.000244567920763,1.9168570141e-05,1793237391022366976
+97,1.616666667,BASELINE,767,746.696318707,716.303681293,680,664,637,881,789,803,654,633,654,0.400988105476,-0.00537015052321,0.0598578525424,0.999999941888,0.000237737429232,-0.000243579169473,1.9328675345e-05,1793237391039033600
+98,1.633333333,BASELINE,767,746.122050966,716.877949034,680,664,637,881,789,803,654,633,654,0.400989753062,-0.00537096280749,0.0598584879666,0.999999942195,0.000237697188601,-0.000242321369024,1.97634608796e-05,1793237391055700480
+99,1.650000000,BASELINE,767,746,717,680,664,637.463344564,881,789,803.463344564,654,633,654.463344564,0.400990509088,-0.0053705016548,0.059859357729,0.999999942475,0.000238364311153,-0.000240512599487,1.96393383041e-05,1793237391072367104
+100,1.666666667,BASELINE,767,746.050991109,716.949008891,680,664.050991109,637.949008891,880.949008891,789,804,654,633,654.949008891,0.400990875787,-0.00536984783472,0.0598601165522,0.999999942696,0.000239099008676,-0.000238879938158,1.9416126114e-05,1793237391089033728
+101,1.683333333,BASELINE,767,746.630835069,716.369164931,680,664.630835069,637.369164931,880.369164931,789,804,654,633,654.369164931,0.400989700264,-0.00537076038315,0.0598590688123,0.999999942403,0.000238554502559,-0.00024061605422,1.97297079823e-05,1793237391105700352
+102,1.700000000,BASELINE,767,746.790711885,716,680,665,637.209288115,880.418576231,789,804,654,633,654,0.400988895842,-0.00537131422345,0.0598582387326,0.999999942029,0.000238616862797,-0.000242093537602,1.98909227202e-05,1793237391122366976
+103,1.716666667,BASELINE,767,746.214696143,716,680,665,637.785303857,881.570607714,789,804,654,633,654,0.400988741687,-0.005371239513,0.0598577900511,0.999999941513,0.000239742611989,-0.000243117828568,1.97851502816e-05,1793237391139033344
+104,1.733333333,BASELINE,767,746,716.360490649,679.639509351,664.639509351,638,881.639509351,789.360490649,804,654,633,654,0.400988813529,-0.00537052647294,0.0598580771819,0.999999941416,0.000240387869041,-0.000242897068259,1.95401512993e-05,1793237391155699968
+105,1.750000000,BASELINE,767,746,716.935184934,679.064815066,664.064815066,638,881.064815066,789.935184934,804,654,633,654,0.400989019657,-0.00536943413724,0.0598588015325,0.999999941569,0.000240747617647,-0.000241936498263,1.92124238593e-05,1793237391172366848
+106,1.766666667,BASELINE,767,746,717,679.52238052,664,638,881,789.47761948,804,654,633,654,0.400989566549,-0.00537031532117,0.0598585218774,0.999999942156,0.000238835518787,-0.000241411372465,1.91111639876e-05,1793237391189033728
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,747,717,680,665,637,881,789,803,654,633,655,0.400987441123,-0.00536850698595,0.0598575901488,0.999999940953,0.000241851260456,-0.000243380321695,1.91868975493e-05,1793237391231266304
+108,1.800000000,POSE1_TO_POSE2_PRESS,767.423518182,747,717,680,664.423518182,637.576481818,881,789,803.576481818,654,633,654.423518182,0.400988756237,-0.00536960066894,0.0598585370393,0.999999942015,0.000239337920584,-0.000241495122737,1.91893299289e-05,1793237391247932928
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746.844434837,717,679.844434837,664.155565163,637.844434837,881,789,804,654,633,654.155565163,0.400989320281,-0.00537024905209,0.0598589885857,0.999999942649,0.000237634294942,-0.000240553933864,1.91405243956e-05,1793237391264599040
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746.258148382,717,679.258148382,664.741851618,637.258148382,881,789,804,654,633,654.741851618,0.400987804799,-0.00536966451085,0.0598580686477,0.999999942121,0.0002381725663,-0.000242226474002,1.89498538107e-05,1793237391281265152
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.323786101,746.323786101,717,679.323786101,664.676213899,637.323786101,881.323786101,789,804,654,633.323786101,655,0.400987486112,-0.00537038708453,0.0598576505147,0.999999941929,0.000238412242353,-0.000242767316565,1.91101611719e-05,1793237391297931776
+112,1.866666667,POSE1_TO_POSE2_PRESS,767.902296824,746.902296824,717,679.902296824,664.097703176,637.902296824,881.902296824,789,804,654,633.902296824,655,0.400988108951,-0.00537213797401,0.0598576271551,0.999999942004,0.000238417011514,-0.00024241784522,1.9546585167e-05,1793237391314598656
+113,1.883333333,POSE1_TO_POSE2_PRESS,767.519020976,747,717,679.519020976,664.480979024,637.519020976,881.038041952,789,804,654,633.519020976,655,0.400988283741,-0.00537165226356,0.059857610667,0.999999942257,0.0002374160668,-0.000242366199185,1.94493101347e-05,1793237391331265024
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746.940674893,717,679.059325107,664.940674893,637.059325107,880.17797532,789,804,654,633,654.940674893,0.400988424854,-0.00537085089897,0.0598576643337,0.999999942516,0.000236339823592,-0.000242362064812,1.92867614816e-05,1793237391347931648
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746.365554076,717,679.634445924,664.365554076,637.634445924,881.903337772,789,804,654,633,654.365554076,0.400989064761,-0.00537125664018,0.0598583158131,0.999999942529,0.000236385756873,-0.00024224483075,1.94996144194e-05,1793237391364598272
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746.213878387,717,680,664,637.786121613,882.572243226,789.213878387,803.786121613,654,633,654,0.400991210727,-0.00537118288875,0.0598593691145,0.999999942596,0.000237275250056,-0.00024108877318,1.96334002665e-05,1793237391381264896
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746.800831732,717,680,664,637.199168268,881.398336537,789.800831732,803.199168268,654,633,654,0.400995983762,-0.00537027274282,0.0598611233268,0.999999942744,0.000239636191932,-0.000238120662326,1.96292668186e-05,1793237391397931520
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746.615888147,717,679.615888147,664,637.384111853,881,789.615888147,803,654,633,654,0.401010666655,-0.00537006384467,0.0598677464499,0.999999945194,0.000240770712634,-0.000226381368789,1.98144776165e-05,1793237391414597888
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746.034494558,717,679.034494558,664,637.965505442,881,789.034494558,803,654,633,654,0.401030439301,-0.00537021511075,0.0598768702695,0.999999948612,0.000241275337554,-0.000210137152385,2.0096936545e-05,1793237391431264512
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746.540423229,717,679.540423229,664,638,881,789,803.540423229,653.459576771,633,654,0.401075780187,-0.00537147940769,0.0598949062749,0.999999955292,0.000240113120506,-0.000176972107372,2.10391570317e-05,1793237391447931136
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746.8850054,716.8850054,679.8850054,664,638,881,789,804,653.1149946,633,654,0.401125595184,-0.00537311174667,0.0599132214723,0.999999960858,0.000238825952222,-0.000144084342248,2.20513091444e-05,1793237391464597760
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746.310185809,716.310185809,679.310185809,664,638,881,789,804,653.689814191,633,654,0.401186852162,-0.00537593504809,0.0599304053485,0.999999964743,0.000237459536748,-0.000116572882485,2.31766978152e-05,1793237391481264384
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,716.272618545,679,664.272618545,638,881,789,803.727381455,654,633,654.272618545,0.40124846294,-0.00537846508256,0.0599425429587,0.999999967279,0.000235384255241,-9.7339482158e-05,2.37050062794e-05,1793237391497931008
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,716.864782061,679,664.864782061,638,881,789,803.135217939,654,633,654.864782061,0.401310488416,-0.00538065136923,0.0599487656772,0.999999968845,0.000232478089264,-8.78090634513e-05,2.35334577629e-05,1793237391514597632
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,717,679.447511538,664.552488462,638,881,789,803.447511538,654,633,654.552488462,0.401386006495,-0.0053826618363,0.0599526866137,0.999999970028,0.000230313334567,-7.98304687194e-05,2.29515908716e-05,1793237391531264256
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716.972844966,680,664,638,881,789,804,654,633,654,0.401466498645,-0.00538458989855,0.0599558879862,0.999999970997,0.000228580652932,-7.25351644415e-05,2.22664675342e-05,1793237391547930880
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,716.399124624,680,664,638,881,789,804,654,633,654,0.401566743671,-0.00538590654904,0.0599583158988,0.999999970616,0.000231128643795,-6.97500365174e-05,2.19469357239e-05,1793237391564597760
+128,2.133333333,POSE1_TO_POSE2_PRESS,767.179184415,746.179184415,716.179184415,679.820815585,664,637.820815585,881,789,803.820815585,654,633,654,0.401672295465,-0.00538774828132,0.0599610588556,0.999999970787,0.00023178608999,-6.51400569749e-05,2.14158609536e-05,1793237391581264384
+129,2.150000000,POSE1_TO_POSE2_PRESS,767.767983104,746.767983104,716.767983104,679.232016896,664,637.232016896,881,789,803.232016896,654,633,654,0.401789978476,-0.00539079034661,0.0599645220006,0.999999972184,0.000228121764405,-5.63584802251e-05,2.04012005513e-05,1793237391597931008
+130,2.166666667,POSE1_TO_POSE2_PRESS,768,747,717,679.350915359,664,637,881,789,803,653.649084641,633,654,0.401920422023,-0.00539429124011,0.0599658226064,0.999999973409,0.000224200811717,-5.05611474468e-05,1.89404236767e-05,1793237391614597632
+131,2.183333333,POSE1_TO_POSE2_PRESS,768,747,717,679.9300327,664,637,881,789,803,653.0699673,633,654,0.402059163822,-0.00539809051218,0.0599657169025,0.999999974537,0.000220112972802,-4.67044823279e-05,1.71895349664e-05,1793237391631264512
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.492323871,747,717,680,664,637.507676129,881.507676129,789,803.507676129,653.507676129,633,654,0.402223292711,-0.00540244448007,0.0599683308612,0.999999975197,0.000218436582041,-4.04060224096e-05,1.61122378366e-05,1793237391647931136
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,747,717,680,664,637.915370412,881.915370412,789,804,654,633,654.084629588,0.402396015863,-0.00540713419136,0.0599710129364,0.999999975887,0.000216440552898,-3.39802013141e-05,1.49785053263e-05,1793237391664598016
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,747,717,680,664,637.341236029,881.341236029,789,804,654,633,654.658763971,0.402598270158,-0.00541332497419,0.0599719272867,0.999999977309,0.000210678972839,-2.87585651141e-05,1.29829424598e-05,1793237391681264640
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746.760358921,716.760358921,679.760358921,664,637.239641079,881,789,803.760358921,654,633,654.760358921,0.402807623526,-0.00541898647367,0.0599721605176,0.999999978587,0.000205154863106,-2.48953399873e-05,1.08342456558e-05,1793237391697931264
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746.169602602,716.169602602,679.169602602,664,637.830397398,881,789,803.169602602,654,633,654.169602602,0.403027378238,-0.00542387248198,0.0599713957917,0.999999979703,0.000199978688444,-2.30224201515e-05,8.46118151495e-06,1793237391714597888
+137,2.283333333,POSE1_TO_POSE2_PRESS,767.412682264,746.412682264,716.412682264,679,664,638,881,789,803.412682264,654,633,654.412682264,0.403273540181,-0.00542995085589,0.0599733078326,0.999999981205,0.000192887124505,-1.8593443135e-05,6.26037241207e-06,1793237391731264512
+138,2.300000000,POSE1_TO_POSE2_PRESS,767.991555581,746.991555581,716.991555581,679,664,638,881,789,803.991555581,654,633,654.991555581,0.40353033656,-0.00543650940661,0.0599762978329,0.999999982788,0.00018502421529,-1.31351177497e-05,4.12893209978e-06,1793237391747931136
+139,2.316666667,POSE1_TO_POSE2_PRESS,767.433563187,747,717,679,664,638,881,789,804,654,633,654.433563187,0.403803248744,-0.00544292471592,0.059968350173,0.999999983793,0.000178161112042,-2.59163254699e-05,9.22341458229e-07,1793237391764597760
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,747,717,679,664,638,881,789,804,654,633,654.143779984,0.404082638529,-0.0054500359039,0.0599596365249,0.999999984671,0.000170381743579,-4.02803857935e-05,-2.27592170974e-06,1793237391781264640
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,747,717,679,664,638,881,789,804,654,633,654.728860816,0.404381177584,-0.00545928944465,0.0599490688155,0.999999985505,0.000159744675461,-5.86739195649e-05,-5.39977390376e-06,1793237391797931264
+142,2.366666667,POSE1_TO_POSE2_PRESS,767.31137703,746.68862297,717,679,664,638,881,789,804,654,633,654.68862297,0.40470039717,-0.0054671464455,0.0599394870836,0.999999985949,0.000149770986938,-7.47532662632e-05,-9.114478422e-06,1793237391814597888
+143,2.383333333,POSE1_TO_POSE2_PRESS,767.891678347,746.108321653,717,679,664,638,881,789,804,654,633,654.108321653,0.405037477762,-0.00547379730994,0.0599307569012,0.999999986113,0.000140370232514,-8.88339412288e-05,-1.33394795695e-05,1793237391831264512
+144,2.400000000,POSE1_TO_POSE2_PRESS,767.529482067,746,717,679,664.470517933,638,881,789,804,654,633,654,0.40542250359,-0.00548273386584,0.0599362875191,0.999999988081,0.000131499432157,-7.92773296485e-05,-1.6149398141e-05,1793237391847931136
+145,2.416666667,POSE1_TO_POSE2_PRESS,767.048685848,746,716.951314152,679,665,638,881,789,804,654,633,654,0.405823021809,-0.00549215194201,0.059946488183,0.999999990378,0.000122729164284,-6.19337475558e-05,-1.85909760884e-05,1793237391864597760
+146,2.433333333,POSE1_TO_POSE2_PRESS,767.623222952,746,716.376777048,679,665,638,881,789,804,654,633,654,0.406272022593,-0.00550110496862,0.0599717790396,0.999999993139,0.00011373104984,-1.90773673015e-05,-2.05619364117e-05,1793237391881264384
+147,2.450000000,POSE1_TO_POSE2_PRESS,767.796938737,746,716,679,664.796938737,638,881,789,804,654,633,654.203061263,0.406731600967,-0.00550894851239,0.0599944677996,0.99999999395,0.000105893634583,1.93478996473e-05,-2.2651809753e-05,1793237391897931008
+148,2.466666667,POSE1_TO_POSE2_PRESS,767.207000481,746,716,679,664.207000481,638,881,789,804,654,633,654.792999519,0.40721133198,-0.00551467824339,0.0600121989838,0.999999993445,0.000100267610949,4.93309048902e-05,-2.49682388445e-05,1793237391914597632
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716.376500928,679.376500928,664.376500928,637.623499072,881,789,803.623499072,653.623499072,633,654.623499072,0.407685751694,-0.00551055761093,0.0600174916264,0.999999998062,2.02290798434e-05,5.23141291212e-05,-2.70131324478e-05,1793237391931264512
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716.956522824,679.956522824,664.956522824,637.043477176,881,789,803.043477176,653.043477176,633,654.043477176,0.408157300322,-0.00550111227561,0.0600160605029,0.99999999375,-0.000100033802378,4.07023770072e-05,-2.89112447082e-05,1793237391947931136
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,717,680,665,637,881,789,803.532942725,653.532942725,633,654,0.408646557416,-0.00549263016822,0.060003749081,0.999999995199,-9.07394492479e-05,1.50078163517e-05,-3.38162376168e-05,1793237391964597760
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,717,680,664.891188021,637.108811979,881,789,804,654,633,654.108811979,0.409147029076,-0.00548859301898,0.0599926074468,0.999999996306,-7.63212444405e-05,-8.60463421755e-06,-3.86005553474e-05,1793237391981264384
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,717,680,664.316427026,637.683572974,881,789,804,654,633,654.683572974,0.409689378368,-0.00550325561081,0.0599902503764,0.99999999535,-8.49170317976e-05,-1.84145782679e-05,-4.182476488e-05,1793237391997931264
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,717,679.734144444,664.265855556,637.734144444,881,789,804,654,633,654.734144444,0.410261972508,-0.00551450379967,0.0599945193285,0.99999999484,-9.0402339471e-05,-9.37690475667e-06,-4.53734316044e-05,1793237392014597888
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,717,679.142648772,664.857351228,637.142648772,881,789,804,654,633,654.142648772,0.410871612913,-0.00552156976991,0.0600069043366,0.999999994286,-9.2077696017e-05,2.27467637264e-05,-4.93195185922e-05,1793237392031264512
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,717,679,665,637.438805479,881.438805479,789,803.561194521,654,633,654,0.411481632369,-0.00552383494504,0.0600077682127,0.999999993309,-9.96690143466e-05,2.50943964045e-05,-5.30919385722e-05,1793237392047931136
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,716.983074139,679,664.983074139,637.983074139,882,788.983074139,803.033851723,654,633,654,0.412091084455,-0.00552442957351,0.0600043741787,0.999999992668,-0.000106046294879,1.69112374959e-05,-5.59642973928e-05,1793237392064598016
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,716.409640734,679,664.409640734,637.409640734,882,788.409640734,804.180718532,654,633,654,0.412677922286,-0.00552026336987,0.059981372341,0.999999999113,-1.06890206507e-05,-2.63743692349e-05,-3.10581490059e-05,1793237392081264640
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716.167869241,679,664,637.167869241,882,788.167869241,804.832130759,654,633,654,0.413278393557,-0.0055135159773,0.0599589378774,0.999999995866,5.69449659348e-05,-6.91809606587e-05,-1.54431839855e-05,1793237392097931264
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716.755574567,679,664,637.755574567,882,788.755574567,804.244425433,654,633,654,0.41391296163,-0.00550031310656,0.0599379224012,0.999999992071,5.52438111862e-05,-0.000110789546773,-2.30652003246e-05,1793237392114597888
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,717,679,664.340200489,637.659799511,881.659799511,789,804,654,633,654,0.4146116166,-0.00550052767919,0.0599489719592,0.999999994732,3.90133538822e-05,-9.07737997438e-05,-2.78292089975e-05,1793237392131264512
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,717,679,664.922633759,637.077366241,881.077366241,789,804,654,633,654,0.415355903302,-0.00551029586773,0.0599828527678,0.999999999094,1.24376046593e-05,-2.68797082086e-05,-3.05582315241e-05,1793237392147931136
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,717,679,664.500191965,637,881,789,804,653.500191965,633,654,0.416101958401,-0.00552209168867,0.0600177828175,0.999999999015,-7.75715897069e-06,3.06879193805e-05,-3.11213724341e-05,1793237392164597760
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,717,679.075734808,664.075734808,637,881.075734808,789,804,653,633,654,0.41684038657,-0.00553270443625,0.0600454189297,0.999999996413,-2.46634599972e-05,7.46765326728e-05,-3.14579047779e-05,1793237392181264640
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,717,679.64875953,664.64875953,637,881.64875953,789,804,653,633,654,0.417526955781,-0.00553350946574,0.0600241062331,0.999999998481,-2.63951171819e-05,3.5865824019e-05,-3.24849489534e-05,1793237392197931008
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,716.771370381,680,665,637,882,789,804,653.228629619,633,654,0.418235125089,-0.00553132629774,0.0600041607223,0.999999999107,-2.4382422083e-05,3.67740497926e-06,-3.43200701446e-05,1793237392214597632
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,716.180659168,680,665,637,882,789,804,653.819340832,633,654,0.418977502659,-0.00552441071018,0.0599863804255,0.999999999002,-1.64397824106e-05,-1.80232748958e-05,-3.74349461731e-05,1793237392231264256
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746.401686379,716,680,665,637,882,789,804,653.598313621,633,654,0.419721888904,-0.00552184270771,0.0599715021574,0.999999998287,-1.62969908819e-05,-3.97189728182e-05,-3.97736613218e-05,1793237392247930880
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746.980346178,716,680,665,637,882,789,804,653.019653822,633,654,0.420467160079,-0.00552119014773,0.0599579024549,0.99999999705,-1.95906265296e-05,-6.14124744974e-05,-4.17704183371e-05,1793237392264597504
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746.443398383,716.556601617,680,664.443398383,637,882,789,804,653,633,654,0.421194259818,-0.00552484754088,0.0599368629858,0.99999999377,-2.28201396447e-05,-0.000100647458661,-4.25439425432e-05,1793237392281264384
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,717,680,664.135373609,637,882,789,804,653.135373609,633,654,0.421930177155,-0.00552763133973,0.0599210242729,0.999999990296,-2.65669193383e-05,-0.000129648164956,-4.35226170945e-05,1793237392297931008
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,717,680,664.72283199,637,882,789,804,653.72283199,633,654,0.422697674682,-0.00552699169568,0.0599234271892,0.999999990967,-3.20486571186e-05,-0.000122411551322,-4.5330021873e-05,1793237392314597376
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746.305851471,717,680,665,637,882,789,804,653.694148529,633,654,0.423529797896,-0.00552973177647,0.0599578860662,0.999999996358,-3.50610053577e-05,-6.38831072957e-05,-4.44366103403e-05,1793237392331264256
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746.884905856,717,680,665,637,882,789,804,653.115094144,633,654,0.424419648195,-0.00553549080851,0.0600209790439,0.999999997692,-3.58675620212e-05,4.04619470204e-05,-4.11306845592e-05,1793237392347930880
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,747,717,679.5371514,665,637,882,789,804,653,633,654,0.425235942888,-0.0055370276198,0.0600462035046,0.999999995199,-3.85673882741e-05,8.06790993735e-05,-4.00638837605e-05,1793237392364597504
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746.959619069,717,679.040380931,665,637,882,789,804,653,633,654,0.426032260197,-0.00553754343256,0.0600594166421,0.999999993195,-4.15007027061e-05,0.000101512103137,-3.97942009579e-05,1793237392381264128
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746.383872472,717,679.616127528,665,637,882,789,804,653,633,654,0.426805633681,-0.00553840929911,0.0600379296573,0.999999995326,-4.1302855712e-05,7.62606094725e-05,-4.27284253195e-05,1793237392397931008
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746.19548077,716.80451923,680,665,637,881.80451923,789,804,653.19548077,633,654,0.427571141738,-0.00553905177567,0.0600169119601,0.999999996881,-4.3034534266e-05,4.82455417133e-05,-4.53687002438e-05,1793237392414598144
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.782049744,716.217950256,680,665,637,881.217950256,789,804,653.782049744,633,654,0.428320913984,-0.00553924732768,0.0599968331385,0.999999997585,-4.86265141481e-05,1.47015305673e-05,-4.74208863659e-05,1793237392431264768
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746.636050861,716.363949139,680,665,637,881.363949139,789,804,653.636050861,633,654.363949139,0.429080798779,-0.00554066786664,0.0599785452331,0.999999997436,-5.06515793434e-05,-1.48832318983e-05,-4.83874438134e-05,1793237392447931136
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746.056912444,716.943087556,680,665,637,881.943087556,789,804,653.056912444,633,654.943087556,0.429846662695,-0.00554281269377,0.0599613162297,0.999999996648,-5.05676632719e-05,-4.21270392568e-05,-4.87121102067e-05,1793237392464597760
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,717,680,665,637,882,789,804.520619341,653.520619341,633,655,0.430616225064,-0.00554295460532,0.0599535313307,0.999999996031,-5.15963760131e-05,-5.24901805495e-05,-5.02048560466e-05,1793237392481264384
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746.097698202,717,680,665,636.902301798,882,789,804.902301798,653.902301798,633,654.902301798,0.431396209489,-0.00554347020262,0.0599555467779,0.999999996185,-5.38377165604e-05,-4.56991740134e-05,-5.14092039547e-05,1793237392497931264
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746.673417657,717,680,665,636.326582343,882,789,804.326582343,653.326582343,633,654.326582343,0.432225215205,-0.0055468821849,0.0600004778899,0.999999996186,-6.14189655267e-05,3.60230898854e-05,-5.05796203324e-05,1793237392514597888
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746.745113484,717,680,665,636.254886516,882,789,804,653,633,654,0.433012218881,-0.0055492194244,0.0600288300196,0.999999992929,-6.77381524953e-05,8.40913806382e-05,-4.98218346015e-05,1793237392531264512
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746.156108043,717,680,665,636.843891957,882,789,804,653,633,654,0.433744163966,-0.00555014783313,0.0600354495259,0.999999992295,-7.24029606948e-05,8.80442310043e-05,-4.91581658133e-05,1793237392547931136
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,717,680,665,637,881.573817134,789,804.426182866,653,633,654,0.434469873903,-0.00554974595798,0.0600116954654,0.999999995126,-7.03557640965e-05,4.68812832291e-05,-5.09882692965e-05,1793237392564598528
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,717,680,665,637,881.00598874,789,804.99401126,653,633,654,0.435192991018,-0.005548914572,0.0599771800073,0.999999996329,-6.59817690432e-05,-1.02935436042e-05,-5.36878742516e-05,1793237392581266176
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,717,680,665,637,881.579751422,789,804.420248578,653,633,654,0.43588345558,-0.00555284303395,0.0599608372675,0.999999995154,-7.04847651107e-05,-4.30623324408e-05,-5.35638369119e-05,1793237392597932032
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,717,680,665,637,882,789,804.1529003,653,633,654,0.436571164495,-0.00555567461046,0.0599496056852,0.99999999365,-7.459278236e-05,-6.51900172073e-05,-5.372910864e-05,1793237392614597888
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,717,680,665,637,882,789,804.724369003,653,633,654,0.437251329914,-0.00555550343647,0.0599523660207,0.999999993799,-7.76195363872e-05,-5.81874204028e-05,-5.46863713002e-05,1793237392631264512
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,716.690327575,680.309672425,665,637,882,789,804.690327575,653,633,654,0.437912407956,-0.00555336963293,0.0599488038484,0.999999993021,-7.71385459185e-05,-7.03917593909e-05,-5.52538114169e-05,1793237392647931648
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,716.09213443,680.90786557,665,637,882,789,804.09213443,653,633,654,0.438555702314,-0.00554940725428,0.0599393510174,0.99999999072,-7.33894018707e-05,-0.000100491134028,-5.54580551319e-05,1793237392664598784
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746.486523027,716.486523027,681,664.513476973,637,882,789,804.486523027,653,633.486523027,654.486523027,0.439249000125,-0.00554822703193,0.0599596409153,0.999999993519,-7.4649236146e-05,-6.62127514266e-05,-5.4826277448e-05,1793237392681265152
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,747,717,681,664.123390788,637,882,789,804.938304606,653,633.938304606,654.938304606,0.439946651634,-0.00554810963149,0.0599863662651,0.999999995441,-7.64211111062e-05,-1.95975949555e-05,-5.38000022379e-05,1793237392697931520
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,747,717,681,665.274929301,637,882,789,804.362535349,653,633.362535349,654.362535349,0.440604723463,-0.00555262753156,0.0600215941284,0.999999995393,-7.48607768028e-05,3.2150217329e-05,-5.07548648567e-05,1793237392714597888
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,747,717,681,665.782161109,637,882,789,804,653,633.217838891,654,0.441223982847,-0.00555608429887,0.0600378550192,0.999999994437,-7.52322494797e-05,5.48661951262e-05,-4.95520841467e-05,1793237392731264512
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,747,717,681,665.193957642,637,882,789,804,653,633.806042358,654,0.441777254152,-0.00555773695267,0.0600218687042,0.999999995165,-7.88881355022e-05,2.82229232895e-05,-5.14816355366e-05,1793237392747931392
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746.611304658,717,681,665,637,882,789,804.388695342,653,633.611304658,654,0.442318992574,-0.00555857929489,0.0599964556104,0.999999994467,-8.93887732745e-05,-1.11088717317e-05,-5.43319125875e-05,1793237392764598016
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746.031382301,717,681,665,637,882,789,804.968617699,653,633.031382301,654,0.442855057197,-0.00555902298707,0.0599664048089,0.999999991402,-0.000103256833756,-5.66830604315e-05,-5.7635160471e-05,1793237392781264640
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746,716.483820223,681,665,637,882,789,804.483820223,653,633,654,0.443367586116,-0.00555817729597,0.0599584171049,0.99999999005,-0.000110460507549,-6.44070755652e-05,-5.95763093522e-05,1793237392797932032
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,716.070576834,681,665,637,882.070576834,789,804.070576834,653,633,654,0.443878660703,-0.00555720420543,0.0599533788066,0.999999989066,-0.000116218742862,-6.77975221244e-05,-6.13572281138e-05,1793237392814599424
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,716.692878368,681,665,637,882.692878368,789,804.692878368,653,633,654,0.44438889253,-0.00555581184529,0.0599615296677,0.999999990117,-0.00011365801822,-5.42388522596e-05,-6.24947505257e-05,1793237392831265792
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746.292586354,716.707413646,681.292586354,665,636.707413646,882.707413646,789,804.707413646,653,633,654,0.444866906668,-0.00555520346567,0.0599632176556,0.999999990187,-0.000112909601106,-5.25455873081e-05,-6.41582350687e-05,1793237392847932160
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746.870278411,716.129721589,681.870278411,665,636.129721589,882.129721589,789,804.129721589,653,633,654,0.445313526809,-0.00555535902238,0.0599586080082,0.999999989362,-0.000113927155825,-6.24143614279e-05,-6.63342342338e-05,1793237392864598272
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,747,716.448908451,682,664.551091549,636.448908451,882,789,804,653,633,654,0.44570874641,-0.00555671590263,0.0599330999639,0.999999985099,-0.000113116187821,-0.000111175284161,-6.81633064045e-05,1793237392881264640
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,747,717,682,664,636.972344215,882,789,804.027655785,653,633.027655785,654,0.446089466155,-0.00555865789685,0.0599023994918,0.999999976967,-0.000112214608665,-0.000169087169039,-6.98779944314e-05,1793237392897931008
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,747,717,682,664,636.396654828,882,789,804.603345172,653,633.603345172,654,0.446477805687,-0.00556530108063,0.0598887261253,0.999999973113,-0.000120010095635,-0.000185161478856,-7.13167987052e-05,1793237392914597888
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,747,716.816622773,682,664,636,882,788.816622773,805,653,633.816622773,654.183377227,0.446857581665,-0.00557071405955,0.0598806631866,0.999999971347,-0.000123058182399,-0.000192417729098,-7.1677303621e-05,1793237392931264768
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,747,716.226969524,682,664,636,882,788.226969524,805,653,633.226969524,654.773030476,0.447218384859,-0.0055734014934,0.0598850302679,0.999999974669,-0.000115588305296,-0.000180137384783,-6.96488139546e-05,1793237392947931648
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,747,716.355761486,682,664,636,882,788.355761486,805,653.355761486,633.355761486,655,0.447567619697,-0.00557518612179,0.0598930647104,0.99999998146,-8.25655126607e-05,-0.000163801503827,-5.85758993374e-05,1793237392964598784
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,747,716.934160578,682,664,636,882,788.934160578,805,653.934160578,633.934160578,655,0.447909615025,-0.00557640576954,0.0599033942093,0.99999998806,-3.35515560798e-05,-0.000144927642889,-4.18429306948e-05,1793237392981266176
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,747,717,682,664,636,882,788.488331957,805,653.488331957,633.488331957,655,0.44820732655,-0.00557323177016,0.0599027789612,0.999999985656,-6.75268478186e-05,-0.000149574218249,-4.19016514568e-05,1793237392997932288
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,747,717,682,663.911619878,636,882.088380122,788,805,653.088380122,633,654.911619878,0.448491943817,-0.00556895933073,0.0598983701251,0.99999998082,-0.00010382248481,-0.000160085125473,-4.41907903849e-05,1793237393014598400
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,747,717,682,663.338640781,636,882.661359219,788,805,653.661359219,633,654.338640781,0.448735953709,-0.00556175853889,0.0598808691783,0.999999977114,-9.43899618149e-05,-0.000186184990234,-4.68828773181e-05,1793237393031264768
+216,3.600000000,POSE1_TO_POSE2_PRESS,767.241529265,747,717,682,663.241529265,636,883,788,805,653.758470735,633,654,0.448962725097,-0.00555557639182,0.0598620370369,0.999999972095,-8.57518022782e-05,-0.000214468535984,-4.95987765251e-05,1793237393047931136
+217,3.616666667,POSE1_TO_POSE2_PRESS,767.832090868,747,717,682,663.832090868,636,883,788,805,653.167909132,633,654,0.449164585221,-0.00555086628199,0.0598412811964,0.999999965332,-7.82615726945e-05,-0.000245907703109,-5.23490865356e-05,1793237393064597760
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+220,3.666666667,POSE1_TO_POSE2_PRESS,767,747,717,681.567945639,663,635.432054361,883,788,804.864108722,653,632.567945639,654.432054361,0.449726404149,-0.00555741819186,0.0598195843502,0.999999955911,-8.32903063654e-05,-0.000279435004584,-5.61766212467e-05,1793237393114599168
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,747,717,682,663,635,883,788,804.146926617,653.146926617,633,654,0.449899447107,-0.005558640483,0.0598209781062,0.999999956371,-8.40134777039e-05,-0.000277427028682,-5.68675854507e-05,1793237393131265536
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,747,717,682,663,635,883,788,804.736367134,653.736367134,633,654,0.450054806042,-0.00556019548188,0.0598220799453,0.999999957171,-8.53411452604e-05,-0.000273968380878,-5.7582031394e-05,1793237393147931648
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+224,3.733333333,POSE1_TO_POSE2_PRESS,767,747,717,682,663,635,882.102433439,788,804.102433439,654,633,654.897566561,0.45030933497,-0.00556371117553,0.0598133761741,0.999999952223,-8.97131421428e-05,-0.000290039643742,-5.81587467104e-05,1793237393181264384
+225,3.750000000,POSE1_TO_POSE2_PRESS,767,747,717,682,663,635,882.473978402,788,804.947956805,653.526021598,633,654.526021598,0.450412630242,-0.00556393047897,0.0598091433905,0.999999950669,-9.0684703332e-05,-0.000294916294919,-5.8851141921e-05,1793237393197931264
+226,3.766666667,POSE1_TO_POSE2_PRESS,767,747,717,682.049948955,663,635,882.950051045,788,805.950051045,653,633,654,0.450511433798,-0.0055638680559,0.0598057797944,0.999999949706,-9.12617637578e-05,-0.00029784308535,-5.957006832e-05,1793237393214597888
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,747,717,682.624996942,663,635,882.375003058,788,805.375003058,653,633,654,0.450598963882,-0.00556445963798,0.059807727327,0.999999950608,-9.10009389375e-05,-0.000294919982103,-5.93752465575e-05,1793237393231265536
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,747,717,682.794967294,663,635,882.410065413,788,805,653,633,654,0.450678132489,-0.00556487219614,0.0598082738673,0.999999950788,-9.09749015222e-05,-0.0002943691326,-5.91183380449e-05,1793237393247932928
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+231,3.850000000,POSE1_TO_POSE2_PRESS,767,747,717,681.044061433,662.044061433,635,883.044061433,788,805,653,632.044061433,654,0.450849607225,-0.0055636334979,0.0598044220371,0.999999949107,-9.40263764169e-05,-0.000299085410084,-5.91095061363e-05,1793237393297931520
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+237,3.950000000,POSE1_TO_POSE2_PRESS,767,747,717,682,662.560526825,634.439473175,882.439473175,788,805,653,633,654,0.450997850061,-0.00555672433986,0.0597993683181,0.999999946433,-8.62517211612e-05,-0.000310305508481,-5.83521988714e-05,1793237393397931776
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+245,4.083333333,POSE1_TO_POSE2_PRESS,767,747,717,682,662.925025818,634,882.925025818,787.074974182,804.925025818,653.925025818,632.925025818,654,0.45102138408,-0.005551846751,0.0597902853263,0.999999942422,-8.33732841424e-05,-0.000323795141475,-5.79870161284e-05,1793237393531264768
+246,4.100000000,POSE1_TO_POSE2_PRESS,767,747,717,682,662.351338954,634,882.351338954,787.648661046,804.351338954,653.351338954,632.351338954,654,0.451021402302,-0.00554981077374,0.0597891362176,0.999999942254,-7.98847626115e-05,-0.000325177114341,-5.80555737205e-05,1793237393547931904
+247,4.116666667,POSE1_TO_POSE2_PRESS,767,747,716.769718461,681.769718461,662.230281539,634,882,787.769718461,804.230281539,653.230281539,632.230281539,654,0.451021906632,-0.00554917794546,0.0597883341786,0.999999942125,-7.86972839038e-05,-0.000325871594164,-5.79999322185e-05,1793237393564598528
+248,4.133333333,POSE1_TO_POSE2_PRESS,767,747,716.175561698,681.175561698,662.824438302,634,882,787.175561698,804.824438302,653.824438302,632.824438302,654,0.451023179077,-0.00555076227746,0.0597880805553,0.999999942072,-8.11457560166e-05,-0.000325479744459,-5.7748039767e-05,1793237393581264896
+249,4.150000000,POSE1_TO_POSE2_PRESS,767,747,716.407155264,681,662.592844736,634,882.814310528,787,805,653.592844736,632.592844736,654,0.451023031016,-0.00555022697985,0.0597877263023,0.99999994184,-8.04088227226e-05,-0.000326409739829,-5.75474017661e-05,1793237393597931264
+250,4.166666667,POSE1_TO_POSE2_PRESS,767,747,716.985074259,681,662.014925741,634,883.970148518,787,805,653.014925741,632.014925741,654,0.451022287183,-0.00554880269483,0.0597873298445,0.999999941529,-7.83359082431e-05,-0.000327894126182,-5.73682602509e-05,1793237393614598144
+251,4.183333333,POSE1_TO_POSE2_PRESS,767,747,716.441163122,681.558836878,662,634,882.882326244,787.558836878,805,653,632,654,0.45102187569,-0.00554875626545,0.0597863282226,0.999999940946,-8.02620321117e-05,-0.000329128654466,-5.78001706594e-05,1793237393631265024
+252,4.200000000,POSE1_TO_POSE2_PRESS,767,747,716.13636538,682,662,634,882,788,805,653.13636538,632,654,0.451021529604,-0.00554895978266,0.0597854315599,0.999999940443,-8.18552166207e-05,-0.000330213669627,-5.80728629169e-05,1793237393647931392
+253,4.216666667,POSE1_TO_POSE2_PRESS,767,747,716.72680041,682,662,634,882,788,805,653.72680041,632,654,0.451021371974,-0.00554987393849,0.0597849378125,0.999999940249,-8.19867530873e-05,-0.000330822892599,-5.77614480457e-05,1793237393664598272
+254,4.233333333,POSE1_TO_POSE2_PRESS,767,747,717,682,662.309409954,634.309409954,882.309409954,787.690590046,805,653.690590046,632,654.309409954,0.451021261938,-0.00554875878585,0.059784600568,0.999999940249,-8.03520363078e-05,-0.00033121708896,-5.77936027591e-05,1793237393681264896
+255,4.250000000,POSE1_TO_POSE2_PRESS,767,747,717,682,662.885280248,634.885280248,882.885280248,787.114719752,805,653.114719752,632,654.885280248,0.451021192889,-0.00554589601575,0.0597843981019,0.99999994041,-7.7196242281e-05,-0.000331426106811,-5.81216357136e-05,1793237393697931264
+256,4.266666667,POSE1_TO_POSE2_PRESS,767,747,717,682,662.539429326,634.539429326,882.539429326,787.460570674,805,653,632.460570674,654.539429326,0.451021196986,-0.00554709470703,0.0597840802897,0.99999994006,-7.80820565414e-05,-0.00033233896639,-5.77430786059e-05,1793237393714598144
+257,4.283333333,POSE1_TO_POSE2_PRESS,767,747,717,681.964263058,662,634,882.035736942,787.964263058,804.964263058,653,633,654,0.451021220639,-0.00554905633281,0.0597837550445,0.99999993961,-7.98210489849e-05,-0.000333362850805,-5.72490710768e-05,1793237393731264768
+258,4.300000000,POSE1_TO_POSE2_PRESS,767,747,717,681.388793938,662,634,882.611206062,787.388793938,804.388793938,653,633,654,0.451021264829,-0.00554728105018,0.0597837509106,0.999999939612,-7.92606672009e-05,-0.000333419107305,-5.76661775006e-05,1793237393747931392
+259,4.316666667,POSE1_TO_POSE2_PRESS,767,747,717,681.192295309,662,634.192295309,882.807704691,787,804.192295309,653,632.807704691,654,0.451021595971,-0.00554564004292,0.0597839412253,0.999999939778,-7.82836779878e-05,-0.000333096829823,-5.798653947e-05,1793237393764598272
+260,4.333333333,POSE1_TO_POSE2_PRESS,767,747,717,681.785089875,662,634.785089875,882.214910125,787,804.785089875,653,632.214910125,654,0.451022524759,-0.00554427869467,0.0597845365239,0.999999940283,-7.64390077794e-05,-0.00033198616818,-5.81054089154e-05,1793237393781264640
+261,4.350000000,POSE1_TO_POSE2_PRESS,767,747,717,681.631994721,662,634.631994721,882,787,805,653.368005279,632.368005279,654,0.451022354364,-0.00554451019804,0.0597842989498,0.999999940196,-7.62717515922e-05,-0.000332304471543,-5.79968686766e-05,1793237393797931008
+262,4.366666667,POSE1_TO_POSE2_PRESS,767,747,717,681.054697821,662,634.054697821,882,787,805,653.945302179,632.945302179,654,0.451021558844,-0.0055456475866,0.0597835877051,0.999999939773,-7.70584728667e-05,-0.00033343545463,-5.77589962055e-05,1793237393814597632
+263,4.383333333,HOLD_POSE2,767,747,717,682,662,634,882,787,804,653,632,654,0.451022113554,-0.00554807166302,0.0597835530525,0.999999939678,-7.88303367076e-05,-0.00033345381491,-5.69015002997e-05,1793237393845183488
+264,4.400000000,HOLD_POSE2,767,746.410029153,717,682,662,634,882,787,804.589970847,653.589970847,632.589970847,654,0.451021770972,-0.00554666092613,0.0597822932766,0.999999939392,-7.65672319619e-05,-0.000334786348322,-5.71945035571e-05,1793237393861849856
+265,4.416666667,HOLD_POSE2,767,746.176771417,716.823228583,681.823228583,662,634,882,787.176771417,804.823228583,653.823228583,633,654,0.451021166586,-0.00554534792545,0.059781442947,0.99999993907,-7.51605825536e-05,-0.000336030399941,-5.73917514477e-05,1793237393878516224
+266,4.433333333,HOLD_POSE2,767,746.756348059,716.243651941,681.243651941,662,634,882,787.756348059,804.243651941,653.243651941,633,654,0.451019965633,-0.00554425763387,0.0597815256135,0.99999993868,-7.57055190522e-05,-0.000337072830266,-5.7370803703e-05,1793237393895182848
+267,4.450000000,HOLD_POSE2,767,747,716.333531506,681.667063012,662,634,882,787.666468494,804.333531506,653.333531506,633,654,0.451019690527,-0.00554357053726,0.0597814589825,0.999999938502,-7.60314582946e-05,-0.000337491100326,-5.75761388925e-05,1793237393911849728
+268,4.466666667,HOLD_POSE2,767,747,716.908979092,682.817958185,662,634,882,787.091020908,804.908979092,653.908979092,633,654,0.451020086953,-0.00554317588487,0.0597812840634,0.99999993848,-7.61985550656e-05,-0.000337456656256,-5.79456009483e-05,1793237393928516608
+269,4.483333333,HOLD_POSE2,766.517397707,747,717,682.517397707,662.482602293,634,882.482602293,787,805,653.517397707,632.517397707,654,0.451021158637,-0.00554287585742,0.0597817510101,0.999999939085,-7.51493749612e-05,-0.000335928383434,-5.77493083405e-05,1793237393945183232
+270,4.500000000,HOLD_POSE2,766,747,717,682,662.942442025,634,883,787.057557975,804.942442025,653.057557975,632,654,0.451022230942,-0.0055425918777,0.0597822565228,0.999999939726,-7.39805170129e-05,-0.000334314222388,-5.75288326201e-05,1793237393961849600
+271,4.516666667,HOLD_POSE2,766,747,717,682,662.351975576,634,883,787.648024424,804.351975576,653.648024424,632,654,0.451022134302,-0.00554229186448,0.059782002488,0.999999939643,-7.38194931551e-05,-0.000334503582581,-5.80686655525e-05,1793237393978516480
+272,4.533333333,HOLD_POSE2,766.234721635,747,717,682,662,634,883,788,804,653.765278365,632.234721635,654,0.451021829543,-0.00554160828373,0.0597815978146,0.999999939388,-7.31994052425e-05,-0.000335363037858,-5.82922717947e-05,1793237393995183360
+273,4.550000000,HOLD_POSE2,766.815855985,747,717,682,662,634,883,788,804,653.184144015,632.815855985,654,0.451021217632,-0.00554035861688,0.059780970822,0.999999938874,-7.19018100271e-05,-0.000337211449493,-5.80491764596e-05,1793237394011849984
+274,4.566666667,HOLD_POSE2,767,747,717,682,662,634,882.607111816,787.607111816,804.392888184,653.392888184,632.607111816,654,0.451021808727,-0.00554151057411,0.0597812716079,0.999999938865,-7.236006268e-05,-0.000337195660731,-5.77387066461e-05,1793237394028516352
+275,4.583333333,HOLD_POSE2,767,747,717,682,662,634,882.031982351,787.031982351,804.968017649,653.968017649,632.031982351,654,0.451022957836,-0.00554377652517,0.059782002744,0.999999939088,-7.36327656881e-05,-0.000336315162315,-5.73969851427e-05,1793237394045182720
+276,4.600000000,HOLD_POSE2,767,747,717,682,662,634,882,787.540597914,805,653.459402086,632,654.540597914,0.451022267221,-0.00554399819665,0.0597809302794,0.999999938751,-7.49975491571e-05,-0.000336948594899,-5.77773233735e-05,1793237394061849344
+277,4.616666667,HOLD_POSE2,767,747,717,682,662,634,882.117180701,787.882819299,805,653.117180701,632,654.882819299,0.451021803948,-0.00554382626046,0.0597801984971,0.999999938541,-7.58424121614e-05,-0.000337338283246,-5.80499576955e-05,1793237394078515968
+278,4.633333333,HOLD_POSE2,767,747,717,682,662,634,882.710642006,787.289357994,805,653.710642006,632,654.289357994,0.451022705009,-0.00554254376741,0.0597812830746,0.999999938982,-7.45520226784e-05,-0.000336374942852,-5.77120183566e-05,1793237394095182848
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,747,717,681,662,634,883,787,805,653,633,654,0.451021779288,-0.0055394916614,0.0597817348046,0.999999938936,-7.03638922788e-05,-0.000337392275909,-5.78150530986e-05,1793237394132043776
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,747,717,681.569921034,663.139842069,634,883,787,805.569921034,653,632.430078966,654,0.451021741798,-0.00554122256807,0.0597819919074,0.999999938865,-7.35143428498e-05,-0.000336981827689,-5.75154470788e-05,1793237394148711424
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,747,717,681.85423508,663.85423508,634,883,787,805.70847016,653.14576492,632,654,0.45102176518,-0.00554242004481,0.0597818493738,0.999999938692,-7.53435919133e-05,-0.000337131918017,-5.72805229799e-05,1793237394165378560
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,747,717,681.260175545,663.260175545,634,883,787,804.520351089,653.739824455,632,654,0.451021975774,-0.00554197697796,0.0597804777733,0.999999938227,-7.31095354196e-05,-0.000339005923804,-5.7244525662e-05,1793237394182044672
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,747,717,681.325920828,662.674079172,634.325920828,882.674079172,787,804.325920828,653.674079172,632.325920828,654,0.451021944309,-0.00554162915049,0.0597797841098,0.999999938151,-7.1962907436e-05,-0.000339450717262,-5.73833924436e-05,1793237394198711040
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,747,717,681.905811957,662.094188043,634.905811957,882.094188043,787,804.905811957,653.094188043,632.905811957,654,0.451021724223,-0.00554135553731,0.0597796187213,0.999999938383,-7.16636465579e-05,-0.000338781812272,-5.76585201964e-05,1793237394215377408
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,747,717,682,662,635,882.481732655,787.481732655,805,653,632.518267345,654,0.451022060274,-0.00554217020836,0.0597800835001,0.999999938507,-7.27795510536e-05,-0.000338206211963,-5.74936018202e-05,1793237394232043776
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,747,717,682,662.056650409,635,882.943349591,788,805,653.056650409,632.056650409,654.056650409,0.451022510792,-0.00554313963299,0.0597806260454,0.999999938622,-7.41394505171e-05,-0.000337609183574,-5.72582925624e-05,1793237394248710656
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,747,717,682,662.629445372,635,882.370554628,788,805,653.629445372,632.629445372,654.629445372,0.451023021631,-0.00554359621844,0.0597807637296,0.99999993887,-7.52220520319e-05,-0.000336652070001,-5.71591325659e-05,1793237394265377536
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,747,717,682,662.790031865,634.790031865,882,787.790031865,805,653.790031865,633,654.790031865,0.451022042172,-0.00554336544351,0.0597800917066,0.999999938674,-7.52643447723e-05,-0.000337211008388,-5.72346969778e-05,1793237394282044416
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,747,717,682,662.195349913,634.195349913,882,787.195349913,805,653.195349913,633,654.195349913,0.451018332116,-0.00554187525345,0.0597779360987,0.999999937659,-7.34005331163e-05,-0.000340547730938,-5.76303999501e-05,1793237394298711296
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,747,716.616689204,682,662,634,882.383310796,787,805,653,633,654,0.451009969627,-0.00554112520602,0.0597736147392,0.999999935448,-7.31312579366e-05,-0.000346974244762,-5.80025220903e-05,1793237394315377920
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,747,716.045865903,682,662,634,882.954134097,787,805,653,633,654,0.450999331204,-0.00554073723019,0.0597682339115,0.999999932604,-7.36420167851e-05,-0.000354912259481,-5.83631087131e-05,1793237394332044288
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,747,716,682,662,634,883,787,804.465914381,653,632.465914381,654,0.450970412993,-0.00553978401557,0.0597546861101,0.999999924824,-7.21542728638e-05,-0.000376360379706,-5.91486648101e-05,1793237394348710656
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,747,716.11627685,681.88372315,662,634.11627685,883,787.11627685,804.11627685,653.11627685,632,654,0.450936225401,-0.00553844750269,0.0597396886472,0.999999915876,-7.07013700077e-05,-0.000399562232391,-6.00006125595e-05,1793237394365377280
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,747,716.70431952,681.29568048,662,634.70431952,883,787.70431952,804.70431952,653.70431952,632,654,0.450887138461,-0.00553575621668,0.0597217045988,0.999999905333,-7.00982673959e-05,-0.000425090303809,-6.09712833364e-05,1793237394382043904
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,747,717,681,662,634.711665142,882.711665142,788,805,654,632,654,0.45083389034,-0.00553385200309,0.059706728189,0.99999989694,-6.96583267863e-05,-0.000444378337371,-6.16154170663e-05,1793237394398710528
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,747,717,681,662,634.131722882,882.131722882,788,805,654,632,654,0.450776433811,-0.0055327437952,0.059694793555,0.999999891088,-6.93834000981e-05,-0.000457355508483,-6.19293075814e-05,1793237394415377408
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,747,717,681.447568473,662,634,882.447568473,788,804.552431527,653.552431527,632,654,0.450711141394,-0.00553165415002,0.059689658719,0.999999888228,-6.85082503152e-05,-0.00046372297794,-6.1732589516e-05,1793237394432044288
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767.026252323,747,717,682,662,634,882.973747677,787.973747677,804.026252323,653,632,654,0.450642762251,-0.00553051580944,0.0596865915459,0.99999988629,-6.73661631376e-05,-0.000468096738474,-6.13739264005e-05,1793237394448710912
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767.596314514,747,717,682,662,634,882.403685486,787.403685486,804.596314514,653,632,654,0.450558144552,-0.00552825575281,0.0596849606402,0.99999988497,-6.43484890343e-05,-0.000471408926688,-6.0769022881e-05,1793237394465377792
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767.826941128,747,717,682,662.173058872,634,882.173058872,787,805,653,632,654,0.45046727833,-0.0055252758435,0.0596832657401,0.99999988357,-6.11113987698e-05,-0.000474867879028,-6.02161164927e-05,1793237394482044416
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767.233983683,747,717,682,662.766016317,634,882.766016317,787,805,653,632,654,0.450361251123,-0.00552054933172,0.0596814155683,0.999999882,-5.73419321215e-05,-0.000478682929639,-5.97893725856e-05,1793237394498711040
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,747,717,682,663,634,883,787.351117175,805,653.351117175,632,654,0.450241004468,-0.00551647544335,0.059680035035,0.999999879863,-5.4736056678e-05,-0.000483504887093,-5.91620588172e-05,1793237394515377408
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767,747,717,682,663,634,883,787.931097068,805,653.931097068,632,654,0.450111489382,-0.00551282694289,0.0596789606178,0.999999877344,-5.28886246612e-05,-0.000488983159827,-5.84040109755e-05,1793237394532044032
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,747,717,682,663,634.503201235,882.496798765,787.496798765,805,653.496798765,632,654.503201235,0.44996402363,-0.00550740747888,0.059674851633,0.999999875301,-4.81464364942e-05,-0.0004937000588,-5.77868154854e-05,1793237394548710656
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,747,717,682,662.925944867,635,882,787.074055133,805,653,632,654.925944867,0.449810905177,-0.00550187176451,0.0596707416116,0.999999873619,-4.30834656975e-05,-0.000497641021411,-5.70844744932e-05,1793237394565377536
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,747,717,682,662.356351851,635,882,787.643648149,805,653,632,654.356351851,0.449636155746,-0.00549715581538,0.0596693622503,0.999999874166,-3.84854546511e-05,-0.00049707669389,-5.56853161655e-05,1793237394582044416
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,747,717,682,662.225476503,635,882.225476503,788,805,653,632.225476503,654,0.449450068309,-0.00549138278418,0.0596702019517,0.999999875066,-3.35386522102e-05,-0.000495758167324,-5.44683129572e-05,1793237394598710784
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,747,717,682,662.827751556,635,882.827751556,788,805,653,632.827751556,654,0.4492450337,-0.00548384324106,0.0596747499756,0.999999876561,-2.80089773741e-05,-0.000493179282829,-5.35557131025e-05,1793237394615377408
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,747,717,682,662.589946152,635,883,788,805,653,633,654.410053848,0.449023708371,-0.00547546265396,0.059678451757,0.999999878876,-2.04203482062e-05,-0.000489004002196,-5.20106712151e-05,1793237394632044032
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,747,717,682,662.015644024,635,883,788,805,653,633,654.984355976,0.448795857749,-0.00546674518441,0.0596818145735,0.999999881448,-1.20069989276e-05,-0.000484189280398,-5.02123028206e-05,1793237394648710656
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,747,717,682,663,635,882.727612477,788,805,653,633,654,0.448000664188,-0.00544694973201,0.0597060673775,0.999999897361,6.02301400134e-06,-0.000450961087032,-4.33194472747e-05,1793237394698710784
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,746.467800788,716.467800788,682,663,635.532199212,882,788,805,653,633,654,0.447033543425,-0.00542637328724,0.0597394706943,0.999999917996,2.90512694062e-05,-0.000402399958114,-3.51815655976e-05,1793237394748710912
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,747,717,682,663,635.043243192,882.043243192,788,805,653,633,654,0.446668597465,-0.00541812461449,0.0597425921455,0.999999917204,4.19605919761e-05,-0.000403491766307,-3.20183598092e-05,1793237394765377536
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,747,717,682,663,635.618568569,882.618568569,788,805,653,633,654,0.446265171382,-0.00541027802935,0.059734699967,0.999999910038,5.11611174584e-05,-0.000420007536135,-3.0006572519e-05,1793237394782044160
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,747,716.800578864,682,663,636,882.800578864,788.199421136,804.800578864,653,633,654,0.445848354593,-0.00540403139875,0.0597280384973,0.99999990396,5.86389682566e-05,-0.000433409024143,-2.82349769687e-05,1793237394798710784
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,747,716.20885315,682,663,636,882.20885315,788.79114685,804.20885315,653,633,654,0.44540519541,-0.00540093222582,0.0597237980991,0.999999900569,6.27279442163e-05,-0.000440684044355,-2.69358907439e-05,1793237394815377408
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,747,716.373426862,682,663.373426862,636.373426862,882,789,804.373426862,653,633.373426862,654,0.444964228109,-0.0054115008342,0.0597266460584,0.999999905951,5.14687273726e-05,-0.000429975180513,-2.38810063975e-05,1793237394832044288
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,747,716.950554318,682,663.950554318,636.950554318,882,789,804.950554318,653,633.950554318,654,0.444524456471,-0.00542952507981,0.0597333606456,0.999999915469,3.18372256761e-05,-0.000409456288421,-1.98683518759e-05,1793237394848711168
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,747,716.280436888,682,665,637,882,789,804.719563112,653,633,654,0.442576090521,-0.00541679607582,0.05982191959,0.999999957927,9.79594138815e-05,-0.000273031880324,-1.93734682198e-06,1793237394915377408
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,747,716.860462901,682,665,637,882,789,804.139537099,653,633,654,0.441981429412,-0.00540301469948,0.0598137156416,0.999999941223,0.000179672273699,-0.000292012768402,9.88687849327e-07,1793237394932044032
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,746.246952637,717,681.753047363,665.753047363,637,882,788.753047363,805,653.753047363,633,654,0.438924037892,-0.00540875665898,0.059825724984,0.999999944507,0.000165526021878,-0.000288427924685,1.99234261168e-05,1793237395015378176
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,746,716.085646671,681.085646671,665.085646671,637,882,789,804.085646671,653.085646671,633.914353329,654.914353329,0.437557544983,-0.00540708475882,0.0598345457746,0.999999946038,0.000173545385933,-0.000277462454998,2.86359964885e-05,1793237395048711168
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746.491491277,716.491491277,681,664.508508723,637,882,789,804.491491277,653,633.508508723,654.508508723,0.436824710739,-0.00539751196129,0.0597987576488,0.999999923294,0.000199906161502,-0.000335531463893,2.94634982674e-05,1793237395065377536
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746.930013485,717,681,664.069986515,637,882,789,804.930013485,653,633,654,0.436093841659,-0.00538815863371,0.0597626466412,0.999999896706,0.000227815026379,-0.000392167283108,2.9882056494e-05,1793237395082044160
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746.341409138,717,681,664.658590862,637,882,789,804.341409138,653,633,654,0.435414266894,-0.00538758458999,0.0597673544023,0.999999901074,0.000243991628884,-0.000370592149773,3.13141227195e-05,1793237395098711040
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746.243433639,716.756566361,681,664.756566361,637,882,789,804,653,633.243433639,654,0.434718802097,-0.00538977598912,0.059778265248,0.99999991817,0.000212939085909,-0.000343214329526,2.28388384079e-05,1793237395115377408
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,746.823081274,716.176918726,681,664.176918726,637,882,789,804,653,633.823081274,654,0.43400139097,-0.00539578682988,0.0597977433734,0.999999945818,0.000116656857788,-0.000307822226941,6.80194895829e-07,1793237395132044032
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,747,716,681.399041236,664.399041236,637,882,789,804,653,633.600958764,654,0.433246101973,-0.00540275580541,0.0598081163064,0.999999951868,9.61836332659e-05,-0.000294978310634,-9.78168879579e-07,1793237395148710656
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,747,716,681.973381169,664.973381169,637,882,789,804,653,633.026618831,654,0.432474173283,-0.00541014568891,0.0598144893299,0.999999951394,0.000109013287723,-0.000292039808919,6.36923550512e-06,1793237395165377536
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,746.451175362,716.548824638,681.451175362,665,637,882.548824638,789,804.548824638,653,633,654,0.431720435544,-0.00540393512738,0.0598157793434,0.999999950131,0.000138910126961,-0.000283436565706,1.0236244845e-05,1793237395182044160
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746.127282792,717,681,665,637,882.872717208,789,805,653.127282792,633.127282792,654,0.430970196819,-0.00539788595153,0.0598204831888,0.9999999495,0.000164618837314,-0.000271477968275,1.41634457039e-05,1793237395198710784
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746.716486866,717,681,665,637,882.283513134,789,805,653.716486866,633.716486866,654,0.430229448018,-0.0053948211873,0.0598384726496,0.999999954172,0.000172118270312,-0.000248341571979,1.89229287252e-05,1793237395215377664
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,747,717,681,665,637,882,789,804.698972905,653.698972905,634,654,0.429436562164,-0.00539235949451,0.0598298373315,0.999999947293,0.000178633231718,-0.000270320618056,2.07737737738e-05,1793237395232044032
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,747,717,681,665,637,882,789,804.118758194,653.118758194,634,654,0.428595321836,-0.00539045712057,0.0597965088579,0.999999927005,0.000184235143924,-0.000334141987322,1.99270018538e-05,1793237395248710656
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746.543718473,716.543718473,681,664.543718473,637,882,789,804,653,633.543718473,654,0.427792699411,-0.00539031204862,0.0597789951634,0.999999923851,0.000173914939076,-0.000348973357908,1.6423662816e-05,1793237395265377536
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767.030023202,746,716.030023202,680.969976798,664.030023202,637,881.969976798,788.969976798,804,653.030023202,633,654,0.427001724178,-0.00539074305901,0.0597677259104,0.999999926108,0.000160474476394,-0.00034910118724,1.26416369352e-05,1793237395282044160
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767.604376253,746,716.604376253,680.395623747,664.604376253,637,881.395623747,788.395623747,804,653.604376253,633,654,0.42624172887,-0.00539341917562,0.0597958797083,0.999999937864,0.000164754237366,-0.00031123306238,1.62022869735e-05,1793237395298710528
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,717,680,664.362667011,637,881.637332989,789,804,653.362667011,633,654,0.423931786065,-0.00538785847673,0.0598439647552,0.999999951078,0.000179633823541,-0.000255043942392,2.29694008177e-05,1793237395348710912
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,767.579057937,746.420942063,716.579057937,680,663.841884126,637,881,789.420942063,804,654,633,654,0.418489041159,-0.00538024746719,0.0597735650408,0.999999916969,0.000186635730633,-0.000361697916679,2.01003883125e-05,1793237395465377792
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,767.568172902,746.431827098,716.568172902,680,664.431827098,637,881,789.431827098,804.568172902,653.431827098,633,654,0.417071533151,-0.005383483074,0.0598337325397,0.999999945605,0.000188497712544,-0.000269541861968,2.46280203389e-05,1793237395498710784
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767.85353673,746.14646327,716.85353673,680,664,637.14646327,881,789,804.85353673,653,633,654,0.416357187203,-0.00538221513383,0.0598519113761,0.999999949722,0.000191299829531,-0.000251456673807,2.70217829067e-05,1793237395515377408
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767.25852938,746.74147062,716.25852938,680,664,637.74147062,881,789,804.25852938,653,633,654,0.415651240833,-0.00537913242077,0.059845780471,0.99999994301,0.000197062006991,-0.000272789557953,2.70633524782e-05,1793237395532044032
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746.673050976,716,680,664,637.673050976,881,789,804.326949024,653,633,654.326949024,0.414964608555,-0.00537736270843,0.0598439051326,0.999999940583,0.000200087367486,-0.000279418068929,2.69292156707e-05,1793237395548710912
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746.094894075,716,680,664,637.094894075,881,789,804.905105925,653,633,654.905105925,0.414292816099,-0.0053766018267,0.0598452995149,0.999999941699,0.000201009922877,-0.000274748626742,2.66600767017e-05,1793237395565377536
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.518256157,664.481743843,637,881.481743843,789.481743843,804.518256157,653.481743843,633,654.518256157,0.413620923134,-0.00537765876122,0.0598441642538,0.999999940878,0.000204661684491,-0.000274976359345,2.73180930679e-05,1793237395582044160
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,716.05926159,679,664.88147682,637,882,789.94073841,803.94073841,654,633.05926159,654,0.41294768938,-0.00537844547014,0.0598386281104,0.999999937739,0.000208690425958,-0.000283189574641,2.78104774144e-05,1793237395598711040
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,716.647291071,679,663.705417858,637,882,789.352708929,803.352708929,654,633.647291071,654,0.412262668375,-0.0053736361501,0.0597982566956,0.999999914674,0.000211301093555,-0.000354074000332,2.52005660561e-05,1793237395615378176
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,717,679.23214334,663.46428668,637,882,789,803,653.76785666,633.76785666,654,0.411616424616,-0.00536952186015,0.0597745969878,0.999999901381,0.000213920361561,-0.000388522777106,2.29420937145e-05,1793237395632044800
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,717,679.81223341,664.62446682,637,882,789,803,653.18776659,633.18776659,654,0.411028301973,-0.00536644931253,0.0597759855312,0.999999908483,0.000216552521226,-0.000368360183622,2.12103741303e-05,1793237395648711168
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746.39018616,717,680,664.60981384,637,881.60981384,789,803.39018616,653,633,654,0.410477162742,-0.00536840225306,0.0598015475944,0.999999922785,0.000217014350382,-0.00032682297525,2.28168895471e-05,1793237395665377536
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746.967116036,717,680,664.032883964,637,881.032883964,789,803.967116036,653,633,654,0.409943723778,-0.00537276039994,0.0598386791427,0.999999938411,0.000216437455681,-0.000275055839731,2.60210893397e-05,1793237395682044160
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746.456564876,716.456564876,679.456564876,664.543435124,637,881,789,803.456564876,653.543435124,633,654,0.409409268624,-0.00537207145327,0.0598568546707,0.99999994425,0.000219983362142,-0.000249671109808,2.77837800048e-05,1793237395698711040
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746.122260034,716,679.122260034,664.877739966,637,880.877739966,789,803.122260034,653.877739966,633,654,0.408875356805,-0.00537118341928,0.0598683585895,0.999999947235,0.000222811775675,-0.000234615172223,2.89789676538e-05,1793237395715377664
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746.710782345,716,679.710782345,664.289217655,637,880.289217655,789,803.710782345,653.289217655,633,654,0.40834375119,-0.00537069954486,0.0598587886407,0.999999942995,0.000221953535652,-0.000252868601676,2.83421591552e-05,1793237395732044544
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,747,716.293981854,680,664,637,880.293981854,789,804,653,633,654,0.407831260087,-0.00537101368268,0.05984871619,0.999999938478,0.000222377027955,-0.000269858538167,2.7713765446e-05,1793237395748711168
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,747,716.872037911,680,664,637,880.872037911,789,804,653,633,654,0.40733723934,-0.0053720989385,0.0598381581734,0.999999933745,0.000224039056255,-0.000285627562307,2.70935029744e-05,1793237395765378048
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,747,716.553762054,680,664,637.446237946,881,789,804,653.446237946,633,654,0.406895261009,-0.0053707687051,0.0598397671783,0.999999935789,0.000228432332759,-0.000274792241526,2.7004688912e-05,1793237395782044672
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746.980601053,716.019398947,679.980601053,664,638,881,789,804,654,633,654,0.406468976278,-0.00536881793671,0.0598450064813,0.999999939534,0.000233269149277,-0.000256483633618,2.70939421687e-05,1793237395798711040
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746.405801123,716.594198877,679.405801123,664,638,881,789,804,654,633,654,0.406068398568,-0.00536876223548,0.0598551474279,0.999999944503,0.000228573279126,-0.000240761790671,2.79555339533e-05,1793237395815377664
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746.174596996,716.825403004,679.174596996,664,637.825403004,881,789,804,653.825403004,633,654,0.405667835297,-0.00536700514809,0.0598597876502,0.999999946178,0.000227973104447,-0.000234218910622,2.8528820607e-05,1793237395832044032
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746.768437436,716.231562564,679.768437436,664,637.231562564,881,789,804,653.231562564,633,654,0.405267306757,-0.00536116268119,0.0598512194958,0.999999940284,0.000237207541182,-0.000249716618454,2.8409826987e-05,1793237395848710656
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746.648167093,716,679.648167093,664,637,881,789,803.648167093,653.351832907,633,654.351832907,0.404883329602,-0.00535628424238,0.0598359830469,0.999999931709,0.000246035833484,-0.000274356615034,2.78597223191e-05,1793237395865377536
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746.071447833,716,679.071447833,664,637,881,789,803.071447833,653.928552167,633,654.928552167,0.404509931806,-0.00535202199541,0.0598164843227,0.999999920759,0.000254604525057,-0.00030484022776,2.70340578601e-05,1793237395882044416
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746.507668099,716.507668099,679.507668099,664,637.507668099,881,788.492331901,803.507668099,654,633,654.492331901,0.404176139304,-0.00534845481743,0.0598012590623,0.999999911172,0.000261505887168,-0.000329491204556,2.65618872128e-05,1793237395898710784
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746.91174438,717,679.91174438,664.08825562,637.91174438,881,788.08825562,804,654,633,654.08825562,0.403858874404,-0.0053457529014,0.0597914318643,0.99999990464,0.000266959803252,-0.000344598796004,2.65461871712e-05,1793237395915377408
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746.32475581,717,679.32475581,664.67524419,637.32475581,881,788.67524419,804,654,633,654.67524419,0.403603359159,-0.00534738516811,0.0598086943005,0.999999916136,0.000265566526578,-0.000310437419169,2.88275350184e-05,1793237395932044032
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767.258924841,746.258924841,717,679.258924841,664.741075159,637,880.741075159,789,804,654,633,655,0.40335809792,-0.00534994070396,0.0598249374242,0.999999925291,0.000263247376098,-0.000281354310027,3.09739025044e-05,1793237395948710400
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767.838508845,746.838508845,717,679.838508845,664.161491155,637,880.161491155,789,804,654,633,655,0.403125535521,-0.00535363963992,0.059839918204,0.999999932287,0.000259781600025,-0.000258560260127,3.29531067328e-05,1793237395965377024
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767.583515108,746.583515108,716.583515108,680,664,637,880.416484892,789,804,654,633,654.583515108,0.402912410369,-0.00535915181666,0.059851947132,0.999999939317,0.000252388448429,-0.000237630946574,3.46079391984e-05,1793237395982043648
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767.006160158,746.006160158,716.006160158,680,664,637,880.993839842,789,804,654,633,654.006160158,0.402706792988,-0.00536536436962,0.0598628358872,0.99999994607,0.000243478321943,-0.00021742190029,3.61374808587e-05,1793237395998710528
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716.569026772,679.430973228,664,637,881,789,803.430973228,654,633,654,0.402510824322,-0.00536770083219,0.059861343511,0.99999994545,0.000240351264348,-0.000223550634463,3.68205939881e-05,1793237396015377408
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746.147073492,717,679,664,637,881,789,803.147073492,654,633,654,0.402317749713,-0.00536911051733,0.0598577057661,0.999999944882,0.000233760154209,-0.000233020734201,3.59766578052e-05,1793237396032043776
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746.733737669,717,679,664,637,881,789,803.733737669,654,633,654,0.402133014219,-0.00536787508388,0.0598480547897,0.999999944409,0.000216628859015,-0.000251628915585,3.05957797261e-05,1793237396048710400
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,747,716.682706997,679.317293003,664.317293003,637,881,789,804,654,633,654,0.401971680666,-0.00536962873766,0.0598433762143,0.99999994833,0.000185287312439,-0.000261767170671,2.20687492774e-05,1793237396065377024
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,747,716.101735132,679.898264868,664.898264868,637,881,789,804,654,633,654,0.401829794724,-0.00537386640172,0.0598428298346,0.999999954762,0.000142136669653,-0.000264866695101,1.09271825191e-05,1793237396082043904
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,747,716.474893449,680,664.525106551,637.474893449,881,789,804,654,633,654,0.401711811837,-0.00537491807785,0.0598441421055,0.999999947942,0.000185562059571,-0.000263772254454,1.03505675105e-05,1793237396098710784
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,747,717,680,664,637.949525281,881,789,803.949525281,654,633,654,0.401600953142,-0.00537496980246,0.059845907089,0.999999936441,0.00024203264847,-0.000261527501886,1.19299729997e-05,1793237396115377152
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,747,717,680,664,637.375243851,881,789,803.375243851,654,633,654,0.401511367559,-0.00537166321316,0.0598482755057,0.999999937441,0.000243152673698,-0.000256584652894,1.26089332643e-05,1793237396132043776
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746.794870251,717,679.794870251,664,637,881,789,803.205129749,654,633,654.205129749,0.401426950985,-0.0053697854906,0.0598507828949,0.999999938682,0.000243076732471,-0.00025172963524,1.34756249891e-05,1793237396148710656
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746.203011166,717,679.203011166,664,637,881,789,803.796988834,654,633,654.796988834,0.401352279504,-0.00537060159833,0.0598535522875,0.999999940398,0.000240746046011,-0.000247040205545,1.46962451652e-05,1793237396165377536
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,717,679,664,637,881,789,804,654,633,654.620336538,0.401284381775,-0.00536799364082,0.0598522076429,0.999999938811,0.000244444450444,-0.000249792448394,1.51316313971e-05,1793237396182044160
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,717,679,664,637,881,789,804,654,633,654.042456983,0.401220020515,-0.00536359803475,0.0598487151265,0.999999935434,0.000251290544824,-0.000256429867072,1.51570597721e-05,1793237396198710784
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746.531846793,716.468153207,679.531846793,664,637,881,789,803.468153207,654,633,654,0.401172914812,-0.00536463373112,0.0598471605602,0.999999935584,0.000248114662646,-0.000258880118222,1.59070461187e-05,1793237396215377408
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746.8911104,716.1088896,680,664,637,881,789,803,654,633,654.1088896,0.401129439956,-0.0053659531211,0.0598457228992,0.99999993588,0.000244616810341,-0.000261008886251,1.66137719578e-05,1793237396232044032
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746.300701668,716.699298332,680,664,637,881,789,803,654,633,654.699298332,0.401095970285,-0.00536662251662,0.0598441226527,0.999999935649,0.000243209432417,-0.000263184277585,1.68751262757e-05,1793237396248710656
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746.284640586,716.715359414,680,664,637,881,789,803.284640586,654,633,654.715359414,0.401068220052,-0.00536666833831,0.0598443917213,0.999999935783,0.000242845265625,-0.000262987625655,1.72331738145e-05,1793237396265377280
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746.864724155,716.135275845,680,664,637,881,789,803.864724155,654,633,654.135275845,0.40104640631,-0.00536606692098,0.0598466010472,0.999999936296,0.000243563900707,-0.000260328909292,1.7691584211e-05,1793237396282043904
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746.558512053,716,680,664,637,881,789,804,654,633,654,0.401030428,-0.00536524083771,0.0598468682658,0.999999936328,0.000244391958355,-0.000259428295214,1.77263971236e-05,1793237396298710528
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,716.017022589,680,664,637,881,789,804,654,633,654,0.401016468819,-0.00536437877384,0.0598466025795,0.999999936226,0.000245260425029,-0.00025900432561,1.7646145901e-05,1793237396315377408
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,716.585447214,680,664,637,881,789,804,654,633,654,0.401010427784,-0.00536456444836,0.0598482069956,0.999999936544,0.000246359890194,-0.00025670052133,1.80116526552e-05,1793237396332044032
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746.161200279,716.838799721,679.838799721,664,637,881,789,804,654,633,654,0.401005130968,-0.00536483297911,0.0598497206092,0.999999937042,0.000246811859224,-0.000254296765736,1.82759640034e-05,1793237396348710912
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746.756697179,716.243302821,679.243302821,664,637,881,789,804,654,633,654,0.40100183919,-0.00536532473639,0.0598509895879,0.999999938036,0.000245519380945,-0.000251623727142,1.82676404239e-05,1793237396365377536
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746.657261082,716.342738918,679.342738918,664,637,881,789,803.657261082,654,633,654.342738918,0.400997866604,-0.00536498354418,0.059851273246,0.999999938185,0.000245109402707,-0.000251429913398,1.8278232269e-05,1793237396382044160
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767,746.077751184,716.922248816,679.922248816,664,637,881,789,803.077751184,654,633,654.922248816,0.400993423704,-0.00536406693359,0.0598508762248,0.999999937753,0.00024530907341,-0.000252948798462,1.83018912725e-05,1793237396398710784
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diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..79db2597a319539009c96d34f13d60d83dc3dcbe
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,441 @@
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+419,6.983333333,pose2_to_pose3_retreat,0.578254055971,1.18802035459e-06,1.05001169419,0.548825292632,0.00867485994251,1.04966122653
+420,7.000000000,pose2_to_pose3_retreat,0.578253677955,1.15512258981e-06,1.05001174806,0.548824915418,0.00867482979768,1.0496612812
+421,7.016666667,pose2_to_pose3_retreat,0.578253659482,1.15351491649e-06,1.05001175069,0.548824896984,0.00867482832454,1.04966128388
+422,7.033333333,pose2_to_pose3_retreat,0.578253429427,1.13349376211e-06,1.05001178347,0.548824667416,0.00867480997879,1.04966131715
+423,7.050000000,pose2_to_pose3_retreat,0.578253295598,1.13733419367e-06,1.05001179233,0.548824533529,0.00867481362386,1.04966132604
+424,7.066666667,pose2_to_pose3_retreat,0.578253236833,1.15691845101e-06,1.05001178441,0.548824474345,0.00867483177023,1.04966131785
+425,7.083333333,pose2_to_pose3_retreat,0.578253205501,1.16736048987e-06,1.05001178019,0.548824442788,0.0086748414456,1.04966131349
+426,7.100000000,pose2_to_pose3_retreat,0.578253167984,1.17986371476e-06,1.05001177513,0.548824405002,0.00867485303083,1.04966130826
+427,7.116666667,pose2_to_pose3_retreat,0.57825312378,1.19459563029e-06,1.05001176917,0.548824360482,0.00867486668112,1.0496613021
+428,7.133333333,pose2_to_pose3_retreat,0.578253098181,1.20312667516e-06,1.05001176572,0.5488243347,0.00867487458581,1.04966129854
+429,7.150000000,pose2_to_pose3_retreat,0.578253024876,1.22755708481e-06,1.05001175584,0.54882426087,0.00867489722252,1.04966128833
+430,7.166666667,pose2_to_pose3_retreat,0.578252929169,1.25945302211e-06,1.05001174294,0.548824164478,0.00867492677663,1.04966127499
+431,7.183333333,pose2_to_pose3_retreat,0.578252927978,1.25984989624e-06,1.05001174278,0.548824163279,0.00867492714437,1.04966127483
+432,7.200000000,pose2_to_pose3_retreat,0.578252804468,1.30101196119e-06,1.05001172614,0.548824038884,0.00867496528428,1.04966125762
+433,7.216666667,pose2_to_pose3_retreat,0.578252651864,1.3518699787e-06,1.05001170557,0.548823885188,0.00867501240827,1.04966123636
+434,7.233333333,pose2_to_pose3_retreat,0.578252446825,1.36607988946e-06,1.05001168276,0.548823680357,0.00867502746137,1.04966121695
+435,7.250000000,pose2_to_pose3_retreat,0.578252236834,1.35943578271e-06,1.05001166129,0.548823471236,0.00867502397596,1.04966120066
+436,7.266666667,pose2_to_pose3_retreat,0.578252157765,1.34247324175e-06,1.05001165851,0.548823392193,0.00867500708188,1.04966119742
+437,7.283333333,pose2_to_pose3_retreat,0.578252150016,1.33555852128e-06,1.05001166017,0.548823384336,0.00867499976674,1.04966119815
+438,7.300000000,pose2_to_pose3_retreat,0.578252148294,1.33402218047e-06,1.05001166053,0.548823382591,0.00867499814143,1.04966119831
+439,7.316666667,pose2_to_pose3_retreat,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f3770feb894731f4c44d99169e07c2ceac58ee1d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55148212781e4680051a20eeea53d2f1774f6f08e48b6a5fee82dac1ae623124
+size 28028735
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..24ba3f5715278186289550ce67f4734dc5192b2d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_05/franka_data.csv
@@ -0,0 +1,442 @@
+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,767,747,717,680,664,637,881,789,803,654,633,655,0.400991905983,-0.00536939380108,0.0598574345993,0.999999942142,0.000239124399894,-0.000241253544709,1.82539262994e-05,1793237396921244928
+1,0.016666667,BASELINE,767.646862217,747,717,679.353137783,664,637.646862217,881,789,803.646862217,654,633,654.353137783,0.40099168527,-0.00536886588085,0.0598572024734,0.999999941802,0.000239394008826,-0.000242390656912,1.82756305768e-05,1793237396937911552
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+3,0.050000000,BASELINE,768,746.14463535,716.14463535,679.85536465,664.85536465,638,881,789,804,654,633,654.85536465,0.40099264807,-0.00537019389742,0.0598581014025,0.999999942976,0.000236203093201,-0.000240687764916,1.80569446266e-05,1793237396971244544
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+9,0.150000000,BASELINE,767.670777331,746,716.329222669,679.329222669,664,637.670777331,881.329222669,789,804,654,633,654,0.400993193122,-0.00536908097923,0.0598592925097,0.999999942538,0.000238866749084,-0.000239849900999,1.8387967333e-05,1793237397071244544
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+19,0.316666667,BASELINE,767.862384066,746.862384066,717,679.137615934,664.137615934,637.137615934,881,789,803,654,633,654.862384066,0.400993450338,-0.00537105783321,0.0598598312512,0.999999943399,0.000236439215607,-0.000238639965504,1.86759171355e-05,1793237397237912320
+20,0.333333333,BASELINE,767.288217854,746.288217854,717,679.711782146,664.711782146,637.711782146,881,789,803,654,633,654.288217854,0.40099067398,-0.00537034061499,0.0598583095748,0.99999994277,0.000235942505846,-0.000241774420412,1.8338114346e-05,1793237397254578432
+21,0.350000000,BASELINE,767.293857717,746,717,680,664.706142283,638,881,789,803.293857717,654,633,654,0.400990315459,-0.00536890709271,0.0598580034504,0.999999942325,0.000237488615135,-0.000242114390517,1.81525101074e-05,1793237397271244800
+22,0.366666667,BASELINE,767.883905386,746,717,680,664.116094614,638,881,789,803.883905386,654,633,654,0.400992393967,-0.00536675158137,0.0598589225256,0.99999994206,0.000241093756561,-0.000239637696891,1.81203123806e-05,1793237397287911680
+23,0.383333333,BASELINE,767.534696547,746,716.534696547,680,664.465303453,637.534696547,881,789,803.534696547,654,633,654,0.40099267151,-0.00536790033182,0.0598588159454,0.999999942438,0.000239846912457,-0.000239308697613,1.81476059658e-05,1793237397304578304
+24,0.400000000,BASELINE,767,746,716,679.955643439,664.955643439,637,881,789,803,654,633,654.044356561,0.4009924402,-0.00536966101547,0.0598584929505,0.999999942898,0.000237666958159,-0.000239555318879,1.81930498594e-05,1793237397321244928
+25,0.416666667,BASELINE,767,746,716,679.379304255,664.379304255,637,881,789,803,654,633,654.620695745,0.400991396838,-0.00536905368232,0.0598585875538,0.999999942485,0.000238549882241,-0.000240396133118,1.82814050496e-05,1793237397337911808
+26,0.433333333,BASELINE,767.196720027,746,716,679.196720027,664.196720027,637.196720027,881,789,803,654,633,654.803279973,0.400991087104,-0.00536884933234,0.059858666702,0.999999942395,0.00023871192139,-0.00024060985404,1.82478413746e-05,1793237397354578688
+27,0.450000000,BASELINE,767.772138204,746,716,679.772138204,664.772138204,637.772138204,881,789,803,654,633,654.227861796,0.400992189647,-0.00536942074963,0.0598587160984,0.999999942931,0.000237486212859,-0.000239616381904,1.7979576401e-05,1793237397371245312
+28,0.466666667,BASELINE,767.642905771,746,716.357094229,679.642905771,665,637.642905771,881,789,803.357094229,654,633,654,0.400992630007,-0.00536977309261,0.0598592085912,0.999999943167,0.00023724634142,-0.000238864557548,1.79756850801e-05,1793237397387911936
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+30,0.500000000,BASELINE,767.527302991,746,717,679.527302991,664.472697009,637,881,789,804,654,633,654,0.400992988072,-0.0053704332654,0.0598596692083,0.999999943674,0.000235926530866,-0.000238031897922,1.81916469583e-05,1793237397421245184
+31,0.516666667,BASELINE,768,746.104475867,717,679.895524133,664.104475867,637,881,789,803.895524133,654,633,654,0.400993104808,-0.00537058231159,0.0598592313929,0.999999943928,0.000234786914183,-0.000238089092293,1.82169370807e-05,1793237397437911808
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+33,0.550000000,BASELINE,768,747,716.741177998,679,664.741177998,637,881,789,803.258822002,654,633,654.258822002,0.40099170318,-0.00536884293407,0.0598587624213,0.999999942583,0.000238927435546,-0.00023961375936,1.82414799746e-05,1793237397471244800
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+39,0.650000000,BASELINE,767,746.735982061,716.735982061,679,664.264017939,637.264017939,881,789,803.264017939,654,633,654,0.400992138725,-0.00536904622914,0.0598593838066,0.999999942824,0.000239014974893,-0.000238513628378,1.83114238676e-05,1793237397571244800
+40,0.666666667,BASELINE,767,746.682075975,717,679.317924025,664,637,881,789,803.317924025,654,633,654.317924025,0.400993306165,-0.00536852346527,0.0598604433036,0.999999942823,0.000240518086448,-0.000236995152171,1.84136730453e-05,1793237397587911424
+41,0.683333333,BASELINE,767,746.093526079,717,679.906473921,664,637,881,789,803.906473921,654,633,654.906473921,0.400994697289,-0.00536782227824,0.0598616695453,0.999999942833,0.000242158047196,-0.000235272770769,1.84412738071e-05,1793237397604578304
+42,0.700000000,BASELINE,767,746,716.510653296,679.510653296,664,637,881,789,803.510653296,654,633,654.510653296,0.40099329129,-0.00536861436491,0.0598606110422,0.999999942657,0.000241415549369,-0.000236793940744,1.82308458887e-05,1793237397621245184
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+44,0.733333333,BASELINE,767,746,716.641564142,679.641564142,664,637.641564142,881,789,803.641564142,654,633,654,0.400992520582,-0.0053701463445,0.0598593716921,0.9999999433,0.000237052907184,-0.000238486491611,1.8190635777e-05,1793237397654578688
+45,0.750000000,BASELINE,767,746.215269202,717,679.784730798,664.215269202,637.784730798,881,789,804,654,633,654,0.400992471117,-0.00537022386804,0.0598593585072,0.999999943567,0.000235813954293,-0.000238593124617,1.81716014838e-05,1793237397671245056
+46,0.766666667,BASELINE,767,746.792416144,717,679.207583856,664.792416144,637.207583856,881,789,804,654,633,654,0.400990949673,-0.00536954927158,0.0598592204232,0.999999943051,0.000237459014876,-0.000239149337388,1.7845024839e-05,1793237397687911424
+47,0.783333333,BASELINE,767,747,716.620643323,679,664.620643323,637,881,789,803.620643323,654,633,654.379356677,0.400990559094,-0.00537008474199,0.059859018082,0.999999943172,0.000236581912762,-0.000239511507636,1.78533360833e-05,1793237397704578048
+48,0.800000000,BASELINE,767,747,716.028201668,679,664.028201668,637,881,789,803.028201668,654,633,654.971798332,0.400990803721,-0.00537129990796,0.0598587796474,0.999999943648,0.000234288109797,-0.00023976468408,1.80497541189e-05,1793237397721244928
+49,0.816666667,BASELINE,767,746.45221243,716,679,664,637.54778757,880.45221243,789,803.54778757,654,633,654.45221243,0.400990944417,-0.00536941956393,0.0598595499396,0.999999943283,0.000236691348844,-0.000238937856801,1.79032279304e-05,1793237397737911296
+50,0.833333333,BASELINE,767,746,716.123022509,679.123022509,664,637.876977491,880.123022509,789,804,654,633,654.123022509,0.400991251068,-0.00536807369247,0.0598600917005,0.99999994301,0.00023850073689,-0.000238289899768,1.77715009989e-05,1793237397754578432
+51,0.850000000,BASELINE,767,746,716.698507783,679.698507783,664,637.301492217,880.698507783,789,804,654,633,654.698507783,0.40099218719,-0.00536926258777,0.0598596075177,0.999999943255,0.000237262566451,-0.000238498340664,1.77572463955e-05,1793237397771245312
+52,0.866666667,BASELINE,767,746,717,680,664,637,881,789,804,654,633,654.718231499,0.400992232334,-0.00537051577749,0.0598593160043,0.999999943467,0.000236073494674,-0.000238777061014,1.79110269501e-05,1793237397787912192
+53,0.883333333,BASELINE,767,746,717,680,664,637,881,789,804,654,633,654.126414993,0.400991297077,-0.00537183971444,0.0598592364973,0.999999943643,0.000234938449386,-0.000239133114354,1.82497073973e-05,1793237397804578816
+54,0.900000000,BASELINE,767,746,717,679.543410034,664,637.456589966,881.456589966,789,804,654,633,654,0.400991039198,-0.00537105109021,0.0598591882161,0.999999943042,0.000237218062791,-0.000239379955519,1.84406246831e-05,1793237397821245184
+55,0.916666667,BASELINE,767,746,717,679,664,637.963182395,881.963182395,789,804,654,633,654.036817605,0.40099099742,-0.00536976005036,0.0598591424341,0.999999942301,0.000240132633449,-0.000239560830037,1.85519828829e-05,1793237397837911808
+56,0.933333333,BASELINE,767,746,717,679,664,637.388562051,881.388562051,789,804,654,633,654.611437949,0.400991424627,-0.00536951211475,0.0598590092649,0.999999942719,0.00023877383901,-0.000239211436095,1.80874834377e-05,1793237397854578176
+57,0.950000000,BASELINE,767,746,717,679.18437655,664,637,881,789,804,653.81562345,633,654.81562345,0.400992211905,-0.00536910446738,0.0598594347484,0.999999943052,0.000238294733013,-0.000238309062696,1.78804512804e-05,1793237397871244544
+58,0.966666667,BASELINE,767,746,717,679.753802945,664,637,881,789,804,653.246197055,633,654.246197055,0.400993751152,-0.00536836327989,0.0598610269159,0.99999994321,0.000239652758308,-0.000236251853474,1.82111108728e-05,1793237397887911424
+59,0.983333333,BASELINE,767,746,717,680,664,637,881,789,803.660056723,653.339943277,633,654,0.40099357951,-0.00536896910237,0.0598609918557,0.99999994349,0.00023822769232,-0.000236507396688,1.82311662822e-05,1793237397904578304
+60,1.000000000,BASELINE,767,746,717,680,664,637,881,789,803.061185672,653.938814328,633,654,0.400992104719,-0.00537060091446,0.05985971737,0.999999943853,0.000234682803305,-0.00023852451546,1.80146409331e-05,1793237397921245184
+61,1.016666667,BASELINE,767,746,717,679.48240872,664.51759128,637,881.51759128,789,803,653.48240872,633,654,0.400991574962,-0.0053702072522,0.0598594604726,0.999999943165,0.000237204533154,-0.00023889397742,1.82930610082e-05,1793237397937911808
+62,1.033333333,BASELINE,767,746.09343575,716.90656425,679,665,637,881.90656425,788.90656425,803,653,633,654,0.40099121405,-0.00536971522725,0.0598592366489,0.999999942527,0.000239609592119,-0.000239148764242,1.84941451199e-05,1793237397954578688
+63,1.050000000,BASELINE,767,746.665968635,716.334031365,679,665,637,881.334031365,788.334031365,803,653,633,654,0.400991167478,-0.00536990068187,0.0598585886622,0.999999942799,0.000237876615775,-0.000239776935976,1.80098900322e-05,1793237397971245312
+64,1.066666667,BASELINE,767,746.753931661,716.246068339,679.246068339,664.753931661,637.246068339,881.246068339,788.246068339,803.246068339,653.246068339,633.246068339,654,0.400991642051,-0.00537008423524,0.0598589757743,0.999999943148,0.000237109409731,-0.000239088373108,1.79081694232e-05,1793237397987911936
+65,1.083333333,BASELINE,767,746.163234343,716.836765657,679.836765657,664.163234343,637.836765657,881.836765657,788.836765657,803.836765657,653.836765657,633.836765657,654,0.400992846509,-0.00537026512579,0.0598608125857,0.999999943603,0.000237694805401,-0.00023655566844,1.83422043456e-05,1793237398004578304
+66,1.100000000,BASELINE,767,746,716.580585474,679.580585474,664,637.580585474,881.580585474,789,804,654,633.580585474,654,0.400992035466,-0.00537010563716,0.0598600845259,0.999999943404,0.000237270450379,-0.000237828208708,1.82611227523e-05,1793237398021244672
+67,1.116666667,BASELINE,767,746,716.001010061,679.001010061,664,637.001010061,881.001010061,789,804,654,633.001010061,654,0.400990454767,-0.00536981616869,0.0598583770246,0.999999942948,0.000236460504105,-0.000240553849399,1.7983334758e-05,1793237398037911296
+68,1.133333333,BASELINE,767,746,716.574928336,679,664,637,881,789,804,654,633,654,0.400991421901,-0.00536993375142,0.0598591323023,0.999999943077,0.000237218031131,-0.000239254545319,1.8213373077e-05,1793237398054578176
+69,1.150000000,BASELINE,767,746.150267637,717,679.150267637,664.150267637,637,881,789,804,654,633,654.150267637,0.400991999945,-0.00537008727823,0.0598595481518,0.999999943085,0.000237890468491,-0.000238540760637,1.83554366157e-05,1793237398071245056
+70,1.166666667,BASELINE,767,746.72393669,717,679.72393669,664.72393669,637,881,789,804,654,633,654.72393669,0.400991469135,-0.00537034008051,0.059858995497,0.999999942757,0.000238315442442,-0.000239496563095,1.82471200613e-05,1793237398087911936
+71,1.183333333,BASELINE,767,746.693774531,717,679.693774531,664.693774531,637,881,789,803.693774531,654,633,654.693774531,0.400991497049,-0.00537050432043,0.0598590254458,0.999999942683,0.000238680629598,-0.000239445336972,1.82137497532e-05,1793237398104578560
+72,1.200000000,BASELINE,767,746.103489903,717,679.103489903,664.103489903,637,881,789,803.103489903,654,633,654.103489903,0.400992043241,-0.00537058640865,0.059859595826,0.999999942844,0.000238990357712,-0.000238459976726,1.82499006512e-05,1793237398121245184
+73,1.216666667,BASELINE,767,746,717,679,664,637,880.520776923,789,803,654,633,654,0.400993002328,-0.00536857378254,0.0598603090787,0.999999942738,0.000240575355139,-0.00023732783385,1.79991289166e-05,1793237398137911552
+74,1.233333333,BASELINE,767.059492639,746,716.940507361,679.059492639,664,637,880.118985278,789,803.059492639,654,633,654.059492639,0.400993785261,-0.00536669404255,0.0598608301985,0.999999942677,0.000241666681641,-0.00023649151139,1.77510852033e-05,1793237398154578176
+75,1.250000000,BASELINE,767.632565259,746,716.367434741,679.632565259,664,637,881.265130518,789,803.632565259,654,633,654.632565259,0.400992289742,-0.0053698058023,0.0598594304913,0.999999943516,0.000236155866467,-0.000238478290514,1.80531682706e-05,1793237398171244800
+76,1.266666667,BASELINE,767.788678574,746,716,680,664,637,881.788678574,789,804,654,633,654.788678574,0.400991326081,-0.005371572839,0.0598585749869,0.99999994386,0.000233760419657,-0.00023938989702,1.81327148694e-05,1793237398187911424
+77,1.283333333,BASELINE,767.199767053,746,716,680,664,637,881.199767053,789,804,654,633,654.199767053,0.400991312746,-0.00537093711819,0.0598586918667,0.99999994336,0.000236931527679,-0.000238380380048,1.78146322675e-05,1793237398204578048
+78,1.300000000,BASELINE,767.382727175,746,716.382727175,680,664,637,881,789,803.617272825,654,633,654.382727175,0.400990881315,-0.00536985246039,0.0598588374349,0.999999943046,0.000237910568778,-0.000238722806433,1.78261716646e-05,1793237398221244672
+79,1.316666667,BASELINE,767.961927072,746,716.961927072,680,664,637,881,789,803.038072928,654,633,654.961927072,0.400990235254,-0.00536853734113,0.0598589977302,0.99999994283,0.000237764313794,-0.000239759252004,1.80069222887e-05,1793237398237911296
+80,1.333333333,BASELINE,767.46031685,746.53968315,717,679.46031685,664,637,881,789,803.53968315,654,633,654.46031685,0.400991526356,-0.00536855457455,0.0598597577027,0.999999942968,0.000238451552421,-0.000238501862061,1.7922595969e-05,1793237398254578176
+81,1.350000000,BASELINE,767.116702248,747,716.883297752,679.116702248,664,637,881.116702248,789,804,654,633,654.116702248,0.400992599939,-0.00536875431785,0.0598603090688,0.99999994312,0.000238838145875,-0.00023748610664,1.78191575961e-05,1793237398271244544
+82,1.366666667,BASELINE,767.691228538,747,716.308771462,679.691228538,664,637,881.691228538,789,804,654,633,654.691228538,0.40099228551,-0.00536930229665,0.0598598765484,0.999999943231,0.00023781524648,-0.000238051424687,1.77139083324e-05,1793237398287911424
+83,1.383333333,BASELINE,767.727960323,747,716.272039677,680,664,637,881.727960323,789,803.727960323,654,633,654.727960323,0.400992943967,-0.00536918606416,0.0598598787985,0.999999943303,0.000237846397382,-0.00023772877348,1.75815864171e-05,1793237398304578048
+84,1.400000000,BASELINE,767.139846957,747,716.860153043,680,664,637,881.139846957,789,803.139846957,654,633,654.139846957,0.400994732789,-0.00536829810715,0.0598603861936,0.999999943327,0.000239102213496,-0.000236374420943,1.74178096913e-05,1793237398321244672
+85,1.416666667,BASELINE,767,746.556439967,717,680,664,637.443560033,881.443560033,789,803.443560033,654,633,654.443560033,0.400993388182,-0.00536853791137,0.0598601987455,0.999999943322,0.00023830953785,-0.00023719909739,1.73679961723e-05,1793237398337911552
+86,1.433333333,BASELINE,767,746,716.974880342,680,664,637.974880342,881.974880342,789,804,654,633,654.974880342,0.400991200346,-0.0053691327118,0.0598598249482,0.999999943306,0.000236954364335,-0.000238616975501,1.73666115733e-05,1793237398354578176
+87,1.450000000,BASELINE,767,746,716.40159284,680,664,637.40159284,881.40159284,789,804,654,633,654.40159284,0.40099194357,-0.00536979658681,0.059860115048,0.999999943339,0.000237270250205,-0.000238145129152,1.76461993516e-05,1793237398371245056
+88,1.466666667,BASELINE,767,746,716.172295109,680,664,637.172295109,881,789,804,654,633,654,0.400992617379,-0.00537002185456,0.0598604823882,0.999999943384,0.000237711233626,-0.000237507195308,1.77890371256e-05,1793237398387911936
+89,1.483333333,BASELINE,767,746,716.747587465,680,664,637.747587465,881,789,804,654,633,654,0.400993128824,-0.00536922122245,0.0598610303934,0.999999943455,0.000238444819464,-0.000236480783818,1.76120174255e-05,1793237398404578560
+90,1.500000000,BASELINE,767.332320724,746.332320724,717,679.667679276,664,637.667679276,880.667679276,789,804,654,633,654,0.400993346687,-0.00536982528473,0.0598613335158,0.999999943647,0.000238049782535,-0.000236049310132,1.78686903704e-05,1793237398421244928
+91,1.516666667,BASELINE,767.924434417,746.924434417,717,679.075565583,664,637.075565583,880.075565583,789,804,654,633,654,0.400993335042,-0.00537152747212,0.0598614452001,0.999999943931,0.000236772440504,-0.000236082931347,1.84644041697e-05,1793237398437911552
+92,1.533333333,BASELINE,767.495447191,746.495447191,717,679,664,637,880,789,803.495447191,654,633,654,0.400993320835,-0.00537093185042,0.0598613723081,0.99999994396,0.000236651314014,-0.000236097317575,1.82671517947e-05,1793237398454578176
+93,1.550000000,BASELINE,767,746,717,679.082425297,664,637.082425297,880.082425297,789,803.082425297,654,633,654,0.400993286374,-0.00537008096418,0.0598612760044,0.999999943945,0.000236674260321,-0.000236161101392,1.79863729071e-05,1793237398471244800
+94,1.566666667,BASELINE,767,746,717,679.657362991,664,637.657362991,880.657362991,789,803.657362991,654,633,654,0.400993133132,-0.00536971336251,0.0598612011512,0.999999943888,0.000236547410244,-0.00023653686218,1.78996474656e-05,1793237398487911168
+95,1.583333333,BASELINE,767,746,717,680,664,637.761777946,881,789,803.761777946,654,633,654,0.400992814091,-0.00537004546928,0.0598608551164,0.999999943885,0.000236268041262,-0.000236822900332,1.79471712252e-05,1793237398504578304
+96,1.600000000,BASELINE,767,746,717,680,664,637.172184939,881,789,803.172184939,654,633,654,0.4009922505,-0.00537140962665,0.0598601090965,0.999999943963,0.000235763711087,-0.00023697660013,1.81927088363e-05,1793237398521245184
+97,1.616666667,BASELINE,767,746.410178271,717,679.589821729,664,637.410178271,881,789,803,654,633,654,0.400991841263,-0.00537077586019,0.059859290511,0.99999994349,0.00023676940718,-0.000237987929669,1.7928595427e-05,1793237398537911808
+98,1.633333333,BASELINE,767,746.989559082,717,679.010440918,664,637.989559082,881,789,803,654,633,654,0.400991495698,-0.00536931793058,0.0598584419917,0.999999942786,0.000238398003882,-0.00023935303984,1.74542459812e-05,1793237398554578432
+99,1.650000000,BASELINE,767,746.435383752,717,679,664,637.435383752,881,789,803.564616248,653.435383752,633,654.564616248,0.400991776148,-0.00536942744018,0.0598591047056,0.999999943116,0.000237363745833,-0.000238981629285,1.77024729922e-05,1793237398571244800
+100,1.666666667,BASELINE,767.139578971,746.139578971,717,679.139578971,664,637,881,789,803.860421029,653.139578971,633,654.860421029,0.400992138243,-0.00536998953923,0.0598597728797,0.999999943594,0.000235946892119,-0.000238372057209,1.78821038033e-05,1793237398587911424
+101,1.683333333,BASELINE,767.714494576,746.714494576,717,679.714494576,664,637,881,789,803.285505424,653.714494576,633,654.285505424,0.400992719148,-0.00537187351609,0.0598603715852,0.99999994447,0.000233489164525,-0.000237119070121,1.78064298827e-05,1793237398604578048
+102,1.700000000,BASELINE,767.702009456,746.702009456,716.702009456,679.702009456,664,637.297990544,880.702009456,789,803.297990544,654,633,654.297990544,0.400992546035,-0.00537246969504,0.059860426376,0.999999944597,0.000233166534462,-0.00023690171783,1.78281507192e-05,1793237398621244672
+103,1.716666667,BASELINE,767.110048929,746.110048929,716.110048929,679.110048929,664,637.889951071,880.110048929,789,803.889951071,654,633,654.889951071,0.400991629077,-0.00537179545124,0.0598599445908,0.999999943986,0.000234950194826,-0.000237706027375,1.79459522437e-05,1793237398637911552
+104,1.733333333,BASELINE,767,746,716,679.470218443,664,638,880.470218443,789,803.529781557,654,633,655,0.400991455164,-0.0053713347454,0.0598599348258,0.999999943816,0.000235918453498,-0.00023746718189,1.78811933697e-05,1793237398654578432
+105,1.750000000,BASELINE,767,746,716,680,664,638,881,789,803.047641064,654,632.952358936,654.952358936,0.400991508082,-0.00537101098135,0.0598600778934,0.999999943779,0.000236558226607,-0.000236991300772,1.78030778321e-05,1793237398671245056
+106,1.766666667,BASELINE,767,746,716,680,664,638,881,789,803.623129676,654,632.376870324,654.376870324,0.400992194213,-0.00537166420617,0.0598607200177,0.999999944106,0.000235621570453,-0.000236528476059,1.80388792474e-05,1793237398687911680
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,747,717,679,664,638,880,789,804,654,633,654,0.400990146735,-0.00537178648185,0.0598591125968,0.999999943805,0.000233661737064,-0.000239712155404,1.81570312558e-05,1793237398727176704
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746.421461168,716.421461168,679,664,638,880.578538832,789,804,654,633,654,0.400992303618,-0.00537097827666,0.0598602188091,0.999999943715,0.000236101310574,-0.000237707044268,1.79360968636e-05,1793237398743844352
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716,679,664,637.84405349,881,789,803.84405349,654,633,654,0.40099348508,-0.00537034863956,0.059860799374,0.999999943535,0.000237941643179,-0.000236639390586,1.77533257206e-05,1793237398760511488
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716,679,664,637.269680724,881,789,803.269680724,654,633,654,0.400992049349,-0.00537019812542,0.059859969554,0.999999943138,0.000238174129336,-0.000238087065665,1.7672951853e-05,1793237398777177856
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746.305603021,716,679,664,637,881,789,803,654,633,654,0.400991342574,-0.0053710747923,0.0598594980364,0.99999994306,0.00023780295035,-0.000238769939651,1.78316311364e-05,1793237398793843968
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746.881693033,716,679,664,637,881,789,803,654,633,654,0.400991280993,-0.00537286060958,0.0598593436497,0.999999943267,0.000236897471759,-0.000238775893713,1.82018946147e-05,1793237398810510336
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,747,716.472006396,679.472006396,664.472006396,637.472006396,881,789,803.472006396,654,633,654,0.400991333438,-0.00537180687986,0.0598595535995,0.999999943566,0.000235838392035,-0.000238582448907,1.80526157018e-05,1793237398827176704
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746.935919531,716.935919531,679.935919531,664.935919531,637.935919531,881,789,803.935919531,654,633,654,0.400991467234,-0.0053703072916,0.0598599464244,0.999999943831,0.000235082289546,-0.000238234304421,1.78494154095e-05,1793237398843843072
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746.359167036,716.359167036,679.359167036,664.359167036,637.359167036,881,789,803.359167036,654,633,654,0.400992016114,-0.00537111165891,0.0598610490327,0.999999943633,0.000237067722795,-0.000237060769466,1.82890212549e-05,1793237398860509952
+116,1.933333333,POSE1_TO_POSE2_PRESS,767.216878414,746,716,679,664,637,881,789,803.216878414,653.783121586,633,654.216878414,0.400992796677,-0.00537108744062,0.0598615570169,0.999999943671,0.000237599546997,-0.000236368036122,1.8305467986e-05,1793237398877176320
+117,1.950000000,POSE1_TO_POSE2_PRESS,767.791756694,746,716,679,664,637,881,789,803.791756694,653.208243306,633,654.791756694,0.40099395968,-0.00536969548112,0.059861083459,0.999999944101,0.000235731907488,-0.000236468959159,1.76234085258e-05,1793237398893842944
+118,1.966666667,POSE1_TO_POSE2_PRESS,767.624971311,746,716,679,664,637,881,789,804,653.375028689,633,654.624971311,0.401001823816,-0.00537033653734,0.0598650192393,0.999999945743,0.000235199876113,-0.000229953230937,1.7797937309e-05,1793237398910509824
+119,1.983333333,POSE1_TO_POSE2_PRESS,767.036931753,746,716,679,664,637,881,789,804,653.963068247,633,654.036931753,0.4010134941,-0.00537213231694,0.0598714594599,0.999999947987,0.000235426450636,-0.000219679340528,1.84589957545e-05,1793237398927176448
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,716.543448649,679,664,637,881,789,803.456551351,654,633,654,0.401045867549,-0.00537275296344,0.0598848509749,0.999999953125,0.000234818557343,-0.000195517493702,1.95612382199e-05,1793237398943843072
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746.122793578,716.877206422,679.122793578,664,637,880.877206422,789,803,654,633,654.122793578,0.401083750578,-0.00537355270704,0.059899322122,0.999999958004,0.000234403050001,-0.000169189728287,2.05401189982e-05,1793237398960509696
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746.700205315,716.299794685,679.700205315,664,637,880.299794685,789,803,654,633,654.700205315,0.401136895162,-0.00537530707694,0.0599160657439,0.999999962628,0.000234906847657,-0.000138288747872,2.09528189565e-05,1793237398977176320
+123,2.050000000,POSE1_TO_POSE2_PRESS,767.275563,746.724437,716.275563,680,664.275563,637,880.275563,789,803.275563,654,632.724437,654.724437,0.401195873793,-0.00537729222731,0.059931444898,0.999999966037,0.000234012480897,-0.000112700340206,2.15283150388e-05,1793237398993843456
+124,2.066666667,POSE1_TO_POSE2_PRESS,767.848702511,746.151297489,716.848702511,680,664.848702511,637,880.848702511,789,803.848702511,654,632.151297489,654.151297489,0.401261152525,-0.00537952659409,0.0599453505821,0.99999996862,0.000231608256631,-9.28489051629e-05,2.22796122933e-05,1793237399010511360
+125,2.083333333,POSE1_TO_POSE2_PRESS,767.566737351,746,716.566737351,679.566737351,664.566737351,637,881,789,803.566737351,654,632.433262649,654,0.40133066194,-0.00538135423961,0.0599532459439,0.999999970095,0.000230038441773,-7.99983256258e-05,2.22144964157e-05,1793237399027177728
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716,679,664,637,881,789,803.021694071,654,633,654,0.401402328929,-0.00538300517178,0.0599588046339,0.999999971124,0.000228865040914,-6.99710451159e-05,2.18520211121e-05,1793237399043843328
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,716,679,664,637,881,789,803.604312624,654,633,654,0.40149054906,-0.00538385872649,0.0599596829837,0.999999970961,0.000230203443899,-6.80206513015e-05,2.1372018968e-05,1793237399060509952
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,716.183754218,679.183754218,664,637,881,789,804,654,633,654.183754218,0.401586583216,-0.00538593924477,0.0599615141033,0.99999997138,0.000229605172677,-6.39859969017e-05,2.06927807651e-05,1793237399077176832
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,716.756470897,679.756470897,664,637,881,789,804,654,633,654.756470897,0.401699157728,-0.00539061694288,0.0599653620016,0.999999972974,0.000224907438571,-5.55394760008e-05,1.95918089152e-05,1793237399093843968
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,717,679.669535083,664,637.330464917,880.669535083,789,803.669535083,654,633,654.669535083,0.401819251444,-0.00539419454651,0.0599668371706,0.999999973921,0.000221685951355,-5.16958749679e-05,1.84707824391e-05,1793237399110510592
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,717,679.094596041,664,637.905403959,880.094596041,789,803.094596041,654,633,654.094596041,0.401944907793,-0.00539695831345,0.0599665570222,0.999999974434,0.000219556574046,-5.12574599752e-05,1.73349196681e-05,1793237399127176960
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,716.505704357,679.494295643,664,637.505704357,880,789,803.494295643,654,633,654.494295643,0.402089159749,-0.00540061900663,0.0599664833993,0.999999975221,0.00021676606559,-4.81630662921e-05,1.58107988836e-05,1793237399143843328
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716.08417,679.91583,664,637,880.08417,789,804,653.91583,633,654.91583,0.402242154627,-0.00540455288612,0.059966593937,0.999999976026,0.000213919116547,-4.45472552544e-05,1.42242373835e-05,1793237399160510208
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716.663657573,679.336342427,664,637,880.663657573,789,804,653.336342427,633,654.336342427,0.402425048743,-0.0054090549419,0.0599675488658,0.999999976714,0.000211506217106,-4.09410707692e-05,1.2720182806e-05,1793237399177176832
+135,2.250000000,POSE1_TO_POSE2_PRESS,767.241200125,746.241200125,716.758799875,679,664,637,881,789,803.758799875,653.241200125,633,654,0.402623421408,-0.00541405638991,0.0599684334354,0.999999977679,0.000207986561385,-3.55680239806e-05,1.09300948339e-05,1793237399193843456
+136,2.266666667,POSE1_TO_POSE2_PRESS,767.816052098,746.816052098,716.183947902,679,664,637,881,789,803.183947902,653.816052098,633,654,0.402843205519,-0.0054197486463,0.059969220677,0.999999978985,0.000202935931151,-2.77508788787e-05,8.74433729626e-06,1793237399210510080
+137,2.283333333,POSE1_TO_POSE2_PRESS,767.599031836,746.599031836,716,679,664,637.400968164,881,789,803,654,633.400968164,654,0.403078856783,-0.00542584749751,0.0599742536363,0.999999980705,0.000195614198335,-1.66322231405e-05,6.89285210499e-06,1793237399227176704
+138,2.300000000,POSE1_TO_POSE2_PRESS,767.009379923,746.009379923,716,679,664,637.990620077,881,789,803,654,633.990620077,654,0.403321974654,-0.00543213768004,0.0599812845046,0.999999982452,0.000187223751975,-3.95997443425e-06,5.19866564659e-06,1793237399243843584
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746.569403708,716,679,664,637.430596292,880.430596292,789,803,654,633.430596292,654,0.403583564703,-0.00543825352447,0.0599785610751,0.999999983821,0.000179603469745,-9.67216095705e-06,2.53215843676e-06,1793237399260510208
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746.852528803,716.147471197,679,664,637,880.147471197,789,803.147471197,654,633,654,0.403852563995,-0.00544490945081,0.0599735660428,0.999999985141,0.000171470957658,-1.77783527812e-05,-4.40545897342e-07,1793237399277176832
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746.276033725,716.723966275,679,664,637,880.723966275,789,803.723966275,654,633,654,0.404142249565,-0.00545314478333,0.0599624211639,0.999999986388,0.000161812047412,-3.19846405381e-05,-4.25831506703e-06,1793237399293843456
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716.700699706,679,664,637,881,789,804,654,633,654,0.404446549896,-0.00546148033819,0.0599508734943,0.999999987021,0.000152561729505,-5.11952046654e-05,-7.8244575452e-06,1793237399310510080
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716.126432286,679,664,637,881,789,804,654,633,654,0.404764276839,-0.00546990796824,0.0599389557798,0.999999986802,0.000143686784146,-7.50031981979e-05,-1.11594310651e-05,1793237399327176704
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716.462495529,679,664,637,881,789,804,653.537504471,633,654,0.405113736941,-0.00547629957255,0.059934575999,0.999999987099,0.000136231454001,-8.38146943474e-05,-1.47959428778e-05,1793237399343843072
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,716.945988676,679.054011324,664,637,881,789,803.945988676,653.054011324,633,654,0.405478053146,-0.00548235087593,0.0599342769682,0.99999998785,0.00012934090781,-8.50479100733e-05,-1.83631752377e-05,1793237399360509696
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,716.369476029,679.630523971,664,637,881,789,803.369476029,653.630523971,633,654,0.405899418965,-0.00549067078987,0.0599528677138,0.999999990645,0.000124036878805,-5.39268232495e-05,-2.04366656354e-05,1793237399377176832
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,716,679.7934509,664,637,881,789,803.2065491,654,633,654.2065491,0.406337964872,-0.00549871362872,0.0599736397099,0.999999992607,0.000118121325538,-1.80144963625e-05,-2.25717879871e-05,1793237399393843712
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,716,679.218295826,664,637,881,789,803.781704174,654,633,654.781704174,0.406807170209,-0.00550626200096,0.0599983043482,0.999999993169,0.000111114450996,2.64482396779e-05,-2.48168981369e-05,1793237399410510080
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,679.364902652,664,637.364902652,880.635097348,789,804,654,633,655,0.407282481087,-0.00551085608508,0.0600140464167,0.99999999543,7.74479125763e-05,4.93718334678e-05,-2.65353635192e-05,1793237399427176448
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,679.953021372,664,637.953021372,880.046978628,789,804,654,633,655,0.407761526795,-0.00551364298946,0.0600243304232,0.999999997485,2.74732841451e-05,5.91196302432e-05,-2.79316727971e-05,1793237399443843072
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.466931824,746,716.533068176,679.466931824,664,638,880.533068176,789,804,653.466931824,633,654.466931824,0.408236998649,-0.00550162040772,0.0600152974873,0.999999997777,-4.7833220659e-05,3.42720094715e-05,-3.13547462566e-05,1793237399460509696
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.111930333,746,716.888069667,679.111930333,664.111930333,637.888069667,881,788.888069667,804,653.111930333,633,654,0.408719908539,-0.00549203564981,0.0600050399003,0.999999993334,-0.000109676563556,8.61246380988e-06,-3.50430172418e-05,1793237399477176576
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.688782414,746,716.311217586,679.688782414,664.688782414,637.311217586,881,788.311217586,804,653.688782414,633,654,0.409235002175,-0.00549791707634,0.0599966611597,0.999999993537,-0.000106463734629,-7.94452181249e-06,-3.91019851364e-05,1793237399493843200
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,716.264363126,680,664.735636874,637,881,788,803.735636874,653.735636874,633,654,0.409781041011,-0.0055070891094,0.0599954220419,0.999999993224,-0.000107889767907,-7.88741127246e-06,-4.30056816724e-05,1793237399510510336
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,716.838454376,680,664.161545624,637,881,788,803.161545624,653.161545624,633,654,0.410363335344,-0.00552011642139,0.0600025477129,0.999999992257,-0.000114750696761,1.16347902372e-05,-4.67274626419e-05,1793237399527178240
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716.575421219,679.575421219,664,637,881.424578781,788.424578781,803,653,633,654,0.410969872462,-0.0055288053418,0.0600106919241,0.999999991334,-0.000118032394611,2.9539736444e-05,-5.02707742057e-05,1793237399543845120
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.984896893,746,716,679,664,637,881.984896893,789,803,653,632.984896893,654,0.411585555455,-0.00553556111223,0.0600186438183,0.999999990333,-0.000119876509915,4.56028801765e-05,-5.36952179266e-05,1793237399560512000
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.406019514,746,716,679,664,637,881.406019514,789,803,653,632.406019514,654,0.412188280468,-0.0055335704153,0.0600045287083,0.999999991089,-0.000120376117294,1.65542259795e-05,-5.52912386867e-05,1793237399577178624
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.170347753,746,716,679,664,637,881,789,803.170347753,653.170347753,632.170347753,654,0.412785849262,-0.00552763617162,0.0599856959408,0.999999994638,-8.84504900832e-05,-2.11249084672e-05,-4.95483055331e-05,1793237399593844992
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.740819077,746,716,679,664,637,881,789,803.740819077,653.740819077,632.740819077,654,0.41337130677,-0.00551243907617,0.0599557820418,0.999999996328,1.96375792148e-05,-7.90758588118e-05,-2.65671728622e-05,1793237399610510592
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,716,679,664,637,881,789,804,653.683369464,632.683369464,654,0.414016462601,-0.00550514506465,0.0599439903837,0.999999993085,5.97450878928e-05,-9.94251728464e-05,-1.93919873695e-05,1793237399627176704
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,716,679,664,637,881,789,804,653.103111826,632.103111826,654,0.414711323323,-0.00550443117447,0.0599472873344,0.999999994829,4.32518660254e-05,-8.846730116e-05,-2.53768605967e-05,1793237399643843328
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746.48488424,716.48488424,679.48488424,664.48488424,637.48488424,881.48488424,789,804.48488424,653.48488424,632.48488424,654,0.415467489369,-0.00551433473573,0.0599883755212,0.999999999309,1.68544737408e-05,-1.79508759489e-05,-2.78419897427e-05,1793237399660510208
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,747,717,679.926799257,664.926799257,637.926799257,882,788.926799257,804.926799257,653.926799257,633,654,0.416230505711,-0.00552572287967,0.0600319650355,0.999999997975,-9.1180464623e-06,5.56702257413e-05,-2.94404016507e-05,1793237399677177088
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,747,717,679.347823543,664.347823543,637.347823543,882,788.347823543,804.347823543,653.347823543,633,654,0.41694931612,-0.00553151533555,0.0600364098228,0.99999999748,-1.7366662218e-05,6.18138229976e-05,-3.03057517609e-05,1793237399693843968
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,747,717,679.228044753,664,637,881.771955247,788.456089506,804,653,633,654,0.41765972406,-0.00553390229165,0.0600292234678,0.999999998024,-2.21591979854e-05,4.95879459504e-05,-3.16439841113e-05,1793237399710510592
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,747,717,679.799237287,664,637,881.200762713,789.598474573,804,653,633,654,0.418357488589,-0.00553116486109,0.0600045352828,0.999999999149,-2.17512374355e-05,9.72080968124e-06,-3.36937807996e-05,1793237399727176960
+168,2.800000000,POSE1_TO_POSE2_PRESS,767.38505547,747,717,680,664.38505547,637,881.38505547,789.61494453,804,653,633,654,0.419096702966,-0.00552819096547,0.0599881751609,0.999999998975,-2.10089589961e-05,-1.68684243922e-05,-3.63828034419e-05,1793237399743843584
+169,2.816666667,POSE1_TO_POSE2_PRESS,767.978800316,747,717,680,664.978800316,637,881.978800316,789.021199684,804,653,633,654,0.419858381967,-0.00552508891252,0.0599763286196,0.999999998364,-2.00854895721e-05,-3.62614016855e-05,-3.94182686915e-05,1793237399760510208
+170,2.833333333,POSE1_TO_POSE2_PRESS,767.442089626,747,716.442089626,679.442089626,665,637.557910374,882,788.442089626,804,653,632.442089626,654,0.420601541964,-0.00552619991341,0.0599609624226,0.999999997323,-2.43366102423e-05,-5.58470904909e-05,-4.0527691849e-05,1793237399777177344
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746.864239495,716,679.135760505,664.864239495,637.864239495,881.864239495,788.135760505,804.135760505,653.135760505,632.135760505,654,0.421342061275,-0.00552743096119,0.0599440510366,0.999999995364,-2.78582128213e-05,-8.22199028359e-05,-4.16673593457e-05,1793237399793844480
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746.288715325,716,679.711284675,664.288715325,637.288715325,881.288715325,788.711284675,804.711284675,653.711284675,632.711284675,654,0.422076247851,-0.00552854555666,0.0599225565306,0.999999990144,-2.83960734241e-05,-0.000130554862497,-4.31360063562e-05,1793237399810510848
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716.286189086,680,664,637.286189086,881,789,805,653.713810914,633,654,0.422863251142,-0.0055300229679,0.0599322732793,0.999999991948,-2.9931730277e-05,-0.000115315353184,-4.37005869651e-05,1793237399827176960
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716.860469585,680,664,637.860469585,881,789,805,653.139530415,633,654,0.423703422182,-0.0055318656065,0.0599734087481,0.999999997882,-3.24718157102e-05,-3.60787858273e-05,-4.33550915358e-05,1793237399843843072
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746.450090391,716.549909609,680,664.450090391,638,881,789,804.549909609,653,633,654,0.424552401216,-0.00553562695661,0.0600168489602,0.999999997909,-3.74106626729e-05,3.30632258424e-05,-4.10893616115e-05,1793237399860509696
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,747,716,680,664.956730995,637.956730995,881.043269005,789,804,653,632.956730995,654,0.425398974789,-0.00553970104349,0.0600569800754,0.999999994014,-4.24383597665e-05,9.3216956297e-05,-3.84987361228e-05,1793237399877176576
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,747,716,680,664.380377122,637.380377122,881.619622878,789,804,653,632.380377122,654,0.426181083863,-0.00554004132571,0.0600472290467,0.999999995049,-3.90757431937e-05,8.25477470135e-05,-3.94981375617e-05,1793237399893843456
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746.805260101,716,680,664.194739899,637,882,789,804,653.194739899,632.194739899,654,0.426960774245,-0.00554019279494,0.0600335466495,0.999999996216,-3.82418197004e-05,6.62796562904e-05,-4.13748397343e-05,1793237399910510080
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.232543619,716,680,664.767456381,637,882,789,804,653.767456381,632.767456381,654,0.427735770252,-0.00553997779135,0.0600122337384,0.999999997328,-4.23159127624e-05,3.91445247147e-05,-4.49543216964e-05,1793237399927176960
+180,3.000000000,POSE1_TO_POSE2_PRESS,767.350992387,746.350992387,716.350992387,680,665,637,882,789,804.350992387,653.649007613,633,654,0.428495230084,-0.00554133962769,0.0599931269878,0.999999997673,-4.78090373956e-05,1.25978713259e-05,-4.70001043512e-05,1793237399943843328
+181,3.016666667,POSE1_TO_POSE2_PRESS,767.94192463,746.94192463,716.94192463,680,665,637,882,789,804.94192463,653.05807537,633,654,0.429244069276,-0.00554377939838,0.0599755283789,0.999999997284,-5.42722176627e-05,-1.35464942943e-05,-4.79974435501e-05,1793237399960509952
+182,3.033333333,POSE1_TO_POSE2_PRESS,767.477661379,746.477661379,717,679.477661379,664.477661379,637,882,789,804.477661379,653,633,654,0.430008675036,-0.00554330108394,0.0599545879021,0.999999996215,-4.96418858361e-05,-5.23596152664e-05,-4.86124703176e-05,1793237399977176576
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746.100199974,716.899800026,679.100199974,664.100199974,637,882,789,804,653.100199974,633,654,0.430784337497,-0.00554294578196,0.0599424354383,0.999999994947,-4.58725214832e-05,-7.46490020091e-05,-4.92968286636e-05,1793237399993843456
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746.671450306,716.328549694,679.671450306,664.671450306,637,882,789,804,653.671450306,633,654,0.431603900358,-0.0055446639047,0.0599733085885,0.9999999973,-5.18346032756e-05,-1.27675660475e-05,-5.05030063281e-05,1793237400010510080
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,747,716.241758191,680,665,637,882,789,804,653.758241809,633.241758191,654,0.432407791222,-0.00554750290665,0.0600035671795,0.999999996112,-5.98615241697e-05,4.07827419679e-05,-5.02929098921e-05,1793237400027176704
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,747,716.81079022,680,665,637,882,789,804,653.18920978,633.81079022,654,0.433190466461,-0.00555185926943,0.0600329938243,0.999999992893,-7.06836667177e-05,8.30549980793e-05,-4.81655694297e-05,1793237400043843328
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746.596645314,716.596645314,680,665,637,882,789,804,653,633.596645314,654,0.433932803224,-0.00555170488357,0.0600262540291,0.999999994037,-7.15930488768e-05,6.65300146317e-05,-4.87236256974e-05,1793237400060509696
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746.00726416,716.00726416,680.00726416,665,637.00726416,882,789,804,653.00726416,633.00726416,654,0.434655055726,-0.00554934952908,0.0600014541322,0.999999996217,-6.76222005405e-05,2.07508381835e-05,-5.06198446265e-05,1793237400077176576
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746.581675903,716.581675903,680.581675903,665,637.581675903,882,789,804,653.581675903,633.581675903,654,0.435378122239,-0.00555059160814,0.0599732454268,0.999999996049,-6.81676794475e-05,-2.22284519538e-05,-5.25490717571e-05,1793237400093843200
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746.843781967,717,681,665,638,882.156218033,789,804,653.843781967,633.843781967,654,0.43609506437,-0.00555188206175,0.0599521128212,0.999999994611,-6.98474366498e-05,-5.45551057596e-05,-5.40610178849e-05,1793237400110509568
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746.268890263,717,681,665,638,882.731109737,789,804,653.268890263,633.268890263,654,0.436795592949,-0.00555330216229,0.0599499445797,0.999999994036,-7.45671279265e-05,-5.83320667295e-05,-5.44546266206e-05,1793237400127176192
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746.314521232,717,680.685478768,665,637.685478768,882.685478768,789,804.314521232,653,633,654,0.437467407337,-0.00555264383745,0.0599461059496,0.999999993105,-7.47938310396e-05,-7.22429115436e-05,-5.45647908932e-05,1793237400143843072
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746.905419221,717,680.094580779,665,637.094580779,882.094580779,789,804.905419221,653,633,654,0.438113989889,-0.0055501591542,0.0599407995122,0.999999991475,-7.10724458629e-05,-9.50586237585e-05,-5.44258862083e-05,1793237400160509952
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,747,716.513457367,680,664.513457367,637,882,789,804.513457367,653,633,654,0.438800186889,-0.00554875061394,0.0599486783456,0.999999992228,-7.60416745367e-05,-8.23020102152e-05,-5.4661560461e-05,1793237400177176576
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746.934768982,716.065231018,680.065231018,664.065231018,637,882,789,804.065231018,653,633,654,0.439496567625,-0.00554821742196,0.0599630576428,0.999999993612,-8.11748910847e-05,-5.67465899465e-05,-5.44686801674e-05,1793237400193843200
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746.36054643,716.63945357,680.63945357,664.63945357,637,882,789,804.63945357,653,633,654,0.440213505925,-0.0055529143066,0.060008553451,0.999999995819,-7.46650748927e-05,1.5782016117e-05,-5.03748440687e-05,1793237400210509824
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,717,681,665,637,882,789,805,653,633,654,0.440888336295,-0.00555638552503,0.06003790256,0.999999994552,-7.01069615344e-05,6.07001689695e-05,-4.792018104e-05,1793237400227176448
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,717,681,665,637,882,789,805,653,633,654,0.441492115782,-0.00555778861532,0.0600400065341,0.999999994725,-6.88420548671e-05,5.90298204488e-05,-4.82313772312e-05,1793237400243843072
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,716.626091353,681,665,637,882.373908647,789,804.626091353,653,633.373908647,654,0.442049227271,-0.00555912456186,0.0600171216808,0.999999995409,-7.85693653059e-05,2.09621637779e-05,-5.06822338385e-05,1793237400260509696
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,716.034831496,681,665,637,882.965168504,789,804.034831496,653,633.965168504,654,0.442579210946,-0.00556042147822,0.0599797109484,0.999999993307,-9.46863957575e-05,-3.82630648102e-05,-5.43768641298e-05,1793237400277176320
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746.543950821,716,681.543950821,665,637,883,789,804.543950821,653,633.456049179,654,0.443128032684,-0.00555940680507,0.0599652366614,0.999999990837,-0.000110359209535,-5.29383114171e-05,-5.78342951625e-05,1793237400293842944
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746.878687446,716,681.878687446,665,637,882.878687446,789,805,653.121312554,633,654,0.443674696879,-0.00555850830515,0.059956000754,0.999999988835,-0.000122182230426,-6.09923396555e-05,-6.06698474439e-05,1793237400310509824
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746.303717046,716,681.303717046,665,637,882.303717046,789,805,653.696282954,633,654,0.4442088831,-0.00555858536719,0.0599609849503,0.999999989463,-0.000119712639577,-5.47145737376e-05,-6.12353625154e-05,1793237400327176448
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746.278479281,716.278479281,681,665,637,882,789,804.721520719,653.721520719,633,654,0.44471368049,-0.00555802187617,0.0599646031965,0.999999989907,-0.000117209079552,-5.05841677077e-05,-6.23628660697e-05,1793237400343843072
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746.868766299,716.868766299,681,665,637,882,789,804.131233701,653.131233701,633,654,0.445185571755,-0.00555674117056,0.059966692015,0.999999990176,-0.000114667485063,-4.88581184079e-05,-6.41196169697e-05,1793237400360509696
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746.550214758,716.550214758,681.449785242,665,637,882.449785242,789,804,653,633,654,0.445604418842,-0.00555770299843,0.0599437990175,0.999999987246,-0.00011126171856,-9.38682207331e-05,-6.57060086088e-05,1793237400377176320
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,716,681.971950467,664.971950467,636.971950467,883,789,804.028049533,653,633,654,0.446007598976,-0.00555953118893,0.0599141527049,0.999999980528,-0.00010795451396,-0.000150902655662,-6.72162326733e-05,1793237400393843200
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,716,681.395740037,664.395740037,636.395740037,883,789,804.604259963,653,633,654,0.446400954435,-0.00556576173057,0.0598920979309,0.999999974941,-0.000111401444235,-0.000181817416439,-6.81897147194e-05,1793237400410510080
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746.180847521,716.180847521,681,664,636,883,788.819152479,805,653,632.819152479,654,0.44679858449,-0.00557056494524,0.0598785339657,0.999999971615,-0.000112593989891,-0.000198488510816,-6.85231590767e-05,1793237400427176704
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746.758261978,716.758261978,681,664,636,883,788.241738022,805,653,632.241738022,654,0.447205587932,-0.00557223828102,0.0598835888599,0.999999974887,-0.000108843064685,-0.00018392573591,-6.74531128745e-05,1793237400443843328
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,747,717,681.343410332,664,635.656589668,883,788,805,653,632.343410332,654.343410332,0.447587764004,-0.00557054410212,0.0598928771708,0.999999982185,-7.40247893076e-05,-0.000164120253519,-5.67056190383e-05,1793237400460509952
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,747,717,681.934128329,664,635.065871671,883,788,805,653,632.934128329,654.934128329,0.447952060636,-0.00556642480071,0.0599052141862,0.999999989223,-1.68332965553e-05,-0.000140539222417,-3.89888908974e-05,1793237400477176576
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,747,717,681.485987145,664,635.514012855,882.485987145,788,805,653,633,654.485987145,0.448273759825,-0.00556524492157,0.0599046284682,0.999999987948,-4.2376246675e-05,-0.000144071587877,-3.93811454431e-05,1793237400493843200
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,747,716.907941059,681.092058941,663.907941059,636,882.184117882,788,805,653,633,654,0.448580727852,-0.00556554558656,0.0598993447868,0.999999984193,-7.52634300904e-05,-0.000155505192598,-4.2033677628e-05,1793237400510509824
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,747,716.332409144,681.667590856,663.332409144,636,883.335181712,788,805,653,633,654,0.448838408587,-0.00557168426919,0.0598779062443,0.999999976598,-9.21879351871e-05,-0.000190563020605,-4.46204640681e-05,1793237400527176448
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,747,716.247436499,682,663.247436499,635.752563501,883.752563501,788,805,653,633,654,0.449082826631,-0.00557654051511,0.0598545599342,0.999999967847,-0.00010225239521,-0.000227213245994,-4.71643010647e-05,1793237400543843072
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+218,3.633333333,POSE1_TO_POSE2_PRESS,767,747,717,682,663.585460328,635,883,788,805,653.414539672,633,654,0.449534400499,-0.00558041445576,0.0598191500723,0.999999954515,-0.000101488800409,-0.000279380178232,-5.11524267836e-05,1793237400577176576
+219,3.650000000,POSE1_TO_POSE2_PRESS,767,747,717,682,663.005846438,635,883,788,805,653.994153562,633,654,0.449759293333,-0.00558025703846,0.0598162652074,0.999999953792,-9.91904474959e-05,-0.000282570117073,-5.22643540369e-05,1793237400593843200
+220,3.666666667,POSE1_TO_POSE2_PRESS,767,747,717,682,663,635,882.427028492,788,805,653.427028492,632.427028492,654,0.449960205578,-0.00557307409647,0.0598175816741,0.999999954833,-9.19053435526e-05,-0.000281164929375,-5.32256281059e-05,1793237400610509824
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,747,717,681.849307163,663,635,882.150692837,788,805,653,632.150692837,654,0.450152700149,-0.00556576979604,0.0598180840711,0.999999955606,-8.44917458634e-05,-0.000280558534066,-5.41927726854e-05,1793237400627176448
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,747,717,681.274648387,663,635,882.725351613,788,805,653,632.725351613,654,0.450322199502,-0.00555832546765,0.0598161756848,0.999999955668,-7.68595983927e-05,-0.000282331229108,-5.51807523519e-05,1793237400643843072
+223,3.716666667,POSE1_TO_POSE2_PRESS,767,747,717,681,663,635,882.692320161,788,805,653.307679839,633,654,0.450479440287,-0.00555552793545,0.0598145906328,0.99999995542,-7.44663097359e-05,-0.000283737206616,-5.57429167945e-05,1793237400660509696
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,747,717,681,663,635,882.10297077,788,805,653.89702923,633,654,0.450625458824,-0.00555698437305,0.0598133015811,0.999999954925,-7.686900236e-05,-0.000284807467953,-5.59152632096e-05,1793237400677176320
+225,3.750000000,POSE1_TO_POSE2_PRESS,767,747,717,681.478374762,663,635,882,788,805,653.521625238,633,654,0.450750173461,-0.0055576163544,0.0598123526285,0.999999954259,-7.85189449782e-05,-0.000286588190491,-5.64286742374e-05,1793237400693842944
+226,3.766666667,POSE1_TO_POSE2_PRESS,767,747,717,682,662.942599667,634.942599667,882,788,805.057400333,653.057400333,633,654,0.450867986215,-0.00555791728287,0.05981136495,0.999999953486,-7.97769167978e-05,-0.000288827801627,-5.69468486688e-05,1793237400710509568
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,747,717,682,662.369196447,634.369196447,882,788,805.630803553,653.630803553,633,654,0.45096429917,-0.00555681127588,0.0598093818768,0.999999952096,-7.89438602899e-05,-0.000293840486451,-5.68587409179e-05,1793237400727176448
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,746.794904506,717,682,662,634,882.205095494,788,805.794904506,653.794904506,633,654,0.451053183057,-0.00555698927992,0.0598065883015,0.999999950542,-8.02508639153e-05,-0.000298749399366,-5.67841452197e-05,1793237400743843072
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,746.219005832,717,682,662,634,882.780994168,788,805.219005832,653.219005832,633,654,0.451128635525,-0.00555948871665,0.059802329376,0.999999948695,-8.54269974628e-05,-0.000303470697163,-5.67339786941e-05,1793237400760509696
+230,3.833333333,POSE1_TO_POSE2_PRESS,767,746.36610091,717,682,662,634,882.63389909,787.63389909,805,653,632.63389909,654,0.45119410223,-0.0055602393754,0.0597982224488,0.999999947045,-8.78568423455e-05,-0.000308137852918,-5.69325986366e-05,1793237400777176320
+231,3.850000000,POSE1_TO_POSE2_PRESS,767,746.956858124,717,682,662,634,882.043141876,787.043141876,805,653,632.043141876,654,0.45125344121,-0.0055599169037,0.0597942087949,0.999999945521,-8.86014384028e-05,-0.000312771784459,-5.72838853643e-05,1793237400793842944
+232,3.866666667,POSE1_TO_POSE2_PRESS,767,747,717,682,662,634,882,787.536969024,805,653,632.536969024,654,0.451300995595,-0.00555540626693,0.0597915160139,0.999999944328,-8.56919882677e-05,-0.000317212957048,-5.8103072735e-05,1793237400810509824
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,747,716.884733432,681.884733432,662,634,882,787.884733432,805,653,632.884733432,654,0.451345431813,-0.00555214772078,0.0597894666325,0.99999994342,-8.31700517802e-05,-0.000320632480139,-5.86238871502e-05,1793237400827176192
+234,3.900000000,POSE1_TO_POSE2_PRESS,767,747,716.310318324,681.310318324,662,634,882,787.310318324,805,653,632.310318324,654,0.451381145409,-0.00555519101461,0.0597895656366,0.999999943643,-8.33384168874e-05,-0.000320042892263,-5.78093395703e-05,1793237400843843072
+235,3.916666667,POSE1_TO_POSE2_PRESS,766.737094682,747,716.262905318,681.262905318,662,634,882,787,805,653,632.262905318,654,0.451412412161,-0.00555664091008,0.0597895416331,0.999999943654,-8.39149343705e-05,-0.000319950864884,-5.72910957231e-05,1793237400860509952
+236,3.933333333,POSE1_TO_POSE2_PRESS,766.165270959,747,716.834729041,681.834729041,662,634,882,787,805,653,632.834729041,654,0.451438453797,-0.00555621853464,0.0597893730936,0.999999943417,-8.49710381471e-05,-0.000320443479824,-5.71210139038e-05,1793237400877176576
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,747,717,682,662,634,882.422611004,787,805,653,633,654,0.451458241772,-0.00555483604633,0.0597900408301,0.9999999437,-8.29286608697e-05,-0.000320169115861,-5.66931680038e-05,1793237400893842944
+238,3.966666667,POSE1_TO_POSE2_PRESS,766.016560432,747,717,681.983439568,662,634,882.983439568,787.016560432,805,653,632.983439568,654.016560432,0.451475265492,-0.00555311556326,0.0597909857196,0.999999944151,-7.97616225488e-05,-0.000319655599065,-5.61753131117e-05,1793237400910509568
+239,3.983333333,POSE1_TO_POSE2_PRESS,766.59489,747,717,681.40511,662,634,882.40511,787.59489,805,653,632.40511,654.59489,0.451484757507,-0.00555316949668,0.0597898000156,0.999999943413,-8.11716158768e-05,-0.000321606127166,-5.61587181861e-05,1793237400927177472
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746.827721124,717,681.172278876,662,634,882,788,805,653,632.172278876,654.827721124,0.451493065338,-0.00555291500583,0.0597888183771,0.999999942864,-8.20067182768e-05,-0.000323072710307,-5.63161125992e-05,1793237400943844608
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746.252532286,717,681.747467714,662,634,882,788,805,653,632.747467714,654.252532286,0.451498603706,-0.00555193920074,0.0597883139882,0.999999942765,-8.14973186656e-05,-0.000323407487459,-5.68804172467e-05,1793237400960510464
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,746.330461775,717,682,662,634,882,788,805,653.330461775,633,654,0.451501507576,-0.00555238878017,0.0597871123599,0.999999942094,-8.2232062581e-05,-0.000325312024561,-5.67694233762e-05,1793237400977176832
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,746.919564691,717,682,662,634,882,788,805,653.919564691,633,654,0.451502349513,-0.0055539539594,0.0597853650262,0.999999940964,-8.3940555152e-05,-0.000328445159129,-5.61298964001e-05,1793237400993843456
+244,4.066666667,POSE1_TO_POSE2_PRESS,766.500114021,747,717,682,662,634,882.499885979,787.500114021,805,653.500114021,632.500114021,654,0.451502812078,-0.00555285481871,0.0597837597561,0.999999940247,-8.21352995919e-05,-0.000331124621065,-5.58152863252e-05,1793237401010510592
+245,4.083333333,POSE1_TO_POSE2_PRESS,766.078364292,746.921635708,716.921635708,682,662,634,882.921635708,787,805,653,632,654,0.451503576963,-0.005551535418,0.0597825706852,0.999999939811,-8.01631989234e-05,-0.000332963617131,-5.55660299455e-05,1793237401027177216
+246,4.100000000,POSE1_TO_POSE2_PRESS,766.653959493,746.346040507,716.346040507,682,662,634,882.346040507,787,805,653,632,654,0.451506640755,-0.00555149168755,0.0597838799102,0.999999940787,-8.06579669403e-05,-0.000329924947021,-5.54054453345e-05,1793237401043843584
+247,4.116666667,POSE1_TO_POSE2_PRESS,766.770997593,746.229002407,716.229002407,682,662,634,882,787,805,653.229002407,632,654,0.451508715384,-0.00555159469712,0.0597847338034,0.999999941305,-8.09647800117e-05,-0.000328295013042,-5.52957953465e-05,1793237401060509952
+248,4.133333333,POSE1_TO_POSE2_PRESS,766.196787134,746.803212866,716.803212866,682,662,634,882,787,805,653.803212866,632,654,0.451509298908,-0.00555191890888,0.0597849013101,0.999999941142,-8.09882618117e-05,-0.000328788667878,-5.52629263703e-05,1793237401077176576
+249,4.150000000,POSE1_TO_POSE2_PRESS,766.38855915,747,716.61144085,682,662,634,882.38855915,787.38855915,805,653.61144085,632.38855915,654,0.451509275889,-0.00555065788788,0.0597839929014,0.999999940838,-8.01044396019e-05,-0.000329856740792,-5.56922572539e-05,1793237401093843712
+250,4.166666667,POSE1_TO_POSE2_PRESS,766.979711577,747,716.020288423,682,662,634,882.979711577,787.979711577,805,653.020288423,632.979711577,654,0.451508936622,-0.00554857033247,0.0597825235145,0.999999940456,-7.87475524974e-05,-0.000331224313097,-5.63625774046e-05,1793237401110510336
+251,4.183333333,POSE1_TO_POSE2_PRESS,767,747,716.558798607,682,662,634,883,787.441201393,805,653,632.441201393,654,0.45150858407,-0.0055500031167,0.0597819596295,0.999999940025,-8.11631550976e-05,-0.000331987716952,-5.60939732279e-05,1793237401127176960
+252,4.200000000,POSE1_TO_POSE2_PRESS,767,747,717,682,662,634,883,787,805,653,632,654,0.451508610137,-0.00555105395652,0.0597817513082,0.999999939809,-8.25274277321e-05,-0.000332357132245,-5.57625579496e-05,1793237401143843584
+253,4.216666667,POSE1_TO_POSE2_PRESS,767,747,717,682,662,634,883,787,805,653,632,654,0.45150985299,-0.00555047727345,0.0597825809621,0.999999940306,-8.00868568579e-05,-0.00033153086458,-5.53366418028e-05,1793237401160510464
+254,4.233333333,POSE1_TO_POSE2_PRESS,766.706382198,747,716.706382198,681.706382198,662,634,882.706382198,787,805,653,632.293617802,654,0.451510617026,-0.00555010040529,0.0597828635084,0.999999940477,-7.83803147194e-05,-0.000331445399051,-5.51995942874e-05,1793237401177177088
+255,4.250000000,POSE1_TO_POSE2_PRESS,766.116218946,747,716.116218946,681.116218946,662,634,882.116218946,787,805,653,632.883781054,654,0.451510897472,-0.00554992534443,0.0597825934918,0.999999940323,-7.74151204233e-05,-0.000332108122206,-5.53542957221e-05,1793237401193843712
+256,4.266666667,POSE1_TO_POSE2_PRESS,766.465445086,747,716.465445086,681,662,634,882,787,805,653,632.534554914,654,0.4515104581,-0.0055505148871,0.0597819594125,0.999999939942,-7.85494813966e-05,-0.000333068596978,-5.4880907866e-05,1793237401210510080
+257,4.283333333,POSE1_TO_POSE2_PRESS,767,747,717,681.045018459,662,634,882,787,805,653,632,654,0.451509874422,-0.00555116494648,0.0597812698831,0.999999939541,-8.00043177885e-05,-0.000334013828977,-5.43415656971e-05,1793237401227176704
+258,4.300000000,POSE1_TO_POSE2_PRESS,767,747,717,681.62451401,662,634,882,787,805,653,632,654,0.451509673085,-0.00555030748764,0.0597809819261,0.999999939615,-7.91515133914e-05,-0.00033391124524,-5.48477493346e-05,1793237401243843328
+259,4.316666667,POSE1_TO_POSE2_PRESS,766.79922535,747,717,682,662,633.79922535,882,787.20077465,805,653,632,654,0.451509375226,-0.00554977242716,0.0597805138796,0.999999939469,-7.8385349448e-05,-0.0003344813639,-5.51323067644e-05,1793237401260509952
+260,4.333333333,POSE1_TO_POSE2_PRESS,766.22891857,747,717,682,662,633.22891857,882,787.77108143,805,653,632,654,0.451508899711,-0.00554983075095,0.0597797143724,0.999999938917,-7.77786498706e-05,-0.000336289612705,-5.50089541958e-05,1793237401277176832
+261,4.350000000,POSE1_TO_POSE2_PRESS,766.354657837,747,717,682,661.645342163,633.354657837,882,788,805,653.354657837,632,654,0.451509200151,-0.00555017837111,0.0597800005097,0.999999938934,-7.91720865622e-05,-0.000335939585627,-5.48531913253e-05,1793237401293843712
+262,4.366666667,POSE1_TO_POSE2_PRESS,766.947132185,747,717,682,661.052867815,633.947132185,882,788,805,653.947132185,632,654,0.451510020908,-0.0055507199795,0.059781014628,0.999999939325,-8.1906718605e-05,-0.000334142322293,-5.46756956699e-05,1793237401310510336
+263,4.383333333,POSE1_TO_POSE2_PRESS,767,747,717,682,661.526571045,634,882.526571045,787.473428955,804.473428955,653.473428955,632.526571045,654,0.451510029253,-0.0055502452023,0.0597805972376,0.99999993907,-8.05752832724e-05,-0.000335214502729,-5.47691497239e-05,1793237401327176704
+264,4.400000000,HOLD_POSE2,767,747,717,682,662,634,882,787,804,653,632,654,0.45150683151,-0.00554946628207,0.0597774774617,0.999999937535,-7.86199367556e-05,-0.000340157748459,-5.51433995994e-05,1793237401369832704
+265,4.416666667,HOLD_POSE2,767,747,717,682,662,634,882,787,804.587320295,653,632,654,0.451508619563,-0.00554955728905,0.0597778371347,0.999999937915,-7.88899241432e-05,-0.000338979306558,-5.51314039455e-05,1793237401386498816
+266,4.433333333,HOLD_POSE2,767,747,716.82786429,682,662,634,882.17213571,787,805,653,632,654,0.451509417021,-0.00554946543087,0.0597778619212,0.999999938027,-7.92445277042e-05,-0.00033856399747,-5.51493759846e-05,1793237401403165184
+267,4.450000000,HOLD_POSE2,767,747,716.248967851,682,662,634,882.751032149,787,805,653,632,654,0.451507873679,-0.00554894145804,0.0597770953633,0.999999937507,-7.97990813271e-05,-0.000339951988927,-5.52381623845e-05,1793237401419831808
+268,4.466666667,HOLD_POSE2,767,747,716.329052309,682,662,634,883,787,804.670947691,653.329052309,632,654,0.451508040881,-0.00554880729917,0.0597773563572,0.999999937486,-7.99634591981e-05,-0.000339998163368,-5.50828453049e-05,1793237401436498432
+269,4.483333333,HOLD_POSE2,767,747,716.906411185,682,662,634,883,787,804.093588815,653.906411185,632,654,0.451509498879,-0.00554896729832,0.0597783927534,0.999999937844,-7.98334060343e-05,-0.000339031787548,-5.47433249946e-05,1793237401453165568
+270,4.500000000,HOLD_POSE2,767,747,716.508082609,682,662,634,882.508082609,787,804.491917391,654,632,654,0.451510384669,-0.00554949347905,0.0597788381449,0.999999938081,-8.06140286284e-05,-0.000338128339709,-5.48501431157e-05,1793237401469832192
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,747,717,681.573278076,662,634,882.426721924,787,805.573278076,653,632,654,0.451510256627,-0.00554668162674,0.0597760198491,0.999999937277,-7.6053369186e-05,-0.000341511818819,-5.50613175484e-05,1793237401673526528
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,747,717,682,661.256185208,634,882.743814792,787,805.256185208,653,632,654,0.451508500394,-0.00554689962672,0.0597754639518,0.999999936645,-7.69599772261e-05,-0.000343115329074,-5.5303607421e-05,1793237401706859264
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,747,717,682,661.328384892,634,883,787,805,653,632,654,0.451508007177,-0.00554713173044,0.0597752390985,0.999999936427,-7.78410444064e-05,-0.000343530412374,-5.54444497763e-05,1793237401723525888
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,664.826365707,636.173634293,882,789,804.173634293,653,633,654.826365707,0.434274680439,-0.00539742811404,0.059794882812,0.999999943764,0.000122450720324,-0.000312211937219,1.32749212595e-06,1793237402656858880
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746,716.40152939,681,665,636.40152939,882,789,804.40152939,653,633.40152939,655,0.433522366745,-0.00540175832166,0.0598082587721,0.999999953211,9.77311008487e-05,-0.000289874011751,-2.17485548169e-07,1793237402673526016
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,746,716.974788049,681,665,636.974788049,882,789,804.974788049,653,633.974788049,655,0.432754502005,-0.0054042598456,0.0598179358785,0.999999956251,0.000103846948299,-0.000276901898364,6.18073191558e-06,1793237402690193408
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746,717,681,664.450264868,637.549735132,881.450264868,788.450264868,804.450264868,653,634,654.450264868,0.431988505206,-0.00540041096915,0.0598164582269,0.999999950803,0.000142962365015,-0.000279011748318,1.04125215701e-05,1793237402706860032
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746,717,680.871641461,664.128358539,637.871641461,881.128358539,788.128358539,804,653,633.871641461,654.128358539,0.431228216163,-0.00539638004234,0.0598187855688,0.999999946781,0.000174923812978,-0.000275016275474,1.43185398795e-05,1793237402723526912
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,746,717,680.280030367,664.719969633,637.280030367,881.719969633,788.719969633,804,653,633.280030367,654.719969633,0.430488216612,-0.00539274643245,0.0598366973326,0.999999954056,0.000175587359147,-0.000246482348866,1.74085207083e-05,1793237402740193024
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746,717,680.304948984,665,637,882,789,804,653,633,654.695051016,0.429694984877,-0.00538992369044,0.0598319165337,0.999999949726,0.000178497722802,-0.000261340343972,1.96859847638e-05,1793237402756859392
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,717,680.883968084,665,637,882,789,804,653,633,654.116031916,0.428853911242,-0.00538782970873,0.0598067410003,0.999999933277,0.000183427392827,-0.000315196433782,2.12332065855e-05,1793237402773526016
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746.458582564,717,681,664.082834872,637,882,788.541417436,804,653.458582564,633,654,0.428037497961,-0.00538878522748,0.0597841851956,0.999999925722,0.000172774366941,-0.000344096307329,1.73844804094e-05,1793237402790192640
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746.966937455,716.966937455,680.966937455,663.066125091,637,882,788.033062545,804,653.966937455,633,654,0.427230965172,-0.00539060685798,0.0597650533458,0.999999921465,0.000159034791807,-0.000362791992212,1.26362941575e-05,1793237402806859264
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746.376104807,716.376104807,680.376104807,664.247790386,637,882,788.623895193,804,653.376104807,633,654,0.426486856626,-0.00539414685705,0.0597926081366,0.999999937655,0.000159107181518,-0.000314854506206,1.55277603138e-05,1793237402823525888
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746,716.210248003,680,664.789751997,637,882,789,804,653,633,654,0.42572873239,-0.00539543315599,0.0598177850877,0.999999947885,0.000163629012107,-0.000277686355545,1.85954216754e-05,1793237402840192512
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,716.788754282,680,664.211245718,637,882,789,804,653,633,654,0.424946058957,-0.00539277200429,0.0598387971568,0.999999950641,0.000175944227252,-0.000259381144689,2.19716969218e-05,1793237402856859392
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746.366120816,717,680,664,637,881.633879184,789,804,653,633,654,0.4241567748,-0.00538848298089,0.0598455488686,0.99999995115,0.000182493193376,-0.000252677418331,2.34395675449e-05,1793237402873526016
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,746.94283174,717,680,664,637,881.05716826,789,804,653,633,654,0.423363688249,-0.00538325761733,0.0598440981224,0.999999950554,0.000185725453065,-0.000252646785104,2.38097371025e-05,1793237402890192640
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,747,717,680,664,637,881.517981755,789,804,653,633,654,0.422577451739,-0.00538370717668,0.0598527270397,0.999999953964,0.000184794002245,-0.000239457573627,2.41502186005e-05,1793237402906859520
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,747,717,679.90478397,664,637,882,789,804,653,633,654.09521603,0.421787315631,-0.00538455800322,0.0598553303215,0.999999954532,0.000184010170924,-0.000237667541288,2.42897780404e-05,1793237402923526400
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,747,717,679.315851763,664,637,882,789,804,653,633,654.684148237,0.420973050906,-0.00538425160693,0.0598209383017,0.999999936609,0.000186367424278,-0.000302492527514,2.34044509365e-05,1793237402940192768
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,747,716.73168664,679.26831336,664,637,881.73168664,789,804,653.26831336,633,654.73168664,0.420175487896,-0.00538240787331,0.0597872919518,0.999999917408,0.000186980808035,-0.000360199767637,2.18491931319e-05,1793237402956859392
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,747,716.153035284,679.846964716,664,637,881.153035284,789,804,653.846964716,633,654.153035284,0.419397242567,-0.0053787860166,0.0597545080648,0.999999898673,0.000185577188464,-0.000409674439269,1.9519076702e-05,1793237402973526016
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,746.575977731,716,680,664.424022269,637,881.424022269,789,804,654,633,654,0.418669946175,-0.0053795334106,0.0597654127805,0.999999910272,0.000186363487748,-0.000379932139752,1.94138656652e-05,1793237402990192640
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746,716.000516408,680,664.999483592,637,882,789,804.000516408,654,633,654,0.417960974573,-0.0053818503236,0.0597920315809,0.999999930386,0.000187934642794,-0.000321722040537,2.01107393985e-05,1793237403006859008
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746,716.587930785,680,664.412069215,637,882,789,804.587930785,654,633,654,0.417258317065,-0.00538246604712,0.0598247074919,0.999999942772,0.000186601919197,-0.000281245188752,2.31871653602e-05,1793237403023525888
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.826899795,746.173100205,717,680,664,637,881.826899795,789,804.826899795,654,633,654,0.416551487859,-0.0053818493253,0.0598471905365,0.999999949091,0.000188376962651,-0.000256257976815,2.57677624552e-05,1793237403040192768
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.247006008,746.752993992,717,680,664,637,881.247006008,789,804.247006008,654,633,654,0.415834854827,-0.0053783362994,0.0598457198751,0.999999944312,0.000197455404385,-0.000267672135932,2.7183139208e-05,1793237403056859392
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.331152152,747,717,679.668847848,664,637,881,789,804,653.668847848,633,654,0.415141433184,-0.00537566905721,0.0598445674013,0.999999941786,0.000203293945507,-0.000272700748453,2.70951104456e-05,1793237403073526272
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.908022427,747,717,679.091977573,664,637,881,789,804,653.091977573,633,654,0.41446523466,-0.005373629395,0.0598436510257,0.999999941034,0.000206728448293,-0.000272991222543,2.58915400647e-05,1793237403090193152
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746.516668447,717,679,664,637,881,789,804,653.483331553,633,654,0.413795426574,-0.00537590215615,0.0598466327969,0.999999942834,0.000204018359453,-0.000268389258167,2.59779020427e-05,1793237403106859520
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,717,679,663.940447179,637,881,789,804,653.940447179,633,654,0.413124615585,-0.00537840087742,0.0598459113618,0.999999942858,0.000201049300916,-0.000270517561728,2.61356809038e-05,1793237403123525888
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,717,679,663.353526073,637,881,789,804,653.353526073,633,654,0.412434188967,-0.00537565673354,0.0598058483284,0.999999920495,0.000206108399739,-0.000340463693982,2.47591094168e-05,1793237403140192512
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,717,679,663,637,881,789,804,653.23030114,633,654.23030114,0.411778084719,-0.00537226660746,0.0597786537174,0.999999904437,0.000211572819808,-0.000381861139644,2.33383161185e-05,1793237403156859136
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,717,679,663,637,881,789,804,653.809441945,633,654.809441945,0.411173969005,-0.0053678980053,0.0597709510511,0.999999903869,0.000217651185183,-0.000380015571866,2.18505398285e-05,1793237403173526016
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,717,679.386234556,663.772469112,637,881,789,803.613765444,654,633,654.613765444,0.410618268392,-0.00536670243981,0.0597928996221,0.999999917001,0.000221053632447,-0.000341494096562,2.26986370636e-05,1793237403190192896
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,717,679.961875681,664.923751361,637,881,789,803.038124319,654,633,654.038124319,0.410086310132,-0.00536706290764,0.0598293889399,0.99999993419,0.00022314382922,-0.000284987026467,2.46922292007e-05,1793237403206859264
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,717,680,664.450122801,637,881,789,803.549877199,654,633,654,0.409550377305,-0.005368552359,0.0598529906146,0.999999943062,0.000222510277407,-0.000252277204498,2.68674279663e-05,1793237403223525888
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746.136571802,716.863428198,679.863428198,664,637,881,789,804,654,633,654,0.409014243441,-0.00536984592909,0.0598689025271,0.999999947938,0.000222212113419,-0.000232233823182,2.85175114754e-05,1793237403240192512
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746.71618295,716.28381705,679.28381705,664,637,881,789,804,654,633,654,0.408478371772,-0.00537024429615,0.0598628341071,0.999999943888,0.000223628646876,-0.000247804979462,2.84223348308e-05,1793237403256859136
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746.706035723,716.293964277,679,664,637,881,789,804,654,633,654,0.407962994256,-0.00537130046706,0.0598538398644,0.999999939977,0.000223983053357,-0.000262867367777,2.79134823256e-05,1793237403273525760
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746.130010161,716.869989839,679,664,637,881,789,804,654,633,654,0.40746728109,-0.00537298780648,0.0598420382698,0.999999936213,0.000223318339672,-0.000277441587869,2.70077042349e-05,1793237403290192384
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,717,679,664,637,881.444291408,789,804,654,633,654.444291408,0.40701562307,-0.00537112724035,0.0598398568874,0.99999993651,0.000227199732314,-0.000273213407425,2.67516019645e-05,1793237403306859264
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746.018716436,717,679,664,637,881.981283564,789,804,654,633,654.981283564,0.406577703755,-0.00536824144057,0.0598408440341,0.999999938052,0.000232209747507,-0.000263176074602,2.67083256695e-05,1793237403323525888
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746.612371082,717,679,664,637,881.387628918,789,804,654,633,654.387628918,0.406167337386,-0.0053656307021,0.0598530221601,0.999999943365,0.000231182578233,-0.000243051045539,2.73854048248e-05,1793237403340192768
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,747,716.798919735,679.201080265,664,637,881,789,804.201080265,654,633,654,0.405762326484,-0.005362837297,0.0598599114887,0.999999945673,0.000232314883154,-0.000232163341009,2.79973772367e-05,1793237403356859648
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,747,716.219515303,679.780484697,664,637,881,789,804.780484697,654,633,654,0.405367391717,-0.00535970021254,0.0598568501634,0.999999942911,0.000237510149345,-0.000238655281394,2.84868539542e-05,1793237403373526016
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,747,716,680,664,637,881.356764088,789,804.643235912,654,633,654,0.40498317862,-0.00535493637482,0.0598427333951,0.999999934972,0.000246711359729,-0.000261519094269,2.82217812897e-05,1793237403390192896
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,747,716,680,664,637,881.931137408,789,804.068862592,654,633,654,0.404605505196,-0.00534918029419,0.0598218733289,0.999999922922,0.000258356006991,-0.000294368975909,2.74964691869e-05,1793237403406859520
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746.517311214,716,680,664,637.482688786,881.517311214,789,803.517311214,654,633,654,0.404268128961,-0.00534524609065,0.0598068881164,0.99999991296,0.000265650062578,-0.000320563429959,2.73648034177e-05,1793237403423526144
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746,716.035288084,679.964711916,664,637.964711916,881,789,803.035288084,654,633,654,0.403940352698,-0.00534192938422,0.0597943715427,0.999999904022,0.000271849875613,-0.000342493787856,2.74014482698e-05,1793237403440192512
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,716.656962148,679.343037852,664,637.343037852,881,789,803.656962148,654,633,654,0.403680881293,-0.00534474960684,0.0598095780066,0.999999915583,0.000269714747902,-0.00030863275113,2.8891124335e-05,1793237403456859136
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746.259361398,717,679.259361398,664,637,881,789,804,654,633,654,0.403433184179,-0.00534734831133,0.0598263148511,0.999999925045,0.000268158580988,-0.000277589999005,3.07465672003e-05,1793237403473525760
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746.838030781,717,679.838030781,664,637,881,789,804,654,633,654,0.403199982779,-0.00534967429771,0.0598449357945,0.999999932471,0.000267315191219,-0.000250016928003,3.30523170161e-05,1793237403490192640
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746.586185813,716.586185813,680,663.586185813,637,881,789,803.586185813,654,633,654.413814187,0.40298058253,-0.0053562001572,0.0598557239995,0.999999938859,0.000259287090025,-0.000232065326829,3.46084024333e-05,1793237403506859520
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746.011524184,716.011524184,680,663.011524184,637,881,789,803.011524184,654,633,654.988475816,0.402766546723,-0.00536435848566,0.0598634676589,0.999999944759,0.000248466328523,-0.000217853542019,3.58730971054e-05,1793237403523526144
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,716.577575292,679.422424708,664.155150585,637,881,789,803,654,633,654.422424708,0.402568589482,-0.00536868838394,0.0598613111198,0.999999945859,0.0002400110305,-0.000222143217762,3.64513054093e-05,1793237403540192512
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746.164126375,716.835873625,679.164126375,664.835873625,637,881,789,803,654,633,654,0.402373431187,-0.00537073613082,0.0598576173491,0.999999945482,0.000234334648637,-0.000229748049679,3.65824656464e-05,1793237403556859136
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746.74348259,716.25651741,679.74348259,664.25651741,637,881,789,803,654,633,654,0.402184521646,-0.005367208382,0.0598505470413,0.999999941661,0.000235566290665,-0.000244782144387,3.56181627961e-05,1793237403573525760
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767.320870177,746.679129823,716.320870177,679.679129823,664.320870177,637,881.320870177,789,803.320870177,654,633,654,0.40201672743,-0.00536650240166,0.0598460668348,0.999999946511,0.00020126865466,-0.000256515140891,2.586272717e-05,1793237403590192640
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767.896693615,746.103306385,716.896693615,679.103306385,664.896693615,637,881.896693615,789,803.896693615,654,633,654,0.401865710762,-0.00536803850863,0.0598436446399,0.999999955056,0.000138740581037,-0.000265625190297,9.12213616416e-06,1793237403606859264
+398,6.633333333,POSE2_TO_POSE3_RETREAT,768,746,716.528476721,679.471523279,664.528476721,637,881.528476721,789,803.528476721,653.528476721,633,654,0.401746670728,-0.00537292042631,0.0598453912791,0.99999994952,0.000178685707715,-0.000262610322447,8.14229596633e-06,1793237403623525888
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767.952760914,746.047239086,716.047239086,679.952760914,664,637.047239086,881,789,803.047239086,653.047239086,633,654,0.401636085343,-0.00537768806124,0.0598479494358,0.999999938949,0.000236359496689,-0.000257152659397,1.04309287685e-05,1793237403640192768
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767.364405265,746.635594735,716.635594735,679.364405265,664,637.635594735,881,789,803.635594735,653.635594735,633,654,0.401542265175,-0.00537276745083,0.0598493630884,0.999999938749,0.000240481355665,-0.00025407846809,1.06886267254e-05,1793237403656859904
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,747,717,679.221044546,664,637.778955454,881,789,804,654,633,654,0.401454433317,-0.00536985564244,0.0598514291244,0.999999939175,0.000242928760806,-0.000250011456041,1.13757427199e-05,1793237403673526784
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,747,717,679.801766032,664,637.198233968,881,789,804,654,633,654,0.401376345462,-0.00537021249567,0.0598545566987,0.99999994063,0.000242651545522,-0.000244328956559,1.27615946256e-05,1793237403690193152
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,747,716.621251639,679.621251639,664.378748361,637,881.378748361,789,804,654,633,654,0.40130646538,-0.00536893888269,0.0598546516109,0.999999940424,0.000242701322955,-0.00024508933792,1.34263551889e-05,1793237403706859520
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,747,716.046207243,679.046207243,664.953792757,637,881.953792757,789,804,654,633,654,0.40124083919,-0.00536682023884,0.0598531747683,0.999999939353,0.000242920572745,-0.000249188907419,1.37173916576e-05,1793237403723525888
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767.539938572,746.460061428,716,679.539938572,664.460061428,637,881.460061428,789,803.460061428,654,633,654,0.401189178712,-0.00536542673499,0.0598491641027,0.99999993702,0.000245287221771,-0.000256116620238,1.40520300305e-05,1793237403740192512
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767.874657281,746,716,679.874657281,664,637,881.125342719,789,803,653.874657281,632.874657281,654.125342719,0.401141918802,-0.00536489896608,0.059845732017,0.999999935228,0.000246641807085,-0.00026172959666,1.44780517505e-05,1793237403756859392
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767.295451144,746,716,679.295451144,664,637,881.704548856,789,803,653.295451144,632.295451144,654.704548856,0.401106174743,-0.00536727658344,0.0598451966189,0.999999935961,0.000243652327661,-0.000261687159306,1.52211756858e-05,1793237403773526272
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746.281755644,716.281755644,679.281755644,664,637,881.718244356,789,803.281755644,653.281755644,632.281755644,654.718244356,0.401077480181,-0.00536759885722,0.0598457610797,0.999999936551,0.000242882232201,-0.000260126546094,1.55153084448e-05,1793237403790192896
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746.856880743,716.856880743,679.856880743,664,637,881.143119257,789,803.856880743,653.856880743,632.856880743,654.143119257,0.40105612569,-0.0053657810676,0.0598474707349,0.99999993699,0.000244423002114,-0.000256985178652,1.53419429512e-05,1793237403806859264
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746.565865055,717,680,664.434134945,637.434134945,881,789,804,654,633,654.434134945,0.401039456897,-0.00536487085464,0.0598487610897,0.999999937485,0.000244538232444,-0.000254916923187,1.57687496014e-05,1793237403823526144
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767.012358948,746,716.987641052,679.987641052,664.987641052,637.987641052,880.987641052,789,804,654,633,654.987641052,0.401024471282,-0.00536426561317,0.0598499044966,0.999999937986,0.000244190978489,-0.000253240488126,1.63759077426e-05,1793237403840193024
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767.602957503,746,716.397042497,679.397042497,664.397042497,637.397042497,880.397042497,789,804,654,633,654.397042497,0.401015607906,-0.0053638615701,0.0598506718396,0.999999937957,0.000244301435463,-0.000253262843363,1.61184605456e-05,1793237403856859136
+413,6.883333333,POSE2_TO_POSE3_RETREAT,768,746.189409086,716.189409086,679.189409086,664,637,880.189409086,789,803.810590914,654,633,654,0.401008423309,-0.00536330996909,0.0598515703999,0.999999938016,0.000244937260087,-0.000252421374631,1.60108075854e-05,1793237403873525504
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+415,6.916666667,POSE2_TO_POSE3_RETREAT,767.655970445,746.655970445,716.655970445,679.655970445,664,637,881,789,803,654,633,654,0.401001185567,-0.00536334217596,0.059853662951,0.999999938764,0.000245941950446,-0.000248424236699,1.64390426419e-05,1793237403906859008
+416,6.933333333,POSE2_TO_POSE3_RETREAT,767.080149991,746.080149991,716.080149991,679.080149991,664,637,881,789,803,654,633,654,0.400997853183,-0.00536540152665,0.0598544241181,0.99999993947,0.000243601070316,-0.000247869069275,1.66871915814e-05,1793237403923525888
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,746.493740481,716.493740481,679.493740481,664,637,881,789,803.493740481,654,633,654.493740481,0.400997295814,-0.00536519453384,0.0598552976547,0.999999940122,0.000243191030328,-0.000245636138642,1.66389326759e-05,1793237403940192512
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746.930181524,716.930181524,679.930181524,664,637,881,789,804,654,633,654.930181524,0.400996947494,-0.00536484008162,0.0598559782187,0.999999940658,0.000242956340729,-0.00024368096758,1.66139603438e-05,1793237403956859392
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746.335306036,716.335306036,679.335306036,664,637,881,789,804,654,633,654.335306036,0.400994796779,-0.00536613264428,0.0598550709213,0.999999940423,0.000241692369888,-0.00024585485853,1.71245531474e-05,1793237403973525760
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767,746.251520502,716,679,664,637,881,789,804,654,633,654,0.400993554759,-0.00536665722337,0.0598549731714,0.99999994035,0.000241083605343,-0.000246729821596,1.74154376598e-05,1793237403990192384
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746.827949664,716,679,664,637,881,789,804,654,633,654,0.400993486573,-0.00536618973832,0.0598559211769,0.99999994049,0.000241321221726,-0.000245926858447,1.74225078974e-05,1793237404006859008
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767.402793904,746.597206096,716.402793904,679,664.402793904,637,881,789,803.597206096,654,633,654,0.400993363293,-0.00536568225947,0.0598559864983,0.99999994043,0.000242011842303,-0.000245508346279,1.72129357654e-05,1793237404023525632
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767.976963776,746.023036224,716.976963776,679,664.976963776,637,881,789,803.023036224,654,633,654,0.400993216571,-0.00536515776456,0.0598556762658,0.999999940283,0.000242895201709,-0.0002452534058,1.69111892095e-05,1793237404040192256
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767.435330232,746,717,679.564669768,664.435330232,637,881,789,803,654,633,654,0.400992402064,-0.00536566867378,0.0598560477848,0.999999940472,0.000242753557848,-0.000244621594171,1.69340453657e-05,1793237404056859136
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.848767548,664,637,881,789,803.151232452,654,633,654,0.400992022245,-0.00536589256573,0.0598566118229,0.999999940576,0.000243087132589,-0.000243860563556,1.69941340946e-05,1793237404073526016
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746,717,679.267069618,664,637,881,789,803.732930382,654,633,654,0.400992959161,-0.00536517631164,0.0598576427344,0.999999940396,0.000244895309011,-0.000242776563669,1.71215820872e-05,1793237404090192896
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746,716.689277633,679.310722367,664,637.310722367,881,789,803.689277633,654,633,654,0.400993083925,-0.00536530392224,0.0598578523001,0.999999940504,0.000244595674934,-0.00024262521209,1.72406994529e-05,1793237404106859264
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,746,716.114801207,679.885198793,664,637.885198793,881,789,803.114801207,654,633,654,0.400992519303,-0.0053661478403,0.0598573646733,0.999999940856,0.000242506843605,-0.000243265531215,1.73527454297e-05,1793237404123525632
+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,746,716.460611414,680,664,637.539388586,881,789,803.460611414,654,633,654,0.400992571347,-0.0053674203774,0.0598577077128,0.999999941682,0.000239917972814,-0.000242439464903,1.72712711999e-05,1793237404140192512
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,746,716.962802334,679.962802334,664,637.037197666,881.037197666,789,804,654,633,654,0.400992728994,-0.0053685991185,0.0598582073717,0.999999942501,0.000237601229174,-0.000241348598812,1.71454273001e-05,1793237404156858880
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746,716.372235505,679.372235505,664,637.627764495,881.627764495,789,804,654,633,654,0.400992166507,-0.00536679005548,0.0598579507909,0.999999941542,0.000241190573888,-0.000241766524846,1.7078507277e-05,1793237404173525504
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746,716.213777935,679,664,637.786222065,881.786222065,789,804,654,633,654,0.400991739636,-0.00536603610113,0.0598577583103,0.999999940841,0.000243654379084,-0.000242185210464,1.72165772648e-05,1793237404190192384
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,746,716.792028346,679,664,637.207971654,881.207971654,789,804,654,633,654,0.400991543977,-0.00536708101344,0.0598576751146,0.999999940598,0.000244199239516,-0.000242605191177,1.7704137084e-05,1793237404206859264
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.368082515,664,637,881,789,803.631917485,654,633,654,0.400992292486,-0.00536711162104,0.0598583938413,0.99999994105,0.000243421095506,-0.000241517436614,1.77712465537e-05,1793237404223525888
+435,7.250000000,POSE2_TO_POSE3_RETREAT,767,746,717,679.942903103,664,637,881,789,803.057096897,654,633,654,0.400993571299,-0.00536657253186,0.0598595629776,0.999999941887,0.000241899869742,-0.000239582843959,1.76022048833e-05,1793237404240192768
+436,7.266666667,POSE2_TO_POSE3_RETREAT,767.528228856,746.528228856,717,680,664,637,881,789,803.528228856,654,633,654,0.400993025875,-0.00536698954594,0.0598595001474,0.999999942147,0.000240562598226,-0.000239868093831,1.73135489657e-05,1793237404256859136
+437,7.283333333,POSE2_TO_POSE3_RETREAT,767.886089514,746.886089514,717,680,664,637,881.113910486,789,804,654,633,654,0.400992361219,-0.005367330602,0.0598592435219,0.999999942286,0.000239454691418,-0.000240413872262,1.70730946021e-05,1793237404273525504
+438,7.300000000,POSE2_TO_POSE3_RETREAT,767.30370901,746.30370901,717,680,664,637,881.69629099,789,804,654,633,654,0.400992033608,-0.00536692562392,0.0598587486591,0.999999942198,0.000239206639618,-0.000241024277731,1.70851266666e-05,1793237404290192128
+439,7.316666667,POSE2_TO_POSE3_RETREAT,767,746.275494333,717,679.724505667,664.275494333,637,881.724505667,789,804,654,633,654,0.40099208416,-0.00536720691498,0.0598584978552,0.999999942021,0.000239728534382,-0.000241226124776,1.72744501028e-05,1793237404306859008
+440,7.333333333,POSE2_TO_POSE3_RETREAT,767,746.851235022,717,679.148764978,664.851235022,637,881.148764978,789,804,654,633,654,0.400992546852,-0.00536823613367,0.0598585130379,0.999999941746,0.000241089552234,-0.000240982706074,1.76569938053e-05,1793237404323525888
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6d09792d1603feda5243a4dbdf62d8a3e6d7391c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,442 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+1,0.016666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+2,0.033333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+3,0.050000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+4,0.066666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+5,0.083333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+6,0.100000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+7,0.116666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+8,0.133333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+9,0.150000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+10,0.166666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+11,0.183333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+12,0.200000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+13,0.216666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+14,0.233333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+15,0.250000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+16,0.266666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+17,0.283333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+18,0.300000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+19,0.316666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+20,0.333333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+21,0.350000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+22,0.366666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+23,0.383333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
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+411,6.850000000,pose2_to_pose3_retreat,0.578282361043,1.19642095951e-06,1.05001177378,0.548853597114,0.00867486625644,1.04966130392
+412,6.866666667,pose2_to_pose3_retreat,0.578273499895,1.26250790275e-06,1.05001166226,0.5488447349,0.00867492889348,1.04966119653
+413,6.883333333,pose2_to_pose3_retreat,0.578266994609,1.31505736643e-06,1.05001160261,0.548838228352,0.00867497717323,1.04966113713
+414,6.900000000,pose2_to_pose3_retreat,0.578262622662,1.28645008415e-06,1.05001177374,0.548833855515,0.008674945242,1.04966130052
+415,6.916666667,pose2_to_pose3_retreat,0.578259670245,1.27845996876e-06,1.050011831,0.548830903112,0.00867493730583,1.049661358
+416,6.933333333,pose2_to_pose3_retreat,0.578257876215,1.28533274114e-06,1.05001180544,0.548829109726,0.00867494659102,1.0496613382
+417,6.950000000,pose2_to_pose3_retreat,0.578256330783,1.29125315864e-06,1.05001178341,0.548827564849,0.00867495458957,1.04966132113
+418,6.966666667,pose2_to_pose3_retreat,0.578255247124,1.28642296935e-06,1.05001175201,0.548826481932,0.00867495218733,1.04966128752
+419,6.983333333,pose2_to_pose3_retreat,0.578254638989,1.28262914699e-06,1.05001173246,0.548825874256,0.00867494987311,1.04966126605
+420,7.000000000,pose2_to_pose3_retreat,0.578254091308,1.27921247225e-06,1.05001171485,0.548825326989,0.00867494778895,1.04966124671
+421,7.016666667,pose2_to_pose3_retreat,0.578253578633,1.27844954135e-06,1.05001168583,0.548824814476,0.00867494755833,1.04966121721
+422,7.033333333,pose2_to_pose3_retreat,0.57825326033,1.28180993265e-06,1.05001164809,0.548824495921,0.00867495012351,1.04966118095
+423,7.050000000,pose2_to_pose3_retreat,0.57825305663,1.28396043771e-06,1.05001162394,0.54882429206,0.00867495176511,1.04966115775
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+425,7.083333333,pose2_to_pose3_retreat,0.578252949394,1.28509255426e-06,1.05001161122,0.548824184739,0.00867495262931,1.04966114553
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+427,7.116666667,pose2_to_pose3_retreat,0.578252834213,1.28630854466e-06,1.05001159756,0.548824069467,0.00867495355755,1.04966113241
+428,7.133333333,pose2_to_pose3_retreat,0.578252740272,1.2873002924e-06,1.05001158642,0.548823975452,0.0086749543146,1.04966112171
+429,7.150000000,pose2_to_pose3_retreat,0.578252634914,1.2884125866e-06,1.05001157393,0.54882387001,0.00867495516368,1.04966110971
+430,7.166666667,pose2_to_pose3_retreat,0.578252475535,1.29528603937e-06,1.05001155469,0.548823710557,0.00867496183968,1.04966109185
+431,7.183333333,pose2_to_pose3_retreat,0.578252400006,1.3106349679e-06,1.05001154477,0.548823635112,0.00867497756262,1.04966108408
+432,7.200000000,pose2_to_pose3_retreat,0.578252378411,1.31502346729e-06,1.05001154193,0.548823613541,0.00867498205806,1.04966108185
+433,7.216666667,pose2_to_pose3_retreat,0.578252313183,1.3282790139e-06,1.05001153337,0.548823548387,0.0086749956366,1.04966107514
+434,7.233333333,pose2_to_pose3_retreat,0.578252246633,1.34180308483e-06,1.05001152463,0.548823481912,0.00867500949022,1.04966106828
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diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2cd77af4bb56900535c69bbc017e979c4b4e4c2d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f42ef2417aa97b6d42c2d15b0e0c6110ba75b29c3de21185c390bcc9271e32c
+size 38873502
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7a6d55b754cdf7736e4e8bfd6dd55b377c2c83d0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_01/franka_data.csv
@@ -0,0 +1,615 @@
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+20,0.333333333,BASELINE,767.39396033,746,716,679,666,637,881.39396033,789,803.39396033,654,632.60603967,654,0.400950302499,-0.0054396667542,0.0499455639034,0.999999977199,7.58358467398e-05,-0.000197905379421,-2.61743916877e-05,1793237405982442752
+21,0.350000000,BASELINE,767.186316083,746,716,679,666.186316083,637,881,789,803,654,633,654.186316083,0.400951906758,-0.00543940245898,0.0499464671854,0.999999977577,7.53763824167e-05,-0.000196166694616,-2.61302678108e-05,1793237405999109120
+22,0.366666667,BASELINE,767.777259823,746,716,679,666.777259823,637,881,789,803,654,633,654.777259823,0.400953777432,-0.00543900054135,0.0499472660616,0.999999978104,7.45399621193e-05,-0.000193744929393,-2.64510691089e-05,1793237406015775744
+23,0.383333333,BASELINE,767.63934367,746.36065633,716,679.36065633,666.63934367,637.36065633,881,789,803.36065633,654,633,655,0.400953188755,-0.00543809094254,0.0499467767725,0.999999977858,7.63788443355e-05,-0.000194261738475,-2.67083271546e-05,1793237406032442368
+24,0.400000000,BASELINE,767.060512712,746.939487288,716,679.939487288,666.060512712,637.939487288,881,789,803.939487288,654,633,655,0.400951112322,-0.00543687422819,0.0499455082235,0.999999977133,7.98361179399e-05,-0.000196556201835,-2.69271455193e-05,1793237406049108992
+25,0.416666667,BASELINE,767,746.486147879,716,679.486147879,666,638,881,789,804,654,633,654.486147879,0.400951038437,-0.00544033221767,0.0499457404137,0.99999997738,7.58805781846e-05,-0.00019695692259,-2.62745581987e-05,1793237406065775616
+26,0.433333333,BASELINE,767,746.090037776,716,679,666.090037776,637.909962224,881.090037776,789,804.090037776,654,633,654,0.400951376822,-0.00544333063525,0.0499461530365,0.999999977678,7.22505272669e-05,-0.000196881775096,-2.57284411695e-05,1793237406082442240
+27,0.450000000,BASELINE,767,746.679208039,716,679,666.679208039,637.320791961,881.679208039,789,804.679208039,654,633,654,0.400952704614,-0.00544075588923,0.0499465946199,0.999999977735,7.52224535994e-05,-0.000195394247182,-2.63365287186e-05,1793237406099109120
+28,0.466666667,BASELINE,767,746.735943549,716,679,667,637.264056451,881.735943549,789,804.471887097,654,633,654,0.400953093247,-0.00543990937795,0.0499468061772,0.999999977786,7.5535274548e-05,-0.000194972431631,-2.66031799571e-05,1793237406115776256
+29,0.483333333,BASELINE,767,746.15626107,716,679,667,637.84373893,881.15626107,789,803.31252214,654,633,654,0.400952359305,-0.00544112862155,0.0499467427848,0.999999977836,7.26696731923e-05,-0.000195824459537,-2.6461713177e-05,1793237406132443392
+30,0.500000000,BASELINE,767.420457876,746,716,679,666.579542124,637.579542124,881.420457876,789,803,654,632.579542124,654.420457876,0.400951876905,-0.00544081219238,0.049946164614,0.999999977683,7.31364617782e-05,-0.00019644576735,-2.63650727135e-05,1793237406149109760
+31,0.516666667,BASELINE,767.996083135,746,716,679,666.003916865,637.003916865,881.996083135,789,803,654,632.003916865,654.996083135,0.400951487335,-0.00543992903262,0.0499453964674,0.999999977454,7.48330483671e-05,-0.000196981929318,-2.62849751287e-05,1793237406165775872
+32,0.533333333,BASELINE,767.428958886,746,716,679,666,637.571041114,882,789,803,654,632.571041114,654.428958886,0.400951157209,-0.00544001764751,0.0499455704105,0.999999977472,7.52313852987e-05,-0.000196749437358,-2.61812184055e-05,1793237406182442240
+33,0.550000000,BASELINE,767,746,716,679,666,637.849847466,881.849847466,789,803.150152534,654,633,654,0.400951452583,-0.00543952874175,0.049945938471,0.999999977563,7.59126134525e-05,-0.000196023638907,-2.6199620892e-05,1793237406199108864
+34,0.566666667,BASELINE,767,746,716,679,666,637.258519137,881.258519137,789,803.741480863,654,633,654,0.400953584598,-0.00543732341218,0.0499468579197,0.999999977856,7.74511617601e-05,-0.000193863888166,-2.65774259065e-05,1793237406215775488
+35,0.583333333,BASELINE,767,746,716,679,666.326041578,637,881.326041578,789,803.673958422,654,633,654,0.400954061897,-0.00543672190421,0.0499470657564,0.999999977894,7.72319857597e-05,-0.000193722990446,-2.67885893543e-05,1793237406232442368
+36,0.600000000,BASELINE,767,746,716,679,666.905345416,637,881.905345416,789,803.094654584,654,633,654,0.400953253848,-0.005437366211,0.0499467208278,0.999999977736,7.56474465465e-05,-0.00019515029518,-2.68703091684e-05,1793237406249109504
+37,0.616666667,BASELINE,767.480472325,746,716,679,666.519527675,637,882,789,803,654,633,654,0.40095195075,-0.00543974884296,0.0499461781671,0.999999977638,7.40870341871e-05,-0.000196316213265,-2.63733193638e-05,1793237406265775872
+38,0.633333333,BASELINE,767.945311954,746,716,679,666,637.054688046,881.945311954,789,803.054688046,654,633,654,0.400950995542,-0.00544216813671,0.0499458433772,0.999999977621,7.26628323258e-05,-0.000197004591087,-2.58318637508e-05,1793237406282442496
+39,0.650000000,BASELINE,767.372000689,746,716,679,666,637.627999311,881.372000689,789,803.627999311,654,633,654,0.400954256386,-0.00544171548635,0.0499478461151,0.999999978287,7.24856683956e-05,-0.000193648435879,-2.59405759418e-05,1793237406299109120
+40,0.666666667,BASELINE,767,746,716,679,666,637.792378546,881,789,804,654,633,654,0.400955906499,-0.00544084024015,0.0499487200274,0.99999997856,7.35903690129e-05,-0.000191779060517,-2.61624866537e-05,1793237406315775488
+41,0.683333333,BASELINE,767,746,716,679,666,637.201094601,881,789,804,654,633,654,0.40095458015,-0.00543918408157,0.0499475079889,0.999999978119,7.70638197641e-05,-0.00019265709728,-2.65935762553e-05,1793237406332442368
+42,0.700000000,BASELINE,767,746,716,679,666,637,881,789,803.617057874,654,633,654,0.40095401501,-0.00544027345182,0.0499470466674,0.999999978192,7.48970704968e-05,-0.000193161991778,-2.6363176352e-05,1793237406349108736
+43,0.716666667,BASELINE,767,746,716,679,666,637,881,789,803.036756214,654,633,654,0.400953842178,-0.00544277780433,0.0499469722482,0.999999978514,6.98234921881e-05,-0.000193474577334,-2.57918600092e-05,1793237406365775360
+44,0.733333333,BASELINE,767,746,716,679,666.537837228,637,881,789,803.537837228,654,633,654,0.400952415908,-0.0054423807226,0.0499463565024,0.999999978119,7.18397825323e-05,-0.000194756830896,-2.5908255496e-05,1793237406382442240
+45,0.750000000,BASELINE,767,746,716.114766113,679,666.885233887,637,881,789,803.885233887,654,633,654.114766113,0.400951180679,-0.00544166149001,0.0499458250033,0.99999997773,7.38488503778e-05,-0.000195970216376,-2.61317606557e-05,1793237406399109120
+46,0.766666667,BASELINE,767,746,716.702920302,679,666.297079698,637,881,789,803.297079698,654,633,654.702920302,0.400951083082,-0.0054404227507,0.0499457919987,0.999999977588,7.3850533973e-05,-0.000196629062386,-2.66052475833e-05,1793237406415775744
+47,0.783333333,BASELINE,767.286760267,746,716.713239733,679,666,637.286760267,881.286760267,789,803,654,633,654.713239733,0.400951239858,-0.00543996638652,0.0499457014301,0.999999977557,7.43874531018e-05,-0.000196556217492,-2.67991962509e-05,1793237406432442368
+48,0.800000000,BASELINE,767.86619707,746,716.13380293,679,666,637.86619707,881.86619707,789,803,654,633,654.13380293,0.400951656256,-0.00544030853882,0.0499455521098,0.999999977639,7.54706504303e-05,-0.000195736585956,-2.67078394463e-05,1793237406449108992
+49,0.816666667,BASELINE,767.556063587,746,716,679,666,637.556063587,881.556063587,789,803,654,633,654.443936413,0.400951014691,-0.00544022273268,0.0499452037374,0.999999977501,7.42697644507e-05,-0.000196910672633,-2.66206644644e-05,1793237406465775872
+50,0.833333333,BASELINE,767,746,716,679,666.020781941,637,881,789,803,654,633,655,0.40095010936,-0.00544001929407,0.0499448184743,0.999999977306,7.24634488219e-05,-0.000198577937456,-2.65337776108e-05,1793237406482442496
+51,0.850000000,BASELINE,767,746,716,679,666.58753631,637,881,789,803,654,633,655,0.40095061982,-0.00544010125176,0.0499450341783,0.999999977505,7.27686567241e-05,-0.000197475091957,-2.64214735763e-05,1793237406499109120
+52,0.866666667,BASELINE,767,746,716,679,666.836950517,637,881.163049483,789,803.163049483,654,633,654.836950517,0.400951768985,-0.00544012595975,0.0499455260414,0.999999977747,7.35829510796e-05,-0.000195958130365,-2.62976746736e-05,1793237406515776000
+53,0.883333333,BASELINE,767,746,716,679,666.238022557,637,881.761977443,789,803.761977443,654,633,654.238022557,0.40095462559,-0.00543999762276,0.0499467561577,0.9999999781,7.57581809041e-05,-0.000193334116617,-2.61431466672e-05,1793237406532442624
+54,0.900000000,BASELINE,767,746,716,679,666.348741753,637,881.651258247,789,803.651258247,654,632.651258247,654.348741753,0.40095466796,-0.00543995226795,0.0499467703403,0.999999978156,7.59219205717e-05,-0.000192989973653,-2.60533582226e-05,1793237406549109248
+55,0.916666667,BASELINE,767,746,716,679,666.927483931,637,881.072516069,789,803.072516069,654,632.072516069,654.927483931,0.400952854298,-0.00543996164114,0.0499459825963,0.99999997802,7.47590521823e-05,-0.000194149439819,-2.60062664974e-05,1793237406565775872
+56,0.933333333,BASELINE,767,746,716,679,667,637,881,789,803,654,632.503158472,654.496841528,0.400952449862,-0.00544051333142,0.0499463375358,0.999999977887,7.42324312854e-05,-0.000195034138708,-2.60109522157e-05,1793237406582442496
+57,0.950000000,BASELINE,767.078136411,746.078136411,716,679,666.921863589,637,881,789,803.078136411,654,633,654.078136411,0.400952499998,-0.00544091726564,0.0499468449731,0.999999977825,7.39001899978e-05,-0.000195469244802,-2.60798571095e-05,1793237406599108864
+58,0.966666667,BASELINE,767.651484222,746.651484222,716,679,666.348515778,637,881,789,803.651484222,654,633,654.651484222,0.400954151711,-0.00543989239711,0.049947281492,0.999999978211,7.42222498395e-05,-0.00019330438505,-2.65087614787e-05,1793237406615775744
+59,0.983333333,BASELINE,767.766589166,746.766589166,716,679,666,637.233410834,881,789,804,654,633,654.766589166,0.400954640063,-0.00543947355422,0.0499471321926,0.999999978323,7.41382670917e-05,-0.000192732799481,-2.66855463255e-05,1793237406632442368
+60,1.000000000,BASELINE,767.171364324,746.171364324,716,679,666,637.828635676,881,789,804,654,633,654.171364324,0.40095332507,-0.00543999412158,0.0499460748065,0.999999978013,7.34248710354e-05,-0.000194630974337,-2.64715165816e-05,1793237406649108992
+61,1.016666667,BASELINE,767,746.412409258,716,679,666,637.587590742,881.412409258,789,804,654,633,654,0.400951064376,-0.00544197251323,0.0499451548505,0.999999977573,7.23555216453e-05,-0.000197396937272,-2.5543913855e-05,1793237406665776384
+62,1.033333333,BASELINE,767,746.991553128,716,679,666,637.008446872,881.991553128,789,804,654,633,654,0.400948421341,-0.00544454029455,0.0499442904567,0.999999977071,7.11422624802e-05,-0.000200513741651,-2.43278178256e-05,1793237406682444032
+63,1.050000000,BASELINE,767,746.991590652,716,679,666,637,881.991590652,789,804,654,633,654.008409348,0.400947832358,-0.00544455185005,0.0499440474276,0.999999976928,7.13148901449e-05,-0.000201162737904,-2.43117178326e-05,1793237406699110912
+64,1.066666667,BASELINE,767,746.983056838,716,679,666,637,881.983056838,789,804,654,633,654.016943162,0.400947273777,-0.00544452557092,0.0499438135952,0.999999976791,7.1508030285e-05,-0.000201775208192,-2.43133789501e-05,1793237406715777536
+65,1.083333333,BASELINE,767,746.974523024,716,679,666,637,881.974523024,789,804,654,633,654.025476976,0.400946715197,-0.00544449929179,0.0499435797628,0.999999976653,7.17011704132e-05,-0.000202387678443,-2.43150400674e-05,1793237406732444160
+66,1.100000000,BASELINE,767,746.965989209,716,679,666,637,881.965989209,789,804,654,633,654.034010791,0.400946156616,-0.00544447301266,0.0499433459305,0.999999976515,7.18943105531e-05,-0.000203000148731,-2.43167011849e-05,1793237406749110784
+67,1.116666667,BASELINE,767,746.957455395,716,679,666,637,881.957455395,789,804,654,633,654.042544605,0.400945598035,-0.00544444673353,0.0499431120981,0.999999976377,7.2087450693e-05,-0.000203612619019,-2.43183623024e-05,1793237406765777408
+68,1.133333333,BASELINE,767,746.948921581,716,679,666,637,881.948921581,789,804,654,633,654.051078419,0.400945039454,-0.0054444204544,0.0499428782657,0.999999976238,7.22805908213e-05,-0.00020422508927,-2.43200234197e-05,1793237406782444032
+69,1.150000000,BASELINE,767,746.940387766,716,679,666,637,881.940387766,789,804,654,633,654.059612234,0.400944480873,-0.00544439417527,0.0499426444334,0.999999976099,7.24737309611e-05,-0.000204837559558,-2.43216845371e-05,1793237406799110656
+70,1.166666667,BASELINE,767,746.931853952,716,679,666,637,881.931853952,789,804,654,633,654.068146048,0.400943922292,-0.00544436789614,0.049942410601,0.999999975959,7.26668711009e-05,-0.000205450029846,-2.43233456545e-05,1793237406815777280
+71,1.183333333,BASELINE,767,746.923320138,716,679,666,637,881.923320138,789,804,654,633,654.076679862,0.400943363711,-0.00544434161701,0.0499421767686,0.999999975819,7.28600112291e-05,-0.000206062500097,-2.43250067719e-05,1793237406832443904
+72,1.200000000,BASELINE,767,746.914786323,716,679,666,637,881.914786323,789,804,654,633,654.085213677,0.40094280513,-0.00544431533788,0.0499419429362,0.999999975678,7.30531513689e-05,-0.000206674970384,-2.43266678893e-05,1793237406849110784
+73,1.216666667,BASELINE,767,746.906252509,716,679,666,637,881.906252509,789,804,654,633,654.093747491,0.400942246549,-0.00544428905875,0.0499417091039,0.999999975538,7.32462915086e-05,-0.000207287440672,-2.43283290067e-05,1793237406865777408
+74,1.233333333,BASELINE,767,746.897718695,716,679,666,637,881.897718695,789,804,654,633,654.102281305,0.400941687968,-0.00544426277962,0.0499414752715,0.999999975396,7.34394316368e-05,-0.000207899910922,-2.43299901239e-05,1793237406882444032
+75,1.250000000,BASELINE,767,746.88918488,716,679,666,637,881.88918488,789,804,654,633,654.11081512,0.400941129388,-0.00544423650049,0.0499412414391,0.999999975254,7.36325717765e-05,-0.000208512381209,-2.43316512413e-05,1793237406899110656
+76,1.266666667,BASELINE,767,746.880651066,716,679,666,637,881.880651066,789,804,654,633,654.119348934,0.400940570807,-0.00544421022136,0.0499410076068,0.999999975112,7.38257119161e-05,-0.000209124851497,-2.43333123587e-05,1793237406915777280
+77,1.283333333,BASELINE,767,746.872117252,716,679,666,637,881.872117252,789,804,654,633,654.127882748,0.400940012226,-0.00544418394223,0.0499407737744,0.99999997497,7.40188520443e-05,-0.000209737321748,-2.43349734759e-05,1793237406932443904
+78,1.300000000,BASELINE,767,746.863583437,716,679,666,637,881.863583437,789,804,654,633,654.136416563,0.400939453645,-0.0054441576631,0.049940539942,0.999999974827,7.42119921839e-05,-0.000210349792034,-2.43366345933e-05,1793237406949110528
+79,1.316666667,BASELINE,767,746.855049623,716,679,666,637,881.855049623,789,804,654,633,654.144950377,0.400938895064,-0.00544413138397,0.0499403061097,0.999999974683,7.44051323234e-05,-0.000210962262322,-2.43382957106e-05,1793237406965777152
+80,1.333333333,BASELINE,767,746.846515809,716,679,666,637,881.846515809,789,804,654,633,654.153484191,0.400938336483,-0.00544410510484,0.0499400722773,0.999999974539,7.45982724515e-05,-0.000211574732572,-2.43399568278e-05,1793237406982444032
+81,1.350000000,BASELINE,767,746.837981995,716,679,666,637,881.837981995,789,804,654,633,654.162018005,0.400937777902,-0.00544407882571,0.0499398384449,0.999999974395,7.47914125911e-05,-0.000212187202859,-2.43416179451e-05,1793237406999110656
+82,1.366666667,BASELINE,767,746.82944818,716,679,666,637,881.82944818,789,804,654,633,654.17055182,0.400937219321,-0.00544405254658,0.0499396046125,0.999999974251,7.49845527306e-05,-0.000212799673146,-2.43432790624e-05,1793237407015777280
+83,1.383333333,BASELINE,767,746.820914366,716,679,666,637,881.820914366,789,804,654,633,654.179085634,0.40093666074,-0.00544402626745,0.0499393707802,0.999999974105,7.51776928584e-05,-0.000213412143396,-2.43449401796e-05,1793237407032443904
+84,1.400000000,BASELINE,767,746.812380552,716,679,666,637,881.812380552,789,804,654,633,654.187619448,0.400936102159,-0.00544399998832,0.0499391369478,0.99999997396,7.5370832998e-05,-0.000214024613683,-2.43466012969e-05,1793237407049110528
+85,1.416666667,BASELINE,767,746.803846737,716,679,666,637,881.803846737,789,804,654,633,654.196153263,0.400935543578,-0.00544397370919,0.0499389031154,0.999999973814,7.55639731374e-05,-0.000214637083969,-2.43482624141e-05,1793237407065777152
+86,1.433333333,BASELINE,767,746.795312923,716,679,666,637,881.795312923,789,804,654,633,654.204687077,0.400934984998,-0.00544394743006,0.0499386692831,0.999999973668,7.57571132653e-05,-0.000215249554219,-2.43499235312e-05,1793237407082443776
+87,1.450000000,BASELINE,767,746.786779109,716,679,666,637,881.786779109,789,804,654,633,654.213220891,0.400934426417,-0.00544392115093,0.0499384354507,0.999999973521,7.59502534048e-05,-0.000215862024506,-2.43515846485e-05,1793237407099110400
+88,1.466666667,BASELINE,767,746.778245294,716,679,666,637,881.778245294,789,804,654,633,654.221754706,0.400933867836,-0.00544389487179,0.0499382016183,0.999999973374,7.61433935441e-05,-0.000216474494793,-2.43532457657e-05,1793237407115777024
+89,1.483333333,BASELINE,767,746.76971148,716,679,666,637,881.76971148,789,804,654,633,654.23028852,0.400933309255,-0.00544386859266,0.049937967786,0.999999973226,7.63365336718e-05,-0.000217086965042,-2.43549068828e-05,1793237407132443904
+90,1.500000000,BASELINE,767,746.761177666,716,679,666,637,881.761177666,789,804,654,633,654.238822334,0.400932750674,-0.00544384231353,0.0499377339536,0.999999973078,7.65296738111e-05,-0.000217699435329,-2.43565680001e-05,1793237407149110528
+91,1.516666667,BASELINE,767,746.752643851,716,679,666,637,881.752643851,789,804,654,633,654.247356149,0.400932192093,-0.0054438160344,0.0499375001212,0.99999997293,7.67228139505e-05,-0.000218311905615,-2.43582291173e-05,1793237407165777152
+92,1.533333333,BASELINE,767,746.744110037,716,679,666,637,881.744110037,789,804,654,633,654.255889963,0.400931633512,-0.00544378975527,0.0499372662889,0.999999972781,7.69159540781e-05,-0.000218924375865,-2.43598902343e-05,1793237407182443776
+93,1.550000000,BASELINE,767,746.735576223,716,679,666,637,881.735576223,789,804,654,633,654.264423777,0.400931074931,-0.00544376347614,0.0499370324565,0.999999972632,7.71090942174e-05,-0.00021953684615,-2.43615513515e-05,1793237407199110400
+94,1.566666667,BASELINE,767,746.727042408,716,679,666,637,881.727042408,789,804,654,633,654.272957592,0.40093051635,-0.00544373719701,0.0499367986241,0.999999972483,7.73022343567e-05,-0.000220149316437,-2.43632124687e-05,1793237407215777024
+95,1.583333333,BASELINE,767,746.718508594,716,679,666,637,881.718508594,789,804,654,633,654.281491406,0.400929957769,-0.00544371091788,0.0499365647918,0.999999972333,7.74953744843e-05,-0.000220761786686,-2.43648735858e-05,1793237407232443648
+96,1.600000000,BASELINE,767,746.70997478,716,679,666,637,881.70997478,789,804,654,633,654.29002522,0.400929399189,-0.00544368463875,0.0499363309594,0.999999972182,7.76885146234e-05,-0.000221374256971,-2.4366534703e-05,1793237407249110272
+97,1.616666667,BASELINE,767,746.701440965,716,679,666,637,881.701440965,789,804,654,633,654.298559035,0.400928840608,-0.00544365835962,0.049936097127,0.999999972031,7.78816547626e-05,-0.000221986727257,-2.43681958201e-05,1793237407265776896
+98,1.633333333,BASELINE,767,746.692907151,716,679,666,637,881.692907151,789,804,654,633,654.307092849,0.400928282027,-0.00544363208049,0.0499358632946,0.99999997188,7.80747948901e-05,-0.000222599197507,-2.43698569371e-05,1793237407282443776
+99,1.650000000,BASELINE,767,746.684373337,716,679,666,637,881.684373337,789,804,654,633,654.315626663,0.400927723446,-0.00544360580136,0.0499356294623,0.999999971728,7.82679350292e-05,-0.000223211667793,-2.43715180543e-05,1793237407299110400
+100,1.666666667,BASELINE,767,746.675839523,716,679,666,637,881.675839523,789,804,654,633,654.324160477,0.400927164865,-0.00544357952223,0.0499353956299,0.999999971576,7.84610751682e-05,-0.000223824138078,-2.43731791714e-05,1793237407315777024
+101,1.683333333,BASELINE,767,746.667305709,716,679,666,637,881.667305709,789,804,654,633,654.332694291,0.400926606284,-0.0054435532431,0.0499351617975,0.999999971424,7.86542152956e-05,-0.000224436608326,-2.43748402884e-05,1793237407332443648
+102,1.700000000,BASELINE,767,746.658771894,716,679,666,637,881.658771894,789,804,654,633,654.341228106,0.400926047703,-0.00544352696397,0.0499349279652,0.999999971271,7.88473554346e-05,-0.000225049078612,-2.43765014055e-05,1793237407349110272
+103,1.716666667,BASELINE,767,746.65023808,716,679,666,637,881.65023808,789,804,654,633,654.34976192,0.400925489122,-0.00544350068484,0.0499346941328,0.999999971118,7.90404955736e-05,-0.000225661548897,-2.43781625226e-05,1793237407365776896
+104,1.733333333,BASELINE,767,746.641704266,716,679,666,637,881.641704266,789,804,654,633,654.358295734,0.400924930541,-0.00544347440571,0.0499344603004,0.999999970964,7.9233635701e-05,-0.000226274019145,-2.43798236396e-05,1793237407382443520
+105,1.750000000,BASELINE,767,746.633170451,716,679,666,637,881.633170451,789,804,654,633,654.366829549,0.40092437196,-0.00544344812658,0.0499342264681,0.99999997081,7.94267758399e-05,-0.000226886489431,-2.43814847567e-05,1793237407399110144
+106,1.766666667,BASELINE,767,746.624636637,716,679,666,637,881.624636637,789,804,654,633,654.375363363,0.400923813379,-0.00544342184745,0.0499339926357,0.999999970655,7.96199159787e-05,-0.000227498959716,-2.43831458737e-05,1793237407415776768
+107,1.783333333,BASELINE,767,746.616102823,716,679,666,637,881.616102823,789,804,654,633,654.383897177,0.400923254799,-0.00544339556832,0.0499337588033,0.9999999705,7.9813056106e-05,-0.000228111429964,-2.43848069907e-05,1793237407432443648
+108,1.800000000,BASELINE,767,746.607569008,716,679,666,637,881.607569008,789,804,654,633,654.392430992,0.400922696218,-0.00544336928919,0.0499335249709,0.999999970345,8.00061962448e-05,-0.000228723900249,-2.43864681077e-05,1793237407449110272
+109,1.816666667,BASELINE,767,746.599035194,716,679,666,637,881.599035194,789,804,654,633,654.400964806,0.400922137637,-0.00544334301006,0.0499332911386,0.999999970189,8.01993363836e-05,-0.000229336370534,-2.43881292247e-05,1793237407465776896
+110,1.833333333,BASELINE,767,746.59050138,716,679,666,637,881.59050138,789,804,654,633,654.40949862,0.400921579056,-0.00544331673093,0.0499330573062,0.999999970033,8.03924765107e-05,-0.000229948840782,-2.43897903416e-05,1793237407482443520
+111,1.850000000,BASELINE,767,746.581967565,716,679,666,637,881.581967565,789,804,654,633,654.418032435,0.400921020475,-0.0054432904518,0.0499328234738,0.999999969876,8.05856166495e-05,-0.000230561311066,-2.43914514587e-05,1793237407499110144
+112,1.866666667,BASELINE,767,746.573433751,716,679,666,637,881.573433751,789,804,654,633,654.426566249,0.400920461894,-0.00544326417266,0.0499325896415,0.999999969719,8.07787567882e-05,-0.000231173781351,-2.43931125757e-05,1793237407515776768
+113,1.883333333,BASELINE,767,746.564899937,716,679,666,637,881.564899937,789,804,654,633,654.435100063,0.400919903313,-0.00544323789354,0.0499323558091,0.999999969562,8.09718969152e-05,-0.000231786251599,-2.43947736926e-05,1793237407532443392
+114,1.900000000,BASELINE,767,746.556366122,716,679,666,637,881.556366122,789,804,654,633,654.443633878,0.400919344732,-0.0054432116144,0.0499321219767,0.999999969404,8.11650370539e-05,-0.000232398721883,-2.43964348095e-05,1793237407549110016
+115,1.916666667,BASELINE,767,746.547832308,716,679,666,637,881.547832308,789,804,654,633,654.452167692,0.400918786151,-0.00544318533527,0.0499318881444,0.999999969246,8.13581771924e-05,-0.000233011192167,-2.43980959265e-05,1793237407565776640
+116,1.933333333,BASELINE,767,746.539298494,716,679,666,637,881.539298494,789,804,654,633,654.460701506,0.40091822757,-0.00544315905614,0.049931654312,0.999999969087,8.15513173194e-05,-0.000233623662415,-2.43997570434e-05,1793237407582443520
+117,1.950000000,BASELINE,767,746.530764679,716,679,666,637,881.530764679,789,804,654,633,654.469235321,0.40091766899,-0.00544313277701,0.0499314204796,0.999999968928,8.1744457458e-05,-0.000234236132699,-2.44014181603e-05,1793237407599110144
+118,1.966666667,BASELINE,767,746.522230865,716,679,666,637,881.522230865,789,804,654,633,654.477769135,0.400917110409,-0.00544310649788,0.0499311866472,0.999999968768,8.19375975965e-05,-0.000234848602983,-2.44030792773e-05,1793237407615776768
+119,1.983333333,BASELINE,767,746.513697051,716,679,666,637,881.513697051,789,804,654,633,654.486302949,0.400916551828,-0.00544308021875,0.0499309528149,0.999999968609,8.21307377233e-05,-0.00023546107323,-2.44047403941e-05,1793237407632443392
+120,2.000000000,BASELINE,767,746.505163237,716,679,666,637,881.505163237,789,804,654,633,654.494836763,0.400915993247,-0.00544305393962,0.0499307189825,0.999999968448,8.23238778617e-05,-0.000236073543514,-2.4406401511e-05,1793237407649110016
+121,2.016666667,BASELINE,767,746.496629422,716,679,666,637,881.496629422,789,804,654,633,654.503370578,0.400915434666,-0.00544302766049,0.0499304851501,0.999999968287,8.25170180002e-05,-0.000236686013797,-2.44080626278e-05,1793237407665776640
+122,2.033333333,BASELINE,767,746.488095608,716,679,666,637,881.488095608,789,804,654,633,654.511904392,0.400914876085,-0.00544300138136,0.0499302513178,0.999999968126,8.27101581269e-05,-0.000237298484044,-2.44097237446e-05,1793237407682443264
+123,2.050000000,BASELINE,767,746.479561794,716,679,666,637,881.479561794,789,804,654,633,654.520438206,0.400914317504,-0.00544297510223,0.0499300174854,0.999999967965,8.29032982652e-05,-0.000237910954328,-2.44113848615e-05,1793237407699109888
+124,2.066666667,BASELINE,767,746.471027979,716,679,666,637,881.471027979,789,804,654,633,654.528972021,0.400913758923,-0.0054429488231,0.049929783653,0.999999967803,8.30964384035e-05,-0.000238523424612,-2.44130459784e-05,1793237407715776768
+125,2.083333333,BASELINE,767,746.462494165,716,679,666,637,881.462494165,789,804,654,633,654.537505835,0.400913200342,-0.00544292254397,0.0499295498207,0.99999996764,8.32895785302e-05,-0.000239135894857,-2.44147070951e-05,1793237407732443392
+126,2.100000000,BASELINE,767,746.453960351,716,679,666,637,881.453960351,789,804,654,633,654.546039649,0.400912641761,-0.00544289626484,0.0499293159883,0.999999967478,8.34827186684e-05,-0.000239748365141,-2.4416368212e-05,1793237407749110016
+127,2.116666667,BASELINE,767,746.445426536,716,679,666,637,881.445426536,789,804,654,633,654.554573464,0.40091208318,-0.00544286998571,0.0499290821559,0.999999967314,8.36758588066e-05,-0.000240360835425,-2.44180293289e-05,1793237407765776640
+128,2.133333333,BASELINE,767,746.436892722,716,679,666,637,881.436892722,789,804,654,633,654.563107278,0.4009115246,-0.00544284370658,0.0499288483236,0.999999967151,8.38689989331e-05,-0.000240973305671,-2.44196904456e-05,1793237407782443264
+129,2.150000000,BASELINE,767,746.428358908,716,679,666,637,881.428358908,789,804,654,633,654.571641092,0.400910966019,-0.00544281742745,0.0499286144912,0.999999966987,8.40621390712e-05,-0.000241585775953,-2.44213515624e-05,1793237407799109888
+130,2.166666667,BASELINE,767,746.419825093,716,679,666,637,881.419825093,789,804,654,633,654.580174907,0.400910407438,-0.00544279114832,0.0499283806588,0.999999966822,8.42552792093e-05,-0.000242198246236,-2.44230126792e-05,1793237407815776512
+131,2.183333333,BASELINE,767,746.411291279,716,679,666,637,881.411291279,789,804,654,633,654.588708721,0.400909848857,-0.00544276486919,0.0499281468265,0.999999966657,8.44484193358e-05,-0.000242810716482,-2.4424673796e-05,1793237407832443136
+132,2.200000000,BASELINE,767,746.402757465,716,679,666,637,881.402757465,789,804,654,633,654.597242535,0.400909290276,-0.00544273859006,0.0499279129941,0.999999966492,8.46415594738e-05,-0.000243423186764,-2.44263349128e-05,1793237407849109760
+133,2.216666667,BASELINE,767,746.39422365,716,679,666,637,881.39422365,789,804,654,633,654.60577635,0.400908731695,-0.00544271231093,0.0499276791617,0.999999966326,8.48346996117e-05,-0.000244035657047,-2.44279960295e-05,1793237407865776640
+134,2.233333333,BASELINE,767,746.385689836,716,679,666,637,881.385689836,789,804,654,633,654.614310164,0.400908173114,-0.0054426860318,0.0499274453293,0.99999996616,8.50278397381e-05,-0.000244648127293,-2.44296571462e-05,1793237407882443264
+135,2.250000000,BASELINE,767,746.377156022,716,679,666,637,881.377156022,789,804,654,633,654.622843978,0.400907614533,-0.00544265975267,0.049927211497,0.999999965994,8.5220979876e-05,-0.000245260597576,-2.4431318263e-05,1793237407899109888
+136,2.266666667,BASELINE,767,746.368622207,716,679,666,637,881.368622207,789,804,654,633,654.631377793,0.400907055952,-0.00544263347354,0.0499269776646,0.999999965827,8.54141200139e-05,-0.000245873067857,-2.44329793797e-05,1793237407915776512
+137,2.283333333,BASELINE,767,746.360088393,716,679,666,637,881.360088393,789,804,654,633,654.639911607,0.400906497371,-0.00544260719441,0.0499267438322,0.99999996566,8.56072601401e-05,-0.000246485538102,-2.44346404964e-05,1793237407932443136
+138,2.300000000,BASELINE,767,746.351554579,716,679,666,637,881.351554579,789,804,654,633,654.648445421,0.400905938791,-0.00544258091528,0.0499265099999,0.999999965492,8.58004002779e-05,-0.000247098008385,-2.44363016131e-05,1793237407949109760
+139,2.316666667,BASELINE,767,746.343020765,716,679,666,637,881.343020765,789,804,654,633,654.656979235,0.40090538021,-0.00544255463614,0.0499262761675,0.999999965324,8.59935404156e-05,-0.000247710478666,-2.44379627299e-05,1793237407965776384
+140,2.333333333,BASELINE,767,746.334486951,716,679,666,637,881.334486951,789,804,654,633,654.665513049,0.400904821629,-0.00544252835701,0.0499260423351,0.999999965155,8.61866805417e-05,-0.000248322948911,-2.44396238465e-05,1793237407982443008
+141,2.350000000,BASELINE,767,746.325953136,716,679,666,637,881.325953136,789,804,654,633,654.674046864,0.400904263048,-0.00544250207788,0.0499258085028,0.999999964986,8.63798206795e-05,-0.000248935419193,-2.44412849632e-05,1793237407999109632
+142,2.366666667,BASELINE,767,746.317419322,716,679,666,637,881.317419322,789,804,654,633,654.682580678,0.400903704467,-0.00544247579875,0.0499255746704,0.999999964817,8.6572960817e-05,-0.000249547889475,-2.44429460799e-05,1793237408015776512
+143,2.383333333,BASELINE,767,746.308885508,716,679,666,637,881.308885508,789,804,654,633,654.691114492,0.400903145886,-0.00544244951962,0.049925340838,0.999999964647,8.6766100943e-05,-0.000250160359719,-2.44446071965e-05,1793237408032443136
+144,2.400000000,BASELINE,767,746.300351693,716,679,666,637,881.300351693,789,804,654,633,654.699648307,0.400902587305,-0.00544242324049,0.0499251070056,0.999999964477,8.69592410806e-05,-0.00025077283,-2.44462683131e-05,1793237408049109760
+145,2.416666667,BASELINE,767,746.291817879,716,679,666,637,881.291817879,789,804,654,633,654.708182121,0.400902028724,-0.00544239696136,0.0499248731733,0.999999964306,8.71523812181e-05,-0.000251385300282,-2.44479294298e-05,1793237408065776384
+146,2.433333333,BASELINE,767,746.283284065,716,679,666,637,881.283284065,789,804,654,633,654.716715935,0.400901470143,-0.00544237068223,0.0499246393409,0.999999964135,8.73455213439e-05,-0.000251997770526,-2.44495905464e-05,1793237408082443008
+147,2.450000000,BASELINE,767,746.27475025,716,679,666,637,881.27475025,789,804,654,633,654.72524975,0.400900911562,-0.0054423444031,0.0499244055085,0.999999963964,8.75386614813e-05,-0.000252610240806,-2.4451251663e-05,1793237408099109632
+148,2.466666667,BASELINE,767,746.266216436,716,679,666,637,881.266216436,789,804,654,633,654.733783564,0.400900352981,-0.00544231812397,0.0499241716762,0.999999963792,8.77318016188e-05,-0.000253222711088,-2.44529127796e-05,1793237408115776256
+149,2.483333333,BASELINE,767,746.257682622,716,679,666,637,881.257682622,789,804,654,633,654.742317378,0.400899794401,-0.00544229184484,0.0499239378438,0.999999963619,8.79249417445e-05,-0.000253835181332,-2.44545738962e-05,1793237408132442880
+150,2.500000000,BASELINE,767,746.249148807,716,679,666,637,881.249148807,789,804,654,633,654.750851193,0.40089923582,-0.00544226556571,0.0499237040114,0.999999963447,8.81180818818e-05,-0.000254447651612,-2.44562350128e-05,1793237408149109504
+151,2.516666667,BASELINE,767,746.240614993,716,679,666,637,881.240614993,789,804,654,633,654.759385007,0.400898677239,-0.00544223928658,0.0499234701791,0.999999963274,8.83112220191e-05,-0.000255060121892,-2.44578961294e-05,1793237408165776384
+152,2.533333333,BASELINE,767,746.232081179,716,679,666,637,881.232081179,789,804,654,633,654.767918821,0.400898118658,-0.00544221300745,0.0499232363467,0.9999999631,8.85043621447e-05,-0.000255672592136,-2.44595572459e-05,1793237408182443008
+153,2.550000000,BASELINE,767,746.223547364,716,679,666,637,881.223547364,789,804,654,633,654.776452636,0.400897560077,-0.00544218672832,0.0499230025143,0.999999962926,8.86975022819e-05,-0.000256285062417,-2.44612183625e-05,1793237408199109632
+154,2.566666667,BASELINE,767,746.21501355,716,679,666,637,881.21501355,789,804,654,633,654.78498645,0.400897001496,-0.00544216044919,0.0499227686819,0.999999962752,8.88906424191e-05,-0.000256897532696,-2.44628794791e-05,1793237408215776256
+155,2.583333333,BASELINE,767,746.206479736,716,679,666,637,881.206479736,789,804,654,633,654.793520264,0.400896442915,-0.00544213417006,0.0499225348496,0.999999962577,8.90837825445e-05,-0.000257510002939,-2.44645405954e-05,1793237408232442880
+156,2.600000000,BASELINE,767,746.197945921,716,679,666,637,881.197945921,789,804,654,633,654.802054079,0.400895884334,-0.00544210789093,0.0499223010172,0.999999962402,8.92769226816e-05,-0.000258122473219,-2.4466201712e-05,1793237408249109504
+157,2.616666667,BASELINE,767,746.189412107,716,679,666,637,881.189412107,789,804,654,633,654.810587893,0.400895325753,-0.0054420816118,0.0499220671848,0.999999962226,8.94700628186e-05,-0.000258734943499,-2.44678628285e-05,1793237408265776128
+158,2.633333333,BASELINE,767,746.180878293,716,679,666,637,881.180878293,789,804,654,633,654.819121707,0.400894767172,-0.00544205533267,0.0499218333525,0.99999996205,8.96632029441e-05,-0.000259347413742,-2.4469523945e-05,1793237408282442752
+159,2.650000000,BASELINE,767,746.172344479,716,679,666,637,881.172344479,789,804,654,633,654.827655521,0.400894208592,-0.00544202905354,0.0499215995201,0.999999961874,8.9856343081e-05,-0.000259959884021,-2.44711850615e-05,1793237408299109632
+160,2.666666667,BASELINE,767,746.163810664,716,679,666,637,881.163810664,789,804,654,633,654.836189336,0.400893650011,-0.00544200277441,0.0499213656877,0.999999961697,9.00494832178e-05,-0.0002605723543,-2.4472846178e-05,1793237408315776256
+161,2.683333333,BASELINE,767,746.15527685,716,679,666,637,881.15527685,789,804,654,633,654.84472315,0.40089309143,-0.00544197649528,0.0499211318554,0.99999996152,9.02426233431e-05,-0.000261184824542,-2.44745072944e-05,1793237408332442880
+162,2.700000000,BASELINE,767,746.146743036,716,679,666,637,881.146743036,789,804,654,633,654.853256964,0.400892532849,-0.00544195021615,0.049920898023,0.999999961342,9.04357634799e-05,-0.000261797294822,-2.44761684109e-05,1793237408349109504
+163,2.716666667,BASELINE,767,746.138209221,716,679,666,637,881.138209221,789,804,654,633,654.861790779,0.400891974268,-0.00544192393701,0.0499206641906,0.999999961164,9.06289036167e-05,-0.000262409765101,-2.44778295274e-05,1793237408365776128
+164,2.733333333,BASELINE,767,746.129675407,716,679,666,637,881.129675407,789,804,654,633,654.870324593,0.400891415687,-0.00544189765789,0.0499204303583,0.999999960986,9.08220437418e-05,-0.000263022235343,-2.44794906437e-05,1793237408382442752
+165,2.750000000,BASELINE,767,746.121141593,716,679,666,637,881.121141593,789,804,654,633,654.878858407,0.400890857106,-0.00544187137875,0.0499201965259,0.999999960807,9.10151838784e-05,-0.000263634705621,-2.44811517602e-05,1793237408399109376
+166,2.766666667,BASELINE,767,746.112607778,716,679,666,637,881.112607778,789,804,654,633,654.887392222,0.400890298525,-0.00544184509962,0.0499199626935,0.999999960628,9.1208324015e-05,-0.0002642471759,-2.44828128767e-05,1793237408415776000
+167,2.783333333,BASELINE,767,746.104073964,716,679,666,637,881.104073964,789,804,654,633,654.895926036,0.400889739944,-0.00544181882049,0.0499197288612,0.999999960448,9.140146414e-05,-0.000264859646142,-2.4484473993e-05,1793237408432442624
+168,2.800000000,BASELINE,767,746.09554015,716,679,666,637,881.09554015,789,804,654,633,654.90445985,0.400889181363,-0.00544179254136,0.0499194950288,0.999999960268,9.15946042766e-05,-0.00026547211642,-2.44861351095e-05,1793237408449109504
+169,2.816666667,BASELINE,767,746.087006335,716,679,666,637,881.087006335,789,804,654,633,654.912993665,0.400888622782,-0.00544176626223,0.0499192611964,0.999999960087,9.1787744413e-05,-0.000266084586698,-2.44877962259e-05,1793237408465776128
+170,2.833333333,BASELINE,767,746.078472521,716,679,666,637,881.078472521,789,804,654,633,654.921527479,0.400888064202,-0.0054417399831,0.049919027364,0.999999959906,9.19808845379e-05,-0.00026669705694,-2.44894573422e-05,1793237408482442752
+171,2.850000000,BASELINE,767,746.069938707,716,679,666,637,881.069938707,789,804,654,633,654.930061293,0.400887505621,-0.00544171370397,0.0499187935317,0.999999959725,9.21740246744e-05,-0.000267309527218,-2.44911184586e-05,1793237408499109376
+172,2.866666667,BASELINE,767,746.061404892,716,679,666,637,881.061404892,789,804,654,633,654.938595108,0.40088694704,-0.00544168742484,0.0499185596993,0.999999959543,9.23671648107e-05,-0.000267921997495,-2.4492779575e-05,1793237408515776000
+173,2.883333333,BASELINE,767,746.052871078,716,679,666,637,881.052871078,789,804,654,633,654.947128922,0.400886388459,-0.00544166114571,0.0499183258669,0.999999959361,9.25603049353e-05,-0.000268534467736,-2.44944406913e-05,1793237408532442624
+174,2.900000000,BASELINE,767,746.044337264,716,679,666,637,881.044337264,789,804,654,633,654.955662736,0.400885829878,-0.00544163486658,0.0499180920346,0.999999959178,9.27534450717e-05,-0.000269146938014,-2.44961018076e-05,1793237408549109248
+175,2.916666667,BASELINE,767,746.035803449,716,679,666,637,881.035803449,789,804,654,633,654.964196551,0.400885271297,-0.00544160858745,0.0499178582022,0.999999958995,9.29465852079e-05,-0.000269759408291,-2.4497762924e-05,1793237408565775872
+176,2.933333333,BASELINE,767,746.027269636,716,679,666,637,881.027269636,789,804,654,633,654.972730364,0.400884712716,-0.00544158230832,0.0499176243698,0.999999958812,9.31397253324e-05,-0.000270371878531,-2.44994240403e-05,1793237408582442496
+177,2.950000000,BASELINE,767,746.018735821,716,679,666,637,881.018735821,789,804,654,633,654.981264179,0.400884154135,-0.00544155602919,0.0499173905375,0.999999958628,9.33328654685e-05,-0.000270984348809,-2.45010851566e-05,1793237408599109376
+178,2.966666667,BASELINE,767,746.010202007,716,679,666,637,881.010202007,789,804,654,633,654.989797993,0.400883595554,-0.00544152975006,0.0499171567051,0.999999958444,9.35260056046e-05,-0.000271596819085,-2.45027462729e-05,1793237408615776000
+179,2.983333333,BASELINE,767,746.001668193,716,679,666,637,881.001668193,789,804,654,633,654.998331807,0.400883036973,-0.00544150347093,0.0499169228727,0.999999958259,9.3719145729e-05,-0.000272209289325,-2.45044073892e-05,1793237408632442624
+180,3.000000000,BASELINE,767.466289731,746,716,679,666,637,881,789,804,654,633,655,0.400882909501,-0.00543995042723,0.0499166119721,0.999999957835,9.56024224694e-05,-0.00027308105138,-2.48205939037e-05,1793237408649109248
+181,3.016666667,BASELINE,768,746,716.04575611,679,666.04575611,637,881.04575611,789,804,654,633,654.95424389,0.400882847101,-0.00543824732311,0.0499163013335,0.999999957392,9.76255973536e-05,-0.000273956938265,-2.51545039797e-05,1793237408665776128
+182,3.033333333,BASELINE,768,746,716.623811005,679,666.623811005,637,881.623811005,789,804,654,633,654.376188995,0.400882323132,-0.00543911414278,0.0499162115868,0.999999957458,9.64988304151e-05,-0.000274147882708,-2.48055446487e-05,1793237408682442496
+183,3.050000000,BASELINE,767.800247263,746.199752737,716.800247263,679,666.800247263,637.199752737,882,789,804,654,633,654,0.40088204462,-0.00544020410733,0.0499162198239,0.999999957538,9.55424090196e-05,-0.000274209115959,-2.46040463811e-05,1793237408699108864
+184,3.066666667,BASELINE,767.228243598,746.771756402,716.228243598,679,666.228243598,637.771756402,882,789,804,654,633,654,0.400882223534,-0.00544170991534,0.0499164106594,0.999999957646,9.49034366506e-05,-0.00027402862478,-2.46773504843e-05,1793237408715775488
+185,3.083333333,BASELINE,767,746.64407073,716,679,666.35592927,637.64407073,881.64407073,789,804.35592927,654,633,654,0.400881294265,-0.00544183951834,0.0499158290075,0.999999957343,9.52485951022e-05,-0.00027501317852,-2.46789302094e-05,1793237408732442112
+186,3.100000000,BASELINE,767,746.051817915,716,679,666.948182085,637.051817915,881.051817915,789,804.948182085,654,633,654,0.400879629204,-0.00544105537353,0.0499147344533,0.999999956764,9.62471790519e-05,-0.000276771277905,-2.46328876733e-05,1793237408749108736
+187,3.116666667,BASELINE,767.529126582,746,716,679,666.470873418,637.529126582,881,789,805,654,633,654.529126582,0.400880108084,-0.00544023177668,0.0499149061709,0.999999956796,9.72886485e-05,-0.000276292835655,-2.45836141618e-05,1793237408765775616
+188,3.133333333,BASELINE,767.891605256,746,716,679,666,637.891605256,881,789,804.891605256,654,633,655,0.40088096965,-0.00543959321458,0.0499153584288,0.999999956964,9.80506836012e-05,-0.000275414553831,-2.45926222488e-05,1793237408782442496
+189,3.150000000,BASELINE,767.314894936,746,716,679,666,637.314894936,881,789,804.314894936,654,633,655,0.40088259646,-0.00543977043132,0.0499164981926,0.999999957464,9.75876675366e-05,-0.000273735276131,-2.48547723069e-05,1793237408799109120
+190,3.166666667,BASELINE,767.259555946,746.259555946,716,679,666,637.259555946,881.259555946,789,803.740444054,654,633,655,0.400883069705,-0.00544062605281,0.0499167269097,0.999999957703,9.65067341018e-05,-0.000273246370977,-2.48223139593e-05,1793237408815775744
+191,3.183333333,BASELINE,767.831289284,746.831289284,716,679,666,637.831289284,881.831289284,789,803.168710716,654,633,655,0.400882155515,-0.00544229761641,0.0499158598775,0.999999957629,9.46826089613e-05,-0.000274189170354,-2.44355193333e-05,1793237408832442368
+192,3.200000000,BASELINE,767.580621415,747,716,679,666,638,881.580621415,789.419378585,803,654,633,655,0.400881378115,-0.00544266299644,0.049915728182,0.999999957622,9.39137810796e-05,-0.00027450135855,-2.41984698225e-05,1793237408849108992
+193,3.216666667,BASELINE,767.013813443,747,716,679,666,638,881,789.986186557,803.013813443,654,633,655,0.400880734035,-0.00544246267083,0.0499159250107,0.999999957653,9.36215733481e-05,-0.000274500700013,-2.4032268974e-05,1793237408865775360
+194,3.233333333,BASELINE,767.587916762,747,716,679,666,638,881,789.412083238,803.587916762,654,633,655,0.40088317495,-0.00544149494616,0.0499169615501,0.999999958086,9.4743266186e-05,-0.00027251804398,-2.41971825665e-05,1793237408882442240
+195,3.250000000,BASELINE,768,747,716,679,666,638,881.162998529,789.162998529,804,654,633,654.837001471,0.400884068855,-0.00544113396756,0.0499172437801,0.999999958219,9.49993283701e-05,-0.000271930086661,-2.43341713458e-05,1793237408899109120
+196,3.266666667,BASELINE,768,747,716,679,666,638,881.740568803,789.740568803,804,654,633,654.259431197,0.400881028083,-0.00544231619188,0.0499156074932,0.999999957591,9.30537385574e-05,-0.000274889417344,-2.44001359102e-05,1793237408915776000
+197,3.283333333,BASELINE,767.676003881,746.676003881,716,679,666,637.676003881,881.676003881,789.676003881,804,654,633,654,0.400881464137,-0.00544260005251,0.0499156601519,0.999999957781,9.14871407318e-05,-0.000274710829968,-2.45252020961e-05,1793237408932442624
+198,3.300000000,BASELINE,767.08780029,746.08780029,716,679,666,637.08780029,881.08780029,789.08780029,804,654,633,654,0.400884735419,-0.00544215132919,0.0499170900864,0.99999995864,9.02295973678e-05,-0.000271973380789,-2.46984635888e-05,1793237408949108992
+199,3.316666667,BASELINE,767.494444341,746,716,679,666,637,881,789,803.505555659,654,633,654.494444341,0.40088309247,-0.00543990139312,0.0499163883409,0.999999957927,9.3565533603e-05,-0.000273435044799,-2.4994981027e-05,1793237408965775360
+200,3.333333333,BASELINE,768,746.074730186,716,679,666.074730186,637,881.074730186,789,803.074730186,654,633,655,0.400881007304,-0.00543787978625,0.0499154908466,0.999999957079,9.71821997992e-05,-0.000275247025423,-2.52383447297e-05,1793237408982441984
+201,3.350000000,BASELINE,768,746.648912792,716,679,666.648912792,637,881.648912792,789,803.648912792,654,633,655,0.400881729369,-0.00543949641411,0.0499157848275,0.999999957287,9.72884899324e-05,-0.000274476164745,-2.49819225226e-05,1793237408999108864
+202,3.366666667,BASELINE,767.771814976,746.771814976,716,679,666.771814976,637,881.771814976,789,804,654,633,654.771814976,0.400881843731,-0.00544071260182,0.0499156974904,0.999999957285,9.67519274763e-05,-0.000274691389623,-2.47848411797e-05,1793237409015775744
+203,3.383333333,BASELINE,767.184533189,746.184533189,716,679,666.184533189,637,881.184533189,789,804,654,633,654.184533189,0.400881001744,-0.00544129861326,0.0499150100698,0.999999956949,9.52037022814e-05,-0.000276458425993,-2.46811450882e-05,1793237409032442368
+204,3.400000000,BASELINE,767,746,716.397434303,679,666,637,881.397434303,789,803.602565697,654,633,654,0.40088061342,-0.00544064852931,0.0499151971927,0.999999956874,9.64187572855e-05,-0.000276308591039,-2.46618958898e-05,1793237409049109248
+205,3.416666667,BASELINE,767,746,716.97696685,679,666,637,881.97696685,789,803.02303315,654,633,654,0.400880432957,-0.00543943208557,0.049915785018,0.999999956915,9.88999045387e-05,-0.000275280475271,-2.4681338953e-05,1793237409065775872
+206,3.433333333,BASELINE,767,746,716.44515515,679,666,637,882,789.55484485,803,654,633,654.55484485,0.400881952495,-0.00543852960988,0.0499164433246,0.999999957301,0.000100046914734,-0.00027346260747,-2.46164645409e-05,1793237409082442496
+207,3.450000000,BASELINE,767,746,716,679,666,637.131898559,881.868101441,789.868101441,803,654,633,655,0.40088326208,-0.00543820045554,0.0499169668633,0.99999995769,0.000100114601769,-0.000272014520752,-2.45857427357e-05,1793237409099109120
+208,3.466666667,BASELINE,767,746,716,679,666,637.706415839,881.293584161,789.293584161,803,654,633,655,0.400883630995,-0.00543975161726,0.0499170283655,0.999999958046,9.67456502562e-05,-0.000271917018187,-2.46813396426e-05,1793237409115775744
+209,3.483333333,BASELINE,767.287081668,746,716,679,666,637.712918332,881.287081668,789,803.287081668,654,633,654.712918332,0.400883118328,-0.00544081063216,0.0499168087136,0.99999995804,9.48546451955e-05,-0.000272603880313,-2.46837032757e-05,1793237409132442368
+210,3.500000000,BASELINE,767.874173003,746,716,679,666,637.125826997,881.874173003,789,803.874173003,654,633,654.125826997,0.400881684378,-0.00544135533786,0.0499162952464,0.999999957664,9.45081417574e-05,-0.000274110429002,-2.45886351224e-05,1793237409149108992
+211,3.516666667,BASELINE,768,746,716,679,666,637,881.544584309,789,804,654,633,654,0.400881521214,-0.00544115731178,0.0499162586587,0.999999957591,9.50656519299e-05,-0.000274187901829,-2.45114873399e-05,1793237409165775616
+212,3.533333333,BASELINE,767.965053668,746,716,679,666,637,881.034946332,789,803.965053668,654,633,654,0.400881722902,-0.00544078478123,0.0499163917968,0.999999957612,9.58853313225e-05,-0.00027383429396,-2.4429834049e-05,1793237409182442496
+213,3.550000000,BASELINE,767.387333601,746,716,679,666,637,881.612666399,789,803.387333601,654,633,654,0.400882207232,-0.00544084873928,0.0499171405981,0.999999957787,9.69467753656e-05,-0.000272840050441,-2.42022771793e-05,1793237409199109120
+214,3.566666667,BASELINE,767,746,716,679,666.188978577,637,881.811021423,789,803,654,633,654.188978577,0.400882314398,-0.00544070059826,0.0499173334257,0.999999957807,9.74756262296e-05,-0.000272586329588,-2.41243415927e-05,1793237409215775744
+215,3.583333333,BASELINE,767,746,716,679,666.762426429,637,881.237573571,789,803,654,633,654.762426429,0.400881654242,-0.00544012095029,0.0499163951471,0.999999957513,9.6920937741e-05,-0.000273839172213,-2.43508044706e-05,1793237409232442368
+216,3.600000000,BASELINE,767,746,716,679,667,637,881.345984814,789,803.345984814,654,633,655,0.400881555352,-0.00544043712257,0.0499158593892,0.999999957431,9.61545931675e-05,-0.000274402970576,-2.43866802478e-05,1793237409249108992
+217,3.616666667,BASELINE,767,746,716,679,667,637,881.936694645,789,803.936694645,654,633,655,0.400881853463,-0.00544138693433,0.0499156083458,0.9999999575,9.52385381761e-05,-0.000274479388049,-2.42877482729e-05,1793237409265775360
+218,3.633333333,BASELINE,767,746,716,679.517350946,666.482649054,637,881.482649054,789.517350946,804,654,633,654.482649054,0.400881079817,-0.00544042336361,0.0499151234442,0.999999957167,9.63045161904e-05,-0.000275301119077,-2.45051622704e-05,1793237409282441984
+219,3.650000000,BASELINE,767.096364666,746.096364666,716,679.903635334,666,637,881,789.903635334,803.903635334,654,633,654,0.400880295812,-0.00543959786412,0.0499147304833,0.999999956838,9.73852895061e-05,-0.000276098253739,-2.47002753452e-05,1793237409299108864
+220,3.666666667,BASELINE,767.673205107,746.673205107,716,679.326794893,666,637,881,789.326794893,803.326794893,654,633,654,0.400880101587,-0.00544060591335,0.0499149358999,0.99999995678,9.73536230483e-05,-0.000276326694276,-2.45948685453e-05,1793237409315775744
+221,3.683333333,BASELINE,767.752253606,747,716,679,666,637,881.247746394,789,803.247746394,654,633,654,0.400880644352,-0.0054411029666,0.0499154223899,0.999999957054,9.65496789849e-05,-0.000275619545093,-2.4594457072e-05,1793237409332442368
+222,3.700000000,BASELINE,767.180717097,747,716,679,666,637,881.819282903,789,803.819282903,654,633,654,0.400882150319,-0.005440932178,0.0499162762265,0.999999957754,9.47364130467e-05,-0.000273689634641,-2.47312683628e-05,1793237409349109248
+223,3.716666667,BASELINE,767,747,716.40580139,679,666,637.40580139,882,789,804,654,633,654.40580139,0.400882585773,-0.00543974244581,0.0499160870154,0.999999957563,9.69243757915e-05,-0.000273591877372,-2.50598126009e-05,1793237409365775872
+224,3.733333333,BASELINE,767,747,716.999247593,679,666,637.999247593,882,789,804,654,633,654.999247593,0.400882526217,-0.00543808154847,0.0499154154932,0.999999956947,0.000100962528971,-0.000274341318006,-2.54770152081e-05,1793237409382442240
+225,3.750000000,BASELINE,767.575754564,746.424245436,716.424245436,679,666.575754564,638,882,789.575754564,804,654,633,655,0.400882917392,-0.00544010152664,0.0499159986666,0.999999957483,9.76676666435e-05,-0.000273628155214,-2.49353132403e-05,1793237409399108864
+226,3.766666667,BASELINE,767.847528715,746,716.152471285,679,666.847528715,637.847528715,882,789.847528715,804,654,633,655,0.400883023093,-0.00544161719351,0.0499163464425,0.999999957858,9.49049056775e-05,-0.000273264425192,-2.45706463753e-05,1793237409415775488
+227,3.783333333,BASELINE,767.2701676,746,716.7298324,679,666.2701676,637.2701676,882,789.2701676,804,654,633,655,0.40088233167,-0.00544171448071,0.0499160338004,0.999999957805,9.36508865367e-05,-0.000273879629302,-2.4702713296e-05,1793237409432442112
+228,3.800000000,BASELINE,767,746,716.686885027,679,666,637.313114973,881.686885027,789,804,654,633,655,0.400881549828,-0.00544167185386,0.049915875262,0.999999957638,9.3899417181e-05,-0.000274401148894,-2.47130061118e-05,1793237409449108736
+229,3.816666667,BASELINE,767,746,716.098394739,679,666,637.901605261,881.098394739,789,804,654,633,655,0.400880688465,-0.00544150617676,0.0499158522532,0.999999957371,9.54693957826e-05,-0.000274840275706,-2.46162022139e-05,1793237409465775616
+230,3.833333333,BASELINE,767.483054827,746,716,679,666.483054827,637.516945173,881,789,804,654,633,655,0.400882908954,-0.00544110236929,0.0499170928924,0.999999957922,9.60855814565e-05,-0.00027263521653,-2.43569682075e-05,1793237409482442496
+231,3.850000000,BASELINE,767.937551743,746.062448257,716,679,666.937551743,637,881.062448257,789,804,654,633,655,0.40088542183,-0.00544058675766,0.0499184173748,0.999999958543,9.64780974819e-05,-0.000270227806205,-2.41451913024e-05,1793237409499109376
+232,3.866666667,BASELINE,767.363423847,746.636576153,716,679,666.363423847,637,881.636576153,789,804,654,633,655,0.400885260741,-0.00543954678843,0.0499183501237,0.999999958443,9.6606941046e-05,-0.000270512117741,-2.45894611998e-05,1793237409515775744
+233,3.883333333,BASELINE,767,747,716.211962566,679.211962566,666,637.211962566,882,789,804.211962566,654,633,655,0.400884393384,-0.00543910174367,0.0499176269131,0.999999958148,9.64453336721e-05,-0.000271632602205,-2.48444092459e-05,1793237409532442112
+234,3.900000000,BASELINE,767,747,716.78951977,679.78951977,666,637.78951977,882,789,804.78951977,654,633,655,0.400882307853,-0.00543968282895,0.0499157722984,0.999999957514,9.57827543414e-05,-0.00027419532411,-2.47728136015e-05,1793237409549108992
+235,3.916666667,BASELINE,767.373462225,747,717,679.626537775,666,637.626537775,881.626537775,789,804.626537775,654,633,654.626537775,0.400881409086,-0.00544014391502,0.0499150509442,0.999999957155,9.63487535997e-05,-0.000275313775113,-2.4683260669e-05,1793237409565775616
+236,3.933333333,BASELINE,767.961065918,747,717,679.038934082,666,637.038934082,881.038934082,789,804.038934082,654,633,654.038934082,0.400881190805,-0.00544053619407,0.0499149793964,0.999999956954,9.7619214034e-05,-0.000275604087878,-2.4583411117e-05,1793237409582442240
+237,3.950000000,BASELINE,768,746.459238412,716.459238412,679,666,637.540761588,881,789.540761588,803.459238412,654,633,654,0.400882373671,-0.00544075010062,0.0499163674927,0.999999957434,9.86216358641e-05,-0.000273521625093,-2.4306062377e-05,1793237409599109376
+238,3.966666667,BASELINE,767.882479613,746,716,678.882479613,666.117520387,637.882479613,881,789.882479613,803.117520387,654,633,654.117520387,0.400883295819,-0.00544092270318,0.0499174523492,0.999999957873,9.86827829852e-05,-0.00027190445451,-2.4147398876e-05,1793237409615776256
+239,3.983333333,BASELINE,767.314820528,746,716,678.314820528,666.685179472,637.314820528,881,789.314820528,803.685179472,654,633,654.685179472,0.400882838504,-0.0054409855809,0.049916978971,0.999999957981,9.52114160296e-05,-0.000272714418584,-2.44915804e-05,1793237409632442624
+240,4.000000000,BASELINE,767.266203109,746.266203109,716.266203109,678.266203109,666.733796891,637,881,789,804,654,633,654.733796891,0.400882334583,-0.00544113002428,0.0499162973745,0.999999957875,9.38475888099e-05,-0.000273558801957,-2.4681438559e-05,1793237409649109248
+241,4.016666667,BASELINE,767.863867498,746.863867498,716.863867498,678.863867498,666.136132502,637,881,789,804,654,633,654.136132502,0.40088177263,-0.00544137602866,0.0499153565162,0.999999957512,9.51079529227e-05,-0.000274446042267,-2.46791418355e-05,1793237409665775872
+242,4.033333333,BASELINE,767.552178601,746.552178601,716.552178601,679,666.447821399,637.447821399,881.447821399,789,804,654,633,654.447821399,0.400882431014,-0.00544264495566,0.0499164345583,0.999999958025,9.31866066092e-05,-0.000273256499163,-2.44274611435e-05,1793237409682442496
+243,4.050000000,BASELINE,767.027473603,746,716,679,666.972526397,638,882,789.027473603,804,654.027473603,633,655,0.400883427264,-0.00544407832335,0.0499179979849,0.99999995874,9.05340681064e-05,-0.000271555330656,-2.41280160821e-05,1793237409699108864
+244,4.066666667,BASELINE,767.601994071,746,716,679,666.398005929,638,882,789.601994071,804,654.601994071,633,655,0.400883983795,-0.00544277823708,0.0499173690028,0.999999958516,9.20088090423e-05,-0.000271864022492,-2.43421629733e-05,1793237409715775488
+245,4.083333333,BASELINE,767.823682722,746,716.176317278,679,666.176317278,638,882,789.823682722,804,654.823682722,633,655,0.400883845054,-0.0054413075894,0.0499168020696,0.999999958154,9.41268931573e-05,-0.000272450265286,-2.45384905747e-05,1793237409732442112
+246,4.100000000,BASELINE,767.24980419,746,716.75019581,679,666.75019581,638,882,789.24980419,804,654.24980419,633,655,0.40088213861,-0.00543945235857,0.0499163750446,0.999999957477,9.76955916186e-05,-0.000273662331709,-2.46946391765e-05,1793237409749108736
+247,4.116666667,BASELINE,767,746.33394898,716.66605102,679,666.66605102,638,882,789,804,654,633,654.66605102,0.400881525224,-0.00544001356063,0.0499162470539,0.999999957245,9.81677173273e-05,-0.000274361861165,-2.44807597501e-05,1793237409765775872
+248,4.133333333,BASELINE,767,746.925313718,716.074686282,679,666.074686282,638,882,789,804,654,633,654.074686282,0.400881754394,-0.00544243740634,0.0499163495658,0.999999957359,9.62529314301e-05,-0.000274666314954,-2.39816539732e-05,1793237409782443264
+249,4.150000000,BASELINE,767,746.497173704,716.502826296,679,666,638,881.497173704,789,804,654,633,654,0.400882658354,-0.00544199879027,0.0499172308274,0.999999957821,9.59497072985e-05,-0.000273061922224,-2.42675570903e-05,1793237409799109632
+250,4.166666667,BASELINE,767,746,717,679,666,638,881,789,804,654,633,654,0.400883344768,-0.005441064683,0.0499179180449,0.999999958138,9.6030860331e-05,-0.000271833121356,-2.46657752898e-05,1793237409815775744
+251,4.183333333,BASELINE,767,746,717,679,666,638,881,789,804,654,633,654,0.400882031439,-0.00543961192782,0.0499166593013,0.999999957234,9.70730508035e-05,-0.000274739264626,-2.50566404077e-05,1793237409832442112
+252,4.200000000,BASELINE,767,746.240294383,716.759705617,679,666,638,881.240294383,789,803.759705617,654.240294383,633,654.240294383,0.400881138982,-0.00543919325315,0.0499159112416,0.999999956779,9.72657017357e-05,-0.000276316112114,-2.51307049903e-05,1793237409849108736
+253,4.216666667,BASELINE,767,746.828297096,716.171702904,679,666,638,881.828297096,789,803.171702904,654.828297096,633,654.828297096,0.400880855533,-0.00544027090324,0.0499159021469,0.999999956984,9.62290605313e-05,-0.00027596945532,-2.47463560575e-05,1793237409865775616
+254,4.233333333,BASELINE,767.408347324,747,716.408347324,679,666,638,881.591652676,789,803.408347324,654.591652676,633,655,0.400880292004,-0.00544100524053,0.0499149637185,0.999999956918,9.60250127369e-05,-0.00027629281746,-2.46252086611e-05,1793237409882443264
+255,4.250000000,BASELINE,767.985117597,747,716.985117597,679,666,638,881.014882403,789,803.985117597,654.014882403,633,655,0.400879612956,-0.00544159797845,0.0499136419863,0.999999956739,9.6164368202e-05,-0.000276892529039,-2.46126187674e-05,1793237409899110912
+256,4.266666667,BASELINE,768,746.434264689,716.434264689,679.565735311,666,638,881,789,804,654,633,654.434264689,0.400879367146,-0.0054412751526,0.0499142114645,0.999999956711,9.60491875618e-05,-0.000277025526616,-2.46891069362e-05,1793237409915777024
+257,4.283333333,BASELINE,768,746.144707645,716,679.855292355,666,638,881.144707645,789,804,654,633,654,0.400879626485,-0.00544091359273,0.0499149471803,0.999999956835,9.57899354457e-05,-0.000276659335839,-2.47675428222e-05,1793237409932443136
+258,4.300000000,BASELINE,768,746.718499108,716,679.281500892,666,638,881.718499108,789,804,654,633,654,0.400881349654,-0.00544050908514,0.0499160272902,0.999999957396,9.51234763283e-05,-0.000274849617423,-2.48447581334e-05,1793237409949109760
+259,4.316666667,BASELINE,768,746.699749078,716,679,666,638,882,789,804,654,633,654.300250922,0.400882382885,-0.00544018121479,0.0499165574744,0.999999957723,9.53788140394e-05,-0.000273575661898,-2.47527628436e-05,1793237409965775872
+260,4.333333333,BASELINE,768,746.110330796,716,679,666,638,882,789,804,654,633,654.889669204,0.400882751648,-0.00543992715269,0.049916558033,0.999999957827,9.65219211017e-05,-0.000272817692039,-2.44978032451e-05,1793237409982442240
+261,4.350000000,BASELINE,768,746.471119836,716.471119836,679.471119836,666.471119836,638,882,789.471119836,804,654,633,655,0.400882136933,-0.00543998248869,0.0499163160472,0.999999957577,9.59092333622e-05,-0.000273937452292,-2.46264550446e-05,1793237409999108864
+262,4.366666667,BASELINE,768,746.950025262,716.950025262,680,667,638,882,790,804,654,633,655,0.400881473354,-0.00544001395083,0.0499161208139,0.999999957311,9.50930759908e-05,-0.000275171078065,-2.48426064157e-05,1793237410015775488
+263,4.383333333,BASELINE,768,746.37910139,716.37910139,680,667,638,882,790,804,654,633,655,0.400882661374,-0.00543905379305,0.0499169952,0.999999957755,9.63709284627e-05,-0.000273083915871,-2.50499629756e-05,1793237410032442112
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+324,5.400000000,POSE1_TO_POSE2_PRESS,767,746.472524906,716.472524906,679,666.527475094,637,882,789,803.527475094,654,633,654.472524906,0.405273957027,-0.00548478159039,0.049973988315,0.999999982207,0.000121408196205,-0.000144382346723,5.62352689102e-07,1793237411061934080
+325,5.416666667,POSE1_TO_POSE2_PRESS,767,746.951479247,716.951479247,679.048520753,666.048520753,637.048520753,882,789.048520753,803.048520753,654,633,654.951479247,0.405643119707,-0.0054870413074,0.0499646970219,0.999999980341,0.000116729592995,-0.000160286134717,-2.03341759865e-07,1793237411078600960
+326,5.433333333,POSE1_TO_POSE2_PRESS,767,746.364017103,716.364017103,679.635982897,666.635982897,637.635982897,882,789.635982897,803.635982897,654,633,654.364017103,0.406032107483,-0.00548731932519,0.0499471457096,0.999999974194,0.000116876986393,-0.00019481228996,-3.37806233362e-07,1793237411095267584
+327,5.450000000,POSE1_TO_POSE2_PRESS,767,746.220849381,716,680,666.779150619,638,882,790,803.779150619,654,633,654,0.406439153396,-0.00548653541623,0.0499326425228,0.999999968798,0.000117830563864,-0.000220273310324,-6.78915946238e-07,1793237411111934208
+328,5.466666667,POSE1_TO_POSE2_PRESS,767,746.801487211,716,680,666.198512789,638,882,790,803.198512789,654,633,654,0.406875618018,-0.00548402150932,0.0499231050759,0.999999966115,0.000120097505906,-0.000230966205994,-1.35667395682e-06,1793237411128600832
+329,5.483333333,POSE1_TO_POSE2_PRESS,767,747,716,679.620142814,666,637.620142814,881.620142814,789.620142814,803.379857186,654,633,654.379857186,0.407347340317,-0.00548584113219,0.0499232790377,0.999999967361,0.000118854737873,-0.000226166980102,-8.32104451428e-07,1793237411145267456
+330,5.500000000,POSE1_TO_POSE2_PRESS,767,747,716,679.042951001,666,637.042951001,881.042951001,789.042951001,803.957048999,654,633,654.957048999,0.407837378856,-0.0054899120104,0.0499284980465,0.999999970544,0.000115788686281,-0.000213319644847,3.1707048306e-07,1793237411161933824
+331,5.516666667,POSE1_TO_POSE2_PRESS,767.525128165,747,716,679,666.525128165,637,881,789,803.474871835,654,633,655,0.408362512297,-0.00549689023529,0.0499473278601,0.999999978049,0.000109321468187,-0.000178730840563,2.40716676901e-06,1793237411178600704
+332,5.533333333,POSE1_TO_POSE2_PRESS,767.903172056,746.903172056,716.096827944,679,667,637,881.096827944,789,803.096827944,654.096827944,633,655,0.408897166947,-0.0055031609803,0.0499657828538,0.999999983959,0.000103872194015,-0.000145850992851,4.50140267402e-06,1793237411195267584
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+334,5.566666667,POSE1_TO_POSE2_PRESS,767,746,716.724342433,679.275657567,666.724342433,637.275657567,882,789,804,654.724342433,633,654.724342433,0.410024423103,-0.00550372873246,0.0499774449606,0.999999985384,0.000108359030345,-0.000132055131286,7.23067785012e-06,1793237411228601088
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+337,5.616666667,POSE1_TO_POSE2_PRESS,767,746.016003904,716,679,666.016003904,637.983996096,882,789,804,654,633,654.983996096,0.411703419919,-0.00549947342008,0.049918604627,0.999999962953,0.000117081067304,-0.00024564133042,6.82148443578e-06,1793237411278600960
+338,5.633333333,POSE1_TO_POSE2_PRESS,767,746.589111522,716,679,666.589111522,637.410888478,882,789,804,654,633,654.410888478,0.412350381846,-0.00550595606872,0.0499280448734,0.999999971447,0.000109801125192,-0.000212119567944,7.43120638131e-06,1793237411295267328
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+341,5.683333333,POSE1_TO_POSE2_PRESS,767,746.335617546,716,679.664382454,667,637,882,789,804,654,633.664382454,654,0.414392330157,-0.00551947892632,0.0499713837939,0.999999987347,9.27582405285e-05,-0.000128730764829,1.14234386038e-05,1793237411345267456
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+344,5.733333333,POSE1_TO_POSE2_PRESS,767,746.927274942,716.927274942,679.927274942,666.072725058,637.927274942,882,789.072725058,804,654,632.927274942,654.072725058,0.416399064413,-0.00551721032127,0.049912523502,0.999999970924,9.96469282327e-05,-0.000219352418737,1.03520124833e-05,1793237411395267072
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+346,5.766666667,POSE1_TO_POSE2_PRESS,767,746.225131249,716,679,667,637,882,789.774868751,804,654,632.225131249,654.774868751,0.417879185272,-0.00552410671208,0.0499547230502,0.999999985355,9.60385900681e-05,-0.000140933535813,1.42971000614e-05,1793237411428600576
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+349,5.816666667,POSE1_TO_POSE2_PRESS,767,746.020787242,716,679,666.020787242,637.979212758,882,789,804,654,633,654,0.420089912367,-0.00552117670276,0.0499525977236,0.999999982131,0.000102523910578,-0.0001578936991,1.72017127433e-05,1793237411478600704
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+352,5.866666667,POSE1_TO_POSE2_PRESS,767.280687531,746,716,680,666.719312469,637,881.719312469,789,804,654,633,654,0.42243879511,-0.00553013436378,0.0499903752062,0.999999993407,9.57605078209e-05,-6.01001408826e-05,2.00987920049e-05,1793237411528600576
+353,5.883333333,POSE1_TO_POSE2_PRESS,767,746.304165171,716,680,667,637,882,789,804,654,633,654.304165171,0.423219594648,-0.00553214617892,0.0499923159962,0.999999993968,9.33268555833e-05,-5.41138762809e-05,2.06250149322e-05,1793237411545267200
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+356,5.933333333,POSE1_TO_POSE2_PRESS,767,746,716.039079004,680,666.039079004,637,882,789,804,653.960920996,632.960920996,654,0.42554945389,-0.00553281574233,0.0499713866698,0.99999999161,9.44421578683e-05,-8.60799688937e-05,2.12329542328e-05,1793237411595267072
+357,5.950000000,POSE1_TO_POSE2_PRESS,767,746,716.613035086,680,666.613035086,637,882,789,804,653.386964914,632.386964914,654,0.426345161386,-0.00553648836205,0.0499914423776,0.99999999362,9.29019732093e-05,-5.96075257124e-05,2.40150948972e-05,1793237411611933696
+358,5.966666667,POSE1_TO_POSE2_PRESS,767,746,716.807371498,680,667,637.192628502,882,789,804,653.192628502,632.192628502,654,0.427115722315,-0.00553795874638,0.0499985222008,0.999999993713,9.35957022396e-05,-5.60303090179e-05,2.59641624441e-05,1793237411628600576
+359,5.983333333,POSE1_TO_POSE2_PRESS,767,746,716.216111913,680,667,637.783888087,882,789,804,653.783888087,632.783888087,654,0.427834244341,-0.00553487176076,0.049978749351,0.999999989782,9.89123576176e-05,-9.98331419662e-05,2.61892445097e-05,1793237411645267200
+360,6.000000000,POSE1_TO_POSE2_PRESS,767,746,716.367523099,680,666.632476901,637.632476901,882,789,804,654,633,654,0.428591940128,-0.00553425532707,0.049959495748,0.999999986515,0.000100956865815,-0.000126947550956,2.57440198196e-05,1793237411661933824
+361,6.016666667,POSE1_TO_POSE2_PRESS,767,746,716.946765777,680,666.053234223,637.053234223,882,789,804,654,633,654,0.429372202758,-0.00553506210811,0.0499405412695,0.999999984145,0.000101116383045,-0.000144448232132,2.49126505187e-05,1793237411678600192
+362,6.033333333,POSE1_TO_POSE2_PRESS,767,746,716.47901429,680,666.52098571,637,882,789,804.52098571,654,633,654,0.430164820207,-0.00553836768739,0.049960054478,0.999999989361,9.82348407245e-05,-0.000104537320777,2.64657074993e-05,1793237411695267072
+363,6.050000000,POSE1_TO_POSE2_PRESS,767,746,716,679.90268869,667,637,882,789,804.90268869,654,633,654,0.430943937541,-0.00554151684515,0.0499775816453,0.999999992478,9.58383363043e-05,-7.11818605752e-05,2.81341207933e-05,1793237411711933696
+364,6.066666667,POSE1_TO_POSE2_PRESS,767,746,716,679.313140579,667,637,882,789,804.313140579,654,633,654,0.431648441467,-0.00554259555959,0.0499653699875,0.999999989788,9.74521387177e-05,-0.000100376919232,2.91653946275e-05,1793237411728600320
+365,6.083333333,POSE1_TO_POSE2_PRESS,767,746.271987571,716,679.271987571,667,637,882,789,804,654,633,654,0.432364657041,-0.00554364554325,0.0499522704772,0.999999987178,9.72486809815e-05,-0.000123826776304,2.92198191153e-05,1793237411745267200
+366,6.100000000,POSE1_TO_POSE2_PRESS,767,746.852108332,716,679.852108332,667,637,882,789,804,654,633,654,0.433094140625,-0.0055446629779,0.0499381651246,0.999999985184,9.49864593857e-05,-0.000140767924886,2.81675764185e-05,1793237411761933824
+367,6.116666667,POSE1_TO_POSE2_PRESS,767,746.571945972,716,680,667,637,882,789,804,654,633,654,0.433851011239,-0.00554661192761,0.049958724667,0.999999989605,9.50166705448e-05,-0.000104186749758,3.0110986726e-05,1793237411778600448
+368,6.133333333,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,882,789,804,654,633,654.002582187,0.434616875154,-0.00554886867515,0.0499910033064,0.999999993632,9.5833777341e-05,-4.9573194003e-05,3.30681953056e-05,1793237411795267072
+369,6.150000000,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,882,789,804,654,633,654.579547993,0.435298764077,-0.0055486941721,0.0499917267004,0.999999993064,9.72105826468e-05,-5.74304027715e-05,3.35350379155e-05,1793237411811933696
+370,6.166666667,POSE1_TO_POSE2_PRESS,767,746.159421687,716.159421687,680,667,637,882,789,804,654,633.159421687,654.840578313,0.43596417646,-0.00554837711228,0.0499852039482,0.999999991619,9.87704026158e-05,-7.6509099971e-05,3.39437518422e-05,1793237411828600576
+371,6.183333333,POSE1_TO_POSE2_PRESS,767,746.747107133,716.747107133,680,667,637,882,789,804,654,633.747107133,654.252892867,0.436585327104,-0.00554767709387,0.049959215452,0.999999986428,0.0001008218657,-0.000125732736669,3.41963113584e-05,1793237411845267200
+372,6.200000000,POSE1_TO_POSE2_PRESS,767,746.669183481,716.669183481,679.669183481,667,637,882,789,804,653.669183481,633.669183481,654,0.437246004262,-0.00554875637111,0.0499566567991,0.99999998677,9.97116727585e-05,-0.000123854463197,3.43060124818e-05,1793237411861934080
+373,6.216666667,POSE1_TO_POSE2_PRESS,767,746.088477535,716.088477535,679.088477535,667,637,882,789,804,653.088477535,633.088477535,654,0.437936538591,-0.00555117967792,0.0499717963877,0.999999991307,9.62132542907e-05,-8.33752513283e-05,3.43078024069e-05,1793237411878600704
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+382,6.366666667,POSE1_TO_POSE2_PRESS,766.877954289,746,716,680,667,637,882.122045711,789,804.877954289,653.122045711,633,654,0.443124056889,-0.00556656660633,0.0500104710341,0.999999995522,8.45307926197e-05,1.70536176328e-05,3.8986812522e-05,1793237412028601344
+383,6.383333333,POSE1_TO_POSE2_PRESS,766.289916785,746,716,680,667,637,882.710083215,789,804.289916785,653.710083215,633,654,0.443572323282,-0.00556559405176,0.0500055365009,0.999999995567,8.52865664214e-05,7.62867633637e-06,3.91771288048e-05,1793237412045267712
+384,6.400000000,POSE1_TO_POSE2_PRESS,766.293369504,746,716,680.293369504,667,637,882.706630496,789,804.293369504,654,633,654,0.443994471748,-0.00556420770894,0.0499874745669,0.999999995178,8.73448582336e-05,-2.29298372426e-05,3.85872062861e-05,1793237412061934080
+385,6.416666667,POSE1_TO_POSE2_PRESS,766.87203529,746,716,680.87203529,667,637,882.12796471,789,804.87203529,654,633,654,0.444391220997,-0.00556241896495,0.0499566464845,0.999999992455,9.06698239143e-05,-7.40403487522e-05,3.72385162345e-05,1793237412078600704
+386,6.433333333,POSE1_TO_POSE2_PRESS,767,746,716.444570468,681,666.555429532,637,882,789,805,654,633,654,0.444787911392,-0.00556566166782,0.049942591966,0.999999991112,8.67364208839e-05,-9.42343988299e-05,3.70372667179e-05,1793237412095267584
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+388,6.466666667,POSE1_TO_POSE2_PRESS,767,746,716.390095291,681,666.609904709,637,882.609904709,789,805,653.390095291,633,654.609904709,0.445581952741,-0.00556613208446,0.049947310565,0.999999992974,8.58606460258e-05,-7.24767577085e-05,3.77709507034e-05,1793237412128600832
+389,6.483333333,POSE1_TO_POSE2_PRESS,767,746,716,681,667,637,882.801091701,789,804.801091701,653,633,654.801091701,0.445962258517,-0.00556214485759,0.0499569530272,0.999999993934,9.11248702411e-05,-4.87697204593e-05,3.80871383059e-05,1793237412145267456
+390,6.500000000,POSE1_TO_POSE2_PRESS,767,746,716,681,667,637,882.221492464,789,804.221492464,653,633,654.221492464,0.446309944275,-0.00555812134767,0.0499594041817,0.999999993718,9.72256034638e-05,-4.0944055658e-05,3.78669411593e-05,1793237412161934080
+391,6.516666667,POSE1_TO_POSE2_PRESS,767,746.35680609,716,681,666.64319391,636.64319391,882,789,804.35680609,653,633,654,0.446618429494,-0.00556061133318,0.0499529149885,0.999999993614,9.42943651676e-05,-4.94379127703e-05,3.78910539372e-05,1793237412178600960
+392,6.533333333,POSE1_TO_POSE2_PRESS,767,746.934300216,716,681,666.065699784,636.065699784,882,789,804.934300216,653,633,654,0.446902668832,-0.00556712997856,0.0499408961036,0.999999993283,8.57767652285e-05,-6.80255520953e-05,3.80662747463e-05,1793237412195267840
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+394,6.566666667,POSE1_TO_POSE2_PRESS,767,746,716,681,666,635.91788947,882.08211053,789,805,654,633,654,0.447371687959,-0.00556780910477,0.0498880586557,0.999999984086,8.08818597291e-05,-0.000155047247791,3.53048708822e-05,1793237412228601088
+395,6.583333333,POSE1_TO_POSE2_PRESS,767,746,716,681,666,635.343352861,882.656647139,789,805,654,633,654,0.447602264679,-0.00557047012171,0.0498719300491,0.999999981701,7.94117165931e-05,-0.000170558525637,3.46545665252e-05,1793237412245268224
+396,6.600000000,POSE1_TO_POSE2_PRESS,767,746.240502367,716.240502367,681,666,635.240502367,882.759497633,789,805,654,633.240502367,654,0.447823854553,-0.00557286839032,0.0498629756869,0.999999980285,7.79438162706e-05,-0.000179344187423,3.45154664052e-05,1793237412261934848
+397,6.616666667,POSE1_TO_POSE2_PRESS,767,746.83819752,716.83819752,681,666,635.83819752,882.16180248,789,805,654,633.83819752,654,0.448032097201,-0.00557487642641,0.049864676474,0.999999980591,7.64792470728e-05,-0.000178141000489,3.51356040438e-05,1793237412278600960
+398,6.633333333,POSE1_TO_POSE2_PRESS,767,746.580934506,717,681,666,636,882.419065494,789,805,654,633.580934506,654,0.448225020902,-0.00557332943133,0.049868329355,0.999999981338,7.84891470458e-05,-0.0001729502385,3.53738176795e-05,1793237412295267584
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+400,6.666666667,POSE1_TO_POSE2_PRESS,767,746.56726773,716.43273227,681,666,636,882.43273227,789,804.43273227,653.43273227,633,654,0.448571537022,-0.0055674235235,0.0498722677275,0.999999982453,8.20402040127e-05,-0.000164765329861,3.48725031355e-05,1793237412328601088
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+403,6.716666667,POSE1_TO_POSE2_PRESS,767,746.681283639,716.681283639,680.318716361,666,635.681283639,882.681283639,789,805,654,633,654,0.448968830507,-0.00556948356501,0.0498660899978,0.999999980145,8.28694733125e-05,-0.000177655979377,3.57871891426e-05,1793237412378600704
+404,6.733333333,POSE1_TO_POSE2_PRESS,767,746.100956721,716.100956721,680.899043279,666,635.100956721,882.100956721,789,805,654,633,654,0.449075317457,-0.00556759811878,0.0498658148863,0.999999979618,8.45716802893e-05,-0.000179805068639,3.58060493736e-05,1793237412395267584
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+406,6.766666667,POSE1_TO_POSE2_PRESS,767,746,717,681,666,635,882.048183231,788.048183231,804.951816769,653,633,654,0.449244993867,-0.00556620904533,0.0498603527456,0.999999977841,8.3239079582e-05,-0.000190102950126,3.53613164952e-05,1793237412428600832
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+408,6.800000000,POSE1_TO_POSE2_PRESS,767,746,717,681,666,635,883,789,804.226581426,653.226581426,633,654,0.44937594905,-0.00556477555075,0.0498567551138,0.999999976814,8.4790560725e-05,-0.00019487709042,3.47298014742e-05,1793237412461934080
+409,6.816666667,POSE1_TO_POSE2_PRESS,767,746,717,681,666,635,883,789,804.806721517,653.806721517,633,654,0.449428205675,-0.00556689583365,0.0498554760798,0.999999976631,8.39108196681e-05,-0.000196137523554,3.50187182254e-05,1793237412478600960
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+414,6.900000000,POSE1_TO_POSE2_PRESS,767,747,717,681,666,635,882,788.700204775,805,654,633,655,0.449589548115,-0.00556505463247,0.0498554896912,0.999999976155,8.32862925914e-05,-0.000198866367659,3.47216807967e-05,1793237412561934080
+415,6.916666667,POSE1_TO_POSE2_PRESS,767,746.716456731,717,681,666,635,882,789,805,654,633,655,0.449606579076,-0.00556572948624,0.0498552664681,0.999999976157,8.36052382328e-05,-0.000198707578269,3.48154478751e-05,1793237412578600704
+416,6.933333333,POSE1_TO_POSE2_PRESS,767,746.139443125,717,681,666,635,882,789,805,654,633,655,0.44961878297,-0.00556605947494,0.0498557234631,0.99999997612,8.3015494964e-05,-0.00019912336335,3.49038855386e-05,1793237412595267328
+417,6.950000000,POSE1_TO_POSE2_PRESS,767,746.438440475,716.561559525,681,665.561559525,635,882,789,805,653.561559525,632.561559525,654.561559525,0.449625302511,-0.00556484896995,0.0498537556698,0.999999975661,8.29536716595e-05,-0.000201569414673,3.41567771523e-05,1793237412611934208
+418,6.966666667,POSE1_TO_POSE2_PRESS,767,747,716.01683935,681,665.01683935,635,882,789,805,653.01683935,632.01683935,654,0.44962996601,-0.00556323094639,0.0498510495463,0.999999975058,8.30303493194e-05,-0.000204663646917,3.319771915e-05,1793237412628600576
+419,6.983333333,POSE1_TO_POSE2_PRESS,767,747,716.60329105,681,665.60329105,635,882,789,805,653.60329105,632.60329105,654,0.449633121664,-0.00556443401268,0.0498495067391,0.999999974459,8.21012250352e-05,-0.000207797942553,3.40760576196e-05,1793237412645267200
+420,7.000000000,POSE1_TO_POSE2_PRESS,767,747,717,681,665.812004305,635,882.187995695,788.812004305,805,654,633,654,0.449635766582,-0.00556510559886,0.049848340323,0.999999973963,8.1953739841e-05,-0.000210160846248,3.44945299541e-05,1793237412661934080
+421,7.016666667,POSE1_TO_POSE2_PRESS,767,747,717,681,665.230952388,635,882.769047612,788.230952388,805,654,633,654,0.449637343671,-0.00556466598099,0.0498479608553,0.999999973701,8.34404841932e-05,-0.000210910944734,3.39515267823e-05,1793237412678601472
+422,7.033333333,POSE1_TO_POSE2_PRESS,767,747,717,681.335822151,665.335822151,635,883,788.335822151,805,653.664177849,633,654,0.449638830952,-0.00556414032126,0.0498473863436,0.999999973674,8.34188956919e-05,-0.000211084249689,3.37008265052e-05,1793237412695268096
+423,7.050000000,POSE1_TO_POSE2_PRESS,767,747,717,681.893178219,665.893178219,635,883,788.893178219,805,653.106821781,633,654,0.449640258989,-0.00556355790178,0.0498466831662,0.999999973804,8.24022956821e-05,-0.000210877057591,3.36429515444e-05,1793237412711934208
+424,7.066666667,POSE1_TO_POSE2_PRESS,767,746.519453886,717,681.519453886,666,635,883,789,805,653.480546114,633,654.480546114,0.449640560226,-0.00556224677843,0.0498469104665,0.99999997378,8.2022586985e-05,-0.000211197727417,3.3284329075e-05,1793237412728601088
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+426,7.100000000,POSE1_TO_POSE2_PRESS,767,746.662022359,717,681,666,635,882.337977641,789,805,654,633,654.337977641,0.449639218518,-0.00556366654514,0.0498449630877,0.999999973023,8.03008427523e-05,-0.000215356146326,3.35774250287e-05,1793237412761934336
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+430,7.166666667,POSE1_TO_POSE2_PRESS,767,747,717,680.982524555,665.982524555,635,882.982524555,788.017475445,805.982524555,654,633,654,0.449639983124,-0.00556156184766,0.0498435011638,0.999999972579,8.32252474128e-05,-0.000216341249073,3.33543643765e-05,1793237412828601344
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+439,7.316666667,HOLD_POSE2,767,747,717,681,665,635,882,788,805,654,633,655,0.449641195411,-0.00556124116921,0.0498435539815,0.999999972125,8.313590619e-05,-0.00021843001554,3.35659490573e-05,1793237413001158144
+440,7.333333333,HOLD_POSE2,767,747,716.424570538,681,665.575429462,635,882,788.575429462,805,654,633,655,0.44964140378,-0.0055598716567,0.0498428284233,0.999999971964,8.48052141272e-05,-0.000218599610007,3.30902336271e-05,1793237413017825024
+441,7.350000000,HOLD_POSE2,767,747,716.150869218,681,666,635,882,789,805,654,633,655,0.44964153019,-0.00555862190584,0.0498420681055,0.999999971791,8.60228015864e-05,-0.000218973581713,3.26774533728e-05,1793237413034491648
+442,7.366666667,HOLD_POSE2,767,747,716.726338079,681,666,635,882,789,805,654,633,655,0.44964142594,-0.00555770920657,0.0498412099616,0.999999971595,8.59690873289e-05,-0.000219922743706,3.24417949806e-05,1793237413051158528
+443,7.383333333,HOLD_POSE2,766.691234597,747,717,681,666,635,882.308765403,789,805.308765403,654,633,655,0.449640804398,-0.00555785394349,0.0498407966782,0.999999971448,8.48926823833e-05,-0.000221019484881,3.23556764589e-05,1793237413067825408
+444,7.400000000,HOLD_POSE2,766.102497757,747,717,681,666,635,882.897502243,789,805.897502243,654,633,655,0.449639713803,-0.00555895750527,0.0498407867699,0.999999971342,8.28889579327e-05,-0.000222250042662,3.24051524577e-05,1793237413084492544
+445,7.416666667,HOLD_POSE2,766.478436444,746.521563556,717,681.478436444,666,635,883,789,805.521563556,654,633,654.521563556,0.44963977764,-0.00555910861718,0.0498408909552,0.999999971471,8.24018273085e-05,-0.000221855192482,3.23859284387e-05,1793237413101159424
+446,7.433333333,HOLD_POSE2,767,746.057417782,716.942582218,681.942582218,666,635,882.942582218,789,805,654,633,654,0.44964025828,-0.00555905070633,0.0498411371055,0.999999971663,8.23576191303e-05,-0.000221005549643,3.23578842119e-05,1793237413117826048
+447,7.450000000,HOLD_POSE2,767,746.633615503,716.366384497,681.366384497,666,635,882.366384497,789,805,654,633,654,0.449642306098,-0.00555891826297,0.0498424486326,0.999999971984,8.34268066687e-05,-0.000219142507724,3.2380993121e-05,1793237413134492416
+448,7.466666667,HOLD_POSE2,767,747,716.21346549,681,666,635,882.21346549,789,805,654,633,654.21346549,0.449642695313,-0.00555947763233,0.0498424340686,0.999999971921,8.39675036567e-05,-0.00021919355788,3.25894577119e-05,1793237413151159040
+449,7.483333333,HOLD_POSE2,767,747,716.799693152,681,666,635,882.799693152,789,805,654,633,654.799693152,0.449640188208,-0.00556124507335,0.0498401038302,0.999999971186,8.3585328709e-05,-0.00022258707413,3.31215979765e-05,1793237413167824896
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+451,7.516666667,HOLD_POSE2,767,746.0767375,717,681,666,635,883,789,805,654,633,654.0767375,0.449642048449,-0.00555948515027,0.0498416285542,0.999999971549,8.39434235221e-05,-0.000220896736811,3.25715205666e-05,1793237413201158144
+452,7.533333333,HOLD_POSE2,766.479732918,746.520267082,717,681,665.479732918,635,883,788.479732918,805,654,633,654,0.449640327003,-0.00555936013314,0.049840606602,0.999999971146,8.28628527799e-05,-0.00022313529116,3.24390475607e-05,1793237413217824512
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+454,7.566666667,HOLD_POSE2,766.691266115,746.308733885,716.308733885,681,665.691266115,635,883.691266115,788,805,653.308733885,633,654,0.449640023459,-0.00555670503817,0.0498407314412,0.999999971055,8.37828738728e-05,-0.000223270104045,3.19646032436e-05,1793237413251158016
+455,7.583333333,HOLD_POSE2,767,746,716.271252801,681,665.728747199,635,883.457494399,788.271252801,805,653.271252801,633,654.271252801,0.449641399479,-0.0055573000529,0.0498415366534,0.999999971343,8.40207683218e-05,-0.000221841500877,3.22494082187e-05,1793237413267824896
+456,7.600000000,HOLD_POSE2,767,746,716.858608434,681,665.141391566,635,882.282783133,788.858608434,805,653.858608434,633,654.858608434,0.449642936135,-0.00556121989358,0.0498420761444,0.99999997165,8.26463405871e-05,-0.000220825144959,3.32610535424e-05,1793237413284491520
+457,7.616666667,POSE2_TO_POSE3_RETREAT,767,747,717,681,665,635,883,789,805,653,633,654,0.449641131827,-0.00555473417872,0.0498399842459,0.999999970787,8.60981600521e-05,-0.000223628063744,3.16704386651e-05,1793237413317032192
+458,7.633333333,POSE2_TO_POSE3_RETREAT,767,747,717,681,665,635,882.425735529,788.425735529,805,653.574264471,633,654,0.44964198741,-0.00555513246407,0.049841104277,0.999999970827,8.76789292797e-05,-0.000222795713055,3.19587025011e-05,1793237413333698560
+459,7.650000000,POSE2_TO_POSE3_RETREAT,767,746.851421602,717,680.851421602,665.148578398,635,882,788,804.851421602,653.851421602,633,654,0.449642636566,-0.00555593721838,0.0498419164335,0.999999970961,8.82863375158e-05,-0.000221902437798,3.22803738866e-05,1793237413350365184
+460,7.666666667,POSE2_TO_POSE3_RETREAT,767,746.276965788,717,680.276965788,665.723034212,635,882,788,804.276965788,653.276965788,633,654,0.449642694032,-0.00555790705437,0.0498418461147,0.999999971375,8.61037546347e-05,-0.000220834531326,3.26978030076e-05,1793237413367031552
+461,7.683333333,POSE2_TO_POSE3_RETREAT,767,746.305865064,717,680.305865064,665.694134936,635,882,788.305865064,804.305865064,653.305865064,633,654,0.44964254073,-0.00555818548495,0.0498412342069,0.999999971417,8.55796941935e-05,-0.00022087620032,3.25078400233e-05,1793237413383698432
+462,7.700000000,POSE2_TO_POSE3_RETREAT,767,746.896493115,717,680.896493115,665.103506885,635,882,788.896493115,804.896493115,653.896493115,633,654,0.449642191201,-0.00555688920254,0.0498401180751,0.999999971115,8.65997324358e-05,-0.00022195089361,3.17523897786e-05,1793237413400365312
+463,7.716666667,POSE2_TO_POSE3_RETREAT,766.522314388,746.522314388,717,681,665.477685612,635,882.477685612,789,805,654,633,654,0.449641086826,-0.00555864825349,0.0498398973728,0.999999971254,8.26732875237e-05,-0.000222836149302,3.16568490012e-05,1793237413417032192
+464,7.733333333,POSE2_TO_POSE3_RETREAT,766.056006435,746,717,681,665.943993565,635,883,788.943993565,805.056006435,654,633,654,0.449639888253,-0.005560616033,0.0498398076648,0.999999971409,7.84020725732e-05,-0.000223676012922,3.16831433373e-05,1793237413433699072
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+467,7.783333333,POSE2_TO_POSE3_RETREAT,767,746.79778325,717,680.20221675,665,635,883,788.79778325,805.20221675,654,633,654,0.449631623322,-0.00555772978591,0.0498352301983,0.999999969533,8.30895628039e-05,-0.000230260252689,3.1793998098e-05,1793237413483698432
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+472,7.866666667,POSE2_TO_POSE3_RETREAT,766.686571263,746.686571263,717,680.313428737,665,635,883,788.313428737,805,654,633,654,0.449433320863,-0.00555007476861,0.0497604360547,0.999999930817,8.63426910647e-05,-0.000360811015607,2.69440134707e-05,1793237413567031808
+473,7.883333333,POSE2_TO_POSE3_RETREAT,767,747,717,680.26835339,665.26835339,635,882.73164661,788,804.73164661,654,633,654,0.4493696364,-0.00554885262358,0.049746897106,0.999999923096,8.64213477377e-05,-0.000381651510581,2.61162348049e-05,1793237413583698688
+474,7.900000000,POSE2_TO_POSE3_RETREAT,767,747,717,680.858251368,665.858251368,635,882.141748632,788,804.141748632,654,633,654,0.449303726421,-0.00554642644154,0.0497393692252,0.999999919568,8.84141493127e-05,-0.000390378951725,2.55298378002e-05,1793237413600365056
+475,7.916666667,POSE2_TO_POSE3_RETREAT,767,746.559627116,716.559627116,681,665.559627116,635,882,788.440372884,804.440372884,653.559627116,633,654,0.449228938525,-0.0055427602424,0.0497366320824,0.999999918066,9.18069739581e-05,-0.000393482880479,2.47103303987e-05,1793237413617031680
+476,7.933333333,POSE2_TO_POSE3_RETREAT,767,746.019859942,716.019859942,681,665.019859942,635,882.019859942,789,805,653,633,654,0.449150819606,-0.00553871909043,0.049735525007,0.999999917257,9.55705748822e-05,-0.000394695225271,2.38450461149e-05,1793237413633698304
+477,7.950000000,POSE2_TO_POSE3_RETREAT,767,746.594465131,716.594465131,681,665.594465131,635,882.594465131,789,805,653,633,654,0.449058092886,-0.00553516010815,0.0497376237205,0.999999917854,9.73216734473e-05,-0.000392754518503,2.37606364148e-05,1793237413650364928
+478,7.966666667,POSE2_TO_POSE3_RETREAT,767,747,717,681,665.830948097,635,883,788.830948097,804.830948097,653.169051903,633,654,0.448959028229,-0.00553196724965,0.0497395995076,0.999999918607,9.91186987005e-05,-0.000390387120314,2.36583786749e-05,1793237413667031552
+479,7.983333333,POSE2_TO_POSE3_RETREAT,767,747,717,681,665.256405586,635,883,788.256405586,804.256405586,653.743594414,633,654,0.448844761303,-0.00552965258206,0.0497412804413,0.999999919737,0.000101025884193,-0.000386996253511,2.35133103526e-05,1793237413683698176
+480,8.000000000,POSE2_TO_POSE3_RETREAT,767,746.671505938,717,681,665.328494062,635,883,788.328494062,804.328494062,654,633,654,0.44871245969,-0.00552491934797,0.0497411022058,0.99999991929,0.000103781813496,-0.000387475140297,2.26458326938e-05,1793237413700364800
+481,8.016666667,POSE2_TO_POSE3_RETREAT,767,746.078258789,717,681,665.921741211,635,883,788.921741211,804.921741211,654,633,654,0.448565622827,-0.00551823684568,0.0497394255543,0.999999917558,0.000107221796595,-0.000391072893456,2.11961219638e-05,1793237413717031424
+482,8.033333333,POSE2_TO_POSE3_RETREAT,767,746.50117454,717,681,666,635.50117454,883,789,805,654,633,654,0.448396421911,-0.0055114972817,0.0497356281131,0.999999914709,0.000111548982873,-0.000397159515498,2.00950893992e-05,1793237413733698304
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+499,8.316666667,POSE2_TO_POSE3_RETREAT,767,746.367710679,717,681,667,637,882,789,804.632289321,653,633,654,0.443015931163,-0.00543770210459,0.0497920897416,0.999999941892,0.000114712512826,-0.000321001821955,-3.91391383525e-06,1793237414017032704
+500,8.333333333,POSE2_TO_POSE3_RETREAT,767,746.948106551,717,681,667,637,882,789,804.051893449,653,633,654,0.44252116232,-0.00542513740936,0.049792661351,0.99999994355,0.000119451730556,-0.000313937227445,-8.63061550144e-06,1793237414033699584
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+502,8.366666667,POSE2_TO_POSE3_RETREAT,767,746.899202674,717,680.100797326,666.899202674,637,883,789.100797326,804.899202674,653.899202674,634,654,0.44152755392,-0.00541204310968,0.0498304454258,0.999999961149,0.000115278766837,-0.00025347910334,-1.26755190241e-05,1793237414067032064
+503,8.383333333,POSE2_TO_POSE3_RETREAT,767,746.327647722,717,680.672352278,666.327647722,637,883,789.672352278,804.327647722,653.327647722,634,654,0.440985183621,-0.00541663634995,0.0498433167376,0.999999966404,0.000102824577343,-0.000237522365418,-1.41947529025e-05,1793237414083698688
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+505,8.416666667,POSE2_TO_POSE3_RETREAT,767,746.848579429,716.151420571,681,666.848579429,637,882.151420571,789.151420571,804,653,633.151420571,654,0.43981974849,-0.00542784406667,0.0498273774075,0.999999962454,7.4533209769e-05,-0.000263025093807,-1.88362500553e-05,1793237414117031680
+506,8.433333333,POSE2_TO_POSE3_RETREAT,767,746.569508334,716,681,666.569508334,637,882,789,804.430491666,653.430491666,633,654.430491666,0.439171544406,-0.00542540835181,0.0497998067732,0.999999950279,6.47047296508e-05,-0.000307696106761,-2.40376890954e-05,1793237414133698816
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+508,8.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.4158229,666,637,882,789,805,654,633,654.4158229,0.437870931066,-0.00541582878131,0.0497701045348,0.999999933269,5.30100901494e-05,-0.000359966509042,-3.27898426519e-05,1793237414167032320
+509,8.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.158995737,666.158995737,637,882,789,804.841004263,654,633,654,0.437239455906,-0.00541289254915,0.0497822540717,0.999999938878,4.82996874734e-05,-0.000344542691656,-3.46730328349e-05,1793237414183698688
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+511,8.516666667,POSE2_TO_POSE3_RETREAT,767.312914467,746,716,680.687085533,667,637,882,789,804,654,633,654,0.435959617247,-0.00541260346302,0.0498379549582,0.999999963133,3.47857632247e-05,-0.00026693970925,-3.56091817002e-05,1793237414217031936
+512,8.533333333,POSE2_TO_POSE3_RETREAT,767.905704521,746,716,680.094295479,667,637,882,789,804,654,633,654,0.435263549953,-0.00541057129326,0.0498307697933,0.999999958451,3.00979355408e-05,-0.000284135871118,-3.82064328918e-05,1793237414233698304
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+514,8.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.06832138,637,882.93167862,789.93167862,805,653,633,654,0.43377696144,-0.00540768835865,0.0497854807847,0.999999938556,1.94699187176e-05,-0.000347103277412,-4.50264570261e-05,1793237414267031552
+515,8.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.641890852,637,882.358109148,789.358109148,805,653,633,654,0.43308656917,-0.0054069041709,0.0498060607947,0.999999948484,1.95297892365e-05,-0.000317282377263,-4.45303232963e-05,1793237414283698432
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+517,8.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.19187781,637,882.80812219,789,805,653.80812219,633,654,0.431691630601,-0.00540262276898,0.0498404448488,0.999999961618,7.7881921703e-05,-0.000264349317542,-2.85948837639e-05,1793237414317031936
+518,8.633333333,POSE2_TO_POSE3_RETREAT,767,746,716.391346285,680.391346285,666.391346285,637,882.608653715,789,804.608653715,654,633,654,0.430921683521,-0.00539871135271,0.0498245903792,0.999999953655,8.72126085352e-05,-0.000290288876463,-2.85557586043e-05,1793237414333698560
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+520,8.666666667,POSE2_TO_POSE3_RETREAT,767,746,717,680.450356485,666.450356485,637,882,789,804.549643515,654,633,654,0.429333945421,-0.00539532073764,0.0497884052015,0.999999938359,6.83610614343e-05,-0.000342404645235,-3.69872345131e-05,1793237414367031552
+521,8.683333333,POSE2_TO_POSE3_RETREAT,767,746.126504307,717,680,666.126504307,637,882.126504307,789,804.873495693,654,633,654,0.428555405785,-0.00539598315568,0.0497898650483,0.999999940617,5.85334235467e-05,-0.000337345690363,-3.92032796937e-05,1793237414383698176
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+524,8.733333333,POSE2_TO_POSE3_RETREAT,767,746.125760955,717,680,666.125760955,637,882.125760955,789,804,653.125760955,633,654.874239045,0.42624924074,-0.00538774965844,0.0497944614019,0.999999936761,6.65178418175e-05,-0.000347028057831,-4.03128565345e-05,1793237414433698816
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+526,8.766666667,POSE2_TO_POSE3_RETREAT,767,746.964327216,716,680,667,637,882.964327216,789,804,654,633,654,0.424748526492,-0.00539321160697,0.0498212662338,0.999999960642,6.53257270827e-05,-0.000270013522988,-3.92691392105e-05,1793237414467032320
+527,8.783333333,POSE2_TO_POSE3_RETREAT,767,746.389654154,716,680,667,637,882.389654154,789,804,654,633,654,0.42398653052,-0.00538966402001,0.0498502248826,0.999999970839,6.99048203455e-05,-0.000227916861573,-3.86004677589e-05,1793237414483698432
+528,8.800000000,POSE2_TO_POSE3_RETREAT,767,746.189393965,716,679.810606035,666.810606035,637.189393965,882.189393965,789,803.810606035,654,633,654,0.423216845297,-0.00538673086122,0.0498615706375,0.999999973915,7.334413086e-05,-0.000212830285547,-3.86519536424e-05,1793237414500364800
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+530,8.833333333,POSE2_TO_POSE3_RETREAT,767,746.639380239,716.360619761,679.360619761,666,637.639380239,882.639380239,789,803.360619761,654,633.360619761,654,0.421643939311,-0.00538533568178,0.0498150881563,0.999999954813,7.25540338575e-05,-0.000288710000327,-4.19195653448e-05,1793237414533698048
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+534,8.900000000,POSE2_TO_POSE3_RETREAT,767,746,716.33304209,679.33304209,666.33304209,637,882,789,803.33304209,654,633,654,0.418580157211,-0.00538366055039,0.0498215675076,0.999999948753,7.63495094545e-05,-0.000308053626295,-4.20396787956e-05,1793237414600364800
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+536,8.933333333,POSE2_TO_POSE3_RETREAT,767,746,716.841593632,679.841593632,666.841593632,637,881.158406368,789,803.841593632,654,633,654,0.417131061612,-0.00538316109191,0.0498055071745,0.999999943976,7.49920909307e-05,-0.000323183847235,-4.44489205568e-05,1793237414633698048
+537,8.950000000,POSE2_TO_POSE3_RETREAT,767,746,716.576608106,679.576608106,667,637,881,789,804,654,633,654,0.41645005114,-0.00538535009371,0.0498237262682,0.999999954121,7.24368321338e-05,-0.000290802890037,-4.40945351737e-05,1793237414650364672
+538,8.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.001177811,667,637,881,789,803.998822189,654,633,654.001177811,0.415775931538,-0.00538781428177,0.0498501715211,0.999999965897,7.05620666089e-05,-0.000247733292371,-4.30775715268e-05,1793237414667031040
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+541,9.016666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.260737215,637,881,789,803.739262785,654,633,654.260737215,0.413684568798,-0.00538275565404,0.0498056093277,0.999999942383,7.96811366621e-05,-0.000326825327199,-4.54936287788e-05,1793237414717031168
+542,9.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.677709606,666,637.322290394,881,789,804,654,633,654,0.413023590422,-0.00538330456944,0.0497992915564,0.999999939004,7.93407495033e-05,-0.000336965289368,-4.63791630822e-05,1793237414733697792
+543,9.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.09701758,666,637.90298242,881,789,804,654,633,654,0.412394419956,-0.00538425059513,0.0498078798354,0.999999945457,8.04451642493e-05,-0.000316943353577,-4.64985715088e-05,1793237414750364416
+544,9.066666667,POSE2_TO_POSE3_RETREAT,767,746.481072208,716.481072208,679,666,637.518927792,881.481072208,789,804,654,633,654,0.411792229458,-0.00538605957166,0.0498265472468,0.999999952367,8.01634219193e-05,-0.000294655986507,-4.49171750275e-05,1793237414767031552
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+555,9.250000000,POSE2_TO_POSE3_RETREAT,767.137794749,746,716.137794749,679,666.137794749,637,881,789,803.862205251,654,633,654,0.40604224196,-0.00538874258133,0.0497954890432,0.999999927084,9.50092644271e-05,-0.000366857624487,-4.71328589747e-05,1793237414950364928
+556,9.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881.44273668,789.44273668,804,654,633,654,0.40563224279,-0.00538935701685,0.049791058884,0.999999924434,9.3077864357e-05,-0.000374401986457,-4.78738981914e-05,1793237414967031552
+557,9.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.019712923,666,637,881.980287077,789.980287077,804,654,633,654,0.405240872744,-0.0053896213536,0.0497931910121,0.999999925834,9.15973497295e-05,-0.000370959983255,-4.82810974219e-05,1793237414983698176
+558,9.300000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.596405549,666,637,881.403594451,789.403594451,804,654,633,654,0.404916486787,-0.00539041231053,0.0498120123099,0.999999939612,9.34183529814e-05,-0.000331309318318,-4.77749718375e-05,1793237415000365056
+559,9.316666667,POSE2_TO_POSE3_RETREAT,767.176798559,746.176798559,716,680,666,637.176798559,881,789.176798559,804,654,633,654,0.404596067561,-0.00539174490523,0.0498319569535,0.999999951046,9.44742603007e-05,-0.000294621707228,-4.67061697531e-05,1793237415017031936
+560,9.333333333,POSE2_TO_POSE3_RETREAT,767.765819279,746.765819279,716,680,666,637.765819279,881,789.765819279,804,654,633,654,0.404284897178,-0.00539434037828,0.0498545207788,0.999999959553,9.37462758092e-05,-0.000264842736099,-4.43254356606e-05,1793237415033698816
+561,9.350000000,POSE2_TO_POSE3_RETREAT,767.650620742,746.650620742,716,680,666,638,881,789.650620742,804,654.349379258,633,654,0.403984148435,-0.00539574346136,0.0498664100774,0.999999963317,9.49985232125e-05,-0.000250002813967,-4.28980640703e-05,1793237415050365440
+562,9.366666667,POSE2_TO_POSE3_RETREAT,767.070664583,746.070664583,716,680,666,638,881,789.070664583,804,654.929335417,633,654,0.403690277541,-0.00539635961307,0.0498712546004,0.999999964337,9.7557647623e-05,-0.000245022087901,-4.20998749185e-05,1793237415067031808
+563,9.383333333,POSE2_TO_POSE3_RETREAT,767.505238582,746,716,680,666,637.494761418,881,789.505238582,804,654.494761418,633,654,0.403412532502,-0.00539809901058,0.0498621113407,0.999999960337,9.57853761464e-05,-0.000261460962501,-4.22996789103e-05,1793237415083698176
+564,9.400000000,POSE2_TO_POSE3_RETREAT,768,746.08043168,716,679.91956832,666,637.08043168,881,789.91956832,804,654,633,654,0.403141520361,-0.00539980477909,0.0498516151593,0.99999995536,9.39226963878e-05,-0.000280434105369,-4.26126180642e-05,1793237415100364800
+565,9.416666667,POSE2_TO_POSE3_RETREAT,768,746.654718076,716,679.345281924,666,637.654718076,881,789.345281924,804,654,633,654,0.402898110245,-0.00540034713019,0.0498447286707,0.999999950533,9.51949797329e-05,-0.000296719650783,-4.27699861724e-05,1793237415117031424
+566,9.433333333,POSE2_TO_POSE3_RETREAT,768,746.764921182,716.235078818,679.235078818,666,637.764921182,881,789,804,654.235078818,633,654,0.402665514231,-0.00539994202522,0.0498380599915,0.999999945572,9.76784834316e-05,-0.000312204040725,-4.29457523071e-05,1793237415133698304
+567,9.450000000,POSE2_TO_POSE3_RETREAT,768,746.175401869,716.824598131,679.824598131,666,637.175401869,881,789,804,654.824598131,633,654,0.402449223214,-0.00539810839167,0.0498317197152,0.999999940574,0.000101988206661,-0.000326480486184,-4.31492580957e-05,1793237415150365184
+568,9.466666667,POSE2_TO_POSE3_RETREAT,767.591892388,746,716.591892388,680,666,637,881,789,804.408107612,654.591892388,633,654,0.402265501868,-0.00539645325885,0.0498304821022,0.999999940034,0.000105461675825,-0.000327030857524,-4.31455325043e-05,1793237415167031808
+569,9.483333333,POSE2_TO_POSE3_RETREAT,767.01092842,746,716.01092842,680,666,637,881,789,804.98907158,654.01092842,633,654,0.402095575602,-0.00539487373111,0.0498314057521,0.999999941411,0.000108580944604,-0.000321767469899,-4.30540328514e-05,1793237415183698688
+570,9.500000000,POSE2_TO_POSE3_RETREAT,767,746.553824967,716,679.446175033,666,637,881,789,803.892350066,654,633,654.553824967,0.401960713709,-0.00539364279885,0.0498377873531,0.999999944919,0.000112440965065,-0.000309384394351,-4.24360194848e-05,1793237415200365056
+571,9.516666667,POSE2_TO_POSE3_RETREAT,767,746.874762811,716,679,666,637,881,789,803.125237189,654,633,654.874762811,0.401830480664,-0.00539297957349,0.0498438563345,0.999999948227,0.000115261335151,-0.000297509157388,-4.18298158362e-05,1793237415217031680
+572,9.533333333,POSE2_TO_POSE3_RETREAT,767,746.277057226,716,679,666,637,881,789,803.722942774,654,633,654.277057226,0.401715174316,-0.00539443286048,0.049848351177,0.999999951146,0.000114105955544,-0.000288064728635,-4.13062462327e-05,1793237415233698304
+573,9.550000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.311062942,666,637.311062942,881.311062942,789.311062942,804,654.311062942,633,654,0.40160949723,-0.00539390945745,0.0498536553715,0.999999953548,0.000116371862085,-0.000278752055992,-4.07364237964e-05,1793237415250364672
+574,9.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.890900865,666,637.890900865,881.890900865,789.890900865,804,654.890900865,633,654,0.401512140327,-0.00539167808892,0.0498596588898,0.999999955473,0.000121593942289,-0.000269553226593,-4.01266363845e-05,1793237415267031296
+575,9.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.530735876,666.469264124,637.530735876,881.530735876,789.530735876,803.530735876,654.530735876,633,654,0.401429574731,-0.00539372615804,0.049860102523,0.999999956464,0.000119990463693,-0.00026658015002,-4.0119671755e-05,1793237415283698176
+576,9.600000000,POSE2_TO_POSE3_RETREAT,767,746.046900401,716,679,666.953099599,637,881.046900401,789,803.046900401,654,633,654,0.401351902409,-0.00539688631315,0.0498593046477,0.999999957297,0.00011650589473,-0.000264977230238,-4.02422023174e-05,1793237415300365056
+577,9.616666667,POSE2_TO_POSE3_RETREAT,767,746.620213461,716,679,666.379786539,637,881.620213461,789,803.620213461,654,633,654,0.401290675726,-0.00540139646645,0.049859034964,0.999999958709,0.000109663215331,-0.000262557948708,-4.02500688119e-05,1793237415317031680
+578,9.633333333,POSE2_TO_POSE3_RETREAT,767,746.80017172,716,679,666,637.19982828,881.80017172,789.19982828,804,654,633,654,0.401234641793,-0.005406162107,0.0498590595172,0.999999959949,0.000102895074483,-0.000260575943062,-4.01898794564e-05,1793237415333698560
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+580,9.666666667,POSE2_TO_POSE3_RETREAT,767.37570559,746,716,679.37570559,666,637.62429441,881,789.62429441,803.62429441,654,633,654.37570559,0.401151035282,-0.005416573325,0.0498613636286,0.999999962173,9.1362380111e-05,-0.000256399073084,-3.95663089327e-05,1793237415367031808
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+582,9.700000000,POSE2_TO_POSE3_RETREAT,767.474260299,746,716,680,666,637.525739701,881,789,803.525739701,654,633,654.474260299,0.401095069471,-0.00542380572479,0.0498652331226,0.999999964653,8.53285845982e-05,-0.00024877510213,-3.90390095363e-05,1793237415400364800
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+584,9.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.678059212,637.321940788,881.678059212,789,804,654,633,654.678059212,0.401058555109,-0.00542517133266,0.0498665373185,0.999999965488,8.48546613997e-05,-0.000245571608132,-3.89611403937e-05,1793237415433698048
+585,9.750000000,POSE2_TO_POSE3_RETREAT,767.262336403,746,716,679.737663597,666.737663597,637,881.737663597,789,804,654.262336403,633,655,0.401045265534,-0.00542511881519,0.0498664918793,0.999999965653,8.41911747937e-05,-0.000245125799284,-3.89738917856e-05,1793237415450364928
+586,9.766666667,POSE2_TO_POSE3_RETREAT,767.851047782,746,716,679.148952218,666.148952218,637,881.148952218,789,804,654.851047782,633,655,0.401035118882,-0.00542523989709,0.0498663391132,0.99999996603,8.15315678785e-05,-0.000244455540561,-3.91563165648e-05,1793237415467031808
+587,9.783333333,POSE2_TO_POSE3_RETREAT,767.566934093,746,716.433065907,679.433065907,666,637,881,789,803.566934093,654.566934093,633,654.566934093,0.401027364614,-0.00542443954801,0.0498658576714,0.999999965768,8.29492334649e-05,-0.000245031367564,-3.92796516346e-05,1793237415483698432
+588,9.800000000,POSE2_TO_POSE3_RETREAT,767,746.012718947,716.987281053,680,666,637,881,789,803.012718947,654,633,654.012718947,0.401020507278,-0.00542340212416,0.0498652756506,0.999999965297,8.56414240403e-05,-0.000246009173391,-3.93750209105e-05,1793237415500365056
+589,9.816666667,POSE2_TO_POSE3_RETREAT,767,746.588039061,716.411960939,680,666,637,881,789,803.588039061,654,633,654.588039061,0.401017480545,-0.00542568334739,0.0498651690435,0.999999965456,8.36227349009e-05,-0.000246098475521,-3.9118676745e-05,1793237415517031680
+590,9.833333333,POSE2_TO_POSE3_RETREAT,767,746.832960628,716,679.832960628,666,637,881,789,803.832960628,654,633,654.832960628,0.401015413187,-0.00542759067312,0.0498655101811,0.99999996578,8.20321918395e-05,-0.000245361397884,-3.88462332786e-05,1793237415533698560
+591,9.850000000,POSE2_TO_POSE3_RETREAT,767,746.244679589,716,679.244679589,666,637,881,789,803.244679589,654,633,654.244679589,0.401015765194,-0.00542855510003,0.0498669804462,0.999999966522,8.15213522364e-05,-0.000242540346947,-3.85331904389e-05,1793237415550364928
+592,9.866666667,POSE2_TO_POSE3_RETREAT,767,746,716.338664956,679.338664956,666,637,881,789.338664956,803.338664956,654,633,654,0.401015847439,-0.00542821995698,0.0498680217734,0.999999967091,8.14459368837e-05,-0.000240204279105,-3.85560523144e-05,1793237415567031552
+593,9.883333333,POSE2_TO_POSE3_RETREAT,767,746,716.918494184,679.918494184,666,637,881,789.918494184,803.918494184,654,633,654,0.401015737585,-0.00542695938645,0.0498687576526,0.999999967538,8.16805883924e-05,-0.000238213569215,-3.88181129009e-05,1793237415583698176
+594,9.900000000,POSE2_TO_POSE3_RETREAT,767.494950138,746,717,679.505049862,666,637.494950138,881,789.505049862,804,654,633,654,0.401015419948,-0.00542784169382,0.0498694371429,0.999999967857,8.14015168394e-05,-0.000236989531014,-3.86693064045e-05,1793237415600365312
+595,9.916666667,POSE2_TO_POSE3_RETREAT,768,746,716.92947592,679.07052408,666,638,881,789.07052408,804,654,633,654.07052408,0.40101519693,-0.00542879037696,0.0498701250694,0.999999968119,8.12686390077e-05,-0.000235966639939,-3.84246443537e-05,1793237415617032192
+596,9.933333333,POSE2_TO_POSE3_RETREAT,768,746,716.356256481,679.643743519,666,638,881,789.643743519,804,654,633,654.643743519,0.401015890599,-0.00542771389959,0.0498709388708,0.999999968127,8.2776756501e-05,-0.000235483696852,-3.79757360866e-05,1793237415633698560
+597,9.950000000,POSE2_TO_POSE3_RETREAT,768,746,716,679.776554022,666.223445978,637.776554022,881.223445978,789.776554022,804,654,633,654.776554022,0.401015870694,-0.00542775558753,0.0498711262977,0.999999968183,8.29001643287e-05,-0.000235239238528,-3.77246364547e-05,1793237415650365184
+598,9.966666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.186206251,666.813793749,637.186206251,881.813793749,789.186206251,804,654,633,654.186206251,0.401014679088,-0.00542963332025,0.0498702852082,0.999999968322,8.07498574441e-05,-0.000235386375842,-3.77983416282e-05,1793237415667031552
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+600,10.000000000,POSE2_TO_POSE3_RETREAT,767.022751227,746.977248773,716,679,665.045502454,637,882,789,804,654,633,654,0.401013397613,-0.0054277763044,0.0498691777018,0.999999967556,8.47404327617e-05,-0.00023714909403,-3.83164526059e-05,1793237415700364544
+601,10.016666667,POSE2_TO_POSE3_RETREAT,767,746.446673837,716,679,665.553326163,637,881.446673837,789,803.446673837,654,633,654,0.401013446124,-0.00542804631776,0.0498698700592,0.999999968008,8.27900700707e-05,-0.000235934255967,-3.82742686423e-05,1793237415717031424
+602,10.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,803.131804955,654,633,654.131804955,0.401013848639,-0.00542847819243,0.0498706090065,0.999999968471,8.11620875105e-05,-0.000234551244526,-3.81651543877e-05,1793237415733698048
+603,10.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,803.719152826,654,633,654.719152826,0.401015391975,-0.00542922627505,0.0498713407663,0.999999968855,8.13144714722e-05,-0.000232902119998,-3.78721112867e-05,1793237415750364928
+604,10.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881.30253154,789,804,654.30253154,633,654.69746846,0.40101549246,-0.00542868635024,0.0498714145632,0.999999968826,8.23814369712e-05,-0.000232656072971,-3.78352660969e-05,1793237415767031808
+605,10.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881.882273274,789,804,654.882273274,633,654.117726726,0.401014270859,-0.00542696622183,0.0498708854676,0.999999968418,8.42864351731e-05,-0.000233695668477,-3.80331755309e-05,1793237415783698432
+606,10.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637.460262344,881.539737656,789,804,654.539737656,633,654.460262344,0.4010142,-0.00542804949744,0.0498712260871,0.999999968599,8.33129233994e-05,-0.000233278861972,-3.79773195299e-05,1793237415800365056
+607,10.116666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.037680063,637.962319937,881,789,804,654,633,654.962319937,0.401014321971,-0.00542973368459,0.0498717286601,0.999999968886,8.17365667764e-05,-0.00023262652238,-3.783324679e-05,1793237415817031680
+608,10.133333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.613316098,637.386683902,881,789,804,654,633,654.386683902,0.401013010651,-0.00542979846556,0.0498713794716,0.999999968581,8.20252445413e-05,-0.000233909777602,-3.73528895261e-05,1793237415833698304
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diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a4d255fff0030e77f42829b477b427c9174913e6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,615 @@
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+586,9.766666667,pose2_to_pose3_retreat,0.578271358816,1.2591350062e-06,1.04001153553,0.5488425919,0.00867491913235,1.03966107335
+587,9.783333333,pose2_to_pose3_retreat,0.578264862887,1.18850149677e-06,1.0400115294,0.548836097418,0.00867485347184,1.0396610686
+588,9.800000000,pose2_to_pose3_retreat,0.578260246596,1.14547594879e-06,1.04001166923,0.548831482759,0.0086748159914,1.03966120847
+589,9.816666667,pose2_to_pose3_retreat,0.578257385319,1.21002587638e-06,1.04001161101,0.548828620357,0.00867487652434,1.03966114542
+590,9.833333333,pose2_to_pose3_retreat,0.578255692359,1.24417892251e-06,1.04001158162,0.548826926812,0.00867490859805,1.03966111369
+591,9.850000000,pose2_to_pose3_retreat,0.578255056636,1.22976608658e-06,1.04001160475,0.548826291419,0.00867489540978,1.03966113945
+592,9.866666667,pose2_to_pose3_retreat,0.578254781992,1.22353947063e-06,1.04001161474,0.548826016917,0.0086748897122,1.03966115058
+593,9.883333333,pose2_to_pose3_retreat,0.578254753168,1.22288599531e-06,1.04001161579,0.548825988108,0.00867488911425,1.03966115174
+594,9.900000000,pose2_to_pose3_retreat,0.578254736454,1.22250705233e-06,1.04001161639,0.548825971402,0.0086748887675,1.03966115242
+595,9.916666667,pose2_to_pose3_retreat,0.578254733354,1.22243678146e-06,1.04001161651,0.548825968305,0.0086748887032,1.03966115255
+596,9.933333333,pose2_to_pose3_retreat,0.578254592274,1.21923826457e-06,1.04001162164,0.548825827297,0.00867488577644,1.03966115826
+597,9.950000000,pose2_to_pose3_retreat,0.578254394382,1.21475174344e-06,1.04001162884,0.548825629508,0.00867488167111,1.03966116628
+598,9.966666667,pose2_to_pose3_retreat,0.578254154562,1.20931465122e-06,1.04001163756,0.548825389812,0.00867487669598,1.039661176
+599,9.983333333,pose2_to_pose3_retreat,0.578253828753,1.20192805063e-06,1.04001164941,0.548825064172,0.00867486993697,1.0396611892
+600,10.000000000,pose2_to_pose3_retreat,0.578253559246,1.19581789911e-06,1.04001165921,0.548824794805,0.00867486434596,1.03966120011
+601,10.016666667,pose2_to_pose3_retreat,0.57825346423,1.19366373041e-06,1.04001166267,0.548824699838,0.00867486237482,1.03966120396
+602,10.033333333,pose2_to_pose3_retreat,0.578253285316,1.19535786473e-06,1.04001166545,0.548824520802,0.00867486365338,1.03966120672
+603,10.050000000,pose2_to_pose3_retreat,0.578253192998,1.19809757949e-06,1.04001166567,0.548824428351,0.00867486593204,1.03966120668
+604,10.066666667,pose2_to_pose3_retreat,0.5782531133,1.2004627838e-06,1.04001166586,0.548824348538,0.00867486789921,1.03966120665
+605,10.083333333,pose2_to_pose3_retreat,0.57825306326,1.20194781169e-06,1.04001166598,0.548824298427,0.00867486913432,1.03966120663
+606,10.100000000,pose2_to_pose3_retreat,0.578252811511,1.20941895787e-06,1.04001166659,0.548824046316,0.00867487534817,1.03966120652
+607,10.116666667,pose2_to_pose3_retreat,0.578252472382,1.21948329948e-06,1.04001166741,0.548823706699,0.00867488371882,1.03966120638
+608,10.133333333,pose2_to_pose3_retreat,0.578252351718,1.20825080268e-06,1.04001164142,0.54882358615,0.00867487286317,1.03966118004
+609,10.150000000,pose2_to_pose3_retreat,0.578252320655,1.20173428181e-06,1.0400116283,0.548823555187,0.00867486668335,1.03966116683
+610,10.166666667,pose2_to_pose3_retreat,0.578252278978,1.19299124315e-06,1.0400116107,0.548823513645,0.00867485839205,1.0396611491
+611,10.183333333,pose2_to_pose3_retreat,0.578252214476,1.1794597471e-06,1.04001158345,0.548823449351,0.0086748455597,1.03966112166
+612,10.200000000,pose2_to_pose3_retreat,0.578252118139,1.15736620349e-06,1.04001155301,0.548823353985,0.00867482678183,1.03966109181
+613,10.216666667,pose2_to_pose3_retreat,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018402,1.03966109182
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4709d1737cceff6abbeccf27a05e64254d269fab
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8509542aa40b5fe4221d0d1cd15dfe180885e062928462c12e2265c8181149de
+size 27478813
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5cfcf59957082570a9c2fe87034b6f2f9c552779
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_02/franka_data.csv
@@ -0,0 +1,435 @@
+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,767,746,716,679,666,637,881,789,804,655,633,654,0.401013211049,-0.00543045414777,0.0498714307754,0.999999968901,8.17959277415e-05,-0.000232538376348,-3.78590203264e-05,1793237416074283776
+1,0.016666667,BASELINE,767,746,716,679,666,637,881,789,804,654.420409592,633,654,0.401013766592,-0.00543084389924,0.0498719840233,0.999999969315,7.99901922471e-05,-0.00023140403615,-3.77405122441e-05,1793237416090949888
+2,0.033333333,BASELINE,767.158249361,746,716,679,666,637,881.158249361,789,803.841750639,654,633,654,0.401013850885,-0.00543115204443,0.0498722807967,0.999999969538,7.89065043945e-05,-0.00023082922099,-3.76175694531e-05,1793237416107615744
+3,0.050000000,BASELINE,767.734448391,746,716,679,666,637,881.734448391,789,803.265551609,654,633,654,0.401012690571,-0.0054312446608,0.0498719001994,0.999999969269,7.97298037675e-05,-0.000231732157556,-3.74829142034e-05,1793237416124282368
+4,0.066666667,BASELINE,768,746.307545249,716.307545249,679,666,637,882,789,803.307545249,654.307545249,633,654,0.401012549678,-0.0054305911878,0.0498722140553,0.999999969241,8.09507486759e-05,-0.000231440041171,-3.74345255236e-05,1793237416140948992
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+6,0.100000000,BASELINE,768,746.531461185,716.531461185,679,666,637,881.531461185,789,803.531461185,655,633,654.468538815,0.401012445929,-0.00543023104651,0.049872194048,0.999999969187,8.16715631511e-05,-0.000231444154477,-3.72668002385e-05,1793237416174282496
+7,0.116666667,BASELINE,767.937302365,746,716.062697635,679.062697635,666,637,881,789.062697635,803.062697635,654.937302365,633,654.937302365,0.401011478496,-0.0054314918726,0.0498710843984,0.999999968905,8.04922772359e-05,-0.000233099515583,-3.70772864301e-05,1793237416190949120
+8,0.133333333,BASELINE,767.358451902,746,716.641548098,679.641548098,666,637,881,789.641548098,803.641548098,654.358451902,633,654.358451902,0.401012920021,-0.00543048922438,0.0498725854143,0.999999969118,8.18979978241e-05,-0.000231639640638,-3.74063967103e-05,1793237416207616000
+9,0.150000000,BASELINE,767,746,716.781342767,679.781342767,666.218657233,637,881,789.781342767,804,654.218657233,633,654,0.401013705105,-0.00543013680402,0.0498733011966,0.999999969345,8.16810266859e-05,-0.000230702241506,-3.76207887803e-05,1793237416224282624
+10,0.166666667,BASELINE,767,746,716.20706575,679.20706575,666.79293425,637,881,789.20706575,804,654.79293425,633,654,0.401013422566,-0.00543084190146,0.0498727398903,0.999999969593,7.88249417976e-05,-0.000230614586802,-3.76486053988e-05,1793237416240948992
+11,0.183333333,BASELINE,767,746,716,679,666.631130878,637,881,789,803.631130878,655,633,654,0.401013568035,-0.00543121660099,0.0498727453337,0.9999999697,7.85853951124e-05,-0.000230272676135,-3.74109879729e-05,1793237416257615872
+12,0.200000000,BASELINE,767,746,716,679,666.054261108,637,881,789,803.054261108,655,633,654,0.401013954852,-0.00543140499338,0.04987307036,0.999999969728,7.98212810701e-05,-0.000229787393728,-3.7023695638e-05,1793237416274282496
+13,0.216666667,BASELINE,767.533444196,746.533444196,716,679,666,637,881,789,803,654.466555804,633,654.533444196,0.401013728973,-0.0054313320229,0.0498729910728,0.999999969653,7.98987669332e-05,-0.000230100424881,-3.69404321342e-05,1793237416290948864
+14,0.233333333,BASELINE,767.879696339,746.879696339,716,679,666,637,881,789,803,654,633,654.879696339,0.401013569356,-0.00543118081437,0.0498730062295,0.999999969597,8.00794075791e-05,-0.000230280771978,-3.6935026679e-05,1793237416307615488
+15,0.250000000,BASELINE,767.300356819,746.300356819,716,679,666,637,881,789,803,654,633,654.300356819,0.401013905303,-0.00543083462105,0.0498735419264,0.999999969655,8.11125715716e-05,-0.000229638577567,-3.71062531384e-05,1793237416324282368
+16,0.266666667,BASELINE,767,746,716.27614514,679,666,637.27614514,881,789,803,654,633,654,0.40101435833,-0.00543018812798,0.0498738836346,0.999999969739,8.16713652333e-05,-0.000229048663661,-3.72569133949e-05,1793237416340949248
+17,0.283333333,BASELINE,767,746,716.849592104,679,666,637.849592104,881,789,803,654,633,654,0.401014937406,-0.0054292183279,0.0498740164918,0.999999969853,8.1719444921e-05,-0.000228515035735,-3.73854317718e-05,1793237416357616128
+18,0.300000000,BASELINE,767,746,716.565132947,679,666,638,881,789,803.434867053,654,633,654.434867053,0.401014132979,-0.00543003394786,0.0498732813397,0.999999969686,8.14574626286e-05,-0.000229317177148,-3.75000641896e-05,1793237416374282496
+19,0.316666667,BASELINE,767,746,716,679,666,638,881.023825657,789.023825657,804,654,633,654.976174343,0.401012894093,-0.00543136178005,0.0498722906396,0.999999969427,8.11505554074e-05,-0.000230533224737,-3.76039951151e-05,1793237416390948864
+20,0.333333333,BASELINE,767,746,716,679,666,638,881.600675586,789.600675586,804,654,633,654.399324414,0.401012988327,-0.00542984440811,0.0498725316488,0.999999969376,8.23596921057e-05,-0.000230333033461,-3.75741255468e-05,1793237416407615488
+21,0.350000000,BASELINE,767,746.177396373,716.177396373,679.177396373,666.177396373,637.822603627,881.822603627,789.822603627,804,654.177396373,633,654.177396373,0.401013157251,-0.00542913648253,0.0498728481946,0.999999969415,8.31323558415e-05,-0.000229896954935,-3.74963366644e-05,1793237416424282112
+22,0.366666667,BASELINE,767,746.753826592,716.753826592,679.753826592,666.753826592,637.246173408,881.246173408,789.246173408,804,654.753826592,633,654.753826592,0.401013494187,-0.00543024931868,0.0498733346517,0.999999969661,8.29232209615e-05,-0.00022893027373,-3.73107585011e-05,1793237416440948736
+23,0.383333333,BASELINE,767,746.671544451,716.671544451,680,667,637,881,789,803.671544451,655,633,655,0.401014382319,-0.0054311138416,0.0498740128417,0.999999969985,8.19026898949e-05,-0.000227910534211,-3.71196875962e-05,1793237416457615616
+24,0.400000000,BASELINE,767,746.098258092,716.098258092,680,667,637,881,789,803.098258092,655,633,655,0.401015681313,-0.00543179327193,0.0498748339496,0.999999970365,8.02773439844e-05,-0.000226851244918,-3.69245223815e-05,1793237416474282240
+25,0.416666667,BASELINE,767.494026063,746,716.494026063,679.505973937,666.505973937,637.494026063,881.494026063,789,803,654.505973937,633,654.505973937,0.401014868528,-0.0054313915466,0.0498748680912,0.999999970294,8.10035757377e-05,-0.000226854261202,-3.72411828345e-05,1793237416490949120
+26,0.433333333,BASELINE,768,746,716.912695774,679,666,637.912695774,881.912695774,789,803.087304226,654,633,654,0.401013700781,-0.00543102235833,0.0498746209588,0.999999970153,8.16894004496e-05,-0.000227180481463,-3.75497563908e-05,1793237416507615744
+27,0.450000000,BASELINE,768,746,716.335877414,679,666,637.335877414,881.335877414,789,803.664122586,654,633,654,0.401012991972,-0.00543208951684,0.0498737094398,0.999999970142,7.94213306308e-05,-0.000228086854137,-3.7219377356e-05,1793237416524282368
+28,0.466666667,BASELINE,767.759364173,746,716.240635827,679,666,637.240635827,881,789,804,654,633,654.240635827,0.401012635583,-0.00543251066044,0.0498732530328,0.999999970055,7.90198952206e-05,-0.000228636696198,-3.70164539545e-05,1793237416540948992
+29,0.483333333,BASELINE,767.183276312,746,716.816723688,679,666,637.816723688,881,789,804,654,633,654.816723688,0.401012770476,-0.00543203124391,0.0498734310629,0.999999969868,8.12205924678e-05,-0.000228689526096,-3.69912067406e-05,1793237416557615616
+30,0.500000000,BASELINE,767,746,716.609774946,679,666,638,881,789.390225054,804,654,633,655,0.401012767289,-0.00543112390616,0.0498732528855,0.999999969729,8.26857294693e-05,-0.000228746613175,-3.71415843193e-05,1793237416574282496
+31,0.516666667,BASELINE,767,746,716.037480394,679,666,638,881,789.962519606,804,654,633,655,0.401012699676,-0.00543001691082,0.0498729085104,0.999999969614,8.38076719261e-05,-0.00022880568655,-3.73739041465e-05,1793237416590949120
+32,0.533333333,BASELINE,767,746,716,679,666,637.442148997,881.557851003,790,804,654,633,655,0.401013643988,-0.00543049330596,0.0498732931443,0.999999969812,8.25124805017e-05,-0.000228401644039,-3.74154071089e-05,1793237416607615488
+33,0.550000000,BASELINE,767,746,716.149130876,679,666.149130876,637,881.850869124,790,804,654,633,654.850869124,0.401014656326,-0.00543091831459,0.0498739683296,0.999999970086,8.14002599832e-05,-0.000227609241623,-3.73739890697e-05,1793237416624282368
+34,0.566666667,BASELINE,767,746,716.724226823,679,666.724226823,637,881.275773177,790,804,654,633,654.275773177,0.401015660409,-0.00543087959333,0.0498753274928,0.999999970513,8.12945100157e-05,-0.000225800264006,-3.71339189257e-05,1793237416640948992
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+37,0.616666667,BASELINE,767,746,716,679.540010275,666,637.540010275,880.91997945,790,804,654.540010275,633,654.540010275,0.401012983549,-0.00543337349381,0.049873820615,0.999999970207,7.80468661842e-05,-0.000228331666705,-3.68712287718e-05,1793237416690948864
+38,0.633333333,BASELINE,767,746,716,679,666,637,882,789.952507489,803.952507489,654,633,654,0.401011011276,-0.00543301575339,0.0498727168118,0.999999969608,7.95277714483e-05,-0.00023044450031,-3.67991401745e-05,1793237416707615744
+39,0.650000000,BASELINE,767,746,716,679,666,637,882,789.370721135,803.370721135,654,633,654,0.401010104995,-0.0054320327766,0.0498723292364,0.99999996937,7.85950948664e-05,-0.000231761074469,-3.70145593968e-05,1793237416724282368
+40,0.666666667,BASELINE,767,746,716,679,666,637,882,789,803.208249124,654,633,654,0.401010883374,-0.00543095782631,0.0498727625934,0.999999969519,7.87827382676e-05,-0.000231013458523,-3.72563806813e-05,1793237416740948736
+41,0.683333333,BASELINE,767,746,716,679,666,637,882,789,803.782273074,654,633,654,0.401014620734,-0.00542972133112,0.0498746378601,0.999999970337,8.09381443695e-05,-0.000226640238882,-3.75445753035e-05,1793237416757615616
+42,0.700000000,BASELINE,767,746,716,679,666,637,881.642891788,789,804,654,633,654,0.401015524861,-0.00543036736031,0.0498751262385,0.999999970576,8.14422729281e-05,-0.000225431221327,-3.73538657241e-05,1793237416774282752
+43,0.716666667,BASELINE,767,746,716,679,666,637,881.06756097,789,804,654,633,654,0.401014697649,-0.0054321637674,0.0498747671135,0.999999970472,8.09373344688e-05,-0.000226155792706,-3.68705061202e-05,1793237416790949376
+44,0.733333333,BASELINE,767,746.52212999,716.52212999,679,666,637,881,789.52212999,803.47787001,654,633,654.52212999,0.401012966333,-0.00543253206132,0.0498734902348,0.999999969827,8.08295324586e-05,-0.000229031014383,-3.68406154681e-05,1793237416807615744
+45,0.750000000,BASELINE,767,746.888684111,716.888684111,679,666,637,881.111315889,790,803,654,633,655,0.401012031849,-0.00543246861197,0.0498727779668,0.99999996943,8.0878419962e-05,-0.000230733893819,-3.68748389176e-05,1793237416824282368
+46,0.766666667,BASELINE,767,746.309648677,716.309648677,679,666,637,881.690351323,790,803,654,633,655,0.401014950891,-0.00543138949195,0.0498749511199,0.9999999704,8.13636522992e-05,-0.000226308564783,-3.69249369243e-05,1793237416840948992
+47,0.783333333,BASELINE,767.266740273,746,716,679,666.266740273,637,882,789.733259727,803.266740273,654.266740273,633,655,0.401015726413,-0.00543091952518,0.0498756274727,0.999999970789,8.05599900514e-05,-0.000224855320169,-3.70402242044e-05,1793237416857615872
+48,0.800000000,BASELINE,767.840087275,746,716,679,666.840087275,637,882,789.159912725,803.840087275,654.840087275,633,655,0.401014038049,-0.00543114975433,0.0498745833167,0.99999997052,7.82747977315e-05,-0.000226818361071,-3.72304438201e-05,1793237416874282496
+49,0.816666667,BASELINE,768,746,716,679,666.574250464,637.425749536,882,789,804,655,633,654.574250464,0.401013963008,-0.00543179964833,0.0498742607043,0.999999970495,7.71562912068e-05,-0.000227302550922,-3.72968205885e-05,1793237416890948864
+50,0.833333333,BASELINE,767.984121209,746,716,679,666,638,881.984121209,789,804,654.984121209,633,654.015878791,0.401014447779,-0.00543257732645,0.0498741973051,0.999999970551,7.65578592386e-05,-0.000227255516199,-3.7313822236e-05,1793237416907616000
+51,0.850000000,BASELINE,767.404514857,746,716,679,666,638,881.404514857,789,804,654.404514857,633,654.595485143,0.401012653072,-0.00543212882231,0.0498734283559,0.99999997009,7.8402341287e-05,-0.000228656318671,-3.72785011277e-05,1793237416924282624
+52,0.866666667,BASELINE,767.173627637,746.173627637,716.173627637,679,666,637.826372363,881.173627637,789.173627637,804.173627637,654.173627637,633,655,0.401011893523,-0.00543179328783,0.0498731027625,0.999999969852,7.98208441265e-05,-0.000229210314126,-3.7234326643e-05,1793237416940949248
+53,0.883333333,BASELINE,767.748388142,746.748388142,716.748388142,679,666,637.251611858,881.748388142,789.748388142,804.748388142,654.748388142,633,655,0.401013525503,-0.00543171874783,0.0498738014567,0.999999970141,8.02552047926e-05,-0.000227807926682,-3.71696981579e-05,1793237416957615872
+54,0.900000000,BASELINE,768,746.67682027,716.67682027,679,666,637,882,789.67682027,804.353640539,654.67682027,633,654.67682027,0.401014777876,-0.00543199994568,0.0498744946337,0.999999970457,8.00350253298e-05,-0.000226500657914,-3.71215452741e-05,1793237416974282240
+55,0.916666667,BASELINE,768,746.102004504,716.102004504,679,666,637,882,789.102004504,803.204009009,654.102004504,633,654.102004504,0.401015734677,-0.00543255813016,0.0498751835148,0.999999970795,7.93052040989e-05,-0.000225267451055,-3.70862207197e-05,1793237416990948864
+56,0.933333333,BASELINE,767.516083245,746.483916755,716.483916755,679,665.516083245,637,882,789,803.483916755,654,633,654.483916755,0.401015341038,-0.0054320927785,0.0498753274937,0.999999970796,7.88528078679e-05,-0.000225429846422,-3.70336000346e-05,1793237417007615488
+57,0.950000000,BASELINE,767,746.928756857,716.928756857,679,665.071243143,637,882.071243143,789,803.928756857,654,633,655,0.401014616846,-0.00543155884499,0.0498751837841,0.999999970695,7.84450639017e-05,-0.0002260297449,-3.69828684822e-05,1793237417024282368
+58,0.966666667,BASELINE,767,746.348509483,716.348509483,679,665.651490517,637,882.651490517,789,803.348509483,654,633,655,0.401013612531,-0.00543211258001,0.0498738245542,0.999999970378,7.7928725522e-05,-0.000227604276712,-3.69722939885e-05,1793237417040948992
+59,0.983333333,BASELINE,767,746,716,679,666,637.229848203,882.540303595,789,803.229848203,654,633,654.770151797,0.401013784171,-0.00543204963373,0.049873824533,0.999999970335,7.88602335118e-05,-0.000227485095925,-3.6899826471e-05,1793237417057615616
+60,1.000000000,BASELINE,767,746,716,679,666,637.80536408,881.389271841,789,803.80536408,654,633,654.19463592,0.401015724323,-0.00543105926331,0.0498758686193,0.999999970694,8.1969151042e-05,-0.000224818748639,-3.67342783126e-05,1793237417074282496
+61,1.016666667,BASELINE,767.387206501,746.387206501,716,679,666.387206501,637.612793499,881.387206501,789,804,654.387206501,633,654.387206501,0.401015124532,-0.00543135411387,0.0498760120013,0.999999970651,8.17272899773e-05,-0.000225120846247,-3.65839516876e-05,1793237417090949376
+62,1.033333333,BASELINE,767.972281855,746.972281855,716,679,666.972281855,637.027718145,881.972281855,789,804,654.972281855,633,654.972281855,0.401013226789,-0.00543230573344,0.0498751840922,0.999999970403,7.97731260712e-05,-0.000226939867895,-3.6441403525e-05,1793237417107615744
+63,1.050000000,BASELINE,768,746.446168019,716,679,666.446168019,637,881.446168019,789,803.446168019,654.446168019,633,655,0.401013018895,-0.00543193689899,0.0498745383823,0.999999970287,7.95027200307e-05,-0.000227500488443,-3.67276648465e-05,1793237417124282368
+64,1.066666667,BASELINE,767.865438439,746.134561561,716,679,666.134561561,637,881,789,803.134561561,654,633,655,0.401012964754,-0.0054313126212,0.049874063657,0.999999970153,7.99650167609e-05,-0.000227883726288,-3.70032897559e-05,1793237417140948992
+65,1.083333333,BASELINE,767.286838083,746.713161917,716,679,666.713161917,637,881,789,803.713161917,654,633,655,0.401013140662,-0.00543006210508,0.0498741232618,0.999999969934,8.25688359064e-05,-0.000227888134118,-3.71734444469e-05,1793237417157615616
+66,1.100000000,BASELINE,767,746.714024768,716,679,666.714024768,637.285975232,881,789,804,654,633,655,0.401013509839,-0.00543057592201,0.0498746020442,0.999999970086,8.24413889832e-05,-0.000227272764964,-3.71389468267e-05,1793237417174282240
+67,1.116666667,BASELINE,767,746.146900856,716,679,666.146900856,637.853099144,881,789,804,654,633,655,0.401014069022,-0.0054328242945,0.0498754929294,0.9999999706,7.96287728414e-05,-0.000226048079128,-3.69032509092e-05,1793237417190949120
+68,1.133333333,BASELINE,767,746,716,679.44164957,666.44164957,638,881,789.44164957,803.55835043,654,633,655,0.401013462672,-0.00543311528002,0.0498748966216,0.99999997046,7.85063774319e-05,-0.000227063358267,-3.68675839631e-05,1793237417207616000
+69,1.150000000,BASELINE,767.036740263,746,716,680,667,638,881,789.963259737,803.036740263,654,632.963259737,654.963259737,0.401012531309,-0.00543275172491,0.0498738783767,0.999999970131,7.80785404531e-05,-0.000228650510284,-3.6886474506e-05,1793237417224282368
+70,1.166666667,BASELINE,767.617757111,746,716,680,667,638,881,789.382242889,803.617757111,654,632.382242889,654.382242889,0.401012821108,-0.00543282843791,0.0498743112325,0.999999970403,7.91868443291e-05,-0.000227109347786,-3.66776964188e-05,1793237417240948992
+71,1.183333333,BASELINE,768,746,716,679.802959571,666.802959571,638,881,789,803.802959571,654.197040429,632.197040429,654,0.401013287936,-0.00543265676524,0.0498745168665,0.999999970545,7.96510418561e-05,-0.000226322468511,-3.66632578367e-05,1793237417257615616
+72,1.200000000,BASELINE,768,746,716,679.227009736,666.227009736,638,881,789,803.227009736,654.772990264,632.772990264,654,0.401014095191,-0.00543200744611,0.0498742855525,0.999999970443,7.88766209061e-05,-0.000226986078137,-3.70225347391e-05,1793237417274282240
+73,1.216666667,BASELINE,767.644600988,746,716,679.355399012,666,637.644600988,881,789,803.355399012,654.644600988,633,654,0.401014750111,-0.00543136856719,0.0498745772143,0.999999970495,7.90425005116e-05,-0.000226662377059,-3.72355642004e-05,1793237417290948864
+74,1.233333333,BASELINE,767.057990305,746,716,679.942009695,666,637.057990305,881,789,803.942009695,654.057990305,633,654,0.401015305928,-0.00543073648036,0.0498752091081,0.999999970647,7.98201107985e-05,-0.000225696361947,-3.73534495508e-05,1793237417307615488
+75,1.250000000,BASELINE,767,746.521964203,716,680,666,637.521964203,881.521964203,789,803.478035797,654,633,654,0.401014695965,-0.00543024123631,0.0498752327036,0.999999970473,8.00644304258e-05,-0.000226369155891,-3.74232901397e-05,1793237417324282368
+76,1.266666667,BASELINE,767,746.899136993,716,679.899136993,666,637.899136993,882,789,803.100863007,654,633,654,0.401014015371,-0.00543025993333,0.0498751542512,0.999999970316,8.00920204832e-05,-0.000227061564931,-3.73663719358e-05,1793237417340949504
+77,1.283333333,BASELINE,767,746.321775998,716,679.321775998,666,637.321775998,882,789,803.678224002,654,633,654,0.401013605269,-0.00543263567677,0.0498749089545,0.999999970411,7.93721133514e-05,-0.000226997324359,-3.67355178949e-05,1793237417357616128
+78,1.300000000,BASELINE,767,746,716,679.254704696,666,637.254704696,881.745295304,789.254704696,804,654,633,654,0.401013366846,-0.0054331824852,0.0498747689352,0.999999970421,7.92939203828e-05,-0.000227016738389,-3.6534683927e-05,1793237417374282752
+79,1.316666667,BASELINE,767,746,716,679.830077065,666,637.830077065,881.169922935,789.830077065,804,654,633,654,0.401013344563,-0.00543142670405,0.0498747614579,0.999999970322,8.00236316441e-05,-0.000227141471748,-3.6875235927e-05,1793237417390949376
+80,1.333333333,BASELINE,767,746.406088153,716,679.593911847,666,637.593911847,881,789.593911847,804,654,633,654.406088153,0.401013617823,-0.0054310257576,0.0498751173819,0.999999970471,7.94566590618e-05,-0.000226660338264,-3.70001471911e-05,1793237417407616000
+81,1.350000000,BASELINE,767,746.982366975,716,679.017633025,666,637.017633025,881,789.017633025,804,654,633,654.982366975,0.401014014946,-0.00543119261932,0.0498756256066,0.999999970724,7.83462491387e-05,-0.000225925287303,-3.7034683917e-05,1793237417424282624
+82,1.366666667,BASELINE,767.575784026,747,716,679,666,637,881.575784026,789,804,654.575784026,633,654.424215974,0.401013693793,-0.00543131274916,0.04987518047,0.999999970543,7.91087995063e-05,-0.00022648665465,-3.68639597949e-05,1793237417440948992
+83,1.383333333,BASELINE,767.835893857,747,716.164106143,679,666,637.164106143,881.835893857,789,804,655,633,654,0.401013353017,-0.00543134498878,0.0498745366754,0.999999970339,7.95831663414e-05,-0.000227231203546,-3.68167078925e-05,1793237417457615616
+84,1.400000000,BASELINE,767.26165671,747,716.73834329,679,666,637.73834329,881.26165671,789,804,655,633,654,0.401013019863,-0.00543116126125,0.0498734716032,0.999999970109,7.91895641517e-05,-0.000228331290011,-3.70942271799e-05,1793237417474282240
+85,1.416666667,BASELINE,767,746.690235066,717,679,666,637.690235066,881.309764934,789.309764934,804,654.690235066,633,654,0.401012729539,-0.00543087150087,0.049873500804,0.999999970133,7.97418873123e-05,-0.000228026878134,-3.71254499315e-05,1793237417490949120
+86,1.433333333,BASELINE,767,746.121170276,717,679,666,637.121170276,881.878829724,789.878829724,804,654.121170276,633,654,0.401012475067,-0.0054304929819,0.0498744460052,0.999999970368,8.10860312635e-05,-0.000226546780438,-3.69505013105e-05,1793237417507616000
+87,1.450000000,BASELINE,767,746,716.530784231,679.469215769,666,637.469215769,882,790,803.530784231,654,633,654,0.401013772264,-0.00543206068136,0.0498751288468,0.999999970638,8.04519312698e-05,-0.000225603144548,-3.68185109528e-05,1793237417524282624
+88,1.466666667,BASELINE,767.063536336,746,716,679.936463664,666,638,881.936463664,789.936463664,803,654,632.936463664,654,0.401015069835,-0.00543375955708,0.0498755774491,0.999999970829,7.95585645958e-05,-0.000225084062735,-3.67297098465e-05,1793237417540949248
+89,1.483333333,BASELINE,767.642968794,746,716,679.357031206,666,638,881.357031206,789.357031206,803,654,632.357031206,654,0.401012961975,-0.0054322483883,0.0498747004094,0.99999997032,8.09055350589e-05,-0.000226833815811,-3.68972284101e-05,1793237417557615616
+90,1.500000000,BASELINE,767.77941549,746,716,679,666,637.77941549,881,789.22058451,803.22058451,654,632.22058451,654,0.401012006826,-0.00543169870611,0.0498742468855,0.999999970091,8.10861341644e-05,-0.000227771276767,-3.69224642727e-05,1793237417574282240
+91,1.516666667,BASELINE,767.204716331,746,716,679,666,637.204716331,881,789.795283669,803.795283669,654,632.795283669,654,0.401012902178,-0.00543269254354,0.0498744732512,0.999999970318,7.93943025444e-05,-0.00022740472695,-3.67192870319e-05,1793237417590948864
+92,1.533333333,BASELINE,767,746,716,679,666,637,881.37000835,789.62999165,803.62999165,654,633,654,0.401012985083,-0.00543420341978,0.0498746278156,0.999999970543,7.73233663387e-05,-0.000227168869444,-3.64536678655e-05,1793237417607615488
+93,1.550000000,BASELINE,767,746,716,679,666,637,881.944747205,789.055252795,803.055252795,654,633,654,0.401012618451,-0.0054360003805,0.0498747426512,0.999999970765,7.50426664025e-05,-0.000227005325684,-3.61534987382e-05,1793237417624282112
+94,1.566666667,BASELINE,767,746,716.536305364,679,666,637.536305364,881.463694636,789,803,654.536305364,633,654,0.401013424865,-0.00543425478279,0.0498751054132,0.999999970816,7.68552740362e-05,-0.00022611482058,-3.6508877475e-05,1793237417640949248
+95,1.583333333,BASELINE,767,746,716.874836803,679,666,637.874836803,881.125163197,789,803.125163197,655,633,654,0.401013855122,-0.00543222364741,0.0498752259134,0.999999970751,7.888234013e-05,-0.000225630217635,-3.69590917143e-05,1793237417657616128
+96,1.600000000,BASELINE,767,746,716.302034306,679,666,637.302034306,881.697965694,789,803.697965694,655,633,654,0.401012493852,-0.00543051886417,0.0498743856679,0.999999970351,8.01193423728e-05,-0.000226873831825,-3.74991145663e-05,1793237417674282496
+97,1.616666667,BASELINE,767,746,716.273854838,679,666,637,882,789.273854838,804,654.726145162,633,654,0.401012724995,-0.00543017039886,0.0498744667425,0.999999970368,8.06373045122e-05,-0.000226647834501,-3.73230040565e-05,1793237417690948864
+98,1.633333333,BASELINE,767,746,716.853187013,679,666,637,882,789.853187013,804,654.146812987,633,654,0.40101473243,-0.00543133486799,0.0498755755239,0.999999970847,8.03531976466e-05,-0.000224782526958,-3.63480669721e-05,1793237417707615488
+99,1.650000000,BASELINE,767,746,716.56185348,679,666,637,881.56185348,789.56185348,803.56185348,654.43814652,633,654,0.401015285724,-0.0054322437797,0.0498754205254,0.999999970975,7.89760325552e-05,-0.000224690685556,-3.64166950606e-05,1793237417724282112
+100,1.666666667,BASELINE,767,746,716,679,666,637,881,789,803.024721223,654.975278777,633,654,0.401015340494,-0.00543298291321,0.0498748743783,0.999999970981,7.73852845799e-05,-0.000225153282726,-3.68259256485e-05,1793237417740948736
+101,1.683333333,BASELINE,767,746,716,679,666,637,881,789,803.604672201,654.395327799,633,654,0.401015284409,-0.00543185716553,0.0498751777629,0.999999970961,7.93306140181e-05,-0.000224548118873,-3.6929209787e-05,1793237417757615360
+102,1.700000000,BASELINE,767,746,716,679,666,637,881.18362079,789.18362079,804,654,632.81637921,654,0.401015000717,-0.00543140133993,0.0498754095263,0.999999970892,8.03398446178e-05,-0.000224491879353,-3.69377922476e-05,1793237417774282240
+103,1.716666667,BASELINE,767,746,716,679,666,637,881.760422921,789.760422921,804,654,632.239577079,654,0.401014229654,-0.00543237999724,0.0498754879298,0.999999970727,7.93446363858e-05,-0.000225611034078,-3.67435930133e-05,1793237417790949632
+104,1.733333333,BASELINE,767,746,716,679,666,637,882,789.664410357,804,654,632.335589643,654,0.401014019031,-0.00543219042871,0.0498750643849,0.999999970651,7.91464780404e-05,-0.000226009585189,-3.67827933638e-05,1793237417807616512
+105,1.750000000,BASELINE,767,746,716,679,666,637,882,789.09040543,804,654,632.90959457,654,0.401014206566,-0.00543117090947,0.0498742842373,0.99999997064,7.95145732855e-05,-0.000225896192978,-3.69878093841e-05,1793237417824282880
+106,1.766666667,BASELINE,767,746,716,678.5013034,666,637,881.5013034,789,804,654.4986966,633,654,0.401014770671,-0.00543061328327,0.0498748053467,0.999999970736,8.00954251421e-05,-0.000225226493884,-3.72144166949e-05,1793237417840949248
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,746,716,679,666,637,881,789,803,654,633,654,0.401016524919,-0.00543209315531,0.0498770073598,0.999999971616,7.84016534423e-05,-0.000221989978034,-3.66380716476e-05,1793237417883918592
+108,1.800000000,POSE1_TO_POSE2_PRESS,767.425023569,746,716,679,666,637,881,789,803,654,633,654,0.401015403693,-0.00543223986409,0.0498759325214,0.999999971195,7.88207169614e-05,-0.000223707138362,-3.67835824681e-05,1793237417900584704
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666.153599321,637,881,789,803.153599321,654,632.846400679,654.153599321,0.401014257007,-0.00543204823008,0.0498750391378,0.999999970772,7.94209415701e-05,-0.000225355767598,-3.6930523223e-05,1793237417917251072
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666.742557806,637,881,789,803.742557806,654,632.257442194,654.742557806,0.401013038153,-0.00543089760338,0.0498746600663,0.999999970348,8.05346460198e-05,-0.000226810153929,-3.70815169912e-05,1793237417933918208
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666.673269701,637,881.326730299,789,804,654,632.326730299,654.673269701,0.401012991627,-0.00543142928128,0.0498746752471,0.999999970376,7.99375330345e-05,-0.000226923403671,-3.69170730321e-05,1793237417950585344
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666.092813849,637,881.907186151,789,804,654,632.907186151,654.092813849,0.401013855483,-0.00543326736905,0.0498749965884,0.999999970754,7.80118682744e-05,-0.00022599518083,-3.65076728675e-05,1793237417967252224
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881.518610729,789,803.518610729,654,633,654,0.401013008501,-0.00543359581557,0.0498747928405,0.999999970614,7.76751134601e-05,-0.000226729723624,-3.65124805854e-05,1793237417983918592
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637.054961566,880.945038434,789,803.054961566,654,633,654,0.401012230282,-0.00543353205432,0.0498746233033,0.999999970442,7.77469309028e-05,-0.000227448302479,-3.65922927247e-05,1793237418000584704
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637.63386533,880.36613467,789,803.63386533,654,633,654,0.401015211742,-0.0054324685336,0.0498757326216,0.99999997091,7.88306824177e-05,-0.000224997756734,-3.6635569428e-05,1793237418017250816
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637.782750059,880.217249941,789,804,654,633,654,0.401018296414,-0.00543197424687,0.0498768240699,0.999999971301,8.00014006716e-05,-0.000222838311669,-3.66245249393e-05,1793237418033917440
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637.191654833,880.808345167,789,804,654,633,654,0.401021558696,-0.00543245950225,0.0498778847671,0.999999971566,8.13217718135e-05,-0.000221179795033,-3.65200041427e-05,1793237418050584064
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881.388378446,789.388378446,803.611621554,654.388378446,633,654,0.401041772398,-0.00543358622453,0.049885925075,0.999999974962,8.05562205036e-05,-0.000205652837581,-3.59805464648e-05,1793237418067250944
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881.963104162,789.963104162,803.036895838,654.963104162,633,654,0.401070119536,-0.00543502072809,0.0498973142592,0.999999979444,7.87898260119e-05,-0.000183471684492,-3.52324023622e-05,1793237418083917824
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881.459357675,789.459357675,803,654.459357675,632.459357675,654.540642325,0.401120633821,-0.00543686760955,0.0499138435102,0.999999985454,7.78018876094e-05,-0.000147947731907,-3.39281059284e-05,1793237418100584704
+121,2.016666667,POSE1_TO_POSE2_PRESS,767.120208532,746,716,679,666,637.120208532,881.120208532,789.120208532,803,654,632.120208532,654.879791468,0.40117462437,-0.00543845159969,0.0499300724977,0.999999989989,7.73483554907e-05,-0.000113883292342,-3.27119229469e-05,1793237418117251328
+122,2.033333333,POSE1_TO_POSE2_PRESS,767.706896191,746,716,679,666,637.706896191,881.706896191,789.706896191,803,654,632.706896191,654.293103809,0.401236203678,-0.00543890563853,0.0499437679396,0.999999992423,7.87613958944e-05,-8.90346310488e-05,-3.19857262514e-05,1793237418133917952
+123,2.050000000,POSE1_TO_POSE2_PRESS,767.709929832,746,716,679.290070168,666,637.709929832,882,789.709929832,803.290070168,654,633,654,0.401300699247,-0.00544078940677,0.0499538429827,0.999999993737,7.8353018173e-05,-7.36868462961e-05,-3.09371249743e-05,1793237418150584576
+124,2.066666667,POSE1_TO_POSE2_PRESS,767.130263825,746,716,679.869736175,666,637.130263825,882,789.130263825,803.869736175,654,633,654,0.401368106305,-0.00544410056646,0.0499603035464,0.999999994365,7.61262006991e-05,-6.78244035693e-05,-2.95666463759e-05,1793237418167251200
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,716,679.550716433,666,637,882,789.449283567,804,654.449283567,633,654,0.40144652782,-0.00544588161317,0.0499611113269,0.999999994434,7.60030790656e-05,-6.71006307452e-05,-2.92098808976e-05,1793237418183917568
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716,679.028430048,666,637.028430048,881.971569952,789.971569952,803.971569952,655,633,654,0.40152911583,-0.00544737548264,0.0499603652923,0.999999994369,7.62641590573e-05,-6.78167827206e-05,-2.91074386866e-05,1793237418200584192
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,716,679.600567027,666,637.600567027,881.399432973,789.399432973,803.399432973,655,633,654,0.401630327986,-0.00545185928954,0.0499612391305,0.99999999471,7.22112358459e-05,-6.75849145737e-05,-2.82493567105e-05,1793237418217250816
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746.178516159,716.178516159,679.821483841,666,638,881,789.178516159,803.178516159,654.821483841,633,654,0.40173829747,-0.00545626071908,0.049962458124,0.999999995084,6.87799693636e-05,-6.59714656269e-05,-2.73842633307e-05,1793237418233917440
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746.769907666,716.769907666,679.230092334,666,638,881,789.769907666,803.769907666,654.230092334,633,654,0.401861895411,-0.00546047162414,0.0499644753984,0.999999995548,6.67864821817e-05,-6.1162672072e-05,-2.65029539711e-05,1793237418250584320
+130,2.166666667,POSE1_TO_POSE2_PRESS,767.353798655,746.646201345,716.646201345,679,666.353798655,638,881,789.646201345,804.353798655,654,633,654,0.402000824857,-0.00546546853516,0.0499661748966,0.999999995847,6.42915100478e-05,-5.9403115786e-05,-2.53569155233e-05,1793237418267251200
+131,2.183333333,POSE1_TO_POSE2_PRESS,767.932913019,746.067086981,716.067086981,679,666.932913019,638,881,789.067086981,804.932913019,654,633,654,0.402149518142,-0.00547096601233,0.0499676720203,0.999999996046,6.1477168395e-05,-5.95854574618e-05,-2.40422849917e-05,1793237418283917568
+132,2.200000000,POSE1_TO_POSE2_PRESS,768,746,716,679,666.490932891,637.490932891,881,789,804.490932891,654,633,654,0.402321618692,-0.00547680973228,0.0499652838762,0.999999995976,5.93420352629e-05,-6.33826709913e-05,-2.25759582121e-05,1793237418300584192
+133,2.216666667,POSE1_TO_POSE2_PRESS,767.91575856,746,716.08424144,679,666,637,881,789,803.91575856,654,633,654,0.402500615319,-0.00548296498202,0.0499629444772,0.999999995932,5.69896745373e-05,-6.66460642675e-05,-2.11135521325e-05,1793237418317250816
+134,2.233333333,POSE1_TO_POSE2_PRESS,767.344009321,746,716.655990679,679,666,637,881,789,803.344009321,654,633,654,0.402701771743,-0.00549066053506,0.0499638330923,0.999999996354,5.28652140889e-05,-6.40793215285e-05,-1.97888552768e-05,1793237418333917696
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716.763963322,679,666,637,881,789,803,654,633,654,0.402917470247,-0.00549787199545,0.0499669780565,0.999999996938,5.01952521901e-05,-5.71752379856e-05,-1.83122361148e-05,1793237418350584320
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716.171384807,679,666,637,881,789,803,654,633,654,0.403155135071,-0.00550435221611,0.0499735313167,0.99999999767,4.97223625769e-05,-4.37194462911e-05,-1.66061329569e-05,1793237418367250944
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666.412018225,637.412018225,881,789,803.412018225,654,633,654,0.403422375636,-0.00551416190137,0.0499803278001,0.99999999852,4.39622747285e-05,-2.86802379377e-05,-1.43038457408e-05,1793237418383917824
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666.991687714,637.991687714,881,789,803.991687714,654,633,654,0.40370165064,-0.00552532635408,0.0499872232515,0.999999999197,3.60508124637e-05,-1.29967336384e-05,-1.17589697529e-05,1793237418400584704
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666.432409788,638,881,789,803.432409788,654,633,654,0.404017802096,-0.00553353945231,0.0499953927722,0.999999999386,3.37415391786e-05,2.67019468167e-06,-9.12944322873e-06,1793237418417251072
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,679.146026768,666,638,881,789,803.146026768,654,633,654,0.404337503888,-0.00554092006799,0.0500027397023,0.999999999301,3.29457978855e-05,1.64616699744e-05,-6.50233052589e-06,1793237418433917440
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,679.732267627,666,638,881,789,803.732267627,654,633,654,0.404666291198,-0.00554592050918,0.0500075509612,0.999999999025,3.64670709671e-05,2.46001056007e-05,-3.88620761089e-06,1793237418450584064
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746.314519328,716,679.685480672,666,637.685480672,881,789.314519328,803.685480672,654,633,654,0.405016895608,-0.00554645036431,0.0500105059167,0.999999998498,4.59945276097e-05,2.98143972381e-05,-4.68331188454e-07,1793237418467250688
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746.893417878,716,679.106582122,666,637.106582122,881,789.893417878,803.106582122,654,633,654,0.405385839112,-0.00554322232672,0.0500119004978,0.999999997629,6.05706732362e-05,3.25707075471e-05,3.62348493101e-06,1793237418483917312
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746.548362062,716,679.451637938,666,637.451637938,881,790,803,654,633,654,0.405752910961,-0.00552815991457,0.0499967376857,0.999999996285,8.60730299156e-05,3.04833076398e-06,3.47171344057e-06,1793237418500583936
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.994423398,746,716,679.994423398,666,638,881,789.994423398,803.005576602,654,633,654,0.406120089183,-0.00551066323641,0.0499778894888,0.999999992956,0.000113805830161,-3.36342390059e-05,2.40355840622e-06,1793237418517250816
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.399829428,746,716,679.399829428,666,638,881,789.399829428,803.600170572,654,633,654,0.406543115484,-0.00551812080735,0.0499644203768,0.999999991536,0.000116701935807,-5.72450779728e-05,5.68888254679e-06,1793237418533917440
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.195858684,746,716,679,666,637.804141316,881.195858684,789,804,654,633,654,0.406977094772,-0.00552558215641,0.0499543687465,0.99999999008,0.000119169209509,-7.45490433559e-05,8.96793044082e-06,1793237418550584064
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.793792904,746,716,679,666,637.206207096,881.793792904,789,804,654,633,654,0.407433559264,-0.00553305126105,0.0499513328173,0.999999989521,0.000120756140083,-7.89057152792e-05,1.2234093725e-05,1793237418567250432
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881.624036825,789,804,654,633,654,0.407933165764,-0.00553743313188,0.0499630519288,0.999999990465,0.00012623562405,-5.36773868752e-05,1.58958183294e-05,1793237418583917056
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881.050164793,789,804,654,633,654,0.408455482413,-0.00554018986748,0.049982538166,0.999999990775,0.000133764166952,-1.28753692268e-05,1.97657682244e-05,1793237418600583680
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746.528209038,716.528209038,679,666.528209038,637,881,789,804,654,633,654,0.409006701136,-0.00553642842032,0.0499990240599,0.999999988737,0.000147914467848,1.02460111809e-05,2.32685052303e-05,1793237418617250816
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746.895086153,716.895086153,679,666.895086153,637,881.104913847,789,804,654,633,654,0.409561314873,-0.00553331438257,0.0500119980646,0.999999986355,0.00016086659841,2.65184415884e-05,2.6630756818e-05,1793237418633917696
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746.32764079,716.32764079,679,666.32764079,637,881.67235921,789,804,654,633,654,0.41011869069,-0.00553580718178,0.0500107563097,0.999999985628,0.000165740021407,2.0062537918e-05,2.95287255328e-05,1793237418650583808
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,716.254287048,679,666.254287048,637,881.745712952,789,804,654,633,654,0.410671725984,-0.00553748933871,0.0500002493912,0.999999985795,0.00016576112487,-3.42354411592e-06,3.03600775588e-05,1793237418667250688
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,716.856002124,679,666.856002124,637,881.143997876,789,804,654,633,654,0.411218830972,-0.00553806392936,0.0499770836385,0.999999985674,0.000159152587919,-5.017766732e-05,2.83678470576e-05,1793237418683917312
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,717,679.438773794,667,637,881.438773794,789,803.561226206,654,633,654.438773794,0.411811272223,-0.00554182721314,0.0499628993918,0.99999998913,0.000127678525137,-7.04779748515e-05,2.17022086596e-05,1793237418700584192
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,716.984494413,680,667,637.015505587,881.984494413,789,803.015505587,654,633,654.984494413,0.412420386526,-0.00554660098056,0.0499526151296,0.999999992646,8.95954158539e-05,-8.05490958321e-05,1.39067568696e-05,1793237418717250560
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,716.410652079,680,667,637.589347921,881.410652079,789,803.589347921,654,633,654.410652079,0.413116292587,-0.00555163835971,0.0499810187054,0.999999995057,9.52142523915e-05,-2.19582802494e-05,1.83701483638e-05,1793237418733917184
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746.168675007,716,680,666.831324993,637.831324993,881,789.168675007,803.831324993,654,633,654.168675007,0.413805512784,-0.0055546581192,0.0500023250225,0.999999994409,0.000101749174994,1.82116913337e-05,2.22902006701e-05,1793237418750583808
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746.761803891,716,680,666.238196109,637.238196109,881,789.761803891,803.238196109,654,633,654.761803891,0.414477908631,-0.00555260073924,0.0500057717924,0.999999993504,0.000110589337427,1.20274376813e-05,2.48429938267e-05,1793237418767250688
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746.654344013,716.345655987,679.654344013,666,637,881,789.654344013,803.345655987,654,632.654344013,655,0.415137881176,-0.00555249651389,0.049986801392,0.999999992932,0.000113965140781,-2.21274707413e-05,2.56510719775e-05,1793237418783917056
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746.076717611,716.923282389,679.076717611,666,637,881,789.076717611,803.923282389,654,632.076717611,655,0.415789516391,-0.00555370305455,0.0499527867842,0.999999990403,0.00011367380138,-7.50535404478e-05,2.52882682891e-05,1793237418800583680
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,716.502029873,679.497970127,666,637.497970127,881.497970127,789,803.502029873,654,632.497970127,654.502029873,0.416490600975,-0.00555442453742,0.0499508292506,0.999999990848,0.000109511999779,-7.56365643649e-05,2.42741165884e-05,1793237418817250304
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716,679.926184712,666.073815288,637.926184712,882,789,803.073815288,654,633,654,0.417206829373,-0.00555503441396,0.0499570007992,0.999999992167,0.000105463159415,-6.31421278834e-05,2.35885388261e-05,1793237418833917184
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,679.33916358,666.66083642,637.33916358,882,789,803.66083642,654,633,654,0.417975690483,-0.00555538484528,0.0499855549019,0.999999993893,0.000106321089476,-1.5462382357e-05,2.58809715143e-05,1793237418850583808
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666.755028728,637.244971272,881.755028728,789,804,653.755028728,633,654,0.418727321966,-0.00555551337411,0.0500010933129,0.999999993883,0.000106875691295,6.57034528574e-06,2.77184641366e-05,1793237418867250432
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666.174843324,637.825156676,881.174843324,789,804,653.174843324,633,654,0.419455376857,-0.00555533825574,0.0499988212974,0.999999993834,0.000107015224765,-6.49182251825e-06,2.89334256221e-05,1793237418883917056
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746.404055385,716.404055385,679,666,637.595944615,881,789,804,653.404055385,633,654,0.420198008718,-0.00555555928503,0.0499874560459,0.999999993691,0.000106768996673,-1.94333201386e-05,2.8988948914e-05,1793237418900583424
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746.982399047,716.982399047,679,666,637.017600953,881,789,804,653.982399047,633,654,0.420946928276,-0.00555595119162,0.04997216845,0.999999993414,0.000106356371283,-3.23227661922e-05,2.85443513751e-05,1793237418917250304
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746.443243664,717,679,666,637,881.556756336,789,804,654,633,654,0.421759069506,-0.00555868040398,0.0500027010565,0.999999993961,0.000102910548661,2.36593280992e-05,3.04494799622e-05,1793237418933916928
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,716.865365346,679.134634654,666.134634654,637,882,789,804,654,633,654,0.42256447129,-0.00556076851673,0.050026509702,0.999999992258,9.99570665813e-05,6.68555412617e-05,3.19860195621e-05,1793237418950583552
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,716.275149067,679.724850933,666.724850933,637,882,789,804,654,633,654,0.423340352816,-0.00556043899852,0.0500226988139,0.999999992819,9.89917536059e-05,5.94712993072e-05,3.20257406916e-05,1793237418967250176
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716.30854709,679.69145291,667,637,882,789,804,654,632.69145291,654,0.424107834194,-0.00556088257358,0.0500106572994,0.999999993892,9.76938515004e-05,4.07879497587e-05,3.17465210981e-05,1793237418983917056
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716.886549175,679.113450825,667,637,882,789,804,654,632.113450825,654,0.424867979659,-0.00556200129307,0.0499914279571,0.999999994821,9.61054984149e-05,1.22370598372e-05,3.11887697015e-05,1793237419000583680
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,716.535845982,679,667,637,882,789,804,654,632.464154018,654,0.425660417016,-0.00556216802862,0.0500010492908,0.999999994725,9.51075424332e-05,2.15948530838e-05,3.22227891944e-05,1793237419017250304
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666.95867913,637,882.04132087,789,804,654,633,654,0.426457443559,-0.00556221104077,0.0500164634678,0.999999994291,9.41100303466e-05,3.78392526098e-05,3.36161035095e-05,1793237419033917184
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666.385898405,637,882.614101595,789,804,654,633,654,0.427212063934,-0.00556365298027,0.0500157624422,0.999999994958,9.12637610228e-05,2.35845184967e-05,3.46307528065e-05,1793237419050583808
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666.385510502,637,882.807244749,789,804,653.807244749,633,654,0.427963555893,-0.00556280781067,0.0500034488494,0.999999995123,9.23967498692e-05,-3.38862128632e-06,3.47076219933e-05,1793237419067250432
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,716,679,667.567072381,637,882.21646381,789,804,653.21646381,633,654,0.428708588039,-0.00555723992601,0.0499671561432,0.999999992681,0.000101746619109,-5.66243539109e-05,3.28480430348e-05,1793237419083916800
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,716.366623624,679.366623624,667.633376376,637,882,789,804,653.366623624,633,654,0.429493118362,-0.00555865940779,0.0499631412301,0.999999992969,9.92989031663e-05,-5.58967235247e-05,3.28072065329e-05,1793237419100583424
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,716.945261947,679.945261947,667.054738053,637,882,789,804,653.945261947,633,654,0.430300490032,-0.00556411961256,0.0499777922376,0.999999995088,9.00287636386e-05,-2.39626281275e-05,3.38181303431e-05,1793237419117250048
+182,3.033333333,POSE1_TO_POSE2_PRESS,767.523325474,746,717,680,667,637,882,789,804,654,633,654,0.431058354487,-0.00556431455862,0.0499802339891,0.999999994877,9.169972342e-05,-2.51969074123e-05,3.46621247845e-05,1793237419133916672
+183,3.050000000,POSE1_TO_POSE2_PRESS,767.897399043,746,716.897399043,679.897399043,666.897399043,637,881.897399043,789,804,654,633,654,0.43180274582,-0.00556390671408,0.0499776333583,0.999999994357,9.405576328e-05,-3.45186969717e-05,3.53375496666e-05,1793237419150583552
+184,3.066666667,POSE1_TO_POSE2_PRESS,767.312139747,746,716.312139747,679.312139747,666.312139747,637,881.312139747,789,804,654,633,654,0.432508089591,-0.00556325111294,0.0499573131358,0.999999992784,9.42569564232e-05,-6.55835155598e-05,3.53020316265e-05,1793237419167250176
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,716,679.270668772,666.270668772,637.270668772,881.270668772,789,804,654,633,654,0.433245181148,-0.00556293837765,0.0499562210065,0.999999992628,9.42107663468e-05,-6.77631679657e-05,3.57223563835e-05,1793237419183916800
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,716,679.850676336,666.850676336,637.850676336,881.850676336,789,804,654,633,654,0.4340185562,-0.00556301749296,0.0499771040591,0.999999994239,9.38818498008e-05,-3.69308739988e-05,3.66636494852e-05,1793237419200583424
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637.571688676,882,789,804,653.571688676,633,654,0.434755731066,-0.00556394811238,0.0499931488608,0.999999994854,9.2958546723e-05,-1.38581858969e-05,3.81956145756e-05,1793237419217250304
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,882,789,804.005107663,653,633,654,0.435479622008,-0.00556514939709,0.0500071735916,0.999999994967,9.18555119801e-05,5.88084446976e-06,3.9915639863e-05,1793237419233916928
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,882,789,804.580108473,653,633,654,0.436121737568,-0.00556361011822,0.0499829736813,0.999999993755,9.36924983187e-05,-4.61574722995e-05,3.97686025124e-05,1793237419250583808
+190,3.166666667,POSE1_TO_POSE2_PRESS,767.15827979,746,716,680,666.84172021,637,882,789.15827979,804.84172021,653,633,654,0.436770912077,-0.00556277328527,0.0499656300677,0.999999991509,9.42258351801e-05,-8.09078077533e-05,3.94570572441e-05,1793237419267250432
+191,3.183333333,POSE1_TO_POSE2_PRESS,767.745034017,746,716,680,666.254965983,637,882,789.745034017,804.254965983,653,633,654,0.437439195798,-0.00556383802207,0.0499668469221,0.999999992719,9.12301029103e-05,-6.88583829961e-05,3.87001777767e-05,1793237419283917312
+192,3.200000000,POSE1_TO_POSE2_PRESS,767.670702684,746,716,680,666.329297316,637,882,789.670702684,804,653,633,654,0.438133852547,-0.00556576069978,0.049984685919,0.999999995057,8.62131683497e-05,-3.08250610235e-05,3.87572666143e-05,1793237419300583936
+193,3.216666667,POSE1_TO_POSE2_PRESS,767.088353599,746,716,680,666.911646401,637,882,789.088353599,804,653,633,654,0.438848775868,-0.00556834267057,0.050015298365,0.999999995681,7.9643020921e-05,2.71758422581e-05,3.94398573644e-05,1793237419317250304
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,882.488034164,789,804.488034164,653.488034164,633,654,0.439461028847,-0.00556828381688,0.0500085084073,0.999999995899,8.00724179573e-05,1.53342646913e-05,3.94299898622e-05,1793237419333916928
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746.063365152,716.063365152,680,667,637,882.936634848,789,805,653.936634848,633.063365152,654,0.440051463471,-0.00556748377052,0.049993916044,0.999999995809,8.21033269193e-05,-1.00199582371e-05,3.92545350307e-05,1793237419350583552
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746.638772428,716.638772428,680,667,637,882.361227572,789,805,653.361227572,633.638772428,654,0.440613976919,-0.005564511053,0.0499703313819,0.999999994517,8.69593529146e-05,-4.36243982999e-05,3.87418059001e-05,1793237419367250432
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746.780216785,716.780216785,680,667,637,882,789,804.780216785,653,633.780216785,654,0.44117667993,-0.0055639290349,0.0499603211606,0.999999993494,9.04583390681e-05,-5.72645690698e-05,3.93815602219e-05,1793237419383917056
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746.189755384,716.189755384,680,667,637,882,789,804.189755384,653,633.189755384,654,0.441739702596,-0.0055673790817,0.049973205088,0.999999994225,9.16685919835e-05,-3.72337433958e-05,4.19650503169e-05,1793237419400583680
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,716.391886176,680.391886176,667,637,882,789.391886176,804.391886176,653,633.391886176,654,0.442314729132,-0.00557014798697,0.0499936057163,0.999999994861,9.14756217023e-05,6.33093588829e-07,4.36924588331e-05,1793237419417251072
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,716.969351129,680.969351129,667,637,882,789.969351129,804.969351129,653,633.969351129,654,0.442895440183,-0.00557259433612,0.0500175659001,0.999999993779,9.06181511723e-05,4.69462245393e-05,4.50144677193e-05,1793237419433918720
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746,716.457265422,680.457265422,667,637,882,789.457265422,805.542734578,653,633.457265422,654,0.443381668373,-0.00557093071324,0.0500164488613,0.999999993613,9.39082097835e-05,4.31896898597e-05,4.57099523937e-05,1793237419450584832
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666.880275312,637,882,789,805.880275312,653,633,654,0.443848598158,-0.00556859724161,0.0500079340216,0.999999993794,9.78306320331e-05,2.6945208443e-05,4.59904040575e-05,1793237419467250944
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666.288151543,637,882,789,805.288151543,653,633,654,0.444260277591,-0.00556452968402,0.0499757755687,0.999999993281,0.000103330929102,-2.7499908329e-05,4.47718148254e-05,1793237419483917312
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666.296336109,637,882,789,805,653,633,654,0.444675584165,-0.0055638996616,0.0499539958616,0.999999991763,0.000103145735658,-6.25939337714e-05,4.3783977947e-05,1793237419500583936
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666.873585042,637,882,789,805,653,633,654,0.445094329077,-0.0055665282626,0.049942054724,0.999999991167,9.75709619648e-05,-7.93440230028e-05,4.30148837058e-05,1793237419517250560
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666.54925109,637,882,789,804.54925109,653,633.45074891,654,0.445516510998,-0.00557200024227,0.0499480672023,0.99999999528,6.57294102013e-05,-6.19816457387e-05,3.57482132477e-05,1793237419533917440
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636.972279263,882,789.027720737,804.027720737,653,633.972279263,654,0.445937023231,-0.00557775729075,0.0499587663658,0.999999998573,2.88994838466e-05,-3.57954965268e-05,2.71506897965e-05,1793237419550584320
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636.398619644,882,789.601380356,804.601380356,653,633.398619644,654,0.4463056721,-0.00557342652531,0.0499626207427,0.999999998553,3.88806884591e-05,-2.42115941244e-05,2.82246803206e-05,1793237419567250944
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666.180487517,636,882.180487517,789.819512483,805,653,633,654,0.446650853518,-0.00556931640119,0.049960187121,0.999999998114,4.80204654759e-05,-2.49684988294e-05,2.90192589665e-05,1793237419583917568
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666.772000319,636,882.772000319,789.227999681,805,653,633,654,0.446942592323,-0.00556570874548,0.0499434338025,0.9999999966,5.52440531017e-05,-5.38291978264e-05,2.91775311457e-05,1793237419600583936
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,746,716.355792188,680,666.644207812,636,882.644207812,789,805,653,633,654,0.447211285998,-0.00556536286943,0.0499165248475,0.999999993299,5.64668777714e-05,-9.68698696494e-05,2.87997441318e-05,1793237419617250560
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,746,716.934741454,680,666.065258546,636,882.065258546,789,805,653,633,654,0.447465525523,-0.00556706281991,0.0498832461554,0.99999998708,5.39259533685e-05,-0.000148804391201,2.80857343999e-05,1793237419633916928
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,746,717,680.50994145,666,636,882.50994145,789,805.50994145,653.50994145,633,654,0.447717444692,-0.00557212020419,0.0498656023238,0.999999983515,5.1637550736e-05,-0.000171692144338,2.87420442424e-05,1793237419650583808
+214,3.566666667,POSE1_TO_POSE2_PRESS,767.086635137,746.086635137,716.913364863,681,666,636,882.913364863,789,805.913364863,653.913364863,633,654,0.447966114731,-0.00557697911698,0.0498531047934,0.999999980836,4.96994475115e-05,-0.000187050875825,2.94863072143e-05,1793237419667250432
+215,3.583333333,POSE1_TO_POSE2_PRESS,767.674731777,746.674731777,716.325268223,681,666,636,882.325268223,789,805.325268223,653.325268223,633,654,0.448197684466,-0.00557822043506,0.0498588983766,0.999999982094,4.96032609289e-05,-0.000180188940787,2.97320309047e-05,1793237419683917568
+216,3.600000000,POSE1_TO_POSE2_PRESS,767.740640483,746.740640483,716.259359517,681,666,635.740640483,882.259359517,789,805,653.259359517,633.259359517,654,0.448421417011,-0.0055787412058,0.0498657864963,0.999999983698,5.06392229792e-05,-0.000170650777364,3.02956306384e-05,1793237419700584448
+217,3.616666667,POSE1_TO_POSE2_PRESS,767.16030578,746.16030578,716.83969422,681,666,635.16030578,882.83969422,789,805,653.83969422,633.83969422,654,0.448635450482,-0.00557837024971,0.0498740291794,0.999999985653,5.3076296598e-05,-0.000157800598196,3.12526237563e-05,1793237419717251072
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,746,717,681,666,635,882.582627028,788.582627028,805,653.582627028,633.582627028,654,0.448820940247,-0.00557710165202,0.0498749939599,0.999999985506,5.62098166649e-05,-0.000157419459976,3.23700933447e-05,1793237419733917440
+219,3.650000000,POSE1_TO_POSE2_PRESS,767,746,717,681,666,635,882.005961944,788.005961944,805,653.005961944,633.005961944,654,0.448995536183,-0.00557549046573,0.0498731810987,0.999999984571,5.96091383296e-05,-0.000161797182844,3.3548809417e-05,1793237419750583808
+220,3.666666667,POSE1_TO_POSE2_PRESS,767,746.568890859,717,681,665.431109141,635,882,788.568890859,805,653,633.568890859,654,0.449141455251,-0.00556669073641,0.049870459598,0.999999982797,6.97488019485e-05,-0.000168585636886,3.34566955551e-05,1793237419767250688
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,747,717,681,665.147788233,635,882.147788233,789,805,653.147788233,633.852211767,654.147788233,0.449279506971,-0.00555972257904,0.0498674620474,0.99999998109,7.74578683552e-05,-0.000175253274096,3.3273527485e-05,1793237419783917312
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,747,717,681,665.738874173,635,882.738874173,789,805,653.738874173,633.261125827,654.738874173,0.44939485878,-0.00555847356372,0.049863664945,0.999999979976,7.76650327545e-05,-0.000181482973518,3.28570598803e-05,1793237419800583936
+223,3.716666667,POSE1_TO_POSE2_PRESS,767,746.677588463,717,681,666,635,882.677588463,788.677588463,804.677588463,653.677588463,633,655,0.449502993952,-0.00555997029816,0.0498615368503,0.999999979479,7.64712272153e-05,-0.000184649568052,3.31571808026e-05,1793237419817250560
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,746.100024875,717,681,666,635,882.100024875,788.100024875,804.100024875,653.100024875,633,655,0.449605417989,-0.00556363998102,0.0498607295848,0.999999979486,7.41687133759e-05,-0.000185392064217,3.40243999767e-05,1793237419833917440
+225,3.750000000,POSE1_TO_POSE2_PRESS,767,746,717,681,666,635,882,788.474509693,804.474509693,653,633,655,0.449693296906,-0.00556355674291,0.0498606633472,0.999999979345,7.2954376453e-05,-0.000186621478981,3.4057308491e-05,1793237419850584064
+226,3.766666667,POSE1_TO_POSE2_PRESS,767,746.048419591,717,681,665.951580409,635,882,788.951580409,805,653.048419591,633,654.951580409,0.449776684917,-0.00556289666864,0.0498606905163,0.999999979196,7.20709635159e-05,-0.000187786381167,3.39239993197e-05,1793237419867250944
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,746.622436122,717,681,665.377563878,635,882,788.377563878,805,653.622436122,633,654.377563878,0.44984439508,-0.00556450798678,0.0498600467527,0.9999999793,7.2305568992e-05,-0.000187143895561,3.38833525678e-05,1793237419883918336
+228,3.800000000,POSE1_TO_POSE2_PRESS,766.79706961,746.79706961,717,681,665.20293039,635,882.20293039,788.20293039,805,653.79706961,633,654,0.449905580178,-0.00556560941578,0.0498595805387,0.999999979222,7.30115759561e-05,-0.000187266157184,3.40074881604e-05,1793237419900584960
+229,3.816666667,POSE1_TO_POSE2_PRESS,766.204125765,746.204125765,717,681,665.795874235,635,882.795874235,788.795874235,805,653.204125765,633,654,0.449954224699,-0.00556573088489,0.0498594555588,0.999999978789,7.46235729966e-05,-0.000188858192338,3.44483201915e-05,1793237419917251072
+230,3.833333333,POSE1_TO_POSE2_PRESS,766.379381038,746,716.620618962,681,665.620618962,635,882.620618962,788.620618962,805,653,633,654,0.449995699231,-0.00556605816182,0.0498596034954,0.99999997871,7.33864803022e-05,-0.000189763632756,3.43991370927e-05,1793237419933917184
+231,3.850000000,POSE1_TO_POSE2_PRESS,766.957933465,746,716.042066535,681,665.042066535,635,882.042066535,788.042066535,805,653,633,654,0.450033409587,-0.00556649348586,0.0498598947105,0.999999978814,7.065364289e-05,-0.0001903086175,3.40927007566e-05,1793237419950584064
+232,3.866666667,POSE1_TO_POSE2_PRESS,767,746,716.533725054,681,665,635,882,788,805,653.533725054,633,654,0.450062026085,-0.00556549417606,0.0498600421599,0.999999978892,7.11643993835e-05,-0.000189732410443,3.39480498345e-05,1793237419967250944
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,746,717,680.88816794,665,635,882,788,805,653.88816794,633,654,0.450087775219,-0.00556491607312,0.0498600976253,0.99999997891,7.13893255051e-05,-0.000189559940042,3.39225666447e-05,1793237419983918080
+234,3.900000000,POSE1_TO_POSE2_PRESS,767,746,717,680.299260004,665,635,882,788,805,653.299260004,633,654,0.45010433408,-0.0055666147289,0.0498598087768,0.999999978675,6.93099075096e-05,-0.000191484853138,3.43513357156e-05,1793237420000585216
+235,3.916666667,POSE1_TO_POSE2_PRESS,767,746.285277683,717,680.285277683,665.285277683,635,882,788,804.714722317,653.285277683,633,654.285277683,0.450118800194,-0.00556661139887,0.0498596401473,0.999999978575,6.92708615992e-05,-0.000192047330663,3.41832042845e-05,1793237420017251584
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,746.865300164,717,680.865300164,665.865300164,635,882,788,804.134699836,653.865300164,633,654.865300164,0.450131104113,-0.00556484960179,0.0498595957264,0.999999978618,7.13398985213e-05,-0.00019120215959,3.33983638941e-05,1793237420033917440
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,746.557203671,716.557203671,681,665.557203671,634.557203671,882,788,804.442796329,654,633,654.557203671,0.45013758302,-0.00556385032749,0.0498582969482,0.999999978157,7.27998642251e-05,-0.000193041556551,3.34889890097e-05,1793237420050583808
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,746,716,680.980170568,665,634.019829432,882,788.019829432,805,653.980170568,633,654,0.450142220877,-0.00556303471898,0.0498566330983,0.999999977545,7.40451996331e-05,-0.000195662758578,3.38110317815e-05,1793237420067250688
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746,716,680.394545394,665,634.605454606,882,788.605454606,805,653.394545394,633,654,0.450144601225,-0.00556087862923,0.049855378485,0.999999977192,7.4423121906e-05,-0.000197421840098,3.31803402735e-05,1793237420083917312
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746,716.189178505,680.189178505,665.189178505,635,882.189178505,788.810821495,805,653.189178505,632.810821495,654,0.450146448059,-0.00555961841314,0.0498544830976,0.999999976845,7.48489388252e-05,-0.000199068368501,3.28490622427e-05,1793237420100583936
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746,716.768976574,680.768976574,665.768976574,635,882.768976574,788.231023426,805,653.768976574,632.231023426,654,0.450147193283,-0.00556020801505,0.0498543294472,0.999999976514,7.53736495467e-05,-0.000200482494871,3.31360191937e-05,1793237420117250560
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,746.347088755,717,681,666,634.652911245,882.652911245,788.347088755,805,654,632.347088755,654,0.450147235619,-0.00556034975616,0.049853219715,0.999999976139,7.56555928079e-05,-0.000202258607369,3.30221986744e-05,1793237420133917696
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,746.924084203,717,681,666,634.075915797,882.075915797,788.924084203,805,654,632.924084203,654,0.450146812371,-0.00556019484056,0.0498514766876,0.999999975732,7.57767303078e-05,-0.000204274494313,3.26429088023e-05,1793237420150584320
+244,4.066666667,POSE1_TO_POSE2_PRESS,767,746.500666953,717,681,665.500666953,634.499333047,882,789,805,653.500666953,633,654,0.45014837967,-0.00556181490731,0.049851835414,0.999999976006,7.30709547131e-05,-0.000203851383608,3.30670325349e-05,1793237420167250944
+245,4.083333333,POSE1_TO_POSE2_PRESS,767,746,716.924129595,681,665,635,882.075870405,788.924129595,805,653.075870405,632.924129595,654,0.450150168108,-0.00556313567534,0.0498525578608,0.999999976344,7.05675954866e-05,-0.000203005004212,3.34717120175e-05,1793237420183917312
+246,4.100000000,POSE1_TO_POSE2_PRESS,767,746,716.337129241,681,665,635,882.662870759,788.337129241,805,653.662870759,632.337129241,654,0.450151414647,-0.00556062843548,0.0498535854576,0.999999976482,7.23132314159e-05,-0.000201796519886,3.29253794147e-05,1793237420200583936
+247,4.116666667,POSE1_TO_POSE2_PRESS,767,746.248178099,716.248178099,681,665.248178099,634.751821901,882.751821901,788.248178099,805,653.751821901,632.248178099,654,0.450152347137,-0.00555949305385,0.0498539554339,0.999999976516,7.34202622438e-05,-0.000201256985405,3.27532420436e-05,1793237420217250560
+248,4.133333333,POSE1_TO_POSE2_PRESS,767,746.831201288,716.831201288,681,665.831201288,634.168798712,882.168798712,788.831201288,805,653.168798712,632.831201288,654,0.45015285591,-0.00556020860065,0.0498534381406,0.999999976414,7.36656790871e-05,-0.000201620006505,3.30859736239e-05,1793237420233917184
+249,4.150000000,POSE1_TO_POSE2_PRESS,767,747,717,681,666,634.408443553,881.591556447,789,805,653.408443553,633,654,0.450151995949,-0.00555910164054,0.049852380494,0.999999975986,7.4692954567e-05,-0.000203384674904,3.29291342404e-05,1793237420250583808
+250,4.166666667,POSE1_TO_POSE2_PRESS,767,747,717,681,666,634.983330028,881.016669972,789,805,653.983330028,633,654,0.45015057822,-0.00555725199912,0.0498511026507,0.999999975418,7.60388415854e-05,-0.00020572052201,3.25727920648e-05,1793237420267250432
+251,4.183333333,POSE1_TO_POSE2_PRESS,767,746.44677735,717,681,665.44677735,634.44677735,882.106445299,789,805,654,632.44677735,654,0.450150127697,-0.00555653891099,0.0498505313208,0.99999997511,7.77749733512e-05,-0.00020657175741,3.25571077676e-05,1793237420283917056
+252,4.200000000,POSE1_TO_POSE2_PRESS,766.871499937,746.128500063,717,681,665,634.128500063,882.871499937,788.871499937,805,654,632.128500063,654,0.450149942809,-0.00555589696823,0.0498500151166,0.999999974865,7.91947505873e-05,-0.000207210199445,3.25778135565e-05,1793237420300583680
+253,4.216666667,POSE1_TO_POSE2_PRESS,766.276115954,746.723884046,717,681,665,634.723884046,882.276115954,788.276115954,805,654,632.723884046,654,0.450150618118,-0.0055553902022,0.049849622544,0.999999974838,7.94227630534e-05,-0.000207236574969,3.26937746947e-05,1793237420317250304
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+256,4.266666667,POSE1_TO_POSE2_PRESS,767,746.533925351,717,681,665.533925351,635,882.466074649,789,805,653.466074649,632.466074649,654,0.450151337054,-0.00555789628321,0.0498499408717,0.999999975188,7.5279962793e-05,-0.00020711092334,3.25742891506e-05,1793237420367250432
+257,4.283333333,POSE1_TO_POSE2_PRESS,767,746.042458817,717,681,665,635,883,789,804.957541183,654,633,654,0.450152004584,-0.00555873811265,0.0498500090568,0.999999975276,7.39587580104e-05,-0.000207190192912,3.24068768543e-05,1793237420383916800
+258,4.300000000,POSE1_TO_POSE2_PRESS,767,746.62954037,717,681,665,635,883,789,804.37045963,654,633,654,0.450152131509,-0.00555766661212,0.0498501860142,0.999999975036,7.67756256872e-05,-0.000207286888897,3.26489676865e-05,1793237420400583680
+259,4.316666667,HOLD_POSE2,767,747,717,680,665,635,882,789,805,654,633,654,0.450150215532,-0.00555699248631,0.0498481292927,0.999999974271,7.97302954608e-05,-0.000209804003776,3.29162097765e-05,1793237420439833344
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+261,4.350000000,HOLD_POSE2,767,747,717,681,666,635,882.84614782,789,805,653.84614782,633,654.84614782,0.450149819846,-0.00555528557204,0.0498475899704,0.999999974199,7.78873116918e-05,-0.000211030943275,3.16422866511e-05,1793237420473166848
+262,4.366666667,HOLD_POSE2,767,747,717,681,666,635,882.270985626,789,805,653.270985626,633,654.270985626,0.450149771545,-0.00555539453148,0.0498472571469,0.999999973915,7.88482823316e-05,-0.000211983375769,3.18816419257e-05,1793237420489833472
+263,4.383333333,HOLD_POSE2,767,746.689849729,717,681,666,635,882.310150271,788.689849729,805,653,633,654,0.45015024246,-0.0055559085674,0.0498476738761,0.999999974114,7.76532376119e-05,-0.000211461846734,3.20355753694e-05,1793237420506500096
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+267,4.450000000,HOLD_POSE2,767,747,717,681,666,634.365449256,883,788.634550744,805,654,633,654.634550744,0.450151428707,-0.00555537047773,0.0498479175673,0.999999974375,7.81773372361e-05,-0.000210049274323,3.19059708198e-05,1793237420573166848
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+274,4.566666667,HOLD_POSE2,767,747,717,681,665,635,882.683484259,788.316515741,805,654,633,654,0.450152284463,-0.00555355067459,0.0498478959885,0.999999974203,7.78175243973e-05,-0.000211038692064,3.16505779147e-05,1793237420689833472
+275,4.583333333,HOLD_POSE2,767,747,717,681,665,635,882.723034185,788,805,653.723034185,633,654,0.450152059754,-0.00555338985193,0.0498475215903,0.999999974089,7.82056985297e-05,-0.000211448148345,3.15635891981e-05,1793237420706500096
+276,4.600000000,HOLD_POSE2,767,747,717,681,665,635,882.135454398,788,805,653.135454398,633,654,0.450151522693,-0.00555497482455,0.0498469399412,0.999999973974,7.74957150656e-05,-0.00021217125131,3.20938058556e-05,1793237420723166720
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767,746,717,681,665,635,882,788,804,654,633,654,0.450148874592,-0.0055516823046,0.0498449538613,0.99999997291,8.29754965354e-05,-0.00021508011864,3.21929712087e-05,1793237420755816960
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,746.575993187,717,681,665,635,882.575993187,788.575993187,804.575993187,654,633,654,0.45015137887,-0.00555432307106,0.0498468374448,0.999999973705,8.03323613265e-05,-0.000212313878788,3.25501976531e-05,1793237420772483072
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,747,717,681,665,635,882.848063107,788.848063107,805,653.848063107,632.848063107,654,0.450152605999,-0.00555611875641,0.049847668529,0.999999974134,7.82058931796e-05,-0.000211072272842,3.26333105831e-05,1793237420789148928
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,747,717,681,665,635,882.272257315,788.272257315,805,653.272257315,632.272257315,654,0.450150270181,-0.00555555686091,0.049845563383,0.999999973569,7.75208064145e-05,-0.000214084043351,3.19517100891e-05,1793237420805815040
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746.688130788,717,680.688130788,665,635,882,788,805,653.311869212,632.311869212,654,0.450150073096,-0.00555498483502,0.0498453810893,0.99999997353,7.77050493602e-05,-0.00021424984885,3.16155964945e-05,1793237420822481664
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,746.096541303,717,680.096541303,665,635,882,788,805,653.903458697,632.903458697,654,0.450151794275,-0.00555440372306,0.0498469234316,0.999999973964,7.86690074827e-05,-0.000211863064551,3.15893554339e-05,1793237420839148544
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746.483489243,717,680.483489243,665,634.516510757,882,788.483489243,805,654,633,654,0.450150817038,-0.00555404889065,0.0498462544095,0.999999973786,7.83061572443e-05,-0.000212838248989,3.1568111168e-05,1793237420855814912
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,747,717,681,665,634,882,789,805,654,632.939098766,654,0.450149381973,-0.00555373834582,0.0498452740737,0.999999973527,7.77613296646e-05,-0.000214250420594,3.15438302374e-05,1793237420872481792
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,747,717,681,665,634,882,789,805,654,632.364758892,654,0.450148523577,-0.00555342914917,0.0498453048563,0.999999973614,7.78637150389e-05,-0.000213819278296,3.14857329368e-05,1793237420889148672
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,747,717,681,665,634.214407895,882,789,805,654,632.214407895,654,0.450143389596,-0.00555333866669,0.0498431154258,0.99999997273,7.84095985507e-05,-0.000217727518346,3.1412307525e-05,1793237420905815040
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,747,717,681,665,634.801975475,882,789,805,654,632.801975475,654,0.450130814304,-0.00555362883866,0.0498370618931,0.999999970068,7.97273548608e-05,-0.000229188104168,3.13122047723e-05,1793237420922481408
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746.615726074,717,680.615726074,665,635,882,788.615726074,804.615726074,654,633,654,0.450108968649,-0.00555310276718,0.0498267760151,0.999999965935,7.86342209029e-05,-0.000246988269637,3.07289789317e-05,1793237420939147776
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746.036106137,717,680.036106137,665,635,882,788.036106137,804.036106137,654,633,654,0.450082410396,-0.0055521617576,0.0498143386199,0.999999960726,7.63155087054e-05,-0.000268011167332,2.99001569962e-05,1793237420955814400
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746.542254382,717,680.542254382,665,635,882,788.542254382,804.542254382,654,633,654.542254382,0.450034637365,-0.00555043521515,0.049794737462,0.99999995056,7.89061302365e-05,-0.00030300099956,2.90609220167e-05,1793237420972481280
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767.119665793,746.880334207,717,681,665.119665793,635,882.119665793,789,805,654,633,654.880334207,0.449982254412,-0.00554862040404,0.0497748564597,0.999999939455,8.1052862783e-05,-0.000337247188418,2.80043071915e-05,1793237420989147904
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767.693790644,746.306209356,717,681,665.693790644,635,882.693790644,789,805,654,633,654.306209356,0.449917716399,-0.00554666855123,0.0497557200013,0.999999929771,8.02752614476e-05,-0.00036514554922,2.61247681068e-05,1793237421005814784
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767.724509109,746.275490891,717,681,665.724509109,635,883,789,805,654,633,654.275490891,0.449852229437,-0.00554443772242,0.0497429704814,0.999999923023,8.08425798072e-05,-0.000383147994311,2.48140700978e-05,1793237421022481664
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767.134150729,746.865849271,717,681,665.134150729,635,883,789,805,654,633,654.865849271,0.449785657896,-0.00554188804301,0.049737520802,0.999999920281,8.29470506789e-05,-0.000389840074401,2.41535191647e-05,1793237421039148288
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,747,717,681,665,635,882.551783342,789,805,654,633,654.551783342,0.449710323668,-0.00553914667541,0.0497366616409,0.999999919669,8.63729761477e-05,-0.000390673958841,2.39943846108e-05,1793237421055814656
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,747,717,680.971974437,665.028025563,635,882.028025563,789,805,653.971974437,633,654,0.449631311168,-0.00553625773855,0.049737148584,0.999999919642,9.01571354497e-05,-0.000389891027597,2.39475623049e-05,1793237421072481280
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,747,717,680.396243647,665.603756353,635,882.603756353,789,805,653.396243647,633,654,0.449530770982,-0.00553158643204,0.0497375619176,0.999999918864,9.33481991097e-05,-0.000391176212965,2.32141455766e-05,1793237421089147904
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,747,717,680.178167059,666,635,883,788.821832941,805,653.178167059,633,654.178167059,0.449422463281,-0.00552771934128,0.0497379209407,0.999999917941,9.58663442585e-05,-0.000392949858417,2.27622836079e-05,1793237421105814784
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,747,717,680.749663412,666,635,883,788.250336588,805,653.749663412,633,654.749663412,0.44929700769,-0.00552562767255,0.0497381600653,0.999999916713,9.6898925021e-05,-0.000395801849278,2.29319941827e-05,1793237421122481408
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767,747,717,681,666,635,883,788,804.667585681,654,633,654.667585681,0.449162357167,-0.00552054714895,0.0497374134688,0.999999915312,0.000100112707574,-0.000398570571933,2.22655522446e-05,1793237421139148288
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,747,717,681,666,635,883,788,804.076062047,654,633,654.076062047,0.449020539394,-0.00551313688149,0.0497358985253,0.999999913755,0.000105026686866,-0.00040127438923,2.09473486716e-05,1793237421155815168
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,747,717,680.494765915,665.494765915,635,883,788.505234085,804.505234085,654,633,654,0.448857832648,-0.00550679418472,0.0497365135305,0.999999913868,0.000109094321194,-0.000399955180193,1.99791385695e-05,1793237421172481536
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767.084363052,747,717,680.084363052,665.084363052,635,882.915636948,789,805,654,633,654,0.448687106909,-0.00550029144277,0.0497370744014,0.99999991401,0.000113464825076,-0.000398429674163,1.89818941387e-05,1793237421189148160
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767.659663227,747,717,680.659663227,665.659663227,635,882.340336773,789,805,654,633,654,0.448487653387,-0.00549194061022,0.0497354912435,0.999999912944,0.000120324593759,-0.000399158258606,1.75151467112e-05,1793237421205814784
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767.760310314,747,717,681.239689686,666,635,882.239689686,789,805,654,633.239689686,654,0.448273987574,-0.00548417897718,0.0497328103306,0.999999910697,0.00012614136886,-0.000403027215156,1.62283174977e-05,1793237421222481152
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767.173438023,747,717,681.826561977,666,635,882.826561977,789,805,654,633.826561977,654,0.448039735738,-0.00547727078072,0.0497285393558,0.999999906733,0.000130447401748,-0.000411444897067,1.52020939703e-05,1793237421239147776
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,747,717,681.183079828,666,635,883,789,804.591539914,654,633.591539914,654,0.447788939816,-0.00546973571975,0.0497273552388,0.999999905415,0.000135395731858,-0.000413086321249,1.40861103236e-05,1793237421255814400
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,747,717,680.023457035,666,635,883,789,804.011728517,654,633.011728517,654,0.447531203562,-0.00546193768576,0.0497274660762,0.999999905206,0.000140613509169,-0.000411885066866,1.29324718263e-05,1793237421272481280
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767.564458116,747,717,680.564458116,666,635.564458116,882.435541884,788.435541884,804.564458116,653.435541884,633,654.564458116,0.447248031423,-0.00545229113833,0.049727623604,0.999999904994,0.000144546642515,-0.0004111046132,1.05858383194e-05,1793237421289148160
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767.859075944,746.859075944,717,681,666,636.140924056,882,788.140924056,805.140924056,653,633,655,0.446955896798,-0.00544366998462,0.0497292744344,0.999999905516,0.00014825611557,-0.00040855284248,8.55639686097e-06,1793237421305814784
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767.281512836,746.281512836,717,681,666,636.718487164,882,788.718487164,805.718487164,653,633,655,0.446637619973,-0.00543834415965,0.0497355491266,0.999999908323,0.000151354776166,-0.000400485905516,7.5860581773e-06,1793237421322481408
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,746,717,681,666,636.697935185,882,789,805.697935185,653.302064815,633.302064815,654.697935185,0.446312534571,-0.00543274185705,0.049745935504,0.999999914955,0.000153380340413,-0.000382783223142,6.50725814777e-06,1793237421339148032
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,746,717,681,666,636.108638264,882,789,805.108638264,653.891361736,633.891361736,654.108638264,0.445980974886,-0.00542687665247,0.0497602316655,0.99999992473,0.000154385502343,-0.000355917951649,5.32532258401e-06,1793237421355814400
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,746.472350061,717,681,666.472350061,636,882.472350061,789,805,654,633.527649939,654,0.44561485491,-0.00542290636955,0.0497783556667,0.999999932926,0.000153239398189,-0.000332643998691,3.61776881394e-06,1793237421372481280
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767.051074299,747,716.948925701,681,666.948925701,636.051074299,883,789.051074299,804.948925701,654,633.051074299,654,0.445237055879,-0.00542091845537,0.04979621066,0.999999940185,0.000149803847636,-0.000311746342914,1.9297296195e-06,1793237421389148416
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767.625839219,747,716.374160781,681,666.374160781,636.625839219,883,789.625839219,804.374160781,654,633.625839219,654,0.444819598582,-0.00543486530017,0.0498024364003,0.999999944731,0.00012787898883,-0.000306891194249,1.65989851547e-06,1793237421405815040
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767.799255287,746.799255287,716.200744713,681,666.200744713,637,883,789.799255287,804.200744713,654,633.799255287,654,0.444385366763,-0.00544478616168,0.0498058078496,0.999999947741,0.000110512045353,-0.000303817362235,8.30239919912e-07,1793237421422481152
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746.36217476,717,681,667,637,883,789,805,654,633.36217476,654,0.44342360508,-0.00543877329476,0.0497942597827,0.999999943583,0.000102186485943,-0.000319953546028,-4.72053344391e-06,1793237421455814656
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746.95551868,717,681,667,637,883,789,805,654,633.95551868,654,0.442907752359,-0.00542343210471,0.0497797853113,0.999999934246,0.000108730094962,-0.00034582313147,-9.54836505758e-06,1793237421472481536
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,746.467087647,717,680.467087647,667,637,882.467087647,789,805,653.467087647,633.467087647,654,0.442409724417,-0.00541665393805,0.0497925267566,0.999999943131,0.000109250752641,-0.000318830672118,-1.2185543448e-05,1793237421489148160
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,716.891423796,680,667,637,882,789.108576204,805,653.108576204,633,654,0.441908155252,-0.00541242368207,0.0498092039253,0.999999953119,0.000107210190685,-0.000286459105007,-1.4434605544e-05,1793237421505814784
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746,716.317633242,680,667,637,882,789.682366758,805,653.682366758,633,654,0.441385223704,-0.00541613696824,0.0498332938934,0.999999964141,9.62870437778e-05,-0.000249395720595,-1.57813998436e-05,1793237421522481408
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.26299455,667,637,882.26299455,789.73700545,805,654,633,654,0.44082694574,-0.00542141432076,0.0498458577607,0.99999997007,8.12555295075e-05,-0.000230125607687,-1.73239983657e-05,1793237421539148032
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.852100548,667,637,882.852100548,789.147899452,805,654,633,654,0.440224838391,-0.00542863110538,0.0498441293451,0.999999970823,6.11296663775e-05,-0.000232919025357,-1.91093929872e-05,1793237421555814656
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,667,637,883,789,805,654,633,654,0.43957983597,-0.00542666518121,0.049819243929,0.999999959994,5.35509982181e-05,-0.000276741476361,-2.36123499941e-05,1793237421572481536
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,746,716.01421354,680.98578646,666.98578646,637,883,789,804.98578646,653.98578646,633,654,0.438920487969,-0.00542159558133,0.0497870197998,0.999999942716,5.01502610526e-05,-0.000333485108218,-2.89880113654e-05,1793237421589148416
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746,716.589760719,680.410239281,666.410239281,637,883,789,804.410239281,653.410239281,633,654,0.438262462605,-0.00541551946744,0.0497715359003,0.999999934568,4.56402315353e-05,-0.00035735488739,-3.28524627664e-05,1793237421605814784
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,746,716.831334584,680,666.168665416,637,882.831334584,789.168665416,804,653.168665416,633.168665416,654,0.43761479691,-0.00541092667244,0.0497690795888,0.999999932352,4.07765121809e-05,-0.000363812008711,-3.56976223783e-05,1793237421622481408
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,746,716.338779515,680,666.661220485,637,882,789.661220485,804,653.661220485,634,654,0.436325907477,-0.00541089527636,0.0498227965301,0.999999956197,2.74967240502e-05,-0.000292381986042,-3.69219938249e-05,1793237421655814400
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,746,716.918555333,680,666.081444667,637,882,789.081444667,804,653.081444667,634,654,0.435626979623,-0.00541305032782,0.049842349586,0.999999965505,1.86801640465e-05,-0.000259187336843,-3.82526885494e-05,1793237421672481280
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,746,716.503708589,680.496291411,666,637,882,789,804,653.496291411,633.503708589,654,0.434891890617,-0.00541090587825,0.0498193867755,0.999999953672,9.43315346046e-06,-0.000301348829212,-4.19107174552e-05,1793237421689147904
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.927327746,666.072672254,637,882.072672254,789,804,654,633,654.072672254,0.434155696903,-0.00540815440401,0.0497938046365,0.999999938719,5.2580521035e-07,-0.000347072241034,-4.58514107892e-05,1793237421705814528
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.357931796,666.642068204,637,882.642068204,789,804,654,633,654.642068204,0.43345234823,-0.00540605680321,0.0497978134273,0.999999943346,-5.57905002627e-06,-0.000332961669117,-4.91242907615e-05,1793237421722481408
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767.220107417,746,716,680.220107417,667,637,882.779892583,789,804,654,633.220107417,654.779892583,0.432748744434,-0.00540416964337,0.0498103696179,0.999999950507,-1.21634639305e-05,-0.000310104606906,-5.17023705395e-05,1793237421739148288
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767.81277662,746,716,680.81277662,667,637,882.18722338,789,804,654,633.81277662,654.18722338,0.432044708695,-0.00540263868321,0.0498373934475,0.999999961286,-1.95595971873e-05,-0.000272442915869,-5.31044068323e-05,1793237421755814912
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767.601245427,746.398754573,716.398754573,680.601245427,667,637,882,789,804.398754573,654,633.601245427,654,0.431267311174,-0.0054013309435,0.0498308573983,0.999999959049,3.07148955467e-05,-0.000281719299546,-3.99183278639e-05,1793237421772481536
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767.018357338,746.981642662,716.981642662,680.018357338,667,637,882,789,804.981642662,654,633.018357338,654,0.430456037313,-0.00540012628074,0.0498088243504,0.999999945128,0.000107620042571,-0.000312670351132,-1.99958720731e-05,1793237421789147904
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,747,717,680.555291487,666.444708513,637,882,789,803.889417027,653.444708513,633.555291487,654,0.429670114694,-0.00539373349322,0.0497876546483,0.999999933984,0.00010293213562,-0.000347522874982,-2.57984831807e-05,1793237421805814784
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746.870334808,716.870334808,681,666,637,882,789,803.259330383,653.129665192,634,654.129665192,0.428892405971,-0.00538869206625,0.0497769985441,0.999999928191,9.43838703939e-05,-0.000365682603582,-3.14083981079e-05,1793237421822481152
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,746.292416595,716.292416595,681,666,637,882,789,804.41516681,653.707583405,634,654.707583405,0.428140242911,-0.00538890551772,0.0498025909339,0.999999943067,8.16625675103e-05,-0.000325696697753,-3.34602935384e-05,1793237421839147776
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.709406697,666,637,882,789,804.709406697,654,633.709406697,654.709406697,0.427368288762,-0.005387305491,0.0498087258946,0.999999945423,7.3432764339e-05,-0.000320122854948,-3.58183371882e-05,1793237421855814656
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.121181827,666,637,882,789,804.121181827,654,633.121181827,654.121181827,0.426576064225,-0.00538384806305,0.0497949321596,0.999999935645,6.98032472884e-05,-0.000349794549091,-3.84899439621e-05,1793237421872481536
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,746,716.458675968,680,666,637,882,789,804.458675968,654,633,654,0.425801281983,-0.00538636137104,0.0497976856221,0.999999941917,6.70858903589e-05,-0.000331853573802,-3.92285477009e-05,1793237421889148416
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767.036305761,746,716.963694239,680,666.036305761,637,882,789,805,654,633,654,0.425032997302,-0.00539005134487,0.0498064836598,0.999999952141,6.4882503328e-05,-0.000299928072143,-3.93783547694e-05,1793237421905814784
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767.613085914,746,716.386914086,680,666.613085914,637,882,789,805,654,633,654,0.424294068309,-0.00538819544421,0.0498413504368,0.999999967336,6.68071423282e-05,-0.000243727489334,-3.82293243276e-05,1793237421922481408
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767.811106035,746,716.188893965,680,666.811106035,637,882,789,804.811106035,654,633.188893965,654,0.423537951263,-0.0053862913207,0.0498596037272,0.999999974053,6.84194830808e-05,-0.000213939336927,-3.79863656246e-05,1793237421939147776
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767.237278854,746,716.762721146,680,666.237278854,637,882,789,804.237278854,654,633.762721146,654,0.422746807807,-0.00538428892703,0.0498440016132,0.999999968492,6.939541473e-05,-0.000237975138237,-3.95898243204e-05,1793237421955814400
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746.348454313,716.651545687,680,666,637,882,789,804,654,633.651545687,654.348454313,0.421953132599,-0.00538313367061,0.0498224394949,0.999999958495,7.03199488529e-05,-0.000276346176678,-4.1211254218e-05,1793237421972481024
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746.9425816,716.0574184,680,666,637,882,789,804,654,633.0574184,654.9425816,0.42115767246,-0.00538257567691,0.0497966753575,0.999999943791,7.12082456795e-05,-0.000324824077193,-4.28453543059e-05,1793237421989147648
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746.479755233,716,680,666,637,881.479755233,789,803.479755233,654,633,654.479755233,0.42039846936,-0.00538518814394,0.0498158125551,0.999999951895,6.74224529402e-05,-0.000299847879392,-4.18957384704e-05,1793237422005815552
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881.096038506,789.096038506,803.096038506,653.903961494,633,654.096038506,0.419641868733,-0.005386991036,0.0498348079692,0.999999959123,6.49073487508e-05,-0.000275438985459,-4.09300926841e-05,1793237422022482688
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881.671293036,789.671293036,803.671293036,653.328706964,633,654.671293036,0.418878899139,-0.00538306181611,0.0498291264889,0.999999953666,7.12279095117e-05,-0.000293072418055,-4.12637103496e-05,1793237422039148544
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,882,790,804,653.251912075,633.251912075,654.748087925,0.418137654215,-0.00538011386115,0.049819534647,0.999999948153,7.49246075801e-05,-0.000310309322805,-4.22897260783e-05,1793237422055814912
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,882,790,804,653.839683243,633.839683243,654.160316757,0.417425373537,-0.00537847416753,0.0498047293574,0.999999942729,7.51230681622e-05,-0.00032701755966,-4.42388741312e-05,1793237422072481280
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.578238982,666.421761018,637,882,789.578238982,804.421761018,654,634,654,0.416727516856,-0.0053800706514,0.0498176735416,0.999999950059,7.28030351168e-05,-0.00030436981553,-4.40607391464e-05,1793237422089147904
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746.00168897,716,679.00168897,666.99831103,637,881.99831103,789,804.99831103,654,633.99831103,654,0.416035045946,-0.00538286861428,0.0498409629483,0.999999960996,6.95591118676e-05,-0.000267045689989,-4.30878399131e-05,1793237422105814528
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746.576673157,716,679.576673157,666.423326843,637,881.423326843,789,804.423326843,654,633.423326843,654,0.415334465598,-0.00538150869387,0.0498431333214,0.99999996303,7.33316700174e-05,-0.000258261562911,-4.31581227163e-05,1793237422122481408
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,746.844782077,716,680,666,637,881.155217923,789,804,653.844782077,633,654,0.414635692322,-0.00538039367942,0.0498377077881,0.999999960884,7.6490237585e-05,-0.000265477435766,-4.36179639172e-05,1793237422139148288
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746.256298397,716,680,666,637,881.743701603,789,804,653.256298397,633,654,0.413941963037,-0.00537996228009,0.0498110795097,0.999999945586,7.79349503715e-05,-0.000317354721437,-4.51651944085e-05,1793237422155814912
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.67285393,666,637,881.67285393,789,804,653.32714607,633,654,0.41327563528,-0.00538087449437,0.0497987441517,0.999999938831,7.67229985485e-05,-0.000338120323723,-4.61108813464e-05,1793237422172481536
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.093297517,666,637,881.093297517,789,804,653.906702483,633,654,0.412630449282,-0.00538282337702,0.0497974365327,0.999999940143,7.34612907344e-05,-0.000334881628647,-4.65924458717e-05,1793237422189147904
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746.483514123,716.483514123,679.483514123,666.483514123,637,881,789.483514123,804,654,633.483514123,654.483514123,0.412026829984,-0.00538473900245,0.0498206297779,0.999999950037,7.30828293071e-05,-0.000304260271859,-4.48490474923e-05,1793237422205814784
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,747,716.94047639,679.94047639,666.94047639,637,881,789.94047639,803.94047639,654,633.94047639,654.94047639,0.411428572759,-0.0053861284044,0.0498446201109,0.999999958864,7.40363071484e-05,-0.000273752994971,-4.30062274976e-05,1793237422222481408
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,747,716.366846546,679.366846546,666.366846546,637,881,789.366846546,803.366846546,654,633.366846546,654.366846546,0.410807744872,-0.00538302791963,0.0498348928938,0.999999953757,8.17157442697e-05,-0.000289608657918,-4.39918358933e-05,1793237422239148288
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746.786381436,716.213618564,679.213618564,666,637.213618564,881,789,803,654,633,654,0.410204201899,-0.00538129478706,0.0498217727801,0.999999946277,8.66090235045e-05,-0.000312917060286,-4.5026723026e-05,1793237422255815168
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746.193790201,716.806209799,679.806209799,666,637.806209799,881,789,803,654,633,654,0.40963132351,-0.00538198742301,0.0498026334567,0.999999934132,8.65594838251e-05,-0.000349447085894,-4.6149033589e-05,1793237422272481536
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,716.611757691,680,666,637.611757691,881,789,803.388242309,654,633,654.388242309,0.409110975664,-0.00538434570128,0.0498078318716,0.999999939396,8.39142249256e-05,-0.000334737746305,-4.60209053342e-05,1793237422289148160
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,716.034855952,680,666,637.034855952,881,789,803.965144048,654,633,654.965144048,0.40861615405,-0.00538751336881,0.0498248567749,0.999999952223,8.00076224607e-05,-0.000295129553499,-4.52851486837e-05,1793237422305814784
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881,789,803.460323135,654,633,654.460323135,0.408133741456,-0.00538768698156,0.0498438089393,0.99999995941,8.49328306923e-05,-0.000268394478359,-4.39352167525e-05,1793237422322481408
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767.114244911,746.114244911,716.114244911,680,666.114244911,637,881,789,803.114244911,654,633,654.114244911,0.407650107892,-0.0053875611744,0.0498572937455,0.999999963344,8.98506183042e-05,-0.000251810160171,-4.27812237365e-05,1793237422339148032
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767.689570109,746.689570109,716.689570109,680,666.689570109,637,881,789,803.689570109,654,633,654.689570109,0.407158326013,-0.00538700397508,0.0498482127077,0.999999957596,9.24463754804e-05,-0.000272852300803,-4.2577413348e-05,1793237422355814656
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767.727204593,746.727204593,716.727204593,679.727204593,666.727204593,637,881,789.272795407,804,654,633,654.727204593,0.40667891028,-0.00538637418836,0.0498310116229,0.999999947814,9.47613206629e-05,-0.00030581496121,-4.32414156575e-05,1793237422372481280
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767.13472123,746.13472123,716.13472123,679.13472123,666.13472123,637,881,789.86527877,804,654,633,654.13472123,0.406213986419,-0.00538565933676,0.0498042946848,0.999999932096,9.67471830113e-05,-0.000352747234175,-4.49224045026e-05,1793237422389147904
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789.55302826,803.55302826,654,633,654,0.405791955489,-0.00538569215312,0.049792862437,0.999999925436,9.57808891413e-05,-0.000371198807205,-4.65437945526e-05,1793237422405814528
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.025337501,666,637,881,789.025337501,803.025337501,654,633,654.025337501,0.405385709099,-0.00538607212819,0.0497871230863,0.999999922574,9.37863701866e-05,-0.000379139347484,-4.8065109622e-05,1793237422422481152
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.600415257,666,637,881,789.600415257,803.600415257,654,633,654.600415257,0.405048045412,-0.00538921012392,0.0498073015625,0.999999936855,8.83335325872e-05,-0.000340886552158,-4.77956914327e-05,1793237422439147776
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881.179293123,789.820706877,804,654,633,654.820706877,0.40471977913,-0.00539166627014,0.049828553557,0.999999949374,8.35837409669e-05,-0.000303352446823,-4.73617570502e-05,1793237422455814656
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881.766823482,789.233176518,804,654,633,654.233176518,0.404412910094,-0.00539256989481,0.0498522498709,0.999999959916,8.04347341927e-05,-0.000267454751603,-4.65532315459e-05,1793237422472481280
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,716.350546906,679.649453094,666,637,882,789,804,654,633,654,0.404112130496,-0.0053946865071,0.0498678073284,0.999999965899,7.78800460757e-05,-0.000245006388591,-4.59128756312e-05,1793237422489147904
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,716.931765299,679.068234701,666,637,882,789,804,654,633,654,0.40381535792,-0.00539760130554,0.0498780091508,0.999999969329,7.57164390624e-05,-0.000231408128635,-4.53831808226e-05,1793237422505814528
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767.507671757,746,716.492328243,679,666,637,881.492328243,789,804,654,633,654.507671757,0.403528142741,-0.00539711425534,0.0498676678753,0.999999964187,7.40887980184e-05,-0.00025295762347,-4.63522069591e-05,1793237422522481152
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767.917188432,746,716,679,666,637,881,789,804,654,633,655,0.403246698909,-0.0053965592899,0.0498550999089,0.999999957571,7.28976136989e-05,-0.000278026943149,-4.73791902638e-05,1793237422539147776
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767.342405296,746,716,679,666,637,881,789,804,654,633,655,0.402991989196,-0.00539828907513,0.0498455371566,0.999999952263,7.38758216714e-05,-0.000296232413488,-4.75661627159e-05,1793237422555814400
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767.238267263,746,716,679,666,637,881.238267263,789,804,654.238267263,633,655,0.402752862798,-0.00539843242317,0.0498392457336,0.999999947056,9.1901936263e-05,-0.000309074344473,-4.37677042934e-05,1793237422572481024
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767.827617765,746,716,679,666,637,881.827617765,789,804,654.827617765,633,655,0.402536698194,-0.00539623817969,0.0498377745659,0.999999940998,0.00013504788551,-0.000314013179236,-3.40967731756e-05,1793237422589147648
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767.590357093,746.409642907,716,679.409642907,666,637,882,789,803.590357093,654.590357093,633,654.590357093,0.40234324509,-0.00539148323898,0.0498349483978,0.999999937496,0.000149337337116,-0.000318797785913,-3.27765109043e-05,1793237422605814272
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767.011360401,746.988639599,716,679.988639599,666,637,882,789,803.011360401,654.011360401,633,654.011360401,0.402159181335,-0.00538566965977,0.0498315620479,0.999999935553,0.000151696989855,-0.000323518631948,-3.49085663756e-05,1793237422622480896
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746.435207306,716,679.435207306,666.564792694,637.564792694,881.435207306,789,803.564792694,654,633,654.564792694,0.402017508135,-0.00538644018991,0.0498364891049,0.999999939586,0.000148801265548,-0.000312140658333,-3.54261507479e-05,1793237422639147776
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.859174382,638,881,789.140825618,804,654,633,655,0.401881907082,-0.00538717348831,0.0498418599866,0.999999943672,0.000145779336088,-0.000300192000211,-3.59011428955e-05,1793237422655814400
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.283336977,638,881,789.716663023,804,654,633,655,0.401762442311,-0.00538738473472,0.0498480878953,0.999999947838,0.000142692456011,-0.000287475754877,-3.63443769316e-05,1793237422672481024
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746.300685978,716,679.300685978,666,638,881,789.699314022,804,654,633,655,0.401651690564,-0.00538695739754,0.0498528548288,0.999999950585,0.000141315175217,-0.00027840640775,-3.67291895351e-05,1793237422689147648
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746.892638116,716,679.892638116,666,638,881,789.107361884,804,654,633,655,0.401549378868,-0.00538591148221,0.0498562065572,0.99999995206,0.000141593935445,-0.000272869708216,-3.70574109741e-05,1793237422705814528
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746.526492395,716,679.526492395,666,638,881,789,804,654,633,654.526492395,0.401461907171,-0.00538595546433,0.0498569742929,0.999999952828,0.000140998778003,-0.000270305825877,-3.73830654897e-05,1793237422722481152
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767.051448558,746.051448558,716,679.051448558,666,637.948551442,881,789,804,654,633,654,0.401379318516,-0.0053864674465,0.0498570355376,0.999999953457,0.000139790494122,-0.000268553095955,-3.77304622386e-05,1793237422739148032
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767.624592065,746.624592065,716,679.624592065,666,637.375407935,881,789,804,654,633,654,0.401312905449,-0.00538927648422,0.0498557379791,0.999999954239,0.000134328341679,-0.000268346928585,-3.83040949828e-05,1793237422755814400
+398,6.633333333,POSE2_TO_POSE3_RETREAT,768,746.801207044,716,680,666,637,881,789,804,654.198792956,633,654.198792956,0.401252592407,-0.00539295344282,0.0498552606297,0.99999995526,0.000128629043873,-0.000267284661526,-3.86553980964e-05,1793237422772481024
+399,6.650000000,POSE2_TO_POSE3_RETREAT,768,746.224998705,716,680,666,637,881,789,804,654.775001295,633,654.775001295,0.401203860482,-0.0053982781794,0.0498563404759,0.999999956749,0.000122479517629,-0.000264597059276,-3.8584600595e-05,1793237422789147648
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767.637141568,746,716,679.637141568,666,637,881,789,804,654.637141568,633,655,0.401164818379,-0.00540481333803,0.0498588334171,0.999999959072,0.000114818621073,-0.000259225739907,-3.83992413712e-05,1793237422805814272
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767.041821774,746,716,679.041821774,666,637,881,789,804,654.041821774,633,655,0.401131983957,-0.00541212394035,0.0498622316424,0.999999961848,0.000106189481569,-0.000252135126041,-3.81404894086e-05,1793237422822480896
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767.534223346,746,716.534223346,679,666,637,881,789,804,654,633,654.465776654,0.401105533297,-0.00541722695941,0.049863029245,0.99999996283,9.93618652212e-05,-0.000251022662153,-3.81353691187e-05,1793237422839147776
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767.891545717,746.108454283,716.891545717,679,666,637.108454283,881,789,804,654.108454283,633,654.108454283,0.401081301421,-0.00542139281743,0.0498634969063,0.999999963629,9.3467743264e-05,-0.000250098704247,-3.81571590879e-05,1793237422855814656
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767.318846553,746.681153447,716.318846553,679,666,637.681153447,881,789,804,654.681153447,633,654.681153447,0.401064502455,-0.00542226111093,0.0498633933662,0.999999964367,9.09868249589e-05,-0.000248048115435,-3.82121066718e-05,1793237422872481024
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767.262435049,746.737564951,716,679,666,637.737564951,881,789,804,655,633,654.737564951,0.40104926822,-0.00542287755554,0.0498630531945,0.999999964544,9.02986206793e-05,-0.000247573541097,-3.82711187395e-05,1793237422889147904
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767.854496535,746.145503465,716,679,666,637.145503465,881,789,804,655,633,654.145503465,0.401035999334,-0.00542317767038,0.0498624158063,0.999999964026,9.18621196276e-05,-0.000249078488795,-3.83352359307e-05,1793237422905814528
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767.562651987,746,716,679,666,637,881.437348013,789,804,654.562651987,633,654,0.401029152023,-0.00542290423401,0.0498634715949,0.999999964358,9.30562939595e-05,-0.000247321043762,-3.81705988212e-05,1793237422922480896
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881.982991948,789,804,654,633,654.017008052,0.401024489632,-0.00542251527803,0.0498650550215,0.999999964965,9.40445369058e-05,-0.000244513428597,-3.7932603776e-05,1793237422939147776
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881.409563378,789,804,654,633,654.590436622,0.401022855276,-0.00542446095266,0.0498658514783,0.999999965722,9.22325920347e-05,-0.00024212541172,-3.77331410527e-05,1793237422955814912
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.168448771,666,637,881,789,804,654,633,654.831551229,0.401020887691,-0.00542535705322,0.0498662405029,0.999999966165,9.13851318854e-05,-0.000240622457687,-3.76801147387e-05,1793237422972481536
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.757917043,666,637,881,789,804,654,633,654.242082957,0.401018087234,-0.00542362985664,0.0498656111946,0.999999965838,9.29482971925e-05,-0.000241331622747,-3.79930904195e-05,1793237422989147904
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.658505067,666.341494933,637.341494933,881.341494933,789,803.658505067,654,633,654,0.401016449676,-0.00542359035699,0.0498659173781,0.999999965832,9.28695991529e-05,-0.000241380145611,-3.80367306889e-05,1793237423005814528
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.079032041,666.920967959,637.920967959,881.920967959,789,803.079032041,654,633,654,0.401015622509,-0.00542472696534,0.049866875479,0.99999996605,9.16467332384e-05,-0.000240968285715,-3.78926787668e-05,1793237423022481408
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.503770838,637.503770838,881.503770838,789,803,654,633,654,0.401015922944,-0.00542570399457,0.049867352388,0.999999966549,8.9711564424e-05,-0.000239644325628,-3.7730228417e-05,1793237423039148288
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,803.071333385,654,633,654,0.401016176761,-0.00542646667554,0.049867671108,0.999999966998,8.81738470496e-05,-0.000238362831817,-3.75875894886e-05,1793237423055815168
+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,803.65005189,654,633,654,0.401014832351,-0.00542588397962,0.0498674051722,0.9999999668,9.02632800909e-05,-0.000238407956735,-3.76065336423e-05,1793237423072482048
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.232112225,637,881,789,804,654,633,654.232112225,0.40101394718,-0.00542602182331,0.0498672361215,0.999999966755,9.06023298334e-05,-0.000238467731861,-3.76168159806e-05,1793237423089148416
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.819284618,637,881,789,804,654,633,654.819284618,0.401013764501,-0.00542726187046,0.0498672152748,0.999999966944,8.82638329116e-05,-0.000238549917295,-3.76138484138e-05,1793237423105814784
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767.402558094,746,716,679,666.597441906,637,881,789,804,654.402558094,633,654.597441906,0.401014044663,-0.0054272601233,0.04986781423,0.999999967103,8.84769018481e-05,-0.000237817791203,-3.75349577166e-05,1793237423122481408
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767.984098034,746,716,679,666.015901966,637,881,789,804,654.984098034,633,654.015901966,0.401014530608,-0.00542670626039,0.0498686887562,0.999999967247,8.98244257339e-05,-0.000236723613065,-3.7422310744e-05,1793237423139148032
+421,7.016666667,POSE2_TO_POSE3_RETREAT,768,746,716,679,666,637,881.561059835,789,804,654.438940165,633,654,0.401014993209,-0.00542499258285,0.0498690182617,0.999999967248,9.14724803387e-05,-0.000236048279297,-3.76452485967e-05,1793237423155814400
+422,7.033333333,POSE2_TO_POSE3_RETREAT,768,746,716,679,666,637,881.863136435,789,804,654,633,654,0.401015217599,-0.00542422339926,0.0498692318409,0.999999967258,9.24432259341e-05,-0.000235610594667,-3.77498736874e-05,1793237423172481280
+423,7.050000000,POSE2_TO_POSE3_RETREAT,768,746,716,679,666,637,881.290609407,789,804,654,633,654,0.401014685802,-0.00542656451659,0.0498691251782,0.999999967315,9.12310699908e-05,-0.000235891911231,-3.74478545731e-05,1793237423189148416
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767.70972769,746.29027231,716,679.29027231,666,637,881,789,804,654,633,654.29027231,0.401013590705,-0.00542739561204,0.0498685213462,0.999999967151,9.12522168809e-05,-0.000236609762508,-3.72398675219e-05,1793237423205815296
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767.120233738,746.879766262,716,679.879766262,666,637,881,789,804,654,633,654.879766262,0.401011914939,-0.00542667013024,0.0498674050166,0.999999966759,9.25446904092e-05,-0.000237777607202,-3.71288116374e-05,1793237423222481664
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746.536441624,716,679.536441624,666,637.463558376,881,789,804,654,633.463558376,654.536441624,0.401013302061,-0.00542619470024,0.0498682850984,0.999999967264,9.15563583981e-05,-0.000236004011572,-3.73010430807e-05,1793237423239148032
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746.045118284,716,679,666.045118284,637.954881716,881.045118284,789.045118284,804,654,633.954881716,654,0.401015191334,-0.00542577828128,0.0498694925701,0.999999967895,9.01869944054e-05,-0.000233813500841,-3.75173295885e-05,1793237423255814656
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,746.617661513,716,679,666.617661513,637.382338487,881.617661513,789.617661513,804,654,633.382338487,654,0.401013776823,-0.00542530274525,0.0498685475915,0.999999967398,9.11948220382e-05,-0.000235559425117,-3.7400119768e-05,1793237423272481280
+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,747,716.190435338,679,666.809564662,637,881.809564662,790,804,654,633,654.190435338,0.401012983067,-0.00542540856456,0.0498680938135,0.99999996715,9.17076926314e-05,-0.000236428322589,-3.73125435741e-05,1793237423289147904
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,747,716.763672797,679,666.236327203,637,881.236327203,790,804,654,633,654.763672797,0.401013437117,-0.00542668299071,0.0498686274186,0.999999967406,9.12256293485e-05,-0.000235534271744,-3.72845351646e-05,1793237423305814528
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746.650582532,716.650582532,679,666,637.349417468,881.349417468,790,804,654,633,655,0.401013326876,-0.00542655794065,0.0498689352801,0.999999967558,9.16233941752e-05,-0.000234711514977,-3.74013377235e-05,1793237423322481408
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746.056064655,716.056064655,679,666,637.943935345,881.943935345,790,804,654,633,655,0.401012820812,-0.0054254512218,0.0498690847926,0.999999967638,9.26383182993e-05,-0.000233938767807,-3.76197185698e-05,1793237423339148288
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767.523054415,746,716,679,666,637.476945585,881.476945585,789.476945585,804,654,633,655,0.401013409545,-0.00542579809181,0.0498692099816,0.999999967703,9.14418877765e-05,-0.000234135687641,-3.75848592791e-05,1793237423355814912
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c47f5cd063e5d808fac569a63f0ca83e2752ccbd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,435 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+1,0.016666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+2,0.033333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+3,0.050000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+4,0.066666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+5,0.083333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+6,0.100000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+7,0.116666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+8,0.133333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+9,0.150000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+10,0.166666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+11,0.183333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+12,0.200000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+13,0.216666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+14,0.233333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+15,0.250000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+16,0.266666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+17,0.283333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+18,0.300000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+19,0.316666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+20,0.333333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+21,0.350000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
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+374,6.233333333,pose2_to_pose3_retreat,0.583323808916,1.25277321172e-06,1.04001160714,0.553895043673,0.00867491817271,1.03966113754
+375,6.250000000,pose2_to_pose3_retreat,0.582917629997,1.21194746347e-06,1.04001173097,0.553488866264,0.00867488255762,1.03966126354
+376,6.266666667,pose2_to_pose3_retreat,0.58253908489,1.23949379372e-06,1.04001174152,0.553110320732,0.00867490884743,1.03966127855
+377,6.283333333,pose2_to_pose3_retreat,0.582187771972,1.30383566335e-06,1.04001163997,0.552759006574,0.00867496911772,1.03966118002
+378,6.300000000,pose2_to_pose3_retreat,0.581865042896,1.33739014916e-06,1.04001154604,0.552436277785,0.00867500376226,1.03966108839
+379,6.316666667,pose2_to_pose3_retreat,0.58156392273,1.28587000459e-06,1.04001161939,0.55213515807,0.00867495377877,1.03966116312
+380,6.333333333,pose2_to_pose3_retreat,0.581282561261,1.23834398237e-06,1.04001169149,0.551853797404,0.00867490854092,1.03966122451
+381,6.350000000,pose2_to_pose3_retreat,0.581010294963,1.25765814847e-06,1.04001173015,0.551581530256,0.00867492464236,1.03966125473
+382,6.366666667,pose2_to_pose3_retreat,0.580746453019,1.33824352223e-06,1.04001170743,0.551317685672,0.00867499635404,1.03966123372
+383,6.383333333,pose2_to_pose3_retreat,0.580492158522,1.16018387065e-06,1.04001159667,0.55106339461,0.00867483010974,1.03966112738
+384,6.400000000,pose2_to_pose3_retreat,0.580248945896,1.17621448804e-06,1.04001183622,0.550820182188,0.00867484699944,1.03966137066
+385,6.416666667,pose2_to_pose3_retreat,0.580020371571,1.22713804237e-06,1.04001178914,0.550591606529,0.0086748933952,1.03966132366
+386,6.433333333,pose2_to_pose3_retreat,0.579808651225,1.25105418181e-06,1.04001165126,0.550379885418,0.00867491459294,1.039661183
+387,6.450000000,pose2_to_pose3_retreat,0.579614397614,1.23215283139e-06,1.04001166107,0.550185632802,0.00867489896973,1.03966119033
+388,6.466666667,pose2_to_pose3_retreat,0.579440472692,1.1901879905e-06,1.04001182169,0.550011709926,0.00867486399848,1.03966135217
+389,6.483333333,pose2_to_pose3_retreat,0.579285020549,1.1699210482e-06,1.04001170212,0.549856256517,0.00867483964733,1.03966123776
+390,6.500000000,pose2_to_pose3_retreat,0.57914707319,1.27773929573e-06,1.04001140309,0.549718307645,0.00867494264979,1.03966094648
+391,6.516666667,pose2_to_pose3_retreat,0.579023935843,1.22429323855e-06,1.04001133849,0.549595170534,0.00867489011649,1.03966088471
+392,6.533333333,pose2_to_pose3_retreat,0.578915474206,1.13884568971e-06,1.04001146666,0.549486709527,0.00867480669289,1.03966101018
+393,6.550000000,pose2_to_pose3_retreat,0.578816873404,1.21968223628e-06,1.04001167882,0.549388107851,0.00867488424592,1.03966121439
+394,6.566666667,pose2_to_pose3_retreat,0.578727847082,1.21177716344e-06,1.04001159837,0.549299082317,0.0086748789172,1.03966113248
+395,6.583333333,pose2_to_pose3_retreat,0.578648205284,1.16831795944e-06,1.04001139109,0.549219440896,0.00867483714315,1.03966093539
+396,6.600000000,pose2_to_pose3_retreat,0.578577669606,1.15092145787e-06,1.04001133766,0.549148905676,0.00867482158889,1.03966088883
+397,6.616666667,pose2_to_pose3_retreat,0.578516855938,1.18171492319e-06,1.04001150788,0.549088092559,0.00867485410767,1.03966105534
+398,6.633333333,pose2_to_pose3_retreat,0.578464701898,1.20780111419e-06,1.04001154185,0.549035937932,0.00867487791403,1.03966108215
+399,6.650000000,pose2_to_pose3_retreat,0.578421488152,1.26103455459e-06,1.04001154334,0.548992722326,0.00867492486359,1.03966108416
+400,6.666666667,pose2_to_pose3_retreat,0.578385351795,1.25415937245e-06,1.04001153835,0.548956585599,0.00867491676905,1.03966108011
+401,6.683333333,pose2_to_pose3_retreat,0.578355620832,1.2269049782e-06,1.04001152179,0.548926855029,0.00867489081754,1.03966106277
+402,6.700000000,pose2_to_pose3_retreat,0.578331699435,1.28965249453e-06,1.04001146634,0.548902932516,0.00867494955784,1.0396610019
+403,6.716666667,pose2_to_pose3_retreat,0.578311915621,1.25715330578e-06,1.04001166001,0.548883149868,0.00867492102891,1.03966119597
+404,6.733333333,pose2_to_pose3_retreat,0.578295594165,1.21740971656e-06,1.04001172565,0.548866829487,0.00867488495654,1.03966126218
+405,6.750000000,pose2_to_pose3_retreat,0.578282749389,1.19791572084e-06,1.04001156617,0.548853984968,0.00867486629299,1.03966110169
+406,6.766666667,pose2_to_pose3_retreat,0.578273491812,1.18197538186e-06,1.0400116608,0.548844727037,0.00867484904237,1.03966119375
+407,6.783333333,pose2_to_pose3_retreat,0.578266806921,1.19171425963e-06,1.04001169893,0.548838042297,0.00867485924792,1.03966123065
+408,6.800000000,pose2_to_pose3_retreat,0.578262318835,1.21255317362e-06,1.04001170422,0.548833554587,0.00867488135094,1.03966123551
+409,6.816666667,pose2_to_pose3_retreat,0.578259558721,1.18770603673e-06,1.04001168961,0.548830794497,0.00867485669093,1.03966122353
+410,6.833333333,pose2_to_pose3_retreat,0.57825761458,1.16317154214e-06,1.04001167598,0.548828850335,0.00867483217802,1.03966121229
+411,6.850000000,pose2_to_pose3_retreat,0.578256291326,1.15603474785e-06,1.04001167212,0.54882752701,0.00867482482391,1.03966120901
+412,6.866666667,pose2_to_pose3_retreat,0.578255351558,1.17838536484e-06,1.04001168492,0.548826587032,0.00867484635494,1.03966121918
+413,6.883333333,pose2_to_pose3_retreat,0.57825471293,1.19357393229e-06,1.04001169362,0.548825948261,0.00867486098655,1.03966122609
+414,6.900000000,pose2_to_pose3_retreat,0.578254271689,1.20406804066e-06,1.04001169963,0.54882550692,0.00867487109584,1.03966123086
+415,6.916666667,pose2_to_pose3_retreat,0.578253932443,1.21213636884e-06,1.04001170425,0.548825167598,0.0086748788683,1.03966123453
+416,6.933333333,pose2_to_pose3_retreat,0.578253695637,1.21482461735e-06,1.04001168645,0.54882493081,0.00867488166409,1.03966121792
+417,6.950000000,pose2_to_pose3_retreat,0.578253464534,1.21572644725e-06,1.04001165678,0.548824699766,0.00867488285454,1.0396611905
+418,6.966666667,pose2_to_pose3_retreat,0.578253261993,1.2165168242e-06,1.04001163077,0.548824497275,0.00867488389787,1.03966116647
+419,6.983333333,pose2_to_pose3_retreat,0.578253242201,1.21659405788e-06,1.04001162823,0.548824477488,0.00867488399982,1.03966116412
+420,7.000000000,pose2_to_pose3_retreat,0.578253085889,1.21720403149e-06,1.04001160816,0.548824321216,0.00867488480501,1.03966114557
+421,7.016666667,pose2_to_pose3_retreat,0.578252972533,1.21764638105e-06,1.04001159361,0.548824207888,0.00867488538893,1.03966113212
+422,7.033333333,pose2_to_pose3_retreat,0.578252916678,1.21786434253e-06,1.04001158643,0.548824152048,0.00867488567665,1.03966112549
+423,7.050000000,pose2_to_pose3_retreat,0.578252594848,1.21912021879e-06,1.04001154511,0.548823830299,0.00867488733446,1.0396610873
+424,7.066666667,pose2_to_pose3_retreat,0.578252454743,1.21673382814e-06,1.04001157585,0.54882368978,0.00867488346331,1.03966111603
+425,7.083333333,pose2_to_pose3_retreat,0.578252453035,1.21667472373e-06,1.04001157673,0.548823688063,0.00867488336913,1.03966111684
+426,7.100000000,pose2_to_pose3_retreat,0.578252393942,1.21462923855e-06,1.04001160695,0.548823628636,0.0086748801095,1.03966114502
+427,7.116666667,pose2_to_pose3_retreat,0.578252354438,1.21326186425e-06,1.04001162716,0.54882358891,0.00867487793049,1.03966116386
+428,7.133333333,pose2_to_pose3_retreat,0.57825225548,1.2098364908e-06,1.04001167777,0.548823489393,0.0086748724719,1.03966121106
+429,7.150000000,pose2_to_pose3_retreat,0.578252253867,1.20978064934e-06,1.0400116786,0.54882348777,0.00867487238292,1.03966121183
+430,7.166666667,pose2_to_pose3_retreat,0.578252100437,1.15614770587e-06,1.04001157391,0.54882333683,0.00867482741659,1.03966111261
+431,7.183333333,pose2_to_pose3_retreat,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018402,1.03966109182
+432,7.200000000,pose2_to_pose3_retreat,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018403,1.03966109182
+433,7.216666667,pose2_to_pose3_retreat,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018403,1.03966109182
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1c5fe63e4f7d0ef29ffeb33c8740adbe73706ff6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0482e5d7414922f9f5cd8a0054f0995bb5a36de7f59d348a333bf3c50efa890
+size 27613435
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f5b9be353c6c0ce978f652af77f6b22f88c0d2ac
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_03/franka_data.csv
@@ -0,0 +1,437 @@
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+22,0.366666667,BASELINE,767,746,716.78350962,679,666,637.78350962,881.21649038,789.78350962,804,654,633,654.78350962,0.401012492391,-0.00542984099819,0.0498703755832,0.999999968635,8.74994684991e-05,-0.000231780111222,-3.67695792942e-05,1793237423880292096
+23,0.383333333,BASELINE,767.35884842,746,716.64115158,679,666,638,881,789.64115158,804,654,633,654.64115158,0.401012756365,-0.00542968976113,0.0498702726622,0.999999968621,8.71478012351e-05,-0.00023195692435,-3.6864901069e-05,1793237423896958720
+24,0.400000000,BASELINE,767.934395321,746,716.065604679,679,666,638,881,789.065604679,804,654,633,654.065604679,0.401012823739,-0.0054280110142,0.0498703499003,0.999999968325,8.83314306818e-05,-0.000232750504679,-3.70696983921e-05,1793237423913625600
+25,0.416666667,BASELINE,768,746,716,679.522087301,666.522087301,638,881.522087301,789,804,654,633,654.522087301,0.401013351823,-0.00542834977153,0.0498703002979,0.99999996835,8.90470945518e-05,-0.00023239750438,-3.69052148977e-05,1793237423930292224
+26,0.433333333,BASELINE,767.890502396,746,716,679.890502396,666.890502396,637.890502396,882,789,804,654.109497604,633,655,0.401013767395,-0.00542905110477,0.0498704204436,0.999999968448,8.94039642637e-05,-0.000231875995465,-3.66544298358e-05,1793237423946958848
+27,0.450000000,BASELINE,767.311007589,746,716,679.311007589,666.311007589,637.311007589,882,789,804,654.688992411,633,655,0.401013445627,-0.00543019463827,0.0498713392432,0.999999968688,8.84791953501e-05,-0.000231264349496,-3.62371326571e-05,1793237423963625472
+28,0.466666667,BASELINE,767,746,716,679,666.266674338,637.266674338,881.733325662,789,804,655,633,655,0.401013632646,-0.00543022255828,0.0498717894903,0.999999968837,8.77678798487e-05,-0.000230871254811,-3.63603385019e-05,1793237423980292096
+29,0.483333333,BASELINE,767,746,716,679,666.842256246,637.842256246,881.157743754,789,804,655,633,655,0.401014409027,-0.00542895818496,0.0498716969802,0.999999968882,8.73038224459e-05,-0.000230731323424,-3.71096468938e-05,1793237423996958976
+30,0.500000000,BASELINE,767,746,716,679.425419405,667,638,881.425419405,789.425419405,804,654.574580595,633,654.574580595,0.401014280243,-0.00542860243385,0.0498712686654,0.999999968915,8.73008617095e-05,-0.000230583724728,-3.71419276177e-05,1793237424013625600
+31,0.516666667,BASELINE,767,746,716,679.98865003,667,638,882,790,804,654,633,654.01134997,0.401013825179,-0.00542856472801,0.0498707370618,0.999999968945,8.74790310767e-05,-0.00023042162731,-3.69138034621e-05,1793237424030291968
+32,0.533333333,BASELINE,767,746,716,679.407472977,667,638,882,790,804,654,633,654.592527023,0.401014145303,-0.00542727284459,0.0498713845488,0.999999969059,8.80114101845e-05,-0.000229676942474,-3.72022886153e-05,1793237424046958848
+33,0.550000000,BASELINE,767.172360385,746.172360385,716.172360385,679.172360385,666.827639615,637.827639615,881.827639615,789.827639615,804,654,633,654.827639615,0.401013968047,-0.00542659372211,0.0498715495106,0.999999968971,8.84414915001e-05,-0.000229870201241,-3.73521421446e-05,1793237424063625472
+34,0.566666667,BASELINE,767.749041651,746.749041651,716.749041651,679.749041651,666.250958349,637.250958349,881.250958349,789.250958349,804,654,633,654.250958349,0.401012624042,-0.00542735200693,0.0498705825709,0.999999968408,8.86316038315e-05,-0.000232263676734,-3.71767952669e-05,1793237424080292096
+35,0.583333333,BASELINE,767.675087931,746.675087931,716.675087931,679.675087931,666,637,881,789.324912069,804,654,633,654,0.401013259689,-0.00542759089004,0.049871080417,0.999999968481,8.92541462313e-05,-0.00023172103665,-3.71011174422e-05,1793237424096958720
+36,0.600000000,BASELINE,767.099842181,746.099842181,716.099842181,679.099842181,666,637,881,789.900157819,804,654,633,654,0.401015420588,-0.00542742959193,0.0498727068306,0.999999969041,9.0209861286e-05,-0.000228916219799,-3.71022312085e-05,1793237424113625600
+37,0.616666667,BASELINE,767,746,716.484461775,679,666,637,881,789.515538225,803.515538225,654,633,654.484461775,0.401014100775,-0.00542779836229,0.0498719974659,0.999999968923,8.94970751657e-05,-0.000229723585597,-3.70207833095e-05,1793237424130291968
+38,0.633333333,BASELINE,767,746.07027579,716.92972421,679,666,637,881.07027579,789,803.07027579,654,633,655,0.401012386186,-0.00542821063801,0.049870979973,0.999999968692,8.88254247093e-05,-0.000231009724561,-3.68955975827e-05,1793237424146958592
+39,0.650000000,BASELINE,767,746.653228135,716.346771865,679,666,637,881.653228135,789,803.653228135,654,633,655,0.40101312445,-0.00542812817246,0.0498712932847,0.999999968681,9.10101907732e-05,-0.000230254360984,-3.65778286009e-05,1793237424163625472
+40,0.666666667,BASELINE,767.232665341,746.767334659,716,679.232665341,666,637.232665341,881.767334659,789,804,654,633,654.767334659,0.401014632262,-0.00542897928785,0.049872182176,0.999999969091,9.08733873723e-05,-0.000228566049257,-3.62873017724e-05,1793237424180292096
+41,0.683333333,BASELINE,767.806941413,746.193058587,716,679.806941413,666,637.806941413,881.193058587,789,804,654,633,654.193058587,0.401017269962,-0.00543120113281,0.0498739161616,0.999999970111,8.7327941033e-05,-0.000225507937083,-3.6036773236e-05,1793237424196958720
+42,0.700000000,BASELINE,767.617438508,746,716,680,666.382561492,637.617438508,881,789,803.617438508,654,633,654,0.401016999673,-0.00543021448311,0.0498738177569,0.999999969959,8.79737231806e-05,-0.00022590896322,-3.61492034633e-05,1793237424213625600
+43,0.716666667,BASELINE,767.041137807,746,716,680,666.958862193,637.041137807,881,789,803.041137807,654,633,654,0.401015256702,-0.00542760296718,0.0498727913815,0.999999969213,9.07420538725e-05,-0.000228061788149,-3.64454455708e-05,1793237424230292224
+44,0.733333333,BASELINE,767,746,716,679.45329607,666.45329607,637,881,789,803,654,633,654,0.401014605759,-0.0054284068902,0.0498724579257,0.999999969217,8.92932045215e-05,-0.000228576885394,-3.66888026256e-05,1793237424246958848
+45,0.750000000,BASELINE,767,746,716.133377187,679.133377187,666,637,881,789.133377187,803.133377187,654,633,654.133377187,0.401014205011,-0.00542896061546,0.0498723301196,0.999999969238,8.85095407544e-05,-0.000228765965517,-3.68363440227e-05,1793237424263625472
+46,0.766666667,BASELINE,767,746,716.713170067,679.713170067,666,637,881,789.713170067,803.713170067,654,633,654.713170067,0.401014360708,-0.00542779818603,0.0498727123494,0.999999969126,9.10372783572e-05,-0.000228285222137,-3.66767952306e-05,1793237424280292096
+47,0.783333333,BASELINE,767,746,716.709706102,680,666,637,881.290293898,789.709706102,804,654,633,654.709706102,0.401014960381,-0.00542725183673,0.0498728246612,0.999999969223,9.12956743057e-05,-0.000227751938816,-3.67067200832e-05,1793237424296958720
+48,0.800000000,BASELINE,767,746,716.135195378,680,666,637,881.864804622,789.135195378,804,654,633,654.135195378,0.401015994736,-0.00542730867028,0.0498726727054,0.999999969526,8.93322357552e-05,-0.000227167215379,-3.69221520822e-05,1793237424313625344
+49,0.816666667,BASELINE,767,746,716,679.559606676,666,637,881.559606676,789,803.559606676,654,633,654.440393324,0.401015256221,-0.00542717787438,0.0498722106073,0.999999969207,9.11352783466e-05,-0.000227875594757,-3.67888853106e-05,1793237424330291968
+50,0.833333333,BASELINE,767.016750556,746.016750556,716,679,666,637,881,789,803.016750556,654,633,654.983249444,0.401014006037,-0.00542703060376,0.0498716773749,0.999999968713,9.38845052742e-05,-0.000228958791878,-3.65604089277e-05,1793237424346958592
+51,0.850000000,BASELINE,767.608092208,746.608092208,716,679,666,637,881,789,803.608092208,654,633,654.391907792,0.401013919267,-0.00542829889214,0.0498719780208,0.999999969057,8.93301006098e-05,-0.000229248803843,-3.67469728085e-05,1793237424363625216
+52,0.866666667,BASELINE,767.804955635,746.804955635,716,679,666,637.195044365,881,789.195044365,803.804955635,654,633,654.195044365,0.401014497286,-0.00542886859327,0.0498723388471,0.999999969364,8.68722259264e-05,-0.00022882567113,-3.69324729206e-05,1793237424380292096
+53,0.883333333,BASELINE,767.226629312,746.226629312,716,679,666,637.773370688,881,789.773370688,803.226629312,654,633,654.773370688,0.401016381681,-0.00542806549952,0.0498728179337,0.999999969627,8.85342455351e-05,-0.000227001136795,-3.71158826094e-05,1793237424396958720
+54,0.900000000,BASELINE,767,746,716,679.349299444,666,637.650700556,881,789.650700556,803.698598888,654,633,655,0.401016480308,-0.00542790774492,0.049872929004,0.999999969598,8.93080668334e-05,-0.000226830829514,-3.70801833973e-05,1793237424413625344
+55,0.916666667,BASELINE,767,746,716,679.923683215,666,637.076316785,881,789.076316785,804.84736643,654,633,655,0.401015428207,-0.00542816583907,0.0498728029291,0.999999969383,8.95095438457e-05,-0.000227726486162,-3.69032930594e-05,1793237424430291968
+56,0.933333333,BASELINE,767,746.507185775,716,679.492814225,666,637,881,789,804.492814225,654.507185775,633,654.492814225,0.401014888784,-0.00542828857057,0.0498728549834,0.999999969328,9.02328370871e-05,-0.000227726816112,-3.66462280602e-05,1793237424446958592
+57,0.950000000,BASELINE,767.092078298,747,716.092078298,679,666,637.092078298,881.092078298,789.092078298,804,654.907921702,633.092078298,654.092078298,0.401014471977,-0.00542834152982,0.049872860467,0.999999969276,9.09321636576e-05,-0.000227706178228,-3.64497068774e-05,1793237424463625472
+58,0.966666667,BASELINE,767.676931686,747,716.676931686,679,666,637.676931686,881.676931686,789.676931686,804,654.323068314,633.676931686,654.676931686,0.401014290968,-0.00542813208906,0.0498724706497,0.999999969119,9.10753285046e-05,-0.000228307511575,-3.66429426387e-05,1793237424480292096
+59,0.983333333,BASELINE,768,747,716.743589649,679.256410351,666,637.743589649,881.743589649,789.743589649,804,654,633.743589649,654.743589649,0.401014187341,-0.00542856864303,0.0498723947769,0.999999969198,8.93396068868e-05,-0.000228630717303,-3.67553063309e-05,1793237424496958720
+60,1.000000000,BASELINE,768,747,716.170743839,679.829256161,666,637.170743839,881.170743839,789.170743839,804,654,633.170743839,654.170743839,0.401014179213,-0.00542980241767,0.0498727063421,0.999999969556,8.52851555648e-05,-0.000228610686419,-3.67678660027e-05,1793237424513625344
+61,1.016666667,BASELINE,767.585808926,746.585808926,716,680,666,637.414191074,881,789,804,654,633,654,0.401014647482,-0.00542901232231,0.0498727984771,0.999999969453,8.73718061388e-05,-0.000228265476902,-3.68222202084e-05,1793237424530291968
+62,1.033333333,BASELINE,767,746,716,679.99581703,666,637.99581703,881,789,804,654,633,654,0.401015301846,-0.00542737710674,0.0498727926498,0.99999996914,9.20177562913e-05,-0.000227795159689,-3.68943926238e-05,1793237424546958848
+63,1.050000000,BASELINE,767,746,716,679.416326697,666,637.416326697,881,789,804,654,633,654,0.401013728554,-0.00542770479755,0.0498721285662,0.99999996902,9.00090132921e-05,-0.000229108995348,-3.69763405918e-05,1793237424563625472
+64,1.066666667,BASELINE,767.162109882,746,716,679.162109882,666,637.162109882,881,789,804,654,633,654.162109882,0.401012951897,-0.00542804770698,0.0498717512272,0.99999996904,8.81844880928e-05,-0.000229718494705,-3.70429539283e-05,1793237424580292096
+65,1.083333333,BASELINE,767.737857677,746,716,679.737857677,666,637.737857677,881,789,804,654,633,654.737857677,0.401014207927,-0.00542842944804,0.0498721055428,0.99999996943,8.6830011266e-05,-0.000228530816696,-3.70704395717e-05,1793237424596958720
+66,1.100000000,BASELINE,767.68703678,746,716,679.68703678,666,638,881,789.31296322,804,654,633,654.68703678,0.401014789842,-0.00542856231014,0.0498727016249,0.999999969496,8.81852507672e-05,-0.000227765066518,-3.6790964665e-05,1793237424613625344
+67,1.116666667,BASELINE,767.112468124,746,716,679.112468124,666,638,881,789.887531876,804,654,633,654.112468124,0.401014808266,-0.00542848713472,0.0498734997991,0.999999969284,9.18055377167e-05,-0.000227352005168,-3.62549019425e-05,1793237424630291968
+68,1.133333333,BASELINE,767,746.473967535,716,679,666,637.526032465,881,790,803.526032465,654,633,654,0.401013716239,-0.00542749764815,0.049872184306,0.999999968843,9.2021228551e-05,-0.000229144280152,-3.65989509768e-05,1793237424646958592
+69,1.150000000,BASELINE,767.06227228,746.93772772,716,679,666,637,881.06227228,789.93772772,803.06227228,654,633,654,0.401012640972,-0.00542652944854,0.0498707061669,0.999999968466,9.130324515e-05,-0.000230998480989,-3.70459700877e-05,1793237424663625216
+70,1.166666667,BASELINE,767.642106168,746.357893832,716,679,666,637,881.642106168,789.357893832,803.642106168,654,633,654,0.401013951261,-0.00542758767114,0.0498721518337,0.999999969108,8.97121784537e-05,-0.00022890633318,-3.65684806761e-05,1793237424680291840
+71,1.183333333,BASELINE,768,746.220644359,716,679,666,637,881.779355641,789,804,654,633,654,0.401014620523,-0.00542815710203,0.0498730421306,0.999999969489,8.83576468747e-05,-0.000227795888206,-3.63941032205e-05,1793237424696958720
+72,1.200000000,BASELINE,768,746.797093238,716,679,666,637,881.202906762,789,804,654,633,654,0.401014256087,-0.00542793832211,0.0498730368547,0.999999969455,8.73845445318e-05,-0.000228268507653,-3.67085150025e-05,1793237424713625344
+73,1.216666667,BASELINE,768,746.627736839,716,679.372263161,666,637,881,789,804,654,633,654,0.401014658729,-0.00542877901794,0.0498728199279,0.999999969578,8.62831556085e-05,-0.00022813096305,-3.68107430217e-05,1793237424730291968
+74,1.233333333,BASELINE,768,746.053261674,716,679.946738326,666,637,881,789,804,654,633,654,0.401015478044,-0.00543019521718,0.0498724880331,0.999999969786,8.5112081937e-05,-0.000227661979515,-3.67977135695e-05,1793237424746958592
+75,1.250000000,BASELINE,767.466092323,746,716,679.466092323,666,637,881,789,804,654,633.533907677,654,0.401014650172,-0.00542913446625,0.0498725715659,0.999999969452,8.74353158172e-05,-0.000228291624527,-3.65110888969e-05,1793237424763625216
+76,1.266666667,BASELINE,767.120551123,746,716,679,666,637.120551123,881.120551123,789.120551123,804,654,633.879448877,654.120551123,0.401013698238,-0.00542819887708,0.0498726444066,0.999999969161,8.92800817181e-05,-0.00022889041495,-3.62905877525e-05,1793237424780292096
+77,1.283333333,BASELINE,767.700250841,746,716,679,666,637.700250841,881.700250841,789.700250841,804,654,633.299749159,654.700250841,0.401012914878,-0.00542870404477,0.0498725148366,0.999999969262,8.79424739885e-05,-0.000228944093629,-3.64284196375e-05,1793237424796958720
+78,1.300000000,BASELINE,767.722181239,746,716,679,666.277818761,638,881.722181239,789.722181239,803.722181239,654,633,654.722181239,0.401013639683,-0.00542917192141,0.0498728306927,0.999999969492,8.7464618766e-05,-0.000228117923735,-3.64572324323e-05,1793237424813625344
+79,1.316666667,BASELINE,767.146895917,746,716,679,666.853104083,638,881.146895917,789.146895917,803.146895917,654,633,654.146895917,0.401015979311,-0.00542959986965,0.0498736234762,0.999999969858,8.79073192479e-05,-0.000226349680926,-3.63693161188e-05,1793237424830291968
+80,1.333333333,BASELINE,767.437580745,746,716,679,666.562419255,637.562419255,881,789,803.437580745,654,633,654,0.401015950346,-0.00542995217854,0.0498737347273,0.999999969883,8.79923636942e-05,-0.000226191799773,-3.64560813835e-05,1793237424846958592
+81,1.350000000,BASELINE,767.975119221,746,716,679,666,637.024880779,881,789,803.975119221,654,633,654,0.401015157183,-0.00543019751309,0.0498735939131,0.999999969792,8.80221041161e-05,-0.000226556750825,-3.66065785269e-05,1793237424863625216
+82,1.366666667,BASELINE,767.395146049,746,716,679,666,637.604853951,881,789,803.395146049,654,633,654,0.401015434871,-0.00542863489592,0.04987304335,0.999999969713,8.95541440558e-05,-0.00022626655923,-3.6842591769e-05,1793237424880291840
+83,1.383333333,BASELINE,767.184102025,746,716,679.184102025,666.184102025,637.815897975,881.184102025,789,803.184102025,654,633,654,0.401015521941,-0.00542802208384,0.0498726476707,0.999999969643,8.99644415657e-05,-0.000226404132212,-3.69010002789e-05,1793237424896958464
+84,1.400000000,BASELINE,767.761800004,746,716,679.761800004,666.761800004,637.238199996,881.761800004,789,803.761800004,654,633,654,0.401015201482,-0.00542943988163,0.0498725831208,0.999999969593,8.79765404118e-05,-0.000227456232871,-3.657970359e-05,1793237424913625088
+85,1.416666667,BASELINE,767.663241155,746.336758845,716.336758845,679.663241155,666.663241155,637,881.663241155,789,804,654,633,654,0.401014372533,-0.00542975567222,0.0498727628251,0.999999969605,8.65518892335e-05,-0.00022796831544,-3.64678862569e-05,1793237424930291712
+86,1.433333333,BASELINE,767.090204193,746.909795807,716.909795807,679.090204193,666.090204193,637,881.090204193,789,804,654,633,654,0.401013186814,-0.00542929826794,0.0498731139039,0.999999969662,8.55224279231e-05,-0.000228101508248,-3.65030447047e-05,1793237424946958592
+87,1.450000000,BASELINE,767,746.500477074,716.500477074,679,666.499522926,637,881.499522926,789,804,654,633,654,0.401013049116,-0.00542984525482,0.0498726696402,0.999999969459,8.67918745317e-05,-0.000228540967426,-3.63005328244e-05,1793237424963625216
+88,1.466666667,BASELINE,767,746,716,679,666.909993844,637,881.909993844,789.090006156,803.909993844,654.090006156,633,654,0.401013300814,-0.00543006743267,0.0498722568126,0.99999996925,8.85980982995e-05,-0.000228784454328,-3.61676081205e-05,1793237424980292096
+89,1.483333333,BASELINE,767,746,716,679,666.332308554,637,881.332308554,789.667691446,803.332308554,654.667691446,633,654,0.401014601508,-0.00542751299753,0.0498728194076,0.999999969275,9.09856426229e-05,-0.0002276560862,-3.66523107629e-05,1793237424996959744
+90,1.500000000,BASELINE,767,746,716,679.244777941,666,637,881,790,803.244777941,654.755222059,633,654.244777941,0.401014746011,-0.00542658364647,0.0498728863699,0.999999969237,9.13397418681e-05,-0.000227647919963,-3.68835364567e-05,1793237425013626624
+91,1.516666667,BASELINE,767,746,716,679.821053456,666,637,881,790,803.821053456,654.178946544,633,654.821053456,0.40101332471,-0.00542785511252,0.0498722821074,0.999999969112,8.89399893877e-05,-0.000229156819479,-3.67714836566e-05,1793237425030292736
+92,1.533333333,BASELINE,767.40529635,746,716,679.59470365,666,637,881,789.59470365,804,654,633,654.59470365,0.401013991379,-0.00542841560713,0.0498727906712,0.999999969237,8.95096961876e-05,-0.000228437427029,-3.64754913395e-05,1793237425046959104
+93,1.550000000,BASELINE,767.993127595,746,716,679.006872405,666,637,881,789.006872405,804,654,633,654.006872405,0.401015598417,-0.00542865589887,0.049873800423,0.99999996947,9.14167697113e-05,-0.000226714470185,-3.60966574564e-05,1793237425063625728
+94,1.566666667,BASELINE,767.427032707,746,716.572967293,679,666.572967293,637,881.572967293,789,803.427032707,654,633,654.572967293,0.401014536787,-0.00542902060796,0.0498730310672,0.999999969427,8.92667132903e-05,-0.000227684952843,-3.65568026087e-05,1793237425080292608
+95,1.583333333,BASELINE,767.15179994,746,716.84820006,679.15179994,667,637.15179994,882,789.15179994,803.15179994,654,633,655,0.401013779368,-0.00542913645091,0.0498723984285,0.999999969378,8.79205073079e-05,-0.000228362763665,-3.69256512296e-05,1793237425096959232
+96,1.600000000,BASELINE,767.728081034,746,716.271918966,679.728081034,667,637.728081034,882,789.728081034,803.728081034,654,633,655,0.401013960895,-0.00542855226906,0.0498722069456,0.999999969336,8.89563287287e-05,-0.00022813307488,-3.70114532244e-05,1793237425113625856
+97,1.616666667,BASELINE,767.696312083,746,716,680,667,637.696312083,881.696312083,789.696312083,804,654,633,655,0.401013905588,-0.00542900822731,0.0498723673043,0.999999969407,8.84485406513e-05,-0.000228065184934,-3.67433526474e-05,1793237425130292480
+98,1.633333333,BASELINE,767.121307578,746,716,680,667,637.121307578,881.121307578,789.121307578,804,654,633,655,0.401013638691,-0.00543039345295,0.0498728420002,0.999999969575,8.65616826214e-05,-0.000228141847046,-3.61590734065e-05,1793237425146958848
+99,1.650000000,BASELINE,767,746,716,679.536096786,667,637,881,789.463903214,804,654,633,654.536096786,0.401014484355,-0.00543034174052,0.04987354752,0.999999969966,8.61834782188e-05,-0.000226577680555,-3.60918893242e-05,1793237425163625472
+100,1.666666667,BASELINE,767,746,716,679,666.948902508,637,881,790,804,654.051097492,632.948902508,654,0.401015543463,-0.00542990472982,0.0498742008756,0.999999970326,8.64099299028e-05,-0.000224880981124,-3.61874888452e-05,1793237425180292096
+101,1.683333333,BASELINE,767,746,716,679,666.369416481,637,881,790,804,654.630583519,632.369416481,654,0.401015733661,-0.00542945638764,0.0498736766127,0.99999996978,8.87177619004e-05,-0.00022635047604,-3.65366949749e-05,1793237425196958720
+102,1.700000000,BASELINE,767,746,716,679,666.209006501,637.209006501,881.209006501,790,804,654.790993499,632.209006501,654,0.401015893764,-0.00542972109007,0.0498732663334,0.999999969568,8.89785337314e-05,-0.000227138221137,-3.68050915356e-05,1793237425213625856
+103,1.716666667,BASELINE,767,746,716,679,666.785560012,637.785560012,881.785560012,790,804,654.214439988,632.785560012,654,0.401016000945,-0.00543123971244,0.0498730564994,0.999999969948,8.56394611137e-05,-0.000226727079421,-3.69313809223e-05,1793237425230292992
+104,1.733333333,BASELINE,767,746,716,679,666.631582334,637.631582334,881.631582334,790,804,654,633,654,0.401015040757,-0.0054307799705,0.0498729023479,0.999999969763,8.61458277551e-05,-0.000227385481037,-3.67239776984e-05,1793237425246959616
+105,1.750000000,BASELINE,767,746,716,679,666.044991373,637.044991373,881.044991373,790,804,654,633,654,0.401013448485,-0.00542914866094,0.049872781171,0.99999996924,8.89294251275e-05,-0.000228677255585,-3.63189650265e-05,1793237425263625984
+106,1.766666667,BASELINE,767,746,716,679,666,637,881.535160783,789.464839217,804,654,633,654.535160783,0.401014391088,-0.00542909468026,0.0498732684315,0.999999969651,8.82704876869e-05,-0.000227085597011,-3.65928169052e-05,1793237425280292352
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881,789,804,655,633,654,0.401016243804,-0.00542869044411,0.049874572179,0.99999997004,8.7838169308e-05,-0.000225511554284,-3.67396358921e-05,1793237425322582272
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,716,679.421854777,666,637.578145223,881.578145223,789,804,654.421854777,633,654,0.401014085308,-0.00542949409831,0.0498727622014,0.99999996958,8.78284536186e-05,-0.000227576790245,-3.65319278826e-05,1793237425339248384
+109,1.816666667,POSE1_TO_POSE2_PRESS,767.154896905,746,716,679,666.154896905,637.845103095,881.845103095,789,804,654,633,654,0.401012874232,-0.00542970762808,0.0498716718204,0.99999996929,8.83260305694e-05,-0.000228669860907,-3.64478469338e-05,1793237425355914496
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.727887309,746,716,679,666.727887309,637.272112691,881.272112691,789,804,654,633,654,0.401014220404,-0.00542832831029,0.0498725237544,0.999999969463,9.0192877965e-05,-0.000227138889987,-3.66974567265e-05,1793237425372581120
+111,1.850000000,POSE1_TO_POSE2_PRESS,768,746,716,679.310988608,666.689011392,637,881,789,804,654,632.689011392,654,0.401014593197,-0.00542861826855,0.0498726452757,0.999999969461,9.02587605385e-05,-0.000227149480122,-3.65438293303e-05,1793237425389247488
+112,1.866666667,POSE1_TO_POSE2_PRESS,768,746,716,679.903234126,666.096765874,637,881,789,804,654,632.096765874,654,0.40101408567,-0.0054304179138,0.0498721062144,0.999999969299,8.86958572865e-05,-0.000228554252286,-3.60255157443e-05,1793237425405913856
+113,1.883333333,POSE1_TO_POSE2_PRESS,768,746,716,680,666.484149425,637,881,789,803.515850575,654,632.484149425,654,0.401015421145,-0.00543011696877,0.0498735244478,0.999999969635,8.98170793127e-05,-0.000226665636751,-3.58555762956e-05,1793237425422580480
+114,1.900000000,POSE1_TO_POSE2_PRESS,767.937612257,746,716,679.937612257,666.937612257,637.062387743,881,789,803.062387743,654,633,654,0.401016864731,-0.00542953394995,0.0498750748097,0.999999970006,9.11278517127e-05,-0.000224506362651,-3.57863148414e-05,1793237425439247104
+115,1.916666667,POSE1_TO_POSE2_PRESS,767.363183939,746,716,679.363183939,666.363183939,637.636816061,881,789,803.636816061,654,633,654,0.401016241516,-0.00543000283935,0.0498745722895,0.999999969927,8.96920024777e-05,-0.000225404599235,-3.59849544323e-05,1793237425455913728
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,716,679.216806762,666,638,881.216806762,789,804,654.216806762,633,654,0.401017443982,-0.00543049333844,0.0498747536151,0.999999970154,8.82237192003e-05,-0.00022497385259,-3.59853269916e-05,1793237425472580352
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716,679.80636058,666,638,881.80636058,789,804,654.80636058,633,654,0.401021785269,-0.00543102099015,0.0498761106494,0.999999970907,8.66996735391e-05,-0.000222258238979,-3.56448270781e-05,1793237425489246976
+118,1.966666667,POSE1_TO_POSE2_PRESS,767.389292636,746.389292636,716,679.610707364,666.389292636,637.610707364,881.610707364,789,804,654.610707364,633,654,0.40103841375,-0.00543072456113,0.0498829954099,0.999999973653,8.70244856449e-05,-0.00020944781615,-3.54026281488e-05,1793237425505913856
+119,1.983333333,POSE1_TO_POSE2_PRESS,767.968986077,746.968986077,716,679.031013923,666.968986077,637.031013923,881.031013923,789,804,654.031013923,633,654,0.401061051829,-0.00543002507897,0.0498925837498,0.999999977111,8.82535633698e-05,-0.000191700079468,-3.520850763e-05,1793237425522580736
+120,2.000000000,POSE1_TO_POSE2_PRESS,767.456294309,746.456294309,716,679,666.456294309,637.543705691,881,789,804,654,633,654,0.401105790584,-0.00543168713956,0.0499068509244,0.999999982666,8.76350320745e-05,-0.000160654286698,-3.43341191346e-05,1793237425539247360
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,638,881.121064413,789,803.878935587,654,633.121064413,654.121064413,0.401155185026,-0.00543355195234,0.0499218078858,0.999999987404,8.68150052739e-05,-0.000128613889759,-3.33689025265e-05,1793237425555913728
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,638,881.709701855,789,803.290298145,654,633.709701855,654.709701855,0.401217735839,-0.00543568428667,0.0499384075055,0.999999991243,8.56201147965e-05,-9.56352201935e-05,-3.22013992401e-05,1793237425572580352
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746.293805798,716,679,666,637.706194202,882,789,803.587611595,654,633.706194202,654.706194202,0.40128437091,-0.005437907073,0.0499510019478,0.999999993039,8.54050979998e-05,-7.53432516414e-05,-3.0854323284e-05,1793237425589246976
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746.873498398,716,679,666,637.126501602,882,789,804.746996795,654,633.126501602,654.126501602,0.401354980152,-0.00544021787323,0.049959699164,0.999999993588,8.61435443245e-05,-6.73960394335e-05,-2.93325148032e-05,1793237425605913600
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746.54907538,716,679.45092462,666,637,881.54907538,789,804.098150759,654,633,654.45092462,0.401430154225,-0.0054436157454,0.0499613576299,0.999999994028,8.36089114738e-05,-6.43533834218e-05,-2.85095387417e-05,1793237425622580480
+126,2.100000000,POSE1_TO_POSE2_PRESS,767.027512207,746,716.027512207,679.972487793,666,637.027512207,881.027512207,789,803.027512207,654,633,654.972487793,0.401507476923,-0.00544730377442,0.0499610173216,0.999999994416,8.02408998806e-05,-6.28602906665e-05,-2.78830132793e-05,1793237425639247360
+127,2.116666667,POSE1_TO_POSE2_PRESS,767.600019058,746,716.600019058,679.399980942,666,637.600019058,881.600019058,789,803.600019058,654,633,654.399980942,0.401602121179,-0.00545072867317,0.0499600032937,0.999999994441,7.84626380732e-05,-6.49433218894e-05,-2.72838601092e-05,1793237425655913984
+128,2.133333333,POSE1_TO_POSE2_PRESS,768,746,716.822140087,679,666,637.822140087,882,789,804,654,633,654.177859913,0.401704233902,-0.00545420831882,0.0499601402018,0.999999994548,7.70864847309e-05,-6.52237147226e-05,-2.65967192435e-05,1793237425672580352
+129,2.150000000,POSE1_TO_POSE2_PRESS,768,746,716.231933052,679,666,637.231933052,882,789,804,654,633,654.768066948,0.401823661371,-0.00545781488818,0.0499629454187,0.999999994852,7.66425724377e-05,-6.13249038862e-05,-2.57055894211e-05,1793237425689247232
+130,2.166666667,POSE1_TO_POSE2_PRESS,768,746,716,679,666,637,882,789,804,654,633,654.646475397,0.401962414878,-0.00546192187358,0.0499658637801,0.999999995208,7.50711583896e-05,-5.78237578584e-05,-2.45821564848e-05,1793237425705913856
+131,2.183333333,POSE1_TO_POSE2_PRESS,768,746,716,679,666,637,882,789,804,654,633,654.064092254,0.402113679348,-0.00546635280987,0.0499688553874,0.999999995591,7.27698420405e-05,-5.45800446953e-05,-2.33083391562e-05,1793237425722580480
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.488796057,746,716,679,666,637.511203943,881.488796057,789,804,654,633,654,0.402276275578,-0.00547478986053,0.0499674196891,0.999999995784,6.69936046437e-05,-5.89927597811e-05,-2.15213306891e-05,1793237425739247104
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637.914367783,881,789,803.914367783,654,633,654,0.402444826309,-0.00548304258808,0.0499655411417,0.999999995868,6.17927834345e-05,-6.36497652099e-05,-1.98618389597e-05,1793237425755913728
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637.33989102,881,789,803.33989102,654,633,654,0.402639369773,-0.00548741502083,0.0499642599191,0.999999995804,6.23298837872e-05,-6.42963902968e-05,-1.92925754884e-05,1793237425772580352
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716,679.241357741,666,637,881,789,803.241357741,654,633,654,0.40284863364,-0.00549285003323,0.0499652699659,0.999999996112,6.1505454609e-05,-6.04892868904e-05,-1.82608555086e-05,1793237425789246976
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716,679.832418407,666,637,881,789,803.832418407,654,633,654,0.40307922587,-0.00549982461567,0.0499695998301,0.999999996878,5.87083069854e-05,-5.02291818812e-05,-1.65590829135e-05,1793237425805913600
+137,2.283333333,POSE1_TO_POSE2_PRESS,767.413493234,746,716.413493234,679.586506766,666,637.413493234,881.413493234,789,803.586506766,654,633,654,0.403343916614,-0.0055088011334,0.049977120439,0.99999999782,5.44085756516e-05,-3.45590681262e-05,-1.43216336439e-05,1793237425822580480
+138,2.300000000,POSE1_TO_POSE2_PRESS,767.990616393,746,716.990616393,679.009383607,666,637.990616393,881.990616393,789,803.009383607,654,633,654,0.403622101014,-0.00551856986833,0.0499859037077,0.999999998563,4.95142332846e-05,-1.67480747672e-05,-1.18722033501e-05,1793237425839247360
+139,2.316666667,POSE1_TO_POSE2_PRESS,767.433035436,746,716.433035436,679,666,637.433035436,881.433035436,789.566964564,803.566964564,654,633,654,0.403921693415,-0.0055277127771,0.049991593735,0.999999998946,4.45476723737e-05,-5.47488639187e-06,-9.63823208131e-06,1793237425855913728
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666.146401424,637,881,789.853598576,803.853598576,654,633,654.146401424,0.404227086339,-0.00553645109844,0.0499968118555,0.999999999144,4.04759240954e-05,4.60786659936e-06,-7.26563970419e-06,1793237425872580352
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666.735210534,637,881,789.264789466,803.264789466,654,633,654.735210534,0.404548938462,-0.0055439980603,0.0500007584227,0.99999999916,3.91118010851e-05,1.14197985906e-05,-4.46338999219e-06,1793237425889246976
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716.318857173,679,666.681142827,637,881,789,803,654,633,654.681142827,0.404899110977,-0.00554580643335,0.050005540946,0.999999998676,4.68745531156e-05,2.12010893393e-05,-1.05485980634e-06,1793237425905913600
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716.898285093,679,666.101714907,637,881,789,803,654,633,654.101714907,0.40527242701,-0.00554292522048,0.0500110066148,0.99999999751,6.20958063e-05,3.34089469938e-05,2.84912435294e-06,1793237425922580224
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716.525568193,679,666,637,881,789,803.474431807,654,633,654,0.405644401786,-0.00552519772446,0.0499976050814,0.99999999562,9.32673546853e-05,7.20216709456e-06,3.05516401269e-06,1793237425939247104
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,716.049737722,679,666,637.049737722,881,789,804,654,633,654,0.406018738211,-0.0055065936626,0.0499804969338,0.999999991811,0.000125196339036,-2.6384806998e-05,2.75692580584e-06,1793237425955914240
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,716.623546114,679,666,637.623546114,881,789,804,654,633,654,0.406420967905,-0.00551206077456,0.049966661474,0.999999990294,0.000129322102315,-5.15522485435e-05,5.44152175376e-06,1793237425972581632
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,716.796926992,679,666,637.796926992,881.203073008,789,804,654,633,654,0.406834799821,-0.00551876953812,0.0499551785487,0.999999988748,0.000131466578415,-7.1784794222e-05,8.16262429672e-06,1793237425989248768
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,716.206492087,679,666,637.206492087,881.793507913,789,804,654,633,654,0.407270762956,-0.00552784675261,0.049948183085,0.9999999881,0.000129831747803,-8.26040213456e-05,1.09533630378e-05,1793237426005914624
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746.377510822,716,679,666,637,881.622489178,789,804,654,633,654,0.407766752517,-0.00553076577937,0.0499576794933,0.999999988666,0.000136724398613,-6.13938340834e-05,1.43126294498e-05,1793237426022580992
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746.958054458,716,679,666,637,881.041945542,789,804,654,633,654,0.408295025467,-0.00553037281025,0.0499760455578,0.999999988593,0.000148203298069,-2.2957591587e-05,1.79776612198e-05,1793237426039247616
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,747,716,679,666.533633798,637,881,789,804,654,633,654,0.408852067778,-0.00553260466393,0.0499966418188,0.999999987327,0.000157387032169,7.14855136441e-06,2.2877467156e-05,1793237426055914496
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746.892174317,716,679,666.892174317,637.107825683,881.107825683,789.107825683,804,654,633,654.107825683,0.409407768454,-0.00553455905963,0.0500129129866,0.999999985356,0.000166363497459,2.92382023599e-05,2.74937633197e-05,1793237426072581376
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746.322271602,716,679,666.322271602,637.677728398,881.677728398,789.677728398,804,654,633,654.677728398,0.409948117927,-0.00553444841581,0.0500099050462,0.99999998399,0.000175217726498,1.97540261057e-05,3.04830049678e-05,1793237426089248000
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637.740864957,882,790,804,654,633,655,0.410488956852,-0.00553265661424,0.05000034032,0.999999982116,0.000186218785381,-1.77765517552e-06,3.29747533352e-05,1793237426105914880
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637.144486809,882,790,804,654,633,655,0.411030432834,-0.00552867692308,0.0499822424721,0.999999978631,0.000200013769105,-3.89881821108e-05,3.48190551905e-05,1793237426122581760
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716,678.562660629,666,637.437339371,882,790,804,654,633,654.562660629,0.411613888649,-0.00552949696564,0.0499650627432,0.999999975465,0.000207542573606,-6.80473900582e-05,3.69504022008e-05,1793237426139248384
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,716.014451383,678.028902765,666,637.985548617,882,789.985548617,804,654,633,654,0.41221335701,-0.0055318646776,0.049949147263,0.999999972736,0.000210887461499,-9.25341878561e-05,3.86355333937e-05,1793237426155915008
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,716.589186116,679.178372231,666,637.410813884,882,789.410813884,804,654,633,654,0.412913241697,-0.00553473688884,0.0499708656588,0.999999990568,0.000129698490671,-4.07939748792e-05,1.9462481476e-05,1793237426172581120
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,717,680,666.168628533,637,882,789,803.831371467,654,633,654,0.413603396998,-0.0055406682689,0.0499905549178,0.999999997427,7.13169208867e-05,-3.41647627539e-07,7.68074255819e-06,1793237426189247232
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,717,680,666.759869184,637,882,789,803.240130816,654,633,654,0.414269168738,-0.00555426645219,0.0500051588101,0.999999997369,7.0094629758e-05,1.1821291937e-05,1.44229072747e-05,1793237426205913856
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,716.65597325,679.65597325,666.65597325,637,882,789,803.34402675,654,633,654.34402675,0.414924242631,-0.00555891934056,0.0499931116249,0.999999996628,7.91112222606e-05,-1.14131178329e-05,1.88670999919e-05,1793237426222580736
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,716.076659969,679.076659969,666.076659969,637,882,789,803.923340031,654,633,654.923340031,0.415572000033,-0.00555745436858,0.0499628372529,0.999999993507,9.51303847417e-05,-5.88564582967e-05,2.17396650067e-05,1793237426239247360
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746.498070428,716,679.498070428,666.498070428,637.498070428,882,789,804,654,633,654.501929572,0.41626803556,-0.00555406252972,0.0499523955356,0.999999991598,0.000103907485397,-7.42088665695e-05,2.23721355195e-05,1793237426255914496
+164,2.733333333,POSE1_TO_POSE2_PRESS,767.072073949,746.927926051,716.072073949,679.927926051,667,637.927926051,882,789,804,654,633,654,0.416980710897,-0.00555086205659,0.0499495777487,0.999999990664,0.000110665933429,-7.68173505411e-05,2.29078807661e-05,1793237426272581120
+165,2.750000000,POSE1_TO_POSE2_PRESS,767.645882717,746.354117283,716.645882717,679.354117283,667,637.354117283,882,789,804,654,633,654,0.417757965878,-0.00555103948384,0.0499787770656,0.99999999321,0.000111060544982,-2.47808979172e-05,2.51485601383e-05,1793237426289247744
+166,2.766666667,POSE1_TO_POSE2_PRESS,767.779555123,746.220444877,716.779555123,679,666.779555123,637,882,789.220444877,804,653.779555123,633.220444877,654,0.418519048229,-0.00555161876053,0.0499989870919,0.999999993495,0.000110500292659,8.61454895179e-06,2.69407998178e-05,1793237426305914368
+167,2.783333333,POSE1_TO_POSE2_PRESS,767.203778493,746.796221507,716.203778493,679,666.203778493,637,882,789.796221507,804,653.203778493,633.796221507,654,0.419254062283,-0.00555284577228,0.0500047074215,0.999999993661,0.000108400910185,1.19628493612e-05,2.80102067963e-05,1793237426322580736
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,747,716.385510995,679.385510995,666,637,882,789.614489005,804.385510995,653.385510995,633.614489005,654,0.419981033616,-0.00555155007759,0.0499927922017,0.999999993737,0.000108245200382,-7.69554054213e-06,2.73789298494e-05,1793237426339247360
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,747,716.982202714,679.982202714,666,637,882,789.017797286,804.982202714,653.982202714,633.017797286,654,0.420703599149,-0.00554887245862,0.0499712163282,0.999999992911,0.000109154223414,-3.9956864353e-05,2.58160278622e-05,1793237426355913984
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746.442168504,717,680,666.557831496,637,881.442168504,789,804.442168504,654,633,654,0.42152128023,-0.00555258703302,0.0499970477586,0.999999993789,0.000107382773183,9.84872973223e-06,2.81644548078e-05,1793237426372580608
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,716.864284325,680,667,637.135715675,881.135715675,789,804.135715675,654,633.135715675,654,0.422332065727,-0.00555581915839,0.0500182920913,0.999999992678,0.000105335951183,5.14324236111e-05,3.00660929254e-05,1793237426389247488
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,716.276735505,680,667,637.723264495,881.723264495,789,804.723264495,654,633.723264495,654,0.423110158561,-0.00555679082094,0.0500194124677,0.999999992641,0.000102646700825,5.7243416267e-05,3.00799157072e-05,1793237426405914112
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666.693308306,637.693308306,882,789,804.693308306,653.693308306,633.693308306,654,0.42388000662,-0.00555723957744,0.0500094604326,0.999999993551,0.000101504277243,4.12500708151e-05,2.98948100628e-05,1793237426422580992
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666.113550862,637.113550862,882,789,804.113550862,653.113550862,633.113550862,654,0.424642513827,-0.0055572227597,0.0499896499746,0.999999994371,0.000101739085059,5.8430334005e-06,2.95325866481e-05,1793237426439247616
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746.464186727,716.464186727,679.535813273,666.464186727,637,882,789,804,653.464186727,633,654,0.425433837546,-0.00555859356982,0.0499970255117,0.999999994386,0.00010039909288,1.47026558363e-05,3.05190656403e-05,1793237426455913984
+176,2.933333333,POSE1_TO_POSE2_PRESS,767.041323394,746.958676606,717,679.041323394,666.958676606,637,882,789,804,653.958676606,633,654,0.426231260032,-0.00556017316938,0.0500105308137,0.999999994052,9.8958834976e-05,3.29805718119e-05,3.18773241976e-05,1793237426472580608
+177,2.950000000,POSE1_TO_POSE2_PRESS,767.61705042,746.38294958,717,679.61705042,666.38294958,637,882,789,804,653.38294958,633,654,0.427016785638,-0.00556008210523,0.0500176766955,0.999999993745,0.000101182252801,3.36260875148e-05,3.37953533479e-05,1793237426489247488
+178,2.966666667,POSE1_TO_POSE2_PRESS,767.802582452,746,716.802582452,680,666.197417548,637.197417548,882,789.197417548,804,653.197417548,633,654,0.427784114171,-0.00555905479282,0.0500091889913,0.999999994048,0.000102846729662,1.20903185077e-05,3.43468480032e-05,1793237426505913856
+179,2.983333333,POSE1_TO_POSE2_PRESS,767.212997725,746,716.212997725,680,666.787002275,637.787002275,882,789.787002275,804,653.787002275,633,654,0.428515294618,-0.00555616763643,0.04996964539,0.999999992705,0.000103400878275,-5.35082600856e-05,3.2183741378e-05,1793237426522580480
+180,3.000000000,POSE1_TO_POSE2_PRESS,767.369041263,746,716.369041263,680,667,637.630958737,882,789.630958737,804,653.630958737,633,654.369041263,0.429295496973,-0.00555595625946,0.0499613564313,0.999999992406,0.000101394938935,-6.2450753871e-05,3.17350215054e-05,1793237426539247360
+181,3.016666667,POSE1_TO_POSE2_PRESS,767.946812345,746,716.946812345,680,667,637.053187655,882,789.053187655,804,653.053187655,633,654.946812345,0.430103426087,-0.00555725830408,0.0499707451078,0.999999993909,9.79410133842e-05,-3.93485499363e-05,3.22559593203e-05,1793237426555914496
+182,3.033333333,POSE1_TO_POSE2_PRESS,767.476902245,746,717,680,667,637.523097755,882.523097755,789,804,653,633,654.476902245,0.430874211074,-0.00555980282835,0.0499808717452,0.999999994501,9.61155628495e-05,-2.48842702806e-05,3.37820881646e-05,1793237426572581120
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,716.901535707,679.901535707,667,637.901535707,883,789,804,653.098464293,633,654,0.431634275068,-0.00556177413502,0.0499855834039,0.999999994692,9.484018754e-05,-1.99561876216e-05,3.4980960728e-05,1793237426589247488
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,716.32986128,679.32986128,667,637.32986128,883,789,804,653.67013872,633,654,0.432360914252,-0.00556038518611,0.049963911596,0.999999993261,9.54149116467e-05,-5.66491522156e-05,3.41172687631e-05,1793237426605913856
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746.251180466,716.251180466,679.251180466,667,637,882.748819534,789,804,654,633,654,0.433102257889,-0.00555993072625,0.0499565472814,0.999999992313,9.71094658905e-05,-6.90999460806e-05,3.41929921902e-05,1793237426622580480
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746.845000277,716.845000277,679.845000277,667,637,882.154999723,789,804,654,633,654,0.433863660048,-0.00556075101817,0.0499687000521,0.99999999316,0.000100331598633,-4.84815990472e-05,3.55501874871e-05,1793237426639247360
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746.572718146,716.572718146,680,667,637,882,789,804,653.572718146,633,654,0.434614159723,-0.005560507014,0.0499871925127,0.99999999413,9.94342424771e-05,-2.21828506144e-05,3.69010489222e-05,1793237426655913728
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,882,789,804,653,633,654,0.435359864119,-0.00555988619072,0.0500074982016,0.999999994539,9.71162176709e-05,5.34737439522e-06,3.82366153379e-05,1793237426672580608
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,882,789,804,653,633,654,0.436007014661,-0.00555917257576,0.0499833391403,0.999999993278,9.83896700618e-05,-4.79958906977e-05,3.82094733647e-05,1793237426689248000
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746.159470777,716,680,666.840529223,637,882,789,804,653.159470777,633,654,0.436668755529,-0.00555867654095,0.0499648846846,0.999999990766,9.86715436052e-05,-8.539275663e-05,3.79566105104e-05,1793237426705915136
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746.749227704,716,680,666.250772296,637,882,789,804,653.749227704,633,654,0.437369864349,-0.00555876758361,0.0499618224657,0.999999991496,9.62779269829e-05,-7.97628505862e-05,3.70947048495e-05,1793237426722581760
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746.666978571,716.333021429,680,666.333021429,637,882,789,804.333021429,653.666978571,633.333021429,654,0.438077013076,-0.00555984633744,0.0499797157076,0.999999994164,9.30715787933e-05,-4.01628845056e-05,3.73691169053e-05,1793237426739247872
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746.087596309,716.912403691,680,666.912403691,637,882,789,804.912403691,653.087596309,633.912403691,654,0.438788629933,-0.00556165577502,0.0500131112699,0.999999994974,8.9263992174e-05,2.45672729599e-05,3.84841480078e-05,1793237426755913984
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746.484721299,717,680,667,637,882,789,805,653.484721299,633.515278701,654,0.439410800091,-0.00556223174571,0.0500078782095,0.999999995112,8.96771363309e-05,1.50690230706e-05,3.88172018602e-05,1793237426772580608
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746.943504641,717,680,666.943504641,637,882.056495359,789,805,653.943504641,633,654.056495359,0.440014067739,-0.00556256646704,0.0499946873873,0.999999995069,9.09471687984e-05,-8.51174709737e-06,3.89622017308e-05,1793237426789247488
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746.365127523,717,680,666.365127523,637,882.634872477,789,805,653.365127523,633,654.634872477,0.44058989627,-0.00556270215732,0.0499715450881,0.999999994109,9.31880451491e-05,-4.00465351604e-05,3.86566914455e-05,1793237426805914112
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746.218843719,717,680,666.218843719,637,883,789,805,653.218843719,633,654.781156281,0.441174583434,-0.00556300170162,0.0499610457503,0.999999993271,9.52098022719e-05,-5.34740991043e-05,3.91683235056e-05,1793237426822580736
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746.812393199,717,680,666.812393199,637,883,789,805,653.812393199,633,654.187606801,0.441774438353,-0.00556358179792,0.049972193783,0.999999993821,9.68563817848e-05,-3.58983428219e-05,4.10790725381e-05,1793237426839247616
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,747,717,680,667,637,882.607724523,789,804.607724523,653.607724523,633,654,0.442356362978,-0.00556520186935,0.0499903760205,0.999999994009,0.000100463301065,-1.25401256341e-06,4.34346590164e-05,1793237426855914496
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,747,717,680,667,637,882.034158506,789,804.034158506,653.034158506,633,654,0.44293000115,-0.00556730256648,0.0500118091244,0.99999999258,0.00010497619351,4.12785793734e-05,4.59958277113e-05,1793237426872581120
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746.457897551,717,680.542102449,667,637,882,789,804.542102449,653.542102449,633.542102449,654.542102449,0.443435107429,-0.00556294497637,0.0500109036344,0.999999991962,0.000111844916881,3.7059745295e-05,4.68388609036e-05,1793237426889247488
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746.120662993,717,680.879337007,667,637.120662993,882.120662993,789,805,654,634,655,0.443920949045,-0.0055588701159,0.0500027875328,0.999999991696,0.000118044274458,2.07400952202e-05,4.73731438475e-05,1793237426905914112
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746.707447774,717,680.292552226,667,637.707447774,882.707447774,789,805,654,634,655,0.444349136171,-0.00555746732171,0.0499722814579,0.999999991082,0.00012108156671,-3.08883393454e-05,4.71350281083e-05,1793237426922580992
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746.708205449,717,680.291794551,667,637.708205449,882.708205449,789.291794551,805,653.708205449,633.708205449,655,0.444788737383,-0.0055599785078,0.049952586508,0.999999989665,0.000120440945884,-6.24447349431e-05,4.75839422755e-05,1793237426939247616
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746.126282786,717,680.873717214,667,637.126282786,882.126282786,789.873717214,805,653.126282786,633.126282786,655,0.445239687468,-0.00556638132148,0.0499436409427,0.999999989327,0.000116143416607,-7.40437200809e-05,4.87159628201e-05,1793237426955913984
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746.452640309,717,681,667,637,882,789.547359691,805,653.452640309,633,654.547359691,0.44567301927,-0.00556869593269,0.0499483574618,0.999999990494,0.000115771785604,-5.66053098525e-05,4.9036969362e-05,1793237426972580608
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746.96956308,717,680.96956308,666.96956308,636.96956308,882.03043692,789,805,653.96956308,633,654,0.446098697193,-0.005569668985,0.0499563328599,0.999999991599,0.000115601561231,-3.24653012978e-05,4.88252658902e-05,1793237426989247488
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746.397022972,717,680.397022972,666.397022972,636.397022972,882.602977028,789,805,653.397022972,633,654,0.446475023766,-0.00556692861325,0.0499549107315,0.999999993584,9.96390263892e-05,-3.2303057046e-05,4.31290470076e-05,1793237427005914368
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746.181715404,717,680.181715404,666,636,882.818284596,789,805,653,633,654,0.446829124996,-0.00556486138989,0.0499479255471,0.999999995402,7.78119847531e-05,-4.30833115929e-05,3.58403018895e-05,1793237427022580992
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746.774474297,717,680.774474297,666,636,882.225525703,789,805,653,633,654,0.447132952052,-0.0055643168406,0.0499283566312,0.999999995686,4.27193260691e-05,-7.8615693853e-05,2.49492347115e-05,1793237427039247616
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,747,716.641859356,680.641859356,666,636,882,789,805,653,633,654,0.447422924823,-0.00556744663058,0.0499009723653,0.99999999233,2.83725345224e-05,-0.000118768570144,2.06926526255e-05,1793237427055914240
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,747,716.063776879,680.063776879,666,636,882,789,805,653,633,654,0.447704389411,-0.00557283291087,0.0498687885238,0.999999986348,2.67662205199e-05,-0.000161758994064,2.05104487442e-05,1793237427072580608
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,746.487355011,716.512644989,680.512644989,666,636,882,789,805.512644989,653,633,654,0.447971311587,-0.0055732152771,0.0498582209584,0.999999983345,3.0817564755e-05,-0.000178610821651,2.14080108501e-05,1793237427089247488
+214,3.566666667,POSE1_TO_POSE2_PRESS,767.090669822,746,717,681,666,635.909330178,882.090669822,789,805.909330178,653,633,654.090669822,0.448234426648,-0.00557311183146,0.049852899219,0.999999981472,3.55189144798e-05,-0.000187845128374,2.25658479522e-05,1793237427105914368
+215,3.583333333,POSE1_TO_POSE2_PRESS,767.678615678,746,717,681,666,635.321384322,882.678615678,789,805.321384322,653,633,654.678615678,0.44848655218,-0.00557374715781,0.0498616466942,0.999999983926,3.99373936921e-05,-0.000173078388955,2.44168005946e-05,1793237427122581248
+216,3.600000000,POSE1_TO_POSE2_PRESS,767.73741265,746.26258735,717,681,666,635,882.73741265,789,805,653.26258735,633,654.73741265,0.448726199706,-0.00557351189252,0.0498684903177,0.999999985439,4.46168038112e-05,-0.000162628741214,2.61546704577e-05,1793237427139248640
+217,3.616666667,POSE1_TO_POSE2_PRESS,767.158232553,746.841767447,717,681,666,635,882.158232553,789,805,653.841767447,633,654.158232553,0.448950802905,-0.00557222698412,0.0498730385307,0.999999985999,4.96108093001e-05,-0.000157384066782,2.77562001067e-05,1793237427155915520
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,746.582064485,717,681,666,635,882,788.582064485,805,654,633,654.417935515,0.449146960702,-0.00556942780802,0.0498725927948,0.999999985054,5.47633158348e-05,-0.000161483547563,2.856006923e-05,1793237427172581632
+219,3.650000000,POSE1_TO_POSE2_PRESS,767,746.00702864,717,681,666,635,882,788.00702864,805,654,633,654.99297136,0.44933242598,-0.00556605942463,0.0498702698527,0.999999983482,5.99754021787e-05,-0.00016909545996,2.90641008343e-05,1793237427189247488
+220,3.666666667,POSE1_TO_POSE2_PRESS,767,746.569194136,716.430805864,681,666,635,882,788.569194136,805,654,633,654.430805864,0.449487328842,-0.0055617970244,0.0498647452519,0.999999981746,6.66479923476e-05,-0.000176635682968,2.94134533912e-05,1793237427205914112
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,746.85153238,716.14846762,681,666,635,881.85153238,788.85153238,805,653.85153238,633,654,0.449635392652,-0.00555897806672,0.0498598832599,0.999999980156,7.11760034442e-05,-0.000183663437705,2.98311840222e-05,1793237427222580736
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,746.263265529,716.736734471,681,666,635,881.263265529,788.263265529,805,653.263265529,633,654,0.449764317688,-0.00556046772816,0.0498571014455,0.999999979241,6.9297683598e-05,-0.00018917575627,3.04571378704e-05,1793237427239247360
+223,3.716666667,POSE1_TO_POSE2_PRESS,767,746,717,681,666,635,881.320819374,788.320819374,805,653,633,654,0.449887145337,-0.00556076419821,0.0498550793581,0.999999978608,6.89727471114e-05,-0.000192583856465,3.06407738063e-05,1793237427255914240
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,746,717,681,666,635,881.901516777,788.901516777,805,653,633,654,0.450005033844,-0.00556009413007,0.0498536726831,0.999999978219,6.99061203539e-05,-0.000194287446358,3.04661125378e-05,1793237427272580864
+225,3.750000000,POSE1_TO_POSE2_PRESS,767,746,717,681,665.522908371,635,882,789,805,653.477091629,633,654,0.450107490979,-0.00556306344421,0.049856530157,0.999999978854,6.69267491176e-05,-0.000191928565998,3.12569461507e-05,1793237427289247488
+226,3.766666667,POSE1_TO_POSE2_PRESS,767.05176044,746.05176044,717,681,665,635,882.05176044,788.94823956,805,653.94823956,633,654,0.450204602426,-0.00556642285107,0.0498600060868,0.999999979645,6.35337168203e-05,-0.000188785567001,3.2148010469e-05,1793237427305913856
+227,3.783333333,POSE1_TO_POSE2_PRESS,767.627849272,746.627849272,717,681,665,635,882.627849272,788.372150728,805,653.372150728,633,654,0.450279487723,-0.00556620454953,0.0498609250623,0.999999980118,6.4045191328e-05,-0.00018610413402,3.20569450196e-05,1793237427322580736
+228,3.800000000,POSE1_TO_POSE2_PRESS,767.790516649,746.790516649,717,681,665,635,883,788.209483351,805,653,633,654,0.450348095865,-0.00556604277758,0.0498623488461,0.999999980341,6.53049245695e-05,-0.000184439572445,3.21688080167e-05,1793237427339247360
+229,3.816666667,POSE1_TO_POSE2_PRESS,767.198763518,746.198763518,717,681,665,635,883,788.801236482,805,653,633,654,0.450405249316,-0.00556598416209,0.0498646938148,0.999999980115,6.79300966135e-05,-0.000184630620119,3.26509792679e-05,1793237427355913728
+230,3.833333333,POSE1_TO_POSE2_PRESS,767,746,717,681,665.384150127,635,882.615849873,789,805,653,633,654,0.450452348228,-0.00556459140645,0.0498642428186,0.999999979702,6.89327105124e-05,-0.000186485434294,3.26605527338e-05,1793237427372580352
+231,3.850000000,POSE1_TO_POSE2_PRESS,767,746,717,681,665.962592981,635,882.037407019,789,805,653,633,654,0.450494361826,-0.00556252387887,0.049862377699,0.999999979191,6.91146783811e-05,-0.000189181736483,3.24310990291e-05,1793237427389246976
+232,3.866666667,POSE1_TO_POSE2_PRESS,767,746,717,680.464577526,666,635,882.535422474,789,805,653,633,654,0.450526343721,-0.00556444556096,0.0498608039806,0.999999979038,6.84838941606e-05,-0.00019020514574,3.24976185975e-05,1793237427405913856
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,746,716.888460417,680.111539583,666,634.888460417,882.888460417,788.888460417,805,653.111539583,633,654,0.450555759866,-0.00556585432243,0.0498594663759,0.999999978859,6.79190438444e-05,-0.000191356375676,3.24234375138e-05,1793237427422580480
+234,3.900000000,POSE1_TO_POSE2_PRESS,767,746,716.296511873,680.703488127,666,634.296511873,882.296511873,788.296511873,805,653.703488127,633,654,0.450577112468,-0.00556386595337,0.0498590589537,0.999999978463,6.78802046707e-05,-0.000193556307862,3.16551109505e-05,1793237427439247104
+235,3.916666667,POSE1_TO_POSE2_PRESS,767,746,716.289059796,681,665.710940204,634,882.289059796,788,805,653.710940204,633,654.289059796,0.450593487389,-0.00556273988856,0.0498582333191,0.999999977815,6.91716231811e-05,-0.000196407252651,3.17781609304e-05,1793237427455913728
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,746,716.868231454,681,665.131768546,634,882.868231454,788,805,653.131768546,633,654.868231454,0.450604866515,-0.00556247926624,0.0498569879499,0.999999976902,7.17981409909e-05,-0.000199911579736,3.27958316247e-05,1793237427472580608
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,746.443771085,717,681,665,634.443771085,882.556228915,788.443771085,805,653.443771085,633,654.556228915,0.450613697939,-0.00556210163583,0.049855442968,0.999999976422,7.21561910522e-05,-0.000202143371603,3.29875539623e-05,1793237427489247232
+238,3.966666667,POSE1_TO_POSE2_PRESS,766.981755187,747,717,681,665,634.981755187,882,788.981755187,804.981755187,654,633,654,0.450621687867,-0.00556172778488,0.0498538755849,0.999999976091,7.17753633598e-05,-0.000203918142648,3.2931517852e-05,1793237427505913600
+239,3.983333333,POSE1_TO_POSE2_PRESS,766.407164622,747,717,681,665,634.407164622,882,788.407164622,804.407164622,654,633,654,0.450626898334,-0.00556252001521,0.0498543158904,0.999999976425,6.9236465655e-05,-0.000203185279703,3.27382224738e-05,1793237427522580224
+240,4.000000000,POSE1_TO_POSE2_PRESS,766.344309762,746.827845119,717,681,665.172154881,634,882.172154881,788.172154881,804.172154881,654,633,654.172154881,0.450630921593,-0.00556265257504,0.0498545328277,0.999999976507,6.79965751223e-05,-0.000203237388256,3.25035207579e-05,1793237427539247104
+241,4.016666667,POSE1_TO_POSE2_PRESS,767.525949392,746.237025304,717,681,665.762974696,634,882.762974696,788.762974696,804.762974696,654,633,654.762974696,0.450632057667,-0.00556118087648,0.0498542065537,0.999999975985,6.99157514522e-05,-0.000205198475786,3.21681226258e-05,1793237427555913728
+242,4.033333333,POSE1_TO_POSE2_PRESS,767.652995305,746,717,681,665.652995305,634,883,789,805,653.652995305,633,654.652995305,0.450634068556,-0.00556103688445,0.0498538509454,0.999999975783,7.07537685089e-05,-0.000205917937515,3.2030293992e-05,1793237427572580608
+243,4.050000000,POSE1_TO_POSE2_PRESS,767.073514179,746,717,681,665.073514179,634,883,789,805,653.073514179,633,654.073514179,0.45063666553,-0.00556178239189,0.0498534756847,0.999999975798,7.0867460856e-05,-0.000205805569689,3.20248274185e-05,1793237427589247232
+244,4.066666667,POSE1_TO_POSE2_PRESS,767,746.498119119,717,681,665,634.498119119,883,788.501880881,805,653.498119119,632.501880881,654,0.450635981032,-0.00555999514096,0.049852771182,0.99999997557,7.0682710547e-05,-0.000207032726027,3.16603239497e-05,1793237427605913856
+245,4.083333333,POSE1_TO_POSE2_PRESS,767,746.928672714,717,681.071327286,665,635,883,788.071327286,805,654,632.071327286,654,0.450635039702,-0.00555805984709,0.0498520753851,0.999999975312,7.05496661381e-05,-0.000208366084112,3.13370783635e-05,1793237427622580480
+246,4.100000000,POSE1_TO_POSE2_PRESS,767,746.335604453,717,681.664395547,665,635,883,788.664395547,805,654,632.664395547,654,0.450635707235,-0.00555773345274,0.0498517931851,0.999999975118,7.11120197847e-05,-0.000209052644937,3.16972053972e-05,1793237427639247104
+247,4.116666667,POSE1_TO_POSE2_PRESS,767,746.251653404,717,681.748346596,665,635,883,788.748346596,805,653.748346596,633,654,0.450635239626,-0.00555746988289,0.0498510142794,0.999999974745,7.13598685036e-05,-0.000210736119355,3.17468138974e-05,1793237427655913728
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+250,4.166666667,POSE1_TO_POSE2_PRESS,767,746.015349811,717,681,665.984650189,635,883,788.984650189,805,653,632.015349811,654,0.450634163231,-0.00555845628565,0.0498497837791,0.999999974199,7.01700589438e-05,-0.000213711162944,3.1706798038e-05,1793237427705913856
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+254,4.233333333,POSE1_TO_POSE2_PRESS,767.315469654,746.315469654,717,681,665,634.315469654,882,788.684530346,805,653.315469654,633,654.684530346,0.45063390496,-0.00555666624886,0.0498473641699,0.999999973528,7.34159634483e-05,-0.000215819171616,3.12502441797e-05,1793237427772580352
+255,4.250000000,POSE1_TO_POSE2_PRESS,767.893642133,746.893642133,717,681,665,634.893642133,882,788.106357867,805,653.893642133,633,654.106357867,0.450633922235,-0.00555745038217,0.0498477478519,0.9999999737,7.27190835429e-05,-0.000215244507648,3.13337442563e-05,1793237427789246976
+256,4.266666667,POSE1_TO_POSE2_PRESS,767.531958256,746.531958256,717,681,665.468041744,635,882,788,805,654,633,654,0.450634846553,-0.0055559569149,0.0498475767993,0.999999973685,7.40801712861e-05,-0.000214882425589,3.10914733948e-05,1793237427805913600
+257,4.283333333,POSE1_TO_POSE2_PRESS,767,746.041631165,717,681,665.958368835,635,882,788,805,654,633,654,0.450636002651,-0.00555421447354,0.0498474127879,0.999999973678,7.55392943005e-05,-0.000214447414288,3.08289117515e-05,1793237427822580224
+258,4.300000000,POSE1_TO_POSE2_PRESS,767,746.615735527,717,681,665.384264473,635,882,788,805,654,633,654,0.450637508067,-0.00555585441017,0.0498489382544,0.999999974326,7.23187432247e-05,-0.000212466699847,3.12460946299e-05,1793237427839247104
+259,4.316666667,POSE1_TO_POSE2_PRESS,766.80385045,746.80385045,717,681,665,635,882,788,805,654,632.80385045,654,0.45063781069,-0.00555721708414,0.0498493799056,0.999999974551,7.03038889553e-05,-0.000212052466813,3.14490069288e-05,1793237427855913728
+260,4.333333333,POSE1_TO_POSE2_PRESS,766.210664617,746.210664617,717,681,665,635,882,788,805,654,632.210664617,654,0.450635678678,-0.00555801853697,0.0498476277514,0.99999997394,7.07295463409e-05,-0.000214809028125,3.12182033248e-05,1793237427872580352
+261,4.350000000,HOLD_POSE2,767,746,717,681,666,634,882,788,805,653,633,655,0.45063317627,-0.00555524516338,0.0498449426982,0.999999972963,7.0638267255e-05,-0.000219412651837,3.06907424593e-05,1793237427907413248
+262,4.366666667,HOLD_POSE2,767,746.575330381,717,681,665.424669619,634.575330381,882,788,804.424669619,653.575330381,632.424669619,654.424669619,0.450633586986,-0.00555376556,0.0498453206442,0.999999972905,7.39857657888e-05,-0.00021859370462,3.05398452735e-05,1793237427924079872
+263,4.383333333,HOLD_POSE2,767,746.845241691,717,681,665,634.845241691,882.154758309,788,804,653.845241691,632.154758309,654.154758309,0.45063411273,-0.00555341647083,0.0498457137541,0.999999972901,7.57014236597e-05,-0.000218023927256,3.05563821822e-05,1793237427940746752
+264,4.400000000,HOLD_POSE2,767,746.254263817,717,681,665,634.254263817,882.745736183,788,804,653.254263817,632.745736183,654.745736183,0.450634962707,-0.00555625397865,0.0498461496069,0.999999973071,7.28173885662e-05,-0.000218156488512,3.10448680489e-05,1793237427957413632
+265,4.416666667,HOLD_POSE2,767,746,717,681,665,634,882.669738513,788,804.330261487,653,633,654.669738513,0.450635721978,-0.00555732845791,0.0498467550557,0.999999973306,7.17409424445e-05,-0.000217423894405,3.11254746392e-05,1793237427974080256
+266,4.433333333,HOLD_POSE2,767,746,717,681,665,634,882.090085792,788,804.909914208,653,633,654.090085792,0.450636412752,-0.00555707161656,0.0498474885719,0.999999973592,7.20294659599e-05,-0.000216037993223,3.08980782385e-05,1793237427990746624
+267,4.450000000,HOLD_POSE2,767,746,717,681,665,634,882,788,805,653,632.514711858,654,0.45063494723,-0.00555559254053,0.0498460199428,0.999999973158,7.25437929315e-05,-0.000217906482315,3.06251296958e-05,1793237428007413248
+268,4.466666667,HOLD_POSE2,767,746,717,681,665,634,882,788,804.940199614,653,632,654,0.450633424015,-0.00555411862891,0.0498444314524,0.999999972679,7.30154968406e-05,-0.000219971693678,3.03715844876e-05,1793237428024079872
+269,4.483333333,HOLD_POSE2,767,746,717,681,665,634,882,788,804.366326451,653,632,654,0.450634815773,-0.00555462250295,0.0498452960363,0.999999973003,7.27636056804e-05,-0.000218580072179,3.0356896212e-05,1793237428040746496
+270,4.500000000,HOLD_POSE2,766.785058483,746,717,681.214941517,665,634,882,788,804.214941517,653,632.214941517,654,0.450635509981,-0.00555507050927,0.0498459932839,0.999999973159,7.24094319546e-05,-0.000217958020704,3.05618527468e-05,1793237428057413376
+271,4.516666667,HOLD_POSE2,766.190738515,746,717,681.809261485,665,634,882,788,804.809261485,653,632.809261485,654,0.450634972989,-0.00555541990725,0.0498463951776,0.999999973018,7.18747263526e-05,-0.000218694284355,3.11544891913e-05,1793237428074080000
+272,4.533333333,HOLD_POSE2,766.39183006,746.39183006,717,681.60816994,665,634,882,788,804.60816994,653,633,654,0.450635652553,-0.00555495282984,0.0498464493339,0.999999973049,7.29239781604e-05,-0.000218232926751,3.09709144855e-05,1793237428090746624
+273,4.550000000,HOLD_POSE2,766.968844805,746.968844805,717,681.031155195,665,634,882,788,804.031155195,653,633,654,0.450636907079,-0.0055540998741,0.0498463391443,0.999999973156,7.47218316338e-05,-0.000217205555683,3.0420490955e-05,1793237428107413248
+274,4.566666667,HOLD_POSE2,767,746.457489092,717,681,665,634,882.542510908,788,804.542510908,653.542510908,633,654,0.450635643801,-0.00555485348606,0.0498457035174,0.999999973005,7.3409209361e-05,-0.000218333743998,3.05156569714e-05,1793237428124080128
+275,4.583333333,HOLD_POSE2,767,746.119102514,716.880897486,681,665,634,882.880897486,788,804.880897486,653.880897486,633,654.119102514,0.450634780344,-0.00555514421366,0.0498452669762,0.999999972888,7.25649121685e-05,-0.000219140591911,3.05907061514e-05,1793237428140746496
+276,4.600000000,HOLD_POSE2,767,746.707987374,716.292012626,681,665,634,882.292012626,788,804.292012626,653.292012626,633,654.707987374,0.450636060747,-0.0055532474824,0.0498457339887,0.999999972974,7.42681023505e-05,-0.000218194688154,3.04410685867e-05,1793237428157413376
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767,747,717,681,665,635,882,789,805,654,633,654,0.45063543174,-0.005552073359,0.0498455538188,0.99999997279,7.55778851503e-05,-0.000218569084694,3.05787507901e-05,1793237428194441216
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,746.420184246,717,681,665,634.420184246,882,789,805,654,633,654,0.450636354974,-0.00555212536051,0.0498455343788,0.999999972833,7.55224404041e-05,-0.000218394058665,3.05745851663e-05,1793237428211107840
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,746,717,681,665,634,882,788.84253139,805,654,633,654,0.45063679557,-0.00555254456778,0.0498452154147,0.999999972831,7.52173090525e-05,-0.000218506830444,3.05647702698e-05,1793237428227774464
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,746,717,681,665,634,882,788.270571617,805,654,633,654,0.450635965761,-0.00555393033944,0.0498441080388,0.999999972714,7.42549489776e-05,-0.000219377147757,3.05400852749e-05,1793237428244441088
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746,717,681,665,634.311213404,882,788,804.688786596,654,633,654,0.450635461412,-0.00555487952798,0.0498439510809,0.99999997258,7.36297355315e-05,-0.000220184186047,3.06038224072e-05,1793237428261107712
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,746,717,681,665,634.901819018,882,788,804.098180982,654,633,654,0.450635249246,-0.00555543677343,0.0498446473618,0.999999972434,7.33071959372e-05,-0.000220934415466,3.07469406128e-05,1793237428277774336
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746,717,681,665,634.51760923,882,788.48239077,804,654,633,654,0.450634718501,-0.00555470573477,0.0498436797465,0.999999972325,7.33641215686e-05,-0.000221458352767,3.03915370409e-05,1793237428294440960
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,746.060688968,717,681,665,634.060688968,882,788.939311032,804,653.939311032,633,654,0.450634176949,-0.00555365209927,0.0498425668886,0.999999972241,7.35608668181e-05,-0.000221830455588,2.9961786306e-05,1793237428311107584
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,746.636669441,717,681,665,634.636669441,882,788.363330559,804,653.363330559,633,654,0.450634082978,-0.0055520403262,0.0498430376284,0.999999972311,7.43023817939e-05,-0.000221296467725,2.97447230794e-05,1793237428327774208
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746.787881181,717,681,665,634.787881181,882,788,804.212118819,653,632.787881181,654,0.450631889859,-0.00555219366448,0.0498426139373,0.999999972038,7.36457296378e-05,-0.000222735117116,2.98328984864e-05,1793237428344441088
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,746.213339284,717,681,665,634.213339284,882,788,804.786660716,653,632.213339284,654,0.450626110171,-0.00555536284607,0.0498406620348,0.999999971156,7.06001897103e-05,-0.000227544185409,3.04426001325e-05,1793237428361107712
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746.373027629,717,681,665,634,882,788,805,653.373027629,632.373027629,654,0.450614410969,-0.00555443449902,0.0498351659734,0.999999968976,7.17502974509e-05,-0.000236627388607,3.01354490338e-05,1793237428377774336
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746.966378879,717,681,665,634,882,788,805,653.966378879,632.966378879,654,0.450599215488,-0.00555108600355,0.0498275766032,0.99999996592,7.53785062823e-05,-0.000248235051033,2.92867715703e-05,1793237428394440960
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746.456267778,717,681,665,634,882,788,805,654,632.456267778,654,0.450561074779,-0.00555051756965,0.0498107325552,0.999999958103,7.50668580332e-05,-0.00027813425045,2.82781184505e-05,1793237428411107840
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766.880360811,746,717,681,665,634,882,788,804.880360811,654,632.119639189,654,0.450516890188,-0.00554960421068,0.0497922093857,0.999999948453,7.48164484126e-05,-0.000311063120556,2.7143290282e-05,1793237428427774464
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766.306297501,746,717,681,665,634,882,788,804.306297501,654,632.693702499,654,0.450454984146,-0.00554674645436,0.0497694198833,0.999999935093,7.56975211027e-05,-0.000351326339443,2.55657112066e-05,1793237428444441088
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766.274468229,746,717,681,665,634,882,788,804.274468229,654,632.725531771,654,0.450395172965,-0.00554393489456,0.0497530607476,0.999999926034,7.73048869611e-05,-0.000375990249027,2.42364736823e-05,1793237428461107712
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766.862900825,746,717,681,665,634,882,788,804.862900825,654,632.137099175,654,0.450337758099,-0.00554117617918,0.0497440573135,0.99999992328,7.9743060052e-05,-0.000382810097648,2.31913143329e-05,1793237428477774336
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,746.446653471,717,681,665.446653471,634.446653471,882,788,805,654,632,654,0.45026603396,-0.00553875187598,0.0497398414603,0.999999920079,8.20731761721e-05,-0.000390612766957,2.29766560135e-05,1793237428494440960
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766.971460955,747,717,681,665.971460955,634.971460955,882,788,805,653.971460955,632.028539045,654,0.450189344344,-0.00553634744445,0.0497373469743,0.999999916946,8.44315887411e-05,-0.000398059660634,2.29858466036e-05,1793237428511107584
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766.398079686,747,717,681,665.398079686,634.398079686,882,788,805,653.398079686,632.601920314,654,0.450100840664,-0.00553238305883,0.049739951131,0.999999918649,8.79568576874e-05,-0.000393014821605,2.24523147453e-05,1793237428527774464
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766.176278765,747,717,681,665,634,882,788,805,653.176278765,633,654,0.450006136834,-0.00552830088278,0.0497423013743,0.999999919997,9.09901316284e-05,-0.000388912093646,2.17823023363e-05,1793237428544441088
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766.752856151,747,717,681,665,634,882,788,805,653.752856151,633,654,0.449897353546,-0.00552395122556,0.0497440750238,0.999999920603,9.29061694361e-05,-0.000386948737874,2.08023662497e-05,1793237428561107712
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767,747,717,681,665,634.337409527,882,788,805,653.662590473,633,654,0.449773178865,-0.00552009438533,0.0497426793255,0.999999919531,9.50319985801e-05,-0.000389226710204,2.02330820656e-05,1793237428577774336
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,747,717,681,665,634.927946622,882,788,805,653.072053378,633,654,0.449637457416,-0.00551660726022,0.0497389059552,0.999999917177,9.73152152112e-05,-0.000394686563614,1.99718724132e-05,1793237428594440960
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,747,716.49297511,681,665,635,882,788,805,653,632.49297511,654,0.449472762151,-0.00551058304306,0.0497343222966,0.999999913048,0.000101258978488,-0.000404101779073,1.8790490233e-05,1793237428611107840
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767,747,716.084467946,681,665,635,882,788,805,653,632.084467946,654,0.449301043529,-0.00550406876845,0.0497303805476,0.99999990903,0.00010551404723,-0.000412913880754,1.75942231054e-05,1793237428627774208
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,747,716.661661658,681,665,635,882,788,805,653,632.661661658,654,0.449111843155,-0.00549675253527,0.0497308400985,0.999999907665,0.000110238932258,-0.000415001442843,1.70570637307e-05,1793237428644441088
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,747,717,681,665.236623881,635,882,788,804.763376119,653,633,654,0.448916341801,-0.0054897836136,0.0497328145668,0.999999907999,0.00011487811085,-0.000412960621461,1.63614484268e-05,1793237428661107968
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,747,717,681,665.808425165,635,882,788,804.191574835,653,633,654,0.448711915126,-0.00548330665866,0.0497369349133,0.999999910711,0.000119395886108,-0.000405071950391,1.54413805469e-05,1793237428677774592
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746.603267333,717,681,666,635,882.396732667,788.396732667,804,653,633,654,0.448483421408,-0.00547478057123,0.0497363173095,0.999999910679,0.000126499410238,-0.000403039244482,1.41084112497e-05,1793237428694441216
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746.006643289,717,681,666,635,882.993356711,788.993356711,804,653,633,654,0.448242801661,-0.00546522204088,0.0497333125177,0.999999909231,0.000134905748298,-0.000403957031744,1.25674040759e-05,1793237428711107840
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,746,717,681,665.431487397,635,882.431487397,788.431487397,804.568512603,653.568512603,633,654,0.447963971271,-0.00545763415333,0.0497312397442,0.999999907262,0.000139612485838,-0.000407255643166,1.12530201414e-05,1793237428727774464
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,746,716.856780881,681,665.143219119,635,881.856780881,788,805,653.856780881,633,654,0.447676422097,-0.00545037925277,0.0497294586012,0.999999905515,0.000143530272266,-0.000410210809887,9.79672673636e-06,1793237428744441344
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,746,716.282699141,681,665.717300859,635,881.282699141,788,805,653.282699141,633,654,0.447363937643,-0.00544405936071,0.0497285232319,0.999999904534,0.000145199890171,-0.000412052100539,7.90583398995e-06,1793237428761107968
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,746,716.299848041,680.700151959,666,635.299848041,881.299848041,788.299848041,805,653,633,654,0.44704295752,-0.00543766581435,0.0497293566697,0.999999904967,0.000146369883689,-0.000410615400621,6.07083630317e-06,1793237428777774336
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,746,716.890608459,680.109391541,666,635.890608459,881.890608459,788.890608459,805,653,633,654,0.446713734868,-0.00543120080788,0.0497319062028,0.999999906761,0.000147055142144,-0.000405998396576,4.2900677437e-06,1793237428794441216
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,746,716.527927901,680,666.472072099,636,882,789,805,653,633,654,0.44636642226,-0.00542754342957,0.0497423884437,0.999999913664,0.000145300841523,-0.000389298761021,2.53295633606e-06,1793237428811107584
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.949074319,636,882,789,805,653.050925681,633,654.050925681,0.44601204322,-0.00542530482102,0.0497553801621,0.99999992179,0.000142260355516,-0.000369028083851,9.07346246836e-07,1793237428827774464
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.375326391,636,882,789,805,653.624673609,633,654.624673609,0.445627321941,-0.00543108151536,0.0497756277724,0.99999993343,0.000131707003112,-0.000340285047012,5.7658391818e-07,1793237428844442112
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,882,789,804.801139329,654,633.198860671,654.801139329,0.445222678047,-0.00543691258144,0.0497935470534,0.999999942591,0.00012019470105,-0.000316814908261,5.19011001122e-08,1793237428861109248
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,882,789,804.226121651,654,633.773878349,654.226121651,0.444780349345,-0.0054428464946,0.0498070621569,0.999999948288,0.000106868488409,-0.000303318777797,-8.39594049925e-07,1793237428877775616
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746.360401315,716.360401315,680.360401315,666,636,882,789,804.360401315,654,633.639598685,654,0.44431838735,-0.00544084211651,0.0498120069441,0.999999951027,0.000100629295502,-0.000296326784735,-3.27644939417e-06,1793237428894441984
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746.954380907,716.954380907,680.954380907,666,636,882,789,804.954380907,654,633.045619093,654,0.443843700916,-0.00543369288352,0.0498113972569,0.999999951993,9.8983243557e-05,-0.000293550163101,-6.71486200937e-06,1793237428911108608
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767.530001788,746.469998212,717,680.469998212,666,636.530001788,882,789,805,653.469998212,633,654.530001788,0.443320387069,-0.00542258573003,0.0497943909932,0.999999942574,0.000104628578783,-0.000322169357357,-1.06160188182e-05,1793237428927774976
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767.895490344,746.104509656,716.895490344,680.104509656,666,637,882,789,805,653,633,654.895490344,0.44279479798,-0.00541300816928,0.0497816831005,0.999999935333,0.000107794612274,-0.000342793401257,-1.43569936116e-05,1793237428944441344
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767.319112135,746.680887865,716.319112135,680.680887865,666,637,882,789,805,653,633,654.319112135,0.442277201442,-0.00541182349402,0.0497945414955,0.999999945367,9.70276519173e-05,-0.000315525964236,-1.72009195241e-05,1793237428961108224
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,747,716,681,666.263094336,637,882,789,804.736905664,653,633,654,0.44174599293,-0.00541439086078,0.0498129429426,0.999999956026,8.50652565659e-05,-0.000283468486086,-1.89235325381e-05,1793237428977775104
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,747,716,681,666.852530247,637,882,789,804.147469753,653,633,654,0.441197900087,-0.00542161225116,0.0498382199797,0.999999967122,7.16200450855e-05,-0.000245469448828,-1.92552721365e-05,1793237428994441472
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767.431818337,747,716,681,667,637,882.431818337,789,804.431818337,653,633,654,0.44060506632,-0.00542513398768,0.0498440334538,0.999999969992,6.01322332359e-05,-0.00023652064188,-2.14078122135e-05,1793237429011108096
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767.992251013,746.992251013,716,680.992251013,667,637,882.992251013,789,804.992251013,653,633,654,0.439996565781,-0.00542726907144,0.0498429593507,0.999999970176,4.94395758635e-05,-0.000237946142911,-2.41898200012e-05,1793237429027774720
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767.414216033,746.414216033,716,680.414216033,667,637,882.414216033,789,804.414216033,653,633,654,0.439333736329,-0.00541820313556,0.0498129463801,0.999999956475,4.91998332675e-05,-0.000289503730789,-2.85854615551e-05,1793237429044441344
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.837923152,637,882,789,804,653,633,654,0.438668022587,-0.00541071814774,0.0497871787743,0.999999942855,4.78356960073e-05,-0.000333050973516,-3.28453512486e-05,1793237429061108224
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.266035204,637,882,789,804,653,633,654,0.437995015962,-0.00540723058559,0.0497721455695,0.999999934882,4.36285285853e-05,-0.000356344067441,-3.67619924308e-05,1793237429077774592
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,882,789,804,653,633,654,0.437330728433,-0.00540770154275,0.0497839302605,0.999999939868,3.50600951357e-05,-0.000342846279359,-3.8606263967e-05,1793237429094441216
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,882,789,804,653,633,654,0.436674024936,-0.00541161567788,0.0498190415487,0.999999954788,2.26981691054e-05,-0.000297347244228,-3.86479579255e-05,1793237429111108096
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.503410908,882,789,804,653,633,654,0.4359761701,-0.00540973739028,0.0498332180982,0.999999960958,1.51609648063e-05,-0.000276022406245,-4.08174718784e-05,1793237429127774720
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.0749566,882,789,804,653,633,654,0.435266861301,-0.00540670439414,0.0498385848612,0.999999963255,8.59647500778e-06,-0.00026741721713,-4.36472059411e-05,1793237429144441344
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.648513399,882,789,804,653,633,654,0.434526839751,-0.00540239174579,0.0498084855302,0.999999948667,3.17046594378e-06,-0.000316705974439,-4.85171381514e-05,1793237429161108480
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.228485462,637,882,789.228485462,804,653.228485462,633,654,0.4337906598,-0.005400763997,0.049794891476,0.999999940914,-5.09107435923e-06,-0.000339729520428,-5.22491569117e-05,1793237429177775360
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.818611518,637,882,789.818611518,804,653.818611518,633,654,0.433060560112,-0.00540338583376,0.0498074215219,0.999999946794,-1.78406174533e-05,-0.00032118121067,-5.41801180102e-05,1793237429194441728
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767.401733841,746,716,680,667,637,882,789.598266159,804,653.598266159,633,654,0.432328946745,-0.00540421482251,0.0498244357787,0.999999954405,-2.7993780448e-05,-0.000295453947672,-5.58038383384e-05,1793237429211108352
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767.981748032,746,716,680,667,637,882,789.018251968,804,653.018251968,633,654,0.431596661686,-0.0054042481859,0.0498434400256,0.999999962153,-3.69947281744e-05,-0.000266540829298,-5.72912120438e-05,1793237429227774720
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767.443246772,746,716,680,666.443246772,637,882,789,804,653.556753228,633,654,0.430805823227,-0.00540317114459,0.0498206680467,0.999999953254,1.9916369713e-05,-0.00030213073294,-4.25621704078e-05,1793237429244441344
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,882,789,804,653.868080043,633,654,0.430015432878,-0.00539980720933,0.049798972074,0.999999940817,7.26069745209e-05,-0.000334933810528,-3.02298910908e-05,1793237429261107968
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,882,789,804,653.291821101,633,654,0.429232959779,-0.00538886196922,0.0497854721898,0.999999932518,0.000103868748341,-0.000351291205035,-2.77451637047e-05,1793237429277774848
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,882,789,804,653.290308285,633,654,0.428455874787,-0.00538235876736,0.0497908796173,0.999999934362,0.000113444517369,-0.000342970244016,-2.78913489485e-05,1793237429294441216
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,882,789,804,653.878460461,633,654,0.427684317812,-0.00538041290754,0.0498156851393,0.999999946608,0.000100771370569,-0.000309330344161,-3.07367382388e-05,1793237429311107840
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,746,716.460126322,680,666,637,881.539873678,789,804,654,633,654,0.42687816377,-0.00538048982079,0.04980485755,0.99999994096,8.89834692748e-05,-0.000330111585633,-3.44596685252e-05,1793237429327774720
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767.039669874,746,716.960330126,680,666,637,881,789,804,653.960330126,633,654,0.426068280678,-0.00538132798702,0.0497874430881,0.999999931722,7.768760184e-05,-0.000359253891022,-3.81866721098e-05,1793237429344441600
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767.6133863,746,716.3866137,680,666,637,881,789,804,653.3866137,633,654,0.425329513083,-0.00538532140131,0.0498063034904,0.999999948711,6.99114869067e-05,-0.000310124897503,-3.88913711576e-05,1793237429361107968
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767.808060668,746,716,680,666.191939332,637,881.191939332,789,804,653,633,654,0.424592783413,-0.00538773347986,0.0498290491716,0.999999963119,6.56132032925e-05,-0.000260633950445,-3.90750311394e-05,1793237429377774592
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767.219513564,746,716,680,666.780486436,637,881.780486436,789,804,653,633,654,0.423860264609,-0.005386878016,0.0498598230798,0.999999974792,6.85012252632e-05,-0.000210395083935,-3.81820587451e-05,1793237429394441216
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.636552852,666.636552852,637,882,789.363447148,804,653.363447148,633,654,0.423066767846,-0.00538421261438,0.0498569805855,0.999999973101,7.21573880095e-05,-0.000216990399697,-3.88176968841e-05,1793237429411108096
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.05691515,666.05691515,637,882,789.94308485,804,653.94308485,633,654,0.422236999392,-0.00538047060113,0.0498341419257,0.999999963151,7.62704664571e-05,-0.000257392596385,-4.03626038833e-05,1793237429427774464
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,716.521269958,679.521269958,666,637,882,789.478730042,804,653.478730042,633,654,0.421439010764,-0.00537922685474,0.0498141219046,0.999999954322,7.47325135751e-05,-0.000289798382308,-4.22800114567e-05,1793237429444441344
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,716.901118059,680,666,637,881.901118059,789,804,653,633,654,0.420654305446,-0.00537874916598,0.049802506679,0.999999948135,7.28395072119e-05,-0.000310689686258,-4.35546733325e-05,1793237429461108224
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,746,716.325506711,680,666,637,881.325506711,789,804,653,633,654,0.419916959041,-0.00538065334667,0.0498299330142,0.999999957257,7.22011836839e-05,-0.000280265048076,-4.15349897254e-05,1793237429477775104
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.254784606,637,881.254784606,789,804,653,633,654,0.419170833519,-0.00537890037228,0.0498381242548,0.999999957693,7.55070892016e-05,-0.000277938381654,-4.07798016165e-05,1793237429494441472
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.841166771,637,881.841166771,789,804,653,633,654,0.418413282191,-0.00537238767649,0.0498212813651,0.99999994688,8.39463375981e-05,-0.000312180720106,-4.1670331708e-05,1793237429511107840
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.574883663,637,881.574883663,789,804,653.425116337,633,654,0.417665728144,-0.00537413962189,0.0498112610306,0.999999943878,8.06724265387e-05,-0.000322333155031,-4.2865231442e-05,1793237429527774464
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.008045552,637,881,789,804,654,633,654.008045552,0.416922863226,-0.00537896235239,0.0498042360564,0.999999944218,7.30820978947e-05,-0.000322917605189,-4.41347375943e-05,1793237429544441088
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.58275573,637,881,789,804,654,633,654.58275573,0.41624868571,-0.00538381985627,0.049829666221,0.999999957599,6.795610453e-05,-0.000279929025876,-4.26949930612e-05,1793237429561107968
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.842951506,666.842951506,637,881,789,804,654,633,654.842951506,0.415569784613,-0.00538630288202,0.0498467371071,0.999999965364,6.60507350293e-05,-0.000251294802081,-4.19534603169e-05,1793237429577774592
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.269764654,666.269764654,637,881,789,804,654,633,654.269764654,0.414878367083,-0.00538249414882,0.0498416580479,0.999999962451,7.26791945317e-05,-0.000260695942272,-4.30620101695e-05,1793237429594441216
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,653.687011431,633,654,0.414185991555,-0.00538030875016,0.0498248416303,0.999999953434,7.74481607933e-05,-0.000291842714017,-4.4296353209e-05,1793237429611108096
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,653.095753036,633,654,0.413492764338,-0.00537956661536,0.0497975898391,0.999999937121,8.05639004397e-05,-0.000342322948365,-4.56425354824e-05,1793237429627774976
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.485920365,666,637,881,789.485920365,804,653.485920365,633,654,0.412840805676,-0.0053799794975,0.0498005293103,0.999999940235,8.04490204674e-05,-0.000333070611963,-4.60732314383e-05,1793237429644441600
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.935037278,666.064962722,637,881,789.935037278,804,654,633.064962722,654.064962722,0.412202827196,-0.00538070948876,0.0498108959793,0.999999947219,7.98160069301e-05,-0.000311553294242,-4.61025639078e-05,1793237429661108224
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.362084964,666.637915036,637,881,789.362084964,804,654,633.637915036,654.637915036,0.411611808512,-0.00538217382858,0.0498337189911,0.999999955376,8.00131467733e-05,-0.000284389607285,-4.43767471193e-05,1793237429677774592
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.78844657,637,881,789,803.78844657,654,633.78844657,654.78844657,0.411014605955,-0.00538206356714,0.0498425012444,0.999999957338,8.13141292985e-05,-0.000277124887075,-4.37375003069e-05,1793237429694441216
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.21363015,637,881,789,803.21363015,654,633.21363015,654.21363015,0.410406784996,-0.00537924952354,0.0498271738041,0.999999949201,8.45105440842e-05,-0.00030402911771,-4.49640265963e-05,1793237429711107840
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.374489884,666.374489884,637,881,789,803.374489884,654,633,654.374489884,0.409833918103,-0.00537947654055,0.0498157030876,0.999999943164,8.71186908427e-05,-0.000322518067994,-4.54411351813e-05,1793237429727774720
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.970478639,666.970478639,637,881,789,803.970478639,654,633,654.970478639,0.409281725371,-0.00538150224805,0.0498065134993,0.999999938514,8.93788960669e-05,-0.00033602964988,-4.54749871237e-05,1793237429744441344
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767.54579256,746,716.54579256,679.45420744,667,637,881,789,803.45420744,654,633,654.45420744,0.408774375957,-0.00538334780704,0.0498236559915,0.999999949338,8.81483202344e-05,-0.000302547195898,-4.49439789472e-05,1793237429761108224
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767.880946763,746,717,679,666.880946763,637,881,789,803.119053237,654,633,654,0.408276049687,-0.00538520249478,0.0498408778734,0.999999958386,8.74313661304e-05,-0.000271361762476,-4.41306286413e-05,1793237429777774848
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767.31137841,746,717,679,666.31137841,637,881,789,803.68862159,654,633,654,0.407803024618,-0.00538712725469,0.0498532072255,0.999999961794,8.93464508483e-05,-0.000258136295079,-4.2360250078e-05,1793237429794441472
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,717,679,666,637,881,789,804,654,633,654,0.407330563455,-0.00538684522209,0.0498542300245,0.999999960343,9.26977092957e-05,-0.000262613603831,-4.18873916638e-05,1793237429811108096
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,716.550624905,679,666,637,881,789,804,654,633,654.449375095,0.406390150701,-0.00538378474225,0.0498172271779,0.999999939836,9.61341693623e-05,-0.000330221177663,-4.51623820334e-05,1793237429844441600
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,678.818121259,666,637.181878741,881,789,804,654,633,654,0.40515016327,-0.00538620388393,0.0498021328602,0.999999933225,8.73538811065e-05,-0.000351464854464,-4.89029321472e-05,1793237429894441472
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,716.932939986,679.865879972,666,637.067060014,881,789,804,654,633,654.932939986,0.404220010168,-0.00539467858417,0.0498691865274,0.99999996642,7.56499717077e-05,-0.000243517790379,-4.62152215019e-05,1793237429944441600
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,767.084863103,746,716,679,665.915136897,637,881,789,804,654,633,654.084863103,0.403626971172,-0.00539480245735,0.0498720767612,0.999999966911,7.11653168127e-05,-0.000242606508488,-4.74914857448e-05,1793237429977775104
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,767.759736284,746,716,679,665.240263716,637,881,789,803.759736284,654,632.759736284,654.759736284,0.403073339469,-0.00539829055455,0.0498492096057,0.999999955294,6.13677312645e-05,-0.000288348468119,-5.00165923502e-05,1793237430011108352
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.414279146,666,637,881,789,803,654,632.414279146,654,0.402615495933,-0.00539890506231,0.0498388061219,0.999999948823,5.82519398944e-05,-0.000310337533512,-5.1495593273e-05,1793237430044441600
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.992991321,666,637,881,789,803,654,632.992991321,654,0.402407831908,-0.00539852520236,0.0498367286173,0.999999946654,5.94362764216e-05,-0.000317062560517,-5.12878526556e-05,1793237430061108480
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.431783113,666,637,881,789,803.568216887,654,633,654,0.402234436207,-0.00539567301749,0.0498361687181,0.999999945676,8.01623401197e-05,-0.00031613250738,-4.77779648688e-05,1793237430077775360
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,767.71659285,746,716,679,666,637.71659285,881,789,804,654,633,654,0.401923730949,-0.00538421899985,0.0498380045082,0.999999940134,0.00015434374339,-0.000307666825016,-3.53602830049e-05,1793237430111108608
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,767.107894109,746,716,679,666,637.107894109,881,789,804,654,632.107894109,654,0.401686805633,-0.0053852362303,0.0498504781867,0.999999945485,0.000169281297487,-0.000281797050107,-3.10616101407e-05,1793237430144441088
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,654,632.47465111,654,0.401589021896,-0.00538689122991,0.0498547445309,0.999999948765,0.000164704291913,-0.000272686434135,-3.13633738947e-05,1793237430161107968
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,767.205901006,746,716,679,666,637.205901006,881,789,804,654,632.205901006,654,0.401339594362,-0.0053872594601,0.0498565190796,0.999999952125,0.00015598191699,-0.000265024281252,-3.43865442855e-05,1793237430211108608
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,767.621025276,746,716,679,666,637.621025276,881,789,804,654,632.621025276,654,0.401223161521,-0.00539289125862,0.0498562872128,0.999999954196,0.00014366071998,-0.000264036630804,-3.54091510904e-05,1793237430244441600
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767.042095597,746,716,679,666,637.042095597,881,789,804,654,632.042095597,654,0.4011763077,-0.00539758968378,0.0498571589872,0.999999955725,0.000135921824054,-0.000262269444425,-3.59161674635e-05,1793237430261108224
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637.5351093,881,789,804,654,632.5351093,654.5351093,0.401143367891,-0.00540309819432,0.0498592808967,0.999999958101,0.000127550965189,-0.00025733687218,-3.61506032084e-05,1793237430277774592
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637.888728517,881,789,803.888728517,654,633,654.888728517,0.401113150464,-0.00540852474372,0.049861134818,0.999999960178,0.00011979331597,-0.000252935934186,-3.62960844981e-05,1793237430294441216
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637.316327199,881,789,803.316327199,654,633,654.316327199,0.401089693552,-0.00541334838039,0.0498614718956,0.999999961065,0.000114782290044,-0.000251766827518,-3.61615008747e-05,1793237430311108096
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.264273347,666,637,881,789,803,654,633,654,0.401069202413,-0.00541687363266,0.0498616315161,0.99999996185,0.000110769670043,-0.000250443501009,-3.61656175332e-05,1793237430327774720
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.85500244,666,637,881,789,803,654,633,654,0.401052374879,-0.00541879499683,0.0498615719246,0.999999962526,0.000107990375986,-0.00024892966723,-3.63410700456e-05,1793237430344441600
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767.436993801,746,716,680,666,637.436993801,881,789,803.436993801,654,633,654,0.40104148793,-0.0054195189171,0.0498618462848,0.999999963107,0.000105936524103,-0.000247427941466,-3.66420216567e-05,1793237430361108480
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767.983896721,746,716,679.983896721,666,637.983896721,881,789,804,654,633,654,0.401032627565,-0.00541985303417,0.0498622503477,0.999999963653,0.000104158206555,-0.000245923780295,-3.69704589554e-05,1793237430377775616
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767.406162876,746,716,679.406162876,666,637.406162876,881,789,804,654,633,654,0.401027049014,-0.00542017767353,0.0498633891713,0.999999964122,0.000103759130042,-0.000244197305209,-3.6833658963e-05,1793237430394441728
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,803.825915592,654,632.825915592,654.174084408,0.40102271059,-0.0054200342424,0.0498643692945,0.999999964522,0.000103807298393,-0.000242545474175,-3.67671805092e-05,1793237430411108096
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,803.239718233,654,632.239718233,654.760281767,0.401021307942,-0.00541878274009,0.0498649737234,0.999999964759,0.000104914237067,-0.000241070349363,-3.6867175426e-05,1793237430427774464
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+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746,716.500859428,679,666,637,881,789,803,654.499140572,633,654,0.401015346656,-0.00542286794148,0.0498651165101,0.999999965154,0.000102873230385,-0.000240421263987,-3.61382678236e-05,1793237430477774592
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+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746.651372917,716.348627083,679,666,637.651372917,881,789,803.651372917,654,632.348627083,654,0.401016699584,-0.00542501914978,0.0498670176899,0.999999966364,9.94341164991e-05,-0.000236857088551,-3.58201426851e-05,1793237430511108352
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+422,7.033333333,POSE2_TO_POSE3_RETREAT,767.865702131,746,716,679.134297869,666,637,881,789.865702131,804,654,633,654,0.401017385231,-0.005423373719,0.0498695006263,0.9999999669,0.000103108474516,-0.000232986153128,-3.58513638096e-05,1793237430611107840
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diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b55e64d886410b0e2bd88e172894f7edde3df75a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,437 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9cb89188646d2d0b2737d9c4a836f006f60d915f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d10256063f02524bafad793046fd4b67ef9cbfbe3fa55084ec8c2bd7d22f7bb1
+size 27798027
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b997558fd3f0db4710b8053bb7e48afd43f9f0bb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_04/franka_data.csv
@@ -0,0 +1,440 @@
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+7,0.116666667,BASELINE,767.939851037,746,716,679.939851037,666,637.060148963,881,789,804,654,633,654.060148963,0.401014997494,-0.00542694047252,0.0498709761539,0.999999967671,9.99984274634e-05,-0.000231056709534,-3.56485649953e-05,1793237431096978176
+8,0.133333333,BASELINE,767.364828896,746,716,679.364828896,666,637.635171104,881,789,804,654,633,654.635171104,0.401016351384,-0.00542601002696,0.0498722824734,0.999999968152,9.99637043733e-05,-0.000228994447763,-3.55690353241e-05,1793237431113644800
+9,0.150000000,BASELINE,767,746.21049194,716,679,666,637.78950806,881,789,804,654,633,655,0.401016673586,-0.00542535874046,0.0498724965334,0.999999968227,0.000100685519323,-0.000228358630058,-3.55205266313e-05,1793237431130311424
+10,0.166666667,BASELINE,767,746.786331155,716,679,666,637.213668845,881,789,804,654,633,655,0.401015205107,-0.00542519198568,0.0498708147771,0.999999967597,0.000102720444466,-0.000230198667238,-3.55258605306e-05,1793237431146978048
+11,0.183333333,BASELINE,767,746.626485273,716,679,666,637.373514727,881,789,803.626485273,654,633,655,0.401014310268,-0.00542586498956,0.0498702629187,0.999999967485,0.000101555479006,-0.000231200006194,-3.55508650657e-05,1793237431163644416
+12,0.200000000,BASELINE,767,746.03260884,716,679,666,637.96739116,881,789,803.03260884,654,633,655,0.401013753858,-0.00542703342409,0.0498703776636,0.999999967671,9.85026809375e-05,-0.000231706540277,-3.55874746456e-05,1793237431180311040
+13,0.216666667,BASELINE,767,746,716,679,666,637.455296183,881.544703817,789,803.544703817,654,633,655,0.401015034474,-0.00542629269982,0.0498709419168,0.999999967828,9.91389766626e-05,-0.000230777985198,-3.54495176551e-05,1793237431196977664
+14,0.233333333,BASELINE,767.120799117,746,716,679,666,637.120799117,882,789,803.879200883,654,633,655,0.401016144047,-0.00542555741579,0.0498714708544,0.999999967988,9.95570810422e-05,-0.000229907355993,-3.5427923698e-05,1793237431213644288
+15,0.250000000,BASELINE,767.69593541,746,716,679,666,637.69593541,882,789,803.30406459,654,633,655,0.401016208891,-0.00542525977126,0.0498717687427,0.999999968169,9.83484270828e-05,-0.000229568178847,-3.58821276294e-05,1793237431230311168
+16,0.266666667,BASELINE,767.723018264,746,716,679,666,638,881.723018264,789,803.276981736,654,633,654.723018264,0.401016112902,-0.00542578399361,0.0498717898838,0.999999968273,9.83528603026e-05,-0.000229122866512,-3.58146577424e-05,1793237431246977792
+17,0.283333333,BASELINE,767.135342613,746,716,679,666,638,881.135342613,789,803.864657387,654,633,654.135342613,0.401015836506,-0.00542723011443,0.0498715005938,0.99999996829,9.97180288231e-05,-0.000228558501013,-3.51620197095e-05,1793237431263644416
+18,0.300000000,BASELINE,767.445838167,746,716,679.445838167,666,637.554161833,881,789,804,654,633,654.445838167,0.401015671648,-0.00542686630872,0.0498712977694,0.999999968168,0.000100740589939,-0.000228641565328,-3.51788235663e-05,1793237431280310784
+19,0.316666667,BASELINE,767.975032114,746,716,680,666,637,881.024967886,789.024967886,803.975032114,654,633,654.975032114,0.40101556406,-0.00542592222355,0.0498711565346,0.999999968019,0.000101600954714,-0.000228879030763,-3.54023724624e-05,1793237431296977408
+20,0.333333333,BASELINE,767.398282992,746,716,680,666,637,881.601717008,789.601717008,803.398282992,654,633,654.398282992,0.40101598458,-0.00542412219333,0.0498718046609,0.999999968197,0.000101142308525,-0.000228247617702,-3.57682710684e-05,1793237431313644288
+21,0.350000000,BASELINE,767.177221207,746.177221207,716,679.822778793,666.177221207,637,881.822778793,789.822778793,803,654,633,654,0.401015860593,-0.00542361667141,0.0498721231194,0.999999968336,0.000100041269613,-0.000228102802855,-3.59083628381e-05,1793237431330310912
+22,0.366666667,BASELINE,767.749947037,746.749947037,716,679.250052963,666.749947037,637,881.250052963,789.250052963,803,654,633,654,0.401014521427,-0.00542600010426,0.0498717058579,0.999999968384,9.75066027293e-05,-0.000229043929476,-3.55445213737e-05,1793237431346978304
+23,0.383333333,BASELINE,768,747,716,679,666.665796073,637.334203927,881,789,803.334203927,654,633,654,0.401014583551,-0.00542673109049,0.0498715956755,0.99999996842,9.70103483425e-05,-0.000229118988011,-3.54093311424e-05,1793237431363645184
+24,0.400000000,BASELINE,768,747,716,679,666.07260321,637.92739679,881,789,803.92739679,654,633,654,0.401015731596,-0.00542618152533,0.0498717234616,0.999999968449,9.80937468297e-05,-0.000228522893398,-3.54513325056e-05,1793237431380311808
+25,0.416666667,BASELINE,768,746.494651555,716,679.505348445,666,637.494651555,881,789,804,654,633,654,0.401014926537,-0.00542565225045,0.0498708221466,0.999999968038,9.96314675106e-05,-0.000229623061699,-3.56556704269e-05,1793237431396978176
+26,0.433333333,BASELINE,768,746,716,680,666,637,881.081504888,789.081504888,804,654,633,654,0.401014210605,-0.00542528150293,0.0498700448063,0.999999967706,0.000100720655269,-0.000230559815523,-3.58596680255e-05,1793237431413644800
+27,0.450000000,BASELINE,768,746,716,680,666,637,881.6596748,789.6596748,804,654,633,654,0.401015697619,-0.00542585952711,0.0498708975059,0.999999968251,9.86905219989e-05,-0.000229059211573,-3.59236308347e-05,1793237431430311168
+28,0.466666667,BASELINE,768,746,716,679.759210619,666,637,881.759210619,789.759210619,804,654,633,654,0.401016736871,-0.00542575182416,0.0498719464929,0.999999968562,9.88088038826e-05,-0.000227658273027,-3.58335159735e-05,1793237431446977792
+29,0.483333333,BASELINE,768,746,716,679.173882631,666,637,881.173882631,789.173882631,804,654,633,654,0.401017135435,-0.00542466293393,0.0498732763417,0.999999968538,0.000102001191407,-0.000226399942931,-3.55229357967e-05,1793237431463644416
+30,0.500000000,BASELINE,767.590591867,746,716,679,666,637,881.409408133,789,804,654,633,654,0.401016777324,-0.00542467624337,0.049873003643,0.999999968348,0.000102902161371,-0.000226858011377,-3.53575946239e-05,1793237431480311296
+31,0.516666667,BASELINE,767.008162078,746,716,679,666,637,881.991837922,789,804,654,633,654,0.401016099432,-0.00542515535798,0.049872053685,0.99999996809,0.000102834745844,-0.00022804145411,-3.52536335128e-05,1793237431496978176
+32,0.533333333,BASELINE,767,746,716,679,666,637,881.434040855,789,804,654,633,654,0.401016277459,-0.00542573635497,0.0498723600354,0.999999968406,0.000100453246875,-0.000227684456128,-3.54656612171e-05,1793237431513644800
+33,0.550000000,BASELINE,767,746,716,679,666,637.140614724,881.140614724,789,804,654,633,654,0.401016497956,-0.0054263605568,0.0498726406775,0.999999968694,9.84964256995e-05,-0.000227257065579,-3.55681783726e-05,1793237431530311424
+34,0.566666667,BASELINE,767,746,716,679,666,637.717293516,881.717293516,789,804,654,633,654,0.401016812429,-0.00542711425157,0.049872786221,0.999999968887,9.79585810069e-05,-0.000226679275879,-3.53171617664e-05,1793237431546977792
+35,0.583333333,BASELINE,767.300297996,746,716,679,666.300297996,638,881.699702004,789,803.699702004,654,633,654.300297996,0.401016923045,-0.00542777704889,0.049872770075,0.999999968971,9.78451999337e-05,-0.000226379887179,-3.51662960045e-05,1793237431563644416
+36,0.600000000,BASELINE,767.889385816,746,716,679,666.889385816,638,881.110614184,789,803.110614184,654,633,654.889385816,0.401016837615,-0.00542835243228,0.0498725984358,0.999999968951,9.81400159064e-05,-0.000226348230385,-3.51117430256e-05,1793237431580310784
+37,0.616666667,BASELINE,767.52955037,746,716.47044963,679,666.52955037,637.52955037,881,789,803.47044963,654,633,654.52955037,0.40101622156,-0.00542773346543,0.0498720468234,0.999999968584,9.89102302689e-05,-0.00022762949727,-3.51122543847e-05,1793237431596977408
+38,0.633333333,BASELINE,767.04927084,746,716.95072916,679,666.04927084,637,881,789.04927084,804,654,633,654.04927084,0.40101562735,-0.00542686578369,0.0498714952695,0.999999968196,9.97277614405e-05,-0.000228973236186,-3.51278234371e-05,1793237431613644288
+39,0.650000000,BASELINE,767.6239591,746,716.3760409,679,666.6239591,637,881,789.6239591,804,654,633,654.6239591,0.401016574221,-0.00542629025493,0.0498718810817,0.99999996846,9.98778801369e-05,-0.000227746436918,-3.51682163195e-05,1793237431630310912
+40,0.666666667,BASELINE,767.800944806,746.199055194,716,679.199055194,666.800944806,637,881.199055194,789.800944806,804,654,633,654.800944806,0.401017314658,-0.00542598146722,0.0498723025713,0.999999968676,9.99556648923e-05,-0.000226736967098,-3.5304377259e-05,1793237431646977536
+41,0.683333333,BASELINE,767.225076716,746.774923284,716,679.774923284,666.225076716,637,881.774923284,789.225076716,804,654,633,654.225076716,0.401017664315,-0.00542617762225,0.0498727915987,0.999999968806,9.98965209747e-05,-0.000226138903544,-3.5621827809e-05,1793237431663644416
+42,0.700000000,BASELINE,767,746.638727322,716,679.638727322,666,637.361272678,881.638727322,789,804,654,633,654,0.401017671955,-0.00542655188527,0.0498727279211,0.999999968864,9.94728186363e-05,-0.000226067321237,-3.56494004812e-05,1793237431680311040
+43,0.716666667,BASELINE,767,746.045652877,716,679.045652877,666,637.954347123,881.045652877,789,804,654,633,654,0.401017460149,-0.00542704042691,0.0498723096139,0.999999968875,9.8815206318e-05,-0.000226333542751,-3.54909801003e-05,1793237431696977920
+44,0.733333333,BASELINE,767,746,716,679,666,637.48753656,881,789,803.48753656,654,633,654.51246344,0.401016323691,-0.00542680342977,0.0498720767493,0.999999968672,9.82594959853e-05,-0.000227505333165,-3.52549837581e-05,1793237431713644544
+45,0.750000000,BASELINE,767,746,716,679,666,637,881,789,803,654,633,655,0.401015226489,-0.00542634472901,0.0498718729775,0.999999968434,9.82049820205e-05,-0.000228593564044,-3.51101072024e-05,1793237431730310912
+46,0.766666667,BASELINE,767,746,716,679,666,637,881,789,803,654,633,655,0.401014967751,-0.00542472457363,0.0498717673963,0.999999968078,0.00010170046338,-0.000228535585158,-3.56683826659e-05,1793237431746977536
+47,0.783333333,BASELINE,767.258715355,746.258715355,716,679,666,637,881,789,803.258715355,654,633,654.741284645,0.401014969968,-0.00542457870564,0.0498715027429,0.999999967897,0.000103127420674,-0.000228676625473,-3.57580431946e-05,1793237431763644160
+48,0.800000000,BASELINE,767.831474113,746.831474113,716,679,666,637,881,789,803.831474113,654,633,654.168525887,0.401015288948,-0.00542622241125,0.0498710449985,0.999999967937,0.000102043486347,-0.000229059246602,-3.52788723541e-05,1793237431780310784
+49,0.816666667,BASELINE,767.581218678,746.581218678,716,679,666,637,881,789.418781322,804,654,633,654.418781322,0.401015297239,-0.00542611393303,0.0498718239821,0.999999968116,0.000101445146393,-0.000228552470828,-3.5209255067e-05,1793237431796977664
+50,0.833333333,BASELINE,767.011826747,746,716,679,666,637,881.011826747,789.988173253,803.988173253,654,633,654.988173253,0.401015215139,-0.00542530774495,0.0498730989989,0.999999968358,0.000101029975248,-0.000227661214241,-3.53100701708e-05,1793237431813644800
+51,0.850000000,BASELINE,767.589232483,746,716,679,666,637,881.589232483,789.410767517,803.410767517,654,633,654.410767517,0.401017004599,-0.00542606919902,0.0498734385058,0.99999996884,9.96929410987e-05,-0.000226115338767,-3.53959791927e-05,1793237431830311424
+52,0.866666667,BASELINE,767.834814415,746,716.165185585,679,666,637,881.834814415,789,803,654,632.834814415,654,0.401018247889,-0.00542686186897,0.0498736669826,0.999999969194,9.84435597872e-05,-0.000225083538356,-3.54792737126e-05,1793237431846978048
+53,0.883333333,BASELINE,767.262442126,746,716.737557874,679,666,637,881.262442126,789,803,654,632.262442126,654,0.401018144853,-0.00542773148676,0.0498736217675,0.999999969239,9.74102450511e-05,-0.000225318946266,-3.55561234133e-05,1793237431863644416
+54,0.900000000,BASELINE,767.320978242,746.320978242,716.679021758,679,666,637,881,789.320978242,803.320978242,654,632.320978242,654,0.4010167138,-0.00542702933152,0.0498726729845,0.999999968758,9.87466715077e-05,-0.000226860915793,-3.5610435535e-05,1793237431880310784
+55,0.916666667,BASELINE,767.913753853,746.913753853,716.086246147,679,666,637,881,789.913753853,803.913753853,654,632.913753853,654,0.40101415821,-0.00542499623312,0.0498709590798,0.999999967816,0.000102089743135,-0.000229509253164,-3.56456633224e-05,1793237431896977408
+56,0.933333333,BASELINE,767.504709604,746.504709604,716,679.495290396,666,637,881,789.504709604,804,654,633,654,0.401015549176,-0.00542548362285,0.0498722602406,0.999999968371,0.000100356616051,-0.000227873506996,-3.54939758309e-05,1793237431913644288
+57,0.950000000,BASELINE,767,746,716,679.925791422,666,637,881.074208578,789,804,654,633,654,0.40101719191,-0.00542628595644,0.0498736967045,0.999999969011,9.8213659876e-05,-0.000226017419169,-3.53256774569e-05,1793237431930311168
+58,0.966666667,BASELINE,767,746,716,679.351621239,666,637,881.648378761,789,804,654,633,654,0.401016003593,-0.00542631878438,0.0498725860281,0.999999968566,9.91327100959e-05,-0.00022759129218,-3.52598860725e-05,1793237431946978048
+59,0.983333333,BASELINE,767.228447814,746,716,679.228447814,666.228447814,637,881.771552186,789,804,654,633,654.228447814,0.401015415088,-0.0054264484599,0.0498718409465,0.999999968248,0.000100267312052,-0.000228487084306,-3.52757302369e-05,1793237431963644672
+60,1.000000000,BASELINE,767.817837013,746,716,679.817837013,666.817837013,637,881.182162987,789,804,654,633,654.817837013,0.401015774268,-0.00542673115198,0.0498716734949,0.999999968134,0.000101742480079,-0.000228311527171,-3.54205563559e-05,1793237431980311296
+61,1.016666667,BASELINE,767.599443321,746,716,679.599443321,666.599443321,637,881.400556679,789,804,654,633,654.599443321,0.401016302679,-0.00542684504935,0.0498717851418,0.999999968429,0.000101231323839,-0.000227264345544,-3.52946723699e-05,1793237431996977664
+62,1.033333333,BASELINE,767.019707146,746,716,679.019707146,666.019707146,637,881.980292854,789,804,654,633,654.019707146,0.401016906792,-0.00542688344041,0.0498720216367,0.999999968904,9.98316326317e-05,-0.000225827263457,-3.50476926536e-05,1793237432013644032
+63,1.050000000,BASELINE,767,746,716,679,666,637,881.448183809,789,804,654,633,654,0.401016836789,-0.0054272773741,0.0498726911492,0.999999969012,9.76354196857e-05,-0.000226297925389,-3.511931851e-05,1793237432030310912
+64,1.066666667,BASELINE,767.124398903,746,716,679.124398903,666,637,880.875601097,789,804,654,633,654.124398903,0.401016836338,-0.00542784802376,0.0498733077898,0.999999969154,9.56907067328e-05,-0.000226500021741,-3.51258914906e-05,1793237432046977536
+65,1.083333333,BASELINE,767.701892753,746,716,679.701892753,666,637,880.298107247,789,804,654,633,654.701892753,0.401017175613,-0.00542901675166,0.0498736763572,0.999999969482,9.47641159774e-05,-0.00022547941325,-3.48546884083e-05,1793237432063644416
+66,1.100000000,BASELINE,768,746,716,679.712871323,666,637,880.287128677,789,804,654,633,654.712871323,0.401017275857,-0.00542840600519,0.049873551082,0.999999969373,9.65498087767e-05,-0.000225191850014,-3.4927094349e-05,1793237432080311040
+67,1.116666667,BASELINE,768,746,716,679.119374599,666,637,880.880625401,789,804,654,633,654.119374599,0.401017121052,-0.00542589654864,0.0498728988739,0.999999968784,0.000101229524714,-0.000225686450594,-3.53661332277e-05,1793237432096977920
+68,1.133333333,BASELINE,767.537473184,746,716,679,666,637,881,789,804,654,633,654,0.401017234127,-0.00542498514906,0.0498730400614,0.999999968705,0.000102873229785,-0.000225257535635,-3.55868428631e-05,1793237432113645056
+69,1.150000000,BASELINE,767,746.04116015,716,679,666,637,881,789,804,654,633,654,0.401017302282,-0.00542460839061,0.049873268131,0.999999968737,0.000103559047755,-0.000224779316365,-3.57205970569e-05,1793237432130312192
+70,1.166666667,BASELINE,767,746.615278969,716,679,666,637,881,789,804,654,633,654,0.401015915439,-0.00542594447338,0.0498720345915,0.999999968506,0.000101739612858,-0.000226673489161,-3.54402032597e-05,1793237432146978048
+71,1.183333333,BASELINE,767,746.809822151,716.190177849,679,666,637,881.190177849,789,804,654,633,654,0.401015376229,-0.00542702339334,0.0498716136389,0.9999999685,9.99925283382e-05,-0.000227504316099,-3.52490280815e-05,1793237432163644416
+72,1.200000000,BASELINE,767,746.233338638,716.766661362,679,666,637,881.766661362,789,804,654,633,654,0.401016558803,-0.00542757994224,0.0498728432823,0.999999968961,9.83924078244e-05,-0.000226175183475,-3.5239081414e-05,1793237432180311040
+73,1.216666667,BASELINE,767,746,716.647334896,679,666,637,881.647334896,789.352665104,804,654,633,654,0.40101752691,-0.00542657967187,0.0498736825123,0.99999996922,9.88614226648e-05,-0.000224806116716,-3.53308640808e-05,1793237432196977664
+74,1.233333333,BASELINE,767,746,716.054857431,679,666,637,881.054857431,789.945142569,804,654,633,654,0.401018349179,-0.00542452076394,0.0498742562609,0.99999996934,0.000100737450176,-0.000223409894814,-3.54918227219e-05,1793237432213644288
+75,1.250000000,BASELINE,767.52254599,746,716,679.52254599,666,637,881.52254599,789.47745401,804,654,633,654.52254599,0.401017514766,-0.0054254468326,0.0498737508128,0.999999969197,9.89210756571e-05,-0.000224878223832,-3.53577104769e-05,1793237432230311168
+76,1.266666667,BASELINE,767.901713914,746,715.901713914,679.901713914,666.098286086,637,881.901713914,789,803.901713914,654,633,654.901713914,0.401016748768,-0.00542647492243,0.0498733013318,0.999999969033,9.75614117506e-05,-0.000226223167624,-3.51943580538e-05,1793237432246978048
+77,1.283333333,BASELINE,767.326581288,746,715.326581288,679.326581288,666.673418712,637,881.326581288,789,803.326581288,654,633,654.326581288,0.401017134822,-0.00542652027563,0.0498736576348,0.999999968925,0.000100245446645,-0.000225551405449,-3.50352174837e-05,1793237432263644672
+78,1.300000000,BASELINE,767.25413745,746.25413745,715.25413745,679,667,637.25413745,881,789,803.25413745,654.25413745,633,654.25413745,0.401016761616,-0.0054266879011,0.0498733414228,0.999999968826,0.000100921123841,-0.000225689803311,-3.50208445767e-05,1793237432280311040
+79,1.316666667,BASELINE,767.842195951,746.842195951,715.842195951,679,667,637.842195951,881,789,803.842195951,654.842195951,633,654.842195951,0.40101539079,-0.00542701618482,0.049872141567,0.999999968744,9.89579417621e-05,-0.000226892701915,-3.51966875288e-05,1793237432296977408
+80,1.333333333,BASELINE,768,747,716,679.422574822,666.577425178,638,881,789,804,655,633.422574822,655,0.40101668242,-0.00542663234356,0.0498720760117,0.999999968949,9.8823344571e-05,-0.000226039496155,-3.52410106249e-05,1793237432313644288
+81,1.350000000,BASELINE,768,746.999862909,716.000137091,679.999862909,666,638,881.000137091,789,804,654.999862909,633.999862909,655,0.401018949453,-0.00542598788245,0.0498724263933,0.999999969258,9.93586650777e-05,-0.000224432935379,-3.52370500996e-05,1793237432330310912
+82,1.366666667,BASELINE,768,746.422295437,716.577704563,679.422295437,666,638,881.577704563,789,804,654.422295437,633.422295437,655,0.401016564303,-0.00542772601014,0.049872399918,0.999999969163,9.67315022235e-05,-0.000226030509208,-3.50385007792e-05,1793237432346977536
+83,1.383333333,BASELINE,768,746,716.845539137,679.154460863,666,638,881.845539137,789,804,654.154460863,633,655,0.401015065896,-0.00542872335787,0.0498725531777,0.999999969054,9.5628448074e-05,-0.000226994895109,-3.49264703925e-05,1793237432363644160
+84,1.400000000,BASELINE,768,746,716.270988861,679.729011139,666,638,881.270988861,789,804,654.729011139,633,655,0.401015979174,-0.00542770599619,0.0498731952656,0.999999968926,9.8670533509e-05,-0.000226237191138,-3.50497467392e-05,1793237432380311040
+85,1.416666667,BASELINE,767.687256397,746,716,680,666,638,881,789.312743603,804,654.687256397,633,655,0.40101586128,-0.00542674401626,0.0498731445295,0.999999968699,0.000100781320472,-0.000226294174005,-3.51459701363e-05,1793237432396977920
+86,1.433333333,BASELINE,767.095327042,746,716,680,666,638,881,789.904672958,804,654.095327042,633,655,0.401014822861,-0.0054258314756,0.0498724753105,0.999999968389,0.000102060738481,-0.000227078426659,-3.52180433982e-05,1793237432413644544
+87,1.450000000,BASELINE,767,746,716.486877733,679.513122267,666,638,881,789.513122267,803.513122267,654,633,654.513122267,0.40101624844,-0.005425418544,0.0498731244035,0.999999968927,0.000100458135143,-0.000225404742184,-3.53236019389e-05,1793237432430311168
+88,1.466666667,BASELINE,767,746,716.933688962,679,666,637.933688962,881,789.066311038,803.066311038,654,633,654,0.401017790664,-0.00542526174262,0.049873891864,0.999999969486,9.8626254795e-05,-0.000223713058266,-3.53985744872e-05,1793237432446977280
+89,1.483333333,BASELINE,767,746,716.361162484,679,666,637.361162484,881,789.638837516,803.638837516,654,633,654,0.401016612609,-0.00542632809922,0.0498736310787,0.999999969032,9.92674055202e-05,-0.000225485834645,-3.51909855568e-05,1793237432463644160
+90,1.500000000,BASELINE,767.211559369,746,716.211559369,679,666,637.211559369,881.211559369,789.788440631,804.211559369,654.211559369,633,654.211559369,0.401015651071,-0.00542669966576,0.0498733152666,0.999999968694,9.96557233457e-05,-0.000226821663344,-3.51198780823e-05,1793237432480310784
+91,1.516666667,BASELINE,767.784615004,746,716.784615004,679,666,637.784615004,881.784615004,789.215384996,804.784615004,654.784615004,633,654.784615004,0.401015059501,-0.00542588402874,0.0498729054289,0.999999968558,9.96120198259e-05,-0.000227410869504,-3.52819795725e-05,1793237432496977408
+92,1.533333333,BASELINE,767.627251887,746,716.627251887,679,666,637.627251887,881.627251887,789.372748113,804.254503775,654.627251887,633,654.627251887,0.401014844352,-0.00542637568531,0.0498719868005,0.999999968452,9.86832871909e-05,-0.000228282556304,-3.5267717622e-05,1793237432513644544
+93,1.550000000,BASELINE,767.030039246,746,716.030039246,679,666,637.030039246,881.030039246,789.969960754,803.060078492,654.030039246,633,654.030039246,0.401014855881,-0.00542765457862,0.0498707617844,0.999999968361,9.72216004292e-05,-0.000229324349679,-3.51472516978e-05,1793237432530311424
+94,1.566666667,BASELINE,767,746,716,679,666,637,881.546248032,789.453751968,803.546248032,654,633,654,0.401016291087,-0.00542733642279,0.049872047038,0.999999968928,9.68548820822e-05,-0.000226958772119,-3.54067027807e-05,1793237432546978048
+95,1.583333333,BASELINE,767.121149001,746,716,679,666,637,881.878850999,789,804,654,633,654,0.401017542475,-0.00542714066892,0.0498733161127,0.999999969401,9.68674059144e-05,-0.000224835021969,-3.55580769029e-05,1793237432563644672
+96,1.600000000,BASELINE,767.695011152,746,716,679,666,637,881.304988848,789,804,654,633,654,0.401017825205,-0.0054277183885,0.0498740279126,0.999999969417,9.80803834537e-05,-0.000224289305197,-3.52303950543e-05,1793237432580311040
+97,1.616666667,BASELINE,767.723303897,746,716,679,666,637,881,789,803.723303897,654,633,654,0.401017510972,-0.00542750522609,0.0498740811071,0.999999969349,9.85975503551e-05,-0.000224375479658,-3.51612254672e-05,1793237432596977408
+98,1.633333333,BASELINE,767.132745411,746,716,679,666,637,881,789,803.132745411,654,633,654,0.401016519593,-0.00542639494908,0.0498733872311,0.999999969187,9.83254441052e-05,-0.000225178422064,-3.53852919571e-05,1793237432613644288
+99,1.650000000,BASELINE,767,746,716,679,666,637,881.449394122,789,803.449394122,654,633,654,0.401016575164,-0.00542623325696,0.0498729592367,0.999999969075,9.93165909213e-05,-0.000225250529423,-3.53411319059e-05,1793237432630310912
+100,1.666666667,BASELINE,767.028941873,746,716,679,666,637,881.971058127,789,804,654,633,654,0.401016857664,-0.00542642966962,0.0498726402239,0.999999968974,0.000100520147257,-0.000225182653261,-3.52144650998e-05,1793237432646977792
+101,1.683333333,BASELINE,767.60563839,746,716,679,666,637,881.39436161,789,804,654,633,654,0.401015689679,-0.00542819802857,0.0498729247191,0.99999996886,9.88114119099e-05,-0.000226476052425,-3.49982214079e-05,1793237432663644672
+102,1.700000000,BASELINE,767.814841915,746,716,679,666,637.185158085,881,789,804,654,633,654,0.401014841913,-0.0054292687586,0.0498728970682,0.999999968791,9.75401148606e-05,-0.000227355579607,-3.48267438344e-05,1793237432680311808
+103,1.716666667,BASELINE,767.229216205,746,716,679,666,637.770783795,881,789,804,654,633,654,0.401014686729,-0.00542883062747,0.0498721942945,0.999999968829,9.72149278188e-05,-0.000227339967043,-3.47520883164e-05,1793237432696978688
+104,1.733333333,BASELINE,767,746,716,679,666,638,881,789,804,654,633,654.352957848,0.401015247192,-0.00542878638883,0.0498723927632,0.999999969088,9.64632464895e-05,-0.000226524932498,-3.47261372293e-05,1793237432713644800
+105,1.750000000,BASELINE,767,746,716,679,666,638,881,789,804,654,633,654.93291211,0.401016267906,-0.00542899547269,0.0498731708442,0.999999969486,9.54372755097e-05,-0.000225195768791,-3.47315092269e-05,1793237432730310912
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881,789,804,654,633,655,0.401016258175,-0.00542620190853,0.0498736889097,0.999999969345,9.89769171637e-05,-0.000224207594349,-3.52646087577e-05,1793237432761333760
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679.422021167,666,637,881,789,803.422021167,654,633,655,0.401017056679,-0.00542662620475,0.0498737575899,0.999999969427,9.85145292724e-05,-0.000224047201039,-3.52573109913e-05,1793237432778001152
+108,1.800000000,POSE1_TO_POSE2_PRESS,767.159771635,746,716,679,666,637,881,789,803.159771635,654,633,655,0.40101776824,-0.00542618791204,0.0498739391789,0.999999969406,9.94561511914e-05,-0.000223714115169,-3.53368815742e-05,1793237432794668288
+109,1.816666667,POSE1_TO_POSE2_PRESS,767.751885159,746,716,679,666,637,881,789,803.751885159,654,633,655,0.401018244534,-0.00542341545463,0.0498744262989,0.999999969091,0.000104197022185,-0.000222913723362,-3.56515178236e-05,1793237432811334912
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.665734791,746.334265209,716,679,666,637,881,789,803.665734791,654,633,654.665734791,0.401017906942,-0.00542459189496,0.0498743805415,0.999999969131,0.000103443849512,-0.000223139527803,-3.52908169877e-05,1793237432828001536
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.090375208,746.909624792,716,679,666,637,881,789,803.090375208,654,633,654.090375208,0.40101698232,-0.005428616544,0.0498739504373,0.999999969422,9.87280056458e-05,-0.000224105493504,-3.44430179617e-05,1793237432844668160
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746.514281666,716,679,666,637,881,789,803.485718334,654.485718334,633,654,0.401016639822,-0.0054293896098,0.0498739136352,0.999999969515,9.6691445803e-05,-0.000224558010846,-3.45502703247e-05,1793237432861334272
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,804,654.93794847,633,654.06205153,0.401016287367,-0.00542933196662,0.0498738530822,0.99999996949,9.56500167773e-05,-0.000225070199144,-3.48358260532e-05,1793237432878000640
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,804,654.360761149,633,654.639238851,0.401014951692,-0.00542740819674,0.0498729869154,0.999999968774,9.87250499992e-05,-0.000226872065828,-3.51241441838e-05,1793237432894667264
+115,1.916666667,POSE1_TO_POSE2_PRESS,767.221140391,746,716,679,666,637,881.221140391,789,804,654.221140391,633,655,0.401014455225,-0.0054271147829,0.0498725385623,0.999999968613,9.89284706546e-05,-0.000227471702072,-3.52565032349e-05,1793237432911333888
+116,1.933333333,POSE1_TO_POSE2_PRESS,767.81090001,746,716,679,666,637,881.81090001,789,804,654.81090001,633,655,0.401015357636,-0.00542953901204,0.0498727866636,0.999999969379,9.43451959749e-05,-0.000226067338527,-3.51288938477e-05,1793237432928000512
+117,1.950000000,POSE1_TO_POSE2_PRESS,767.607046603,746,716,679,666,637.392953397,882,789.392953397,803.607046603,654.607046603,633,654.607046603,0.401022956322,-0.00542857150387,0.0498759373566,0.999999970526,9.55514864543e-05,-0.000220426667216,-3.50796690931e-05,1793237432944667392
+118,1.966666667,POSE1_TO_POSE2_PRESS,767.028630288,746,716,679,666,637.971369712,882,789.971369712,803.028630288,654.028630288,633,654.028630288,0.401033715462,-0.0054260031916,0.0498804579909,0.999999971797,9.94902879455e-05,-0.000212786578016,-3.50674396606e-05,1793237432961334272
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,638,881.45474754,789.45474754,803.54525246,654,633,654.54525246,0.401062875222,-0.0054271480663,0.0498916985902,0.999999976565,9.85055021492e-05,-0.000189734625344,-3.41614838725e-05,1793237432978000896
+120,2.000000000,POSE1_TO_POSE2_PRESS,767.12254838,746.12254838,716,679,666,637.87745162,881,789,804,654.12254838,633,654.87745162,0.401097918012,-0.00542876009495,0.0499043622631,0.999999981345,9.72777973568e-05,-0.000163535435144,-3.32054155917e-05,1793237432994667776
+121,2.016666667,POSE1_TO_POSE2_PRESS,767.71380161,746.71380161,716,679,666,637.28619839,881,789,804,654.71380161,633,654.28619839,0.401151796499,-0.00543141926966,0.0499211302851,0.999999986623,9.61016426229e-05,-0.000128368732111,-3.22356877186e-05,1793237433011334400
+122,2.033333333,POSE1_TO_POSE2_PRESS,768,746.701156357,716,679.298843643,666,637,881,789,804,654.701156357,633,654,0.401210988873,-0.00543400716626,0.0499360596707,0.999999989893,9.54002517906e-05,-0.000100767192226,-3.09499689125e-05,1793237433028000768
+123,2.050000000,POSE1_TO_POSE2_PRESS,768,746.12194162,716,679.87805838,666,637,881,789,804,654.12194162,633,654,0.401275166662,-0.00543652819053,0.0499492640715,0.999999991821,9.51442782002e-05,-8.02631890342e-05,-2.93677917308e-05,1793237433044667136
+124,2.066666667,POSE1_TO_POSE2_PRESS,768,746,716,680,666.453168544,637,881,789,804,654,633,654,0.401344061893,-0.00543856800811,0.0499555525547,0.999999992492,9.52834616111e-05,-7.16795121639e-05,-2.82761872834e-05,1793237433061333760
+125,2.083333333,POSE1_TO_POSE2_PRESS,767.972943632,746,716,679.972943632,666.972943632,637,881,789,803.972943632,654,632.972943632,654.027056368,0.401414697108,-0.00544049002409,0.0499596906622,0.99999999285,9.54478585974e-05,-6.6653347671e-05,-2.73500397401e-05,1793237433078000640
+126,2.100000000,POSE1_TO_POSE2_PRESS,767.401625802,746,716,679.401625802,666.401625802,637,881,789,803.401625802,654,632.401625802,654.598374198,0.401495027743,-0.00544262370779,0.0499576713357,0.999999992817,9.39997005722e-05,-6.92451165476e-05,-2.71206085576e-05,1793237433094667776
+127,2.116666667,POSE1_TO_POSE2_PRESS,767.176583792,746,716,679,666.176583792,637,881.176583792,789,803.176583792,654,632.176583792,655,0.401582278138,-0.00544585708834,0.0499562030261,0.999999992843,9.19087440393e-05,-7.18503475742e-05,-2.65331427502e-05,1793237433111334912
+128,2.133333333,POSE1_TO_POSE2_PRESS,767.771104673,746,716,679,666.771104673,637,881.771104673,789,803.771104673,654,632.771104673,655,0.401685906156,-0.00545169322221,0.049956038859,0.999999993013,8.82964174078e-05,-7.44874403407e-05,-2.50982835242e-05,1793237433128001280
+129,2.150000000,POSE1_TO_POSE2_PRESS,767.643021119,746,716,679,666.643021119,637,881.643021119,789,804,654,633,654.643021119,0.401809984138,-0.0054561115266,0.0499600594468,0.9999999937,8.56501988941e-05,-6.8460704657e-05,-2.40142537252e-05,1793237433144667904
+130,2.166666667,POSE1_TO_POSE2_PRESS,767.062559997,746,716,679,666.062559997,637,881.062559997,789,804,654,633,654.062559997,0.401946864579,-0.00545964221684,0.049966699849,0.999999994612,8.36088001315e-05,-5.70100859113e-05,-2.31498562344e-05,1793237433161334272
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,804,654,633,654,0.402095667807,-0.00546530015891,0.0499683919478,0.999999994918,8.05971992303e-05,-5.64609400389e-05,-2.19046457459e-05,1793237433178000896
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.087497709,746,716,679,666,637,880.912502291,789,804,654,633,654,0.402248758861,-0.00547139171737,0.0499686075041,0.999999995104,7.7359296595e-05,-5.81502744648e-05,-2.06207975168e-05,1793237433194667264
+133,2.216666667,POSE1_TO_POSE2_PRESS,767.656667805,746,716,679,666,637,880.343332195,789,804,654,633,654,0.402417525985,-0.005478455756,0.0499639852322,0.999999995003,7.35207677554e-05,-6.49131787294e-05,-1.9377480025e-05,1793237433211333888
+134,2.233333333,POSE1_TO_POSE2_PRESS,767.762798366,746,716,679.237201634,666,637.237201634,880.237201634,789,803.762798366,654,633,654,0.402603968209,-0.00548526066927,0.0499617357423,0.999999995113,7.02129349523e-05,-6.72167238033e-05,-1.80821063545e-05,1793237433228000256
+135,2.250000000,POSE1_TO_POSE2_PRESS,767.164988753,746,716,679.835011247,666,637.835011247,880.835011247,789,803.164988753,654,633,654,0.402817281159,-0.00549167164436,0.0499630934963,0.9999999956,6.77118979453e-05,-6.27408863894e-05,-1.67075938719e-05,1793237433244667136
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716,679.581343421,666,638,881,789,803,654,633,654,0.403058622781,-0.00549848859145,0.0499703505892,0.999999996521,6.5745647534e-05,-4.90974536088e-05,-1.49998288278e-05,1793237433261334272
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716,679.003097444,666,638,881,789,803,654,633,654,0.403310648762,-0.0055054602925,0.0499798564749,0.999999997356,6.39832546338e-05,-3.19593880716e-05,-1.31650299162e-05,1793237433278001408
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716.569115708,679,666,637.430884292,881,789,803.569115708,654,633,654,0.403586411203,-0.00551643234977,0.0499848097432,0.999999998052,5.8046156584e-05,-2.02410965234e-05,-1.08062576864e-05,1793237433294668032
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716.853878838,679,666,637.146121162,881.146121162,789,804,654,632.853878838,654,0.403869517426,-0.00552617683639,0.0499898431157,0.999999998485,5.36514704632e-05,-8.90923919927e-06,-8.46209541756e-06,1793237433311334400
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716.262160252,679,666,637.737839748,881.737839748,789,804,654,632.262160252,654,0.404174628685,-0.00553211213849,0.0499951955336,0.999999998521,5.40289418184e-05,1.33319136495e-06,-6.17109198185e-06,1793237433328000768
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746.322471807,716,679,666,637.677528193,881.677528193,789,804,654,632.322471807,654,0.404507261487,-0.00553743605605,0.0500010834798,0.999999998356,5.58142729245e-05,1.26614767308e-05,-3.40446602715e-06,1793237433344667136
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746.901466668,716,679,666,637.098533332,881.098533332,789,804,654,632.901466668,654,0.40486178743,-0.00554227362405,0.0500073974341,0.999999997967,5.87195422317e-05,2.48535496895e-05,-2.59486931605e-07,1793237433361333760
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746.523410736,716,679,666,637,881,789,804.476589264,654,633,654.476589264,0.405226205507,-0.00553577618252,0.0500068750681,0.999999996778,7.68458086436e-05,2.30295406433e-05,2.72067117551e-06,1793237433378000384
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666.052210336,637.052210336,881,789,804.947789664,654,633,655,0.405592168676,-0.00552644761571,0.0500034830461,0.999999995025,9.83894507343e-05,1.54990181256e-05,5.34645607723e-06,1793237433394667264
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666.641119166,637.641119166,881,789,804.358880834,654,633,655,0.405953160987,-0.00551191209472,0.0499850041519,0.999999992204,0.000122974256086,-2.11440749966e-05,4.67691257337e-06,1793237433411334144
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,716,679,667,637.773600618,881.226399382,789,804,654,633,654.773600618,0.406338516426,-0.00550732253996,0.0499686995117,0.999999989322,0.000136736263706,-5.12809729125e-05,5.44663733404e-06,1793237433428001024
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,716,679,667,637.193981663,881.806018337,789,804,654,633,654.193981663,0.406761882257,-0.00551825029855,0.04995578706,0.999999988498,0.000133612958985,-7.12671541294e-05,8.46185291881e-06,1793237433444667392
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666.617570229,637,881.617570229,789,804,654,633,654.382429771,0.407218186104,-0.00552547959791,0.0499488722743,0.999999987386,0.000135828782479,-8.15282429963e-05,1.15187013864e-05,1793237433461333760
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666.042772246,637,881.042772246,789,804,654,633,654.957227754,0.40769105828,-0.00553084851356,0.0499449744095,0.999999986215,0.000140730271856,-8.68974562937e-05,1.4596491761e-05,1793237433478000384
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666.533605372,637,881.533605372,789,804,654,633,655,0.408223753071,-0.00553100365804,0.0499676068931,0.999999987569,0.000150957348849,-4.15756478799e-05,1.8577944885e-05,1793237433494667008
+151,2.516666667,POSE1_TO_POSE2_PRESS,767.112761183,746,716,679,667,637,882,789.112761183,804,654,633,654.887238817,0.408762139371,-0.00553046040518,0.049990995307,0.999999986562,0.00016233450101,2.67051316813e-06,2.27440383512e-05,1793237433511333888
+152,2.533333333,POSE1_TO_POSE2_PRESS,767.703146554,746,716,679,667,637,882,789.703146554,804,654,633,654.296853446,0.4093042617,-0.00552873438905,0.0500085512247,0.999999983686,0.000176769516384,2.50986826038e-05,2.73844898725e-05,1793237433528001280
+153,2.550000000,POSE1_TO_POSE2_PRESS,767.713587488,746,716,679,666.713587488,637,881.713587488,789.713587488,803.713587488,654,633,654,0.409851315759,-0.00552769939857,0.0500141469096,0.999999981126,0.000189577010501,2.88777849101e-05,3.12071441046e-05,1793237433544667904
+154,2.566666667,POSE1_TO_POSE2_PRESS,767.137521435,746,716,679,666.137521435,637,881.137521435,789.137521435,803.137521435,654,633,654,0.410403357421,-0.00552736325312,0.0500076470223,0.999999979172,0.000200738568212,1.37967909857e-05,3.4202747466e-05,1793237433561334272
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,716.437469236,679,666,637,881,789,803,654,632.562530764,654,0.410960685291,-0.00552791475577,0.0499843510996,0.999999976565,0.000210944848861,-3.20838705991e-05,3.6649044672e-05,1793237433578001152
+156,2.600000000,POSE1_TO_POSE2_PRESS,767.012492818,746,716.987507182,679.012492818,666,637.012492818,881,789.012492818,803.012492818,653.987507182,632,654,0.411520942621,-0.00552878486056,0.049956367818,0.999999971154,0.000220753609195,-8.62839442062e-05,3.89327962462e-05,1793237433594667776
+157,2.616666667,POSE1_TO_POSE2_PRESS,767.60469357,746,716.39530643,679.60469357,666,637.60469357,881,789.60469357,803.60469357,653.39530643,632,654,0.412140216363,-0.00553152261474,0.0499552817583,0.999999970521,0.000226016811048,-7.83533539919e-05,4.16670915563e-05,1793237433611334400
+158,2.633333333,POSE1_TO_POSE2_PRESS,767.807412716,746,716,679.614825432,666.192587284,637.807412716,881,789.807412716,804.192587284,653.192587284,632.192587284,654,0.412786243212,-0.00553412227673,0.0499642169867,0.99999997875,0.0001956396586,-5.45311199114e-05,3.53872627631e-05,1793237433628000768
+159,2.650000000,POSE1_TO_POSE2_PRESS,767.228166314,746,716,678.456332628,666.771833686,637.228166314,881,789.228166314,804.771833686,653.771833686,632.771833686,654,0.413485982463,-0.00553644468969,0.04999327204,0.999999995548,9.37070629382e-05,1.19690217359e-06,1.10097002015e-05,1793237433644667392
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716,678.349476695,667,637.349476695,881.349476695,789,804.650523305,654,633,654,0.414162286737,-0.00554386023914,0.050002670959,0.999999998336,5.6073924084e-05,1.24082257273e-05,5.45018960246e-06,1793237433661334016
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,716,678.926077639,667,637.926077639,881.926077639,789,804.073922361,654,633,654,0.414823360635,-0.00555458580834,0.049999295392,0.999999998099,6.02288860123e-05,-5.31177169478e-06,1.21204966651e-05,1793237433678000640
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,716,679.499947837,666.500052163,637.500052163,881.500052163,789,804,654,633,654,0.415492864132,-0.00555292408868,0.0499702345338,0.99999999557,7.66926302474e-05,-5.25837877852e-05,1.45722062244e-05,1793237433694667520
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746.075476622,716,679.924523378,666,637,881.075476622,789,803.924523378,654,633,654,0.41616954344,-0.00554968287006,0.0499428753078,0.999999990941,9.40183527894e-05,-9.4891907748e-05,1.65850707527e-05,1793237433711334656
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746.665037239,716,679.334962761,666,637,881.665037239,789,803.334962761,654,633,654,0.41688665476,-0.00554809089256,0.0499528333459,0.99999999158,0.000104886308946,-7.37898991086e-05,1.98343586326e-05,1793237433728000768
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746.749652674,716.250347326,679.250347326,666.250347326,637,881.749652674,789,803.250347326,654,633,654,0.417623567706,-0.00554700232427,0.0499696073535,0.999999992584,0.000111872283631,-4.25506001635e-05,2.24938681972e-05,1793237433744667136
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746.169934734,716.830065266,679.830065266,666.830065266,637,881.169934734,789,803.830065266,654,633,654,0.418386532854,-0.00554657606843,0.0499953488243,0.999999993231,0.000113750912919,2.02587444881e-06,2.43774336358e-05,1793237433761333760
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,716.590816217,680,666.590816217,637.409183783,881.409183783,789,804,654,632.590816217,654,0.419123836589,-0.00554627095526,0.0499962878439,0.999999993066,0.000114885977101,-3.62631137249e-06,2.56070519976e-05,1793237433778000384
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,716.011946312,680,666.011946312,637.988053688,881.988053688,789,804,654,632.011946312,654,0.419850498642,-0.00554601607928,0.0499869414305,0.999999992499,0.000115712689061,-3.01080315726e-05,2.65654822163e-05,1793237433794667008
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,716,679.43962853,666.56037147,637.43962853,882.56037147,789,804,653.43962853,632.56037147,654,0.420631008921,-0.00554744486917,0.0499799485257,0.999999992806,0.000113713752741,-2.76613227392e-05,2.63227945664e-05,1793237433811334144
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,716,679.136984354,667,637,882.863015646,789,804,653.136984354,633,654.136984354,0.421419992563,-0.0055493693496,0.0499822939341,0.999999993364,0.000111452988315,-1.18210291981e-05,2.66587911327e-05,1793237433828001024
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,716,679.728300563,667,637,882.271699437,789,804,653.728300563,633,654.728300563,0.422233316085,-0.00555282020129,0.0500154469579,0.999999992614,0.000108521309396,4.64195690369e-05,2.89980375176e-05,1793237433844667904
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,882,789,804,654,633,654.688339551,0.423016406993,-0.00555371445128,0.0500239033078,0.999999991792,0.000108010609869,6.2059874264e-05,2.99866711709e-05,1793237433861334272
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,882,789,804,654,633,654.111743195,0.423773797759,-0.00555243538847,0.0500113655397,0.999999992693,0.000109557933679,4.14865752992e-05,2.98271776544e-05,1793237433878000640
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716.464649409,679.535350591,666.535350591,637,882,789,804,653.535350591,633,654,0.424547421576,-0.00555212128958,0.0499985441061,0.999999993505,0.000107905593473,2.21302739451e-05,2.92557240759e-05,1793237433894667264
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,716.958034999,679.041965001,666.041965001,637.041965001,882,789.041965001,804,653.041965001,633,654,0.425327678468,-0.00555218271783,0.0499878725372,0.999999993993,0.000105600431576,5.96898767825e-06,2.87660483461e-05,1793237433911334144
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716.368026516,679.631973484,666.631973484,637.631973484,882,789.631973484,804,653.631973484,633,654,0.42614359902,-0.00555411904362,0.050006167731,0.999999993654,0.000104814434528,2.77126142964e-05,3.06376211542e-05,1793237433928000512
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716.21763552,679.78236448,667,637.78236448,882,789.78236448,804,654,633,654,0.426937463638,-0.00555618479387,0.0500130354135,0.999999993824,0.000102909655934,2.69577915512e-05,3.21573525457e-05,1793237433944667136
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,716.796091624,679.203908376,667,637.203908376,882,789.203908376,804,654,633,654,0.427694761586,-0.00555846511885,0.0500009572883,0.999999994475,9.91500356071e-05,-1.10974813193e-05,3.30937620483e-05,1793237433961334016
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.372546098,716.627453902,679.372546098,666.627453902,637,882,789,804.372546098,653.627453902,633,654,0.428449690162,-0.00555596971528,0.0499788989635,0.9999999934,0.000100854651434,-4.46837479346e-05,3.21316859507e-05,1793237433978000640
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746.947910825,716.052089175,679.947910825,666.052089175,637,882,789,804.947910825,653.052089175,633,654,0.429203328777,-0.00555087434684,0.0499514072972,0.999999991102,0.000105534064109,-7.58370308603e-05,3.01360511264e-05,1793237433994667520
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746.475324675,716,680.524675325,666.524675325,637,882,789,804.475324675,653.524675325,633,654,0.430019156938,-0.00555185030774,0.0499671118463,0.999999993065,0.000104397861429,-4.50163547371e-05,3.07413691126e-05,1793237434011334144
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,716,680.896349283,666.896349283,637,882,789,804,654,633.103650717,654,0.430829009306,-0.00555348652204,0.0499823846961,0.999999994083,0.000102521437023,-1.80397753962e-05,3.15789449497e-05,1793237434028000768
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,716,680.307680378,666.307680378,637,882,789,804,654,633.692319622,654,0.431581930693,-0.0055553842479,0.0499755165235,0.999999993771,9.98901891857e-05,-3.7918766021e-05,3.22918042329e-05,1793237434044667392
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,882,789,804,653.722323164,633.722323164,654,0.432334909277,-0.00555676009433,0.0499651241445,0.999999993044,9.82161228406e-05,-5.6599567307e-05,3.26045002924e-05,1793237434061334272
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,882,789,804,653.140592267,633.140592267,654,0.433087950443,-0.00555756448655,0.0499508727863,0.999999991975,9.75901632659e-05,-7.39683589108e-05,3.24790205673e-05,1793237434078000896
+186,3.100000000,POSE1_TO_POSE2_PRESS,767.43274725,746,716,680,666.43274725,637,882.43274725,788.56725275,804,653.43274725,633,654.43274725,0.433843902778,-0.00555690592981,0.0499677166306,0.999999993344,9.9830084999e-05,-4.68000808865e-05,3.400282602e-05,1793237434094667520
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,746,716.003448572,680,667,637,882.996551428,788.003448572,804,654,633,654.996551428,0.434600552993,-0.00555579438482,0.0499943287984,0.999999994035,0.00010294448077,-5.7071870762e-06,3.60447046818e-05,1793237434111334144
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,746,716.580154043,680,667,637,882.419845957,788.580154043,804,654,633,654.419845957,0.435318973964,-0.00555688676278,0.0499973666285,0.999999994318,9.95939437594e-05,-9.4119262726e-06,3.68300044008e-05,1793237434128001280
+189,3.150000000,POSE1_TO_POSE2_PRESS,767.838653119,746,717,680,666.838653119,637,882,789,804.161346881,653.838653119,633,654,0.436023627247,-0.0055575109306,0.049991297708,0.999999994176,9.72565968946e-05,-2.85272091026e-05,3.70916101737e-05,1793237434144668416
+190,3.166666667,POSE1_TO_POSE2_PRESS,767.245449383,746,717,680,666.245449383,637,882,789,804.754550617,653.245449383,633,654,0.436691430454,-0.00555688189957,0.0499608538967,0.999999990637,9.76311274041e-05,-8.88899520826e-05,3.59515104712e-05,1793237434161335552
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,716.661477615,680,666.338522385,637,882.338522385,789,805,653.338522385,633,654,0.437392832063,-0.00555842900312,0.0499601276222,0.999999991451,9.41764304418e-05,-8.34428967917e-05,3.55780221626e-05,1793237434178001664
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,716.08402192,680,666.91597808,637,882.91597808,789,805,653.91597808,633,654,0.438117947802,-0.00556151204956,0.0499803763565,0.99999999499,8.80190170561e-05,-3.1546463797e-05,3.57456177663e-05,1793237434194667776
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,882.508476716,789,805,653.508476716,633,654,0.438800059722,-0.00556209237041,0.0499994303035,0.999999995385,8.86235311505e-05,-8.83154146214e-07,3.70708418585e-05,1793237434211334144
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,716,680.068459624,666.931540376,637,882,789.068459624,805,653,633.068459624,654,0.439467541851,-0.0055620425779,0.0500131102102,0.999999994989,9.0499627023e-05,1.90341930827e-05,3.83314478959e-05,1793237434228000768
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,716,680.658472625,666.341527375,637,882,789.658472625,805,653,633.658472625,654,0.440079355532,-0.00556043901754,0.0499873984366,0.999999994823,9.32911551124e-05,-1.53706475367e-05,3.75980188773e-05,1793237434244667392
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,716.243077389,681,666.243077389,637,882,789.756922611,805,653,634,654,0.440681823962,-0.00555955090241,0.049968251211,0.999999993735,9.64607386834e-05,-4.25214413915e-05,3.76350388146e-05,1793237434261334016
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,716.820248834,681,666.820248834,637,882,789.179751166,805,653,634,654,0.441271447905,-0.00555964612031,0.0499581265316,0.999999992453,0.000100149934789,-5.97020170681e-05,3.87309908198e-05,1793237434278000640
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,717,680.602047787,667,637,882,789.397952213,804.602047787,653,633.602047787,654,0.441875402309,-0.00556183174068,0.0499716378234,0.999999993427,0.000101293094185,-3.48422939635e-05,4.08894650826e-05,1793237434294667520
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,717,680.024103767,667,637,882,789.975896233,804.024103767,653,633.024103767,654,0.442485838361,-0.0055649628397,0.0499958395466,0.999999993883,0.000101284693999,9.03204582833e-06,4.35285129126e-05,1793237434311334656
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,716.453297008,680,667,637,882,789.453297008,805.093405984,653,633,654,0.443037397001,-0.00556337793703,0.0500088538302,0.9999999925,0.000109379669329,3.1068387119e-05,4.55018315517e-05,1793237434328001536
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666.877917907,637,882.122082093,789.122082093,805.877917907,653,633.122082093,654,0.443572173703,-0.00556138855491,0.0500132989988,0.999999991319,0.000117078214798,3.79489884609e-05,4.70519429755e-05,1793237434344668160
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666.283652548,637,882.716347452,789.716347452,805.283652548,653,633.716347452,654,0.444051952968,-0.00555862858607,0.04998648413,0.999999991413,0.00012187943696,-1.01130789279e-05,4.70772559563e-05,1793237434361334272
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,716.302219357,680.302219357,666.302219357,637,882.697780643,789.697780643,805,653,634,654,0.444518516969,-0.00555791012925,0.0499627454483,0.999999989998,0.000123592085719,-5.00922022341e-05,4.71075450099e-05,1793237434378000640
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746,716.880426302,680.880426302,666.880426302,637,882.119573698,789.119573698,805,653,634,654,0.444973012725,-0.00555905598724,0.049941815951,0.999999987969,0.00012248424016,-8.26899548407e-05,4.71423782617e-05,1793237434394667264
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746,717,681,667,637,882.455822763,789.455822763,805,653.455822763,634,654,0.445427315653,-0.00556135065889,0.0499417567321,0.999999988718,0.000122666875811,-7.23988617266e-05,4.76927184997e-05,1793237434411333888
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,716.968723245,681,667,636.968723245,882.968723245,789.968723245,805,654,633.968723245,654,0.445879558728,-0.00556384716218,0.0499472105384,0.99999998991,0.000123306498991,-5.13088408024e-05,4.84047769713e-05,1793237434428000512
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,716.379162914,681,667,636.379162914,882.379162914,789.379162914,805,654,633.379162914,654,0.446295931361,-0.00556460002426,0.0499539455889,0.999999990133,0.000126097674895,-3.7054275562e-05,4.96044306773e-05,1793237434444667392
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,716.206932913,681,666.793067087,636.206932913,882.206932913,789,804.793067087,653.793067087,633,654,0.446692512462,-0.00556442363454,0.0499525314146,0.999999990284,0.00012514399897,-3.66655204809e-05,4.92573479634e-05,1793237434461334272
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746,716.786785199,681,666.213214801,636.786785199,882.786785199,789,804.213214801,653.213214801,633,654,0.447053426668,-0.00556257261505,0.0499364313023,0.999999990163,0.000117441624449,-6.12647166283e-05,4.61228497791e-05,1793237434478001152
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746,716.636403104,680.636403104,666,636.636403104,882.636403104,789,804.363596896,653,633,654,0.447373359106,-0.00556221473378,0.0499086008202,0.999999990644,8.22153915669e-05,-0.000103839736273,3.42122955457e-05,1793237434494667520
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,746,716.061359581,680.061359581,666,636.061359581,882.061359581,789,804.938640419,653,633,654,0.447669458987,-0.00556272517395,0.0498739486416,0.999999987068,3.09828959839e-05,-0.000156868442372,1.71981014268e-05,1793237434511333888
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,746,716,680.51348727,666,636,883.02697454,789,805,653.51348727,633,654,0.447963113489,-0.00556792805898,0.0498604137865,0.99999998387,2.28420007482e-05,-0.000177367622246,1.67292498074e-05,1793237434528000512
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,746,716,680.912034927,666,635.912034927,883.912034927,788.912034927,805,654,632.912034927,654,0.448253060666,-0.00557282854732,0.0498517716975,0.999999981567,2.09763640179e-05,-0.000189984613005,1.82186189346e-05,1793237434544667136
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,746,716,680.3394606,666,635.3394606,883.3394606,788.3394606,805,654,632.3394606,654,0.448524193114,-0.00557297517444,0.0498561878489,0.999999983182,2.53248037456e-05,-0.000180584259278,1.96081552737e-05,1793237434561334016
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,746,716.24375256,680.24375256,666,635.24375256,883,788.24375256,805,653.75624744,632.24375256,654,0.448794182086,-0.00557179632241,0.0498617106898,0.999999984472,3.16275324256e-05,-0.000172060192072,2.12165474425e-05,1793237434578000640
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,746,716.842457969,680.842457969,666,635.842457969,883,788.842457969,805,653.157542031,632.842457969,654,0.449062505912,-0.00556868730562,0.0498688450931,0.999999985319,4.07760994043e-05,-0.000164812175207,2.31436377222e-05,1793237434594667520
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,746,717,681,666,635.580685169,883.419314831,789,804.580685169,653.419314831,633,654,0.449285528875,-0.00556760642618,0.0498703073166,0.999999985013,4.44082104602e-05,-0.000165520656355,2.45955608447e-05,1793237434611334400
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,746,717,681,666,635.011630565,883.988369435,789,804.011630565,653.988369435,633,654,0.449492374629,-0.00556724980651,0.0498697439714,0.999999984312,4.60703627098e-05,-0.000169070449546,2.58777989606e-05,1793237434628001024
+219,3.650000000,POSE1_TO_POSE2_PRESS,767,746,717,681,666,635,882.868011816,788.434005908,804.565994092,654,633,654,0.449675762617,-0.00556648475286,0.0498640754756,0.999999982408,5.2258742954e-05,-0.000178153046672,2.67125009674e-05,1793237434644667392
+220,3.666666667,POSE1_TO_POSE2_PRESS,767,746.147688591,717,681,666,635,882.147688591,788,805,654,633,654,0.449852244128,-0.00556618026527,0.0498588297975,0.999999980629,5.64798428986e-05,-0.000186534766012,2.75002008251e-05,1793237434661334272
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,746.741126779,717,681,666,635,882.741126779,788,805,654,633,654,0.450009357891,-0.00556729156606,0.0498551817471,0.9999999796,5.44783177394e-05,-0.000192452692787,2.81742229596e-05,1793237434678000896
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,746.675059815,717,681,666,634.675059815,882.675059815,788,805,653.675059815,633,654,0.450161419479,-0.00556707079097,0.0498565852303,0.999999979886,5.56957768199e-05,-0.000190501793113,2.89143448476e-05,1793237434694667520
+223,3.716666667,POSE1_TO_POSE2_PRESS,767,746.098693625,717,681,666,634.098693625,882.098693625,788,805,653.098693625,633,654,0.450309571907,-0.00556581930779,0.0498618973922,0.999999981148,5.94039597748e-05,-0.000182462303955,2.97056122095e-05,1793237434711333888
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,746.46954444,717,681,665.53045556,634.46954444,882,788,805,653,633,654,0.450427875998,-0.00556383205406,0.0498644280404,0.999999981114,6.34696106699e-05,-0.000181207647647,3.01240167933e-05,1793237434728000768
+225,3.750000000,POSE1_TO_POSE2_PRESS,767,746.961713498,717,681,665,634.961713498,882,788,805,653,632.961713498,654,0.450538641808,-0.00556190857104,0.049866165296,0.999999980787,6.72962832923e-05,-0.000181572708251,3.048091334e-05,1793237434744667648
+226,3.766666667,POSE1_TO_POSE2_PRESS,767,746.36089096,717,681,665,634.36089096,882,788,805,653,632.36089096,654,0.450629260801,-0.00556315565869,0.0498646893246,0.999999980166,6.6526522193e-05,-0.000185139015011,3.10659962753e-05,1793237434761334528
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,746.231465135,717,681,665.231465135,634,882.231465135,788.231465135,805,653,632,654,0.4507118197,-0.00556400743859,0.0498626877233,0.999999979273,6.60921049046e-05,-0.000189976937973,3.15529687182e-05,1793237434778001408
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,746.811086469,717,681,665.811086469,634,882.811086469,788.811086469,805,653,632,654,0.450782255075,-0.00556426461981,0.0498598955004,0.999999977952,6.61620920359e-05,-0.000196727550781,3.18923691115e-05,1793237434794668288
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,747,717,681,666,634,882.611975196,789,805,653,632,654,0.450844073896,-0.00556413910107,0.0498585021781,0.999999977472,6.59858390525e-05,-0.000199192870729,3.20085821524e-05,1793237434811334912
+230,3.833333333,POSE1_TO_POSE2_PRESS,767,747,717,681,666,634,882.036334151,789,805,653,632,654,0.450901726473,-0.00556382854074,0.0498577852469,0.999999977413,6.56905250073e-05,-0.000199586182375,3.20168805048e-05,1793237434828001280
+231,3.850000000,POSE1_TO_POSE2_PRESS,767,746.4496319,717,681,665.4496319,634,882,788.4496319,805,653,632.5503681,654,0.450942405888,-0.0055625687768,0.0498553690807,0.999999976365,6.68401008761e-05,-0.000204449495105,3.16823864764e-05,1793237434844668416
+232,3.866666667,POSE1_TO_POSE2_PRESS,767,746,717,681,665,634,882,788.135814915,805,653.135814915,633,654.135814915,0.450979767233,-0.00556111679354,0.0498533552413,0.999999975339,6.8357337426e-05,-0.000208967321683,3.13217726385e-05,1793237434861335296
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,746,717,681,665,634,882,788.714734359,805,653.714734359,633,654.714734359,0.451010033949,-0.00555924632295,0.0498530275188,0.999999974678,7.07564951652e-05,-0.000211375448304,3.0951288904e-05,1793237434878001920
+234,3.900000000,POSE1_TO_POSE2_PRESS,767,746.292946282,717,681,665.292946282,634,882.292946282,788.707053718,805.292946282,654,632.707053718,655,0.451033169588,-0.00555979828353,0.0498508748656,0.999999973789,6.98460704181e-05,-0.000215856147921,3.08069448656e-05,1793237434894669056
+235,3.916666667,POSE1_TO_POSE2_PRESS,767,746.870470965,717,681,665.870470965,634,882.870470965,788.129529035,805.870470965,654,632.129529035,655,0.451049377848,-0.00556270347938,0.0498469494102,0.999999972644,6.57206002375e-05,-0.000222350218673,3.08822808968e-05,1793237434911336192
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,747,717,681.446388058,665.553611942,634,883,788,805.553611942,653.553611942,632.446388058,654.553611942,0.451062866212,-0.0055627210092,0.0498447651345,0.99999997186,6.54666371816e-05,-0.000225905235021,3.10051243316e-05,1793237434928002560
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,747,717,682,665,634,882.979081505,788,805,653.020918495,633,654,0.451075448762,-0.00556191155377,0.0498431472795,0.999999971219,6.6322778056e-05,-0.00022845931855,3.11298145536e-05,1793237434944668672
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,747,717,682,665,634,882.42791743,788,805,653.57208257,633,654,0.451085004529,-0.00556130300572,0.049843126185,0.999999971474,6.6944059674e-05,-0.000227181683847,3.09531397312e-05,1793237434961335552
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746.861613737,717,681.861613737,665,634,882.138386263,788,805,654,633,654.138386263,0.451093326284,-0.00556079492564,0.0498428135791,0.99999997154,6.75171544825e-05,-0.000226746212812,3.07811592334e-05,1793237434978002176
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746.242744704,717,681.242744704,665,634,882.757255296,788,805,654,633,654.757255296,0.451097363501,-0.00556063567453,0.0498414888334,0.99999997095,6.79229426782e-05,-0.000229234768581,3.06254776337e-05,1793237434994668544
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746.351085336,717,681,665.351085336,634,883,788,805,654,633,654.648914664,0.451099347877,-0.00555992510505,0.049840278949,0.999999970289,6.88870393124e-05,-0.000231809632364,3.0671509262e-05,1793237435011335168
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,746.928755583,717,681,665.928755583,634,883,788,805,654,633,654.071244417,0.45110000738,-0.00555885872344,0.0498391431943,0.999999969578,7.02114593475e-05,-0.000234440197876,3.08477234163e-05,1793237435028002048
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,747,717,681,665.499636555,634,883,788.500363445,805,653.499636555,633,654,0.451101051326,-0.00555902147152,0.0498387229023,0.999999969407,7.02578232956e-05,-0.000235145627904,3.09242345421e-05,1793237435044668160
+244,4.066666667,POSE1_TO_POSE2_PRESS,766.925926289,747,717,681,665,634,883,788.925926289,805,653.074073711,633,654,0.451102268683,-0.00555922088085,0.0498385768145,0.999999969362,7.0221721493e-05,-0.000235337705263,3.09933897173e-05,1793237435061334528
+245,4.083333333,POSE1_TO_POSE2_PRESS,766.33145435,747,717,681,665,634,883,788.33145435,805,653.66854565,633,654,0.451104324374,-0.00555846305135,0.0498396500035,0.999999969668,7.08694188885e-05,-0.000233825958974,3.11094068542e-05,1793237435078001152
+246,4.100000000,POSE1_TO_POSE2_PRESS,766.255631675,746.744368325,717,681.255631675,665,634,882.744368325,788.255631675,804.744368325,654,632.744368325,654,0.451104486694,-0.00555714197337,0.0498392353842,0.999999969442,7.15265443614e-05,-0.000234645848429,3.06694492333e-05,1793237435094667520
+247,4.116666667,POSE1_TO_POSE2_PRESS,766.833410062,746.166589938,717,681.833410062,665,634,882.166589938,788.833410062,804.166589938,654,632.166589938,654,0.451102262989,-0.00555511109025,0.049836945831,0.99999996854,7.21955511725e-05,-0.000238404062077,2.95288529448e-05,1793237435111334144
+248,4.133333333,POSE1_TO_POSE2_PRESS,767,746.413783544,717,681.586216456,665,634,882.413783544,788.586216456,804.413783544,654,632.413783544,654,0.451101759376,-0.00555478734398,0.0498361593214,0.999999968246,7.26653046211e-05,-0.000239461746838,2.97614391918e-05,1793237435128001024
+249,4.150000000,POSE1_TO_POSE2_PRESS,767,746.995208373,717,681.004791627,665,634,882.995208373,788.004791627,804.995208373,654,632.995208373,654,0.451101952646,-0.00555515523147,0.0498359817588,0.999999968203,7.30543320309e-05,-0.000239425332436,3.05503600679e-05,1793237435144667904
+250,4.166666667,POSE1_TO_POSE2_PRESS,767,747,717,681,665,634,882.43876472,788.56123528,805,654,633,654.56123528,0.451102878957,-0.0055562088542,0.0498364665131,0.999999968368,7.11603655774e-05,-0.000239333413883,3.03322515166e-05,1793237435161334272
+251,4.183333333,POSE1_TO_POSE2_PRESS,767,746.865904207,717,681,665,634,882,788.865904207,804.865904207,654,633,654.865904207,0.451103521477,-0.00555637634284,0.0498366864971,0.99999996841,7.02175167233e-05,-0.000239474046003,3.00246512769e-05,1793237435178000640
+252,4.200000000,POSE1_TO_POSE2_PRESS,767,746.269018047,717,681,665,634,882,788.269018047,804.269018047,654,633,654.269018047,0.451103163559,-0.00555346594658,0.0498359737141,0.999999968029,7.26226299389e-05,-0.000240418846969,2.94370778591e-05,1793237435194667264
+253,4.216666667,POSE1_TO_POSE2_PRESS,766.684893975,746.315106025,717,680.684893975,665,634,882,788.315106025,804.315106025,654,633,654,0.45110331623,-0.00555275906745,0.0498352471292,0.999999967783,7.33627422881e-05,-0.000241228699311,2.93304738138e-05,1793237435211333888
+254,4.233333333,POSE1_TO_POSE2_PRESS,766.111241311,746.888758689,717,680.111241311,665,634,882,788.888758689,804.888758689,654,633,654,0.451103887842,-0.00555386018927,0.0498345092199,0.999999967652,7.27367099741e-05,-0.000241927825345,2.96185084416e-05,1793237435228000768
+255,4.250000000,POSE1_TO_POSE2_PRESS,766.466227784,746.533772216,717,680.466227784,665,634,882,788.533772216,805,654,633,654,0.451104093779,-0.00555408164297,0.0498344982383,0.999999967815,7.1313450341e-05,-0.000241695143545,2.94468276694e-05,1793237435244667648
+256,4.266666667,POSE1_TO_POSE2_PRESS,767,746.045334033,717,681.045334033,665,634,882.045334033,788.045334033,805,654,633,654,0.451104188981,-0.00555410356059,0.0498346759582,0.999999968006,6.99868085683e-05,-0.000241320989312,2.92296336624e-05,1793237435261334016
+257,4.283333333,POSE1_TO_POSE2_PRESS,767,746.633042358,717,681.633042358,665,634,882.633042358,788.633042358,805,654,633,654,0.451104011833,-0.0055542700483,0.0498350190928,0.99999996769,7.21106340545e-05,-0.000241936141879,2.97910482697e-05,1793237435278000640
+258,4.300000000,POSE1_TO_POSE2_PRESS,767.217818182,746.782181818,717,681.782181818,665,634,883,788.782181818,805.217818182,654,633,654.217818182,0.45110330677,-0.00555468795935,0.0498347864151,0.999999967389,7.25436257367e-05,-0.000243003412015,3.01620743371e-05,1793237435294667520
+259,4.316666667,POSE1_TO_POSE2_PRESS,767.797719353,746.202280647,717,681.202280647,665,634,883,788.202280647,805.797719353,654,633,654.797719353,0.451101724143,-0.00555552381588,0.0498335965547,0.999999967113,7.01659150385e-05,-0.000244822245224,3.02166142815e-05,1793237435311333888
+260,4.333333333,POSE1_TO_POSE2_PRESS,767.626257136,746,717,681,665,634,883,788.373742864,805.252514272,653.626257136,632.626257136,654.626257136,0.451102299681,-0.00555499708074,0.0498332614001,0.999999966974,7.16966406588e-05,-0.000244956199791,3.0126257375e-05,1793237435328001024
+261,4.350000000,POSE1_TO_POSE2_PRESS,767.052310813,746,717,681,665,634,883,788.947689187,804.104621626,653.052310813,632.052310813,654.052310813,0.451104031287,-0.0055537404438,0.0498333840873,0.999999966901,7.53210049829e-05,-0.000244187612513,2.99582833288e-05,1793237435344668160
+262,4.366666667,HOLD_POSE2,767,747,717,681,665,634,882,788,805,654,632,654,0.451106067017,-0.00555404597173,0.0498349452833,0.999999967664,7.39646567344e-05,-0.000241425243892,3.0246510636e-05,1793237435375187968
+263,4.383333333,HOLD_POSE2,767,746.405952174,717,681,665,634,882,788.594047826,804.405952174,654,632,654,0.451105777781,-0.00555406283647,0.0498351942852,0.999999967676,7.35260568721e-05,-0.000241532412768,3.00754105743e-05,1793237435391854592
+264,4.400000000,HOLD_POSE2,767,746.182814572,717,681,665,634,882.182814572,789,804.182814572,653.817185428,632,654,0.451105752323,-0.00555399632302,0.049835290966,0.999999967724,7.29480110567e-05,-0.000241533151375,2.98562557793e-05,1793237435408521216
+265,4.416666667,HOLD_POSE2,767,746.760183682,717,681,665,634,882.760183682,789,804.760183682,653.239816318,632,654,0.451106296156,-0.00555374986088,0.0498350589044,0.999999967853,7.20690097521e-05,-0.000241304189793,2.95333881414e-05,1793237435425187840
+266,4.433333333,HOLD_POSE2,767,746.665973119,717,681.334026881,665,634,883,789,805,653,632,654,0.451106242205,-0.00555416063548,0.049834881511,0.999999967806,7.15101622533e-05,-0.000241647043431,2.9689635629e-05,1793237435441854464
+267,4.450000000,HOLD_POSE2,767,746.09463496,717,681.90536504,665,634,883,789,805,653,632,654,0.451105763556,-0.00555503834764,0.0498347429569,0.999999967633,7.11787698817e-05,-0.00024239614643,3.01862731757e-05,1793237435458521088
+268,4.466666667,HOLD_POSE2,766.504566658,746,717,681.504566658,665,634.495433342,882.504566658,788.504566658,805,653.495433342,632,654,0.451105360888,-0.00555363338968,0.0498341346015,0.999999967231,7.30003714276e-05,-0.000243550748665,2.98622757988e-05,1793237435475187712
+269,4.483333333,HOLD_POSE2,766.087151522,746,717,681,665,634.912848478,882.174303044,788,805,654,632,654,0.451105096455,-0.00555214514587,0.0498335215155,0.999999966864,7.47613684347e-05,-0.000244570559718,2.94629297279e-05,1793237435491854592
+270,4.500000000,HOLD_POSE2,766.667172131,746,717,681,665,634.332827869,883.334344263,788,805,654,632,654,0.451105528482,-0.00555274862701,0.0498334091177,0.999999966984,7.37624815429e-05,-0.000244372834303,2.95587824703e-05,1793237435508521216
+271,4.516666667,HOLD_POSE2,767,746.244612321,717,681,665,634,883.510775358,788.244612321,805,654,632,654.244612321,0.451105842522,-0.00555294594894,0.0498336652329,0.999999967144,7.28967118818e-05,-0.000243985995639,2.94674967671e-05,1793237435525187840
+272,4.533333333,HOLD_POSE2,767,746.818578108,717,681,665,634,882.362843784,788.818578108,805,654,632,654.818578108,0.451105997702,-0.0055525964057,0.0498344175252,0.99999996736,7.22101753879e-05,-0.000243344529164,2.91242421632e-05,1793237435541854464
+273,4.550000000,HOLD_POSE2,767,747,717,681,665,634,882,788.605372195,805,654,632.394627805,654.605372195,0.451106270671,-0.0055524274102,0.0498342404499,0.999999967376,7.18658173814e-05,-0.000243379932759,2.9163016172e-05,1793237435558521088
+274,4.566666667,HOLD_POSE2,767,747,717,681,665,634,882,788.028359328,805,654,632.971640672,654.028359328,0.451106598079,-0.00555234185839,0.0498336338491,0.999999967298,7.16796038852e-05,-0.000243728165218,2.93783522465e-05,1793237435575187712
+275,4.583333333,HOLD_POSE2,767,747,717,681,665.562479571,634,882,788,805,654,632.437520429,654.562479571,0.451106226099,-0.00555267768684,0.0498336285601,0.999999967165,7.17778673985e-05,-0.00024421835223,2.95818447551e-05,1793237435591854336
+276,4.600000000,HOLD_POSE2,766.849662236,746.849662236,716.849662236,681,665.849662236,634,882.150337764,788,805,654,632,654.849662236,0.451105922675,-0.00555290362221,0.0498336424963,0.999999967039,7.22284099042e-05,-0.000244590776545,2.96780650208e-05,1793237435608520704
+277,4.616666667,HOLD_POSE2,766.272300326,746.272300326,716.272300326,681,665.272300326,634,882.727699674,788,805,654,632,654.272300326,0.451105916659,-0.00555275554727,0.0498336227567,0.999999966938,7.36378102319e-05,-0.000244607862466,2.94713247162e-05,1793237435625187584
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,746,717,682,665,634,882,788,805,654,633,654,0.451104996129,-0.00555371930236,0.0498319774743,0.99999996674,7.10715232985e-05,-0.000246111976816,2.99656335108e-05,1793237435662024704
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,746.576479585,717,681.423520415,665,634,882.576479585,788,805.576479585,654,633,654,0.451105514875,-0.00555309285831,0.0498325550104,0.999999966789,7.24574526406e-05,-0.000245538203758,2.97177375976e-05,1793237435678691328
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,746.843310403,717,681,665,634,882.843310403,788,805.843310403,654,633,654,0.451105649527,-0.00555232249158,0.0498327523718,0.999999966758,7.33215167536e-05,-0.000245441774423,2.94351487127e-05,1793237435695357952
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746.252771279,717,681,665,634,882.252771279,788,805.252771279,654,633,654,0.451104720685,-0.00555115362481,0.0498318970879,0.99999996651,7.27406161844e-05,-0.000246667036712,2.90565002399e-05,1793237435712024832
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,746.330312317,717,681,665,634,882.330312317,788.330312317,805,654,632.669687683,654,0.451105063601,-0.00555209558012,0.0498319226634,0.999999966552,7.22046717769e-05,-0.000246634316896,2.92240524102e-05,1793237435728691200
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746.907816473,717,681,665,634,882.907816473,788.907816473,805,654,632.092183527,654,0.451106358247,-0.00555461718593,0.0498326074369,0.999999966811,7.17023707042e-05,-0.000245660176128,2.98003581828e-05,1793237435745357824
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,747,717,681,665,634,882.516639988,788.516639988,805,653.516639988,632.483360012,654,0.451105083909,-0.00555207836285,0.0498320143301,0.999999966376,7.42211138285e-05,-0.000246714821381,2.94972707129e-05,1793237435762024704
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,746.941659333,717,681,665,634,882.058340667,788,805,653,633,654,0.451103497717,-0.00554924555186,0.0498312208857,0.99999996589,7.66895886212e-05,-0.000247981690515,2.90646943864e-05,1793237435778691584
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746.368359955,717,681,665,634,882.631640045,788,805,653,633,654,0.451103465991,-0.00555230202127,0.0498308015853,0.999999966186,7.36493198221e-05,-0.000247720375399,2.89635293323e-05,1793237435795358208
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,746.213138789,716.786861211,681,665,634,882.786861211,788.213138789,804.786861211,653.213138789,632.786861211,654,0.451101379282,-0.0055534131754,0.0498296907702,0.999999965854,7.29462659713e-05,-0.000249272210698,2.88974981508e-05,1793237435812024832
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746.809375081,716.190624919,681,665,634,882.190624919,788.809375081,804.190624919,653.809375081,632.190624919,654,0.451095598928,-0.00555102780271,0.0498273370206,0.999999964382,7.64441428088e-05,-0.000254083018261,2.88946169063e-05,1793237435828691200
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746.608819767,716,681.391180233,665,634,882.391180233,788.608819767,804.391180233,654,632,654.391180233,0.451079868284,-0.00554965759738,0.0498200493353,0.999999961039,7.68556938368e-05,-0.000266837576574,2.85241934826e-05,1793237435845357824
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746.033796758,716,681.966203242,665,634,882.966203242,788.033796758,804.966203242,654,632,654.966203242,0.451059461308,-0.00554876448952,0.0498104428507,0.999999956598,7.58167661773e-05,-0.000283325455774,2.79810364406e-05,1793237435862024704
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,746.541232226,716.541232226,681.458767774,665.541232226,634,882.458767774,788,805,653.458767774,632.541232226,654.458767774,0.451020683106,-0.00554800687893,0.0497929854614,0.999999947613,7.64453060987e-05,-0.00031335153717,2.72346155379e-05,1793237435878691328
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,747,717,680.880890691,665.880890691,634,882,788,805,653.119109309,633,654,0.450977265064,-0.00554688606378,0.0497746648012,0.999999937296,7.70427139822e-05,-0.000344648641415,2.62728033524e-05,1793237435895357952
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,747,717,680.291776323,665.291776323,634,882,788,805,653.708223677,633,654,0.450920065007,-0.00554429865656,0.0497548721883,0.999999925426,7.71063996639e-05,-0.000377625301242,2.45111431377e-05,1793237435912024832
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,747,717,680.292589848,665,634,882,788,805,654,632.707410152,654,0.450861665712,-0.00554190496729,0.0497407583366,0.999999917376,7.80248456435e-05,-0.000398271194346,2.32231353096e-05,1793237435928691200
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,747,717,680.872296603,665,634,882,788,805,654,632.127703397,654,0.450802089615,-0.00553970137257,0.0497322170251,0.999999913817,7.97820635399e-05,-0.000406816968087,2.23999202445e-05,1793237435945357824
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,747,717,681,665,634,882,788,804.551601802,653.551601802,632,654,0.450738251653,-0.00553763378117,0.049732501514,0.999999914908,8.06869565392e-05,-0.000403963291813,2.20905283627e-05,1793237435962024704
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,747,717,681,665,634,882,788,804,653,632.023993517,654,0.450672272678,-0.00553561908885,0.0497352064631,0.999999917177,8.13585215113e-05,-0.000398179160298,2.19322199516e-05,1793237435978691584
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,747,717,681,665,634,882,788,804,653,632.611623128,654,0.45058428436,-0.00553394441672,0.0497361948796,0.999999916696,8.22057357353e-05,-0.000399212246696,2.19128446867e-05,1793237435995358464
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,746.803559945,716.803559945,681,665,634,881.803559945,788.196440055,804.196440055,653.196440055,633,654,0.450489177572,-0.00553070807443,0.0497369806703,0.999999916339,8.48412970724e-05,-0.000399573466344,2.15777716489e-05,1793237436012025088
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767,746.22422548,716.22422548,681,665,634,881.22422548,788.77577452,804.77577452,653.77577452,633,654,0.450380195711,-0.00552442777684,0.0497373715097,0.999999916199,9.096264493e-05,-0.000398625105571,2.06273510304e-05,1793237436028691712
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766.647206048,746.352793952,716.352793952,681,665.352793952,634.352793952,881.705587904,789,805,654,633,654,0.45025395726,-0.00552015577172,0.0497379571356,0.999999915881,9.35799093889e-05,-0.000398844759691,2.00709737379e-05,1793237436045358592
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766.071648335,746.928351665,716.928351665,681,665.928351665,634.928351665,882.85670333,789,805,654,633,654,0.450116822515,-0.00551715185684,0.0497386657552,0.999999915467,9.39846002516e-05,-0.000399801930307,1.97634060976e-05,1793237436062025472
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766.50311983,746.49688017,717,681,665.49688017,635,882.49688017,788.49688017,805,654,633,654,0.449958918537,-0.00551060708165,0.0497364719804,0.999999913782,9.90820797044e-05,-0.000402822532509,1.87728012263e-05,1793237436078692096
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746,717,681,665,635,882,788,805,654,633,654,0.449794166282,-0.00550352564245,0.0497335677273,0.999999911646,0.000104695288434,-0.00040673616739,1.7674092178e-05,1793237436095358464
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746,717,681,665,635,882,788,805,654,633,654,0.449604528933,-0.00549623205338,0.0497287609302,0.999999907989,0.000109340528399,-0.000414480706162,1.65051936087e-05,1793237436112025344
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746,717,681,665.258794747,635,882.258794747,788,805,653.741205253,632.741205253,654,0.449400226429,-0.00548943613593,0.0497255189738,0.999999904516,0.000113299726862,-0.000421774587791,1.54310475152e-05,1793237436128691968
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746,717,681,665.838888538,635,882.838888538,788,805,653.161111462,632.161111462,654,0.449177716842,-0.00548325808855,0.0497242197998,0.99999990131,0.000116407190303,-0.000428508968787,1.44745386553e-05,1793237436145358592
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746,717,681,665.587628925,635,882.587628925,788,804.587628925,653.412371075,632.412371075,654,0.448945633397,-0.00547426836847,0.0497276318447,0.999999903359,0.000122716914354,-0.000421955856627,1.32217962753e-05,1793237436162025216
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,746,717,681,665.01668863,635,882.01668863,788,804.01668863,653.98331137,632.98331137,654,0.448709868518,-0.00546419747486,0.0497328554968,0.999999907276,0.000130258004914,-0.000410293298989,1.1855143117e-05,1793237436178692096
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,746,717,681,665.575068411,635,882.575068411,788,804,653.424931589,633,654,0.448443715154,-0.00545655737006,0.0497347227732,0.999999908661,0.00013744709185,-0.000404569574065,1.04909979773e-05,1793237436195357952
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,746,716.836291128,681,665.836291128,635,883,788,804.163708872,653,633,654,0.448163355193,-0.00544940015569,0.0497344683272,0.999999908511,0.000142873041126,-0.000403094346036,9.00191398208e-06,1793237436212024832
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,746,716.257150061,681,665.257150061,635,883,788,804.742849939,653,633,654,0.447849266154,-0.00544328260583,0.0497290861945,0.999999904778,0.000143851698085,-0.000411946445819,7.19559024608e-06,1793237436228691712
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,746.32091835,716.32091835,680.67908165,665,635,882.67908165,788.32091835,805,653.32091835,633,654,0.447523017512,-0.00543811500192,0.0497274354934,0.999999903878,0.000143674375345,-0.000414216921108,5.18355808293e-06,1793237436245358592
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,747,716.527634008,680.472365992,665.472365992,635.472365992,882,789,805,653.527634008,633,654,0.44681518798,-0.00543138618774,0.0497293192674,0.999999905925,0.000139399085634,-0.000410751279714,6.6586946977e-07,1793237436278691840
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,746.952812544,716,680.952812544,666,636,882,789,805,653,633,654,0.446436367923,-0.0054304019669,0.0497310263242,0.99999990754,0.000134834386314,-0.00040833437467,-1.52943141186e-06,1793237436295358208
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,746.363946556,716,680.363946556,666,636,882,789,805,653,633,654,0.446066107742,-0.00543961054012,0.0497478705924,0.999999921609,0.000119417206714,-0.00037751683385,-1.6418815263e-06,1793237436312024832
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,746,716.22124139,680.22124139,666.22124139,636,882,789,804.77875861,653,633.22124139,654,0.445677490058,-0.0054444384419,0.0497671897452,0.999999933337,0.000108957465324,-0.000348498160854,-1.93220634617e-06,1793237436328691200
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746,716.800477787,680.800477787,666.800477787,636,882,789,804.199522213,653,633.800477787,654,0.445259167763,-0.00544217789324,0.0497905135558,0.999999942356,0.000106519452445,-0.000322390273236,-2.510353691e-06,1793237436345358080
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,717,681,666.621724565,636,882,789,804.378275435,653,633.621724565,654,0.444805198098,-0.00543562521268,0.0498031588256,0.999999947285,0.000105542025663,-0.000307031829025,-4.77205300247e-06,1793237436362024960
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,746,717,681,666.04468293,636,882,789,804.95531707,653,633.04468293,654,0.444332497406,-0.00542681721592,0.0498101930166,0.999999950221,0.000105332069236,-0.000297321719715,-7.91838078339e-06,1793237436378691840
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,716.469241344,681,666.530758656,636,882,789,805,653,633,654,0.443799017347,-0.00542235657975,0.0498035671157,0.999999946784,0.000102428665404,-0.000309552138443,-1.08876078863e-05,1793237436395358464
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746,716.108914994,681,666.891085006,636,882,789,804.891085006,653.108914994,633,654,0.44326103249,-0.00541834810089,0.0497954601296,0.999999942776,9.90864621934e-05,-0.000323166262811,-1.39202660193e-05,1793237436412025088
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,746,716.699675517,681,666.300324483,636,882,789,804.300324483,653.699675517,633,654,0.442725687391,-0.00541472569466,0.0497858731205,0.999999939326,9.4803140817e-05,-0.00033475484064,-1.72993078452e-05,1793237436428691456
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746,716.715088828,681,666,636.284911172,882,789,804,653.715088828,633,654,0.442191215117,-0.00541348690277,0.0497936008866,0.999999945075,8.79376181653e-05,-0.000318938584564,-1.98835386182e-05,1793237436445358336
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,746,716.135566075,681,666,636.864433925,882,789,804,653.135566075,633,654,0.44165764532,-0.00541471288004,0.0498192329452,0.999999958939,7.84019770177e-05,-0.000274784439284,-2.16458976788e-05,1793237436462025472
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,746.440898736,716,680.559101264,666.440898736,637,882.440898736,789,804.440898736,653,633,654,0.441077849239,-0.00541948839389,0.0498375369006,0.999999967294,6.42656287841e-05,-0.000246490445776,-2.29003983963e-05,1793237436478692864
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746.983620916,716,680.016379084,667,637,882.983620916,789,804.983620916,653,633,654,0.440481740299,-0.00542500719713,0.0498525680123,0.99999997325,4.90950470166e-05,-0.000224740339446,-2.4093536439e-05,1793237436495359744
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,746.409864396,716,680.590135604,667,637,882.409864396,789,804.409864396,653,633,654,0.439810857897,-0.00541893569733,0.0498323734167,0.999999964485,4.65370042787e-05,-0.000260869834417,-2.84758278162e-05,1793237436512026112
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.830518582,666.830518582,637,882,789,804,653,633,654,0.439136729222,-0.00541282401381,0.0498094763551,0.99999995363,4.36742462174e-05,-0.000299580444471,-3.29243046836e-05,1793237436528692736
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.237194997,666.237194997,637,882,789,804,653,633,654,0.438454482247,-0.00540661183847,0.0497798209194,0.999999939069,4.00494508374e-05,-0.000344745951613,-3.75382991883e-05,1793237436545359616
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767.344431548,746,716.344431548,680,666,636.655568452,882,789,804,653,633,654,0.437785479004,-0.00540437502096,0.0497752302503,0.999999935625,3.38284000579e-05,-0.000354929375965,-4.03854129266e-05,1793237436562026496
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767.918267402,746,716.918267402,680,666,636.081732598,882,789,804,653,633,654,0.437125296611,-0.00540478594084,0.0497873336554,0.999999940363,2.58781461604e-05,-0.000341813422006,-4.20557177721e-05,1793237436578693120
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767.505653777,746,716.505653777,680,666.494346223,636.494346223,882,789,804,653,633,654,0.436451676537,-0.00540733556599,0.0498208279378,0.999999956525,1.48158652509e-05,-0.000291396809632,-4.26355964776e-05,1793237436595359488
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.927633742,637,881.927633742,789,804.072366258,653,633,654,0.435764608067,-0.00540929395322,0.0498497493873,0.999999968109,4.18221373224e-06,-0.000248745735083,-4.34778892052e-05,1793237436612025856
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.338410073,637,881.338410073,789,804.661589927,653,633,654,0.434997428582,-0.00540449254958,0.0498206357538,0.999999952114,3.01564219804e-07,-0.000305805702879,-4.7487917785e-05,1793237436628691968
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.753016301,881.246983699,789,804.753016301,653.246983699,633,654,0.434244823209,-0.00540120294176,0.049802182928,0.999999941961,-6.5494950195e-06,-0.000336725971039,-5.14940032296e-05,1793237436645358592
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.172789935,881.827210065,789,804.172789935,653.827210065,633,654,0.433511881843,-0.00539995312321,0.0497981141889,0.999999943071,-1.74083790616e-05,-0.000332377267968,-5.54947691277e-05,1793237436662025216
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766.596395841,746,716,680,666,636.403604159,882,789,804,653.596395841,633,654,0.432791515117,-0.00540104226141,0.049817464217,0.99999995214,-2.82621326129e-05,-0.000302690878986,-5.74438519007e-05,1793237436678691840
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766.021627012,746,716,680,666,636.978372988,882,789,804,653.021627012,633,654,0.432076481219,-0.00540312332889,0.0498467459208,0.999999963133,-3.91137096799e-05,-0.000262259019192,-5.85228351297e-05,1793237436695358464
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.132951448,666.132951448,636.132951448,882,789.132951448,804.132951448,653,633,654,0.430506987327,-0.0054016213858,0.0498204794027,0.999999954883,-2.55968974782e-05,-0.000293779436859,-5.72086098804e-05,1793237436728691456
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.723904581,666.723904581,636.723904581,882,789.723904581,804.723904581,653,633,654,0.429687488367,-0.00539076208405,0.0497927642366,0.999999938681,8.09229101376e-05,-0.000339068993273,-3.34981568067e-05,1793237436745358336
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.694335353,637,882,789.694335353,805,653,633,654,0.428899033954,-0.0053833887648,0.0497885907505,0.999999932597,0.000126513156413,-0.000343823281484,-2.42155504415e-05,1793237436762024960
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.120636621,637,882,789.120636621,805,653,633,654,0.42813780222,-0.00537907226717,0.0498050607151,0.999999943583,0.000118674912369,-0.000313032623781,-2.75845711815e-05,1793237436778691584
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,882,789,804.089915443,653,633,654,0.427338933192,-0.00537666966314,0.0498029741513,0.999999940367,0.00010655817473,-0.000326972635641,-3.16396067121e-05,1793237436795358208
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,882,789,803.032109205,653,633,654,0.426531350608,-0.00537526596177,0.0497962448729,0.999999933538,9.31611170208e-05,-0.00035066145029,-3.57872121108e-05,1793237436812025088
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,882,789,803.624186739,653,633,654,0.42574658179,-0.0053823952542,0.0497947182027,0.999999939609,7.73035791913e-05,-0.000336652843324,-3.83636018147e-05,1793237436828691712
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,716.212412688,680,666.212412688,637,881.787587312,789,804,653.212412688,633,654.212412688,0.424977024728,-0.00538789964086,0.0498080919347,0.999999951094,6.64302968204e-05,-0.000303050858399,-3.94976183127e-05,1793237436845358336
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746,716.631238513,679.631238513,666.631238513,637,881.368761487,789,803.631238513,653.631238513,633,654.631238513,0.423466010962,-0.00538773429667,0.0498577687105,0.999999973592,6.7863437954e-05,-0.000216228164574,-3.81570862701e-05,1793237436878691840
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,716.060108904,679.060108904,666.060108904,637,881.939891096,789,803.060108904,653.060108904,633,654.060108904,0.422684528151,-0.00538185528322,0.04985234246,0.999999971438,7.4722622873e-05,-0.000223659566228,-3.89597281324e-05,1793237436895359488
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881.484139669,789,804.031720663,653.515860331,633,654,0.421878537029,-0.00537887459301,0.0498248941494,0.999999958692,7.75178861316e-05,-0.000273786039841,-4.05860061565e-05,1793237436912025856
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881.68761227,789.68761227,804.31238773,654,633,654,0.420319262851,-0.00537933628424,0.0498231321482,0.999999955493,7.65167644475e-05,-0.000285422125934,-4.11466360227e-05,1793237436945358592
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,716.273944156,679.273944156,666.273944156,636.726055844,882,790,804,654,633,654,0.419553446427,-0.0053790481303,0.0498325907096,0.999999957778,7.76673013978e-05,-0.000277053046939,-4.06650936228e-05,1793237436962025472
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,746,716.853251195,679.853251195,666.853251195,636.146748805,882,790,804,654,633,654,0.418779448974,-0.00537586557724,0.0498300517118,0.999999952914,8.29315673532e-05,-0.000292667103476,-4.04983314767e-05,1793237436978692352
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746,716.570319568,679.570319568,666.570319568,636.429680432,881.570319568,789.570319568,804,654,633,654,0.418029978209,-0.00537467711917,0.0498155464032,0.99999994575,8.39581865388e-05,-0.000315735822253,-4.19793785035e-05,1793237436995358720
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767.005241415,746,716,679,666,637,881.005241415,789,804,653.994758585,633,654,0.417289482994,-0.00537419328471,0.0497973644591,0.999999937498,8.34950067607e-05,-0.000340729591624,-4.39985055654e-05,1793237437012025344
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767.592803112,746,716,679,666,637,881.592803112,789,804,653.407196888,633,654,0.416621728883,-0.0053768325926,0.0498217372716,0.999999951476,7.72386730121e-05,-0.000298618564262,-4.36898230858e-05,1793237437028691968
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767.822059135,746,716,679.177940865,666,637,881.822059135,789,803.822059135,653,633,654,0.4159433262,-0.00537854103752,0.0498411421278,0.999999961677,7.48744562066e-05,-0.000262985553284,-4.33373754502e-05,1793237437045358336
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767.242393638,746,716,679.757606362,666,637,881.242393638,789,803.242393638,653,633,654,0.415240882849,-0.00537814793875,0.0498493311816,0.999999966499,8.12971983506e-05,-0.000241977499075,-4.2886122363e-05,1793237437062024960
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746,716.335279171,679.664720829,666,637,881,789,803.335279171,653.335279171,633,654,0.414536398567,-0.00537773301838,0.0498380791351,0.999999961198,8.37770859539e-05,-0.000262076246984,-4.36023097642e-05,1793237437078691584
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,716.911519823,679.088480177,666,637,881,789,803.911519823,653.911519823,633,654,0.413830447533,-0.00537730241509,0.0498128549814,0.999999946917,8.34232865091e-05,-0.000311718005688,-4.51575238538e-05,1793237437095358464
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,716.517908031,679.482091969,666,637,881,789.482091969,803.517908031,654,633,654,0.41317438158,-0.00537678752915,0.0498038459783,0.999999942991,8.3389752875e-05,-0.000323923890581,-4.62222928059e-05,1793237437112025344
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.945894683,666,637,881,789.945894683,803.054105317,654,633,654,0.412532038624,-0.00537644593527,0.0498005621181,0.99999994223,8.37082662874e-05,-0.000326085821703,-4.6912297739e-05,1793237437128692480
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.349112459,666,637,881,789.349112459,803.650887541,654,633,654,0.411936573894,-0.00537799581081,0.0498251988025,0.999999951522,8.69751066043e-05,-0.000295619590569,-4.47357572101e-05,1793237437145359104
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.23956359,666,637,881,789.23956359,803.76043641,654,633,654,0.411331383842,-0.00537933368453,0.0498394813745,0.999999956199,8.82248167726e-05,-0.00027915965123,-4.34493885677e-05,1793237437162025984
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.816813217,666,637,881,789.816813217,803.183186783,654,633,654,0.41071248514,-0.00538037272285,0.0498391689084,0.999999955418,8.66312036577e-05,-0.000282442820104,-4.34177960502e-05,1793237437178692352
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.608506649,666,637,881,789.608506649,803,654,633,654,0.410119464007,-0.00537949093535,0.0498243984616,0.999999946938,8.8974279308e-05,-0.000310233462985,-4.42978410198e-05,1793237437195359232
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.035020937,666,637,881,789.035020937,803,654,633,654,0.409538472449,-0.0053777162193,0.0498029069758,0.999999933576,9.3147391612e-05,-0.000349416822998,-4.56016761617e-05,1793237437212025856
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.541571137,666,637,881,789,803.541571137,653.458428863,633,654,0.409029619616,-0.00537946421136,0.0498153571562,0.999999943813,9.24637160305e-05,-0.000318992282035,-4.54903453268e-05,1793237437228691968
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881,789,803.878781551,653,633,654,0.408531943002,-0.00538112449409,0.0498309924261,0.999999953956,9.27023948649e-05,-0.000285426636699,-4.50141046974e-05,1793237437245358592
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881,789,803.28808359,653,633,654,0.408059380447,-0.00538155772866,0.0498504138511,0.999999961195,9.77367531477e-05,-0.000257229308157,-4.34810394263e-05,1793237437262026496
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.70349029,666,637,881,789,803.29650971,653.29650971,633,654,0.407575681598,-0.00538161202701,0.0498564780183,0.999999961993,0.000100689544757,-0.000253087633796,-4.26905327557e-05,1793237437278693376
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.124708554,666,637,881,789,803.875291446,653.875291446,633,654,0.407081381222,-0.00538130558472,0.0498498263101,0.999999956975,0.000101660721253,-0.00027184652066,-4.26069289107e-05,1793237437295359488
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,803.548978295,654,633,654,0.406605491862,-0.00538122519732,0.0498266495791,0.999999945067,9.94509666979e-05,-0.000313005378923,-4.47461817897e-05,1793237437312025856
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.026549754,665.973450246,637,881,789.026549754,803,654,633,654.026549754,0.406137636628,-0.00538127490656,0.0497998435308,0.999999929897,9.63073553818e-05,-0.000358720491275,-4.7430797434e-05,1793237437328691968
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.615548457,665.384451543,637,881,789.615548457,803,654,633,654.615548457,0.405732861863,-0.00538276543005,0.0497922982782,0.999999925908,9.18877372623e-05,-0.000370629749443,-4.87356152637e-05,1793237437345358592
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.798673427,665.402653146,637,881,789.798673427,803.201326573,654,633,655,0.405347920671,-0.00538416672563,0.0497936957809,0.999999927618,8.91836712615e-05,-0.000366561449801,-4.94316523311e-05,1793237437362024960
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.218948551,666.562102899,637,881,789.218948551,803.781051449,654,633,655,0.405000257221,-0.00538540031497,0.0498119014158,0.999999939511,8.97040286118e-05,-0.000332462931109,-4.89834706328e-05,1793237437378691584
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.641302051,637,881,789,804,654,633,654.641302051,0.404674991873,-0.00538749247528,0.0498345893032,0.999999951846,8.51130806702e-05,-0.000294485012997,-4.84002599293e-05,1793237437395358208
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.064916826,637,881,789,804,654,633,654.064916826,0.404363319493,-0.00539010568684,0.0498599973903,0.999999963567,7.7420174257e-05,-0.000254152754219,-4.77351024865e-05,1793237437412025088
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,654,633,654,0.40406172914,-0.00539243191769,0.0498688181387,0.999999966503,7.35484740517e-05,-0.000243562652103,-4.75683071839e-05,1793237437428691712
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,654,633,654,0.403764677218,-0.00539424309649,0.0498732250611,0.999999967474,7.07052524008e-05,-0.000240373264793,-4.76794932768e-05,1793237437445358336
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,654,633,654,0.403486627672,-0.0053932633314,0.0498641706834,0.999999962908,7.10311463877e-05,-0.000258326226352,-4.90427883475e-05,1793237437462024704
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767.263461453,746,716,679,666,637,881,789,803.736538547,654,633,654.263461453,0.40321801702,-0.00539436434513,0.0498560949347,0.999999958433,6.79867508304e-05,-0.000275704273179,-4.99905072516e-05,1793237437478691328
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767.841022285,746,716,679,666,637,881,789,803.158977715,654,633,654.841022285,0.402960659459,-0.00539794606845,0.0498491859102,0.999999954124,6.09242879547e-05,-0.000292396904215,-5.04427751711e-05,1793237437495358208
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767.584613299,746,716,679,666,637,881.415386701,789,803.415386701,654,633,654.584613299,0.402729748002,-0.00539916005,0.0498449158632,0.999999951559,5.78794443906e-05,-0.000301508056389,-5.12364186686e-05,1793237437512024832
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767.011462893,746,716,679,666,637,881.988537107,789,803.988537107,654,633,654.011462893,0.402508880771,-0.00539947476409,0.049841648099,0.9999999497,5.63604912048e-05,-0.00030773976554,-5.21597164666e-05,1793237437528691456
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767.580177594,745.419822406,716,679,666,637,881.419822406,789,804,654,632.419822406,654,0.402326484202,-0.00539705855952,0.0498388038098,0.999999948109,6.03660265312e-05,-0.000312072504605,-5.24308587313e-05,1793237437545358336
+392,6.533333333,POSE2_TO_POSE3_RETREAT,768,745.168498296,716,679.168498296,666,637,881.168498296,789,804,654,632.168498296,654,0.402154554778,-0.00539468384167,0.0498375919675,0.999999947449,6.79087967703e-05,-0.000312732830354,-5.18432442726e-05,1793237437562024704
+393,6.550000000,POSE2_TO_POSE3_RETREAT,768,745.747805093,716,679.747805093,666,637,881.747805093,789,804,654,632.747805093,654,0.402006230742,-0.00539254615011,0.0498403390542,0.999999948908,8.38006726932e-05,-0.00030453408598,-4.91943801546e-05,1793237437578691328
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767.674418714,746,716,679.674418714,666,637,881.348837428,789,804,654,633,654.325581286,0.40186986977,-0.0053883564128,0.0498423622868,0.999999947387,0.000120777215674,-0.000298090480033,-4.21960589209e-05,1793237437595358208
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767.097822518,746,716,679.097822518,666,637,880.195645036,789,804,654,633,654.902177482,0.401742732001,-0.00538258460004,0.0498438274466,0.999999941429,0.000174009503401,-0.000293000039772,-3.1844416239e-05,1793237437612024832
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637.475321647,880,789,804,654,633,654.524678353,0.401637475804,-0.00538220264011,0.0498495098862,0.999999943692,0.000179670910554,-0.00028182302052,-3.01710427851e-05,1793237437628692480
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,716.049420894,679,666,638,880.049420894,789.049420894,804,654.049420894,633,654,0.401538260495,-0.00538277468942,0.0498555762368,0.999999947578,0.000175948875042,-0.000270123507953,-3.03263725834e-05,1793237437645360128
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,716.641761061,679,666,638,880.641761061,789.641761061,804,654.641761061,633,654,0.401456293287,-0.00538172922029,0.0498563941116,0.999999948573,0.000175920070384,-0.000266345826697,-3.1092159245e-05,1793237437662025728
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,767.805345182,746,716.194654818,679,666,637.194654818,881.805345182,789.194654818,804,654.194654818,633,654.805345182,0.401312147886,-0.00538296058055,0.0498559288627,0.999999949647,0.00017119901437,-0.00026515007142,-3.30586155916e-05,1793237437695358976
+401,6.683333333,POSE2_TO_POSE3_RETREAT,768,746,716.382677164,679,666,637,881.617322836,789,804,654,633,654.617322836,0.401253337033,-0.00538836630083,0.0498552732423,0.999999950942,0.000163116501052,-0.000265323144861,-3.33654137292e-05,1793237437712025600
+402,6.700000000,POSE2_TO_POSE3_RETREAT,768,746,716.960066237,679,666,637,881.039933763,789,804,654,633,654.039933763,0.401199091709,-0.00539584288775,0.0498546340902,0.999999952635,0.00015263683316,-0.000265187162087,-3.3280075813e-05,1793237437728692224
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767.455080487,746,716.455080487,679.544919513,666,637,881,789,804,654,632.455080487,654,0.401165406769,-0.00539966285763,0.049859503977,0.999999956246,0.000146123279215,-0.000255006874397,-3.35726425822e-05,1793237437745358592
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767.128987213,746,716,679.871012787,666,637,881,789,804,654,632.128987213,654,0.401134351348,-0.00540304261065,0.049863708724,0.999999959209,0.000140422699956,-0.000246411744756,-3.38258216094e-05,1793237437762025216
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767.708375109,746,716,679.291624891,666,637,881,789,804,654,632.708375109,654,0.401107143398,-0.00540583390473,0.0498641616093,0.999999959859,0.000136531886742,-0.000245957685525,-3.38434189042e-05,1793237437778691584
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+407,6.783333333,POSE2_TO_POSE3_RETREAT,768,746,716,679,666,637,881,789.865381715,804,654,633,654,0.401065232761,-0.00541276960723,0.0498643813252,0.999999961392,0.000127139195237,-0.000244740935764,-3.39640932308e-05,1793237437812024832
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767.559259705,746,716,679,665.559259705,637,881,789.559259705,804,654,632.559259705,654,0.401051294098,-0.00541281713895,0.0498644907078,0.999999961647,0.000125772662623,-0.000244347041993,-3.43806253751e-05,1793237437828691456
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diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b0a86be69a3575bd26b38a8d3bacfa5f61a7e2bf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,440 @@
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+417,6.950000000,pose2_to_pose3_retreat,0.57825600595,1.23541691518e-06,1.04001156496,0.548827239973,0.00867489865513,1.03966110394
+418,6.966666667,pose2_to_pose3_retreat,0.578255838966,1.23247760078e-06,1.04001154799,0.548827072909,0.00867489545039,1.03966108705
+419,6.983333333,pose2_to_pose3_retreat,0.578255772756,1.2313121505e-06,1.04001154126,0.548827006668,0.00867489417969,1.03966108035
+420,7.000000000,pose2_to_pose3_retreat,0.578255563994,1.22763744836e-06,1.04001152004,0.548826797807,0.00867489017315,1.03966105923
+421,7.016666667,pose2_to_pose3_retreat,0.578255234696,1.22184104437e-06,1.04001148656,0.548826468354,0.00867488385331,1.03966102591
+422,7.033333333,pose2_to_pose3_retreat,0.578254935127,1.21656792689e-06,1.04001145611,0.548826168643,0.008674878104,1.03966099561
+423,7.050000000,pose2_to_pose3_retreat,0.578254732408,1.21299959262e-06,1.0400114355,0.548825965827,0.00867487421344,1.0396609751
+424,7.066666667,pose2_to_pose3_retreat,0.578254655499,1.20934163692e-06,1.04001143077,0.548825888942,0.00867487063182,1.03966097025
+425,7.083333333,pose2_to_pose3_retreat,0.57825451911,1.19399754345e-06,1.04001143421,0.548825752828,0.00867485618648,1.03966097289
+426,7.100000000,pose2_to_pose3_retreat,0.578254238287,1.16240416055e-06,1.04001144129,0.548825472569,0.00867482644363,1.03966097833
+427,7.116666667,pose2_to_pose3_retreat,0.578254206753,1.15885645651e-06,1.04001144208,0.548825441098,0.00867482310373,1.03966097894
+428,7.133333333,pose2_to_pose3_retreat,0.578254185256,1.15643799209e-06,1.04001144263,0.548825419645,0.00867482082692,1.03966097935
+429,7.150000000,pose2_to_pose3_retreat,0.57825377597,1.11039220794e-06,1.04001145295,0.548825011182,0.00867477747819,1.03966098728
+430,7.166666667,pose2_to_pose3_retreat,0.578253454891,1.0742699878e-06,1.04001146104,0.548824690749,0.00867474347177,1.0396609935
+431,7.183333333,pose2_to_pose3_retreat,0.578253431777,1.07166964372e-06,1.04001146163,0.548824667682,0.00867474102374,1.03966099394
+432,7.200000000,pose2_to_pose3_retreat,0.578253226334,1.04855669431e-06,1.04001146681,0.548824462651,0.0086747192646,1.03966099792
+433,7.216666667,pose2_to_pose3_retreat,0.578253057066,1.02951365258e-06,1.04001147108,0.548824293724,0.00867470133697,1.0396610012
+434,7.233333333,pose2_to_pose3_retreat,0.578252625583,1.11408072285e-06,1.04001166419,0.548823861587,0.00867478376441,1.0396611963
+435,7.250000000,pose2_to_pose3_retreat,0.5782521959,1.13296864764e-06,1.04001168888,0.548823432208,0.0086748038708,1.03966122562
+436,7.266666667,pose2_to_pose3_retreat,0.578252137636,1.10893997932e-06,1.04001163068,0.548823374357,0.00867478129344,1.0396611687
+437,7.283333333,pose2_to_pose3_retreat,0.578252053926,1.07899750915e-06,1.0400115453,0.548823291221,0.00867475337491,1.03966108522
+438,7.300000000,pose2_to_pose3_retreat,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018403,1.03966109182
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e3127d15b12b24ef003b2bcb05b13959128eb00c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb22e85de95edb2f0da324e78f2356657a756b049d0d50b3c0fee41c4fc3dd16
+size 27865655
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cbf82dab3e72feab3656b80ca9fa4274013b4180
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_05/franka_data.csv
@@ -0,0 +1,441 @@
+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,768,746,717,679,666,637,881,790,804,654,634,654,0.401015896703,-0.00542148109131,0.0498726317474,0.99999996663,0.000112613361565,-0.000229972236926,-3.4218368984e-05,1793237438447843840
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+23,0.383333333,BASELINE,767,746,716,679,666,637,881.646803498,789,803.353196502,654.353196502,632.353196502,654.646803498,0.401018970846,-0.00542078485727,0.0498739039669,0.999999967636,0.000113343816108,-0.000225165662557,-3.43626924749e-05,1793237438831176704
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+30,0.500000000,BASELINE,768,746,716,679,666,637,881,789.413836696,804,654,633,654,0.401018783334,-0.00542190772264,0.049873291904,0.999999967429,0.000114663337727,-0.000225477558898,-3.39701032785e-05,1793237438947843584
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+46,0.766666667,BASELINE,767,746,716,679,666,637,882,789,804,654,633,654.695521268,0.401018331361,-0.00542317370827,0.0498738668086,0.999999968096,0.000109668170079,-0.000225019035689,-3.38807082523e-05,1793237439214510848
+47,0.783333333,BASELINE,767,746,716,678.718595431,666,637,882,789,803.718595431,654,632.718595431,654.718595431,0.401017833341,-0.00542322872616,0.0498736519004,0.999999968062,0.000109003699455,-0.000225486507038,-3.39062238063e-05,1793237439231177216
+48,0.800000000,BASELINE,767,746,716,678.13802678,666,637,882,789,803.13802678,654,632.13802678,654.13802678,0.401018910558,-0.00542284809487,0.0498738348554,0.99999996809,0.000110470437674,-0.000224653074451,-3.38664568783e-05,1793237439247843584
+49,0.816666667,BASELINE,767,746.439162775,716,678.439162775,666,637,882,789,803,654,632.439162775,654,0.401019477672,-0.00542145044189,0.0498742732301,0.999999968095,0.000111849266503,-0.000223914490688,-3.40774502974e-05,1793237439264509952
+50,0.833333333,BASELINE,767.015538833,746.984461167,716.015538833,679.015538833,666,637,881.984461167,789,803.015538833,654,633,654,0.401019836865,-0.00541984983023,0.0498747685386,0.999999968093,0.000113125299844,-0.000223241193148,-3.4350547978e-05,1793237439281176576
+51,0.850000000,BASELINE,767.600730249,746.399269751,716.600730249,679.600730249,666,637,881.399269751,789,803.600730249,654,633,654,0.401018406234,-0.00542243745521,0.0498744305533,0.999999968129,0.00011163802226,-0.00022387677502,-3.40331742675e-05,1793237439297843200
+52,0.866666667,BASELINE,767.815861986,746,716.815861986,679.815861986,666,637.184138014,881,789.184138014,804,654,633,654.184138014,0.40101765914,-0.00542375864616,0.0498744009174,0.999999968152,0.00011104269002,-0.000224109683101,-3.37728442841e-05,1793237439314509824
+53,0.883333333,BASELINE,767.236284673,746,716.236284673,679.236284673,666,637.763715327,881,789.763715327,804,654,633,654.763715327,0.401018379952,-0.00542236014984,0.0498750334665,0.99999996815,0.000112362824615,-0.000223477842807,-3.36350166268e-05,1793237439331176960
+54,0.900000000,BASELINE,767,746,716,679,666,637.657864597,881,789.657864597,803.657864597,654,633,654.657864597,0.401018420524,-0.00542221591604,0.0498747887856,0.999999968122,0.000112369526143,-0.000223574138406,-3.38177811223e-05,1793237439347843584
+55,0.916666667,BASELINE,767,746,716,679,666,637.080241058,881,789.080241058,803.080241058,654,633,654.080241058,0.401017992894,-0.00542293497777,0.0498739403166,0.999999968075,0.000111472205694,-0.000224171602171,-3.42212057705e-05,1793237439364510208
+56,0.933333333,BASELINE,767,746,716,679,666,637,881,789,803.496563682,654,633,654,0.401018459961,-0.00542229185422,0.0498746433733,0.999999968227,0.000111680817279,-0.000223385116183,-3.42460885554e-05,1793237439381177088
+57,0.950000000,BASELINE,767.074696383,746,716,679.074696383,666,637.074696383,881.074696383,789,804,654,633,654,0.401019013776,-0.00542150308812,0.0498754088196,0.999999968367,0.000111980918493,-0.000222610826694,-3.42144882557e-05,1793237439397843456
+58,0.966666667,BASELINE,767.662865413,746,716,679.662865413,666,637.662865413,881.662865413,789,804,654,633,654,0.401019171713,-0.00542122379351,0.0498748825279,0.999999968212,0.000111683474101,-0.000223455151253,-3.42144114421e-05,1793237439414510080
+59,0.983333333,BASELINE,767.753592244,746,716,679.753592244,666,637.753592244,881.753592244,789,804,654,632.753592244,654,0.401018858488,-0.00542184752148,0.0498745116287,0.999999968134,0.000110808513506,-0.000224253082516,-3.41292347225e-05,1793237439431176960
+60,1.000000000,BASELINE,767.176263373,746,716,679.176263373,666,637.176263373,881.176263373,789,804,654,632.176263373,654,0.401017912503,-0.00542368399225,0.0498743494187,0.999999968157,0.000109157959159,-0.000224988708546,-3.39297703834e-05,1793237439447843328
+61,1.016666667,BASELINE,767,746,716,679,666,637,881,789,803.60125812,654,632.39874188,654,0.40101850885,-0.00542279200104,0.0498746741955,0.999999968164,0.000110581012608,-0.000224260210083,-3.39240455776e-05,1793237439464510208
+62,1.033333333,BASELINE,767,746,716,679,666,637,881,789,803.027274103,654,632.972725897,654,0.401019783034,-0.00542070088432,0.0498752129971,0.999999968158,0.000113354878864,-0.000222888246922,-3.40034669185e-05,1793237439481177088
+63,1.050000000,BASELINE,767,746,716,679,666,637.562715098,881,789,803.562715098,654,632.437284902,654,0.40101812671,-0.0054216266734,0.049873926416,0.999999967906,0.000111124609054,-0.000225107477161,-3.4148077655e-05,1793237439497843456
+64,1.066666667,BASELINE,767,746,716,679,666,637.849565899,881.150434101,789,804.150434101,654,632.150434101,654,0.401017300946,-0.00542208392984,0.0498733632208,0.999999967802,0.000109896138407,-0.000226153070011,-3.42719194421e-05,1793237439514510336
+65,1.083333333,BASELINE,767,746,716,679,666,637.270588652,881.729411348,789,804.729411348,654,632.729411348,654,0.401019257677,-0.00542077772315,0.0498751201578,0.999999968171,0.000112232669159,-0.000223344945385,-3.43273320754e-05,1793237439531176704
+66,1.100000000,BASELINE,767,746,716,679.307053808,666,637,881.692946192,789,804.692946192,654,633,654,0.401020460706,-0.00542038984985,0.0498757439767,0.999999968432,0.000113233852167,-0.000221671088803,-3.42787940618e-05,1793237439547843072
+67,1.116666667,BASELINE,767,746,716,679.883525058,666,637,881.116474942,789,804.116474942,654,633,654,0.401021002417,-0.00542080774754,0.0498753735666,0.999999968607,0.000113063364282,-0.000220992470296,-3.41390468936e-05,1793237439564509696
+68,1.133333333,BASELINE,767,746,716,679.539284531,666,637,881,789,804,654,633,654,0.401019769296,-0.00542158022726,0.0498749487732,0.999999968412,0.00011221711811,-0.000222302719305,-3.41288189804e-05,1793237439581176576
+69,1.150000000,BASELINE,767,746,716,679,666.038857446,637,881,789,804,654,632.961142554,654,0.401018216644,-0.00542239494091,0.0498745286045,0.999999968133,0.000111317656592,-0.000224005825254,-3.41275275515e-05,1793237439597843456
+70,1.166666667,BASELINE,767,746,716,679,666.627893654,637,881,789,804,654,632.372106346,654,0.401018502833,-0.00542253640877,0.0498743688907,0.999999968028,0.000112087422331,-0.000224140957235,-3.37884205226e-05,1793237439614510080
+71,1.183333333,BASELINE,767.213400381,746.213400381,716,679,666.786599619,637,881,789,804,654,632.213400381,654,0.401018511612,-0.00542245396457,0.0498742950142,0.999999967958,0.000112350753866,-0.000224343583975,-3.36204893226e-05,1793237439631176960
+72,1.200000000,BASELINE,767.792852978,746.792852978,716,679,666.207147022,637,881,789,804,654,632.792852978,654,0.401018044542,-0.00542198743718,0.0498743683771,0.999999967951,0.000111745383411,-0.000224661986567,-3.37461812151e-05,1793237439647843840
+73,1.216666667,BASELINE,767.629643731,746.629643731,716,679,666,637,881,789,804,654,633,654,0.40101834068,-0.00542214692192,0.0498745946178,0.999999967971,0.000112215035771,-0.000224326149793,-3.3810033216e-05,1793237439664510464
+74,1.233333333,BASELINE,767.053225051,746.053225051,716,679,666,637,881,789,804,654,633,654,0.401019061458,-0.0054226547134,0.0498749059182,0.999999968007,0.000113282819786,-0.000223626300957,-3.38394781306e-05,1793237439681176832
+75,1.250000000,BASELINE,767,746,716,679,666,637.531876236,881,789,804,654,633,654,0.401018395501,-0.00542244516172,0.049874368212,0.999999968003,0.000113130344689,-0.000223705127124,-3.39367279026e-05,1793237439697843200
+76,1.266666667,BASELINE,767,746,716,679,666,637.883460944,881,789,803.883460944,654.116539056,633,654,0.401017902768,-0.0054223602078,0.0498739906792,0.999999968058,0.000112398756869,-0.000223817494905,-3.3998769996e-05,1793237439714510080
+77,1.283333333,BASELINE,767,746,716,679,666,637.304047945,881,789,803.304047945,654.695952055,633,654,0.401018658375,-0.00542305998469,0.0498745923771,0.999999968359,0.000109860085443,-0.000223748453739,-3.38935758152e-05,1793237439731176704
+78,1.300000000,BASELINE,767,746,716,679.273978212,666,637,881,789,803.273978212,654.726021788,632.726021788,654,0.401018803491,-0.00542325374303,0.0498748009904,0.999999968378,0.000109478788827,-0.000223845354569,-3.39439813467e-05,1793237439747843328
+79,1.316666667,BASELINE,767,746,716,679.850473031,666,637,881,789,803.850473031,654.149526969,632.149526969,654,0.401018274525,-0.00542288877435,0.0498745755741,0.999999968086,0.000111479585841,-0.000224125482419,-3.4166194332e-05,1793237439764510464
+80,1.333333333,BASELINE,767,746,716,679.573679708,666,637,881,789,803.573679708,654,632.426320292,654,0.401017665817,-0.00542372833434,0.0498743413589,0.999999968149,0.000109969331705,-0.000224621066067,-3.39608922068e-05,1793237439781177344
+81,1.350000000,BASELINE,767,746,716,679,666,637,881.00197545,789,803,654,633,654,0.401017035318,-0.00542498476383,0.0498741081859,0.99999996833,0.000107245378553,-0.000225184741043,-3.36068648083e-05,1793237439797843712
+82,1.366666667,BASELINE,767,746,716,679,666,637,881.587866956,789,803,654,633,654,0.401018218186,-0.00542477374908,0.0498750939269,0.999999968481,0.000109219642419,-0.000223572084022,-3.35464664501e-05,1793237439814510336
+83,1.383333333,BASELINE,767,746,716,679,666,637,881.826981619,789,803,654,633,654.173018381,0.401019089577,-0.0054242880183,0.0498757094197,0.999999968509,0.000110914938692,-0.000222608999093,-3.35394461465e-05,1793237439831176960
+84,1.400000000,BASELINE,767,746,716,679,666,637,881.243585454,789,803,654,633,654.756414546,0.401019222182,-0.00542315069569,0.0498754467304,0.999999968261,0.000111948559407,-0.000223186616942,-3.36590318466e-05,1793237439847843584
+85,1.416666667,BASELINE,767.323036656,746,716,678.676963344,666,637,881,789,803,654,633,654.676963344,0.401018893475,-0.0054226778567,0.0498750693418,0.999999968214,0.00011129339028,-0.00022370703544,-3.37922464214e-05,1793237439864509952
+86,1.433333333,BASELINE,767.877634639,746,716,678.122365361,666,637,881,789,803,654,633,654.122365361,0.401018234086,-0.00542268133743,0.0498746097338,0.999999968307,0.000109427651298,-0.000224186451876,-3.39352305314e-05,1793237439881176576
+87,1.450000000,BASELINE,768,746.464566265,716,678.464566265,666.464566265,637,881,789,803,654,633,654,0.401019022737,-0.00542152288011,0.0498749096622,0.99999996852,0.00010996996211,-0.000222929552665,-3.41844833856e-05,1793237439897843712
+88,1.466666667,BASELINE,767.940100913,746.940100913,716,679,666.940100913,637,881.059899087,789,803.059899087,654,633,654,0.401019936532,-0.00542027248005,0.0498753009207,0.999999968685,0.000111192393162,-0.000221543455429,-3.44154936255e-05,1793237439914510592
+89,1.483333333,BASELINE,767.351410966,746.351410966,716,679,666.351410966,637,881.648589034,789,803.648589034,654,633,654,0.40101833613,-0.00542111434693,0.0498746001947,0.999999968154,0.000112400696293,-0.000223356231016,-3.42198684689e-05,1793237439931177728
+90,1.500000000,BASELINE,767.234316337,746,716,679,666,637,881.765683663,789,804,654,632.765683663,654,0.401017271435,-0.00542183038896,0.0498738989251,0.999999967686,0.000113536970079,-0.000224897858342,-3.4046181862e-05,1793237439947844352
+91,1.516666667,BASELINE,767.815655902,746,716,679,666,637,881.184344098,789,804,654,632.184344098,654,0.401017000124,-0.00542236008392,0.0498731968507,0.999999967316,0.00011456656807,-0.000226037914087,-3.39049863335e-05,1793237439964510720
+92,1.533333333,BASELINE,767.606745159,746,716,679,666,637,881,789,803.606745159,654,632.393254841,654,0.401016824846,-0.0054231213899,0.0498734632318,0.999999967519,0.000112791640114,-0.000226045541265,-3.38165181798e-05,1793237439981177088
+93,1.550000000,BASELINE,767.030883123,746,716,679,666,637,881,789,803.030883123,654,632.969116877,654,0.401016694161,-0.00542399024412,0.0498741793135,0.99999996798,0.000109714435543,-0.000225527327322,-3.37525338775e-05,1793237439997843456
+94,1.566666667,BASELINE,767,746,716,679,666,637.54122909,881,789,803.54122909,654,632.45877091,654,0.401016985101,-0.00542364081256,0.0498739117969,0.999999967841,0.000110725057355,-0.000225634504324,-3.3857175469e-05,1793237440014510336
+95,1.583333333,BASELINE,767,746,716,679,666,637.882757911,881,789,804,654,632,654,0.401017290178,-0.00542309239096,0.0498736231627,0.999999967731,0.000111674015148,-0.000225631978789,-3.40154788857e-05,1793237440031176960
+96,1.600000000,BASELINE,767,746,716,679,666,637.290064153,881,789,804,654,632,654,0.401017555697,-0.00542201697647,0.0498734749289,0.99999996788,0.000111433493836,-0.00022504085719,-3.43526455478e-05,1793237440047843584
+97,1.616666667,BASELINE,767.295170555,746,716,679,666,637,881,789,804,654,632.295170555,654.295170555,0.401018505297,-0.00542154591292,0.0498741349482,0.999999968141,0.00011210584778,-0.000223540828788,-3.43509350464e-05,1793237440064510464
+98,1.633333333,BASELINE,767.873255885,746,716,679,666,637,881,789,804,654,632.873255885,654.873255885,0.401020110574,-0.00542165410712,0.0498755696611,0.999999968505,0.000113653173493,-0.000221169632346,-3.40244178829e-05,1793237440081177344
+99,1.650000000,BASELINE,767.550668871,746,716,679,666,637,881,789,803.550668871,654,633,654.550668871,0.401019651264,-0.00542289055297,0.0498754689854,0.999999968654,0.000111066934341,-0.000221832661133,-3.38565189638e-05,1793237440097843968
+100,1.666666667,BASELINE,767,746,716,679,666,637,881,789,803,654,632.974591813,654,0.401018711493,-0.00542437155134,0.049874998982,0.999999968741,0.000107525776189,-0.000223200005333,-3.37315498947e-05,1793237440114510592
+101,1.683333333,BASELINE,767,746,716,679,666,637,881,789,803,654,632.385961911,654,0.401019973081,-0.00542425033935,0.0498758996681,0.99999996906,0.000108547785828,-0.000221292285506,-3.35708301937e-05,1793237440131177216
+102,1.700000000,BASELINE,767,746,716,679,666,637,881,789,803,654,632,654,0.401020521898,-0.00542404833988,0.0498763802,0.999999969139,0.000109756436358,-0.000220347457823,-3.3516431434e-05,1793237440147843840
+103,1.716666667,BASELINE,767,746,716,679,666,637,881,789,803,654,632,654,0.401019713307,-0.00542369248842,0.0498760605883,0.999999968764,0.000111320526535,-0.000221236366534,-3.36645107772e-05,1793237440164510208
+104,1.733333333,BASELINE,767,746,716,679,666,637,881,789,803.356681808,654,632,654,0.40101990713,-0.00542311437276,0.0498759809792,0.999999968712,0.000112332220131,-0.0002209438778,-3.37840464311e-05,1793237440181177088
+105,1.750000000,BASELINE,767,746,716,679,666,637,881,789,803.932881475,654,632,654,0.401020717882,-0.0054223994658,0.0498760490782,0.999999968858,0.000113003944434,-0.000219924304585,-3.38860150425e-05,1793237440197844224
+106,1.766666667,BASELINE,767.51744463,746,716,679,666,637,881,789.51744463,804,654,632.51744463,654,0.401019293801,-0.00542242162745,0.049875308259,0.999999968556,0.000112334497091,-0.000221635093361,-3.38791258178e-05,1793237440214510848
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,746,716,679,666,637,881,789,803,655,633,654,0.401017618838,-0.00542347500789,0.0498740884759,0.999999968112,0.000112806092408,-0.000223413416098,-3.3718007176e-05,1793237440256987392
+108,1.800000000,POSE1_TO_POSE2_PRESS,767.423288981,746,716,679,666,637,881.576711019,789,803.576711019,654.423288981,633,654,0.401017911439,-0.00542434744368,0.0498737388623,0.999999968092,0.000110974264132,-0.000224436547041,-3.35982411395e-05,1793237440273653760
+109,1.816666667,POSE1_TO_POSE2_PRESS,767.154007144,746,716,679,666.154007144,637,881.845992856,789,804,654,633,654,0.401018153688,-0.00542480121032,0.0498737120565,0.999999968134,0.000109500427348,-0.000224983370439,-3.35209763061e-05,1793237440290320128
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.732917699,746,716,679,666.732917699,637,881.267082301,789,804,654,633,654,0.40101825702,-0.00542409987525,0.0498745758727,0.999999968358,0.00010901428334,-0.00022421606866,-3.35609716316e-05,1793237440306986496
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.684021354,746,716,679,666.684021354,637,881,789,803.684021354,654,633,654,0.401019568144,-0.00542422844147,0.0498758496789,0.999999968923,0.00010812710401,-0.000222121500733,-3.35324130939e-05,1793237440323653376
+112,1.866666667,POSE1_TO_POSE2_PRESS,767.097405612,746,716,679,666.097405612,637,881,789,803.097405612,654,633,654,0.401021913747,-0.00542506782183,0.0498774746431,0.999999969771,0.000106896436196,-0.000218890123576,-3.3445137869e-05,1793237440340320000
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789.48315744,803.48315744,654,633,654,0.401020405288,-0.00542314450999,0.0498764987794,0.999999969144,0.000108888761723,-0.000220718424267,-3.37482688464e-05,1793237440356986880
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881.06211619,789.93788381,804,654,633,654,0.401018442048,-0.00542105628835,0.0498752893429,0.999999968328,0.000111437602269,-0.000223077648778,-3.40805733955e-05,1793237440373653760
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881.637774896,789.362225104,804,654,633,654,0.401019063151,-0.00542215239171,0.0498764301158,0.999999968475,0.000113281985995,-0.000221497448925,-3.40114155738e-05,1793237440390320384
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881.788065421,789.211934579,804,654,633,654,0.401020118028,-0.00542346545603,0.0498770535741,0.999999968862,0.00011268479725,-0.000220077431097,-3.38376730871e-05,1793237440406987008
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881.216449839,789.783550161,804,654,633,654,0.401021909076,-0.00542514673168,0.0498767990812,0.999999969648,0.00010794393698,-0.000218929263505,-3.34864366012e-05,1793237440423653632
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789.630068072,804,654,633,654,0.401031093132,-0.00542447548096,0.0498801093391,0.999999970857,0.00010909102623,-0.000212806612403,-3.3146066136e-05,1793237440440320000
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789.034687244,804,654,633,654,0.401044782733,-0.00542237052207,0.0498855920756,0.999999972246,0.00011382642855,-0.0002036523444,-3.28123177509e-05,1793237440456986624
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881.542711134,789,803.457288866,654,633,654,0.401081515125,-0.0054240250738,0.049899167798,0.999999977852,0.000111590351108,-0.000175521109264,-3.21783738158e-05,1793237440473653248
+121,2.016666667,POSE1_TO_POSE2_PRESS,767.119144336,746,715.880855664,679,666,637,881.880855664,789,803.119144336,654.119144336,633,654,0.401123560557,-0.00542610218103,0.0499137987748,0.999999983038,0.000109061450939,-0.000145042972992,-3.14866702902e-05,1793237440490320128
+122,2.033333333,POSE1_TO_POSE2_PRESS,767.696143779,746,715.303856221,679,666,637,881.303856221,789,803.696143779,654.696143779,633,654,0.40118054512,-0.00542890933177,0.0499305609402,0.999999987743,0.00010706465988,-0.000110057562939,-3.0644372506e-05,1793237440506987008
+123,2.050000000,POSE1_TO_POSE2_PRESS,768,746,715.557223156,679,666,637,881,789,804,654.721388422,633,654,0.401242041578,-0.00543137560126,0.0499442055243,0.999999990242,0.000106794501654,-8.51126529081e-05,-2.94472978435e-05,1793237440523653632
+124,2.066666667,POSE1_TO_POSE2_PRESS,768,746,716.73432515,679,666,637,881,789,804,654.132837425,633,654,0.401308557256,-0.00543346265972,0.049954381977,0.999999991187,0.000108445123754,-7.13372261309e-05,-2.7855554307e-05,1793237440540320512
+125,2.083333333,POSE1_TO_POSE2_PRESS,767.55119908,746.44880092,716.55119908,679,666,637,881.44880092,789,803.55119908,654,633,654,0.401379301417,-0.00543539847269,0.0499588899585,0.999999991693,0.000107707513552,-6.54129697337e-05,-2.70942900008e-05,1793237440556987136
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746.97171214,716,679,666,637,881.97171214,789,803.02828786,654,633,654,0.401451965214,-0.00543736141309,0.0499614775391,0.999999992071,0.000106239579167,-6.21766921505e-05,-2.65697802168e-05,1793237440573653504
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746.394870377,716,679,666,637,881.394870377,789,803.605129623,654,633,654,0.401537952425,-0.00544070533424,0.0499588665549,0.999999992021,0.000104109012858,-6.66858231094e-05,-2.5942017248e-05,1793237440590319872
+128,2.133333333,POSE1_TO_POSE2_PRESS,767.181616498,746.181616498,716,679,666,637.181616498,881,789,804,654.181616498,633,654,0.401630774481,-0.00544455079084,0.0499568331147,0.999999992036,0.000101820620399,-7.01877761427e-05,-2.51789495977e-05,1793237440606986752
+129,2.150000000,POSE1_TO_POSE2_PRESS,767.757333203,746.757333203,716,679,666,637.757333203,881,789,804,654.757333203,633,654,0.401738427855,-0.00544948455801,0.0499560529213,0.999999992233,9.91897520699e-05,-7.15041945996e-05,-2.41222765275e-05,1793237440623653376
+130,2.166666667,POSE1_TO_POSE2_PRESS,767.669417225,746.669417225,716,679,666,638,881,789,804,654.669417225,633,654,0.401864783162,-0.00545473616207,0.0499594407673,0.999999992933,9.59622508763e-05,-6.63978942494e-05,-2.27217745732e-05,1793237440640320256
+131,2.183333333,POSE1_TO_POSE2_PRESS,767.097965197,746.097965197,716,679,666,638,881,789,804,654.097965197,633,654,0.402004765084,-0.00546021934899,0.0499658655305,0.999999993916,9.23000307055e-05,-5.66118720193e-05,-2.10707518717e-05,1793237440656987648
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.49564003,746,716,679,666,637.50435997,881,789,803.50435997,654,633,654,0.402157403629,-0.00546400572708,0.049965379727,0.999999993718,9.21455351554e-05,-6.05604322517e-05,-2.01301413499e-05,1793237440673654272
+133,2.216666667,POSE1_TO_POSE2_PRESS,767.909862796,746,716,679,666.090137204,637,881,789,803,654,633,654,0.402317300357,-0.00546799306943,0.0499637816145,0.999999993399,9.20450220371e-05,-6.60286446826e-05,-1.924787066e-05,1793237440690320640
+134,2.233333333,POSE1_TO_POSE2_PRESS,767.335208854,746,716,679,666.664791146,637,881,789,803,654,633,654,0.402502136004,-0.00547494778986,0.0499638901586,0.999999993866,8.83335192193e-05,-6.43903833897e-05,-1.78891007635e-05,1793237440706987264
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666.7601452,637,881,789,803,654,633,654,0.402699591257,-0.00548154872194,0.0499653362612,0.999999994383,8.50240182314e-05,-6.10972908064e-05,-1.64995896918e-05,1793237440723653632
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666.184508007,637,881,789,803,654,633,654,0.402914713195,-0.00548765437105,0.0499686548657,0.999999994962,8.22772960162e-05,-5.54875333568e-05,-1.50670428921e-05,1793237440740320256
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881.399651828,789,803,654,632.600348172,654,0.40315866025,-0.00549649347542,0.0499732655418,0.999999995868,7.77265949423e-05,-4.52372682369e-05,-1.32403455023e-05,1793237440756986624
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881.987832046,789,803,654,632.012167954,654,0.403416205017,-0.0055066220368,0.0499784857288,0.999999996784,7.2324900131e-05,-3.27979292368e-05,-1.12277148691e-05,1793237440773653504
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881.430871705,789,803.569128295,654,632.569128295,654,0.403705922051,-0.00551426014776,0.0499860504994,0.999999997253,7.17067219817e-05,-1.6482755309e-05,-8.96977661844e-06,1793237440790320128
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,803.851713985,654,633,654,0.404002575541,-0.00552179618655,0.0499927463249,0.999999997461,7.09033699277e-05,-2.73447289688e-06,-6.57180698395e-06,1793237440806986752
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,803.278270893,654,633,654,0.404317168212,-0.00552919040735,0.0499968087558,0.999999997587,6.92793755267e-05,3.41941675683e-06,-3.78720539009e-06,1793237440823653632
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716,678.697512784,666,637,881,789,803.302487216,654,633,654,0.404646772471,-0.005534373,0.0500013575539,0.99999999745,7.03546358194e-05,1.22379254722e-05,-8.14700671888e-07,1793237440840320256
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716,678.10985844,666,637,881,789,803.89014156,654,633,654,0.404990528806,-0.00553747060078,0.0500063648708,0.999999996983,7.39745942236e-05,2.35684807772e-05,2.33494836684e-06,1793237440856986624
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716,678.471124935,666,637,881,789,804,653.528875065,632.528875065,654,0.405362714287,-0.00552450148548,0.0500010350787,0.999999995027,9.87992431962e-05,1.30736267391e-05,3.84560784794e-06,1793237440873653504
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,803.949595302,653.050404698,632.050404698,654.050404698,0.405741845905,-0.00550918361977,0.0499927186579,0.99999999192,0.000126963020046,-3.82844886251e-06,5.04300842476e-06,1793237440890320128
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,803.372090511,653.627909489,632.627909489,654.627909489,0.406125260005,-0.00550793539103,0.0499780248891,0.999999989686,0.000139059977149,-3.52553772868e-05,6.90539276399e-06,1793237440906986752
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881.204809676,789,803.204809676,654,632.795190324,654.795190324,0.406524662479,-0.00551014524686,0.0499637433487,0.999999987431,0.000145867233428,-6.15163243044e-05,8.79494094731e-06,1793237440923653376
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881.780614638,789,803.780614638,654,632.219385362,654.219385362,0.40695302651,-0.00551861912845,0.049950208526,0.99999998663,0.000143092646618,-7.84195341086e-05,1.07336940195e-05,1793237440940319744
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,882,789,803.635486511,653.635486511,632.364513489,654,0.407410295822,-0.00552419494259,0.0499482951579,0.999999986227,0.000145701758387,-7.83044985755e-05,1.3638313156e-05,1793237440956986368
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,882,789,803.046605688,653.046605688,632.953394312,654,0.407885357054,-0.0055279869221,0.0499535350914,0.999999986066,0.000151624673826,-6.77142990549e-05,1.71374473781e-05,1793237440973653248
+151,2.516666667,POSE1_TO_POSE2_PRESS,767.533689481,746,716,679,666,637,881.466310519,789,803.533689481,653,633,654,0.408436586349,-0.00552814987144,0.0499755939306,0.999999985756,0.000165177651251,-2.72149092356e-05,2.15248115112e-05,1793237440990320128
+152,2.533333333,POSE1_TO_POSE2_PRESS,767.8873955,746,716,679,666.1126045,637,881.1126045,789,804,653.1126045,633,654,0.408993470298,-0.00552786437382,0.0499965840209,0.999999983644,0.000178737840195,9.68941610868e-06,2.58943274508e-05,1793237441006986752
+153,2.550000000,POSE1_TO_POSE2_PRESS,767.311125226,746,716,679,666.688874774,637,881.688874774,789,804,653.688874774,633,654,0.409546682848,-0.00552701660739,0.0500072213273,0.99999998135,0.000189627516929,2.12059480696e-05,2.98760139046e-05,1793237441023653376
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666.730137328,637,881.730137328,789,804,653.730137328,633,654,0.410089905076,-0.00552681156446,0.0500080748342,0.999999979127,0.000200771392877,1.7894611317e-05,3.34165111971e-05,1793237441040320256
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666.143613623,637,881.143613623,789,804,653.143613623,633,654,0.41062140458,-0.00552736070311,0.0499974478809,0.999999976815,0.000212213551495,-2.81597446294e-06,3.64393108158e-05,1793237441056986880
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881.437508908,789,803.562491092,653,632.562491092,654,0.411180181223,-0.0055294772306,0.0499761487237,0.999999973905,0.000220659196709,-4.43168214611e-05,3.91866235254e-05,1793237441073653504
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666.016786592,637,881.983213408,789,803.016786592,653.016786592,632,654,0.411750687322,-0.00553199148205,0.0499523757761,0.999999968998,0.000228235267843,-9.03391834591e-05,4.18463354705e-05,1793237441090320128
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666.59294929,637,881.40705071,789,803.59294929,653.59294929,632,654,0.412417325592,-0.00553082350438,0.0499614814551,0.999999968449,0.00023921181226,-6.23940969159e-05,4.45635666728e-05,1793237441106986752
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666.831588225,637,881.168411775,789,803.831588225,654,632,654,0.413090517803,-0.0055307492361,0.0499741183332,0.999999975451,0.000215571497438,-3.30245545745e-05,3.919539199e-05,1793237441123653376
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666.257811177,637,881.742188823,789,803.257811177,654,632,654,0.413779485239,-0.00553330751427,0.049995254768,0.999999993999,0.000108608784469,-2.26364334197e-07,1.436573464e-05,1793237441140320512
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881.674004365,789,803.325995635,654,632,654,0.414442013979,-0.00554100289725,0.0499974714025,0.999999998178,6.00816786463e-05,8.61388161377e-07,5.70828496999e-06,1793237441156987392
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881.082013834,789,803.917986166,654,632,654,0.415082970132,-0.00555288988121,0.0499842504971,0.999999997907,5.9234889855e-05,-2.3924871855e-05,1.02464878677e-05,1793237441173653760
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881.498312509,789,804.498312509,654,632.498312509,654,0.41575664054,-0.00555256436724,0.0499599489824,0.999999995119,7.55172554552e-05,-6.22887503354e-05,1.33974056434e-05,1793237441190320384
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666.076107416,637,882,789,804.923892584,653.923892584,633,654,0.41644625347,-0.0055499353492,0.0499400638347,0.999999991113,9.41856362376e-05,-9.29096501732e-05,1.64684076025e-05,1793237441206986752
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666.649617263,637,882,789,804.350382737,653.350382737,633,654,0.417205675075,-0.00554508748679,0.0499606881267,0.999999991971,0.000110444524294,-5.86554803066e-05,2.04752030028e-05,1793237441223653120
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666.776270311,637,882,789,804,653,632.776270311,654,0.417966223483,-0.00554313612089,0.0499817796991,0.999999992305,0.000119766281904,-2.20970610324e-05,2.36016002751e-05,1793237441240320000
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666.20121155,637,882,789,804,653,632.20121155,654,0.41872854146,-0.00554573320483,0.0500036050584,0.99999999253,0.000118194469511,1.80797916273e-05,2.53454840417e-05,1793237441256986880
+168,2.800000000,POSE1_TO_POSE2_PRESS,767.387036312,746,716,679,666,637,881.612963688,789,803.612963688,653,632,654,0.419451818833,-0.00554622889957,0.0499973843571,0.999999992835,0.000116875211555,1.97413561642e-06,2.5831517316e-05,1793237441273653248
+169,2.816666667,POSE1_TO_POSE2_PRESS,767.982382757,746,716,679,666,637,881.017617243,789,803.017617243,653,632,654,0.420154083782,-0.00554559358744,0.0499760687435,0.999999991992,0.000115691883046,-4.44238147078e-05,2.56405519487e-05,1793237441290320128
+170,2.833333333,POSE1_TO_POSE2_PRESS,768,746,716,679,666,637,881.557413127,789,803.557413127,653.557413127,632.557413127,654,0.420945953439,-0.0055478161552,0.0499828301922,0.999999993206,0.000111887197097,-1.96276676208e-05,2.61426623601e-05,1793237441306986752
+171,2.850000000,POSE1_TO_POSE2_PRESS,767.868122193,746,716,679,666.131877807,637,882,789,804,654,632.868122193,654,0.421749122342,-0.00554986381739,0.0499942078913,0.999999993626,0.000109112262401,1.06957626289e-05,2.69753839035e-05,1793237441323653376
+172,2.866666667,POSE1_TO_POSE2_PRESS,767.293476826,746,716,679,666.706523174,637,882,789,804,654,632.293476826,654,0.42258105359,-0.00555103165868,0.0500182096779,0.99999999216,0.000110062998938,5.22876394542e-05,2.88471442749e-05,1793237441340320000
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746.288411808,716,679.288411808,666.711588192,637,882,789,803.711588192,653.711588192,632.288411808,654,0.423368376616,-0.00555195719564,0.0500195785737,0.999999991884,0.000110642369946,5.59103690729e-05,2.94110096384e-05,1793237441356986880
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746.877860747,716,679.877860747,666.122139253,637,882,789,803.122139253,653.122139253,632.877860747,654,0.424109138626,-0.00555262982126,0.0499973238147,0.999999993251,0.000110834118758,1.99018366915e-05,2.86097263434e-05,1793237441373653504
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746.538809366,716,679.538809366,666,637,882,789,803.461190634,653.461190634,633,654,0.424895220711,-0.0055531123444,0.049994597974,0.999999993562,0.000108740227736,1.43056399382e-05,2.91104077521e-05,1793237441390319872
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666.042508581,637,882,789,804,654,633,654,0.425694437915,-0.00555370890064,0.049998142716,0.999999993772,0.000105973214854,1.80507711875e-05,3.00072967547e-05,1793237441406986496
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666.618646143,637,882,789,804,654,633,654,0.426509847732,-0.00555636070065,0.050016329429,0.999999993501,0.000102255514336,3.92772225057e-05,3.16061382288e-05,1793237441423653120
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,716,679,667,637,882,789,803.805922269,653.805922269,633,654,0.427303861025,-0.00555672487714,0.0500179660447,0.999999993835,0.000101176380828,3.23402319901e-05,3.23737854171e-05,1793237441440320000
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,716,679,667,637,882,789,803.23187276,653.23187276,633,654,0.428055983644,-0.0055526102694,0.0499872003377,0.999999993521,0.000105263119927,-2.97360694733e-05,3.15140932624e-05,1793237441456986368
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,716.351624336,679,666.648375664,637,882,789,803.351624336,653,633,654,0.428823779218,-0.00555069576977,0.0499678974642,0.999999992096,0.00010710291837,-5.82615183886e-05,3.06931288848e-05,1793237441473652992
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,716.941523462,679,666.058476538,637,882,789,803.941523462,653,633,654,0.42960219537,-0.00555027215213,0.0499563622694,0.999999991732,0.00010742009942,-6.40515568241e-05,2.98984081145e-05,1793237441490319616
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,716.478030259,679,666.521969741,637,882,789,804,653,633,654.521969741,0.430407983046,-0.00555208373248,0.0499732455854,0.999999993384,0.000105471414603,-3.33696719283e-05,3.15376143177e-05,1793237441506986240
+183,3.050000000,POSE1_TO_POSE2_PRESS,767.100413958,746,716,679.100413958,667,637,882,789,804,653,633,654.899586042,0.431205085094,-0.0055538828311,0.0499863310187,0.999999994039,0.000103438493386,-1.14627148279e-05,3.30365319077e-05,1793237441523653376
+184,3.066666667,POSE1_TO_POSE2_PRESS,767.674322434,746,716,679.674322434,667,637,882,789,804,653,633,654.325677566,0.431947028305,-0.00555446328531,0.0499667621731,0.999999993005,0.000102184062719,-4.9857634345e-05,3.26110259249e-05,1793237441540320768
+185,3.083333333,POSE1_TO_POSE2_PRESS,767.745267709,746,716,680,666.745267709,637,882,789,804,653,633.254732291,654,0.432700331835,-0.00555523245611,0.0499554817762,0.999999991964,0.000101149613894,-6.9133681046e-05,3.25762622344e-05,1793237441556987648
+186,3.100000000,POSE1_TO_POSE2_PRESS,767.156328121,746,716,680,666.156328121,637,882,789,804,653,633.843671879,654,0.433468539982,-0.00555624922196,0.0499550757777,0.999999992408,0.000100403780225,-6.33258740253e-05,3.30541502585e-05,1793237441573654016
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,882,789,804,653,633.574079088,654,0.434239271126,-0.00555608389189,0.0499732271841,0.999999993626,0.000100967477869,-3.72797081322e-05,3.41256916656e-05,1793237441590320128
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,716.00567954,680,666.00567954,637,882,789,804,653,633,654,0.43501004622,-0.00555550397038,0.0499977507444,0.999999994167,0.000101946231183,-4.51081077175e-06,3.53994445908e-05,1793237441606986752
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,716.578176927,680,666.578176927,637,882,789,804,653,633,654,0.435694212829,-0.00555617851584,0.0499889674279,0.999999994185,9.71210717013e-05,-3.06825546226e-05,3.5444595384e-05,1793237441623653632
+190,3.166666667,POSE1_TO_POSE2_PRESS,767.151400838,746,716.848599162,680,666.848599162,637,882,789,804,653.151400838,633,654,0.43638100114,-0.00555630171068,0.0499775163646,0.999999993289,9.411332503e-05,-5.76582244468e-05,3.52110104998e-05,1793237441640320256
+191,3.183333333,POSE1_TO_POSE2_PRESS,767.726658838,746,716.273341162,680,666.273341162,637,882,789,804,653.726658838,633,654,0.437075129242,-0.00555488136128,0.0499585967568,0.999999991014,9.61935507513e-05,-8.68845468606e-05,3.41970857814e-05,1793237441656987904
+192,3.200000000,POSE1_TO_POSE2_PRESS,767.688204991,746,716,680,666,637,881.688204991,789,804,653.688204991,633,654,0.437799767747,-0.00555576402067,0.0499671540508,0.999999992822,9.60286484423e-05,-6.27153490336e-05,3.4672642042e-05,1793237441673654784
+193,3.216666667,POSE1_TO_POSE2_PRESS,767.094125629,746,716,680,666,637,881.094125629,789,804,653.094125629,633,654,0.438552028874,-0.00555873171463,0.0500005876242,0.999999994884,9.38311136737e-05,9.79561206488e-06,3.64967033926e-05,1793237441690321408
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,716,679.516410319,666,637,881.483589681,789,804.483589681,653,633,654,0.439220618969,-0.00556008034505,0.0500057536767,0.999999994777,9.38396558049e-05,1.45829712813e-05,3.7783850762e-05,1793237441706988288
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,716,679.058556037,666.058556037,637,882,789,804.941443963,653,633,654,0.439868147692,-0.00556090764203,0.0500028629148,0.999999994773,9.45258032624e-05,3.68047444746e-06,3.87894736053e-05,1793237441723654912
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,716,679.636466015,666.636466015,637,882,789,804.363533985,653,633,654,0.440468591404,-0.0055598145965,0.0499757151437,0.999999993959,9.75381157071e-05,-3.3294565526e-05,3.81947070288e-05,1793237441740321536
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,716,679.781168839,666.781168839,637,882,789,804,653,633,654,0.441077993153,-0.00555945717638,0.0499623435569,0.999999992839,0.000101188432718,-5.09111252036e-05,3.86010754711e-05,1793237441756987904
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,716,679.191248777,666.191248777,637,882,789,804,653,633,654,0.441702585677,-0.00556034721319,0.0499723333124,0.999999992925,0.000105920663209,-3.5700011044e-05,4.07051460107e-05,1793237441773654784
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,716.391768205,679.391768205,666,637,882,789,804.391768205,653,633,654,0.442319775988,-0.00556088998219,0.0499902443796,0.999999993171,0.000108828202915,-1.21773170894e-06,4.25749750818e-05,1793237441790321664
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,716.971473724,679.971473724,666,637,882,789,804.971473724,653,633,654,0.442933415398,-0.0055612661615,0.0500119554245,0.999999991969,0.000110860410266,4.25092272678e-05,4.43324349915e-05,1793237441806988800
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746,716.45130025,680,666.54869975,637,882,789,804.45130025,653,633,654,0.44346877958,-0.00556247080301,0.0500092881962,0.999999991998,0.000112610614071,3.46887573191e-05,4.60481187681e-05,1793237441823655424
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,716.124971342,680,666.875028658,637,882,789,804,653,633,654,0.443985631685,-0.00556247362146,0.0499990546804,0.999999992096,0.000115641204259,1.43175138676e-05,4.72288785575e-05,1793237441840322048
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,716.698279412,680,666.301720588,637,882,789,804,653,633,654,0.444450605066,-0.0055580110583,0.0499662033425,0.999999990454,0.000123317561904,-4.15089297816e-05,4.6498346852e-05,1793237441856987648
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746.278957076,717,680.278957076,666.278957076,637,882,789,804,653,633.278957076,654,0.444922218428,-0.00555735381368,0.0499456568633,0.999999988343,0.000125859768674,-7.28547702927e-05,4.65270538894e-05,1793237441873653504
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746.867821968,717,680.867821968,666.867821968,637,882,789,804,653,633.867821968,654,0.445401208461,-0.00556092409414,0.0499387804887,0.999999988384,0.000122698182079,-7.70038418418e-05,4.73992386074e-05,1793237441890320128
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,747,717,680.553146196,667,636.553146196,882,789,804,653,633.553146196,654,0.445869873797,-0.00556226407931,0.0499453852551,0.999999989844,0.00012212784039,-5.58728291429e-05,4.76892281097e-05,1793237441906987008
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746.976986096,716.976986096,680,666.976986096,636,882,789,804.023013904,653,633,654,0.446333061134,-0.00556299657178,0.0499553368448,0.999999990976,0.000122200942284,-2.87837005633e-05,4.78185139555e-05,1793237441923653376
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746.401444556,716.401444556,680,666.401444556,636,882,789,804.598555444,653,633,654,0.446736473889,-0.00556464180565,0.0499519638004,0.999999991087,0.000119716293281,-3.43136621731e-05,4.81350670081e-05,1793237441940320256
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882,788.821682524,805,653.178317476,632.821682524,654,0.447115612849,-0.00556421282882,0.0499392626885,0.999999992481,0.000101400200196,-5.47380199778e-05,4.19489074188e-05,1793237441956986880
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882,788.232188677,805,653.767811323,632.232188677,654,0.447438779611,-0.0055590009979,0.0499050522946,0.999999992704,4.65789035039e-05,-0.000109506872585,2.07683575076e-05,1793237441973653504
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,746,716,680.352257729,666,636,882,788,805,653.647742271,632.352257729,654,0.447762765544,-0.00556159208505,0.0498755998642,0.999999987998,2.10827722032e-05,-0.000152937560594,1.29981318605e-05,1793237441990320128
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,746,716,680.933424198,666,636,882,788,805,653.066575802,632.933424198,654,0.448087283833,-0.00556925376629,0.0498492393128,0.999999981935,1.46430993393e-05,-0.000189000339325,1.39423770375e-05,1793237442006987008
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,746.510673161,716,681,666,635.489326839,882,788.510673161,805,653,633,654,0.448398691387,-0.00557002512946,0.0498486228265,0.999999981467,1.87431159267e-05,-0.000190962576561,1.57228834698e-05,1793237442023653376
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,747,716.087404953,681,666,635,882,789,804.912595047,653,633,654,0.448706251672,-0.00556994864231,0.0498527892516,0.999999982212,2.40500545039e-05,-0.000186238212559,1.76772857897e-05,1793237442040320000
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,747,716.664079095,681,666,635,882,789,804.335920905,653,633,654,0.449001771082,-0.00557011617739,0.0498650849293,0.999999985151,2.84800364081e-05,-0.000168780125815,1.99994795138e-05,1793237442056986880
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,746.760609336,716.760609336,680.760609336,666,635,882.239390664,789,804.239390664,653.239390664,633,654,0.449274274714,-0.00556893584867,0.0498730773842,0.999999986672,3.41951923059e-05,-0.000158139063796,2.18956246961e-05,1793237442073653504
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,746.18719899,716.18719899,680.18719899,666,635,882.81280101,789,804.81280101,653.81280101,633,654,0.449514664614,-0.00556587485749,0.0498750655895,0.999999986535,4.1703539889e-05,-0.000157009737373,2.31973079719e-05,1793237442090319872
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,746,716.40119628,680.40119628,665.59880372,635,882.59880372,789,805,653.59880372,633,654,0.449731216267,-0.00556556498758,0.0498688245836,0.999999984636,4.6406816736e-05,-0.000167307902936,2.41303605384e-05,1793237442106986752
+219,3.650000000,POSE1_TO_POSE2_PRESS,767,746,716.996854816,680.996854816,665.003145184,635,882.003145184,789,805,653.003145184,633,654,0.449936213372,-0.00556658860281,0.0498585948295,0.999999981682,4.97504586587e-05,-0.000183145042755,2.48847355352e-05,1793237442123653376
+220,3.666666667,POSE1_TO_POSE2_PRESS,767,746,716.432334713,681,665.567665287,634.432334713,882,788.432334713,804.432334713,653,633,654,0.450134668542,-0.00556843441215,0.04985823897,0.999999981444,4.92474085556e-05,-0.000184469024425,2.56436339323e-05,1793237442140320000
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,746.139772333,716.139772333,681,665.860227667,634,882,788,804.139772333,653,633,654,0.450325180885,-0.0055698776193,0.0498588780047,0.999999981399,4.95184630974e-05,-0.000184508480534,2.65783098677e-05,1793237442156986624
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,746.716343356,716.716343356,681,665.283656644,634,882,788,804.716343356,653,633,654,0.450490979806,-0.00557004902603,0.0498624623623,0.9999999819,5.22724619507e-05,-0.000180774452804,2.80622281934e-05,1793237442173653248
+223,3.716666667,POSE1_TO_POSE2_PRESS,767,746.699208893,717,681,665,634,882,788,804.699208893,653,633,654,0.450640328515,-0.00556846320553,0.0498634538886,0.999999981465,5.65687569763e-05,-0.000181755623662,2.89102957734e-05,1793237442190319872
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,746.107133295,717,681,665,634,882,788,804.107133295,653,633,654,0.450773746946,-0.00556517569563,0.0498619345313,0.99999998009,6.2358603656e-05,-0.000187302967065,2.91426090805e-05,1793237442206986496
+225,3.750000000,POSE1_TO_POSE2_PRESS,767,746.474626428,717,681,665,634,882,788,804,653,632.525373572,654,0.450891172377,-0.00556227658122,0.0498601354285,0.999999979161,6.46222787213e-05,-0.000191406188513,2.94306530273e-05,1793237442223653120
+226,3.766666667,POSE1_TO_POSE2_PRESS,767,746.946435294,716.946435294,680.946435294,665,634,882,788,804.053564706,653,632.053564706,654,0.451002578389,-0.00555991431404,0.0498581016994,0.999999978234,6.594069811e-05,-0.000195701827042,2.9747254007e-05,1793237442240320256
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,746.372763912,716.372763912,680.372763912,665,634,882,788,804.627236088,653,632.627236088,654,0.451089843297,-0.00556193161709,0.0498543898603,0.999999976384,6.56448029289e-05,-0.000204963604039,3.02215924943e-05,1793237442256986880
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,746.201495165,716.201495165,680.201495165,665,634,882,788,805,653,633,654,0.451171724975,-0.00556317710292,0.0498510019394,0.999999974834,6.51673714603e-05,-0.000212489648221,3.05566504169e-05,1793237442273653504
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,746.776844618,716.776844618,680.776844618,665,634,882,788,805,653,633,654,0.451243618601,-0.00556299055837,0.0498482150168,0.99999997396,6.43531174467e-05,-0.000216795211845,3.06332870453e-05,1793237442290320128
+230,3.833333333,POSE1_TO_POSE2_PRESS,767,746.636442914,717,681,665,634.363557086,882,788,805,653,633,654,0.451302659203,-0.00556189837846,0.0498442798246,0.999999972412,6.54132664817e-05,-0.000223545982544,3.03973877399e-05,1793237442306986752
+231,3.850000000,POSE1_TO_POSE2_PRESS,767,746.042530695,717,681,665,634.957469305,882,788,805,653,633,654,0.451353555937,-0.00556023237464,0.049839617072,0.999999970386,6.76610649686e-05,-0.000231846072347,2.99634610513e-05,1793237442323653376
+232,3.866666667,POSE1_TO_POSE2_PRESS,767,746,717,681,665,634.462693496,882,788,805,653.537306504,632.462693496,654,0.451397516327,-0.00556125678776,0.049836798244,0.999999969176,6.70785607687e-05,-0.000237116145792,3.03976034766e-05,1793237442340320000
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,746,717,681,665.114849985,634,882,788,805,654,632,654,0.45143917644,-0.00556206038751,0.0498347914729,0.999999968347,6.63451117305e-05,-0.000240751101108,3.07049894889e-05,1793237442356986880
+234,3.900000000,POSE1_TO_POSE2_PRESS,767,746,717,681,665.687577153,634,882,788,805,654,632,654,0.451473798974,-0.0055611563137,0.0498354551263,0.99999996886,6.58802494575e-05,-0.000238799041899,3.02400848254e-05,1793237442373654016
+235,3.916666667,POSE1_TO_POSE2_PRESS,767,746,717,681,665.731254603,634,882,788,805,653.731254603,632,654,0.451501222986,-0.00556081435892,0.0498354250513,0.999999968684,6.61649463149e-05,-0.000239462680118,3.01871159491e-05,1793237442390320896
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,746,717,681,665.139955121,634,882,788,805,653.139955121,632,654,0.45152000718,-0.00556114707155,0.0498345623484,0.999999967674,6.73492803255e-05,-0.000243265735172,3.06285613266e-05,1793237442406987008
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,746.442075236,717,681,665,634,882,788,805,653,632.442075236,654,0.451535691802,-0.00556132371164,0.0498335958205,0.999999967333,6.5909544466e-05,-0.000245036658402,3.07624104707e-05,1793237442423653632
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,747,717,681,665,634,882,788,805,653,632.978973914,654,0.451550212429,-0.00556142665938,0.0498326539371,0.999999967198,6.38082408428e-05,-0.000246136552286,3.08034644415e-05,1793237442440321024
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,747,717,681,665,634,882,788,805,653,632.405416838,654,0.451559402173,-0.00556086485465,0.0498332056896,0.999999967066,6.57043175933e-05,-0.000246161775567,3.09124692632e-05,1793237442456987136
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746.83242163,716.83242163,681,665,633.83242163,882,788,805,653,632,654,0.451566731469,-0.00556091627213,0.0498331081563,0.999999966817,6.70159978062e-05,-0.000246799843181,3.10597951197e-05,1793237442473653760
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746.260781221,716.260781221,681,665,633.260781221,882,788,805,653,632,654,0.451569574886,-0.00556244628031,0.0498314450768,0.999999966292,6.69185911861e-05,-0.000248915590345,3.12995199793e-05,1793237442490320384
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,746,716.324971474,680.675028526,665,633.324971474,882,788,805,653,632.324971474,654,0.451572010434,-0.00556227635817,0.0498302189497,0.999999965872,6.6698479053e-05,-0.000250680572835,3.11052442299e-05,1793237442506987008
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,746,716.922563004,680.077436996,665,633.922563004,882,788,805,653,632.922563004,654,0.451574103821,-0.00556068035665,0.0498293593842,0.99999996554,6.63754287092e-05,-0.000252151297129,3.0546883374e-05,1793237442523653632
+244,4.066666667,POSE1_TO_POSE2_PRESS,767,746.502254055,717,680.502254055,665,634,882,788,805,653.502254055,633,654,0.451572723469,-0.00555891567264,0.0498271023242,0.999999964628,6.69243597599e-05,-0.000255668769783,2.99615659135e-05,1793237442540320256
+245,4.083333333,POSE1_TO_POSE2_PRESS,767,746.921037485,717,680.921037485,665,634,882,788,805,653.921037485,632.921037485,654,0.451571610534,-0.00555745108219,0.0498252320814,0.999999963832,6.76278993298e-05,-0.000258634636511,2.95045359022e-05,1793237442556986880
+246,4.100000000,POSE1_TO_POSE2_PRESS,767,746.346323838,717,680.346323838,665,634,882,788,805,653.346323838,632.346323838,654,0.451575423339,-0.00555802823544,0.0498270965954,0.999999964383,6.84871029081e-05,-0.000256224312029,2.98781300523e-05,1793237442573653760
+247,4.116666667,POSE1_TO_POSE2_PRESS,766.771014326,746,716.771014326,680.228985674,665,633.771014326,882,788,805,653,632,654,0.451577243022,-0.00555762458961,0.049827766428,0.999999964447,6.95358167964e-05,-0.000255682332867,2.99390857448e-05,1793237442590320384
+248,4.133333333,POSE1_TO_POSE2_PRESS,766.194801172,746,716.194801172,680.805198828,665,633.194801172,882,788,805,653,632,654,0.45157604039,-0.00555573368752,0.0498266246793,0.999999963778,7.08718989563e-05,-0.000257973460003,2.95259652685e-05,1793237442606986752
+249,4.150000000,POSE1_TO_POSE2_PRESS,766.390993238,746.390993238,716.390993238,681,665,633.390993238,882,788,805,653.390993238,632,654,0.451576276698,-0.0055556592377,0.0498261817385,0.999999963676,7.08571259417e-05,-0.000258365051927,2.9574419054e-05,1793237442623653120
+250,4.166666667,POSE1_TO_POSE2_PRESS,766.981681114,746.981681114,716.981681114,681,665,633.981681114,882,788,805,653.981681114,632,654,0.451577247925,-0.00555651251703,0.0498260957046,0.999999963867,7.01524213889e-05,-0.000257786481164,2.98586158291e-05,1793237442640319488
+251,4.183333333,POSE1_TO_POSE2_PRESS,767,747,717,681,665,634,882,788.560260215,805,654,632.560260215,654,0.451576152681,-0.00555685880544,0.0498256641795,0.999999963628,7.02588054492e-05,-0.000258668153143,2.9988106363e-05,1793237442656986624
+252,4.200000000,POSE1_TO_POSE2_PRESS,767,746.863457653,717,681.136542347,665,634,882,788.863457653,805,654,633,654,0.451575696534,-0.00555691374756,0.0498255014486,0.99999996348,7.04627953988e-05,-0.000259170643582,3.00954690407e-05,1793237442673653504
+253,4.216666667,POSE1_TO_POSE2_PRESS,767,746.293240116,717,681.706759884,665,634,882,788.293240116,805,654,633,654,0.451577480298,-0.00555609487537,0.0498262275609,0.999999963668,7.08943439955e-05,-0.000258320368984,3.01482772865e-05,1793237442690320128
+254,4.233333333,POSE1_TO_POSE2_PRESS,767,746,716.711137425,681.711137425,665,634,882,788.288862575,804.711137425,654,632.711137425,654,0.451578116633,-0.00555520315765,0.0498262909887,0.999999963597,7.17801517123e-05,-0.000258367124139,2.99865960427e-05,1793237442706986496
+255,4.250000000,POSE1_TO_POSE2_PRESS,767,746,716.116451781,681.116451781,665,634,882,788.883548219,804.116451781,654,632.116451781,654,0.451577538167,-0.00555423431733,0.0498256528226,0.999999963252,7.31468902317e-05,-0.000259363577975,2.95978316095e-05,1793237442723653120
+256,4.266666667,POSE1_TO_POSE2_PRESS,767,746,716,681,665,634,882,788.533942335,804,653.533942335,632,654,0.451577617778,-0.00555451306046,0.0498254879531,0.999999963188,7.21519458709e-05,-0.000259883417823,2.96431489825e-05,1793237442740320000
+257,4.283333333,POSE1_TO_POSE2_PRESS,767,746.04481768,716,681,665,634,882.04481768,788,804.04481768,653.04481768,632,654,0.451578009689,-0.00555508285191,0.049825565673,0.999999963246,7.0684661179e-05,-0.000260049781147,2.97763643745e-05,1793237442756987136
+258,4.300000000,POSE1_TO_POSE2_PRESS,767,746.61439195,716,681,665,634,882.61439195,788,804.61439195,653.61439195,632,654,0.451580181974,-0.00555550343866,0.0498271343762,0.999999963943,7.04203118637e-05,-0.00025743627498,2.97011347985e-05,1793237442773653760
+259,4.316666667,POSE1_TO_POSE2_PRESS,767,746.812658264,716,681,665,633.812658264,882.812658264,788,804.812658264,653.812658264,632,654,0.451580923131,-0.00555581924283,0.049827554093,0.999999964137,7.01294413219e-05,-0.000256782770048,2.95144763314e-05,1793237442790320384
+260,4.333333333,POSE1_TO_POSE2_PRESS,767,746.232633018,716,681,665,633.232633018,882.232633018,788,804.232633018,653.232633018,632,654,0.451578664527,-0.00555591541423,0.0498255654412,0.99999996328,6.97829800837e-05,-0.000260237586584,2.90942538343e-05,1793237442806987008
+261,4.350000000,POSE1_TO_POSE2_PRESS,767,746,716.355447332,681,665,633.355447332,882,788,804.355447332,653,632,654,0.451578271905,-0.00555528905725,0.0498249674596,0.999999963053,7.03295704445e-05,-0.000260965811041,2.9052023572e-05,1793237442823653632
+262,4.366666667,POSE1_TO_POSE2_PRESS,767,746,716.948921788,681,665,633.948921788,882,788,804.948921788,653,632,654,0.451579128848,-0.00555417885543,0.0498253007475,0.999999963252,7.14741973981e-05,-0.000259868158956,2.9262917769e-05,1793237442840320000
+263,4.383333333,HOLD_POSE2,766,747,716,680,665,634,883,788,805,653,632,654,0.451577250698,-0.00555586424045,0.0498229935169,0.999999962315,7.07194963902e-05,-0.00026356871297,2.99916047064e-05,1793237442870663424
+264,4.400000000,HOLD_POSE2,766.573277406,746.426722594,716.573277406,680.573277406,665,634,882.426722594,788,805,653.573277406,632.573277406,654,0.451577917067,-0.00555420635934,0.049823627581,0.999999962419,7.19054353023e-05,-0.000262917583864,2.94419483543e-05,1793237442887330304
+265,4.416666667,HOLD_POSE2,767,746,717,680.849356022,665,633.849356022,882,788.150643978,805,653.849356022,632.849356022,654,0.451578374781,-0.00555268937471,0.0498241765677,0.999999962484,7.3025570792e-05,-0.000262408915565,2.89954779545e-05,1793237442903996928
+266,4.433333333,HOLD_POSE2,767,746,717,680.260082916,665,633.260082916,882,788.739917084,805,653.260082916,632.260082916,654,0.451578224957,-0.00555158263708,0.049824477835,0.999999962445,7.39541071462e-05,-0.000262315049353,2.88494533179e-05,1793237442920663808
+267,4.450000000,HOLD_POSE2,767,746.324039797,717,680.324039797,665,633.324039797,882.324039797,788.675960203,805,653.324039797,632,654,0.45157822842,-0.00555249914674,0.049824431936,0.999999962592,7.22140421239e-05,-0.000262228895465,2.89486520647e-05,1793237442937330176
+268,4.466666667,HOLD_POSE2,767,746.90409331,717,680.90409331,665,633.90409331,882.90409331,788.09590669,805,653.90409331,632,654,0.45157835299,-0.00555501416091,0.0498241117517,0.999999962875,6.83655984957e-05,-0.000262148834845,2.92415941512e-05,1793237442953996800
+269,4.483333333,HOLD_POSE2,767,746.518939262,717,681.481060738,665,634,883,788,805,654,632.481060738,654,0.451578574439,-0.00555518599885,0.0498239055301,0.999999962732,6.94295318328e-05,-0.000262396430459,2.93923470056e-05,1793237442970663680
+270,4.500000000,HOLD_POSE2,767,746,717,681.94273873,665.05726127,633.94273873,882.94273873,788,804.94273873,654,632.94273873,654,0.45157881997,-0.00555475340139,0.0498236674147,0.999999962519,7.12649102352e-05,-0.000262706513052,2.94652373401e-05,1793237442987330560
+271,4.516666667,HOLD_POSE2,767,746,717,681.367944132,665.632055868,633.367944132,882.367944132,788,804.367944132,654,632.367944132,654,0.4515791097,-0.00555305306776,0.0498229370011,0.999999962454,7.12775883292e-05,-0.000262994724998,2.90889731785e-05,1793237443003997184
+272,4.533333333,HOLD_POSE2,767,746.21295909,717,681,665.78704091,633.21295909,882,788,804,653.78704091,632,654,0.451578715412,-0.0055526192683,0.049822305256,0.999999962271,7.10607532464e-05,-0.000263770241145,2.88812821044e-05,1793237443020663808
+273,4.550000000,HOLD_POSE2,767,746.804728226,717,681,665.195271774,633.804728226,882,788,804,653.195271774,632,654,0.451577104396,-0.00555443837056,0.049821849022,0.999999961878,7.04356618319e-05,-0.000265412570341,2.89734476236e-05,1793237443037330432
+274,4.566666667,HOLD_POSE2,767,746.611821364,716.611821364,681,665,633.611821364,882,788,804.388178636,653.388178636,632,654,0.451577716348,-0.00555397622214,0.0498223376156,0.999999962026,7.07407887391e-05,-0.000264777057672,2.89153932914e-05,1793237443053997056
+275,4.583333333,HOLD_POSE2,767,746.032467807,716.032467807,681,665,633.032467807,882,788,804.967532193,653.967532193,632,654,0.451579423094,-0.00555239057589,0.0498232915293,0.99999996244,7.15040407863e-05,-0.000263019725974,2.87833568742e-05,1793237443070663424
+276,4.600000000,HOLD_POSE2,767,746,716.540845728,681,665,633,882,788,805,654,632,654,0.451578410014,-0.00555173661021,0.0498223926003,0.999999962055,7.28652843097e-05,-0.000264098075086,2.88584920993e-05,1793237443087330304
+277,4.616666667,HOLD_POSE2,766.882887895,746,716.882887895,681,665,633.117112105,882,788,804.882887895,654,632,654,0.451577307034,-0.00555164044486,0.049821487511,0.999999961617,7.38869502001e-05,-0.000265452794835,2.90067696065e-05,1793237443103997184
+278,4.633333333,HOLD_POSE2,766.293260638,746,716.293260638,681,665,633.706739362,882,788,804.293260638,654,632,654,0.451576492827,-0.00555357167959,0.0498210013877,0.999999961165,7.33952737899e-05,-0.000267243347649,2.94005311317e-05,1793237443120663808
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766.149070144,746.149070144,717,681,665,633,882,788,805,654,632,654,0.451576838973,-0.00555104381899,0.0498211593532,0.999999961321,7.32792373362e-05,-0.000266744902285,2.88905038954e-05,1793237443191020800
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766.720276596,746.720276596,717,681,665,633,882,788,805,654,632,654,0.451575791104,-0.00555102318144,0.0498201244279,0.999999960902,7.13851860853e-05,-0.000268854250497,2.86000233333e-05,1793237443207687424
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,766.371444913,746,716.628555087,681,664.628555087,634,882,788,804.371444913,653.371444913,632,654,0.451576401653,-0.00555286453924,0.0498215507694,0.999999961219,7.13097605927e-05,-0.000267692050574,2.86134189281e-05,1793237443291020800
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766.208070632,746,716.791929368,681,665,633.791929368,882,788,804.208070632,653,632,654,0.451574132499,-0.00555304114692,0.0498203308685,0.999999960677,7.14718171857e-05,-0.000269666345725,2.85859991588e-05,1793237443307687680
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766.799993884,746,716.200006116,681,665,633.200006116,882,788,804.799993884,653,632,654,0.451568684941,-0.00555390875581,0.0498175668284,0.999999959592,7.02752561071e-05,-0.000273961981773,2.86774099513e-05,1793237443324354560
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746.383668371,716.383668371,681,665,633,882,788,805,653.383668371,632,654,0.451555506519,-0.00555429905796,0.04981098451,0.999999956536,6.99859772364e-05,-0.000284965055746,2.87211576357e-05,1793237443341021184
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,746.963133339,716.963133339,681,665,633,882,788,805,653.963133339,632,654,0.451538382824,-0.00555444577735,0.0498024536182,0.999999952308,7.01597094845e-05,-0.000299391121405,2.87405815194e-05,1793237443357687552
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,747,716.463235028,681,665,633,882.536764972,788,805,653.463235028,632.536764972,654,0.451508868681,-0.00555235357542,0.0497889365928,0.999999944938,7.17944166029e-05,-0.000322802909823,2.77211448143e-05,1793237443374354176
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,747,716,681,665,633,883,788,805,653.110530955,633,654,0.451474062918,-0.00555021328204,0.0497735986698,0.999999935919,7.32280364476e-05,-0.000349412919512,2.66496529142e-05,1793237443391020800
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,747,716,681,665,633,883,788,805,653.686531986,633,654,0.451420518249,-0.00554851108658,0.0497520192252,0.999999922124,7.33968057756e-05,-0.000386920263953,2.56561939358e-05,1793237443407687424
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,746.730674149,716.269325851,681,665,633.269325851,882.730674149,788,805,653.730674149,632.730674149,654,0.451363790434,-0.00554652627436,0.0497328047621,0.999999909848,7.36363709562e-05,-0.000417483059649,2.42927604503e-05,1793237443424354048
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746.139769582,716.860230418,681,665,633.860230418,882.139769582,788,805,653.139769582,632.139769582,654,0.451303261903,-0.005544204014,0.0497164141203,0.99999990032,7.39604674022e-05,-0.00043975396812,2.24875724718e-05,1793237443441020672
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,766.407134028,747,716.592865972,681,665,634,882,788,805,653,632,654,0.451092060324,-0.00553537593258,0.0497104472066,0.999999898344,8.02987333566e-05,-0.000443206668607,2.0791824089e-05,1793237443491020800
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766.743859403,746.256140597,717,681,665,634,882,788,805,653.743859403,632.743859403,654,0.450911428853,-0.00552947111215,0.0497178324367,0.99999990232,8.45480000175e-05,-0.000433350551552,2.0447263999e-05,1793237443524353792
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,746,717,680.668972435,665,634,882,788,804.668972435,654,633,654,0.450804133925,-0.00552539323706,0.0497232615682,0.999999905709,8.77760622839e-05,-0.000424819444581,2.01342743621e-05,1793237443541020672
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746.504257018,716.495742982,680.504257018,665,634,882,788,804.504257018,654,632.495742982,654,0.450543024353,-0.0055149226368,0.0497313374715,0.999999910299,9.52660788589e-05,-0.000412265341091,1.90539247587e-05,1793237443574353920
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,747,716.080445928,681,665,634,882,788,805,653.919554072,632,654,0.450389699153,-0.00550970784983,0.0497326199836,0.999999910273,9.84633439167e-05,-0.000411603716593,1.84515089362e-05,1793237443591020544
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,747,717,680.764976371,665,634,881.764976371,788.235023629,805,653,632.235023629,654,0.45003100869,-0.00549666676405,0.0497301483103,0.999999906457,0.000108445882395,-0.000418385197972,1.67289103155e-05,1793237443624354048
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,746.01542386,717,680.98457614,665,634.98457614,881.98457614,788.01542386,805,653,633,654,0.449372653214,-0.00547434714087,0.0497319130216,0.999999906017,0.000128612959664,-0.000413803325314,1.38643203966e-05,1793237443674353920
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,717,680.791326545,665.791326545,635.791326545,882,789,804.791326545,653.208673455,633,654,0.445995001846,-0.00544254690737,0.0497423968896,0.999999920088,0.000105454111451,-0.000385594450019,-4.56215665189e-06,1793237443841020416
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,767.952583738,746.952583738,717,681,666,636,882,789,804.047416262,653,633.952583738,654,0.445148511221,-0.00543614164098,0.0497934265593,0.99999994479,0.000100053221087,-0.000316808457174,-6.45754890999e-06,1793237443874353920
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,746.738909352,716,681,666,636.261090648,882,789,805,653,633.261090648,654,0.443040244354,-0.00541520652051,0.0497921819172,0.999999942377,9.13581219197e-05,-0.0003264662299,-1.78516845631e-05,1793237443941020928
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,746.146725896,716,681,666,636.853274104,882,789,805,653,633.853274104,654,0.442490140348,-0.00541426689397,0.0497850685532,0.999999941272,8.23689098223e-05,-0.000331996346877,-2.11924927457e-05,1793237443957687296
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,666.432633682,636.567366318,882,789,805,653,633.567366318,654,0.441939720439,-0.0054164986486,0.0498024497456,0.999999951679,7.1994897079e-05,-0.000301561543373,-2.27888357073e-05,1793237443974354176
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.833911021,666.833911021,637,883,789,804.833911021,653,633,654,0.440136475423,-0.00541952958661,0.0498480370806,0.999999971752,4.38619294413e-05,-0.000231806658152,-2.89592831784e-05,1793237444024354304
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,882.678575432,789,804,653,633,654,0.438747488636,-0.00540859303965,0.049795077688,0.99999994677,3.6624963723e-05,-0.000322089093403,-3.71166931697e-05,1793237444057687040
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,882.49272676,789,804,653,633.49272676,654,0.43737548869,-0.00540442897181,0.0497781511372,0.999999936248,2.4097108337e-05,-0.000353672925229,-4.28864431208e-05,1793237444091021056
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,882.928346824,789,804,653.071653176,633.928346824,654,0.436699710756,-0.00540681615486,0.0498002697234,0.999999945622,1.24655491143e-05,-0.000326589789751,-4.40511864638e-05,1793237444107687936
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,882.226841384,789,804,653.773158616,633,654,0.435272710213,-0.00540324840675,0.0498315034299,0.999999960013,-1.07957605247e-06,-0.000278531661761,-4.89151290469e-05,1793237444141020416
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746,716.121884499,680,666,637,882,789.121884499,804,653,633,654,0.429112136328,-0.00537588954157,0.0497797914468,0.999999926437,0.000137368552444,-0.000357286062192,-2.45318210225e-05,1793237444274353920
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881.541121265,789.458878735,804,653.458878735,633,654,0.42832917041,-0.00537478794402,0.0497943505393,0.999999935182,0.000124323453297,-0.000336752209268,-2.78954164728e-05,1793237444291020288
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881.036832302,789.963167698,804,654,633,654,0.427551226644,-0.00537756177816,0.0498151837189,0.999999946556,0.000105815269354,-0.000307812859188,-3.06959431711e-05,1793237444307686912
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881.610341044,789.389658956,804,654,633,654,0.426743588861,-0.00538056871087,0.0497988476325,0.99999993848,8.92246958918e-05,-0.000337435359103,-3.48835273846e-05,1793237444324353792
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746,716.185260243,680,666.185260243,637,882,789,804,653.814739757,633,654,0.425951793475,-0.00538286936121,0.0497934575882,0.999999937495,7.60592158699e-05,-0.000343170228393,-3.8207420515e-05,1793237444341020416
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746,716.763168932,680,666.763168932,637,882,789,804,653.236831068,633,654,0.42519357499,-0.00538367308715,0.0498112670484,0.999999952267,7.01530216997e-05,-0.000298276641948,-3.97007707932e-05,1793237444357687296
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767.34971871,746,716.65028129,680,667,637,882,789.34971871,804,653,633,654,0.424433442914,-0.00538333290301,0.0498375563081,0.999999965874,6.90336716043e-05,-0.00024882395176,-3.96625896137e-05,1793237444374353920
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767.942268489,746,716.057731511,680,667,637,882,789.942268489,804,653,633,654,0.423671982162,-0.00538219843216,0.0498697336098,0.999999977471,7.1238120105e-05,-0.000196205599692,-3.85609724271e-05,1793237444391020544
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767.483562762,746,716,680,666.483562762,637,881.483562762,789.483562762,804,653,633,654.516437238,0.422872407202,-0.00537839204164,0.0498532140302,0.999999971012,7.76960282287e-05,-0.000224438895819,-3.95671897475e-05,1793237444407687168
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881.089683264,789,804.089683264,653,633,654.910316736,0.42206984403,-0.00537548480568,0.0498318034413,0.999999961787,8.28766245747e-05,-0.000260565713864,-4.07861510544e-05,1793237444424353792
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881.668720977,789,804.668720977,653,633,654.331279023,0.42127342523,-0.00537905755722,0.0498123878816,0.99999995336,7.85822938175e-05,-0.000292141325723,-4.19244200714e-05,1793237444441020416
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,746.251632633,716,680,666,637,882,789,805,653.251632633,632.748367367,654,0.420495335218,-0.0053796639617,0.049812355507,0.999999951727,7.72298146892e-05,-0.000297987945298,-4.22353860297e-05,1793237444457687040
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746.839724106,716,680,666,637,882,789,805,653.839724106,632.160275894,654,0.419741752754,-0.00537630405326,0.0498382404561,0.99999995966,7.98108956453e-05,-0.000269432240406,-4.14401622162e-05,1793237444474353664
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746.578376698,716,680,666,637,882,789,804.578376698,654,632.421623302,654.421623302,0.418964891979,-0.0053723951412,0.0498317590371,0.999999953417,8.4854005601e-05,-0.000290204055697,-4.18081897374e-05,1793237444491020288
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881.998805145,789,804,654,633,654.998805145,0.418179461181,-0.00536829543029,0.0498131792361,0.999999940729,9.07989417024e-05,-0.000329364887062,-4.26122767358e-05,1793237444507686912
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881.422998934,789,804,654,633,654.422998934,0.417466635575,-0.0053713511021,0.0498077209839,0.999999942535,8.68644560957e-05,-0.000324791633,-4.3542129276e-05,1793237444524354048
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767.152271824,746,716,679.847728176,666,637,881.152271824,789,804,653.847728176,633,654,0.416765335021,-0.00537420515147,0.049811028099,0.999999947806,8.31125692562e-05,-0.000309096030608,-4.40502992543e-05,1793237444541020672
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767.726060482,746,716,679.273939518,666,637,881.726060482,789,804,653.273939518,633,654,0.416095937806,-0.005376501073,0.0498385993859,0.999999961387,7.98661488909e-05,-0.000262611690452,-4.33911733425e-05,1793237444557687296
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767.690253137,746,716,679.309746863,666,637,881.690253137,789,803.690253137,653.309746863,633,654.309746863,0.41540531051,-0.0053772833344,0.0498479146584,0.999999965587,8.07603343244e-05,-0.000245831056162,-4.3258208293e-05,1793237444574353920
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767.09752432,746,716,679.90247568,666,637,881.09752432,789,803.09752432,653.90247568,633,654.90247568,0.414695287645,-0.00537668272936,0.0498405513982,0.999999962583,8.54373403699e-05,-0.000256187464191,-4.36059391854e-05,1793237444591020544
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.516605435,666,637,881,789,803.483394565,654,633,654.516605435,0.4139875244,-0.00537531726754,0.0498175409189,0.999999949762,8.79024590055e-05,-0.000301218231523,-4.49043659154e-05,1793237444607687168
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.938691377,746.061308623,716,679.061308623,666,637,880.938691377,789,804,653.938691377,633,654,0.413289350411,-0.00537407370276,0.0497950649298,0.999999935229,8.9546101725e-05,-0.000345519820189,-4.62484127382e-05,1793237444624353792
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.366436159,746.633563841,716,679.633563841,666,637,880.366436159,789,804,653.366436159,633,654,0.412667384676,-0.00537510137196,0.0498027248305,0.999999941643,8.79738821579e-05,-0.000326834152105,-4.64123020158e-05,1793237444641020672
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.212940592,746.787059408,716,679.787059408,666,637,880.212940592,789,804,653.212940592,633.212940592,654.212940592,0.41205671076,-0.00537604275407,0.0498154565805,0.999999948174,8.75851864762e-05,-0.000306394777356,-4.58561947616e-05,1793237444657687296
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.804996316,746.195003684,716,679.195003684,666,637,880.804996316,789,804,653.804996316,633.804996316,654.804996316,0.411466140636,-0.00537683051229,0.0498372181479,0.999999955046,8.93036129988e-05,-0.000282833140721,-4.40182202106e-05,1793237444674353920
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,880.611410902,789,804,654,633.222821804,654.611410902,0.410851802097,-0.00537624526847,0.0498347045218,0.999999952703,9.13845839553e-05,-0.000290346772312,-4.40710674264e-05,1793237444691020544
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,880.031974461,789,804,654,632.063948922,654.031974461,0.41022579015,-0.00537498570372,0.0498202686482,0.999999945578,9.36436110968e-05,-0.000313122364529,-4.50525517118e-05,1793237444707687168
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,880.542081921,789,804,653.457918079,632,654.542081921,0.409663998539,-0.00537722484871,0.0498072431734,0.999999938544,9.38804970463e-05,-0.000334713851525,-4.54400348378e-05,1793237444724353792
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,653.115486295,632.115486295,654.884513705,0.409120855328,-0.00537952746501,0.0498014348352,0.999999935669,9.41403393891e-05,-0.000343106673833,-4.55835963945e-05,1793237444741020416
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,653.68755538,632.68755538,654.31244462,0.408636610676,-0.00538127314124,0.0498238342527,0.999999949606,9.49578693475e-05,-0.000299591118433,-4.48999572651e-05,1793237444757687040
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,654,633,654.269271217,0.408159763774,-0.00538138110173,0.0498438274098,0.999999958801,9.72691586275e-05,-0.000266479449258,-4.38901669886e-05,1793237444774353920
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,654,633,654.862596387,0.40769181971,-0.00537951815613,0.0498609247557,0.999999963728,0.000101378109912,-0.000245888320931,-4.24878708173e-05,1793237444791020800
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.445623444,666,637,881,789,804,654,633,654.554376556,0.407199438004,-0.00538060765258,0.0498507347228,0.999999958048,0.000101012849988,-0.000268010529929,-4.32423528709e-05,1793237444807687680
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.974685913,666,637,881,789,804,654,633,654,0.406701573751,-0.00538246415057,0.0498320464713,0.99999994806,9.93291899286e-05,-0.000303341234444,-4.46856434552e-05,1793237444824354304
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.400047242,666,637,881,789,804,654,633,654,0.406244557232,-0.00538165601258,0.0498074021291,0.999999934222,9.82969272629e-05,-0.000345957625656,-4.69710889715e-05,1793237444841020672
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,654,632.825183481,654,0.405808920352,-0.00538134978628,0.0497920902716,0.999999924611,9.66432576561e-05,-0.000372926002382,-4.86171260204e-05,1793237444857687296
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,654,632.24980404,654,0.405422271412,-0.00538219360707,0.049798162251,0.99999992817,9.35657380835e-05,-0.000364039556957,-4.87980649708e-05,1793237444874353920
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,654,632.335575964,654.335575964,0.405072007357,-0.0053838730125,0.0498111073662,0.9999999375,8.98343956177e-05,-0.000338447999754,-4.88184495074e-05,1793237444891020800
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,654,632.928629157,654.928629157,0.404749660276,-0.00538619353671,0.0498293260301,0.999999950138,8.56013943069e-05,-0.000300039117105,-4.87156454905e-05,1793237444907687168
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767.507415607,746,716,679.507415607,666,637,881,789,803.492584393,654,632.492584393,654.492584393,0.404432805794,-0.00538806550186,0.0498481793031,0.999999958052,8.28758684651e-05,-0.000273339508935,-4.80953775666e-05,1793237444924354048
+386,6.433333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.917391075,666,637,881,789,803,654,632.082608925,654,0.404121109763,-0.00538975115193,0.0498649959381,0.999999964093,8.02558095435e-05,-0.000251216155855,-4.75708449244e-05,1793237444941020672
+387,6.450000000,POSE2_TO_POSE3_RETREAT,768,746,716,679.351793762,666,637,881,789,803,654,632.648206238,654,0.403835180024,-0.00539070627018,0.0498693973891,0.999999965502,7.70465834261e-05,-0.000246482711582,-4.80199548019e-05,1793237444957687296
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767.779950688,746,716,679,666,637,881,789,803,654,633,654,0.403552583465,-0.00539287670231,0.0498691402395,0.999999964956,7.25267965302e-05,-0.000249957136986,-4.84756838408e-05,1793237444974353920
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767.197830833,746,716,679,666,637,881,789,803,654,633,654,0.403275471358,-0.00539704681961,0.0498612177985,0.999999961007,6.5850604745e-05,-0.000266936843771,-4.89423040542e-05,1793237444991020800
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,803.394030326,654,633.394030326,654,0.403022667557,-0.00539738968651,0.049854977737,0.999999957121,6.48725837485e-05,-0.000281212207842,-4.9693366201e-05,1793237445007687168
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,803.990906261,654,633.990906261,654,0.402782377606,-0.00539576229645,0.0498496037594,0.999999953241,6.68279638718e-05,-0.000294095384014,-5.05908581701e-05,1793237445024353792
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.565116166,666,637,881.565116166,789,804,654.565116166,633.434883834,654,0.402565573796,-0.00539591964258,0.049842937812,0.999999949018,6.59917939813e-05,-0.000308173827278,-5.13663116301e-05,1793237445041020416
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.860947723,666,637,881.860947723,789,803.860947723,654.860947723,633,654,0.402360105078,-0.0053953998494,0.0498372727622,0.999999945656,6.62694844019e-05,-0.000318743026932,-5.19479132523e-05,1793237445057687040
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.286771151,666,637,881.286771151,789,803.286771151,654.286771151,633,654,0.402188969292,-0.00539267473831,0.0498348022842,0.999999945541,7.0167829115e-05,-0.000318273184329,-5.19288191589e-05,1793237445074353920
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637.287190393,881,789,803.287190393,654,633,654.287190393,0.40203392595,-0.00539066251979,0.0498351551037,0.999999944389,0.000102514336677,-0.000314156441775,-4.49231823081e-05,1793237445091020800
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637.860937451,881,789,803.860937451,654,633,654.860937451,0.401894939521,-0.00538936162042,0.0498383249904,0.999999939256,0.000163246232367,-0.000306400845684,-3.09464193583e-05,1793237445107687168
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637.547997982,881.452002018,789,804,654,633,654.547997982,0.401774334398,-0.00538271180171,0.0498430850761,0.999999938781,0.000185241998784,-0.000295468035159,-2.86734867051e-05,1793237445124353792
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637.046970282,881.953029718,789,804,654.046970282,632.953029718,654,0.401660959269,-0.00537534898274,0.0498482409254,0.999999940537,0.000193399436592,-0.00028393568695,-3.00423397622e-05,1793237445141020416
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637.623489431,881.376510569,789,804,654.623489431,632.376510569,654,0.40156279871,-0.00537924004445,0.0498521231774,0.99999994399,0.000185254275986,-0.000277103558134,-3.02560764217e-05,1793237445157687040
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767.203848111,746,716,679,666,637.796151889,881.203848111,789,804,654.796151889,632.203848111,654,0.40147255103,-0.00538233975135,0.0498548638612,0.999999946768,0.000178663014722,-0.000271301758401,-3.06261109309e-05,1793237445174353920
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767.791434569,746,716,679,666,637.208565431,881.791434569,789,804,654.208565431,632.791434569,654,0.401397199127,-0.0053839497548,0.0498554555746,0.999999948437,0.00017499692587,-0.000267439524697,-3.1290371747e-05,1793237445191020800
+402,6.700000000,POSE2_TO_POSE3_RETREAT,768,746,716,679,666,637,881.639956308,789,804,654,633,654.360043692,0.401328776112,-0.00538750488212,0.0498553812644,0.999999950006,0.000168454931744,-0.000265695360047,-3.1902358126e-05,1793237445207687424
+403,6.716666667,POSE2_TO_POSE3_RETREAT,768,746,716,679,666,637,881.081789936,789,804,654,633,654.918210064,0.401264165886,-0.00539213036044,0.0498549404587,0.999999951476,0.000160330401864,-0.000265116713823,-3.24855792188e-05,1793237445224353792
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767.489573728,746,716,679,666,637,881,789,804,654,633,654.489573728,0.401215835134,-0.00539591801215,0.0498572906102,0.99999995293,0.000155388984393,-0.000262580510768,-3.23482919527e-05,1793237445241020416
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,654,633,654,0.40114139279,-0.00540109495974,0.0498632081957,0.999999957027,0.000147493927944,-0.000251220037353,-3.28694477815e-05,1793237445274353920
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+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746,716.878979735,679,666,637,881,789,804,654.121020265,633,655,0.401016349,-0.00541541619437,0.0498697182319,0.99999996443,0.000121927369614,-0.000234798044169,-3.38279658466e-05,1793237445624353792
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+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881,789,803.197659319,654,633,654.197659319,0.401015809634,-0.00541294143448,0.049870518679,0.999999964078,0.000126060975455,-0.000234037607882,-3.43394121248e-05,1793237445691020544
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+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.635813451,666,637,881,789,804,654,633,654.635813451,0.401017074946,-0.0054143419,0.0498711493874,0.999999964608,0.000124863700548,-0.000232486243065,-3.37994927772e-05,1793237445724353792
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+437,7.283333333,POSE2_TO_POSE3_RETREAT,767.675881397,746.675881397,716,679,666.675881397,637,881,789,803.675881397,654,633,654,0.40101994387,-0.00541397179526,0.0498736803818,0.999999965569,0.000126895944111,-0.000227186651914,-3.38387411245e-05,1793237445791020544
+438,7.300000000,POSE2_TO_POSE3_RETREAT,768,746.742959207,716,679,666.742959207,637,881,789,804,654,633,654,0.401019744104,-0.00541320046075,0.0498733091366,0.999999965363,0.00012785911623,-0.000227534667102,-3.39618652734e-05,1793237445807687168
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diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..95db6dac67751951019f416840530024e3b57d6a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,441 @@
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+400,6.666666667,pose2_to_pose3_retreat,0.57867779393,1.16735375469e-06,1.04001178162,0.549249030442,0.00867483905829,1.03966132116
+401,6.683333333,pose2_to_pose3_retreat,0.57860496913,1.14487011189e-06,1.04001166672,0.549176205973,0.00867481773169,1.03966120733
+402,6.700000000,pose2_to_pose3_retreat,0.5785414253,1.11199037456e-06,1.04001156756,0.549112662708,0.00867478683031,1.03966110962
+403,6.716666667,pose2_to_pose3_retreat,0.578486690728,1.04308024833e-06,1.04001165296,0.549057929369,0.00867472207608,1.03966119411
+404,6.733333333,pose2_to_pose3_retreat,0.578440180929,1.15115738698e-06,1.04001148176,0.549011416216,0.00867481867814,1.03966102056
+405,6.750000000,pose2_to_pose3_retreat,0.578401175491,1.14317674287e-06,1.04001156139,0.548972411091,0.0086748117845,1.03966110068
+406,6.766666667,pose2_to_pose3_retreat,0.578369749878,1.16163095009e-06,1.04001160797,0.548940985745,0.00867483103563,1.03966114462
+407,6.783333333,pose2_to_pose3_retreat,0.578343645308,1.27491287416e-06,1.04001148791,0.548914879593,0.00867493860417,1.039661016
+408,6.800000000,pose2_to_pose3_retreat,0.578322296611,1.28458521749e-06,1.04001170394,0.548893530694,0.00867494782489,1.03966123779
+409,6.816666667,pose2_to_pose3_retreat,0.578304749943,1.23302852466e-06,1.04001180619,0.548875984357,0.00867489742162,1.03966134077
+410,6.833333333,pose2_to_pose3_retreat,0.57829059055,1.17397929274e-06,1.04001179118,0.54886182533,0.00867483953693,1.03966132387
+411,6.850000000,pose2_to_pose3_retreat,0.578279664865,1.32636441791e-06,1.04001159288,0.548850898034,0.00867498674439,1.03966113279
+412,6.866666667,pose2_to_pose3_retreat,0.578271630011,1.29194916284e-06,1.0400116016,0.548842864231,0.00867495584949,1.03966114043
+413,6.883333333,pose2_to_pose3_retreat,0.578266332202,1.20437071465e-06,1.0400116758,0.548837568104,0.00867487383831,1.03966121109
+414,6.900000000,pose2_to_pose3_retreat,0.578262530083,1.14207085768e-06,1.04001161872,0.548833766883,0.00867481459508,1.03966115444
+415,6.916666667,pose2_to_pose3_retreat,0.578259973805,1.10022736488e-06,1.04001157185,0.548831211183,0.00867477473438,1.03966110809
+416,6.933333333,pose2_to_pose3_retreat,0.578258345247,1.10959496146e-06,1.04001153521,0.548829582299,0.00867478299839,1.03966107148
+417,6.950000000,pose2_to_pose3_retreat,0.578257340404,1.14638738207e-06,1.04001150677,0.548828576657,0.00867481707241,1.03966104279
+418,6.966666667,pose2_to_pose3_retreat,0.578256757471,1.16773153783e-06,1.04001149028,0.548827993261,0.00867483683955,1.03966102615
+419,6.983333333,pose2_to_pose3_retreat,0.578256320701,1.18372391044e-06,1.04001147791,0.548827556144,0.00867485165033,1.03966101368
+420,7.000000000,pose2_to_pose3_retreat,0.578255881197,1.19981637736e-06,1.04001146548,0.54882711629,0.00867486655381,1.03966100113
+421,7.016666667,pose2_to_pose3_retreat,0.578255658259,1.20797929315e-06,1.04001145917,0.548826893175,0.00867487411361,1.03966099477
+422,7.033333333,pose2_to_pose3_retreat,0.578255543074,1.21219680359e-06,1.04001145591,0.548826777898,0.00867487801951,1.03966099148
+423,7.050000000,pose2_to_pose3_retreat,0.578255245439,1.22309471371e-06,1.04001144748,0.548826480027,0.00867488811223,1.03966098298
+424,7.066666667,pose2_to_pose3_retreat,0.578255142574,1.22706352668e-06,1.04001145024,0.548826377097,0.00867489186909,1.03966098593
+425,7.083333333,pose2_to_pose3_retreat,0.578254873153,1.23768165339e-06,1.04001146368,0.548826107525,0.0086749020052,1.03966100014
+426,7.100000000,pose2_to_pose3_retreat,0.578254514649,1.25181057469e-06,1.04001148157,0.54882574882,0.00867491549273,1.03966101905
+427,7.116666667,pose2_to_pose3_retreat,0.578254049031,1.27016100301e-06,1.04001150481,0.54882528294,0.00867493301013,1.0396610436
+428,7.133333333,pose2_to_pose3_retreat,0.578253831049,1.27875184136e-06,1.04001151568,0.548825064837,0.00867494121098,1.0396610551
+429,7.150000000,pose2_to_pose3_retreat,0.578253799485,1.27999581967e-06,1.04001151726,0.548825033254,0.00867494239849,1.03966105676
+430,7.166666667,pose2_to_pose3_retreat,0.578253753488,1.28180857763e-06,1.04001151955,0.548824987232,0.00867494412896,1.03966105919
+431,7.183333333,pose2_to_pose3_retreat,0.578253638273,1.28634933103e-06,1.0400115253,0.548824871952,0.00867494846358,1.03966106527
+432,7.200000000,pose2_to_pose3_retreat,0.57825333745,1.2982050177e-06,1.04001154032,0.54882457096,0.00867495978107,1.03966108113
+433,7.216666667,pose2_to_pose3_retreat,0.578253185216,1.29996839222e-06,1.04001155438,0.548824418721,0.00867496151541,1.03966109493
+434,7.233333333,pose2_to_pose3_retreat,0.57825283259,1.27011587515e-06,1.04001163873,0.548824066723,0.00867493354487,1.03966117314
+435,7.250000000,pose2_to_pose3_retreat,0.578252511762,1.24295534494e-06,1.04001171547,0.548823746466,0.00867490809662,1.03966124431
+436,7.266666667,pose2_to_pose3_retreat,0.578252185641,1.19899857873e-06,1.04001158596,0.548823421258,0.00867486769487,1.03966112621
+437,7.283333333,pose2_to_pose3_retreat,0.578252061685,1.17044448504e-06,1.040011531,0.548823297945,0.00867484147887,1.03966107506
+438,7.300000000,pose2_to_pose3_retreat,0.578252068893,1.16234452737e-06,1.04001153831,0.548823305364,0.008674834036,1.03966108092
+439,7.316666667,pose2_to_pose3_retreat,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.008674820184,1.03966109182
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..955ea21b73286d68146dc38c6a7c9541e9de824e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8655b118104b1b3668192de48f145af37f136944d5f29efa8fd6325c8d28d05e
+size 27522213
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f8f65581ca8b73418f1a0f24a707c46d50fe4c1f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_01/franka_data.csv
@@ -0,0 +1,435 @@
+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,767,747,717,680,663,637,880,789,803,654,633,654,0.40104718135,-0.00550396844919,0.0698699669283,0.999999991305,4.27090948209e-05,-0.000123477670458,1.78756174858e-05,1793237447465953024
+1,0.016666667,BASELINE,767,746.415179427,717,680,663,637,880.584820573,789.584820573,803.584820573,653.415179427,633,654,0.401047374828,-0.00550259333267,0.0698700629896,0.999999991227,4.42774784649e-05,-0.00012359779444,1.75672834513e-05,1793237447482619648
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+9,0.150000000,BASELINE,767,746,717,679.223443206,663,637,881,789,803.776556794,654,632.223443206,654,0.401048076892,-0.00550281084119,0.069871281512,0.999999991352,4.508222677e-05,-0.000122275291159,1.76763030484e-05,1793237447615952896
+10,0.166666667,BASELINE,767,746,717,679.800496628,663,637,881,789,803.199503372,654,632.800496628,654,0.401047446908,-0.00550108582662,0.0698709704836,0.99999999114,4.84700497187e-05,-0.000122711124328,1.76570820771e-05,1793237447632619776
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+12,0.200000000,BASELINE,767,746,717,680,663,637,881,789,803.968821202,653.031178798,633,654,0.401047687174,-0.00550098235228,0.0698710826133,0.999999991218,4.74002825874e-05,-0.00012255685639,1.72361673946e-05,1793237447665953024
+13,0.216666667,BASELINE,767.548701571,746,717,680,663.548701571,637.548701571,881.548701571,789,804,653.548701571,633,654,0.401047530182,-0.00550113103622,0.0698711574145,0.99999999126,4.63019929864e-05,-0.000122642390203,1.72018432114e-05,1793237447682619648
+14,0.233333333,BASELINE,767.871776327,746,717,679.871776327,663.871776327,637.871776327,881.871776327,789,804.128223673,654,633,654,0.401047092931,-0.00550070122414,0.0698709776042,0.999999991193,4.65286549284e-05,-0.000123112885963,1.71137541783e-05,1793237447699286272
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+16,0.266666667,BASELINE,767,746,717,679.284940633,663,637,880.715059367,789,804.430118733,654,633,654,0.401045591169,-0.00549796800156,0.0698699067434,0.999999990719,5.17710493923e-05,-0.00012489785329,1.68130953488e-05,1793237447732619776
+17,0.283333333,BASELINE,767,746,717,679.860127168,663,637,880.139872832,789,803.279745664,654,633,654,0.401046622127,-0.00549984883957,0.0698709774218,0.999999991137,4.76592266006e-05,-0.000123120071678,1.71781832314e-05,1793237447749286400
+18,0.300000000,BASELINE,767,746,716.564732018,680,663.435267982,637,880.435267982,789.435267982,803.435267982,654,633,654.435267982,0.401047153833,-0.0055014047215,0.069871626064,0.999999991322,4.63267605855e-05,-0.000122101583224,1.73669286063e-05,1793237447765953024
+19,0.316666667,BASELINE,767,746,716.010697888,680,663.989302112,637,880.989302112,789.978604223,803.989302112,653.989302112,633,654.989302112,0.401047499385,-0.00550281409285,0.0698721244212,0.999999991428,4.59071287683e-05,-0.00012137037138,1.74938534636e-05,1793237447782619648
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+21,0.350000000,BASELINE,767,746,717,680,663,637,880.189524238,788.189524238,803.189524238,653.189524238,632.810475762,654,0.401045976833,-0.00550122150205,0.0698713792992,0.999999991051,4.73503320111e-05,-0.000123924084115,1.72859575947e-05,1793237447815952896
+22,0.366666667,BASELINE,767,746,717,680,663,637,880.766111458,788.766111458,803.766111458,653.766111458,632.233888542,654,0.401046697618,-0.00550083992387,0.0698706334862,0.999999991057,4.84088818726e-05,-0.000123448077047,1.74333253663e-05,1793237447832619520
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+27,0.450000000,BASELINE,767,746,717,679.67103245,663.67103245,637,881,789,804,653.32896755,633,654,0.401048231048,-0.00550191358293,0.0698721225996,0.999999991236,4.66237984271e-05,-0.000122675041186,1.74496397796e-05,1793237447915953664
+28,0.466666667,BASELINE,767,746,716.751377216,680,663.751377216,637,881,789,804,653,633,654,0.40104734408,-0.00550122629942,0.0698715054175,0.99999999104,4.7714383123e-05,-0.000123860757592,1.73814507119e-05,1793237447932620032
+29,0.483333333,BASELINE,767,746,716.173841041,680,663.173841041,637,881,789,804,653,633,654,0.401046248378,-0.00549990825065,0.0698713034847,0.999999990807,5.02453341679e-05,-0.000124710351317,1.75568296838e-05,1793237447949286656
+30,0.500000000,BASELINE,767,746,716.400771606,680,663.400771606,637,881,789,803.599228394,653.400771606,632.599228394,654,0.401046174585,-0.00550027721961,0.0698715608761,0.999999990889,4.93737241462e-05,-0.000124414324046,1.7456611875e-05,1793237447965953280
+31,0.516666667,BASELINE,767,746,716.974125294,680,663.974125294,637,881,789,803.025874706,653.974125294,632.025874706,654,0.401046540852,-0.00550137265982,0.0698720160637,0.999999991104,4.70368878125e-05,-0.000123624964254,1.72377153285e-05,1793237447982619648
+32,0.533333333,BASELINE,767,746,717,679.432751798,663.432751798,637,881.567248202,789,803.567248202,654,632.567248202,654.567248202,0.401047383337,-0.00550093474253,0.0698726917681,0.999999991168,4.80099071673e-05,-0.000122732739383,1.71820912922e-05,1793237447999286528
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+34,0.566666667,BASELINE,767,746,717,679.726100279,663.726100279,637,882,789,804,653.273899721,633,654.273899721,0.401048501923,-0.00550039506574,0.0698726853398,0.999999991119,5.00384145204e-05,-0.000122346655107,1.70263456462e-05,1793237448032620032
+35,0.583333333,BASELINE,767,746,717,679.69842582,663.69842582,637,881.69842582,789,804,653,633,654.30157418,0.401047921423,-0.00550114692206,0.0698721300419,0.999999991064,4.93513138807e-05,-0.000123060351806,1.71343470117e-05,1793237448049286912
+36,0.600000000,BASELINE,767,746,717,679.118868223,663.118868223,637,881.118868223,789,804,653,633,654.881131777,0.401046451728,-0.00550271351965,0.069871429881,0.999999991019,4.71567813389e-05,-0.000124238058469,1.74295068474e-05,1793237448065953536
+37,0.616666667,BASELINE,767,746,717,679,663.467651201,637,881.467651201,789,804,653.467651201,633,655,0.401045452493,-0.00550298676658,0.0698712321528,0.999999990905,4.63586655765e-05,-0.000125447138233,1.74507522767e-05,1793237448082620160
+38,0.633333333,BASELINE,767,746.055105665,717,679.055105665,664,637,882,789,804,654,633,654.944894335,0.401044792329,-0.0055029369817,0.0698712313829,0.999999990809,4.5953208692e-05,-0.000126359626899,1.74100742506e-05,1793237448099286784
+39,0.650000000,BASELINE,767,746.634368248,717,679.634368248,664,637,882,789,804,654,633,654.365631752,0.401046202734,-0.00550298880025,0.0698718709445,0.999999991062,4.58554783224e-05,-0.000124373987675,1.74526498539e-05,1793237448115953152
+40,0.666666667,BASELINE,767,746.787059311,717,680,664,637,881.787059311,789,804,654,633,654.212940689,0.401047029052,-0.00550223785382,0.0698720246287,0.999999991142,4.68382397269e-05,-0.000123383890205,1.7293440427e-05,1793237448132619776
+41,0.683333333,BASELINE,767,746.209668093,717,680,664,637,881.209668093,789,804,654,633,654.790331907,0.401046855696,-0.00550011296557,0.0698713467281,0.999999990925,4.96702756997e-05,-0.000124097674444,1.67888735113e-05,1793237448149286400
+42,0.700000000,BASELINE,767,746.372876982,717,680,663.627123018,637,881.372876982,789,804,654,633,654.627123018,0.401046811484,-0.00549991341888,0.0698711147793,0.999999990865,4.97728275683e-05,-0.000124514000597,1.7019449365e-05,1793237448165953280
+43,0.716666667,BASELINE,767,746.958360659,717,680,663.041639341,637,881.958360659,789,804,654,633,654.041639341,0.401046840908,-0.00550081166195,0.0698711371031,0.999999990894,4.83190843076e-05,-0.000124760722316,1.76691883441e-05,1793237448182620416
+44,0.733333333,BASELINE,767,746.461781783,717,680,663.538218217,637,882,789,804,654,633,654,0.401047048968,-0.00550035354726,0.0698718884449,0.999999990982,4.89112554071e-05,-0.00012386375771,1.73893553031e-05,1793237448199287040
+45,0.750000000,BASELINE,767,746,717,680,663.882396696,637,881.882396696,789,804,654,633,654.117603304,0.40104733733,-0.0054997097247,0.069872517042,0.999999991063,4.95546624948e-05,-0.000122987305929,1.71010502313e-05,1793237448215953920
+46,0.766666667,BASELINE,767,746,717,680,663.303175462,637,881.303175462,789,804,654,633,654.696824538,0.401047887207,-0.00549874459,0.0698724447459,0.999999991108,4.97843164413e-05,-0.000122535087239,1.70588579322e-05,1793237448232620288
+47,0.783333333,BASELINE,767,746,717,680,663,637,881,789,804,654,633,654.733824514,0.401047850823,-0.00549957863528,0.0698721595015,0.999999991108,4.91895584317e-05,-0.000122734945803,1.73273751138e-05,1793237448249286400
+48,0.800000000,BASELINE,767,746,717,680,663,637,881,789,804,654,633,654.17531383,0.401047170561,-0.00550238868373,0.0698716403803,0.999999991057,4.76893653312e-05,-0.000123650967684,1.79371382822e-05,1793237448265953280
+49,0.816666667,BASELINE,767,746,717,679.583893869,663,637,881,789,803.583893869,654,633,654.416106131,0.401046197784,-0.00550261920465,0.0698714679607,0.999999990995,4.68689706579e-05,-0.000124488716025,1.77988961887e-05,1793237448282620160
+50,0.833333333,BASELINE,767.02155588,746,716.97844412,679.02155588,663.02155588,637,881,789,803.02155588,654,633,654.97844412,0.401045171863,-0.00550173510821,0.0698714493542,0.999999990931,4.63761004976e-05,-0.000125248510869,1.73385121615e-05,1793237448299287040
+51,0.850000000,BASELINE,767.600469733,746,716.399530267,679.600469733,663.600469733,637,881,789,803.600469733,654,633,654.399530267,0.401046232099,-0.00550254525364,0.0698713065342,0.999999990974,4.63102348934e-05,-0.000124918637342,1.73971421375e-05,1793237448315953920
+52,0.866666667,BASELINE,767.82145024,746.17854976,716.17854976,679.82145024,663.82145024,637,881,789,804,654,632.82145024,654,0.40104662409,-0.00550251916304,0.0698711296729,0.999999990949,4.68775473928e-05,-0.000124917466799,1.73398740039e-05,1793237448332620544
+53,0.883333333,BASELINE,767.245227379,746.754772621,716.754772621,679.245227379,663.245227379,637,881,789,804,654,632.245227379,654,0.401045527735,-0.00550063057441,0.0698708769932,0.999999990768,4.88550992635e-05,-0.000125648396593,1.70244730035e-05,1793237448349287168
+54,0.900000000,BASELINE,767,746.669811109,717,679.330188891,663,637,881,789,804,653.669811109,632.330188891,654,0.401045573771,-0.00550068161319,0.069871481125,0.999999990852,4.88319640152e-05,-0.000124968014935,1.71550918983e-05,1793237448365953536
+55,0.916666667,BASELINE,767,746.094992449,717,679.905007551,663,637,881,789,804,653.094992449,632.905007551,654,0.401046466178,-0.00550216967983,0.0698727200499,0.999999991131,4.73265631059e-05,-0.000123242023283,1.7616157247e-05,1793237448382619648
+56,0.933333333,BASELINE,767,746,717,680,663,637,881,789,804.49105403,653,633,654,0.401047130887,-0.0055011718408,0.0698730004177,0.999999991197,4.77940824129e-05,-0.000122544358484,1.74533427444e-05,1793237448399286272
+57,0.950000000,BASELINE,767,746,717,679.921499993,663.078500007,637,881,789,804.921499993,653,632.921499993,654,0.401047601672,-0.00550005834727,0.0698729832972,0.999999991217,4.82494471302e-05,-0.000122236071019,1.72133924364e-05,1793237448415953152
+58,0.966666667,BASELINE,767,746,717,679.339336671,663.660663329,637,881,789,804.339336671,653,632.339336671,654,0.401047117442,-0.00550136042826,0.0698722750347,0.999999991208,4.61208022564e-05,-0.000123119873121,1.72709906044e-05,1793237448432619776
+59,0.983333333,BASELINE,767,746,717,679.239668094,663.760331906,637,881,789,804,653.239668094,632.239668094,654,0.401046904032,-0.00550183351241,0.069871997557,0.999999991168,4.587859004e-05,-0.000123534885601,1.72474012069e-05,1793237448449286656
+60,1.000000000,BASELINE,767,746,717,679.814259035,663.185740965,637,881,789,804,653.814259035,632.814259035,654,0.40104706908,-0.00550114811972,0.0698723220769,0.999999991088,4.82725623624e-05,-0.000123294790753,1.71103567051e-05,1793237448465953536
+61,1.016666667,BASELINE,767,746,717,680,663,637,881.385941088,789,804,654,633,654,0.401046554191,-0.00550093058145,0.0698718155368,0.999999990983,4.85512805105e-05,-0.000124052028236,1.69921553807e-05,1793237448482620160
+62,1.033333333,BASELINE,767,746,717,680,663,637,881.956233627,789,804,654,633,654,0.401045714517,-0.00550093652199,0.0698709120263,0.999999990866,4.78196106949e-05,-0.000125285658807,1.6882954835e-05,1793237448499287296
+63,1.050000000,BASELINE,767,746,717,680,663.549611105,637,881.450388895,789,804,653.450388895,633,654,0.40104562517,-0.005500034905,0.0698717307013,0.999999990888,4.90860422437e-05,-0.000124604331279,1.6955512602e-05,1793237448515953408
+64,1.066666667,BASELINE,767,746.141126479,717,679.858873521,664,637,881,789,804,653.141126479,633,654,0.401045891143,-0.00549946164887,0.069872496776,0.999999990961,4.98074694382e-05,-0.000123721851977,1.70602263104e-05,1793237448532620032
+65,1.083333333,BASELINE,767,746.72089008,717,679.27910992,664,637,881,789,804,653.72089008,633,654,0.401047067642,-0.00550014344805,0.0698726544267,0.999999991156,4.83187409527e-05,-0.000122708909846,1.7217926099e-05,1793237448549286656
+66,1.100000000,BASELINE,767,746.702993233,717,679.297006767,663.702993233,637,881,789,804,653.702993233,632.702993233,654,0.401046991198,-0.00550124628267,0.0698723281901,0.999999991137,4.76468756611e-05,-0.000123101194315,1.74014110063e-05,1793237448565953280
+67,1.116666667,BASELINE,767,746.130262168,717,679.869737832,663.130262168,637,881,789,804,653.130262168,632.130262168,654,0.401045751592,-0.00550273998277,0.0698715527399,0.999999990918,4.77333400809e-05,-0.000124798011806,1.7608833352e-05,1793237448582619904
+68,1.133333333,BASELINE,767,746,717,679.544772575,663.455227425,637,881.455227425,789,804,653.455227425,632,654,0.40104561435,-0.00550177024747,0.0698714089543,0.999999990818,4.96737473453e-05,-0.000124871036941,1.74206669962e-05,1793237448599286528
+69,1.150000000,BASELINE,767,746,717,679,663.956232192,637,881.956232192,789,804,654,632.043767808,654,0.401045944683,-0.00550017140965,0.0698715695305,0.999999990779,5.19155873249e-05,-0.000124311724467,1.71417785809e-05,1793237448615953152
+70,1.166666667,BASELINE,767,746,717,679,663.37633195,637,881.37633195,789,804,654,632.62366805,654,0.401048027186,-0.00549975010393,0.0698731804531,0.999999991118,5.11640804316e-05,-0.000121862372927,1.71781752827e-05,1793237448632619776
+71,1.183333333,BASELINE,767,746,717,679,663.202193182,637,881,789,804,654,633,654,0.401048513505,-0.00549994493419,0.0698737075282,0.999999991238,5.0376526525e-05,-0.000121195184447,1.72472191694e-05,1793237448649286656
+72,1.200000000,BASELINE,767,746,717,679,663.778176277,637,881,789,804,654,633,654,0.401046048997,-0.00550127880086,0.0698722309197,0.999999990957,4.95223332017e-05,-0.000123822639647,1.73766171664e-05,1793237448665953024
+73,1.216666667,BASELINE,767,746,717,679.352946906,663.647053094,637,881,789,804,654,633,654,0.401046057532,-0.00550131000465,0.069872310339,0.999999990964,4.94406669771e-05,-0.000123795781239,1.73639932115e-05,1793237448682619648
+74,1.233333333,BASELINE,767,746,717,679.926958085,663.073041915,637,881,789,804,654,633,654,0.40104761503,-0.00550052530031,0.0698733643587,0.999999991154,4.98428643506e-05,-0.000122106423584,1.72624154174e-05,1793237448699286528
+75,1.250000000,BASELINE,767,746,716.482795426,680,663,637,881,789,803.482795426,654,632.482795426,654.517204574,0.40104790529,-0.00549909678292,0.0698735374212,0.999999991049,5.26061161671e-05,-0.000121820384689,1.71415087796e-05,1793237448715953152
+76,1.266666667,BASELINE,767,746.107077024,716.107077024,679.892922976,663,637.107077024,881,789,803.107077024,653.892922976,632.107077024,654.892922976,0.401047861257,-0.00549823969079,0.0698735134389,0.999999990946,5.44934779632e-05,-0.000121844487144,1.71052172202e-05,1793237448732619776
+77,1.283333333,BASELINE,767,746.684898423,716.684898423,679.315101577,663,637.684898423,881,789,803.684898423,653.315101577,632.684898423,654.315101577,0.401047159854,-0.0055003074409,0.0698731878687,0.999999991064,5.10167432218e-05,-0.000122332558304,1.74533097986e-05,1793237448749286400
+78,1.300000000,BASELINE,767,746.738762506,717,679.261237494,663.261237494,637.738762506,881,789,804,653.261237494,633,654,0.401046897282,-0.00550157068201,0.0698731872601,0.99999999116,4.89627907405e-05,-0.000122368183609,1.75600948435e-05,1793237448765953024
+79,1.316666667,BASELINE,767,746.164201357,717,679.835798643,663.835798643,637.164201357,881,789,804,653.835798643,633,654,0.401047161037,-0.00550186900903,0.0698735764048,0.999999991242,4.8615298531e-05,-0.000121861153278,1.73774598515e-05,1793237448782619392
+80,1.333333333,BASELINE,767,746.420670383,717,680,663.579329617,637.420670383,881.420670383,789,803.579329617,654,633,654,0.401047041484,-0.00550187918264,0.0698731655854,0.999999991191,4.85412546038e-05,-0.000122305065608,1.74184294408e-05,1793237448799286016
+81,1.350000000,BASELINE,767,747,716.99048165,680,663.00951835,637.99048165,881.99048165,789,803,654,633,654,0.401046759987,-0.00550175831275,0.0698724458978,0.999999991086,4.85851629399e-05,-0.000123128473426,1.75438335222e-05,1793237448815952896
+82,1.366666667,BASELINE,767,747,716.410592323,680,663.589407677,637.410592323,881.410592323,789,803,654,633,654,0.401045965123,-0.00550069414199,0.0698723991241,0.999999990967,4.91404970048e-05,-0.000123891073846,1.73673050142e-05,1793237448832619520
+83,1.383333333,BASELINE,767,747,716.16842439,680,663.83157561,637,881,789,803.16842439,654,632.83157561,654,0.401045725189,-0.00550030895242,0.0698724231081,0.999999990924,4.93629316279e-05,-0.00012415015178,1.73755600204e-05,1793237448849286144
+84,1.400000000,BASELINE,767,747,716.745324891,680,663.254675109,637,881,789,803.745324891,654,632.254675109,654,0.401046831114,-0.00550157048136,0.0698726186988,0.999999991064,4.87779923918e-05,-0.000123188047433,1.78319665379e-05,1793237448865952768
+85,1.416666667,BASELINE,767,746.674652798,717,680,663.325347202,637,881,789,804,654,632.325347202,654,0.401047317379,-0.00550087686432,0.0698727038896,0.999999991079,4.94579403212e-05,-0.000122807221969,1.77078545633e-05,1793237448882619392
+86,1.433333333,BASELINE,767,746.092163157,717,680,663.907836843,637,881,789,804,654,632.907836843,654,0.401047313888,-0.00549863797187,0.0698727018244,0.999999990995,5.11376084876e-05,-0.000122885817969,1.71249221385e-05,1793237448899286272
+87,1.450000000,BASELINE,767,746,717,679.509521673,663.509521673,637,881,789,803.509521673,653.509521673,632.509521673,654,0.401046597006,-0.00549829855624,0.0698726261296,0.999999990906,5.22665187955e-05,-0.000123165098405,1.69378621123e-05,1793237448915952896
+88,1.466666667,BASELINE,767,746,717,679.072654852,663,637,881,789,803.072654852,653.072654852,632.072654852,654,0.401046143683,-0.00549855885048,0.0698727426067,0.999999990875,5.29938238916e-05,-0.000123108470267,1.69033615796e-05,1793237448932619264
+89,1.483333333,BASELINE,767,746,717,679.651393859,663,637,881,789,803.651393859,653.651393859,632.651393859,654,0.401048460229,-0.00550050954664,0.069874294076,0.999999991261,5.1644802619e-05,-0.000120449288919,1.74132235226e-05,1793237448949285888
+90,1.500000000,BASELINE,767,746,717,680,663,637,881,789,804,654,633,654,0.40104936664,-0.00550110219234,0.0698748215886,0.999999991362,5.15074160447e-05,-0.000119622138645,1.76837706575e-05,1793237448965952768
+91,1.516666667,BASELINE,767,746,717,680,663,637,881,789,804,654,633,654,0.401048136975,-0.00549963765817,0.0698737980079,0.99999999104,5.32054181562e-05,-0.00012157015582,1.75918028215e-05,1793237448982619392
+92,1.533333333,BASELINE,767,746,717,680,663.37728968,637,881,789,804,654,633,654.37728968,0.401047512784,-0.00550032404597,0.0698733930603,0.999999990988,5.16307629242e-05,-0.000122667883833,1.76304433037e-05,1793237448999286272
+93,1.550000000,BASELINE,767,746,717,680,663.951673272,637,881,789,804,654,633,654.951673272,0.401047204888,-0.00550213406264,0.0698733112828,0.99999999107,4.83464908679e-05,-0.000123321425959,1.7737312796e-05,1793237449015953152
+94,1.566666667,BASELINE,767,746,717,679.455116529,663.455116529,637,881.544883471,789,804,654,633,654.455116529,0.401047005592,-0.0055008557662,0.0698731699032,0.999999991007,5.06824421992e-05,-0.000122895022762,1.77204625975e-05,1793237449032619520
+95,1.583333333,BASELINE,767,746,717,679.135340354,663,637,881.864659646,789,803.864659646,654,633,654,0.40104702363,-0.00549971033906,0.0698731432143,0.999999990969,5.27440685088e-05,-0.000122339176006,1.76823818606e-05,1793237449049286400
+96,1.600000000,BASELINE,767,746,717,679.711205991,663,637,881.288794009,789,803.288794009,654,633,654,0.401047716605,-0.00549992085676,0.0698735076589,0.999999991077,5.22322315269e-05,-0.000121684921329,1.76121913928e-05,1793237449065953024
+97,1.616666667,BASELINE,767,746,717,679.714006368,663,637,881,789,803.285993632,654,633,654,0.401047640376,-0.00549990957414,0.0698733415772,0.99999999107,5.21102437974e-05,-0.000121806910382,1.75350613224e-05,1793237449082619648
+98,1.633333333,BASELINE,767,746,717,679.140303228,663,637,881,789,803.859696772,654,633,654,0.401046790328,-0.00549967516044,0.0698726417859,0.999999990947,5.23804443313e-05,-0.000122709800441,1.74509500183e-05,1793237449099286272
+99,1.650000000,BASELINE,767,746,717,679,663,637,881,789,804,654,633,654.444957811,0.40104643407,-0.00549965070278,0.0698719354778,0.99999999079,5.27848741348e-05,-0.000123835366768,1.72554249419e-05,1793237449115952896
+100,1.666666667,BASELINE,767,746,717,679.033408054,663,637,881.033408054,789,804,654,633,655,0.401046306127,-0.00549973088291,0.0698713258578,0.999999990647,5.31416030093e-05,-0.000124867390147,1.705509621e-05,1793237449132619520
+101,1.683333333,BASELINE,767,746,717,679.612830158,663,637,881.612830158,789,804,654,633,655,0.401047297097,-0.00550041037921,0.0698723309663,0.999999990909,5.20085215009e-05,-0.000123192404972,1.7365739243e-05,1793237449149286144
+102,1.700000000,BASELINE,767.191463937,746,717,680,663,637,881.808536063,789,803.808536063,653.808536063,633,655,0.401047919159,-0.0055010287001,0.0698730913717,0.999999991115,5.06623531769e-05,-0.000122050630381,1.7530885815e-05,1793237449165952768
+103,1.716666667,BASELINE,767.768510067,746,717,680,663,637,881.231489933,789,803.231489933,653.231489933,633,655,0.401047798287,-0.00550152382199,0.0698733589783,0.999999991214,4.88870572747e-05,-0.000121982669215,1.7403022368e-05,1793237449182619648
+104,1.733333333,BASELINE,767.655468364,746,717,680,663,637,881,789,803.689063271,653.344531636,633,654.655468364,0.401047382068,-0.00550180941886,0.0698733132065,0.999999991212,4.8222936214e-05,-0.000122261293892,1.73775167636e-05,1793237449199286528
+105,1.750000000,BASELINE,767.080133097,746,717,680,663,637,881,789,804.839733806,653.919866903,633,654.080133097,0.401046767994,-0.00550195465383,0.0698730575009,0.999999991145,4.83031970929e-05,-0.000122772098318,1.74205812265e-05,1793237449215952896
+106,1.766666667,BASELINE,767,746,717,680,663,637,881,789,804.492199301,654,633,654,0.401047683688,-0.00550047225977,0.0698738068296,0.999999991196,5.03852267503e-05,-0.000121531196624,1.73297091081e-05,1793237449232619520
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,717,679,663,638,881,789,803,654,633,654,0.40104875071,-0.00550169702032,0.069874960105,0.999999991346,5.05462929225e-05,-0.000120116945713,1.80191180128e-05,1793237449275302400
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,717,679.57402266,663,637.42597734,881,789,803.57402266,654,633,654,0.401048101081,-0.00550078993725,0.0698739410419,0.999999991215,5.0381702017e-05,-0.000121363021533,1.74188607142e-05,1793237449291969024
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716.848091516,680,663,637,881,789,803.848091516,654,633,654.151908484,0.40104747316,-0.00550004227139,0.0698731475399,0.999999991098,5.03595476555e-05,-0.0001223873219,1.70130509898e-05,1793237449308635648
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716.259089906,680,663,637,881,789,803.259089906,654,633,654.740910094,0.401046907702,-0.00549975330363,0.0698730030548,0.999999991028,5.07472323445e-05,-0.000122773498047,1.71667338955e-05,1793237449325302272
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716.324505357,680,663,637,881,789,803,654,633,654.675494643,0.40104689929,-0.00549991872498,0.0698728028244,0.999999991003,5.04560959682e-05,-0.000123083436261,1.72633042686e-05,1793237449341968640
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,716.903854811,680,663,637,881,789,803,654,633,654.096145189,0.401047328344,-0.00550044099217,0.0698725588156,0.999999991013,4.9631860382e-05,-0.000123333502442,1.73150223933e-05,1793237449358635264
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881.482691606,789,803,654,632.517308394,654.482691606,0.401046483263,-0.00550105315015,0.0698721909472,0.999999990872,4.92682180582e-05,-0.000124639163401,1.71624582802e-05,1793237449375302144
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881.939219217,789,803.060780783,654,632.060780783,654.939219217,0.401045560437,-0.00550151640378,0.069871944991,0.999999990703,4.91742130161e-05,-0.000126040348893,1.70144578921e-05,1793237449391969024
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881.366567097,789,803.633432903,654,632.633432903,654.366567097,0.401046117907,-0.00550057501662,0.0698729332795,0.999999990574,5.05791774908e-05,-0.000126477163673,1.72472031984e-05,1793237449408635648
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746.212674331,717,679.787325669,663,637,881.425348662,789,803.787325669,653.787325669,632.787325669,654,0.401047805309,-0.00550022406854,0.0698742994454,0.999999990431,5.11496097925e-05,-0.000127346801217,1.7443011659e-05,1793237449425302272
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746.803636217,717,679.196363783,663,637,882.607272434,789,803.196363783,653.196363783,632.196363783,654,0.401051502539,-0.00550092334487,0.0698763377482,0.999999990265,5.02356449614e-05,-0.000128986308141,1.7573119881e-05,1793237449441968896
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,747,717,679.38593137,663.38593137,637,882.61406863,789,803,653.38593137,632.38593137,654,0.401064133865,-0.00550194832709,0.0698828049933,0.999999990714,4.98249701552e-05,-0.000125533184845,1.81873779465e-05,1793237449458635264
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,747,717,679.963913752,663.963913752,637,882.036086248,789,803,653.963913752,632.963913752,654,0.401081211063,-0.00550313539039,0.069891476213,0.99999999144,4.96647474583e-05,-0.00011954581634,1.90425634885e-05,1793237449475302144
+120,2.000000000,POSE1_TO_POSE2_PRESS,767.53838297,746.46161703,717,679.46161703,664,637,882,789,803.53838297,653.46161703,633,654,0.401116381186,-0.00550395385228,0.0699053661773,0.999999993093,4.88413512446e-05,-0.000105042351427,1.98672063351e-05,1793237449491968768
+121,2.016666667,POSE1_TO_POSE2_PRESS,767.884316564,746,717,679.115683436,664,637,881.884316564,789,804,653.115683436,633,654,0.401156379304,-0.00550488792188,0.0699195149935,0.999999994675,4.7724235755e-05,-8.918223549e-05,2.04833789757e-05,1793237449508635392
+122,2.033333333,POSE1_TO_POSE2_PRESS,767.294451809,746,717,679.705548191,664,637,881.294451809,789,804,653.705548191,633,654,0.401211228536,-0.00550639647607,0.0699333003286,0.9999999963,4.55841974416e-05,-7.00858154085e-05,2.02533786006e-05,1793237449525302272
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,717,680,663.709747627,637.290252373,881,789,804,653.709747627,633,654,0.401270484489,-0.00550741796458,0.0699431555954,0.99999999717,4.45811733583e-05,-5.7258305948e-05,1.98567892857e-05,1793237449541968896
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,717,680,663.130187264,637.869812736,881,789,804,653.130187264,633,654,0.401334132824,-0.00550795397208,0.0699490935803,0.99999999753,4.47114641889e-05,-5.06793113772e-05,1.92941530735e-05,1793237449558635520
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637.551652591,881.896694818,789,804,653.448347409,633,654.448347409,0.401406807525,-0.00550910917693,0.0699500600431,0.999999997493,4.61614597821e-05,-5.05332427689e-05,1.81257621496e-05,1793237449575302400
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,882.947227862,789,804,654,633,654.973613931,0.401482761969,-0.00551040397154,0.0699494781803,0.999999997343,4.77833609443e-05,-5.2445646124e-05,1.67324623862e-05,1793237449591969024
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881.799403163,789,804,654,633,654.399701582,0.401572509856,-0.00551087295458,0.0699466545749,0.999999997178,4.50388362982e-05,-5.84002178815e-05,1.43137416506e-05,1793237449608636160
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881,789,804,653.820905657,632.820905657,654.179094343,0.40167019174,-0.00551152141283,0.0699443941082,0.999999996914,4.36186538278e-05,-6.42533103193e-05,1.18669023018e-05,1793237449625303296
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881,789,804,653.230905153,632.230905153,654.769094847,0.401786077023,-0.00551258165106,0.0699434256825,0.999999996492,4.52369840209e-05,-6.98735722657e-05,9.35554918081e-06,1793237449641970432
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881,789,803.647477388,653.352522612,632.352522612,655,0.40191953287,-0.00551396385225,0.0699448391503,0.999999996519,4.48206077506e-05,-7.00742895802e-05,6.56837117118e-06,1793237449658637056
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881,789,803.068275962,653.931724038,632.931724038,655,0.40206428694,-0.00551555308191,0.0699477842213,0.999999996834,4.30958762823e-05,-6.67901361014e-05,3.60383220999e-06,1793237449675303424
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.506007293,746.506007293,717,680,663,637.506007293,881,789,803.506007293,654,633,655,0.402232633037,-0.00551837508174,0.0699512313272,0.999999997381,3.87262000102e-05,-6.11470955955e-05,2.11319947197e-07,1793237449691969536
+133,2.216666667,POSE1_TO_POSE2_PRESS,767.919977215,746.919977215,717,680,663,637.919977215,881,789,804,653.919977215,633,655,0.402406955973,-0.00552108271672,0.0699541901591,0.999999997819,3.41099211642e-05,-5.64563697951e-05,-3.3462654238e-06,1793237449708635904
+134,2.233333333,POSE1_TO_POSE2_PRESS,767.343545501,746.343545501,717,680,663,637.343545501,881,789,804,653.343545501,633,655,0.402598798411,-0.00552205898503,0.0699537038901,0.999999997739,3.01564461823e-05,-5.96286127183e-05,-7.57308280251e-06,1793237449725302528
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,717,680,663.238049564,637.238049564,881,789.238049564,804,653.238049564,632.761950436,654.761950436,0.402806358398,-0.00552258783837,0.0699537032106,0.999999997757,2.5307696146e-05,-6.08093153817e-05,-1.21689932422e-05,1793237449741969152
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,717,680,663.827261387,637.827261387,881,789.827261387,804,653.827261387,632.172738613,654.172738613,0.403037104343,-0.00552245668099,0.0699544188556,0.999999997923,1.91382683955e-05,-5.90521684213e-05,-1.73093763981e-05,1793237449758636288
+137,2.283333333,POSE1_TO_POSE2_PRESS,767.409576393,746,716.590423607,679.590423607,664,637.590423607,881,789.590423607,804,654,632.409576393,654.409576393,0.403294771223,-0.0055227434695,0.069959718324,0.999999998508,-5.83167843412e-06,-4.96589234839e-05,-2.19864702027e-05,1793237449775302912
+138,2.300000000,POSE1_TO_POSE2_PRESS,767.989030824,746,716.010969176,679.010969176,664,637.010969176,881,789.010969176,804,654,632.989030824,654.989030824,0.403563603963,-0.00552320360742,0.0699669190029,0.999999998217,-3.85994263128e-05,-3.70984907711e-05,-2.64714075521e-05,1793237449791969280
+139,2.316666667,POSE1_TO_POSE2_PRESS,767.437253612,746,716.562746388,679.562746388,663.437253612,637.562746388,881.562746388,789,804,654,633,654.437253612,0.403862700627,-0.00552641111958,0.0699773372791,0.999999998665,-3.86333168395e-05,-2.03691212753e-05,-2.76273923543e-05,1793237449808636416
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637.859813595,882,789,804,654,633,654.140186405,0.404163558919,-0.00552891299149,0.0699838191314,0.999999998911,-3.52786480972e-05,-1.1125109754e-05,-2.84463478913e-05,1793237449825303296
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637.270074948,882,789,804,654,633,654.729925052,0.404468193732,-0.00552898200394,0.0699774784932,0.999999998989,-2.30829598846e-05,-2.61432409635e-05,-2.83904973449e-05,1793237449841969664
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,717,679.685828978,663.314171022,637.314171022,881.685828978,789,803.685828978,654,633,655,0.404812237688,-0.00552878877703,0.0699776667184,0.999999998992,-2.32166082696e-05,-2.49439727117e-05,-2.92537187118e-05,1793237449858636032
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,717,679.106223554,663.893776446,637.893776446,881.106223554,789,803.106223554,654,633,655,0.405189577373,-0.00552837399134,0.0699833709989,0.999999998902,-3.37669706045e-05,-1.00430741028e-05,-3.08934384977e-05,1793237449875302656
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,717,679,664,637.528908547,881,789.471091453,803,653.528908547,633,655,0.405571702282,-0.00552693985431,0.0699856897021,0.999999998972,-3.15133843494e-05,-6.91409674111e-06,-3.18628332824e-05,1793237449891969024
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746.047791145,717,679,664,637,881,789.952208855,803,653,633,654.952208855,0.405957286736,-0.0055253148009,0.0699866206735,0.999999999094,-2.63728832092e-05,-7.08730525513e-06,-3.26525984699e-05,1793237449908635904
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746.623371855,717,679,664,637,881,789.376628145,803,653,633,654.376628145,0.406369219165,-0.00552410740541,0.0699806158668,0.999999999123,-2.10799855612e-05,-1.45565104467e-05,-3.31197412003e-05,1793237449925302528
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746.796116082,717.203883918,679.203883918,663.796116082,637,881,789,803,653,633,654,0.406786822539,-0.00552330704235,0.0699712177245,0.999999998855,-1.94680607777e-05,-2.71931297284e-05,-3.42157876384e-05,1793237449941969152
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746.20626873,717.79373127,679.79373127,663.20626873,637,881,789,803,653,633,654,0.407215161299,-0.00552327721407,0.0699553958123,0.999999997795,-2.48244196978e-05,-4.96119466599e-05,-3.65023832303e-05,1793237449958636288
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,717.623884592,680,663.376115408,637,881,789,803.376115408,653,632.623884592,654,0.407703209379,-0.00552418074925,0.0699542507612,0.999999997895,-2.52968560135e-05,-4.62725824211e-05,-3.77963593769e-05,1793237449975302912
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,717.045513801,680,663.954486199,637,881,789,803.954486199,653,632.045513801,654,0.408223366025,-0.00552558619897,0.0699609981661,0.999999998566,-2.31429715855e-05,-2.90818020012e-05,-3.85565561317e-05,1793237449991969792
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,717,680,663.470394861,637,881,789,804,653,632.529605139,654,0.408766816912,-0.00552841731505,0.0699757094369,0.999999998853,-2.73158272978e-05,-4.6806674834e-06,-3.9069731239e-05,1793237450008635904
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881,789,804,653,633,654,0.409307320062,-0.00553099477055,0.0699871633702,0.999999998619,-3.11479110431e-05,1.45512525074e-05,-3.97471722607e-05,1793237450025302528
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881,789,804,653,633,654,0.409825586459,-0.00553188138656,0.0699808836794,0.999999998638,-3.10114773231e-05,7.72889169391e-06,-4.12594420474e-05,1793237450041969920
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,717,679.72339988,663.27660012,637,881,789,804,653,633,654,0.410371303942,-0.00553225733866,0.0699746978077,0.999999998666,-2.99718837212e-05,-1.8133821008e-06,-4.20225709356e-05,1793237450058636800
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,717,679.140637467,663.859362533,637,881,789,804,653,633,654,0.410947406465,-0.00553206804875,0.0699686157812,0.999999998627,-2.79326032579e-05,-1.4366265701e-05,-4.19564932304e-05,1793237450075303168
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,717,679.435518063,664,637,881.435518063,789,804,653,633,654,0.411573572456,-0.00553265232968,0.0699771066744,0.999999998616,-3.09559715159e-05,8.59939394154e-07,-4.25317504923e-05,1793237450091970048
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,717,680,663.990399566,637,882,789,804,653,632.990399566,654,0.412216065214,-0.00553347007055,0.069990477436,0.999999998114,-3.55173174539e-05,2.52224558417e-05,-4.3288551934e-05,1793237450108636416
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,717,680,663.414637217,637,882,789,804,653,632.414637217,654,0.41288225889,-0.00553354425285,0.0700182554924,0.999999996184,-3.58077421432e-05,6.72732163061e-05,-4.27207824137e-05,1793237450125303296
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746.164870356,717,680,663.164870356,637,881.835129644,789,804,653,632,654,0.413542569496,-0.00553323145699,0.0700394757995,0.999999993594,-3.58071081362e-05,9.86119007322e-05,-4.24847793161e-05,1793237450141970176
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746.754015801,717,680,663.754015801,637,881.245984199,789,804,653,632,654,0.414187740652,-0.00553192281692,0.0700438204842,0.999999993215,-3.50574678385e-05,0.00010238427496,-4.31025395319e-05,1793237450158636288
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746.661610727,717,680,664,637,881,789,804,653,632,654,0.414825288608,-0.00553065548072,0.0700212991675,0.999999996642,-3.30370651662e-05,6.03802703578e-05,-4.44810403156e-05,1793237450175302400
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746.080657918,717,680,664,637,881,789,804,653,632,654,0.415457372088,-0.00552941775194,0.069979519816,0.999999998366,-3.01057569763e-05,-1.44370691189e-05,-4.64048534438e-05,1793237450191969280
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,717,680,664,637,881.494763529,789,804,653,632.494763529,654,0.416159599483,-0.00552767327394,0.0699542656782,0.999999996882,-3.76300361521e-05,-4.81968110943e-05,-4.99777406502e-05,1793237450208635904
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,717,679.929239185,663.929239185,637,881.929239185,789,804,653,633,654,0.416876764222,-0.0055264679939,0.0699380267058,0.999999995329,-4.56408120274e-05,-6.65365891224e-05,-5.32115969928e-05,1793237450225302528
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,717,679.342541449,663.342541449,637,881.342541449,789,804,653,633,654,0.41762038639,-0.00552978984473,0.0699680943595,0.999999997423,-4.49081649148e-05,-2.07085146036e-05,-5.20349865086e-05,1793237450241969152
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,717,679,663.240970934,637,881.240970934,789,804,653,633,654,0.418365427437,-0.00553194868804,0.0699932913251,0.999999997481,-4.61670969147e-05,1.69924240477e-05,-5.11611816087e-05,1793237450258635776
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,717,679,663.820014475,637,881.820014475,789,804,653,633,654,0.419112459222,-0.00553247587865,0.0700116549139,0.999999996516,-5.02201349426e-05,4.3291321833e-05,-5.07122007905e-05,1793237450275302400
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,717,679.400348661,663.599651339,637,882,789,804.400348661,653,633,654,0.419876018957,-0.00553325974003,0.0700209809321,0.999999995874,-5.1901476548e-05,5.45637628878e-05,-5.08115981692e-05,1793237450291969024
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,717,679.981264927,663.018735073,637,882,789,804.981264927,653,633,654,0.420647033179,-0.00553415936652,0.0700262307712,0.999999995569,-5.25131214722e-05,5.90588816188e-05,-5.1158328339e-05,1793237450308635648
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746.554800621,717,680,663.554800621,637,882,789,804.445199379,653,632.445199379,654,0.421430901227,-0.00553527248363,0.0700302849147,0.999999994812,-5.90463223376e-05,6.47818261501e-05,-5.18943536314e-05,1793237450325302272
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746.868539618,717,680,664,637,881.868539618,789,804,653,632,654,0.422198393651,-0.00553610809397,0.0700260499196,0.999999994905,-6.41338076765e-05,5.71794155701e-05,-5.29803270969e-05,1793237450341968896
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746.280166785,717,680,664,637,881.280166785,789,804,653,632,654,0.422907480987,-0.00553595445489,0.0699931431393,0.999999996453,-6.3510579806e-05,3.12029618068e-06,-5.5237511938e-05,1793237450358635776
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746.303384588,717,680.303384588,664,637,881.303384588,789,804.303384588,653,632.303384588,654.303384588,0.423618367266,-0.00553397741524,0.0699479047523,0.999999993764,-6.56336948134e-05,-6.85623110671e-05,-5.88481224443e-05,1793237450375302400
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746.882553106,717,680.882553106,664,637,881.882553106,789,804.882553106,653,632.882553106,654.882553106,0.424330888788,-0.00553034286036,0.0698914566383,0.999999983295,-7.02533017186e-05,-0.000156265091928,-6.36890292704e-05,1793237450391969024
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746.539480356,717,680.539480356,664,637,882,789,804.539480356,653,632.539480356,654.539480356,0.425142315764,-0.0055311299229,0.0699099890769,0.99999998805,-7.26840133261e-05,-0.00012007874652,-6.47929644881e-05,1793237450408635648
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716.962099912,680.037900088,664,637,881.962099912,789,804.037900088,653,632.037900088,654,0.425978652465,-0.00553322346106,0.0699482019923,0.999999993741,-7.4707955836e-05,-5.25152693582e-05,-6.46387822677e-05,1793237450425302272
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716.388681344,680.611318656,664,637,881.388681344,789,804.611318656,653,632.611318656,654,0.426811475764,-0.00553788522802,0.0699950039737,0.999999994997,-7.88515630655e-05,1.31234666055e-05,-6.01389439088e-05,1793237450441968896
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746.190396649,716.190396649,681,664,637,881.190396649,789,804.809603351,653,633,654.190396649,0.427623757113,-0.00554085646335,0.0700299507763,0.999999993452,-7.89951984523e-05,6.02183108768e-05,-5.68283385136e-05,1793237450458635520
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.781382004,716.781382004,681,664,637,881.781382004,789,804.218617996,653,633,654.781382004,0.428392818985,-0.00554027087286,0.0700399546552,0.999999993598,-7.07230172031e-05,6.82973884483e-05,-5.60198423952e-05,1793237450475302144
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746.635201233,717,680.635201233,664,637,881.635201233,789,804.364798767,653,633,654.635201233,0.429161653121,-0.00554103013625,0.0700441331264,0.999999992884,-7.26638499052e-05,7.56323145718e-05,-5.6842477925e-05,1793237450491968768
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746.056228048,717,680.056228048,664,637,881.056228048,789,804.943771952,653,633,654.056228048,0.429930353508,-0.00554257896729,0.0700448914832,0.999999991628,-8.06007733033e-05,8.25303467275e-05,-5.86227556369e-05,1793237450508635392
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746.518828892,717,680.518828892,664,637,881,789,804.481171108,653,633,654,0.430650648942,-0.00554109796656,0.0700146042461,0.999999994544,-7.8070857923e-05,3.4421450185e-05,-6.02641800087e-05,1793237450525302272
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746.904295408,717,680.904295408,664.095704592,637,881,789,804.095704592,653,633,654,0.431360138743,-0.00553935456371,0.0699784543728,0.999999994917,-7.57292392964e-05,-2.39459549277e-05,-6.21058308828e-05,1793237450541968896
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746.315887824,717,680.315887824,664.684112176,637,881,789,804.684112176,653,633,654,0.432040803695,-0.0055379380475,0.0699293142487,0.999999989194,-8.01530388074e-05,-0.000104665643427,-6.50551716068e-05,1793237450558635776
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.731677904,746,717,680.268322096,664.731677904,637,881.536644193,789,804.731677904,653,633,654,0.432771778921,-0.00553913297764,0.069920745786,0.999999987768,-8.30525946441e-05,-0.000115154224397,-6.56172687794e-05,1793237450575302400
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.152333691,746,717,680.847666309,664.152333691,637,882.695332618,789,804.152333691,653,633,654,0.433561070608,-0.00554335493243,0.0699592054475,0.999999993467,-8.41853428375e-05,-4.4235312546e-05,-6.34122231445e-05,1793237450591969024
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.425372557,746,717,681,664,637,882.574627443,789,804.425372557,653,633,654,0.434324561817,-0.00554783383206,0.0700044498411,0.999999993851,-8.75339745178e-05,2.98071545003e-05,-6.12181257883e-05,1793237450608635392
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.997516827,746.002483173,717,680.997516827,664,637,882,789,805,653,633,654,0.435078534356,-0.00555238390508,0.070051864471,0.999999988587,-9.16626193902e-05,0.000104585759069,-5.90407765359e-05,1793237450625302016
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.42301943,746.57698057,717,680.42301943,664,637,882,789,805,653,633,654,0.435760048174,-0.00555221382427,0.0700416476875,0.999999989596,-9.33745411369e-05,9.22483051636e-05,-5.98218392582e-05,1793237450641968896
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.155643242,747,717,680.155643242,664,637,882,789,805,653,633,654,0.436435197523,-0.00555212532537,0.0700289381706,0.999999990912,-9.37544423094e-05,7.54843546771e-05,-6.07291625193e-05,1793237450658635776
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.745938052,747,717,680.745938052,664,637,882,789,805,653,633,654,0.43709257352,-0.00555226465324,0.0700092674083,0.999999992917,-9.04145239383e-05,4.63589030083e-05,-6.19890829549e-05,1793237450675302400
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,747,716.669895412,681,664,637,881.669895412,789,805,653,633,654,0.437736509524,-0.00555126489868,0.0699905657213,0.999999993553,-9.06061559016e-05,2.54086434938e-05,-6.35482739674e-05,1793237450691968768
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,747,716.090359514,681,664,637,881.090359514,789,805,653,633,654,0.438370290057,-0.00554940443865,0.0699725962812,0.999999993441,-9.34662733482e-05,1.06356670115e-05,-6.53335976529e-05,1793237450708635648
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746.559024314,716,681,664,637,881.440975686,789,804.559024314,652.559024314,633,654,0.43894407125,-0.00554840496635,0.0699507474123,0.999999993071,-9.33489701371e-05,-2.68171313542e-05,-6.65205304541e-05,1793237450725302528
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746.036592639,716,681,664,637,881.963407361,789,804.036592639,652.036592639,633,654,0.439506769499,-0.00554756453369,0.0699281819447,0.999999991077,-9.26816846292e-05,-6.84592926993e-05,-6.75969297788e-05,1793237450741969408
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746.608790078,716.608790078,681.608790078,664,637,882,789,804.608790078,652.608790078,633,654,0.440095329128,-0.00554722054897,0.0699155469975,0.999999989942,-9.01348576403e-05,-8.60477630147e-05,-6.77319825078e-05,1793237450758635776
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746.766925856,717,682,664.233074144,637,882,789,805,653,633,654,0.440693024694,-0.00554813723842,0.0699238864548,0.999999991267,-8.93393595431e-05,-7.08059439334e-05,-6.68581768702e-05,1793237450775302144
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746.187726483,717,682,664.812273517,637,882,789,805,653,633,654,0.441301394843,-0.00555087055557,0.0699622630749,0.999999993696,-9.13548898658e-05,-9.50015031623e-06,-6.4591463265e-05,1793237450791968768
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,716.610292204,682,665,637,882.389707796,789,805,653,633,654,0.441882177619,-0.00555518066656,0.0700002084825,0.999999992336,-9.50980980017e-05,4.82165965259e-05,-6.29260482582e-05,1793237450808635648
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,716.033704307,682,665,637,882.966295693,789,805,653,633,654,0.442449731228,-0.005560246912,0.0700379471103,0.999999987709,-9.96697951372e-05,0.000104212260662,-6.15489791129e-05,1793237450825302272
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746.540535808,716.540535808,682,664.459464192,637,882.459464192,789,805,653,633,654,0.44289874861,-0.00556182975053,0.0700181821028,0.99999999063,-0.000103756507918,6.40893996426e-05,-6.21823272805e-05,1793237450841969920
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,747,716.881889812,681.881889812,664,637,882.118110188,789,805,653,633,654,0.443335673693,-0.00556266826483,0.0699922693915,0.999999992259,-0.000106328980375,1.52845752691e-05,-6.27965418663e-05,1793237450858637312
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,747,716.290366513,681.290366513,664,637,882.709633487,789,805,653,633,654,0.443753627495,-0.00556139018857,0.0699560248268,0.999999991741,-0.000102952713745,-4.44008294189e-05,-6.28337797533e-05,1793237450875302912
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746.706505936,716.293494064,681.293494064,664,637,883,788.706505936,805,653,633,654,0.444162145011,-0.00555967392712,0.0699250198436,0.999999988713,-9.8811169383e-05,-9.38090631876e-05,-6.33253474706e-05,1793237450891969024
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746.130033564,716.869966436,681.869966436,664,637,883,788.130033564,805,653,633,654,0.444561564312,-0.00555753518053,0.0698990667124,0.999999984639,-9.39317671795e-05,-0.000133308348752,-6.42549666753e-05,1793237450908635648
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746.4394301,716.5605699,682,664,636.5605699,882.5605699,788.4394301,805,653,633,654,0.444943861277,-0.00555944663713,0.0698872759915,0.999999981874,-9.621041045e-05,-0.00015097899925,-6.4821334254e-05,1793237450925302528
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.992776868,746.992776868,716.007223132,682,664,636,882,788.992776868,805,653,633,654,0.445320983823,-0.00556254354685,0.0698796677599,0.999999979662,-0.0001006212218,-0.000162140065221,-6.52836838979e-05,1793237450941969152
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.394650294,746.394650294,716.605349706,682,664,636,882,788.394650294,805,653,633,654,0.445682790877,-0.00556611138249,0.0698767573043,0.999999978955,-0.000108897822474,-0.000160899954829,-6.58921263328e-05,1793237450958636032
+209,3.483333333,POSE1_TO_POSE2_PRESS,766.19716722,746,716.80283278,682,663.80283278,636,882,788.19716722,805,653,633,654,0.446031602367,-0.00556829537083,0.0698739380788,0.999999977958,-0.000113569673453,-0.000163748366674,-6.61296418104e-05,1793237450975302912
+210,3.500000000,POSE1_TO_POSE2_PRESS,766.776747994,746,716.223252006,682,663.223252006,636,882,788.776747994,805,653,633,654,0.446355208409,-0.00556779533262,0.0698712957979,0.999999976427,-0.000111249970116,-0.000174526627839,-6.56477298435e-05,1793237450991970048
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,746.355334254,716,682,663,636,882.355334254,788.644665746,805.355334254,653,633,654,0.446648522546,-0.00556791822756,0.0698634814723,0.999999973607,-0.000110305188926,-0.000190667355645,-6.5302029707e-05,1793237451008636672
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,746.933297474,716,682,663,636,882.933297474,788.066702526,805.933297474,653,633,654,0.446922857809,-0.00556843141119,0.0698524266848,0.999999969725,-0.000110221842857,-0.00021016785174,-6.504167084e-05,1793237451025303040
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,747,716.507159925,682,663,636,882.492840075,788,805.492840075,653,633,654,0.447166322329,-0.00556765091983,0.0698398387915,0.999999964662,-0.000109205530764,-0.000233342540086,-6.5587090027e-05,1793237451041969408
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,747,717,682,663,635.919251503,882.080748497,788,805,653,633,654,0.447402677772,-0.00556696881534,0.0698273001702,0.99999995915,-0.000108122529692,-0.000256198256729,-6.6116374522e-05,1793237451058636032
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,747,717,682,663,635.344063703,882.655936297,788,805,653,633,654,0.447620164845,-0.00556792263671,0.0698162880037,0.99999995448,-0.00010737650089,-0.000274165638625,-6.5903148177e-05,1793237451075302656
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+217,3.616666667,POSE1_TO_POSE2_PRESS,767,747,717,682,663,635,882.165249329,788,805,653,633,654.834750671,0.448037495306,-0.00557224448622,0.0698079497487,0.999999950073,-0.000113292094945,-0.00028762021435,-6.55300107451e-05,1793237451108635648
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,746.584955501,716.584955501,682.415044499,663,635,882.415044499,788,804.584955501,653,632.584955501,654.584955501,0.448223694045,-0.0055722969328,0.0698107580336,0.999999951676,-0.000111801120946,-0.000282659412628,-6.52074112918e-05,1793237451125302272
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+220,3.666666667,POSE1_TO_POSE2_PRESS,767,746,716,682.435626849,662.435626849,635,883,788,804.564373151,653,632.564373151,654,0.448549549101,-0.00557306487911,0.0698136688774,0.999999952987,-0.000111258325285,-0.000278401852208,-6.434746204e-05,1793237451158636032
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,746.142851234,716,682,662,635,883,788,805,653,633,654,0.44868727691,-0.0055741464417,0.0698105654158,0.999999951181,-0.000112829553585,-0.000284284100919,-6.39535427319e-05,1793237451175302656
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,746.732606533,716,682,662,635,883,788,805,653,633,654,0.448798371039,-0.00557306473861,0.0698026464876,0.999999947817,-0.000108693440427,-0.000297449377542,-6.38371197171e-05,1793237451191969280
+223,3.716666667,POSE1_TO_POSE2_PRESS,767,747,716,682.316959458,662,635,883,787.683040542,804.683040542,653,633,654,0.448904523491,-0.00557270112045,0.0697962291637,0.999999944771,-0.000108544203043,-0.000307546263944,-6.39578090703e-05,1793237451208635904
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,747,716,682.896831273,662,635,883,787.103168727,804.103168727,653,633,654,0.44900657692,-0.00557293314113,0.0697910573936,0.999999942052,-0.0001117020093,-0.000315097975506,-6.42751789988e-05,1793237451225302784
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+226,3.766666667,POSE1_TO_POSE2_PRESS,767,747,716.951623588,682.951623588,662.951623588,635,882.048376412,787.951623588,805,653,632.048376412,654,0.449175343121,-0.00557597827207,0.0697914607441,0.999999941516,-0.000120918271335,-0.000313336588785,-6.45538003974e-05,1793237451258636032
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,747,716.364011614,682.364011614,662.364011614,635,882.635988386,787.364011614,805,653,632.635988386,654,0.449241964605,-0.00557751764377,0.0697943247187,0.999999942045,-0.000121648373296,-0.000311514195447,-6.38064939678e-05,1793237451275303424
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,747,716,682.220509093,662,635,882.779490907,787,805,652.779490907,632.779490907,654,0.449301496777,-0.00557810267399,0.0697952064852,0.999999942113,-0.00012074854578,-0.000311768165186,-6.31963521258e-05,1793237451291970304
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,747,716,682.799997316,662,635,882.200002684,787,805,652.200002684,632.200002684,654,0.449349487857,-0.00557713407806,0.0697928613039,0.999999941421,-0.00011719526453,-0.000315402363038,-6.280950826e-05,1793237451308636672
+230,3.833333333,POSE1_TO_POSE2_PRESS,767,747,716,682.622238343,662,635,882.377761657,787.377761657,805,652.377761657,632.377761657,654,0.449390315619,-0.00557504030206,0.0697911259476,0.999999941072,-0.000115318194195,-0.000317174808063,-6.29091590513e-05,1793237451325303040
+231,3.850000000,POSE1_TO_POSE2_PRESS,767,747,716,682.04538257,662,635,882.95461743,787.95461743,805,652.95461743,632.95461743,654,0.449427368053,-0.00557235351531,0.0697897119914,0.999999940913,-0.000114324548024,-0.000317966041598,-6.3265210214e-05,1793237451341969152
+232,3.866666667,POSE1_TO_POSE2_PRESS,767,747,716.53013381,682,662.53013381,634.46986619,882.46986619,787.46986619,805,653,632.46986619,654,0.449453517427,-0.00557378225047,0.0697881564068,0.99999993995,-0.000116962868953,-0.000320073694142,-6.30246678228e-05,1793237451358636032
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,747,717,682,662.89174258,634.10825742,882.10825742,787,805,653,632,654,0.449476760073,-0.00557451773882,0.0697867389968,0.999999939094,-0.000118610146598,-0.00032218409957,-6.27839505121e-05,1793237451375302656
+234,3.900000000,POSE1_TO_POSE2_PRESS,767,747,717,682,662.301502039,634.698497961,882.698497961,787,805,653,632,654,0.449491206448,-0.00557060214437,0.0697859906104,0.999999939054,-0.000114464327935,-0.000323806293094,-6.27692635846e-05,1793237451391969024
+235,3.916666667,POSE1_TO_POSE2_PRESS,767,747,716.716515989,682,662,635,883,787,805,653,632,654.283484011,0.449504120518,-0.00556911055971,0.0697853263416,0.999999938795,-0.000113024215,-0.000325155885657,-6.25168734279e-05,1793237451408635392
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,747,716.137016629,682,662,635,883,787,805,653,632,654.862983371,0.449515434551,-0.00557015013706,0.0697847499088,0.999999938322,-0.000114409412305,-0.000326220827206,-6.20162724313e-05,1793237451425302016
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,747,716,682.439562469,662,635,882.560437531,787.439562469,805,653,632,655,0.449521530841,-0.00557099298642,0.069783268893,0.999999937518,-0.000114997746152,-0.00032847518,-6.19898327754e-05,1793237451441968896
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,747,716,682.984463425,662,635,882.015536575,787.984463425,805,653,632,654.984463425,0.449525976535,-0.00557172741727,0.0697815413125,0.999999936633,-0.000115282799925,-0.000331038860428,-6.21050233771e-05,1793237451458635264
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,747,716,682.397480272,662,635,882.602519728,787.397480272,805,653,632,654.397480272,0.449529138624,-0.00557071473321,0.0697810474669,0.999999936712,-0.000113488714398,-0.000331433273277,-6.20291094776e-05,1793237451475302144
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,747,716.187181735,682,662,634.812818265,882.812818265,787,805,653,632.187181735,654,0.449531641515,-0.00557046302463,0.0697806004185,0.999999936552,-0.000113394686041,-0.00033198206936,-6.18565792717e-05,1793237451491969024
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,747,716.766975125,682,662,634.233024875,882.233024875,787,805,653,632.766975125,654,0.449532761748,-0.00557180745391,0.0697802515269,0.999999935885,-0.000116866509239,-0.000332854682574,-6.14813974167e-05,1793237451508635648
+242,4.033333333,POSE1_TO_POSE2_PRESS,767.344611619,746.655388381,717,682,662.344611619,634.344611619,882.344611619,787,805,653,632.655388381,654,0.449533869677,-0.00557207480955,0.0697799215433,0.999999935619,-0.000118127619822,-0.000333198447751,-6.15353143794e-05,1793237451525302016
+243,4.050000000,POSE1_TO_POSE2_PRESS,767.920798677,746.079201323,717,682,662.920798677,634.920798677,882.920798677,787,805,653,632.079201323,654,0.449534969338,-0.0055716183828,0.0697796042656,0.999999935628,-0.000117903154276,-0.000333186832486,-6.18775813203e-05,1793237451541968640
+244,4.066666667,POSE1_TO_POSE2_PRESS,767.503463496,746.496536504,717,682,662.503463496,634.503463496,882.503463496,787.496536504,805,653,632.496536504,654,0.449534129691,-0.00556948665988,0.0697771818537,0.999999935035,-0.000113558544484,-0.000336458339643,-6.18870981e-05,1793237451558635520
+245,4.083333333,POSE1_TO_POSE2_PRESS,767,747,717,682,661.925964598,634.074035402,882,787.925964598,805,653,632.925964598,654,0.449533294494,-0.00556752955211,0.0697750228997,0.999999934435,-0.000109571379825,-0.000339560559669,-6.18222471824e-05,1793237451575302400
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+247,4.116666667,POSE1_TO_POSE2_PRESS,767,747,716.750032296,682,661.249967704,634.750032296,882.249967704,787,805,653,632,654,0.449535684048,-0.00556893458433,0.069778030804,0.999999934841,-0.000114083123759,-0.000336951000773,-6.13747085537e-05,1793237451608635392
+248,4.133333333,POSE1_TO_POSE2_PRESS,767,747,716.170472986,682,661.829527014,634.170472986,882.829527014,787,805,653,632,654,0.449536311197,-0.00556811103324,0.0697776673183,0.999999934866,-0.000113328183056,-0.000337180043386,-6.11141321998e-05,1793237451625302016
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+250,4.166666667,POSE1_TO_POSE2_PRESS,767,746.019236799,716.980763201,682,662.980763201,634,882.019236799,787,805,653,632,654,0.449534022943,-0.00556653818702,0.0697759808946,0.999999934551,-0.000107252198915,-0.000340200264235,-6.04796086706e-05,1793237451658635520
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+255,4.250000000,POSE1_TO_POSE2_PRESS,767,747,717,683,662,634.113850857,882,787,805.886149143,653,633,654.113850857,0.449535137364,-0.00556740594769,0.0697752052601,0.999999933668,-0.00011022745331,-0.00034181974175,-6.06074981255e-05,1793237451741968896
+256,4.266666667,POSE1_TO_POSE2_PRESS,767,747,717,683,662,634.463170356,882.463170356,787,805.536829644,653,632.536829644,654,0.449536094352,-0.00556705715069,0.0697758416211,0.999999933834,-0.000110868232634,-0.000341149240943,-6.04719265538e-05,1793237451758635520
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+261,4.350000000,HOLD_POSE2,767,747,716,682,662,635,883,788,804,653,632,654,0.449535815285,-0.0055676386994,0.069773248964,0.999999933154,-0.00011050440177,-0.000343228296995,-6.06234813053e-05,1793237451860217600
+262,4.366666667,HOLD_POSE2,767,746.425164389,716.574835611,682,662,635,883,788,804.574835611,653,632,654,0.449537293294,-0.00556770160225,0.0697738751432,0.999999933452,-0.000110743312137,-0.000342299450353,-6.05302370898e-05,1793237451876884224
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+275,4.583333333,HOLD_POSE2,767,747,716,682.11895229,661.23790458,634,883,787,804.88104771,653,633,654,0.449535946408,-0.00556395298952,0.0697716229972,0.999999932084,-0.000108716512758,-0.000347003307806,-6.00132435126e-05,1793237452093552128
+276,4.600000000,HOLD_POSE2,767,747,716,682.707013094,662.414026188,634,883,787,804.292986906,653,633,654,0.449536262046,-0.00556382510817,0.0697717692546,0.999999932242,-0.000108851046014,-0.000346465187247,-6.02407012879e-05,1793237452110218496
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767,747,716,682,662,634,883,787,805,653,632,654,0.449538039119,-0.0055672059832,0.0697737907842,0.999999932401,-0.000113806734113,-0.000344339163412,-6.06294825728e-05,1793237452147304704
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,747,716,682,662,634,883,787,805,653,632.576455758,654.576455758,0.449537006586,-0.00556585431132,0.0697725815135,0.999999932158,-0.000111329438033,-0.000345876446305,-6.04950395443e-05,1793237452163971072
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,747,716,682.939527409,662.060472591,635,882,787,804.939527409,653,632.939527409,654,0.449536257344,-0.00556648073221,0.0697720231422,0.999999932015,-0.000109714038306,-0.000346935372021,-5.97432003461e-05,1793237452263971840
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746.543475356,716,682,662,634,882.456524644,787.456524644,805,653,632.456524644,654.543475356,0.449464817006,-0.0055611231204,0.0697344927099,0.99999991043,-0.000105317905246,-0.000405225859651,-6.19669671921e-05,1793237452363970816
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,747,716.694982012,682.694982012,661.305017988,634,882.694982012,787,805,653,632,654.305017988,0.449365722026,-0.00555930790472,0.0696930473935,0.999999880311,-0.000103564462391,-0.000474010038485,-6.2979775948e-05,1793237452397303808
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746.972144471,717,682,661.027855529,634,882.972144471,787.972144471,804.027855529,652.972144471,632,654,0.449096539144,-0.00555247963352,0.0696553537613,0.999999850383,-0.000101026645889,-0.000534077225602,-6.15589648038e-05,1793237452463970304
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746.340193212,716,682.340193212,662,635,883,787.340193212,804,653,632.659806788,654,0.448048451746,-0.00552983942075,0.0696561362187,0.99999984673,-7.9143492224e-05,-0.000546302850331,-4.27639585045e-05,1793237452597303808
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,747,716.993046367,682,662,635,882,787.006953633,805,653,632.993046367,654.006953633,0.447180100014,-0.00550683465832,0.0696643027732,0.999999851236,-4.86383331777e-05,-0.000542592719881,-2.74907093954e-05,1793237452663970560
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+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,746.251895722,716.251895722,681.251895722,664,637,882,789,805,653,633,654,0.437082161334,-0.00542215218546,0.0697482576495,0.999999921373,0.000100278468302,-0.000383410179849,1.39286753085e-05,1793237453030638080
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,664,636.658655419,882,789,805,653,633,654,0.436443462656,-0.00542403743443,0.0697764674524,0.999999937583,0.000101147632271,-0.000338132442681,1.63965283123e-05,1793237453047304960
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,664,636.07904167,882,789,805,653,633,654,0.435803030966,-0.00542443653344,0.0698158728931,0.99999995622,0.000104913958604,-0.000275982394658,1.96779285142e-05,1793237453063971584
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,664,636.497425654,882,788.502574346,804.502574346,653,633,654,0.435125331289,-0.00542671039258,0.0698351058419,0.999999961855,0.000100340725685,-0.000256453267992,2.1302802341e-05,1793237453080638464
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,681.073515639,663.926484361,636.926484361,881.926484361,788.073515639,804,653,633,654.073515639,0.434435067344,-0.00542859242144,0.0698477203979,0.999999964366,9.59487319792e-05,-0.000248091260081,2.26418451483e-05,1793237453097305088
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,681.650423548,663.349576452,636.349576452,881.349576452,788.650423548,804,653,633,654.650423548,0.433699066028,-0.00542576438498,0.0698368270611,0.999999958053,0.000101814705925,-0.000270112353486,2.38147615759e-05,1793237453113971200
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746.2311087,716,681.7688913,663,636.2311087,881.2311087,788.7688913,804,652.7688913,633,654.7688913,0.432968390506,-0.00542346160793,0.0698315181716,0.999999955346,0.000107054300486,-0.000277926179915,2.45798152038e-05,1793237453130637824
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746.817602354,716,681.182397646,663,636.817602354,881.817602354,788.182397646,804,652.182397646,633,654.182397646,0.432245904556,-0.00542196654255,0.0698347967049,0.999999958678,0.00011133068773,-0.00026389293553,2.4717682322e-05,1793237453147304960
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746.599474161,716.400525839,681,663.400525839,637,881.599474161,788.400525839,804,652.400525839,633,654,0.43147340834,-0.00541888871575,0.0698202378504,0.999999951544,0.000113027222984,-0.000288990966195,2.49365269271e-05,1793237453163971328
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,746.018162187,716.981837813,681,663.981837813,637,881.018162187,788.981837813,804,652.981837813,633,654,0.430678338936,-0.00541509647492,0.0697976276988,0.999999938205,0.000113559284944,-0.000331751757941,2.51919224546e-05,1793237453180637696
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746.555570875,717,681,663.444429125,637,881.555570875,789,804,653,633,654,0.429895738013,-0.00541213165595,0.0697604585903,0.999999918081,0.000118925763036,-0.000386236522135,2.27229693146e-05,1793237453197305088
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746.870295107,717,681,663,637,882,789,804,653,633,654,0.429127322322,-0.00541038904548,0.0697418495613,0.999999906907,0.000123137159233,-0.000412991779863,2.14796841431e-05,1793237453213972224
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,746.293938678,717,681,663,637,882,789,804,653,633,654,0.428406370164,-0.00541276333684,0.0697887709049,0.99999993334,0.000122834008866,-0.000342955696685,2.4759672744e-05,1793237453230638080
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746,717,681,663.289647183,637,882,789,804.289647183,653,633,654,0.427677240236,-0.00541314477285,0.0698336477065,0.99999995423,0.000123798917094,-0.000274680220651,2.76472819659e-05,1793237453247304192
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746,717,681,663.880757357,637,882,789,804.880757357,653,633,654,0.42693959898,-0.00541145205721,0.0698763965585,0.999999969916,0.000126083612921,-0.000208237178294,3.01265049698e-05,1793237453263971072
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,746,717,681,663.53754277,637,882,789,804.53754277,653,633,654,0.426154649637,-0.00541007922776,0.0698735347587,0.999999967344,0.000129655541363,-0.000217977727409,3.14281673131e-05,1793237453280637696
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746,717,681,663,636.958705408,881.958705408,789,804.041294592,653.041294592,633,654,0.425359004866,-0.0054087508721,0.0698589637185,0.999999960183,0.000133227854628,-0.000246664771747,3.22583725363e-05,1793237453297304064
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,717,681,663,636.386102262,881.386102262,789,804.613897738,653.613897738,633,654,0.424579565964,-0.00540695466545,0.0698420347788,0.999999953895,0.000132619858151,-0.000271422732923,3.08513429376e-05,1793237453313970944
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,717,681,663,636.192170984,881.192170984,789,805,653.807829016,633,654.192170984,0.423782199773,-0.00540443470901,0.0698192684489,0.999999943552,0.000134374524643,-0.000306508892357,2.9847573648e-05,1793237453330637824
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,717,681,663,636.78218283,881.78218283,789,805,653.21781717,633,654.78218283,0.422947719574,-0.00540041641348,0.0697844172927,0.99999992374,0.000141020480134,-0.00036297694833,2.96786513747e-05,1793237453347304448
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767.365763876,746,717,680.634236124,663.365763876,637,882,788.634236124,804.634236124,653,633.365763876,654.634236124,0.422130696137,-0.00539741270373,0.0697507873377,0.99999990158,0.00014629597392,-0.000417934904823,2.7727438729e-05,1793237453363971328
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767.94558143,746,717,680.05441857,663.94558143,637,882,788.05441857,804.05441857,653,633.94558143,654.05441857,0.42132388886,-0.00539500275384,0.0697178720606,0.999999876932,0.000150769440509,-0.000472009111464,2.47331875462e-05,1793237453380638208
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767.480800933,746,717,680.519199067,663.480800933,637,882,788.519199067,804,653,633.480800933,654,0.420624717966,-0.00539817711125,0.0697628663825,0.999999910238,0.000143920255623,-0.000397679793399,2.57139640799e-05,1793237453397304576
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,717,681,663,637,882,789,804,653,633,654,0.41993731883,-0.00540139697578,0.0698152959576,0.999999941647,0.000138095709992,-0.000311256018644,2.74832208973e-05,1793237453413970688
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,746,717,681,663,637,882,789,804,653,633,654,0.419253170679,-0.00540183717141,0.0698644169549,0.999999962475,0.000143733200788,-0.000231117930933,3.12177550455e-05,1793237453430637312
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746,717,680.749301294,663,637,881.749301294,789,804,653,633,654,0.418534935579,-0.0054016480163,0.0698876574442,0.999999969273,0.000148209954846,-0.000195835245078,3.37003345548e-05,1793237453447303936
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,717,680.154495525,663,637,881.154495525,789,804,653,633,654,0.417769913061,-0.00540059501932,0.0698753745486,0.999999963323,0.000151093491309,-0.000222120737131,3.44644909263e-05,1793237453463970816
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,746.427417182,717,680,663,637,881,789,804,653,633,654,0.417019418393,-0.00539855740653,0.0698468177558,0.999999952966,0.000155082439004,-0.000262537097082,3.30433089198e-05,1793237453480637696
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746.995210702,716.995210702,680,663.004789298,637,881,789,804,653,633,654,0.416274315627,-0.00539617916568,0.0698127725328,0.999999939501,0.000159436020785,-0.000307611065793,3.0869805215e-05,1793237453497304320
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746.419832613,716.419832613,680,663.580167387,637,881,789,804,653,633,654,0.415564292939,-0.00539437909491,0.069805144814,0.99999993637,0.000161021856754,-0.000316870116789,3.04199252617e-05,1793237453513971456
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767.159342059,746,716,679.840657941,664,637,881,789,804,653,633,654.159342059,0.414856876721,-0.00539157793694,0.069794883135,0.999999930555,0.000163963463863,-0.000333332249552,2.99320438905e-05,1793237453530638336
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767.748764212,746,716,679.251235788,664,637,881,789,804,653,633,654.748764212,0.414156495469,-0.00538607474447,0.0697775121334,0.999999916856,0.000170564432607,-0.000369236219513,2.93415927862e-05,1793237453547304704
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767.667454851,746,716.332545149,679.332545149,663.667454851,637,881,789,804.332545149,653,633,655,0.413499302278,-0.00538499701919,0.0697863817397,0.99999992173,0.00017280841497,-0.000354668104219,2.98064828418e-05,1793237453563971072
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767.08786476,746,716.91213524,679.91213524,663.08786476,637,881,789,804.91213524,653,633,655,0.412874193169,-0.0053872069359,0.0698147452699,0.999999938973,0.000171815628829,-0.000302604706471,3.10553767978e-05,1793237453580637440
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746.488286486,717,680,663.488286486,637,881,789,804.511713514,653,633,654.511713514,0.412297299136,-0.00538939667428,0.0698548932076,0.999999957071,0.000173954496684,-0.000233473951384,3.29948095786e-05,1793237453597304320
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,747,717,680,663.936179668,637,881,789,804,653,633,654,0.411725399194,-0.00539126627506,0.0698924126084,0.999999969436,0.000176460061932,-0.000169629156975,3.48702532758e-05,1793237453613971200
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,747,717,680,663.360669251,637,881,789,804,653,633,654,0.411124464861,-0.00539059802831,0.0698919743496,0.999999968742,0.000177419126373,-0.00017261698215,3.52433546746e-05,1793237453630638336
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746.780834558,717,680,663.219165442,637,880.780834558,789,804,653.219165442,633,654,0.410525488616,-0.00538913543738,0.0698804925025,0.99999996467,0.000178629006655,-0.000193787365469,3.46225218547e-05,1793237453647305216
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746.193740452,717,680,663.806259548,637,880.193740452,789,804,653.806259548,633,654,0.409929799612,-0.00538633932426,0.0698504709963,0.9999999531,0.000180259948963,-0.00024548210562,3.23331006548e-05,1793237453663972352
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,717,680,663.609493306,637,880.781013387,789,804,653.609493306,633,654,0.409341709208,-0.00538497056036,0.069823159457,0.999999940189,0.000182429260405,-0.000292256664094,3.04694053709e-05,1793237453680638976
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,717,680,663.026648336,637,881.946703328,789,804,653.026648336,633,654,0.408757361329,-0.0053843048159,0.069797182669,0.999999925845,0.00018486373758,-0.000336607864482,2.88153948415e-05,1793237453697305600
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,717,680,663,637,881.452650408,789,804.547349592,653,633,654,0.408265708331,-0.00538281973366,0.0698040238372,0.999999932266,0.000184491679953,-0.000317226885793,2.82488549404e-05,1793237453713971968
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,716.879038022,680,663,637,881,789,804.879038022,653,633,654,0.407784908233,-0.0053812939727,0.0698143028955,0.999999939172,0.00018514500421,-0.000294267813059,2.80084984122e-05,1793237453730638336
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,716.305281976,680,663,637,881,789,804.305281976,653,633,654,0.407328108865,-0.00537976288521,0.069831565133,0.999999945235,0.000190139958882,-0.000269345101922,2.87941017955e-05,1793237453747304448
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,716.277401638,679.722598362,663,637,881,789,804,653,632.722598362,654,0.406874597462,-0.00537838784613,0.0698378747417,0.999999946338,0.000192205622196,-0.000263686757355,2.91509441612e-05,1793237453763970816
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,716.870236758,679.129763242,663,637,881,789,804,653,632.129763242,654,0.406424824832,-0.00537719024982,0.0698317301119,0.999999942168,0.000190940387232,-0.000279933931174,2.90202422135e-05,1793237453780637696
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746.451170532,717,679.451170532,663,637,880.548829468,789,804,653,632.451170532,654,0.405985048725,-0.00537517932504,0.0698206221637,0.999999936401,0.000190273660207,-0.000300351362535,2.79736932601e-05,1793237453797304576
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746.971250634,717,680,663,637,880.028749366,789,803.971250634,653,633,654,0.405552769041,-0.00537309616326,0.0698096723074,0.999999930659,0.000189886266075,-0.000319230880691,2.67884334885e-05,1793237453813971456
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746.39405152,717,680,663,637,880.60594848,789,803.39405152,653,633,654,0.405210058705,-0.00537398282333,0.0698282712135,0.999999940216,0.000191628190679,-0.00028647841842,2.78529217819e-05,1793237453830637824
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,716.813495859,680,663,637,881,789,803,653,633,654,0.404878404173,-0.00537445695252,0.0698449651266,0.999999948238,0.000192747505926,-0.000256045612275,2.85197025354e-05,1793237453847304192
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,716.225718494,680,663,637,881,789,803,653,633,654,0.404570536815,-0.00537404350023,0.0698575603471,0.999999954476,0.000192527245275,-0.000230603669936,2.83307950227e-05,1793237453863970816
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767.356833164,746,716.356833164,679.643166836,663.356833164,637,881.356833164,789,803.356833164,653.356833164,633,654,0.404256996484,-0.00537349446681,0.0698637781675,0.999999956863,0.00019316512086,-0.000219451248724,2.83123342165e-05,1793237453880637696
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767.936127015,746,716.936127015,679.063872985,663.936127015,637,881.936127015,789,803.936127015,653.936127015,633,654,0.403939919418,-0.00537286090795,0.0698660201233,0.999999957124,0.000194337984799,-0.000217207348744,2.84001350794e-05,1793237453897304576
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767.488280293,746,716.488280293,679,663.488280293,637,881.488280293,788.488280293,804,653.488280293,633,654,0.403638182205,-0.00537111776532,0.0698544655251,0.999999952178,0.000196781339577,-0.000237035150124,2.71145155659e-05,1793237453913971456
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,716.086632103,679,663.086632103,637,881.086632103,788.086632103,804,653,633,654,0.403346920156,-0.00536959324187,0.0698431170512,0.999999947207,0.000198107393682,-0.000256266946218,2.58065567147e-05,1793237453930638080
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,716.660298726,679,663.660298726,637,881.660298726,788.660298726,804,653,633,654,0.403103860968,-0.00537007079631,0.0698425392199,0.99999994823,0.000192266997688,-0.000256771076217,2.53298490691e-05,1793237453947304960
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.24100489,663.75899511,637,881.75899511,789,804,653,633,654,0.402872288635,-0.00536922908929,0.0698418312269,0.999999948081,0.0001903576899,-0.000258816852369,2.48346221675e-05,1793237453963971584
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746,717,679.831931938,663.168068062,637,881.168068062,789,804,653,633,654,0.402657394421,-0.00536647190736,0.0698409342482,0.999999946245,0.00019415604617,-0.000263100990324,2.4312506637e-05,1793237453980637696
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,716.584902134,679.584902134,663,637.415097866,881.415097866,789,803.584902134,653,633,654,0.402452893247,-0.00536648077008,0.0698361173855,0.999999942871,0.000197376610859,-0.000273377513296,2.37877991731e-05,1793237453997304064
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,716.004820927,679.004820927,663,637.995179073,881.995179073,789,803.004820927,653,633,654,0.402252522859,-0.00536758901526,0.0698297425396,0.999999938748,0.000200367528417,-0.000286035748441,2.32620615379e-05,1793237454013970688
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716.570014815,679.570014815,663,637.429985185,881.429985185,789,803,653,632.429985185,654,0.402087578916,-0.0053655460251,0.0698269358989,0.999999937371,0.000202557860553,-0.000289283773642,2.32918501972e-05,1793237454030637568
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,717,679.85203142,663,637,880.85203142,789,803.14796858,653,632.14796858,654,0.401931212674,-0.00536414315031,0.0698248350377,0.999999936478,0.00020336640725,-0.000291792102665,2.33241309408e-05,1793237454047304448
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.264688647,663,637,880.264688647,789,803.735311353,653,632.735311353,654,0.401799435302,-0.00536471943575,0.0698247411071,0.999999936978,0.000200091836799,-0.000292338165457,2.33499875442e-05,1793237454063970816
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,717,679.318170843,663,637,880,789,804,653.318170843,632.681829157,654,0.401681046375,-0.00536443464287,0.0698258230304,0.999999937954,0.000199494301021,-0.00028939511362,2.33385592584e-05,1793237454080637696
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,717,679.897352544,663,637,880,789,804,653.897352544,632.102647456,654,0.401573640619,-0.00536344346606,0.0698278695633,0.999999939298,0.000201092865282,-0.00028358977316,2.32965443856e-05,1793237454097304320
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,717,680,663.475105605,637,880,789,804,653.524894395,632.475105605,654,0.401475745145,-0.00536266034575,0.0698259586537,0.999999938297,0.00020173525339,-0.000286696340716,2.26792391759e-05,1793237454113970944
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746.052152732,716.947847268,680,664,637,880,789,803.947847268,653.052152732,632.947847268,654,0.401381998286,-0.00536227538225,0.0698232532002,0.9999999369,0.000201882952252,-0.000291478928801,2.19663503386e-05,1793237454130637824
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746.625222909,716.374777091,680,664,637,880,789,803.374777091,653.625222909,632.374777091,654,0.401309227406,-0.00536541969208,0.0698211261236,0.999999936771,0.000199146778469,-0.00029382795465,2.15364926555e-05,1793237454147304704
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746.794854353,716,679.794854353,664,637,880.205145647,789,803.205145647,653.794854353,632.205145647,654,0.40124445907,-0.00536786962073,0.069820392633,0.999999936447,0.000200755721728,-0.000293852390773,2.13066563772e-05,1793237454163971328
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746.201980197,716,679.201980197,664,637,880.798019803,789,803.798019803,653.201980197,632.798019803,654,0.401194815672,-0.0053690071578,0.0698222930419,0.999999935698,0.000210577004845,-0.000289483315512,2.14548637316e-05,1793237454180637696
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.381914513,664,637,881,789,804,653,633,654,0.401152064665,-0.00536941625564,0.0698249418464,0.999999936082,0.000215195356567,-0.000284719553905,2.15031040878e-05,1793237454197304064
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.961169406,664,637,881,789,804,653,633,654,0.401112875052,-0.00536944895906,0.0698279773569,0.999999937067,0.000217125283177,-0.000279751852683,2.14996901438e-05,1793237454213970944
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,716.536772599,680,663.463227401,637.536772599,881,789,804,653.536772599,633,654,0.401084400146,-0.0053702055348,0.0698296915804,0.999999938333,0.000214334858447,-0.000277364037376,2.15163349501e-05,1793237454230637568
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,717.11440155,679.88559845,663,637.88559845,881,789,803.88559845,653.88559845,633,654,0.401058643458,-0.00537079482683,0.0698311835542,0.999999939489,0.000211656865275,-0.000275242876917,2.15748441469e-05,1793237454247304448
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,717.701484426,679.298515574,663,637.298515574,881,789,803.298515574,653.298515574,633,654,0.401040936892,-0.00537047803956,0.0698321495014,0.999999940145,0.000210844775716,-0.000273457567258,2.18003725614e-05,1793237454263971072
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746,717.714976324,679.285023676,663,637,881,789,803,653,633,654,0.40102723728,-0.00537168300441,0.0698334420217,0.999999941131,0.000209457738908,-0.000270883669626,2.20616906197e-05,1793237454280637440
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,717.135102794,679.864897206,663,637,881,789,803,653,633,654,0.401017682757,-0.00537446218364,0.0698350723738,0.99999994245,0.00020747593347,-0.000267493997268,2.23600321953e-05,1793237454297304064
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,717,680,663,637,881,789,803.442016252,653,633,654,0.401011326729,-0.0053740743468,0.0698371814354,0.999999943089,0.000208395989576,-0.000264367117855,2.24363302898e-05,1793237454313970944
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,717,680,663,637,881,788.98195428,804,653.01804572,633,654,0.401005988577,-0.0053728104249,0.0698393645857,0.99999994351,0.000210102763959,-0.000261406292182,2.2436623485e-05,1793237454330637312
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,717,680,663,637,881,788.413634885,804,653.586365115,633,654,0.401002062467,-0.00537416655593,0.0698393728578,0.99999994385,0.00020892041698,-0.000261074843868,2.21759747185e-05,1793237454347304960
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746.162838755,717,679.837161245,663.162838755,637,881,788,804,653.837161245,633,654,0.400998598414,-0.00537535090244,0.0698395026267,0.999999944145,0.000207723913491,-0.000260909068912,2.2061418793e-05,1793237454363972352
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746.761117256,717,679.238882744,663.761117256,637,881,788,804,653.238882744,633,654,0.400996369931,-0.00537607588766,0.0698399572842,0.999999944322,0.000206489554792,-0.000261186313603,2.23375231383e-05,1793237454380638720
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746.651529215,716.651529215,679,664,637,881,788.348470785,804,653.348470785,633,654,0.400994767802,-0.00537589840304,0.0698400984636,0.999999944284,0.000206740589787,-0.00026112386134,2.24483019719e-05,1793237454397305088
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746.071437308,716.071437308,679,664,637,881,788.928562692,804,653.928562692,633,654,0.400993581996,-0.00537512106589,0.0698400312807,0.999999944103,0.000207978934442,-0.000260835619724,2.24491924415e-05,1793237454413971712
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746,716.502953911,679.502953911,664,637,880.497046089,789,803.497046089,653.497046089,632.497046089,654,0.400994645116,-0.00537546739864,0.0698412679153,0.999999944925,0.000207086698602,-0.000258406128235,2.21605334563e-05,1793237454430638080
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767,746,716.923212281,679.923212281,663.923212281,637,880,789,803,653,632.076787719,654,0.400995725619,-0.00537595739875,0.0698423584003,0.999999945719,0.000206035929548,-0.000256188569579,2.1898124299e-05,1793237454447304448
+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746,716.347799408,679.347799408,663.347799408,637,880,789,803,653,632.652200592,654,0.400994868029,-0.00537635554774,0.0698413108013,0.999999945458,0.000205898760399,-0.000257299982823,2.20702327787e-05,1793237454463971072
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766.767083984,746,716.232916016,679.232916016,663,637,880.232916016,789,803,653,633,654,0.400994220968,-0.00537675417962,0.0698411668226,0.999999945445,0.000205624620176,-0.000257557189327,2.21892331334e-05,1793237454480637696
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766.178266033,746,716.821733967,679.821733967,663,637,880.821733967,789,803,653,633,654,0.400993895604,-0.00537715354941,0.0698424035998,0.999999945813,0.000205141184448,-0.00025650914513,2.22270828704e-05,1793237454497304320
+419,6.983333333,POSE2_TO_POSE3_RETREAT,766.403726369,746,717,680,663,637,881,789,803.403726369,653,633,654,0.400993272786,-0.00537865476262,0.0698425197805,0.999999946317,0.00020301698883,-0.0002562430612,2.21301183201e-05,1793237454513970688
+420,7.000000000,POSE2_TO_POSE3_RETREAT,766.982755009,746,717,680,663,637,881,789,803.982755009,653,633,654,0.40099252081,-0.00538063440789,0.0698421493863,0.999999946873,0.000200180357895,-0.000256316512774,2.19746159739e-05,1793237454530637312
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746,717,680,663,637.555757798,881,789,803.444242202,653,633,654.555757798,0.400993358033,-0.00537837247155,0.0698434571094,0.999999946366,0.000203817172733,-0.000255420285817,2.20881462871e-05,1793237454547304192
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.874526026,663,637.874526026,881,789,803.125473974,653,633,654.874526026,0.400993954979,-0.00537647881022,0.0698443107492,0.999999945922,0.000206812265987,-0.000254742658593,2.21364426791e-05,1793237454563970816
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746,717,679.315526365,663,637.315526365,881,789,803.684473635,653,633,654.315526365,0.400993553192,-0.0053763074433,0.069843417501,0.999999945862,0.000206903564876,-0.000254923161255,2.19308152257e-05,1793237454580637440
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746,717,679,663,637,880.731657798,789,804,653,633,654.268342202,0.40099250694,-0.00537666137776,0.0698427100807,0.999999945887,0.000205767091445,-0.00025575552491,2.1798392165e-05,1793237454597304064
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746,717,679,663,637,880.115560712,789,804,653,633,654.884439288,0.400990625501,-0.00537769607033,0.0698422434817,0.999999946015,0.000203039501073,-0.000257432660051,2.17608374819e-05,1793237454613970688
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746,717,679,663,637,880.467945503,789,804,653,633,654.532054497,0.400991909757,-0.00537789673607,0.0698436985754,0.999999946324,0.000203521292797,-0.000255832996734,2.19425674497e-05,1793237454630637312
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746,716.956326828,679,663,637,881,789,804,653.043673172,633,654,0.400993841948,-0.0053779699909,0.0698454631171,0.99999994667,0.000204679338704,-0.000253525058674,2.21819331013e-05,1793237454647304192
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,746,716.383678216,679,663,637,881,789,804,653.616321784,633,654,0.400994769534,-0.00537883227889,0.0698456019616,0.999999947021,0.000205053632394,-0.000251801557818,2.25061878292e-05,1793237454663970816
+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,746,716.194878639,679,663,637,881,789,803.805121361,653.805121361,633,654,0.400995093376,-0.00537911135697,0.0698453661426,0.999999947155,0.000205383760729,-0.000250999169163,2.2514088808e-05,1793237454680637440
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,746,716.785431468,679,663,637,881,789,803.214568532,653.214568532,633,654,0.400994191397,-0.00537820630798,0.0698443696212,0.999999946851,0.000205624217471,-0.000252066971451,2.18796772009e-05,1793237454697304320
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.368321522,663,637,881,789,803.368321522,653.368321522,633,654,0.400993520359,-0.00537788528642,0.0698442063066,0.999999946586,0.000206048587739,-0.000252777957632,2.17856197899e-05,1793237454713970944
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746,717,679.94683851,663,637,881,789,803.94683851,653.94683851,633,654,0.400992981116,-0.00537789756045,0.0698445184903,0.999999946344,0.000206577914634,-0.000253285314248,2.19999343035e-05,1793237454730637568
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,746.519054087,717,680,663,637,880.480945913,789,804,654,633,654,0.400991655247,-0.00537815338119,0.0698439881917,0.999999946261,0.000205590282704,-0.000254425600462,2.18607573958e-05,1793237454747304192
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0cf6ae01bfd0052cbb06dfa4cd2bd07ab27e0ba2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,435 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+1,0.016666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+2,0.033333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+3,0.050000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+4,0.066666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+5,0.083333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+6,0.100000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+7,0.116666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+8,0.133333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+9,0.150000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+10,0.166666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+11,0.183333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+12,0.200000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+13,0.216666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+14,0.233333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+15,0.250000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+16,0.266666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+17,0.283333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+18,0.300000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+19,0.316666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+20,0.333333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+21,0.350000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+22,0.366666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+23,0.383333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+24,0.400000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+395,6.583333333,pose2_to_pose3_retreat,0.578680120357,1.31092569543e-06,1.0600115958,0.549251354259,0.00867497362815,1.05966113192
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+398,6.633333333,pose2_to_pose3_retreat,0.57847926544,1.24432458909e-06,1.06001195208,0.54905050057,0.00867491072993,1.05966147647
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+400,6.666666667,pose2_to_pose3_retreat,0.578393007847,1.31658019163e-06,1.06001163499,0.548964241225,0.00867497739099,1.0596611679
+401,6.683333333,pose2_to_pose3_retreat,0.578360739358,1.35792286835e-06,1.06001162174,0.548931972022,0.00867501643943,1.05966115779
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+403,6.716666667,pose2_to_pose3_retreat,0.578312893215,1.20631350128e-06,1.06001141527,0.548884128437,0.0086748737885,1.05966095831
+404,6.733333333,pose2_to_pose3_retreat,0.578296779344,1.30508016572e-06,1.0600115186,0.54886801397,0.00867497076769,1.05966106741
+405,6.750000000,pose2_to_pose3_retreat,0.578284557393,1.3267868884e-06,1.06001165065,0.548855792192,0.00867499298404,1.05966119757
+406,6.766666667,pose2_to_pose3_retreat,0.578275920504,1.2087031321e-06,1.06001175712,0.548847157059,0.00867488050532,1.05966129526
+407,6.783333333,pose2_to_pose3_retreat,0.578269609638,1.23703567125e-06,1.06001177946,0.54884084618,0.00867490873913,1.05966131632
+408,6.800000000,pose2_to_pose3_retreat,0.578264980992,1.29412631646e-06,1.06001177829,0.548836217113,0.0086749644286,1.05966131582
+409,6.816666667,pose2_to_pose3_retreat,0.578261670329,1.36669620968e-06,1.06001175046,0.548832905549,0.00867503418343,1.05966129403
+410,6.833333333,pose2_to_pose3_retreat,0.578259132602,1.43082380492e-06,1.0600117219,0.54883036697,0.00867509566761,1.05966127159
+411,6.850000000,pose2_to_pose3_retreat,0.578257301661,1.38809117362e-06,1.06001172421,0.548828536256,0.00867505368976,1.05966127361
+412,6.866666667,pose2_to_pose3_retreat,0.578256267002,1.28522464384e-06,1.06001174578,0.548827502468,0.00867495360423,1.05966129087
+413,6.883333333,pose2_to_pose3_retreat,0.578255866271,1.24538367468e-06,1.06001175414,0.548827102074,0.00867491484036,1.05966129755
+414,6.900000000,pose2_to_pose3_retreat,0.578255656768,1.2245547498e-06,1.0600117585,0.548826892748,0.00867489457454,1.05966130104
+415,6.916666667,pose2_to_pose3_retreat,0.578255580489,1.21697105638e-06,1.0600117601,0.548826816533,0.00867488719587,1.05966130231
+416,6.933333333,pose2_to_pose3_retreat,0.578255536743,1.21262182623e-06,1.06001176101,0.548826772824,0.00867488296423,1.05966130304
+417,6.950000000,pose2_to_pose3_retreat,0.578255345314,1.19358985312e-06,1.060011765,0.548826581557,0.00867486444678,1.05966130623
+418,6.966666667,pose2_to_pose3_retreat,0.57825489827,1.14914439268e-06,1.06001177432,0.548826134889,0.0086748212029,1.05966131369
+419,6.983333333,pose2_to_pose3_retreat,0.578254687638,1.12820321725e-06,1.06001177871,0.548825924434,0.00867480082787,1.0596613172
+420,7.000000000,pose2_to_pose3_retreat,0.578254650535,1.12451438476e-06,1.06001177948,0.548825887362,0.00867479723877,1.05966131782
+421,7.016666667,pose2_to_pose3_retreat,0.578254605896,1.12669711191e-06,1.06001177674,0.548825842688,0.00867479930032,1.05966131505
+422,7.033333333,pose2_to_pose3_retreat,0.578254506871,1.13338298759e-06,1.06001176962,0.548825743564,0.00867480565024,1.05966130794
+423,7.050000000,pose2_to_pose3_retreat,0.578254261803,1.14992913441e-06,1.06001175202,0.548825498251,0.00867482136497,1.05966129034
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+426,7.100000000,pose2_to_pose3_retreat,0.578253902648,1.17417815563e-06,1.06001172622,0.548825138736,0.0086748443955,1.05966126455
+427,7.116666667,pose2_to_pose3_retreat,0.578253568216,1.19675787735e-06,1.0600117022,0.548824803969,0.00867486584062,1.05966124053
+428,7.133333333,pose2_to_pose3_retreat,0.578253107138,1.22788833615e-06,1.06001166908,0.54882434243,0.00867489540681,1.05966120741
+429,7.150000000,pose2_to_pose3_retreat,0.578252904194,1.23988005974e-06,1.06001165289,0.548824139286,0.00867490671924,1.05966119119
+430,7.166666667,pose2_to_pose3_retreat,0.578252821931,1.23607956775e-06,1.06001163814,0.548824056958,0.00867490269008,1.05966117626
+431,7.183333333,pose2_to_pose3_retreat,0.578252524322,1.22233028475e-06,1.06001158479,0.548823759113,0.00867488811355,1.05966112227
+432,7.200000000,pose2_to_pose3_retreat,0.578252225284,1.21297155396e-06,1.06001153949,0.548823460482,0.00867488015076,1.05966107728
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diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..22cbb04d7003a8021ed070b744dc82a500664df8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c88ce53d2cce02b20efb46a189544632ae4fd3397c2fa3706fc383a78479bb4e
+size 27766435
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e0a252f1c256ab0c4d66fe77a13fb5a65341ebe7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_02/franka_data.csv
@@ -0,0 +1,439 @@
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+23,0.383333333,BASELINE,767,746.674276508,717,679.325723492,663.325723492,637,880,789.674276508,803.674276508,653,633,654.674276508,0.400992519953,-0.00537983973778,0.0698459361976,0.9999999473,0.000205060444849,-0.000250729608907,2.20175648878e-05,1793237455287622400
+24,0.400000000,BASELINE,767,746.101924627,717,679.898075373,663.898075373,637,880,789.101924627,803.101924627,653,633,654.101924627,0.400994039054,-0.00538198575815,0.0698472739531,0.999999948564,0.000201044356202,-0.000248934032214,2.20295434339e-05,1793237455304289024
+25,0.416666667,BASELINE,767,746,717,679.50994217,663.50994217,637,880.49005783,788.50994217,803.49005783,653,632.50994217,654,0.400994295143,-0.0053801026596,0.0698475149828,0.999999948367,0.000202412115629,-0.000248633051968,2.18227268674e-05,1793237455320955648
+26,0.433333333,BASELINE,767,746,717,679.082850739,663.082850739,637.082850739,880.917149261,788,804,653,632.082850739,654,0.400994188309,-0.00537797698213,0.0698474214971,0.999999947925,0.000204506482406,-0.000248718448416,2.15924101748e-05,1793237455337622272
+27,0.450000000,BASELINE,767,746,717,679.655299124,663.655299124,637.655299124,880.344700876,788,804,653,632.655299124,654,0.400993553915,-0.00537957650209,0.0698467554238,0.999999947917,0.000204001435302,-0.000249173486457,2.15033567683e-05,1793237455354288896
+28,0.466666667,BASELINE,767,746,717,679.770005904,663.770005904,638,880.459988192,788.229994096,804,653,633,654,0.400993645365,-0.00538044435027,0.069846575802,0.999999948177,0.000202925163597,-0.000249006137281,2.15072246256e-05,1793237455370955520
+29,0.483333333,BASELINE,767,746,717,679.191910709,663.191910709,638,881.616178582,788.808089291,804,653,633,654,0.400994835397,-0.00538020479711,0.0698471324355,0.999999948842,0.000200984330979,-0.000247896791395,2.16517308549e-05,1793237455387622144
+30,0.500000000,BASELINE,767,746,717,679.392401202,663,637.607598798,881.215197597,789,804.392401202,653,633,654,0.400994346045,-0.00537968239274,0.0698471856969,0.999999948628,0.000201191382613,-0.000248588555419,2.16833381971e-05,1793237455404289024
+31,0.516666667,BASELINE,767,746,717,679.979802432,663,637.020197568,880.040395135,789,804.979802432,653,633,654,0.40099302214,-0.00537901942816,0.0698469888123,0.999999947975,0.000202465804867,-0.000250175363843,2.16588415115e-05,1793237455420955648
+32,0.533333333,BASELINE,767,746,716.4366669,679.4366669,663,637,880.5633331,788.4366669,804.4366669,653,633,654.5633331,0.400993445975,-0.00538003724074,0.0698466968681,0.999999948212,0.000201847153418,-0.000249713449005,2.1828466384e-05,1793237455437622272
+33,0.550000000,BASELINE,767,746.144452609,716.144452609,679,663,637,881,788.144452609,804,653,633,655,0.400994235762,-0.00538070311088,0.069846758464,0.999999948455,0.000201758814741,-0.000248802249571,2.19157687923e-05,1793237455454288896
+34,0.566666667,BASELINE,767,746.718806412,716.718806412,679,663,637,881,788.718806412,804,653,633,655,0.400995929432,-0.00538014345492,0.0698478822942,0.99999994862,0.000203449342988,-0.000246771060852,2.17375016585e-05,1793237455470955520
+35,0.583333333,BASELINE,767,746.705839579,717,679,663,637,881,789,803.705839579,653.294160421,633,654.705839579,0.400996733256,-0.0053800303114,0.0698486513263,0.999999949014,0.000203243091856,-0.000245347412425,2.16443097343e-05,1793237455487621888
+36,0.600000000,BASELINE,767,746.129526124,717,679,663,637,881,789,803.129526124,653.870473876,633,654.129526124,0.400996683559,-0.00538034545396,0.069849080043,0.99999994963,0.000201217486521,-0.000244506504756,2.16327202991e-05,1793237455504288512
+37,0.616666667,BASELINE,767,746.457902282,717,679.457902282,663,637,881,789,803.457902282,654,633,654,0.400995989251,-0.00538021248483,0.0698485179267,0.999999948915,0.000202890708357,-0.000246047408722,2.15772931042e-05,1793237455520955392
+38,0.633333333,BASELINE,767.047639545,746.952360455,717,680,663,637,880.952360455,789,804,653.952360455,633,654,0.400995131913,-0.00537999492405,0.069847764128,0.999999947933,0.000205253982801,-0.000248075598288,2.15282977091e-05,1793237455537622016
+39,0.650000000,BASELINE,767.627178722,746.372821278,717,680,663,637,880.372821278,789,804,653.372821278,633,654,0.400994540803,-0.00538028334711,0.0698480773272,0.999999948378,0.000203349316943,-0.000247834878812,2.1693008821e-05,1793237455554288896
+40,0.666666667,BASELINE,767.794596573,746,717,680,663,637.205403427,880.205403427,789,804,653.205403427,633,654,0.400994816373,-0.0053805522488,0.0698485870437,0.999999948745,0.000202427187681,-0.000247096472539,2.18307706574e-05,1793237455570955776
+41,0.683333333,BASELINE,767.21874259,746,717,680,663,637.78125741,880.78125741,789,804,653.78125741,633,654,0.400996655025,-0.00538078594319,0.0698494511845,0.999999948974,0.000203277089477,-0.000245460474882,2.19199287472e-05,1793237455587622144
+42,0.700000000,BASELINE,767,746,716.636039159,679.636039159,663,637.636039159,881,789,804,654,633,654,0.400996652499,-0.00538165662734,0.0698495538757,0.9999999493,0.000201795759363,-0.000245358252946,2.18404979072e-05,1793237455604288768
+43,0.716666667,BASELINE,767,746,716.049140236,679.049140236,663,637.049140236,881,789,804,654,633,654,0.400995522192,-0.00538291748883,0.0698491901537,0.999999949681,0.00019888647238,-0.000246195519551,2.16578007546e-05,1793237455620955392
+44,0.733333333,BASELINE,767,746,716.532771068,679,663,637.532771068,880.467228932,788.467228932,804,653.467228932,633,654.532771068,0.400994841484,-0.00538182402774,0.0698487336529,0.999999949085,0.000200780419514,-0.00024708434678,2.1616658532e-05,1793237455637622016
+45,0.750000000,BASELINE,767,746,717,679,663,637.887110776,880.112889224,788.112889224,804,653,633,654.887110776,0.4009945927,-0.00538078143443,0.0698483641645,0.99999994856,0.000202752720889,-0.000247595672047,2.16073881126e-05,1793237455654288896
+46,0.766666667,BASELINE,767,746,717,679,663,637.312463155,880.687536845,788.687536845,804,653,633,654.312463155,0.400995942596,-0.00538082690007,0.0698483852674,0.999999948718,0.000203250182722,-0.000246543603228,2.1675575163e-05,1793237455670955264
+47,0.783333333,BASELINE,767,746,716.73256837,679.26743163,663,637,881,789,804,653.26743163,633,654,0.400995898773,-0.00538107270451,0.0698481615807,0.999999948799,0.000202859014489,-0.000246536187101,2.16646122322e-05,1793237455687621888
+48,0.800000000,BASELINE,767,746,716.146420104,679.853579896,663,637,881,789,804,653.853579896,633,654,0.40099419396,-0.00538155726645,0.0698476461614,0.999999948789,0.000201408804859,-0.000247773755177,2.15593208431e-05,1793237455704288768
+49,0.816666667,BASELINE,767,746,716.435096064,680,663,637,881,789,804,653.564903936,632.564903936,654,0.400993762292,-0.00538094739421,0.0698475336453,0.999999948594,0.000201621707048,-0.000248387047038,2.15571795519e-05,1793237455720955392
+50,0.833333333,BASELINE,767.015055886,746,716.984944114,680,663,637,880.984944114,789,804,653,632.015055886,654.015055886,0.400993811914,-0.00538001877747,0.0698475967831,0.999999948367,0.00020234579459,-0.000248709343919,2.15877820698e-05,1793237455737622016
+51,0.850000000,BASELINE,767.594493939,746,716.405506061,680,663,637,880.405506061,789,804,653,632.594493939,654.594493939,0.400996011739,-0.00538080246354,0.0698492154198,0.999999949235,0.000201473159643,-0.000245915659245,2.15582958505e-05,1793237455754288640
+52,0.866666667,BASELINE,767.827525695,746,716,679.827525695,663,637,880.172474305,789,804,653,633,654.827525695,0.400997207261,-0.00538144868015,0.0698498374862,0.999999949743,0.000200759771898,-0.000244423866744,2.15961067116e-05,1793237455770955264
+53,0.883333333,BASELINE,767.252943822,746,716,679.252943822,663,637,880.747056178,789,804,653,633,654.252943822,0.400996061347,-0.00538177439966,0.0698481361426,0.999999949429,0.000200417654035,-0.000245967313181,2.17908143683e-05,1793237455787621888
+54,0.900000000,BASELINE,767,746,716.321297533,679,663,637,880.678702467,788.678702467,803.678702467,653,633,654,0.400995160056,-0.00538239127093,0.0698476969568,0.999999949242,0.000200258232708,-0.000246847867929,2.1889302623e-05,1793237455804288768
+55,0.916666667,BASELINE,767,746,716.895271069,679,663,637,880.104728931,788.104728931,803.104728931,653,633,654,0.400994451141,-0.00538323711082,0.0698482503618,0.999999949156,0.000200242488289,-0.000247207108855,2.1912121648e-05,1793237455820955392
+56,0.933333333,BASELINE,767,746,717,679.484473805,663,637,880.484473805,788.484473805,803.484473805,653,633,654,0.400994460595,-0.00538208474372,0.0698482422949,0.999999948817,0.000201786803155,-0.000247324391456,2.18687430026e-05,1793237455837622016
+57,0.950000000,BASELINE,767.075082427,746,717,680,663.075082427,637,881,789,804,653,633,654,0.400994454377,-0.00538062345933,0.0698480373009,0.99999994843,0.000203475644515,-0.000247513607388,2.17866762975e-05,1793237455854288896
+58,0.966666667,BASELINE,767.652359986,746,717,680,663.652359986,637,881,789,804,653,633,654,0.400993270953,-0.00538007887941,0.0698473533089,0.999999948113,0.000203802306311,-0.000248545150786,2.15446611495e-05,1793237455870955520
+59,0.983333333,BASELINE,767.77222793,746,717,680,663.77222793,637,881,789,803.77222793,653,632.77222793,654,0.400993216614,-0.00538021447051,0.0698471451826,0.999999948144,0.000203486354112,-0.000248682591455,2.15077907262e-05,1793237455887622144
+60,1.000000000,BASELINE,767.199639833,746,717,680,663.199639833,637,881,789,803.199639833,653,632.199639833,654,0.400994871558,-0.00538137974818,0.0698476574521,0.999999948701,0.000202197571517,-0.000247466481998,2.17814815601e-05,1793237455904288512
+61,1.016666667,BASELINE,767,746,717,679.614857663,663,637.385142337,880.614857663,789,803,653,632.385142337,654,0.400995134304,-0.00538136012821,0.0698478689866,0.999999948757,0.000202372621716,-0.000247106286313,2.16695750829e-05,1793237455920955392
+62,1.033333333,BASELINE,767,746,717,679.02354802,663,637.97645198,880.02354802,789,803,653,632.97645198,654,0.400994651805,-0.00538070623058,0.0698479195371,0.999999948545,0.000203331264013,-0.000247204262707,2.13512577354e-05,1793237455937622272
+63,1.050000000,BASELINE,767,746,717,679.556445368,663,638,880.556445368,789,803.556445368,653,633,654,0.400995037649,-0.00538105276478,0.0698490043491,0.999999949271,0.000200810591597,-0.000246326320031,2.13836232499e-05,1793237455954288640
+64,1.066666667,BASELINE,767,746,717,680.134913931,663,638,880.865086069,789,804,653.134913931,633,654,0.400995221733,-0.00538127122441,0.0698496603618,0.999999949697,0.000199318569902,-0.000245803370688,2.14328303958e-05,1793237455970955520
+65,1.083333333,BASELINE,767,746,717,680.709939306,663,638,880.290060694,789,804,653.709939306,633,654,0.400994630158,-0.00538093652636,0.069848777626,0.999999949039,0.000201652923702,-0.000246570508836,2.1489530711e-05,1793237455987622400
+66,1.100000000,BASELINE,767,746,717,680.417420611,663,637.708710306,880.291289694,789,804,653.708710306,633,654.291289694,0.400995011886,-0.00538022297903,0.0698487383409,0.999999948703,0.000203548333716,-0.000246365202496,2.1578925543e-05,1793237456004288768
+67,1.116666667,BASELINE,767,746,717,679.241843659,663,637.12092183,880.87907817,789,804,653.12092183,633,654.87907817,0.400996384324,-0.00537912380756,0.06984955759,0.999999948698,0.000204996950241,-0.000245170061553,2.17015995594e-05,1793237456020955392
+68,1.133333333,BASELINE,766.539500844,746,717,679,663,637,881,789,804,653,633,654.539500844,0.400996187312,-0.0053809888555,0.069849345882,0.999999949192,0.000203054569623,-0.000244759576817,2.18329010977e-05,1793237456037622272
+69,1.150000000,BASELINE,766.040121626,746,717,679,663,637,881,789,804,653,633,654,0.400995532838,-0.00538338834152,0.0698488067103,0.999999949707,0.000200475889373,-0.000244772168765,2.19446905558e-05,1793237456054288640
+70,1.166666667,BASELINE,766.617743504,746,717,679,663,637,881,789,804,653,633,654,0.400994195624,-0.00538266214184,0.0698474578594,0.99999994885,0.000201139138095,-0.000247729975,2.17651447082e-05,1793237456070955264
+71,1.183333333,BASELINE,767,746,716.806385594,679.193614406,663,637,880.806385594,789,803.806385594,653,633,654,0.400993836434,-0.0053820657441,0.0698468842781,0.999999948441,0.000201487730189,-0.000249102670882,2.16235598944e-05,1793237456087622400
+72,1.200000000,BASELINE,767,746,716.233940591,679.766059409,663,637,880.233940591,789,803.233940591,653,633,654,0.400995390867,-0.0053817233198,0.069847827608,0.999999948926,0.000201220657685,-0.000247373902306,2.15562505196e-05,1793237456104290048
+73,1.216666667,BASELINE,767,746,716,679.649934704,663,637,880.350065296,788.649934704,803.350065296,653,633,654,0.400995509214,-0.00538166418472,0.069848566829,0.999999949186,0.000201147095374,-0.000246378948147,2.15757193165e-05,1793237456120956672
+74,1.233333333,BASELINE,767,746,716,679.057939119,663,637,880.942060881,788.057939119,803.942060881,653,633,654,0.400994635081,-0.00538180083098,0.0698491649901,0.999999949292,0.000201207268062,-0.000245891133578,2.16551605525e-05,1793237456137622784
+75,1.250000000,BASELINE,767,746,716.519410164,679.519410164,663,637,881,788.519410164,804,653,633,654,0.400993529441,-0.00538132890384,0.0698478051806,0.999999948348,0.000203469043021,-0.000247853645764,2.17413593666e-05,1793237456154289152
+76,1.266666667,BASELINE,767,746,716.904929869,680,663,637,881,789,804,653,633,654,0.400992598922,-0.00538093873755,0.0698464987408,0.999999947597,0.000204919987389,-0.000249680146007,2.17792231884e-05,1793237456170955520
+77,1.283333333,BASELINE,767,746,716.329776701,680,663,637,881,789,804,653,633,654,0.400992679557,-0.00538129484876,0.0698465344693,0.999999948433,0.000201070282561,-0.000249477419079,2.15693039375e-05,1793237456187622144
+78,1.300000000,BASELINE,767,746,716,680,663.244929484,637,881,789,804,653,632.755070516,654,0.400992711446,-0.00538131305523,0.0698467051186,0.999999948841,0.00019950151523,-0.000249114353935,2.14091701681e-05,1793237456204288768
+79,1.316666667,BASELINE,767,746,716,680,663.819034894,637,881,789,804,653,632.180965106,654,0.400992677823,-0.00538087713052,0.0698470570962,0.999999948688,0.000200998241597,-0.00024853580034,2.13159462129e-05,1793237456220955648
+80,1.333333333,BASELINE,767,746,716.408811409,679.591188591,663.591188591,637.408811409,880.591188591,789,804,653,632.408811409,654,0.400993494959,-0.00538100201044,0.0698478512922,0.999999948726,0.000201784689069,-0.000247714318314,2.1623059922e-05,1793237456237622272
+81,1.350000000,BASELINE,767,746.005591932,717,679.005591932,663.005591932,637.994408068,880.005591932,789,804,653,632.994408068,654,0.400994691776,-0.00538138946492,0.0698488377099,0.999999948853,0.000202235779628,-0.000246792951641,2.21096998817e-05,1793237456254288896
+82,1.366666667,BASELINE,767,746.581017877,717,679.581017877,663.581017877,637.418982123,880.581017877,789,804,653,632.418982123,654,0.400994672915,-0.00538222859493,0.0698486691272,0.999999948862,0.000201829781766,-0.000247088000905,2.21121083551e-05,1793237456270955520
+83,1.383333333,BASELINE,767,746.843771767,717,680,664,637,881,789,804.156228233,653.156228233,632,654,0.400994591059,-0.0053825770671,0.0698485575385,0.999999948748,0.000202202224032,-0.000247248878783,2.2073469349e-05,1793237456287622144
+84,1.400000000,BASELINE,767,746.269138669,717,680,664,637,881,789,804.730861331,653.730861331,632,654,0.400994340486,-0.00538161147719,0.0698485985895,0.9999999483,0.000204659456731,-0.000247050423714,2.19248984512e-05,1793237456304289024
+85,1.416666667,BASELINE,767,746,717,679.685089162,663.685089162,637,880.685089162,789,804.370178324,653.685089162,632.314910838,654,0.400994125618,-0.00538079425496,0.0698482909401,0.999999948044,0.000205943815874,-0.000247028243289,2.1805362347e-05,1793237456320955904
+86,1.433333333,BASELINE,767,746,717,679.092743893,663.092743893,637,880.092743893,789,803.185487787,653.092743893,632.907256107,654,0.400993942205,-0.00538010774378,0.0698476760877,0.999999947962,0.000206194880781,-0.000247161359707,2.17114057187e-05,1793237456337622272
+87,1.450000000,BASELINE,767,746,717,679,663.484239901,637.484239901,880.484239901,789,803.484239901,653,633,654,0.400994591024,-0.00537985349104,0.0698485849007,0.999999948243,0.000205718712255,-0.000246422137254,2.16761901122e-05,1793237456354288896
+88,1.466666667,BASELINE,767,746,716.942379704,679.057620296,664,638,881,789,804.057620296,653,633,654,0.400995363515,-0.00537977519543,0.0698495931889,0.999999948596,0.000204944737142,-0.000245635832384,2.16372589208e-05,1793237456370955520
+89,1.483333333,BASELINE,767,746,716.375641635,679.624358365,664,638,881,789,804.624358365,653,633,654,0.400995863688,-0.00538054260793,0.0698489812554,0.999999948995,0.000202732250687,-0.000245864355092,2.14691490755e-05,1793237456387622144
+90,1.500000000,BASELINE,766.803966844,746,716.196033156,679.803966844,663.803966844,637.803966844,881,789,804.607933687,653.196033156,633,654,0.400995813894,-0.00538123404027,0.069848642853,0.999999949226,0.000201299639968,-0.000246105911532,2.13923138248e-05,1793237456404289024
+91,1.516666667,BASELINE,766.222587917,746,716.777412083,679.222587917,663.222587917,637.222587917,881,789,803.445175835,653.777412083,633,654,0.400994683023,-0.00538177611698,0.0698488421354,0.999999949138,0.000201400044752,-0.00024637308858,2.14948986454e-05,1793237456420955904
+92,1.533333333,BASELINE,766.370243709,746.370243709,717,679,663.370243709,637,881,789,803.370243709,653.629756291,633,654.370243709,0.400993823307,-0.0053825180729,0.0698488165905,0.999999949245,0.000200166973937,-0.000246946148255,2.14634968689e-05,1793237456437622272
+93,1.550000000,BASELINE,766.970180457,746.970180457,717,679,663.970180457,637,881,789,803.970180457,653.029819543,633,654.970180457,0.400993131811,-0.00538338403061,0.0698486515665,0.999999949469,0.00019810663705,-0.000247708972451,2.13489720462e-05,1793237456454288896
+94,1.566666667,BASELINE,767,746.454190411,716.454190411,679,664,637,881.545809589,789,804,653,633,655,0.400993702438,-0.00538195120886,0.0698488933398,0.999999949433,0.000199909173273,-0.000246385045813,2.15584065927e-05,1793237456470955520
+95,1.583333333,BASELINE,767,746,716.120042253,679.120042253,664,637,881.879957747,789,803.879957747,653,633,655,0.400994341255,-0.00538092559013,0.0698491482578,0.999999949434,0.000201252867715,-0.00024527033156,2.17120851374e-05,1793237456487622144
+96,1.600000000,BASELINE,767,746,716.693802328,679.693802328,664,637,881.306197672,789,803.306197672,653,633,655,0.400994988292,-0.00538189350599,0.0698493724378,0.999999949647,0.000200098642787,-0.000245358900124,2.15909814231e-05,1793237456504288768
+97,1.616666667,BASELINE,767,746,717,680,663.72448067,637,880.72448067,789,803,653,633,654.72448067,0.400995068483,-0.00538190666161,0.0698492638929,0.999999949491,0.000200466311996,-0.00024569653123,2.15546994469e-05,1793237456520955392
+98,1.633333333,BASELINE,767,746,717,680,663.133657818,637,880.133657818,789,803,653,633,654.133657818,0.400994499977,-0.0053808271923,0.0698487745785,0.999999948911,0.000202575632515,-0.000246319188782,2.1615487229e-05,1793237456537622016
+99,1.650000000,BASELINE,767,746,716.600486797,680,663,637,880.399513203,789,803.399513203,653,633,654,0.400993829256,-0.00538181171352,0.0698480381611,0.999999948859,0.00020153727764,-0.000247383242994,2.1594482517e-05,1793237456554288640
+100,1.666666667,BASELINE,767,746,716.084171007,680,663,637,880.915828993,789,803.915828993,653,633,654,0.40099312865,-0.00538339966771,0.0698472295001,0.999999948957,0.000199578661201,-0.000248576344924,2.15495647646e-05,1793237456570955776
+101,1.683333333,BASELINE,767,746,716.549915185,680,663,637,881,789,804,653,632.450084815,654,0.400993517653,-0.00538137898341,0.0698473359435,0.999999948238,0.000203291312652,-0.000248482670406,2.12654923236e-05,1793237456587622400
+102,1.700000000,BASELINE,767,746,716.818762038,679.818762038,663,637,881,789,803.818762038,653,632,654,0.400993448196,-0.00538027029717,0.0698474785999,0.999999947908,0.000204804721924,-0.000248580336818,2.11327388961e-05,1793237456604289024
+103,1.716666667,BASELINE,767,746,716.243340285,679.243340285,663,637,881,789,803.243340285,653,632,654,0.400991920028,-0.00538267387689,0.0698473123557,0.999999948784,0.000199132387396,-0.000249639272794,2.14304092456e-05,1793237456620955904
+104,1.733333333,BASELINE,767,746,716.340524168,679.340524168,663,637,880.659475832,789,803.340524168,653,632.340524168,654,0.400992462671,-0.00538402445651,0.0698478316845,0.999999949238,0.000197764705378,-0.000248886377641,2.16673182107e-05,1793237456637622528
+105,1.750000000,BASELINE,767,746,716.930575262,679.930575262,663,637,880.069424738,789,803.930575262,653,632.930575262,654,0.40099452275,-0.0053846034263,0.0698488533825,0.999999949394,0.000199551356039,-0.000246805821613,2.18597029034e-05,1793237456654288896
+106,1.766666667,BASELINE,767,746,717,680,663,637,880,789,804,653.509066553,632.490933447,654,0.400995346897,-0.00538439741451,0.0698493730924,0.999999949558,0.000200639861173,-0.000245253594068,2.18900342514e-05,1793237456670955520
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,789,805,653,633,654,0.400993707114,-0.00538241104211,0.069848306779,0.999999949099,0.000200106811745,-0.00024759002987,2.13992755316e-05,1793237456714110208
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,716,679.426218948,663,637,880,789,804.426218948,653,633,654,0.400995219509,-0.00538280925562,0.0698496341977,0.999999949511,0.000200984134777,-0.000245177105323,2.16946443568e-05,1793237456730776832
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716.153290129,679.153290129,663,637,880.153290129,789,803.846709871,653,633,654,0.400996194428,-0.00538314979631,0.0698502978347,0.999999949887,0.000201003783692,-0.000243614101016,2.18011574395e-05,1793237456747443456
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716.749344192,679.749344192,663,637,880.749344192,789,803.250655808,653,633,654,0.400995616897,-0.00538332375464,0.0698490442019,0.99999995017,0.000198546122845,-0.000244506009792,2.13621787713e-05,1793237456764109824
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716.667158707,679.667158707,663,637,881.332841293,789,803.332841293,653,633,654,0.40099485797,-0.0053838045935,0.0698484788098,0.99999994996,0.0001983890896,-0.000245487647481,2.13970327766e-05,1793237456780776704
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,716.092774238,679.092774238,663,637,881.907225762,789,803.907225762,653,633,654,0.400993967405,-0.00538450813578,0.0698484128746,0.999999949393,0.000199901623686,-0.000246534401453,2.17757475354e-05,1793237456797443328
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716.48540254,679,663,637,881.51459746,788.51459746,804,653,633,654,0.400994097178,-0.00538250506316,0.0698481600966,0.999999948705,0.000202562355828,-0.00024716792158,2.16061558656e-05,1793237456814109952
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716.936820908,679,663,637,881,788,804,653,632.936820908,654,0.400994535411,-0.00538039532938,0.0698479905807,0.999999948157,0.000204856932322,-0.000247516380931,2.1354859985e-05,1793237456830776576
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716.368092448,679,663,637,881,788,804,653,632.368092448,654,0.400995869115,-0.00538160414829,0.0698487753189,0.999999948968,0.000202451728666,-0.000246220796072,2.12949518204e-05,1793237456847443200
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,716.21000358,679,663.21000358,637,881,788.21000358,804,653,632.21000358,654,0.400998393833,-0.00538276198978,0.069850163313,0.99999994995,0.000200072012057,-0.00024415835537,2.14007735575e-05,1793237456864109824
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716.805285547,679,663.805285547,637,881,788.805285547,804,653,632.805285547,654,0.401003103618,-0.00538382630654,0.0698526580572,0.999999951246,0.000197739054957,-0.000240689019831,2.1810647971e-05,1793237456880776448
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746.389854151,717,679.389854151,664,637.389854151,881,789,804,653,633,654,0.401019476232,-0.00538474264804,0.0698609970585,0.999999954432,0.000197087462148,-0.000227589205909,2.22529876859e-05,1793237456897443072
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746.969215078,717,679.969215078,664,637.969215078,881,789,804,653,633,654,0.401041518108,-0.00538558705937,0.0698721769336,0.999999958278,0.000197253174548,-0.000209808048816,2.27111087044e-05,1793237456914109696
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746.456513742,716.456513742,680,663.456513742,637.456513742,881,789,804,653.543486258,633,654,0.401085195935,-0.00538658144944,0.069890642074,0.999999964661,0.000196345671974,-0.000177728332911,2.31971094406e-05,1793237456930776576
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,716.120952841,680,663,637,881,789,804.120952841,653.879047159,633,654,0.401131738676,-0.00538729993882,0.069908616983,0.999999969548,0.00019613882044,-0.000147886651942,2.37149653367e-05,1793237456947442944
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,716.711947417,680,663,637,881,789,804.711947417,653.288052583,633,654,0.401184696505,-0.00538691352727,0.06992309799,0.999999971493,0.000198888859087,-0.000129860588168,2.43505355196e-05,1793237456964109568
+123,2.050000000,POSE1_TO_POSE2_PRESS,767.296521768,746,716.703478232,680,663.296521768,637,880.703478232,789,804.406956463,653,633,654,0.401242120981,-0.00538701148389,0.0699327022504,0.999999972728,0.000200500459056,-0.000117300504235,2.41492300537e-05,1793237456980776192
+124,2.066666667,POSE1_TO_POSE2_PRESS,767.87499141,746,716.12500859,680,663.87499141,637,880.12500859,789,803.250017181,653,633,654,0.401303792568,-0.00538757000226,0.069937669453,0.999999973482,0.000201029573907,-0.000109937751098,2.31521809215e-05,1793237456997442816
+125,2.083333333,POSE1_TO_POSE2_PRESS,767.549670409,746,716.450329591,679.549670409,663.549670409,637,880.450329591,789,803.450329591,653,632.549670409,654,0.40137602857,-0.005390128966,0.0699390202434,0.999999974638,0.000197455209278,-0.000106126894622,2.17498522081e-05,1793237457014109696
+126,2.100000000,POSE1_TO_POSE2_PRESS,767.02543088,746.02543088,716.97456912,679.02543088,663.02543088,637,881,789,804,653.02543088,632,654,0.401451757756,-0.00539327488301,0.0699392181544,0.999999975827,0.000192787818501,-0.00010377562525,2.02210534143e-05,1793237457030776320
+127,2.116666667,POSE1_TO_POSE2_PRESS,767.614412953,746.614412953,716.385587047,679.614412953,663.614412953,637,881,789,804,653.614412953,632,654,0.401540358045,-0.00539720698307,0.0699359608763,0.999999975697,0.00018896709839,-0.000112070348065,1.83655256105e-05,1793237457047442688
+128,2.133333333,POSE1_TO_POSE2_PRESS,767.799063036,746.799063036,716.200936964,680,664,637,881,789,803.799063036,653.799063036,632.200936964,654.200936964,0.401639688063,-0.00539999990997,0.0699344101346,0.999999975865,0.000185831399424,-0.000116083816162,1.61324263552e-05,1793237457064109568
+129,2.150000000,POSE1_TO_POSE2_PRESS,767.21719897,746.21719897,716.78280103,680,664,637,881,789,803.21719897,653.21719897,632.78280103,654.78280103,0.401759359,-0.00540063324406,0.069936094567,0.999999976716,0.000183994332657,-0.000111981076552,1.3183544633e-05,1793237457080776192
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746.358653579,717,680,664,637,881,789,803.717307159,653,632.641346421,654.641346421,0.401893111344,-0.00540270541007,0.0699389606407,0.999999977653,0.000182112934735,-0.000106860203044,1.05206484534e-05,1793237457097443072
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746.930925652,717,680,664,637,881,789,804.861851304,653,632.069074348,654.069074348,0.40203525076,-0.00540563456217,0.0699425305149,0.999999978617,0.000180205132452,-0.000101132916041,8.02808850591e-06,1793237457114109696
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746.493139207,716.493139207,679.493139207,664,637,880.493139207,789,804.493139207,653,632.506860793,654,0.402200379057,-0.00540753616183,0.0699455371523,0.999999979715,0.000177997458431,-9.41682555614e-05,4.32792713366e-06,1793237457130776320
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716.085405126,679.085405126,663.914594874,637.085405126,880.085405126,789,804,653,633,654,0.402372850403,-0.00540963875274,0.0699481540558,0.999999980834,0.000175067543833,-8.76508064992e-05,3.64776573045e-07,1793237457147442944
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716.676419611,679.676419611,663.323580389,637.676419611,880.676419611,789,804,653,633,654,0.402570111457,-0.00541376629006,0.0699489214064,0.999999982267,0.000168105564975,-8.4786468657e-05,-4.17393520574e-06,1793237457164109568
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716.738891982,680,663.261108018,637.738891982,881,789,804,653,632.738891982,654,0.402779478442,-0.00541827149178,0.0699498137606,0.999999983923,0.00015941996502,-8.16206440993e-05,-8.74628210536e-06,1793237457180776192
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716.161857814,680,663.838142186,637.161857814,881,789,804,653,632.161857814,654,0.403003492916,-0.00542323364612,0.0699508573622,0.999999985813,0.000148648880003,-7.80900375861e-05,-1.3359325354e-05,1793237457197443072
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716.414469089,680,664,637.414469089,880.585530911,789,804,653.414469089,632.414469089,654.414469089,0.403259667976,-0.00542861670487,0.0699581030313,0.999999988786,0.000134746013052,-6.28134051967e-05,-1.80533719283e-05,1793237457214109952
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716.990520249,680,664,637.990520249,880.009479751,789,804,653.990520249,632.990520249,654.990520249,0.403528380936,-0.00543416385439,0.0699677665959,0.999999991663,0.000119622211306,-4.29575479369e-05,-2.27789977852e-05,1793237457230776576
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746.579051497,717,680,664,637.420948503,880,789,804,654,633,654.420948503,0.403814857111,-0.00543925718485,0.0699745219088,0.999999996489,7.25531771073e-05,-3.25940966265e-05,-2.63846281635e-05,1793237457247443200
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+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716.678563045,679,663,637,881.321436955,789,804,653,633,654.678563045,0.4047768942,-0.00545117301175,0.069975995247,0.999999996029,7.8961635259e-05,-3.40041389548e-05,-2.34637127177e-05,1793237457297442816
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716.103747121,679,663,637,881.896252879,789,804,653,633,654.103747121,0.405136045593,-0.00545698247503,0.06998244629,0.999999997301,6.55445368733e-05,-1.98547319077e-05,-2.66097061135e-05,1793237457314109696
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716.474676913,679.474676913,663.474676913,637.474676913,881.525323087,789,804,653,633,654,0.405514540593,-0.00546419596665,0.06998321994,0.999999998116,5.10923558935e-05,-1.85392098608e-05,-2.85262366462e-05,1793237457330776576
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746.054500896,717,680,664,637.945499104,881,789,804,653,633,654,0.405898994123,-0.00547131795959,0.0699824672122,0.999999998631,3.77080908291e-05,-2.02332225462e-05,-3.01132494046e-05,1793237457347443200
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746.640225209,717,680,664,637.359774791,881,789,804,653,633,654,0.406300001702,-0.00547453412895,0.069979024278,0.999999998552,3.69548357683e-05,-2.37112314846e-05,-3.1127685287e-05,1793237457364109824
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746.775712347,716.775712347,679.775712347,663.775712347,637,881.224287653,789,804,653,633,654,0.40671956967,-0.00547801874778,0.0699706419276,0.999999998296,3.34057000215e-05,-3.50893401187e-05,-3.25820663819e-05,1793237457380776448
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746.194296097,716.194296097,679.194296097,663.194296097,637,881.805703903,789,804,653,633,654,0.407168690937,-0.00548193081294,0.069954394647,0.999999997331,2.5404741247e-05,-5.90466140744e-05,-3.47369630753e-05,1793237457397443072
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746.383741424,716.383741424,679.383741424,663,637.383741424,881.616258576,789,804,653,633,654.383741424,0.407646752809,-0.00548813599091,0.0699501454721,0.999999997212,1.90551704818e-05,-6.24806502709e-05,-3.61899667557e-05,1793237457414109696
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746.960083138,716.960083138,679.960083138,663,637.960083138,881.039916862,789,804,653,633,654.960083138,0.408139339993,-0.0054954920849,0.0699519181617,0.999999997667,1.35344336287e-05,-5.56140475496e-05,-3.7290689412e-05,1793237457430776576
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746.470095412,716.470095412,680,663,637.470095412,881.529904588,789,804,653,632.470095412,654.470095412,0.408679104658,-0.00550148786879,0.0699686600181,0.999999998974,2.57199671977e-06,-2.4785644296e-05,-3.78362792167e-05,1793237457447442944
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,716.10406542,680,663.10406542,637,881.89593458,789,804,653,632,654.10406542,0.409221155976,-0.00550703630026,0.0699826470241,0.999999999227,-7.24209805934e-06,1.62118503506e-06,-3.86011604385e-05,1793237457464109824
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,716.701079666,680,663.701079666,637,881.298920334,789,804,653,632,654.701079666,0.409757409366,-0.00551094515189,0.069978308104,0.999999999128,-9.69846514918e-06,-1.36282519893e-06,-4.06004830467e-05,1793237457480776704
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,717,680,664,637,881,789,804,653,632.2889964,654.7110036,0.410312874154,-0.00551605173384,0.0699712707979,0.999999998959,-1.32880586375e-05,-1.2654001049e-05,-4.17820733932e-05,1793237457497443584
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,717,680,664,637,881,789,804,653,632.867790472,654.132209528,0.41088760367,-0.00552235936738,0.0699615276238,0.999999998429,-1.80140207975e-05,-3.22753753042e-05,-4.21436644629e-05,1793237457514109952
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716.555917328,679.555917328,664,637,881,789,804,653,633,654,0.41149765902,-0.00552680101807,0.0699687625917,0.999999998511,-2.64534503246e-05,-2.13780846857e-05,-4.26801994861e-05,1793237457530776576
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,716.020050219,679.020050219,663.979949781,637.020050219,881.020050219,789,804,653,633,654,0.412119228702,-0.0055305296896,0.0699814893004,0.999999998437,-3.55258551149e-05,-6.7628794374e-07,-4.31750912947e-05,1793237457547442944
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,716.607797735,679.607797735,663.392202265,637.607797735,881.607797735,789,804,653,633,654,0.412770706251,-0.0055297122362,0.0700073941395,0.999999997791,-3.13932559341e-05,4.18152600576e-05,-4.10244970402e-05,1793237457564109568
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.807394783,746,716.807394783,680,663.192605217,637.807394783,881.807394783,789,804,653,632.807394783,654,0.413427599509,-0.00552161902546,0.0700269209907,0.999999996386,-2.08585795703e-05,7.20307100758e-05,-4.00504104474e-05,1793237457580776704
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.228484122,746,716.228484122,680,663.771515878,637.228484122,881.228484122,789,804,653,632.228484122,654,0.414095354933,-0.00549893293553,0.0700336556041,0.999999996126,2.51664826222e-06,7.76241689498e-05,-4.14360281614e-05,1793237457597444096
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.348790803,746,716.348790803,679.651209197,663.651209197,637,881,789,804,652.651209197,632.348790803,654,0.414749388436,-0.00548783405574,0.0700133907903,0.999999998126,1.66704066966e-05,4.00107238796e-05,-4.32454001962e-05,1793237457614110976
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.924999175,746,716.924999175,679.075000825,663.075000825,637,881,789,804,652.075000825,632.924999175,654,0.415394474987,-0.00548429023608,0.0699755218878,0.999999998333,2.48116083569e-05,-2.57743621108e-05,-4.53310671027e-05,1793237457630777600
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,717,679.499413063,663,637,881,789,804,652.499413063,633,654,0.416073897579,-0.00549621232211,0.0699486308712,0.999999996715,1.36336341947e-06,-6.52670516514e-05,-4.80375639708e-05,1793237457647443712
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716.924051825,680,663.075948175,637,881,788.924051825,804.075948175,653,632.924051825,654,0.416767334005,-0.00550901343755,0.0699305747932,0.999999994404,-2.31205140793e-05,-9.00997659918e-05,-5.03878400523e-05,1793237457664110080
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716.331254012,680,663.668745988,637,881,788.331254012,804.668745988,653,632.331254012,654,0.417521172403,-0.00551204695846,0.0699614637936,0.999999997634,-2.24831796155e-05,-4.19417809586e-05,-4.96817085299e-05,1793237457680776448
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746.254697843,716.254697843,680,664,637,881,788.254697843,805,653,632.254697843,654,0.418275082779,-0.0055141357215,0.0699870808984,0.999999998477,-2.48032981388e-05,-1.83613765791e-06,-4.92785093818e-05,1793237457697443072
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746.831979141,716.831979141,680,664,637,881,788.831979141,805,653,632.831979141,654,0.419029084419,-0.00551502791708,0.0700060209728,0.999999997916,-3.086913111e-05,2.80709482478e-05,-4.92589843432e-05,1793237457714109696
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746.592120245,717,680,664,637,881,789,805,653,633,654,0.419803200919,-0.00551514623639,0.0700167697712,0.99999999736,-3.29628655947e-05,4.15182068912e-05,-4.96986874557e-05,1793237457730776320
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746.016786502,717,680,664,637,881,789,805,653,633,654,0.420585575478,-0.00551494684273,0.070024155661,0.999999997013,-3.34258648709e-05,4.82079238597e-05,-5.03269255199e-05,1793237457747442944
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,717,679.442624516,664,637,881,789,804.442624516,653,632.442624516,654,0.421353106045,-0.00551130124516,0.070029989187,0.999999996612,-3.16447066351e-05,5.64712006894e-05,-5.08492488891e-05,1793237457764109824
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746.136320666,717,679.136320666,664,637,881.136320666,789,804.136320666,653,632,654,0.422109548604,-0.00550855232525,0.0700271497955,0.999999996877,-3.09280717416e-05,5.10626499968e-05,-5.17830828086e-05,1793237457780776704
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746.731484151,717,679.731484151,664,637,881.731484151,789,804.731484151,653,632,654,0.422830171509,-0.00550917015298,0.0699952751964,0.999999997957,-3.40215402098e-05,-5.23193695312e-07,-5.41127374505e-05,1793237457797443584
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,747,717,680,664.314669286,637,882,789,804.685330714,653,632.314669286,654,0.42354362184,-0.00550770032691,0.069947452536,0.999999994647,-3.66847933826e-05,-7.75326361609e-05,-5.78673087719e-05,1793237457814109952
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,747,717,680,664.888007767,637,882,789,804.111992233,653,632.888007767,654,0.424251176028,-0.0055045143761,0.069886520011,0.999999981878,-3.89943941175e-05,-0.000175441166084,-6.27932111588e-05,1793237457830776576
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746.53800864,716.53800864,680,664.53800864,637,881.53800864,789,804.46199136,653,633,654,0.425072078322,-0.00550884370805,0.0699025141745,0.999999986675,-4.76778184975e-05,-0.000142529053174,-6.3740395043e-05,1793237457847443456
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746.037237361,716.037237361,680,664,637,881.037237361,789,804.962762639,653,633,654,0.425918564901,-0.00551477644327,0.0699382869716,0.999999993355,-5.75345296653e-05,-7.71267002759e-05,-6.34959760846e-05,1793237457864110080
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746.628948469,716.628948469,680,664,637,881.628948469,789,804.371051531,653,633,654,0.426736296355,-0.00551741933935,0.0699905076251,0.999999996295,-6.18227996328e-05,-8.03810595027e-07,-5.98898579853e-05,1793237457880776448
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746.783912438,717,680,664,637,881.783912438,789,804,653,633,654,0.427541256144,-0.00552017657947,0.0700270643311,0.999999995245,-6.21114942801e-05,4.89733209488e-05,-5.70394712843e-05,1793237457897442816
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.204461351,717,680,664,637,881.204461351,789,804,653,633,654,0.428324739784,-0.00552312609603,0.0700372812269,0.999999995448,-5.56746767591e-05,5.41122628645e-05,-5.54598898022e-05,1793237457914109696
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746.372981656,717,680,664,637,881.372981656,789,804,653,632.627018344,654.372981656,0.429110185646,-0.00552551673707,0.0700429884587,0.99999999468,-5.7908626423e-05,6.4473335698e-05,-5.59478192854e-05,1793237457930776576
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746.949329734,717,680,664,637,881.949329734,789,804,653,632.050670266,654.949329734,0.429896701352,-0.00552760265379,0.0700462368176,0.999999993222,-6.48702698098e-05,7.76817495225e-05,-5.75630490834e-05,1793237457947443456
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746.475895299,717,680,664,637,882.524104701,789,804,653,632.524104701,654.475895299,0.430637614214,-0.00552533630782,0.0700165930006,0.999999995851,-6.241033179e-05,3.01291845436e-05,-5.91128385872e-05,1793237457964110080
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,716.898222569,680,664,637,883,789,804.101777431,653,632.898222569,654,0.431362788171,-0.00552318166552,0.0699804958997,0.999999995941,-6.00176200184e-05,-2.86016098825e-05,-6.08088090342e-05,1793237457980776448
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,716.305850962,680,664,637,883,789,804.694149038,653,632.305850962,654,0.432033284723,-0.00552358764337,0.0699285748547,0.999999989675,-6.23264782209e-05,-0.000112983237989,-6.3239816082e-05,1793237457997442816
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,716.279843969,680.279843969,664,637.279843969,883,788.720156031,804.720156031,652.720156031,632.279843969,654,0.43276024449,-0.00552686975001,0.0699187184221,0.999999987904,-6.63655606734e-05,-0.000125385488307,-6.37682648284e-05,1793237458014109696
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,716.858411741,680.858411741,664,637.858411741,883,788.141588259,804.141588259,652.141588259,632.858411741,654,0.433547476754,-0.0055332220251,0.0699537645185,0.999999993594,-7.22515979647e-05,-6.09522254947e-05,-6.22657980924e-05,1793237458030776576
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,717,681,664,637.567058452,882.567058452,788,804,652.432941548,633,654,0.434319887782,-0.0055373190269,0.0699987964901,0.999999995248,-7.55631807204e-05,1.36445051673e-05,-6.00733791331e-05,1793237458047443200
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,717,680.99368498,664,637,882,788.00631502,804,653,633,654,0.435086702095,-0.00554065758191,0.0700464633688,0.999999991188,-7.80311400477e-05,9.05929135995e-05,-5.76870174587e-05,1793237458064109824
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,717,680.406327615,664,637,882,788.593672385,804,653,633,654,0.435780418407,-0.00554144720363,0.0700388621189,0.999999991872,-7.962874548e-05,8.09186818694e-05,-5.80253498841e-05,1793237458080776704
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,717,680,664,637,882,789,804.178717404,653,633,654,0.43646564159,-0.00554208855682,0.070027345894,0.999999992927,-8.01261956292e-05,6.53050501312e-05,-5.88376396739e-05,1793237458097443328
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,717,680,664,637,882,789,804.758572393,653,633,654,0.437131801777,-0.00554239711619,0.0700070423666,0.999999994442,-7.81543083059e-05,3.6360221421e-05,-6.0713743709e-05,1793237458114109952
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,716.664156942,680.335843058,664,637,882,789,805,653,632.664156942,654,0.437779576858,-0.00554220175973,0.0699881253886,0.999999994816,-7.92520903971e-05,1.54732439425e-05,-6.20226115305e-05,1793237458130776576
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,716.088729918,680.911270082,664,637,882,789,805,653,632.088729918,654,0.43841423632,-0.00554164691942,0.0699701975495,0.999999994614,-8.25397156209e-05,3.34583971681e-07,-6.29268238716e-05,1793237458147443200
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746.485003962,716.485003962,681,664,637,882,789,804.514996038,652.514996038,632.485003962,654,0.439009308937,-0.00554192055616,0.069946941806,0.999999993693,-8.27752590204e-05,-4.06454840014e-05,-6.41165631347e-05,1793237458164109824
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746.939510137,716.939510137,681,664.060489863,637,882,789,804.060489863,652.060489863,633,654,0.439598133692,-0.0055419563156,0.06992423834,0.999999991083,-8.19932414321e-05,-8.27690756542e-05,-6.52717097329e-05,1793237458180776448
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746.345861179,716.345861179,681,664.654138821,637,882,789,804.654138821,652.654138821,633,654,0.440195501285,-0.00553856414914,0.0699149640043,0.999999990502,-7.71467712187e-05,-9.34474726115e-05,-6.56631471005e-05,1793237458197443328
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746.241799555,716.241799555,681.241799555,665,637,882.241799555,789,805,653,632.758200445,654,0.440803944521,-0.00553832131849,0.0699259580221,0.999999992206,-7.62186994608e-05,-7.43537935399e-05,-6.51965738299e-05,1793237458214109952
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746.821101903,716.821101903,681.821101903,665,637,882.821101903,789,805,653,632.178898097,654,0.44142784704,-0.00554247431765,0.0699652425225,0.999999994627,-8.0759911844e-05,-1.37043760866e-05,-6.35323927599e-05,1793237458230776576
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,747,717,681.60242903,664.60242903,637,882.60242903,789,805,653,632.39757097,654.39757097,0.442013425691,-0.00554704175466,0.07000240265,0.999999993579,-8.51921102754e-05,4.15957107495e-05,-6.20768276601e-05,1793237458247443200
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,747,717,681.027225806,664.027225806,637,882.027225806,789,805,653,632.972774194,654.972774194,0.442581881528,-0.0055517943603,0.0700386136243,0.999999989679,-8.95756022274e-05,9.45057548803e-05,-6.07144706629e-05,1793237458264109568
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+202,3.366666667,POSE1_TO_POSE2_PRESS,767,747,716.853366241,682,664.853366241,636.853366241,882,789,804.146633759,653,633,654,0.443502924443,-0.00555703518406,0.0699823650046,0.999999993393,-9.67125990471e-05,-5.94956734679e-06,-6.1844179304e-05,1793237458297442816
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,747,716.273498925,682,664.273498925,636.273498925,882,789,804.726501075,653,633,654,0.443921393829,-0.00555916872341,0.0699412027163,0.999999990727,-9.58688860678e-05,-7.43852699546e-05,-6.18178958287e-05,1793237458314109440
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+207,3.450000000,POSE1_TO_POSE2_PRESS,767,747,717,682,663.028647856,636,882,788,805,653,632.971352144,654,0.445557353462,-0.00555951657447,0.069875353751,0.999999977892,-9.89794088762e-05,-0.000173401461624,-6.59584206861e-05,1793237458380777216
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,747,717,682,663.618556337,636,882,788,805,653,632.381443663,654,0.445936521133,-0.0055623589022,0.0698751300519,0.999999978373,-0.000101379416436,-0.000169404561508,-6.54135624663e-05,1793237458397443584
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,747,716.794559525,682.205440475,663.794559525,636,882,788,805,653,632.205440475,654,0.446295558006,-0.00556263755975,0.0698724674383,0.999999977748,-0.00010206919253,-0.000172938350851,-6.46336663464e-05,1793237458414110208
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+211,3.516666667,POSE1_TO_POSE2_PRESS,767,747,716,682.635967831,663.364032169,636,882,788,805,653,633,654,0.446912971791,-0.00555716923204,0.0698526400693,0.999999969886,-9.97265235392e-05,-0.000215124800174,-6.32802183633e-05,1793237458447443456
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+213,3.550000000,POSE1_TO_POSE2_PRESS,767,747,716.524260626,682.524260626,663.475739374,635.475739374,882,788,804.475739374,653,632.475739374,654,0.447446815165,-0.00555905883627,0.0698233097195,0.999999957027,-0.000100278543452,-0.000267780443932,-6.4675853784e-05,1793237458480776704
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,747,716.890379651,683,663,635,882,788,804.109620349,653,632,654,0.447697464318,-0.00556024048144,0.0698119970553,0.999999951701,-9.90696451694e-05,-0.000287209451199,-6.55353086716e-05,1793237458497443328
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,747,716.310409648,683,663,635,882,788,804.689590352,653,632,654,0.447945527859,-0.00556213517352,0.0698083409181,0.999999950196,-9.83404506377e-05,-0.000292566669947,-6.59004025916e-05,1793237458514110208
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,747,716.268797852,682.731202148,662.731202148,635,882,787.731202148,805,653,632.268797852,654,0.448180803537,-0.00556455057084,0.0698098718388,0.999999950801,-9.91223237953e-05,-0.000290343618562,-6.53671368651e-05,1793237458530776832
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,747,716.847127265,682.152872735,662.152872735,635,882,787.152872735,805,653,632.847127265,654,0.448401353461,-0.00556756558113,0.069817375866,0.999999953769,-0.000101644252337,-0.000279391580253,-6.37993737708e-05,1793237458547443456
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+231,3.850000000,POSE1_TO_POSE2_PRESS,767,747,716,682,662,635,882,787,805,653,633,654,0.449881323302,-0.00557457243087,0.0697754842605,0.999999931766,-0.000118715658615,-0.000344052531967,-6.32644876353e-05,1793237458780776704
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+260,4.333333333,POSE1_TO_POSE2_PRESS,767,747,716,682.200033199,661.200033199,634,882,787,805,653,632.799966801,654,0.450005319986,-0.00557027696314,0.0697580478134,0.999999921678,-0.000117389728224,-0.000373209370744,-5.98267863478e-05,1793237459264110080
+261,4.350000000,HOLD_POSE2,767,747,717,683,661,634,882,787,804,653,633,654,0.450004084599,-0.00556497012714,0.069755919934,0.999999920697,-0.000112918854934,-0.000377049707001,-6.07317995047e-05,1793237459298824960
+262,4.366666667,HOLD_POSE2,767,747,716.412929945,682.412929945,661.587070055,634,882.587070055,787.587070055,804.587070055,653,632.412929945,654.587070055,0.450003274734,-0.00556716852796,0.0697556994495,0.999999920272,-0.000114281592462,-0.000377817704237,-6.04036168355e-05,1793237459315492096
+263,4.383333333,HOLD_POSE2,766.82797601,747,716,682.17202399,661.82797601,634,882.82797601,787.82797601,805,653,632,654.82797601,0.450003360309,-0.00556862921464,0.0697557859062,0.999999920156,-0.000115866914682,-0.000377677291915,-6.01856486832e-05,1793237459332158976
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+265,4.416666667,HOLD_POSE2,766,747,716,682.669690438,661.330309562,634.330309562,882,787,805,653.330309562,632.330309562,654.330309562,0.450006146876,-0.00556763039295,0.0697565194175,0.999999920873,-0.000117635819259,-0.000375200504679,-6.03372853843e-05,1793237459365491968
+266,4.433333333,HOLD_POSE2,766,747,716,682.092527002,661.907472998,634.907472998,882,787,805,653.907472998,632.907472998,654.907472998,0.450005505478,-0.00556660512336,0.0697557697127,0.999999920593,-0.000115455119105,-0.000376596710976,-6.04940316827e-05,1793237459382159104
+267,4.450000000,HOLD_POSE2,766.482410324,747,716,682,662,634.517589676,882,787,804.517589676,653.517589676,633,654.517589676,0.450004103822,-0.00556639519245,0.069754927761,0.999999920447,-0.000113614221823,-0.000377601316006,-6.0121359516e-05,1793237459398825728
+268,4.466666667,HOLD_POSE2,767,746.942973757,716.057026243,682,662,634,882,787,804.057026243,653,633,654,0.45000288159,-0.00556654017839,0.0697542794389,0.999999920348,-0.000112317963493,-0.000378317758344,-5.9710173032e-05,1793237459415491840
+269,4.483333333,HOLD_POSE2,767,746.367415761,716.632584239,682,662,634,882,787,804.632584239,653,633,654,0.450004610644,-0.00556849693559,0.0697555519064,0.999999920451,-0.000115384129627,-0.000377093802118,-5.98678586123e-05,1793237459432158464
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+271,4.516666667,HOLD_POSE2,767,746.806830636,716.193169364,682,661.193169364,634,882,787,805.806830636,653,632.193169364,654,0.450005654042,-0.0055687034589,0.0697559088927,0.99999992045,-0.000116177106983,-0.000376920420196,-5.94480336707e-05,1793237459465491712
+272,4.533333333,HOLD_POSE2,767,747,716,682,661,634,882,787,805.611454933,653,632.388545067,654,0.450006048349,-0.00556829566206,0.069756015664,0.999999920513,-0.000116214845505,-0.000376790206816,-5.91443623745e-05,1793237459482158336
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,747,716,683,661.174498218,634,882,787,805,653,632,654.174498218,0.450003935239,-0.00556602076751,0.0697540014797,0.999999919268,-0.000113880904984,-0.000380792629793,-5.90880618111e-05,1793237459648171520
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,747,716.331855847,683,661.668144153,634,882,787,805,653,632,654.668144153,0.450004919775,-0.00556712068863,0.0697544482079,0.99999991972,-0.000115310552503,-0.000379149642033,-5.92406297924e-05,1793237459681505280
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,747,716,682,661,634,882.056986182,787,804.943013818,653,632,654.943013818,0.450002673486,-0.00556601111344,0.0697521959078,0.999999918418,-0.000113796200915,-0.000382938817503,-5.97767440436e-05,1793237459731504640
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,747,716,682.237463138,661.237463138,634,882.762536862,787,804.237463138,653,632,654.237463138,0.450000069194,-0.00556413778991,0.0697507222108,0.999999918291,-0.000111728998463,-0.00038387529627,-5.97936369007e-05,1793237459764837888
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,747,716,682.714615792,661.285384208,634,882,787,804.285384208,653,632,654,0.449807367672,-0.00555694412038,0.0696664896365,0.999999859738,-0.000107371559946,-0.000514809880682,-6.29837289914e-05,1793237459864838144
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,747,716,682.123620559,661,634,882.876379441,787,804,653,632,654,0.449686713774,-0.00555541559686,0.0696472753416,0.999999846714,-0.000107476318737,-0.000539606371848,-6.20118911087e-05,1793237459898171136
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,746.639378332,716,682,663,635.639378332,882,788,805,652.639378332,632.639378332,654,0.444860777242,-0.00546028680329,0.0697175966047,0.99999989414,9.32462519038e-05,-0.000450385598038,1.33625132746e-05,1793237460264838144
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746.775811059,716,682,663,636,882,788,805,653,633,654,0.444436596373,-0.0054558903113,0.0697211451302,0.999999896647,8.17643679833e-05,-0.000447062525616,1.25094291433e-05,1793237460281504768
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746.19747109,716,682,663,636,882,788,805,653,633,654,0.443984746859,-0.00544804910323,0.0697285303617,0.999999902228,6.03133737364e-05,-0.000438031675755,5.86485492655e-06,1793237460298171648
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,746,716,682,663,636,882.379653889,788,805,653,633,654,0.44350970453,-0.00544555661511,0.0697374291227,0.9999999081,5.91051300104e-05,-0.00042456912351,6.86376726779e-06,1793237460314838528
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,716,682,663,636,882.956148907,788,805,653,633,654,0.443022637315,-0.00544583730593,0.0697471126109,0.999999914029,6.83922513047e-05,-0.000408808843673,1.18256381251e-05,1793237460331505152
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746,716,682,663,636,882.457069356,788.542930644,805,653,633,654,0.44255113175,-0.00545194850728,0.0697717361715,0.999999928582,7.87851090816e-05,-0.000369287410842,1.60084938458e-05,1793237460348171776
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,746,716.128675282,681.871324718,663.128675282,636.128675282,882.128675282,789,805,653,633,654,0.442071701476,-0.0054573680808,0.0697965209123,0.999999942447,8.4276466681e-05,-0.000328081729852,1.91190897365e-05,1793237460364838400
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746,716.707824258,681.292175742,663.707824258,636.707824258,882.707824258,789,805,653,633,654,0.441560042923,-0.005458685918,0.0698175639517,0.99999995579,7.2289682933e-05,-0.000287828087976,1.87003814467e-05,1793237460381505792
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,746,716.713386786,681.286613214,664,636.713386786,882.713386786,789,804.713386786,652.713386786,633,654,0.441025336558,-0.00545503635001,0.0698392686511,0.999999966649,7.11657805099e-05,-0.000247546558316,1.88992704907e-05,1793237460398172672
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,746,716.134964309,681.865035691,664,636.134964309,882.134964309,789,804.134964309,652.134964309,633,654,0.440467164484,-0.00544632932224,0.0698616470082,0.999999975043,8.11016926208e-05,-0.000207236630461,1.97269533251e-05,1793237460414839296
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,682,664,636.440611899,882,789,804,652.440611899,633,654,0.439833479432,-0.00543648571859,0.0698492231941,0.999999968335,9.72820081672e-05,-0.000231200094794,2.03145531155e-05,1793237460431505920
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,746,716.015717353,682,664,637,882,788.984282647,804.015717353,653,633,654.015717353,0.43917636316,-0.00542632421376,0.0698254980048,0.999999955243,0.000114861397729,-0.000275486213685,2.06970865894e-05,1793237460448172544
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,746,716.605263289,682,664,637,882,788.394736711,804.605263289,653,633,654.605263289,0.438502844823,-0.00541718531257,0.0697758692508,0.999999932952,0.000114135853727,-0.000347569273951,1.62604678199e-05,1793237460464838912
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,746,716.808778777,682,664,637,882,788,804.808778777,652.808778777,632.808778777,654.808778777,0.437839863187,-0.00541201912415,0.0697436469158,0.999999916542,0.000111972801755,-0.000392687797199,1.31863528943e-05,1793237460481505280
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,746,716.230091151,682,664,637,882,788,804.230091151,652.230091151,632.230091151,654.230091151,0.437198231827,-0.00541490273697,0.0697466947409,0.999999920794,0.000106896967218,-0.000383168805481,1.28730431462e-05,1793237460498171648
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,746,716.921557903,682,664.921557903,637,882,788.921557903,804.921557903,652.921557903,632.921557903,654.921557903,0.435905440362,-0.00542942647307,0.0698117496679,0.999999956215,9.84560403558e-05,-0.000278337516722,2.01253068352e-05,1793237460531504640
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767.492488434,746,717,682,664.015023131,637,882,789,804.507511566,653,633.492488434,655,0.43520924589,-0.00543191303561,0.0698351227746,0.999999962983,9.6094687367e-05,-0.000253561025885,2.25295297621e-05,1793237460548171264
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767.934487748,746,717,681.934487748,663,637,882,789,804,653,633.934487748,654.934487748,0.434501996894,-0.00543269957285,0.0698520718507,0.99999996642,9.51867428691e-05,-0.000239797344832,2.4423434264e-05,1793237460564838144
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767.339193151,746,717,681.339193151,663,637,882,789,804,653,633.339193151,654.339193151,0.433767445339,-0.00542722488882,0.0698381056109,0.999999958857,0.000103928823279,-0.000266196783856,2.4999581904e-05,1793237460581504512
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766.751836628,746.248163372,716.751836628,681.248163372,663,637,882,789,804,653,633,654,0.433036755401,-0.00542231108142,0.0698316211081,0.999999955315,0.000111887415005,-0.000276061600249,2.5310780804e-05,1793237460598171392
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.917251918,746,716,681,663.458625959,637,882,789,804.458625959,653,633,654,0.42618928598,-0.00541486557022,0.0698753466881,0.999999969022,0.000127334702357,-0.00021139272089,3.24936317681e-05,1793237460748171008
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,767.374057639,746.625942361,716,681,663.374057639,637,881.374057639,789,804.374057639,653,633,654,0.424585064786,-0.0054117474779,0.0698391335335,0.999999953503,0.000130809041757,-0.000273680526122,3.13481017124e-05,1793237460781504512
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746.785492288,716.214507712,681,663,637,881,789,804,653,633,654,0.423769244967,-0.00540832971153,0.0698136542542,0.999999941244,0.000132956581518,-0.0003145086464,3.0324542255e-05,1793237460798171136
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746.208344886,716.791655114,681,663,637,881,789,804,653,633,654,0.422947011198,-0.00540262720053,0.0697833878035,0.999999923168,0.000141772108323,-0.000364200435098,3.03739101007e-05,1793237460814837760
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,716.634256704,681,663,637,881,789,804,653,633,654,0.422143014759,-0.0053992915119,0.069752633164,0.999999902743,0.00014675159235,-0.000414906560854,2.8802066798e-05,1793237460831504384
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,716.061896779,681,663,637,881,789,804,653,633,654,0.42134932105,-0.00539729289492,0.0697216027375,0.999999879805,0.000149564008663,-0.000466185704978,2.63143647468e-05,1793237460848171264
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.093756085,746,716.906243915,680.906243915,663,636.906243915,881,789,804,653.906243915,632.906243915,654,0.419945894488,-0.00540035668044,0.0698205350387,0.999999944813,0.000141573924881,-0.000299171491325,2.87663039197e-05,1793237460881504512
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746,716.847641721,680,663,636.847641721,881.847641721,789,804,653,632.847641721,654.847641721,0.417770568144,-0.00540789568009,0.0698795543793,0.999999965924,0.000146410117298,-0.000213176835282,3.56650963013e-05,1793237460931504640
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746,716.42767371,680,663,637,881.42767371,789,804,653,633,654,0.415571447567,-0.00540026579406,0.0698087139013,0.999999939814,0.000150365492005,-0.000311252182695,2.97528971087e-05,1793237460981504512
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746.148966946,716.148966946,680,663.148966946,637,881,789,804,653,633,654,0.41484986747,-0.00539641291685,0.0697970893358,0.999999933149,0.0001548314917,-0.000329921664084,2.96780370772e-05,1793237460998171136
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746.719086678,716.719086678,680,663.719086678,637,881,789,804,653,633,654,0.414130131507,-0.00539103873601,0.0697803789945,0.999999919446,0.000165065617399,-0.000364665548922,2.96654500001e-05,1793237461014838016
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,747,717,680,663.09537654,637,881,789,804,653,633,654,0.412867245143,-0.00538799452435,0.0698154379006,0.99999994013,0.000168400264754,-0.000300624510161,3.171173134e-05,1793237461048171264
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746.281936125,717,679.281936125,663,637,881,789,804,653.281936125,633,654.281936125,0.407311488786,-0.00537841541998,0.0698336425734,0.999999945685,0.000193427764162,-0.000265301065318,2.88391301221e-05,1793237461214838016
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,717,679.303618513,663,637,880.696381487,789,804,653.303618513,633,654,0.406848945062,-0.00539095016169,0.0698385560674,0.999999949558,0.000175345234827,-0.000263199954123,2.93750506222e-05,1793237461231504640
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.879981022,663,637,880.120018978,789,804,653.879981022,633,654,0.406390570659,-0.00540430926724,0.0698294212576,0.999999947118,0.000152001800026,-0.000285971784278,2.96589036191e-05,1793237461248171264
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746.026034313,717,679.973965687,663,637,880.973965687,788.973965687,804.026034313,653,633,654.026034313,0.405544180161,-0.00538987122095,0.0698093643557,0.999999932681,0.000171705048291,-0.000323135241421,2.71717707922e-05,1793237461281504768
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746.616683671,717,679.383316329,663,637,880.383316329,788.383316329,804.616683671,653,633,654.616683671,0.405208609076,-0.00538848265054,0.0698262160787,0.999999941366,0.000178013316984,-0.000291203960179,2.79369750243e-05,1793237461298171392
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746.641484411,717,679.641484411,663,637,880,789,803,653,632,654,0.404231384378,-0.00538689236763,0.0698640576215,0.999999958736,0.000176927821496,-0.000224490801012,2.87816708754e-05,1793237461348172288
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746.064982074,717,679.064982074,663,637,880,789,803,653,632,654,0.403924498371,-0.00538050012158,0.0698671489399,0.999999958299,0.000186365850948,-0.000218739727186,2.86702974237e-05,1793237461364837888
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.893233171,746,716.106766829,679,663,637,880,789,802.893233171,653,632.893233171,654,0.403358657048,-0.00538171062395,0.0698457647379,0.999999949967,0.000184588849417,-0.000255513645538,2.65505111502e-05,1793237461398171136
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.264275923,746.264275923,716.735724077,679,663,637,880,789,802.528551846,653,632.264275923,654,0.402865967913,-0.00537538869345,0.0698391480755,0.999999947517,0.000185239268267,-0.000264662770354,2.46242309161e-05,1793237461431504896
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.841080874,746.841080874,716.158919126,679,663,637,880,789,803.682161748,653,632.841080874,654,0.402641851769,-0.0053725170193,0.0698375763458,0.999999944691,0.000193084764016,-0.000269719351133,2.42263743418e-05,1793237461448172544
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746.583681164,716.416318836,679.416318836,663,637,880.416318836,788.583681164,804,653,632.583681164,654,0.402439567357,-0.00537158220912,0.0698339691622,0.999999941858,0.000196083575373,-0.000277934548646,2.42558381722e-05,1793237461464838912
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746.009039131,716.990960869,679.990960869,663,637,880.990960869,788.009039131,804,653,632.009039131,654,0.402245585407,-0.0053713839751,0.0698295879094,0.999999938964,0.00019723922571,-0.000287350946308,2.44478090291e-05,1793237461481505024
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716.418655165,680,663,637,881,788.581344835,804,653,632.581344835,654,0.402084878558,-0.00537030183353,0.0698260102102,0.999999937487,0.000195346101209,-0.00029370054166,2.46094617057e-05,1793237461498171392
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.251570702,663,637,880.251570702,789,804.748429298,653,633,654,0.401800008469,-0.00536891512642,0.0698254851007,0.999999937958,0.000193972076574,-0.000292989196821,2.48113977522e-05,1793237461531504640
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767.324928494,746,716,679,663,637,880.324928494,789,804.350143013,653,633,654,0.401678810788,-0.00536820116073,0.0698264541024,0.999999939487,0.000191220586486,-0.000289631125415,2.39685288584e-05,1793237461548171520
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767.8990131,746,716,679,663,637,880.8990131,789,803.201973799,653,633,654,0.401566430233,-0.00536730178134,0.069826977349,0.999999941265,0.000186357821025,-0.000286772780804,2.24272645494e-05,1793237461564838400
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767.052673474,746,716.473663263,679.473663263,663,637,880.526336737,789,803,653,633,654,0.401471678749,-0.00536799637385,0.0698265503406,0.999999942114,0.000179784457075,-0.000288181046832,2.00218643101e-05,1793237461581505280
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.773972634,746,716.226027366,679.226027366,663,637,880.773972634,789,804,653.226027366,632.773972634,654,0.401247006723,-0.00536912608492,0.0698217402572,0.999999932692,0.000219934252329,-0.000293120054148,1.80572978772e-05,1793237461631505408
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,716.473458559,679.473458559,663,637,880,789,804,653.473458559,633,654,0.401082313783,-0.00536904356408,0.0698288396839,0.999999937636,0.000211380645343,-0.000282203584266,2.01950919367e-05,1793237461698171392
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+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,717,679,663,637,880,789,803.561824068,653.561824068,633,654,0.401007041348,-0.00537062261031,0.0698354487748,0.999999940904,0.000212798746692,-0.000269202915627,2.09319337578e-05,1793237461781505280
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.012435038,663,637,880.012435038,789,803.012435038,653,633,654.012435038,0.400998413757,-0.00537102117305,0.0698364901241,0.999999941438,0.000211278390098,-0.000268410739078,2.1016935421e-05,1793237461798171648
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,717,679.603866628,663,637,880.603866628,789,803.603866628,653,633,654.603866628,0.400997929449,-0.0053699822498,0.069838471186,0.999999942388,0.000211214703806,-0.000264920102936,2.07497337964e-05,1793237461814838272
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+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746.770591123,717,680,663,637.770591123,881,789,804,653,632.229408877,654.229408877,0.400995529438,-0.0053710467119,0.0698412415084,0.999999942978,0.000212913944945,-0.000261276142135,2.11476372742e-05,1793237461848171264
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746.652245917,717,680,663,637.652245917,880.652245917,788.652245917,803.652245917,653,632.347754083,654,0.400995503429,-0.00537247364325,0.069842248099,0.99999994382,0.000211115748046,-0.000259497292541,2.12591637281e-05,1793237461864838144
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+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746,716.674719292,679.325280708,663,637,880.325280708,788.325280708,804,654,633,654,0.400994820414,-0.00537207791502,0.0698439221243,0.999999944427,0.000211604729281,-0.000256773444584,2.09163174366e-05,1793237461931504640
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.252568214,663,637,880.505136427,788,803.747431786,653.747431786,633,654,0.40099499578,-0.00537220452615,0.0698440120219,0.999999944527,0.000211815528201,-0.000256215513888,2.08270710576e-05,1793237461948171264
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+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746.405596694,716.594403306,679.594403306,663,637,881.188806612,788.405596694,803.405596694,653,633,654,0.400994168158,-0.00537308421045,0.0698438080797,0.999999945034,0.000209587959944,-0.000256049746585,2.10486071734e-05,1793237461981504512
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746.983697083,716.016302917,679.016302917,663,637,880.032605834,788.983697083,803.983697083,653,633,654,0.400994360908,-0.00537555024717,0.0698444806827,0.999999946063,0.000206173339565,-0.000254784205401,2.12473140072e-05,1793237461998171136
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diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f714db0d4b5d1846174dcfd82cb291179e66eee0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_02/simulation_data.csv
@@ -0,0 +1,439 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a4ea0b7f7637abae0716fa91ad2d62848a3610e1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..83bea3a7fd10f6c0cf90d659b248c411b8f4aae3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_03/franka_data.csv
@@ -0,0 +1,440 @@
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+58,0.966666667,BASELINE,767,746,717,679,663,637,880.660841004,788.660841004,803,653.660841004,632.660841004,654,0.400994966976,-0.00538390813015,0.0698493230806,0.999999949216,0.00019890416409,-0.000248029908052,2.20369454135e-05,1793237463338427904
+59,0.983333333,BASELINE,767,746,716.755778796,679.244221204,663,637,881,789,803.244221204,653.755778796,633,654,0.400994425125,-0.00538489605194,0.0698490701038,0.999999949551,0.000196559739729,-0.000248529157798,2.22663231174e-05,1793237463355094528
+60,1.000000000,BASELINE,767,746,716.176028874,679.823971126,663,637,881,789,803.823971126,653.176028874,633,654,0.400993873398,-0.00538493355302,0.0698494601224,0.999999949721,0.000196051853942,-0.000248246431785,2.22742861212e-05,1793237463371761408
+61,1.016666667,BASELINE,767,746,716,679.597618952,663,637,881,789,803.597618952,653,633,654,0.400992800806,-0.00538449638931,0.0698489124623,0.999999949382,0.000196525638807,-0.00024924692082,2.21392469083e-05,1793237463388427776
+62,1.033333333,BASELINE,767,746,716,679.019793325,663,637,881,789,803.019793325,653,633,654,0.400991501108,-0.00538385226417,0.0698479559593,0.999999948818,0.00019742744782,-0.000250806912172,2.19418564393e-05,1793237463405094144
+63,1.050000000,BASELINE,767,746,716,679,663,637,881,789,803,653.555742644,633,654,0.400993355236,-0.00538439566615,0.0698485350332,0.999999949117,0.000197213075449,-0.00024977118202,2.20875129199e-05,1793237463421760768
+64,1.066666667,BASELINE,767,746,716.134234092,679.134234092,663,637.134234092,880.865765908,789,803.134234092,653.865765908,633,654,0.40099476447,-0.00538497765075,0.0698490484878,0.999999949457,0.000196796718818,-0.000248725864676,2.21772623313e-05,1793237463438427392
+65,1.083333333,BASELINE,767,746,716.723008285,679.723008285,663,637.723008285,880.276991715,789,803.723008285,653.276991715,633,654,0.400994288422,-0.00538554765236,0.0698491553099,0.99999994984,0.000195830469535,-0.000247959848152,2.20364982396e-05,1793237463455094016
+66,1.100000000,BASELINE,767,746,717,679.694588074,663,637.694588074,880.305411926,788.694588074,804,653,633,654,0.400994645106,-0.00538600700447,0.069849456035,0.999999950144,0.00019545133661,-0.000247028330399,2.20724170908e-05,1793237463471760896
+67,1.116666667,BASELINE,767,746,717,679.117844146,663,637.117844146,880.882155854,788.117844146,804,653,633,654,0.400995741599,-0.00538636805406,0.0698499290258,0.999999950378,0.000195593805687,-0.000245949779201,2.22653034166e-05,1793237463488427520
+68,1.133333333,BASELINE,767,746,717,679.457704258,663,637,880.542295742,788.457704258,804,653,633,654,0.400995598982,-0.00538527411323,0.0698500338698,0.999999950185,0.000196523389173,-0.000245995689677,2.22406480931e-05,1793237463505094400
+69,1.150000000,BASELINE,767,746,717,679.934294586,663,637,880.032852707,789,804,653,633,654,0.400995148129,-0.00538393519047,0.0698500415151,0.999999949912,0.000197545021871,-0.000246295040936,2.21589371399e-05,1793237463521761536
+70,1.166666667,BASELINE,767,746,717,678.787059032,663,637,880.606470484,789,804,653,633,654,0.400994861254,-0.00538471397503,0.0698500053833,0.999999950139,0.000196754712595,-0.00024601305143,2.20576128899e-05,1793237463538427904
+71,1.183333333,BASELINE,767,746,717,678.186291707,663,637,880.813708293,788.813708293,803.813708293,653,633,653.813708293,0.40099457271,-0.00538501153617,0.0698497223345,0.999999950146,0.000196610799142,-0.000246108035725,2.19846378474e-05,1793237463555094272
+72,1.200000000,BASELINE,767,746,717,678.779668835,663,637,880.220331165,788.220331165,803.220331165,653,633,653.220331165,0.400994280518,-0.00538425752603,0.0698488997214,0.999999949669,0.00019787939241,-0.0002470267847,2.19736115929e-05,1793237463571760896
+73,1.216666667,BASELINE,767,746,717,679.363733316,663,637,880,788.363733316,803,653,632.636266684,653.363733316,0.400994398999,-0.00538476320544,0.0698487789401,0.99999994975,0.00019726523543,-0.000247190066372,2.19948196788e-05,1793237463588427520
+74,1.233333333,BASELINE,767,746,717,679.942297458,663,637,880,788.942297458,803,653,632.057702542,653.942297458,0.400994760034,-0.00538601289192,0.0698490726801,0.999999950158,0.000195539074685,-0.000246907148377,2.20350662467e-05,1793237463605093888
+75,1.250000000,BASELINE,767,746,716.482100002,679.482100002,663,637,880,788.482100002,803,653.517899998,632.517899998,654,0.400995209316,-0.00538712643348,0.0698498922257,0.999999950608,0.000194417519367,-0.000245939536359,2.23494516406e-05,1793237463621760768
+76,1.266666667,BASELINE,767,746,716.095307474,679.095307474,663,637,880,788,803.095307474,653.904692526,632.904692526,654,0.40099573614,-0.0053879880875,0.0698505746021,0.999999950974,0.000193590664982,-0.000245077555918,2.26172044341e-05,1793237463638427904
+77,1.283333333,BASELINE,767,746,716.683751601,679.683751601,663,637,880,788,803.683751601,653.316248399,632.316248399,654,0.400996613594,-0.00538762447308,0.0698502458457,0.99999995089,0.000193942076828,-0.000245154603471,2.24865336088e-05,1793237463655094528
+78,1.300000000,BASELINE,767,746,716.731834519,679.731834519,663,637,880,788,803.731834519,653,632.268165481,654,0.400996529119,-0.00538713459974,0.0698500907166,0.999999950764,0.000194436826067,-0.000245288375698,2.23779937928e-05,1793237463671761152
+79,1.316666667,BASELINE,767,746,716.15210319,679.15210319,663,637,880,788,803.15210319,653,632.84789681,654,0.400995327036,-0.00538649803355,0.069850137315,0.999999950588,0.000195098110649,-0.000245488053016,2.22951667164e-05,1793237463688427520
+80,1.333333333,BASELINE,767,746,716,679,663.424852424,637,880.424852424,788.424852424,803.424852424,653.424852424,633,654,0.400994540014,-0.00538635193982,0.0698495281472,0.999999950498,0.000194623818929,-0.000246221273925,2.23694380268e-05,1793237463705094144
+81,1.350000000,BASELINE,767,746,716.000819185,679,663.999180815,637,880.999180815,789,804,653.999180815,633,654,0.400993902651,-0.00538638141976,0.0698486882455,0.999999950438,0.000193747133707,-0.000247141832178,2.24993089039e-05,1793237463721760768
+82,1.366666667,BASELINE,767,746,716.575661497,679,663.424338503,637,880.424338503,789,804,653.424338503,633,654,0.400994684622,-0.00538719386333,0.0698496112569,0.999999950598,0.000193935598814,-0.000246353309503,2.24338040422e-05,1793237463738427648
+83,1.383333333,BASELINE,767,746,716.845204942,679,663,637,880,789,803.845204942,653,633,654,0.4009954048,-0.00538750875357,0.0698503187793,0.999999950615,0.000194648822273,-0.00024572351838,2.23945650701e-05,1793237463755094528
+84,1.400000000,BASELINE,767,746,716.253972268,679,663,637,880,789,803.253972268,653,633,654,0.400995950753,-0.00538642081507,0.0698504187406,0.99999995023,0.000196841578055,-0.000245541263463,2.24293815629e-05,1793237463771761152
+85,1.416666667,BASELINE,767,746,716,679.329959594,663,637,880.329959594,789,803,653,633,654,0.400996524903,-0.0053863156531,0.0698507766443,0.999999950275,0.000197475147109,-0.000244848315914,2.24430313587e-05,1793237463788427776
+86,1.433333333,BASELINE,767,746,716,679.90839358,663,637,880.90839358,789,803,653,633,654,0.400997120286,-0.00538695056606,0.0698513287901,0.999999950644,0.000196934578405,-0.00024377079389,2.24407416792e-05,1793237463805094656
+87,1.450000000,BASELINE,767,746,716.482777094,679.517222906,663,637,881,789,803.482777094,653,633,654,0.400995653262,-0.0053882414723,0.0698501551255,0.999999950684,0.000194915409368,-0.000245232370108,2.24004307563e-05,1793237463821761024
+88,1.466666667,BASELINE,767,746,716.943278358,679,663.056721642,637,880.943278358,789,804,653,632.943278358,654,0.400994094392,-0.00538934383035,0.0698488653808,0.999999950636,0.000193047414152,-0.000246903017421,2.2346276397e-05,1793237463838427648
+89,1.483333333,BASELINE,767,746,716.366369665,679,663.633630335,637,880.366369665,789,804,653,632.366369665,654,0.400995252274,-0.00538758499892,0.0698494892868,0.999999950433,0.000195117413211,-0.00024610934611,2.22307783064e-05,1793237463855094016
+90,1.500000000,BASELINE,767,746,716.215393314,679,664,637,880,788.784606686,804,653,632.215393314,654,0.400995801264,-0.00538638186293,0.069850064444,0.999999950301,0.000196616211668,-0.000245455073591,2.21728390958e-05,1793237463871760640
+91,1.516666667,BASELINE,767,746,716.805603422,679,664,637,880,788.194396578,804,653,632.805603422,654,0.400995290693,-0.00538614572082,0.0698505547708,0.999999950302,0.000197121034873,-0.000245043376041,2.22150610136e-05,1793237463888427520
+92,1.533333333,BASELINE,767,746,717,679.388096365,663.611903635,637.388096365,880.388096365,788.388096365,803.611903635,653,632.611903635,654,0.400994537015,-0.00538657296112,0.0698503521053,0.999999950252,0.000196584711711,-0.000245663667248,2.23634771848e-05,1793237463905094144
+93,1.550000000,BASELINE,767,746,717,679.966799216,663.033200784,637.966799216,880.966799216,788.966799216,803.033200784,653,632.033200784,654,0.400993663939,-0.00538732600964,0.0698498090892,0.999999950175,0.00019553704845,-0.000246790800967,2.25640487399e-05,1793237463921760768
+94,1.566666667,BASELINE,767,746,717,679.460676511,663,637.460676511,881,789,803.539323489,653.539323489,632.539323489,654,0.400994197958,-0.00538659403251,0.0698497161622,0.999999950236,0.000195637802023,-0.00024648047266,2.23850790512e-05,1793237463938427648
+95,1.583333333,BASELINE,767,746,717,679,663,637,880.884192568,789,804,653.884192568,632.884192568,654,0.40099448759,-0.00538619776603,0.0698495753899,0.999999950267,0.000195610575826,-0.000246389200963,2.22422541719e-05,1793237463955094272
+96,1.600000000,BASELINE,767,746,717,679,663,637,880.289790339,789,804,653.289790339,632.289790339,654,0.400993413327,-0.00538756240631,0.0698491236791,0.999999950139,0.000194765593445,-0.000247564779101,2.23442687029e-05,1793237463971760896
+97,1.616666667,BASELINE,767,746,717,679.297060505,663.297060505,637,880,788.702939495,804,653,632,654,0.400993784946,-0.00538883430434,0.0698494855986,0.99999995049,0.000193657488059,-0.000246995473159,2.2585489857e-05,1793237463988427520
+98,1.633333333,BASELINE,767,746,717,679.876727358,663.876727358,637,880,788.123272642,804,653,632,654,0.400995532094,-0.00539001797263,0.0698506215594,0.999999951292,0.000192299062565,-0.000244766184379,2.29591442124e-05,1793237464005093888
+99,1.650000000,BASELINE,767,746,716.549118455,680,664,637,880.450881545,788.450881545,803.549118455,653,632,654,0.400994922113,-0.00538820276701,0.0698503982426,0.999999950716,0.000194558529769,-0.000245353403865,2.27510008604e-05,1793237464021760768
+100,1.666666667,BASELINE,767,746,716.023730435,680,663.976269565,637,881,789,803.023730435,653.023730435,632.023730435,654,0.4009937658,-0.00538576571969,0.0698498492487,0.999999949827,0.000197581961859,-0.000246587745757,2.24026724596e-05,1793237464038427392
+101,1.683333333,BASELINE,767,746,716.600863033,680,663.399136967,637,881,789,803.600863033,653.600863033,632.600863033,654,0.400994716068,-0.00538771657936,0.0698502672437,0.999999950557,0.000195632739535,-0.000245172430209,2.24498392669e-05,1793237464055094272
+102,1.700000000,BASELINE,767,746,717,680,663,637,881,788.817487961,804,653.817487961,633,654,0.400995400532,-0.00538879156373,0.0698505821702,0.999999950958,0.000194562536651,-0.00024439096965,2.24371151277e-05,1793237464071761152
+103,1.716666667,BASELINE,767,746,717,680,663,637,881,788.225711451,804,653.225711451,633,654,0.400995488958,-0.00538790248757,0.0698506659762,0.999999950629,0.000195463444703,-0.000245030863892,2.22900916959e-05,1793237464088427520
+104,1.733333333,BASELINE,767,746,716.642431048,680,663.357568952,637,881.357568952,788.357568952,803.642431048,653,633,654,0.400995232554,-0.00538825424455,0.0698506430316,0.999999950578,0.000195173618567,-0.000245450377602,2.24932373191e-05,1793237464105094400
+105,1.750000000,BASELINE,767,746,716.064389191,680,663.935610809,637,881.935610809,788.935610809,803.064389191,653,633,654,0.400994763531,-0.00538937108488,0.069850554266,0.999999950698,0.000194149599505,-0.00024573400727,2.29122931426e-05,1793237464121761024
+106,1.766666667,BASELINE,767,746,716.511410497,679.488589503,663.488589503,637.511410497,881.488589503,789,803.511410497,653,633,654,0.400994246846,-0.00538889150467,0.0698496742236,0.999999950159,0.00019596339553,-0.000246502847626,2.27134353648e-05,1793237464138427648
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,789,803,653,632,654,0.400994370869,-0.00538905669615,0.0698501056476,0.999999951359,0.000191774693347,-0.000244949646814,2.24618647176e-05,1793237464182799872
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,716,679.383817065,663.616182935,637,881.616182935,789,803,653,632.616182935,654,0.400994752697,-0.00538797740559,0.0698502938479,0.999999950621,0.000195473937499,-0.000245029922398,2.25574202461e-05,1793237464199466496
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716.218199689,679,663.781800311,637,881.563600621,788.781800311,803.218199689,653,633,654,0.400994786174,-0.00538747748779,0.0698500919141,0.999999950232,0.000196928691095,-0.000245460794982,2.24674823448e-05,1793237464216133376
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716.796817134,679,663.203182866,637,880.406365731,788.203182866,803.796817134,653,633,654,0.400994244254,-0.00538793456582,0.0698492455648,0.999999950433,0.000194676041976,-0.000246470776488,2.20711502292e-05,1793237464232800256
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,717,679.372917284,663,637,880,788.372917284,804,653,633,654,0.400993526285,-0.00538847212937,0.0698489776299,0.999999950337,0.000194196520682,-0.000247240663266,2.20467498603e-05,1793237464249466624
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,717,679.947655054,663,637,880,788.947655054,804,653,633,654,0.40099271304,-0.00538905325114,0.0698490227293,0.999999950081,0.000194676605141,-0.000247880612227,2.22236366353e-05,1793237464266133248
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637.535902537,880,789,804,653.535902537,633,654,0.400993864612,-0.00538777987342,0.0698492885781,0.999999950158,0.000195420820792,-0.000246978687275,2.22679275034e-05,1793237464282799872
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716.876634436,680,663,637.876634436,880.123365564,788.876634436,803.876634436,653.876634436,633,654,0.400994899746,-0.00538673306012,0.0698496283773,0.999999950311,0.000195802422055,-0.000246050177179,2.23177249691e-05,1793237464299466240
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716.297078083,680,663,637.297078083,880.702921917,788.297078083,803.297078083,653.297078083,633,654,0.400994776268,-0.00538721121275,0.0698501598403,0.999999950627,0.000194745249515,-0.000245594677914,2.24370166831e-05,1793237464316132864
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,716.281187512,679.718812488,663,637.281187512,881,788.281187512,803,653.281187512,633,654,0.400996696114,-0.00538798405287,0.0698511676276,0.999999951082,0.000193888979248,-0.000244405510795,2.25571243016e-05,1793237464332799744
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716.858095601,679.141904399,663,637.858095601,881,788.858095601,803,653.858095601,633,654,0.401000764893,-0.00538906681124,0.0698526763579,0.999999951682,0.000193243994871,-0.00024244475652,2.26780899871e-05,1793237464349466624
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,716.568636758,679,663,637.568636758,880.568636758,788.568636758,803,653.568636758,633,654,0.401017387969,-0.00538799223252,0.0698605201118,0.999999954351,0.000194963135372,-0.000229714801115,2.27722294027e-05,1793237464366133248
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,716.003547095,679,663.003547095,637,880.003547095,788.003547095,803,653,632.996452905,654,0.401038220227,-0.00538624306064,0.069870475782,0.999999957486,0.000197411001608,-0.000213385993707,2.28606967808e-05,1793237464382799872
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,716.592861498,679,663.592861498,637,880.592861498,788.592861498,803,653,632.407138502,654,0.401077843449,-0.00538930954657,0.0698879190066,0.999999964406,0.000192842791487,-0.000182890836693,2.34576421611e-05,1793237464399466496
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,717,679.179576127,663.820423873,637,880.820423873,789,803.179576127,653,632.179576127,654,0.401120775918,-0.00539203265476,0.0699045288995,0.999999969536,0.00018972771151,-0.000156022473913,2.42472171148e-05,1793237464416133376
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,717,679.760480724,663.239519276,637,880.239519276,789,803.760480724,653,632.760480724,654,0.401171104118,-0.0053939883605,0.0699192764115,0.999999972232,0.00018986018122,-0.000137259502419,2.5467293388e-05,1793237464432800000
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637.33830319,880.33830319,789,804,653,632.66169681,654,0.401227106985,-0.0053954501672,0.0699291699447,0.999999973866,0.000189907197968,-0.000124729508348,2.54125877455e-05,1793237464449466624
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637.913963169,880.913963169,789,804,653,632.086036831,654,0.401287091249,-0.00539656544944,0.0699356578784,0.999999974876,0.000189894260106,-0.000116572632621,2.44634827201e-05,1793237464466133248
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,717,679.501553529,663,637.501553529,881,789,804,653,632.498446471,654,0.40136034824,-0.00539754060037,0.0699367845679,0.99999997563,0.0001893753317,-0.000111117502973,2.30151241296e-05,1793237464482799872
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716.916008398,679,663,637,881,789,804,653,633,654,0.401437674981,-0.00539864982822,0.0699366549735,0.999999976226,0.000188426140277,-0.000107650880191,2.13461456932e-05,1793237464499466496
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,716.33336412,679,663,637,881,789,804,653,633,654,0.40152531691,-0.00540070125277,0.0699346599746,0.999999976222,0.000185450375545,-0.000113171320282,1.88882035036e-05,1793237464516133376
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.753433774,789,803.753433774,653,633,654,0.401622615307,-0.00540249102894,0.0699331935372,0.999999976205,0.000183668831085,-0.00011654812755,1.65021978075e-05,1793237464532800256
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.177132833,789,803.177132833,653,633,654,0.401732827357,-0.00540393090079,0.0699324339489,0.999999976214,0.000183484325877,-0.000117058239422,1.42123934784e-05,1793237464549467136
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,716.394893944,679.394893944,663.394893944,637,880,789,803.394893944,653,633,654,0.401862723068,-0.00540642964942,0.0699350416324,0.999999977394,0.000179635313051,-0.000113183363511,1.14770728784e-05,1793237464566133504
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,716.96502409,679.96502409,663.96502409,637,880,789,803.96502409,653,633,654,0.402001353513,-0.00540939828014,0.0699391435599,0.999999979034,0.000174160156257,-0.000107362626949,8.54405196228e-06,1793237464582800128
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,717,679.440216057,664,637,880,789,804,653,633,654,0.402170998561,-0.00541328761709,0.0699443751167,0.999999980677,0.000171068518359,-9.67078073062e-05,5.31833363752e-06,1793237464599466752
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716.848461798,679.151538202,664,637,880.151538202,789,803.848461798,653,633,654,0.402346978497,-0.00541722169203,0.0699483303872,0.999999982172,0.000166930069212,-8.82436274409e-05,1.83007580968e-06,1793237464616133120
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716.269718535,679.730281465,664,637,880.730281465,789,803.269718535,653,633,654,0.402535102912,-0.00542111225093,0.0699484795163,0.999999983522,0.000159401368046,-8.68458046588e-05,-2.34438520568e-06,1793237464632799744
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716.306743022,680,664,637,880.693256978,788.693256978,803.306743022,653.306743022,633,654,0.402740332726,-0.00542364807111,0.0699487539827,0.999999984788,0.000152881820914,-8.36511497343e-05,-7.27533208765e-06,1793237464649466624
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716.881213057,680,664,637,880.118786943,788.118786943,803.881213057,653.881213057,633,654,0.402960492217,-0.00542500146757,0.0699491378441,0.999999985965,0.000147243069484,-7.88882098102e-05,-1.28665437884e-05,1793237464666133760
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,717,679.53313656,663.53313656,637,880,788,803.53313656,653.53313656,633,654,0.403213881906,-0.00543044558852,0.069955909833,0.99999998825,0.000137292975527,-6.59506872607e-05,-1.73506361339e-05,1793237464682800128
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.945388345,746,716.945388345,679,663,637.054611655,880,788,803.054611655,653,633,654,0.403478481706,-0.00543685832869,0.0699641941444,0.999999991123,0.000121091428424,-5.12371716759e-05,-2.15944707527e-05,1793237464699466752
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.365494997,746,716.365494997,679,663,637.634505003,880,788,803.634505003,653,633,654,0.403767586559,-0.00544233089946,0.069971007528,0.999999997313,5.55703258674e-05,-3.9937716114e-05,-2.63033104168e-05,1793237464716133632
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.212896278,746,716.212896278,679.212896278,663.212896278,637.787103722,880.212896278,788.212896278,804,653,633,654,0.404064457619,-0.005447759489,0.0699749684245,0.999999998831,1.56253966302e-05,-3.47937210148e-05,-2.97239168877e-05,1793237464732800000
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.788726839,746,716.788726839,679.788726839,663.788726839,637.211273161,880.788726839,788.788726839,804,653,633,654,0.404374568071,-0.00545311310111,0.0699740665519,0.999999998529,1.92813781316e-05,-4.01432298254e-05,-3.09484114203e-05,1793237464749466880
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716.636491613,679.636491613,663.636491613,637,880.636491613,789,804,653,633,654,0.404711410039,-0.00545733480797,0.069978328923,0.999999998358,3.80527289334e-05,-3.21579179275e-05,-2.83172306465e-05,1793237464766133504
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716.062317949,679.062317949,663.062317949,637,880.062317949,789,804,653,633,654,0.405063743846,-0.00546090053835,0.0699855841462,0.999999997439,6.55839425255e-05,-1.64446315463e-05,-2.34515570623e-05,1793237464782799872
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716,679.524380337,663,637,880.524380337,789,804,653,632.475619663,654,0.405442417175,-0.00546503509583,0.0699862840082,0.99999999807,5.44543420865e-05,-1.43180433811e-05,-2.62621359513e-05,1793237464799466496
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,716,679.888696295,663.111303705,637,880.888696295,789,804,653.111303705,632,654,0.405828610541,-0.00546945552751,0.0699852017828,0.999999998624,4.06392461864e-05,-1.5269539127e-05,-2.94638729278e-05,1793237464816133120
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,716,679.30726281,663.69273719,637,880.30726281,789,804,653.69273719,632,654,0.40623302243,-0.0054747909304,0.069979963384,0.999999998666,3.53623220846e-05,-2.22354386425e-05,-3.03702951789e-05,1793237464832800512
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746.271264728,716.271264728,679.271264728,664,637,880.271264728,789,804,653.728735272,632.271264728,654,0.406648784088,-0.00547945650891,0.0699710252083,0.999999998417,2.94872348762e-05,-3.59615574641e-05,-3.16820687427e-05,1793237464849467136
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746.84653554,716.84653554,679.84653554,664,637,880.84653554,789,804,653.15346446,632.84653554,654,0.407077265393,-0.00548337141566,0.0699579406969,0.999999997538,2.29417872372e-05,-5.72638462279e-05,-3.34481190148e-05,1793237464866133504
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746.579349884,717,679.579349884,663.579349884,637,881,788.579349884,804,653,633,654.420650116,0.407544121192,-0.00548955614806,0.0699522381725,0.999999997312,1.67022827453e-05,-6.22379854397e-05,-3.49657161215e-05,1793237464882800128
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746.005655991,717,679.005655991,663.005655991,637,881,788.005655991,804,653,633,654.994344009,0.40802493865,-0.00549656670373,0.0699492214131,0.999999997405,1.05740887083e-05,-6.12715060988e-05,-3.63929192769e-05,1793237464899466752
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,716.413004571,679.586995429,663.586995429,637,881,788.586995429,804,653.586995429,632.413004571,654.413004571,0.408575242873,-0.00550194202775,0.0699668432933,0.999999998821,2.02278220123e-06,-3.18268534334e-05,-3.66063126794e-05,1793237464916133120
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,716.175686212,680,663.824313788,637,881,789,804,653.824313788,632.175686212,654,0.409125398021,-0.00550829407206,0.069980147484,0.999999999254,-7.1159814352e-06,-7.60301239051e-06,-3.71898428984e-05,1793237464932800000
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,716.754847546,680,663.245152454,637,881,789,804,653.245152454,632.754847546,654,0.409673621774,-0.00551692661198,0.0699830638647,0.999999999091,-1.75484689353e-05,3.97966959723e-06,-3.86511733398e-05,1793237464949466880
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,716.669013372,680,663,637,881.330986628,789,804.330986628,653,632.669013372,654,0.410222675415,-0.00552256308271,0.0699776113145,0.999999998921,-2.31412702363e-05,-3.971574473e-06,-4.00852448902e-05,1793237464966134016
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,716.09509247,680,663,637,881.90490753,789,804.90490753,653,632.09509247,654,0.410772338224,-0.00552600052926,0.06996601622,0.999999998477,-2.51818878751e-05,-2.62601341019e-05,-4.14993093721e-05,1793237464982801152
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881.521881502,788.521881502,804.521881502,653,632,654,0.411363607569,-0.00553127417181,0.0699674831911,0.999999998145,-3.58177532174e-05,-2.52061968467e-05,-4.23193974583e-05,1793237464999467776
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,716,679.947063822,663,637,881,788.052936178,803.947063822,653,632,654,0.411970594226,-0.00553716636551,0.0699739160917,0.999999997827,-4.76796314298e-05,-1.53054280918e-05,-4.28721690232e-05,1793237465016134912
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,716,679.354427431,663,637,881,788.645572569,803.354427431,653,632,654,0.41265358217,-0.00554564708424,0.0700045310362,0.999999996925,-5.463806746e-05,3.7529290861e-05,-4.19022082204e-05,1793237465032801536
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663.232826799,637,881,788.767173201,803.232826799,653,632,654,0.413330109034,-0.00555165031166,0.0700271018521,0.999999994609,-6.0414733103e-05,7.38059534399e-05,-4.10441873335e-05,1793237465049467648
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663.812072959,637,881,788.187927041,803.812072959,653,632,654,0.413997022515,-0.00555396731789,0.0700377039325,0.999999993459,-6.44330607847e-05,8.5446139202e-05,-4.03527202964e-05,1793237465066133760
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,716.387840897,679.387840897,663.612159103,637,881,788,804,653,632.387840897,654,0.414638416864,-0.00553257157775,0.0700199558002,0.999999997078,-3.91393958875e-05,5.07692879334e-05,-4.16515328685e-05,1793237465082800384
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,716.961938436,679.961938436,663.038061564,637,881,788,804,653,632.961938436,654,0.415267555889,-0.00549978803249,0.0699885927666,0.999999999017,2.3105533478e-07,-6.15084941935e-06,-4.39061568173e-05,1793237465099467264
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,717,679.448963376,663,637,881,788,804.551036624,653,632.448963376,654,0.415923583736,-0.00548847081544,0.0699526780825,0.999999996984,1.03311180462e-05,-6.11341085705e-05,-4.67776677964e-05,1793237465116133888
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.861284266,746,716.861284266,679,663,637,881,788.138715734,805,653,632.138715734,654,0.416612496047,-0.00548552184435,0.0699312686018,0.999999994454,1.04916613951e-05,-9.26936881281e-05,-4.88835540844e-05,1793237465132800512
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.281504133,746,716.281504133,679,663,637,881,788.718495867,805,653,632.718495867,654,0.417399897849,-0.00550433429905,0.069957007909,0.999999997464,-1.43433514037e-05,-5.02119662952e-05,-4.84157630681e-05,1793237465149467136
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.295260982,746,716,679,663,637,881,788.704739018,804.704739018,653,633,654,0.418167254124,-0.00551515289159,0.0699817976827,0.999999998364,-2.96694967141e-05,-1.00407602275e-05,-4.78672439788e-05,1793237465166133760
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.869180678,746,716,679,663,637,881,788.130819322,804.130819322,653,633,654,0.418915692105,-0.0055184271121,0.0700056913172,0.999999997845,-3.60214527855e-05,2.79498532751e-05,-4.72425360591e-05,1793237465182800384
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,716.454645991,679.454645991,663.454645991,637,881,788.454645991,804,653,632.545354009,654,0.419661014028,-0.00552213964979,0.0700177897529,0.999999997176,-4.24778720226e-05,4.02064790226e-05,-4.71982903311e-05,1793237465199466752
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.957145229,746,716.957145229,680,664,637,880.957145229,789,804,652.957145229,632.042854771,654,0.420408143624,-0.00552556091393,0.0700260624795,0.99999999669,-4.83923516928e-05,4.50892501973e-05,-4.73931952193e-05,1793237465216133376
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.377271922,746,716.377271922,680,664,637,880.377271922,789,804,652.377271922,632.622728078,654,0.421189454312,-0.00552371057811,0.0700300328003,0.999999996324,-4.71292469522e-05,5.27759039533e-05,-4.84374234449e-05,1793237465232800000
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.201292769,746,716,680,664,637,880.201292769,788.798707231,804,652.201292769,633,654,0.421964148753,-0.00552002590533,0.0700235448746,0.999999996881,-4.3549510012e-05,4.28902981015e-05,-5.00186083648e-05,1793237465249466624
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.777420598,746,716,680,664,637,880.777420598,788.222579402,804,652.777420598,633,654,0.422726522777,-0.00551292544275,0.0699975822431,0.999999997981,-3.56558825536e-05,2.82706552103e-07,-5.25996810205e-05,1793237465266133248
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716.351401034,679.648598966,664,637.351401034,881,788.351401034,804,653,633,654,0.423450147787,-0.00551114146896,0.069950312259,0.999999994781,-4.02883371336e-05,-7.5121053707e-05,-5.63100321313e-05,1793237465282800128
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716.924029538,679.075970462,664,637.924029538,881,788.924029538,804,653,633,654,0.424149378001,-0.00551270453558,0.0698896280531,0.999999982112,-5.28066918646e-05,-0.00017117191527,-6.0731329499e-05,1793237465299466752
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,716.48502158,679.51497842,664,637.48502158,881,789,804,653,633,654,0.424941574036,-0.0055182584881,0.0698969053198,0.999999985268,-5.8393403857e-05,-0.000149102607766,-6.18262871727e-05,1793237465316133120
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,881,789,804,653,633,654,0.4257553754,-0.00552397486628,0.0699220227796,0.999999991016,-6.32117596535e-05,-0.000100861005854,-6.16391807252e-05,1793237465332799744
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,881,789,804,653,633,654,0.42660211939,-0.00552769265399,0.069980349032,0.999999995779,-6.93323596578e-05,-1.64680019057e-05,-5.8002731587e-05,1793237465349466368
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.739542665,746,716,680,664,637,881.260457335,788.739542665,804,653,633,654,0.427433050383,-0.00553041362905,0.0700182638619,0.999999995476,-6.97046315407e-05,3.39956811756e-05,-5.508281065e-05,1793237465366132992
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.163498991,746,716,680,664,637,881.836501009,788.163498991,804,653,633,654,0.428244821477,-0.00553192680428,0.0700314469482,0.999999995663,-6.31118721362e-05,4.33484959327e-05,-5.30310798307e-05,1793237465382799616
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.40935472,746,716.40935472,680,664,637,881.59064528,788.40935472,804,653,632.59064528,654,0.429037477457,-0.00553313973175,0.0700410403286,0.999999994641,-6.45147312916e-05,6.08984934599e-05,-5.33673961821e-05,1793237465399466752
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.980944156,746,716.980944156,680,664,637,881.019055844,788.980944156,804,653,632.019055844,654,0.42982255772,-0.00553423366549,0.0700492110424,0.999999992783,-6.90863997906e-05,8.16971829354e-05,-5.46501391386e-05,1793237465416133632
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,717,680.574413579,664,637,881.574413579,788.425586421,804.574413579,653,632,654,0.430547340056,-0.00553217905065,0.0700230495013,0.999999995458,-6.60602810923e-05,3.94184642807e-05,-5.62773480816e-05,1793237465432800256
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746.164144075,716.835855925,680.835855925,664,637,882,788.164144075,805,653,632,654.164144075,0.431260491536,-0.00553000634371,0.0699869833658,0.999999996069,-6.38755681942e-05,-1.97557487087e-05,-5.82379202476e-05,1793237465449466624
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746.742534341,716.257465659,680.257465659,664,637,882,788.742534341,805,653,632,654.742534341,0.43194953862,-0.00552780965042,0.0699289094298,0.999999989323,-6.44755765181e-05,-0.000116078630292,-6.10098112217e-05,1793237465466133248
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746.683531914,716,680.316468086,664,637,881.683531914,789,804.683531914,653,632,654.683531914,0.432698218058,-0.00552947879365,0.0699174262654,0.99999998728,-6.70156023343e-05,-0.000130807366439,-6.19557351666e-05,1793237465482799872
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746.113173493,716,680.886826507,664,637,881.113173493,789,804.113173493,653,632,654.113173493,0.433494738237,-0.00553424935091,0.0699433211115,0.999999992378,-7.11120307427e-05,-8.00762122269e-05,-6.14367551377e-05,1793237465499466496
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,716.476421306,680.523578694,664,637,881.476421306,789,804,653,632.476421306,654,0.434278168889,-0.00553881264771,0.0699926676612,0.999999995397,-7.56345161656e-05,2.06927005673e-06,-5.89967625937e-05,1793237465516133376
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,717,680,664,637,882,789,804,653,633,654,0.435048939178,-0.00554276171682,0.0700406817171,0.99999999199,-7.96692350904e-05,8.05185860999e-05,-5.64720503908e-05,1793237465532800000
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,717,680,664,637,882,789,804,653,633,654,0.435750023864,-0.00554254658386,0.0700358938207,0.999999992494,-7.93155164483e-05,7.40995357316e-05,-5.68383945834e-05,1793237465549467392
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,716.774819123,680,664,637,882,788.774819123,804,652.774819123,633,654,0.436442391645,-0.00554344462065,0.0700260247339,0.999999993312,-8.01255945679e-05,6.03860608209e-05,-5.75346970231e-05,1793237465566134528
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,716.200209204,680,664,637,882,788.200209204,804,652.200209204,633,654,0.437121232898,-0.00554607004141,0.0700082708052,0.999999994227,-8.27416180822e-05,3.53533120998e-05,-5.87430189698e-05,1793237465582800640
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,716.373673174,680.373673174,664,637,882,788,804,652,632.626326826,654,0.43778831947,-0.00554773411715,0.0699875021523,0.999999994366,-8.63392059538e-05,1.30602994879e-05,-6.03494614796e-05,1793237465599467008
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,716.947166469,680.947166469,664,637,882,788,804,652,632.052833531,654,0.438449120235,-0.00554888411761,0.0699651213897,0.999999993946,-9.0461680967e-05,-7.76764953952e-06,-6.21687971639e-05,1793237465616133376
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,716.46293283,681,664,637,882,788.53706717,804,652.53706717,632,654,0.439042775454,-0.00554758769438,0.0699386272204,0.999999992453,-8.98543923401e-05,-5.48091439549e-05,-6.33734480601e-05,1793237465632800000
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746.125473297,716,681.125473297,664,637,882,789,804,653,632.125473297,654,0.439633091762,-0.00554599956593,0.0699159907988,0.999999989452,-8.85327670794e-05,-9.54959083918e-05,-6.43330175702e-05,1793237465649466880
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746.702508765,716,681.702508765,664,637,882,789,804,653,632.702508765,654,0.440235912789,-0.00554425504381,0.0699087400982,0.9999999888,-8.63676116013e-05,-0.000103739829726,-6.46350495725e-05,1793237465666133248
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746.721539909,716,682,664,637,881.721539909,789,804.278460091,653,633,654,0.440855222808,-0.00554360577626,0.0699240354052,0.999999991291,-8.51181055921e-05,-7.77787754067e-05,-6.42109135466e-05,1793237465682800128
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746.146742362,716,682,664,637,881.146742362,789,804.853257638,653,633,654,0.441492080388,-0.00554412207964,0.0699633241922,0.999999994297,-8.48430343901e-05,-1.54167573729e-05,-6.30139887126e-05,1793237465699467008
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,716,682,664,637,881.440080315,789,804.559919685,653,633.440080315,654,0.442095371643,-0.00555033662981,0.0700012120146,0.999999993181,-9.10448268542e-05,4.01748255152e-05,-6.11206806354e-05,1793237465716133376
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+202,3.366666667,POSE1_TO_POSE2_PRESS,767.818019815,746,716,682,664,636.818019815,882,788.818019815,804.818019815,653,633,654,0.443618471139,-0.0055604559086,0.0699789519902,0.999999993292,-9.8506309194e-05,-1.21089449135e-05,-5.97088934183e-05,1793237465766133760
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+204,3.400000000,POSE1_TO_POSE2_PRESS,766.662356502,746,716,682.337643498,664,636.337643498,882,788,804,653,633,654,0.444482632416,-0.00556276153284,0.0699065962493,0.999999984452,-0.0001014165159,-0.000130719536805,-6.10186048538e-05,1793237465799466752
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+208,3.466666667,POSE1_TO_POSE2_PRESS,767,747,716,681.329637586,663,636,882,788,805,653,632.670362414,654,0.446144665478,-0.00556845401669,0.0698706757541,0.99999997616,-0.000108129675742,-0.00017873294975,-6.35759366686e-05,1793237465866133248
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746.754807136,716,681.245192864,663,636,882,788,805,653,632.754807136,654,0.446506057448,-0.00556742337783,0.0698667824578,0.999999974757,-0.000107465404042,-0.000187263620186,-6.22061825128e-05,1793237465882799872
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746.182001175,716,681.817998825,663,636,882,788,805,653,632.182001175,654,0.446838733008,-0.00556463060137,0.0698592013631,0.999999971712,-0.000107278675274,-0.000203475133249,-6.05481931859e-05,1793237465899466752
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+212,3.533333333,POSE1_TO_POSE2_PRESS,767,746,716,682,663,635.06193566,882,787.06193566,805,653,632.93806434,654,0.447439629426,-0.00555667464784,0.0698285776087,0.99999995849,-9.88522617807e-05,-0.000263270755748,-6.27407002331e-05,1793237465932799744
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,716.631933625,681,663,637,882,789,804,653,633,654,0.422511343316,-0.00538896169037,0.0697666505413,0.999999908775,0.00015530769194,-0.000397025322871,2.64529204329e-05,1793237468327212544
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,746,716.052370763,681,663,637,882,789,804,653,633,654,0.421668654411,-0.00538390005991,0.0697181042466,0.999999871358,0.000160670639703,-0.000480523603579,2.38049788545e-05,1793237468343879168
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746,716.522846989,681,663,637,882,789,804.522846989,653,633,654,0.420950355969,-0.00538421665937,0.069744242139,0.999999896439,0.000156689266931,-0.000426690237933,2.24845717571e-05,1793237468360546048
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,716.902202143,681,663,637,882,789,804.902202143,653,633,654,0.420247404266,-0.00538561376938,0.0697824344209,0.999999925166,0.000153183754632,-0.000354537450756,2.25029569694e-05,1793237468377212928
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,746,716.326446093,681,663,637,882,789,804.326446093,653,633,654,0.419559064877,-0.0053896804775,0.0698432805254,0.999999953667,0.000156540449353,-0.000259527084686,2.84197900406e-05,1793237468393879552
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746.254734637,716.254734637,680.745265363,663,637,881.745265363,789,804,653,633,654,0.418848240771,-0.00539341092742,0.0698803954784,0.999999966207,0.000158679378142,-0.000203398298473,3.21836849341e-05,1793237468410545920
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746.84301839,716.84301839,680.15698161,663,637,881.15698161,789,804,653,633,654,0.418107975267,-0.00539670108107,0.0698864368958,0.999999967137,0.000159223767415,-0.000198180998872,3.31285259176e-05,1793237468427212544
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,746.575042319,717,680,663,637,881.424957681,789,804,653,633,654,0.417349458447,-0.00539457533417,0.0698604261679,0.99999995725,0.000162380916199,-0.00024111747275,3.15427696426e-05,1793237468443879168
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746,717,680,663,637,881.995448729,789,804,653,633,654,0.416584765664,-0.00539047193422,0.0698229636712,0.999999940377,0.000166492241117,-0.000301134429964,2.90477741847e-05,1793237468460545792
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746,717,680,663,637,881.420436136,789,804,653,633,654,0.415878613978,-0.00538556381347,0.0698123612569,0.999999938401,0.000171005507819,-0.00030523504225,2.80350561497e-05,1793237468477212672
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746,717,680,663.157919688,637,881,789,804,653,633,654,0.41516618437,-0.0053818156034,0.069799924708,0.999999933519,0.000174562549033,-0.000318973071329,2.73204448179e-05,1793237468493879296
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,717,680,663.745368973,637,881,789,804,653,633,654,0.414436679135,-0.00538122226148,0.0697824994496,0.999999919807,0.000175518730152,-0.000358924145175,2.74166609009e-05,1793237468510545920
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,716.671758617,680,663.671758617,637,881,789,804,653,633,654,0.413758957197,-0.00537903770723,0.0697827709306,0.999999917925,0.000179535400908,-0.000362137237879,2.78149641144e-05,1793237468527212544
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,716.092387896,680,663.092387896,637,881,789,804,653,633,654,0.413120853419,-0.00537563575594,0.069796581749,0.999999925451,0.00018589357636,-0.000337243010414,2.84443867006e-05,1793237468543879424
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,716.481458666,680,663,637,881,789,804,653,633,654,0.412543641597,-0.00537178658664,0.0698355165672,0.99999994587,0.000192307702126,-0.000265322228767,2.96883414189e-05,1793237468560546304
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.945494206,746.054505794,717,680,663,637,881,789,804,653,633,654.054505794,0.41197574924,-0.00536801484226,0.0698762676322,0.999999961663,0.000198382895818,-0.000190672461668,3.10116068927e-05,1793237468577212672
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.370071335,746.629928665,717,680,663,637,881,789,804,653,633,654.629928665,0.411386519245,-0.0053657939166,0.069888823831,0.999999963916,0.000201117449216,-0.000175206474301,3.19786319331e-05,1793237468593879296
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.211567163,747,717,680,663.211567163,637,881.211567163,789,804,653.211567163,633,654.788432837,0.410783544032,-0.00536188752846,0.0698866568968,0.999999961466,0.000206162982298,-0.000183129690517,3.20801009825e-05,1793237468610546176
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.804407001,747,717,680,663.804407001,637,881.804407001,789,804,653.804407001,633,654.195592999,0.410155798139,-0.00535494370898,0.0698579568817,0.999999949146,0.000215373213086,-0.00023320341982,3.06217207939e-05,1793237468627212800
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746.611609272,717,680,663.611609272,637,881.611609272,789,804,653.611609272,633,654.388390728,0.40956292241,-0.00534926143371,0.0698303196097,0.999999935128,0.000223544261131,-0.000280996444932,2.8511217658e-05,1793237468643879424
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746.031985989,717,680,663.031985989,637,881.031985989,789,804,653.031985989,633,654.968014011,0.408987215703,-0.00534420030633,0.0698032055995,0.99999991925,0.00023120364572,-0.000327666520296,2.60796275585e-05,1793237468660546048
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,717,680,663,637,881,788.455054258,804,653,632.455054258,655,0.408474821537,-0.00534281437526,0.0698001605299,0.999999919157,0.000232709691145,-0.00032692313319,2.55687643126e-05,1793237468677212672
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,716.878477492,680,663,637,881,788.121522508,804,653,632.121522508,654.878477492,0.407976527395,-0.00534236776752,0.0698027441092,0.999999922131,0.000233113413073,-0.000317424068001,2.52692578473e-05,1793237468693879040
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,716.302639888,680,663,637,881,788.697360112,804,653,632.697360112,654.302639888,0.40751712168,-0.00534463033945,0.0698211149177,0.999999932291,0.000230739694667,-0.000285544732006,2.53405098993e-05,1793237468710545664
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663.280832049,637,881,788.719167951,804,653,633,654,0.407054807451,-0.00535518160817,0.0698311985911,0.999999939181,0.000217118592219,-0.000271723347579,2.5754847269e-05,1793237468727212288
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663.872761026,637,881,788.127238974,804,653,633,654,0.406589271289,-0.00537491483486,0.069832102035,0.999999942784,0.000191037990987,-0.000277905997101,2.65492437892e-05,1793237468743879168
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663.54855794,637,881,788.45144206,804,653,633,654,0.406151244821,-0.00538777335449,0.0698245850554,0.999999941028,0.000172814240137,-0.000295563217299,2.68554244308e-05,1793237468760545792
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,716.026430434,679.973569566,663,637,880.973569566,789,804.026430434,653.026430434,633,654,0.40572400244,-0.00539772991938,0.0698155540067,0.999999937608,0.000158332681193,-0.00031461960092,2.69928546557e-05,1793237468777212672
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,716.600069539,679.399930461,663,637,880.399930461,789,804.600069539,653.600069539,633,654,0.40536407869,-0.00538657781819,0.0698229113488,0.999999939743,0.000176788076871,-0.000297594701932,2.6404211237e-05,1793237468793880320
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,716.821097496,679.178902504,663,637,880.178902504,788.821097496,804.821097496,653.821097496,632.821097496,654,0.405018106487,-0.00537994360849,0.0698338551055,0.999999944081,0.000187890458683,-0.000275395113698,2.63166096671e-05,1793237468810547456
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,716.230306756,679.769693244,663,637,880.769693244,788.230306756,804.230306756,653.230306756,632.230306756,654,0.404704255059,-0.00538371096715,0.0698530558832,0.999999953943,0.000182063953039,-0.000241281811941,2.73825596434e-05,1793237468827213568
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,716.353924507,679.646075493,663,637,880.646075493,788.353924507,804,653,632.353924507,654,0.404381728373,-0.00538327998446,0.0698615456074,0.999999956912,0.000182884986031,-0.000227955314865,2.7671960461e-05,1793237468843879936
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,716.933965095,679.066034905,663,637,880.066034905,788.933965095,804,653,632.933965095,654,0.404053659188,-0.00538016675641,0.0698631922316,0.999999955988,0.0001879530129,-0.000227909134844,2.74652379333e-05,1793237468860546304
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,717,679,663,637,880.511275428,788.488724572,804,653,633,654,0.403759324951,-0.00537601403961,0.0698582150428,0.999999953255,0.000194496762053,-0.000234416647376,2.66323581292e-05,1793237468877212672
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746,716.910346383,679,663,637.089653617,881,788,804.089653617,653,633,654.089653617,0.403474590897,-0.00537234994223,0.0698519839014,0.999999950284,0.00019956114178,-0.000242798887515,2.56319237269e-05,1793237468893879040
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,716.324110411,679,663,637.675889589,881,788,804.675889589,653,633,654.675889589,0.403219025765,-0.00537213194543,0.0698435206715,0.999999947622,0.000195381338445,-0.000256901523823,2.41489874354e-05,1793237468910545664
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,716.259247662,679,663,638,880.740752338,788.259247662,804.740752338,653,633,654.740752338,0.402974079593,-0.00537028921563,0.0698381503554,0.999999944952,0.000194414546933,-0.000267883785059,2.31722549855e-05,1793237468927212800
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716.839047264,679,663,638,880.160952736,788.839047264,804.160952736,653,633,654.160952736,0.402742263464,-0.00536643755233,0.069836604335,0.999999942438,0.000197420548237,-0.000275007795522,2.28214284612e-05,1793237468943879424
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,716.583614742,679,663.416385258,637.583614742,880,789,803.583614742,653,633,654,0.402529842202,-0.0053656747567,0.0698330009426,0.99999994009,0.000199901506665,-0.000281647183062,2.31002986306e-05,1793237468960546048
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716.007222699,679,663.992777301,637.007222699,880,789,803.007222699,653,633,654,0.402324873923,-0.0053660989383,0.069828606952,0.999999937782,0.000202180703737,-0.000288100341562,2.36211460193e-05,1793237468977212672
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,716.568212885,679.568212885,663.431787115,637,880,789,803.568212885,653,633,654,0.402152630218,-0.00536505738536,0.069824221787,0.999999935109,0.00020174756003,-0.000297472621634,2.43011607117e-05,1793237468993879296
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,716.853277071,680,663,637,880,788.853277071,804,653,632.853277071,654,0.401990194108,-0.00536378676575,0.0698208905158,0.999999933082,0.000201588970483,-0.000304279323223,2.47508844269e-05,1793237469010545920
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716.26548847,680,663,637,880,788.26548847,804,653,632.26548847,654,0.401855992419,-0.00536188345984,0.0698207270325,0.999999933241,0.000202359190192,-0.000303262248453,2.45022555804e-05,1793237469027212800
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716.317984125,679.682015875,663,637,880.317984125,788,803.682015875,653.317984125,632,654,0.401730854349,-0.00536051130958,0.0698205705879,0.999999933795,0.000202567426032,-0.000301294000146,2.44679142672e-05,1793237469043879424
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,716.89790156,679.10209844,663,637,880.89790156,788,803.10209844,653.89790156,632,654,0.401613182246,-0.00535957668836,0.0698204199415,0.999999934668,0.000202312738552,-0.000298542240815,2.46100881619e-05,1793237469060545792
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,716.524869619,679.475130381,663.475130381,637,881,788.475130381,803.475130381,653.524869619,632,654,0.401510304386,-0.00535974277472,0.0698202420783,0.999999937761,0.000184843003314,-0.000299922615267,1.89233363344e-05,1793237469077212928
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663.948363348,637,881,789,803.948363348,653,632.051636652,654,0.401412894417,-0.00536025486571,0.0698198513091,0.999999940057,0.000168862308121,-0.00030200873296,1.27039377042e-05,1793237469093879552
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663.37335736,637,881,789,803.37335736,653,632.62664264,654,0.40133886437,-0.00536189008335,0.0698173615512,0.999999933148,0.000205257220534,-0.000302298877821,1.37097557791e-05,1793237469110546176
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663.207341953,637,880.792658047,788.792658047,803.207341953,653.207341953,633,654,0.40127124711,-0.00536189088099,0.0698158494273,0.999999928007,0.000229298907806,-0.000301987827391,1.45227065424e-05,1793237469127212800
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663.798582562,637,880.201417438,788.201417438,803.798582562,653.798582562,633,654,0.401215503287,-0.00535886551024,0.0698161474167,0.999999928161,0.000230468297247,-0.000300563649889,1.49785587668e-05,1793237469143879424
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,716.381331125,679.618668875,664,637,880,788.381331125,803.618668875,653.618668875,633,654,0.401168071728,-0.00535828003094,0.0698186988654,0.999999929656,0.000228848650651,-0.000296765581973,1.56818440169e-05,1793237469160546304
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,716.95969192,679.04030808,664,637,880,788.95969192,803.04030808,653.04030808,633,654,0.401124935028,-0.00535895521728,0.0698224146521,0.999999931817,0.000225787939234,-0.00029174095057,1.65129752228e-05,1793237469177212928
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746,716.464712336,679,663.464712336,637,880.535287664,788.464712336,803.535287664,653,632.464712336,654,0.401095137858,-0.00536088016527,0.0698254991597,0.999999934103,0.000223273178836,-0.000285736902123,1.72704247697e-05,1793237469193879296
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,716.110197933,679.110197933,663.110197933,637,880.889802067,788,804,653,632.110197933,654,0.401067726309,-0.00536214820912,0.0698280556761,0.999999935918,0.000221458722574,-0.000280714431766,1.78529000292e-05,1793237469210545920
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,716.683099606,679.683099606,663.683099606,637,880.316900394,788,804,653,632.683099606,654,0.401046135596,-0.0053602648965,0.0698285938115,0.999999935875,0.000222413001931,-0.000280121535409,1.77238625957e-05,1793237469227213056
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,717,680,663.735411012,637,880.264588988,788.264588988,804,653.264588988,633,654,0.401029089515,-0.0053599798975,0.0698296695984,0.999999936178,0.000222776691555,-0.000278738485721,1.78514872193e-05,1793237469243880192
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,717,680,663.143290945,637,880.856709055,788.856709055,804,653.856709055,633,654,0.401017669169,-0.00536167342876,0.0698314109369,0.999999936907,0.000222409298382,-0.000276377315991,1.82968302636e-05,1793237469260546560
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.561262295,663.877475411,637,880.561262295,788.561262295,804,653.561262295,632.561262295,654.438737705,0.401009152104,-0.00536162069756,0.0698332116162,0.999999937458,0.000223432522425,-0.000273526974417,1.85960899995e-05,1793237469277212928
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,716.982601199,679,664.982601199,637,880,788.017398801,804,653,632.017398801,655,0.401001628949,-0.0053610312495,0.0698349736986,0.999999937921,0.000224849364287,-0.000270638223001,1.8836643147e-05,1793237469293879296
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,716.408603844,679,664.408603844,637,880,788.591396156,804,653,632.591396156,655,0.400996249917,-0.00536110676294,0.069834894987,0.99999993773,0.000224655682762,-0.000271516704962,1.86911095764e-05,1793237469310546176
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767.169980914,746,716,679.169980914,663.830019086,637,880,789,804,653,633,654.830019086,0.400992183475,-0.00536138889032,0.0698349940624,0.999999937948,0.000223516201372,-0.000271665813932,1.85058774627e-05,1793237469327212800
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767.75989879,746,716,679.75989879,663.24010121,637,880,789,804,653,633,654.24010121,0.400991359779,-0.00536218145634,0.0698355323591,0.999999939172,0.000220040126353,-0.000270013010678,1.82225703137e-05,1793237469343879424
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767.656037721,746,716.343962279,680,663.343962279,637,880.687924558,789,803.656037721,653,633,654.343962279,0.40099071629,-0.00536243697174,0.0698364692627,0.999999939629,0.000219902175892,-0.000268430856476,1.81820420665e-05,1793237469360546048
+416,6.933333333,POSE2_TO_POSE3_RETREAT,767.07599249,746,716.92400751,680,663.92400751,637,881.84801502,789,803.07599249,653,633,654.92400751,0.40099019649,-0.00536232387548,0.0698376797553,0.999999939561,0.000222055390469,-0.00026689719323,1.83081482653e-05,1793237469377212672
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,746,717,679.499763873,663.499763873,637,880.999527746,788.499763873,803.500236127,653,633,654.499763873,0.400989617373,-0.00536196843307,0.0698379288891,0.999999939302,0.000223324516421,-0.000266806249779,1.83424256362e-05,1793237469393879808
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746,716.922604321,679,663,637,880,788.077395679,804,653,633,654,0.400989268264,-0.00536173642845,0.0698380953126,0.99999993919,0.000223952821402,-0.000266699874875,1.83300666102e-05,1793237469410546688
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746,716.335525146,679,663,637,880,788.664474854,804,653,633,654,0.400990492754,-0.00536255792497,0.0698386715276,0.999999940235,0.000221238804081,-0.000265059489691,1.81017582311e-05,1793237469427212800
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,788.752056013,804.247943987,653,633,654,0.400990994862,-0.00536289310533,0.0698392377997,0.999999940603,0.000221016866803,-0.000263848459237,1.81357927454e-05,1793237469443879680
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,788.173401905,804.826598095,653,633,654,0.400990533449,-0.00536257963252,0.0698397908099,0.999999940074,0.000224118889941,-0.000263210106104,1.85197427511e-05,1793237469460547328
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,788,804.595918187,653,633,654,0.400990072964,-0.00536194785399,0.0698400492582,0.999999940309,0.000223364078824,-0.000262971463328,1.83474926023e-05,1793237469477213696
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,788,804.018935298,653,633,654,0.400989612876,-0.00536117987681,0.0698401816674,0.999999940868,0.000220958980933,-0.000262903851179,1.79372519975e-05,1793237469493880064
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746,716.553969816,679.553969816,663,637,880.553969816,788,804,653,632.446030184,654,0.400990132172,-0.00536133643472,0.0698405994729,0.999999940913,0.000221479476145,-0.000262264497123,1.83791935724e-05,1793237469510546432
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.872942123,663,637,880.872942123,788.127057877,803.872942123,653,632.127057877,654,0.400990097943,-0.00536163080891,0.0698405538658,0.999999940848,0.000221740719119,-0.000262272943338,1.86395682603e-05,1793237469527213312
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746,717,679.298723291,663,637,880.298723291,788.701276709,803.298723291,653,632.701276709,654,0.400987998711,-0.00536229980218,0.069838843267,0.999999940458,0.00022074019991,-0.000264629499771,1.81591814165e-05,1793237469543880192
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746,717,679,663,637,880.287179064,789,803.287179064,653,633,654,0.400987664183,-0.00536254976364,0.0698387736773,0.999999940269,0.000221625232137,-0.000264609291342,1.8045798235e-05,1793237469560546560
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,746,717,679,663,637,880.885749971,789,803.885749971,653,633,654,0.400989243145,-0.00536234536364,0.0698404834544,0.999999940294,0.000224554791384,-0.000262011926958,1.8330361736e-05,1793237469577213184
+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,746,716.534157211,679.465842789,663,637,881,788.534157211,803.534157211,653,632.534157211,654,0.400990694446,-0.00536196952605,0.0698420938961,0.999999941012,0.000224231213078,-0.000259545464071,1.82089387256e-05,1793237469593879808
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,746,716.041366088,679.958633912,663,637,881,788.041366088,803,653,632.041366088,654,0.400991874308,-0.00536154589072,0.0698434702415,0.999999941763,0.000223282322333,-0.000257477432739,1.80115034347e-05,1793237469610546176
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746,716.61418333,679.38581667,663,637,881,788.61418333,803,653,632.61418333,654,0.400989953757,-0.00536102774889,0.069842140086,0.999999940879,0.000224158989111,-0.000260131534048,1.80679206759e-05,1793237469627212800
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746,717,679.193310285,663,637,880.806689715,789,803.193310285,653.193310285,633,654,0.400989288255,-0.00536065668483,0.0698415306037,0.999999940527,0.000224842589601,-0.000260899967653,1.79624717186e-05,1793237469643879680
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,746,717,679.785455449,663,637,880.214544551,789,803.785455449,653.785455449,633,654,0.400991212153,-0.00536058906934,0.0698424080035,0.99999994128,0.000225127858787,-0.000257777920444,1.75230628605e-05,1793237469660546816
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.63073088,663,637,880,788.63073088,803.63073088,653.63073088,632.63073088,654,0.400991983959,-0.00536130856756,0.0698425452139,0.999999941807,0.00022402591794,-0.000256690681348,1.75551300652e-05,1793237469677213696
+435,7.250000000,POSE2_TO_POSE3_RETREAT,767,746,717,679.051651019,663,637,880,788.051651019,803.051651019,653.051651019,632.051651019,654,0.400992101172,-0.00536247528679,0.0698422618647,0.999999942206,0.000222135794284,-0.000256759576477,1.78550798159e-05,1793237469693880320
+436,7.266666667,POSE2_TO_POSE3_RETREAT,767,746,717,679.523848177,663,637,880,788.523848177,803.523848177,653,632,654,0.400992119187,-0.00536160507751,0.0698425503914,0.999999941965,0.000223254625758,-0.000256725150158,1.78731066793e-05,1793237469710546688
+437,7.283333333,POSE2_TO_POSE3_RETREAT,767,746,716.898723896,679.898723896,663,637,880.101276104,789,804.101276104,653,632,654,0.400992060546,-0.00536084977945,0.0698429086308,0.999999941737,0.000224286520968,-0.000256714552151,1.78634109143e-05,1793237469727213312
+438,7.300000000,POSE2_TO_POSE3_RETREAT,767,746,716.31033266,679.31033266,663,637,880.68966734,789,804.68966734,653,632,654,0.400991679933,-0.00536160661314,0.0698433328074,0.999999941878,0.000223482993356,-0.000256867229439,1.78531669942e-05,1793237469743879936
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..20f8a2323ec08657063776b01845b2fefdef1ee1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,440 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+1,0.016666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+2,0.033333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+3,0.050000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+4,0.066666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+5,0.083333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+6,0.100000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+7,0.116666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+8,0.133333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+9,0.150000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+10,0.166666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+11,0.183333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+12,0.200000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+13,0.216666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+14,0.233333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+15,0.250000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+16,0.266666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+17,0.283333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+18,0.300000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+19,0.316666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+20,0.333333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+21,0.350000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+22,0.366666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+23,0.383333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+24,0.400000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+25,0.416666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+26,0.433333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+27,0.450000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+28,0.466666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+29,0.483333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+30,0.500000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+31,0.516666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+32,0.533333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+33,0.550000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+34,0.566666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+35,0.583333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+36,0.600000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+37,0.616666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+38,0.633333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+39,0.650000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+40,0.666666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+41,0.683333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+42,0.700000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+44,0.733333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+45,0.750000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+47,0.783333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+48,0.800000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+49,0.816666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+50,0.833333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+51,0.850000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+54,0.900000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+55,0.916666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+56,0.933333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+405,6.750000000,pose2_to_pose3_retreat,0.578348869766,1.29014637145e-06,1.06001167236,0.548920104316,0.00867495499815,1.05966120685
+406,6.766666667,pose2_to_pose3_retreat,0.578324429989,1.29706433683e-06,1.06001174782,0.548895663477,0.00867495848438,1.05966128654
+407,6.783333333,pose2_to_pose3_retreat,0.578305675027,1.33963354662e-06,1.06001177566,0.548876908839,0.00867500212882,1.05966131382
+408,6.800000000,pose2_to_pose3_retreat,0.578290758252,1.32397263362e-06,1.06001175028,0.548861992815,0.00867498895034,1.0596612868
+409,6.816666667,pose2_to_pose3_retreat,0.578279416538,1.21654619225e-06,1.06001167326,0.548850651846,0.00867488400554,1.05966120867
+410,6.833333333,pose2_to_pose3_retreat,0.578271099615,1.21711074975e-06,1.06001185086,0.548842335633,0.0086748868682,1.05966138353
+411,6.850000000,pose2_to_pose3_retreat,0.578264999917,1.23989577254e-06,1.06001188241,0.548836236054,0.00867491005616,1.05966141508
+412,6.866666667,pose2_to_pose3_retreat,0.578260693791,1.27467470849e-06,1.06001179813,0.54883192961,0.0086749438408,1.05966133288
+413,6.883333333,pose2_to_pose3_retreat,0.578257918094,1.24537939259e-06,1.06001171933,0.548829153849,0.00867491443043,1.05966125659
+414,6.900000000,pose2_to_pose3_retreat,0.578256238184,1.21803039487e-06,1.06001166708,0.548827473927,0.00867488710962,1.05966120608
+415,6.916666667,pose2_to_pose3_retreat,0.578255277943,1.24312647031e-06,1.06001165109,0.548826513455,0.00867491146164,1.05966119117
+416,6.933333333,pose2_to_pose3_retreat,0.57825486085,1.26831417806e-06,1.06001164901,0.548826096182,0.00867493605951,1.05966118959
+417,6.950000000,pose2_to_pose3_retreat,0.578254736801,1.27580535873e-06,1.06001164839,0.548825972079,0.00867494337526,1.05966118912
+418,6.966666667,pose2_to_pose3_retreat,0.578254696944,1.27821224802e-06,1.06001164819,0.548825932205,0.00867494572578,1.05966118897
+419,6.983333333,pose2_to_pose3_retreat,0.578254648734,1.28112360668e-06,1.06001164795,0.548825883974,0.00867494856897,1.05966118879
+420,7.000000000,pose2_to_pose3_retreat,0.57825458355,1.28505995742e-06,1.06001164762,0.548825818762,0.00867495241314,1.05966118854
+421,7.016666667,pose2_to_pose3_retreat,0.578254534245,1.28803743875e-06,1.06001164737,0.548825769436,0.00867495532089,1.05966118836
+422,7.033333333,pose2_to_pose3_retreat,0.578254482655,1.29115290245e-06,1.06001164712,0.548825717823,0.0086749583634,1.05966118816
+423,7.050000000,pose2_to_pose3_retreat,0.578254354329,1.2989023702e-06,1.06001164648,0.548825589442,0.00867496593139,1.05966118768
+424,7.066666667,pose2_to_pose3_retreat,0.578253991672,1.32080275407e-06,1.06001164466,0.548825226628,0.00867498731891,1.0596611863
+425,7.083333333,pose2_to_pose3_retreat,0.578253647036,1.34161485715e-06,1.06001164294,0.548824881844,0.00867500764364,1.059661185
+426,7.100000000,pose2_to_pose3_retreat,0.578253594137,1.3448093691e-06,1.06001164268,0.548824828922,0.00867501076334,1.0596611848
+427,7.116666667,pose2_to_pose3_retreat,0.578253513689,1.34966747138e-06,1.06001164228,0.54882474844,0.00867501550768,1.05966118449
+428,7.133333333,pose2_to_pose3_retreat,0.578253298421,1.36354100373e-06,1.06001164962,0.5488245329,0.00867502838361,1.05966119003
+429,7.150000000,pose2_to_pose3_retreat,0.57825308399,1.37795726919e-06,1.06001166269,0.548824318074,0.00867504133281,1.05966119988
+430,7.166666667,pose2_to_pose3_retreat,0.57825290586,1.38993297363e-06,1.06001167354,0.548824139617,0.00867505208981,1.05966120806
+431,7.183333333,pose2_to_pose3_retreat,0.578252689897,1.40445219314e-06,1.0600116867,0.548823923257,0.00867506513149,1.05966121798
+432,7.200000000,pose2_to_pose3_retreat,0.578252548462,1.41396090123e-06,1.06001169532,0.548823781562,0.00867507367255,1.05966122447
+433,7.216666667,pose2_to_pose3_retreat,0.578252523579,1.41563376808e-06,1.06001169684,0.548823756633,0.00867507517517,1.05966122561
+434,7.233333333,pose2_to_pose3_retreat,0.578252341305,1.3106794865e-06,1.06001168303,0.548823575946,0.0086749757237,1.05966121476
+435,7.250000000,pose2_to_pose3_retreat,0.578252172504,1.21908395204e-06,1.06001160785,0.548823408854,0.00867489016178,1.05966114546
+436,7.266666667,pose2_to_pose3_retreat,0.57825217286,1.25369030674e-06,1.06001156536,0.548823408902,0.00867492376367,1.05966110398
+437,7.283333333,pose2_to_pose3_retreat,0.578252173091,1.2761821439e-06,1.06001153775,0.548823408933,0.00867494560268,1.05966107701
+438,7.300000000,pose2_to_pose3_retreat,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977466,1.05966107186
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9735033945c92dcf6e8f763cebb079632f4be40f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e4ec9692b04e0ba2a938f27286d0b1dc40eb74e6bd91765338a9c1920455a4f
+size 27967023
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..39f8e69f5c1102ee40451b9aa8d94b606f943190
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_04/franka_data.csv
@@ -0,0 +1,442 @@
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+36,0.600000000,BASELINE,766.035507517,746,717,679,663.035507517,637,880.035507517,789,803.964492483,654,632.035507517,654,0.400993049615,-0.00536306452652,0.0698454883925,0.999999943822,0.000220619073168,-0.000251761042478,1.72886761679e-05,1793237470469647616
+37,0.616666667,BASELINE,766.544349965,746,717,679.544349965,663.544349965,637,880,788.455650035,803.455650035,654,632.544349965,654,0.400992049669,-0.00536219234918,0.069845005825,0.99999994301,0.000222522174726,-0.000253301109298,1.74191328695e-05,1793237470486314496
+38,0.633333333,BASELINE,767,746,717,679.876827513,663.876827513,637,880.123172487,788,803.123172487,653.876827513,632.876827513,654,0.400991068954,-0.00536161930311,0.0698445607049,0.999999942386,0.000223746307135,-0.0002546731913,1.7512414292e-05,1793237470502981376
+39,0.650000000,BASELINE,767,746,717,679.300122042,663.300122042,637,880.699877958,788,803.699877958,653.300122042,632.300122042,654,0.400990651472,-0.00536238991689,0.0698443245631,0.9999999428,0.000221781606613,-0.000254780314051,1.73193221652e-05,1793237470519647488
+40,0.666666667,BASELINE,767,746,717,679,663,637,881,788.275834137,804,653.275834137,632,654,0.400990285958,-0.00536305210951,0.0698440106057,0.999999942881,0.000221026418199,-0.000255121078095,1.72990580507e-05,1793237470536314112
+41,0.683333333,BASELINE,767,746,717,679,663,637,881,788.850977223,804,653.850977223,632,654,0.400989976837,-0.00536359665375,0.0698436122103,0.999999942603,0.000221583677303,-0.000255715367424,1.74663304548e-05,1793237470552980992
+42,0.700000000,BASELINE,767,746,716.564656993,679,663,637,881,789,804.435343007,653.564656993,632.435343007,654,0.400989527248,-0.00536328226883,0.0698431349201,0.999999942239,0.000222251634472,-0.000256554004367,1.75149832466e-05,1793237470569647616
+43,0.716666667,BASELINE,767,746,716.022630368,679,663,637,880.977369632,788.977369632,804.954739264,653.022630368,632.977369632,654,0.400989111373,-0.00536270473586,0.0698427140559,0.999999941894,0.00022288321865,-0.000257346446094,1.75237548903e-05,1793237470586314496
+44,0.733333333,BASELINE,767,746,716.602438583,679,663,637,880.397561417,788.397561417,803.795122834,653.602438583,632.397561417,654,0.400990735051,-0.00536304399826,0.0698443617578,0.999999942791,0.000221666117754,-0.000254897597497,1.75719813206e-05,1793237470602980864
+45,0.750000000,BASELINE,767,746,716.818321711,679.181678289,663,637,880.181678289,788.181678289,803.181678289,653.818321711,632.181678289,654,0.400991805342,-0.00536339099315,0.0698452837671,0.999999943296,0.000220954821002,-0.000253531315116,1.75965437355e-05,1793237470619647232
+46,0.766666667,BASELINE,767,746,716.240322252,679.759677748,663,637,880.759677748,788.759677748,803.759677748,653.240322252,632.759677748,654,0.400991668453,-0.00536375485598,0.0698446227175,0.999999942957,0.000221346908263,-0.000254526591563,1.75694843994e-05,1793237470636313856
+47,0.783333333,BASELINE,767,746,716.335567833,679.664432167,663,637,881,789,803.664432167,653,633,654,0.400991633412,-0.00536363387151,0.0698446965933,0.999999942691,0.000222546218143,-0.000254513884546,1.77268982652e-05,1793237470652980480
+48,0.800000000,BASELINE,767,746,716.90995675,679.09004325,663,637,881,789,803.09004325,653,633,654,0.400991670857,-0.00536316782494,0.0698452935098,0.999999942475,0.000224320022288,-0.000253783803434,1.80156003089e-05,1793237470669647360
+49,0.816666667,BASELINE,767,746.498013325,717,679.498013325,663,637,880.501986675,789,803.996026649,653.498013325,632.501986675,654,0.400991160504,-0.00536317595427,0.0698451474757,0.999999942756,0.000222702470022,-0.000254125080145,1.76902271424e-05,1793237470686313984
+50,0.833333333,BASELINE,767,746.913145578,717,679.913145578,663,637,880,788.913145578,804.826291156,653.913145578,632,654,0.400990505272,-0.00536319821915,0.0698448412426,0.999999942975,0.000221076941828,-0.000254705819006,1.73377141706e-05,1793237470702980608
+51,0.850000000,BASELINE,767,746.334254326,717,679.334254326,663,637,880,788.334254326,803.668508652,653.334254326,632,654,0.40098960621,-0.00536280117172,0.0698444099285,0.999999942344,0.000222977927497,-0.000255514799617,1.74781819516e-05,1793237470719647488
+52,0.866666667,BASELINE,766.756890869,746.243109131,717,679,663,637,880.486218263,788.243109131,803,653,632,654,0.400989249211,-0.00536309496101,0.0698439795021,0.999999942337,0.00022279733484,-0.000255687035892,1.7628267267e-05,1793237470736314368
+53,0.883333333,BASELINE,766.181614914,746.818385086,717,679,663,637,881.636770172,788.818385086,803,653,632,654,0.400989632846,-0.00536433265989,0.0698435502887,0.999999943182,0.000219772623228,-0.000254989270477,1.77914932808e-05,1793237470752980736
+54,0.900000000,BASELINE,766.400536653,746.599463347,717,679,663,637,881.198926694,789,803.400536653,653.400536653,632,654,0.400989931857,-0.00536380503594,0.0698440118672,0.999999943132,0.000220512621993,-0.000254565549499,1.75096139976e-05,1793237470769647104
+55,0.916666667,BASELINE,766.985860256,746.014139744,717,679,663,637,880.028279488,789,803.985860256,653.985860256,632,654,0.400990191828,-0.00536246298308,0.0698448844111,0.999999942667,0.000222989464013,-0.000254268258506,1.70223860858e-05,1793237470786313728
+56,0.933333333,BASELINE,767,746,716.431111387,679,663,637,880,789,804,653.431111387,632.568888613,654,0.400990327132,-0.00536284391763,0.0698448550323,0.999999943048,0.000221088451234,-0.000254414060742,1.72360568075e-05,1793237470802980096
+57,0.950000000,BASELINE,767,746,716.149789649,679.149789649,663,637,880,789,804,653.149789649,633,654,0.400990656349,-0.0053634515826,0.069844774268,0.999999943431,0.000219275512849,-0.000254473152376,1.7300960391e-05,1793237470819647232
+58,0.966666667,BASELINE,767,746,716.724812697,679.724812697,663,637,880,789,804,653.724812697,633,654,0.400991544818,-0.00536458181995,0.0698446110115,0.999999943768,0.000218020267671,-0.000254254944706,1.6894276486e-05,1793237470836315136
+59,0.983333333,BASELINE,767,746,717,679.70123836,663,637,880.29876164,789,804,653.70123836,633,654,0.400992180839,-0.00536474928505,0.0698449144776,0.999999943912,0.000218497899745,-0.000253271191023,1.70006383236e-05,1793237470852981760
+60,1.000000000,BASELINE,767,746,717,679.128275159,663,637,880.871724841,789,804,653.128275159,633,654,0.400992585163,-0.00536403312394,0.0698456462989,0.999999943873,0.000220565955562,-0.00025158482398,1.75778702824e-05,1793237470869647104
+61,1.016666667,BASELINE,767,746,717,679.459285003,663,637,880.540714997,788.540714997,803.540714997,653,632.540714997,654,0.400990650001,-0.00536270741827,0.0698444169436,0.99999994283,0.000222872560631,-0.000253702910312,1.73720527599e-05,1793237470886313728
+62,1.033333333,BASELINE,767,746,717,680,663,637,880.050000259,788.050000259,803.050000259,653,632,654,0.400988402856,-0.00536141417853,0.0698428713011,0.999999941655,0.000224897639318,-0.000256558393961,1.69928486615e-05,1793237470902980096
+63,1.050000000,BASELINE,767,746,717,680,663,637,880.629536837,788.629536837,803.629536837,653,632,654,0.400989998739,-0.00536232692981,0.0698439673491,0.999999942275,0.000223212399301,-0.000255600823763,1.71695768295e-05,1793237470919646720
+64,1.066666667,BASELINE,767,746,717,679.792532151,663.207467849,637,880.792532151,789,804,653,632,654,0.400991052815,-0.00536328966416,0.0698447039601,0.999999942888,0.000221587039061,-0.000254604744908,1.73198983502e-05,1793237470936313344
+65,1.083333333,BASELINE,767,746,717,679.217446121,663.782553879,637,880.217446121,789,804,653,632,654,0.400991146849,-0.00536434096488,0.0698448036744,0.999999943492,0.000220067781603,-0.000253540431524,1.74234291715e-05,1793237470952980224
+66,1.100000000,BASELINE,767,746,717,679,663.634341391,637,880.365658609,788.634341391,804,653.365658609,632.365658609,654,0.400990562647,-0.00536431480045,0.0698446046854,0.999999943069,0.000221328381871,-0.000254096105449,1.7611924719e-05,1793237470969647104
+67,1.116666667,BASELINE,767,746,717,679,663.046361289,637,880.953638711,788.046361289,804,653.953638711,632.953638711,654,0.400989566075,-0.00536363353403,0.069844224084,0.999999942015,0.000224279143739,-0.000255636736384,1.78520790623e-05,1793237470986313728
+68,1.133333333,BASELINE,767,746.530324932,717,679,663,637,881,788.530324932,804,654,633,654,0.400991352851,-0.00536213994655,0.0698448873386,0.999999942281,0.000224706243934,-0.00025426578602,1.71453601502e-05,1793237471002980864
+69,1.150000000,BASELINE,767,746.892946396,717,679.107053604,663,637,880.892946396,789,804,653.892946396,633,654,0.400992830892,-0.00536111349933,0.0698455586843,0.999999942674,0.000224459125554,-0.000252969209827,1.66368957352e-05,1793237471019648256
+70,1.166666667,BASELINE,767,746.31174819,717,679.68825181,663,637,880.31174819,789,804,653.31174819,633,654,0.400991886318,-0.0053624639984,0.069845870124,0.999999943135,0.000222182625345,-0.000253105865167,1.73654825921e-05,1793237471036314624
+71,1.183333333,BASELINE,767,746,717,679.734568909,663,637,880,789,804,653,633,654,0.400991666303,-0.00536328252899,0.0698460426677,0.99999994344,0.00022108998433,-0.00025283958602,1.76382183815e-05,1793237471052980992
+72,1.200000000,BASELINE,767,746,717,679.162039369,663,637,880,789,804,653,633,654,0.400992284586,-0.00536348558287,0.0698460545114,0.999999943568,0.000221367044371,-0.00025210711977,1.73835437197e-05,1793237471069647104
+73,1.216666667,BASELINE,767,746,717,679,663,637,880,789,804,653,633,654,0.400991607222,-0.0053636049916,0.069845664436,0.999999943264,0.000221756826668,-0.000252975510769,1.73260061429e-05,1793237471086313728
+74,1.233333333,BASELINE,767,746,717,679,663,637,880,789,804,653,633,654,0.400990418407,-0.00536369138172,0.0698451157045,0.999999942786,0.000222191105601,-0.000254475833732,1.73462876481e-05,1793237471102980608
+75,1.250000000,BASELINE,767,746,716.417388805,679.582611195,663,637.582611195,880.582611195,789,804,653,633,654,0.400992380947,-0.00536274386689,0.0698460153368,0.999999943331,0.000222770862385,-0.000251824740538,1.71936664112e-05,1793237471119648000
+76,1.266666667,BASELINE,767,746,716,680,663,637.826718882,881,789,804,653,633,654,0.400993556968,-0.00536241082551,0.0698465407998,0.999999943678,0.000222957229077,-0.000250272290459,1.72344184185e-05,1793237471136314880
+77,1.283333333,BASELINE,767,746,716,680,663,637.250229302,881,789,804,653,633,654,0.400992724702,-0.0053635660463,0.0698461137377,0.999999943523,0.000222219991748,-0.000251510936657,1.7734904693e-05,1793237471152981248
+78,1.300000000,BASELINE,767,746,716,680,663,637.330630363,881,788.669369637,803.669369637,653,632.669369637,654.330630363,0.400992091581,-0.00536438068506,0.0698460398062,0.99999994369,0.000220626041656,-0.000252244031985,1.77803302452e-05,1793237471169647360
+79,1.316666667,BASELINE,767,746,716,680,663,637.91484169,881,788.08515831,803.08515831,653,632.08515831,654.91484169,0.400991611197,-0.00536493411024,0.0698462367125,0.999999944103,0.00021837502536,-0.000252589388888,1.74767414378e-05,1793237471186313728
+80,1.333333333,BASELINE,767,746,716,679.504925197,663,637.504925197,880.504925197,788,803,653,632.495074803,654.504925197,0.400991574032,-0.00536458415818,0.0698459568028,0.99999994399,0.000219285747873,-0.000252242953497,1.75221703462e-05,1793237471202980608
+81,1.350000000,BASELINE,767.074344839,746,716.074344839,679,663,637,880,788,803.074344839,653,632.925655161,654,0.400991475592,-0.00536412860994,0.069845610872,0.999999943745,0.000220577260709,-0.000252082649384,1.75999761261e-05,1793237471219647488
+82,1.366666667,BASELINE,767.651691529,746,716.651691529,679,663,637,880,788,803.651691529,653,632.348308471,654,0.400990450879,-0.00536400158149,0.0698453687466,0.999999943219,0.000220794850752,-0.000253980355031,1.7493891344e-05,1793237471236313856
+83,1.383333333,BASELINE,767.770780045,746.229219955,717,679,663,637,880,788,803.770780045,653,632.229219955,654,0.400989962128,-0.00536432108143,0.0698451989562,0.999999942927,0.000221299417293,-0.000254683970253,1.75467014456e-05,1793237471252980480
+84,1.400000000,BASELINE,767.192975157,746.807024843,717,679,663,637,880,788,803.192975157,653,632.807024843,654,0.400990288436,-0.00536531963684,0.0698451391688,0.999999942996,0.000222240401728,-0.000253571679599,1.78411500139e-05,1793237471269647872
+85,1.416666667,BASELINE,766.608942385,746.608942385,716.608942385,679,663,637,880,788,803.391057615,653.391057615,633,654,0.400990692565,-0.00536502636125,0.0698452511601,0.999999943193,0.000221684194217,-0.000253295006919,1.76740284922e-05,1793237471286314752
+86,1.433333333,BASELINE,766.021786638,746.021786638,716.021786638,679,663,637,880,788,803.978213362,653.978213362,633,654,0.400991135717,-0.00536408528938,0.0698454492908,0.999999943452,0.000220377210978,-0.000253437359831,1.72754499278e-05,1793237471302981632
+87,1.450000000,BASELINE,766.557486519,746,716,679.557486519,663,637,880,788.557486519,803.442513481,653.442513481,633,654,0.400992127716,-0.00536313019885,0.0698462033501,0.999999943837,0.000220119303275,-0.000252145077564,1.72001691831e-05,1793237471319648256
+88,1.466666667,BASELINE,767,746,716.135236175,679.864763825,663.135236175,637,880,788.864763825,803,653,633,654.135236175,0.400992649622,-0.00536252672597,0.0698465247517,0.999999944054,0.0002199443998,-0.000251442416134,1.71379242445e-05,1793237471336315136
+89,1.483333333,BASELINE,767,746,716.70903029,679.29096971,663.70903029,637,880,788.29096971,803,653,633,654.70903029,0.400991578476,-0.0053630652673,0.0698453736135,0.999999943713,0.000219907572199,-0.00025283111936,1.70775519077e-05,1793237471352981248
+90,1.500000000,BASELINE,767,746,716.715571481,679,663.715571481,637,880,788,803,653,632.715571481,654.715571481,0.400990879176,-0.00536331272583,0.0698448782806,0.999999943603,0.000219760149282,-0.000253392401076,1.70802409365e-05,1793237471369647616
+91,1.516666667,BASELINE,767,746,716.138522973,679,663.138522973,637,880,788,803,653,632.138522973,654.138522973,0.400990562429,-0.00536326071839,0.0698450576403,0.999999943733,0.000219498945935,-0.00025310243167,1.71478074861e-05,1793237471386313984
+92,1.533333333,BASELINE,767,746,716,679,663,637,880,788,803.449899898,653,632.449899898,654,0.400990558852,-0.00536251705742,0.0698451252643,0.999999943499,0.000221039572198,-0.000252698018239,1.69747902306e-05,1793237471402981120
+93,1.550000000,BASELINE,767,746,716,679.040963306,663,637,880,788,804,653,632.959036694,654,0.400990654988,-0.00536168539031,0.069845182975,0.999999943184,0.000222928862056,-0.000252295742801,1.67533575917e-05,1793237471419648512
+94,1.566666667,BASELINE,767,746,716,679.619526378,663,637,880,788,804,653,632.380473622,654,0.400990761472,-0.00536256608008,0.0698455737993,0.99999994338,0.000221924261521,-0.000252395969797,1.68938973385e-05,1793237471436315136
+95,1.583333333,BASELINE,767,746,716.196638318,679.803361682,663,637,880,788,804,653,632.196638318,654,0.400990874394,-0.00536290136121,0.0698458517368,0.999999943399,0.000221774005479,-0.00025244753313,1.69985817182e-05,1793237471452981760
+96,1.600000000,BASELINE,767,746,716.770963146,679.229036854,663,637,880,788,804,653,632.770963146,654,0.400990999685,-0.00536218906702,0.0698459128506,0.999999943077,0.000223264703033,-0.000252405627371,1.70343981189e-05,1793237471469648128
+97,1.616666667,BASELINE,767,746,717,679,663,637.345701284,880,788.345701284,804,653,633,654,0.400991263126,-0.00536216547154,0.0698460441677,0.999999943139,0.000223028705615,-0.000252364101237,1.70854932597e-05,1793237471486314496
+98,1.633333333,BASELINE,767,746,717,679,663,637.920713546,880,788.920713546,804,653,633,654,0.400991618205,-0.00536259870454,0.0698462220521,0.999999943456,0.000221647354791,-0.000252322826919,1.71467231101e-05,1793237471502980864
+99,1.650000000,BASELINE,767,746,717,679,663.51134894,637.48865106,880,789,804,653,633,654,0.400991299216,-0.0053639816575,0.0698460177783,0.999999943789,0.000220431082714,-0.000252055283406,1.73327656982e-05,1793237471519647232
+100,1.666666667,BASELINE,767,746,717,679,663.898818056,637,880,789,804,653,633,654,0.400991180206,-0.00536496698526,0.0698459172426,0.999999944017,0.000219846067922,-0.0002516511076,1.74794028983e-05,1793237471536313600
+101,1.683333333,BASELINE,767,746,717,679,663.324424045,637,880,789,804,653,633,654,0.400992500686,-0.00536338227763,0.0698465877341,0.999999943743,0.000222089862985,-0.000250777176754,1.73483854947e-05,1793237471552980480
+102,1.700000000,BASELINE,767,746.250554807,717,679.250554807,663,637.250554807,880.250554807,789,804,653.250554807,633,654,0.400993536373,-0.0053630071789,0.0698471044017,0.999999943917,0.000222184429018,-0.000249997255273,1.734706554e-05,1793237471569647360
+103,1.716666667,BASELINE,767,746.826292653,717,679.826292653,663,637.826292653,880.826292653,789,804,653.826292653,633,654,0.400994202441,-0.00536420197353,0.0698474214285,0.999999944674,0.000219489613842,-0.000249339344098,1.75140736796e-05,1793237471586313984
+104,1.733333333,BASELINE,767,746.58800456,716.58800456,679.58800456,663.41199544,637.58800456,880.58800456,788.58800456,803.58800456,654,632.58800456,654,0.40099361522,-0.00536403867143,0.0698471540707,0.999999944665,0.000219084238949,-0.00024974049074,1.74004353602e-05,1793237471602980352
+105,1.750000000,BASELINE,766.998027851,746.001972149,716,679,663.998027851,637,880,788.001972149,803,653.998027851,632.001972149,654,0.40099248968,-0.00536329208026,0.0698466336131,0.999999944326,0.000219665361375,-0.000250599316857,1.71661542655e-05,1793237471619647232
+106,1.766666667,BASELINE,766.417362353,746.582637647,716,679,663.417362353,637,880,788.582637647,803,653.417362353,632.582637647,654,0.400992301611,-0.00536357564783,0.069845936564,0.999999944152,0.000219450471358,-0.000251483655193,1.71130906186e-05,1793237471636313856
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,717,679,663,637,881,788,803,653,632,654,0.400992211886,-0.00536358995745,0.0698469438963,0.999999943315,0.000224122455296,-0.000250653976463,1.76712127938e-05,1793237471677315840
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,716.425107146,679,663,637,881,788,803.574892854,653,632.574892854,654,0.400990991188,-0.00536393625298,0.0698460970643,0.999999943431,0.000222105418837,-0.000251998905641,1.74029525369e-05,1793237471693982976
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716,679.154455601,663,637,880.845544399,788.154455601,804,653,632.845544399,654,0.400990188588,-0.00536436916282,0.0698455904233,0.999999943689,0.000220042636505,-0.000252796312039,1.72264746295e-05,1793237471710649856
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716,679.747272116,663,637,880.252727884,788.747272116,804,653,632.252727884,654,0.400990572589,-0.00536504789306,0.0698460492791,0.999999944359,0.00021785002221,-0.000252039792676,1.73104844274e-05,1793237471727316736
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716.330394594,679.669605406,663,637,880.330394594,789.330394594,804,653,632.330394594,654,0.400991221847,-0.00536426976254,0.069846215508,0.999999944353,0.000218462888438,-0.000251535732727,1.72320601948e-05,1793237471743983360
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,716.906313168,679.093686832,663,637,880.906313168,789.906313168,804,653,632.906313168,654,0.400992068221,-0.00536240900456,0.0698461642791,0.999999943843,0.000221160573251,-0.000251219281341,1.70329274148e-05,1793237471760649472
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,717,679.483154736,663,637,881,789.033690529,804,653,632.516845264,654,0.400991898296,-0.00536336297968,0.0698457759398,0.999999943968,0.000220215700317,-0.00025154602028,1.71533468636e-05,1793237471777315840
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,717,679.938474408,663,637,881,788,804,653,632,654,0.400991616124,-0.00536460178318,0.0698454972096,0.999999944179,0.000218923902123,-0.000251821940458,1.73486308735e-05,1793237471793982208
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,717,679.348508692,663,637,881,788,804,653,632,654,0.400992065707,-0.00536359018561,0.069846722422,0.999999944086,0.000220730499658,-0.000250588127631,1.76537049827e-05,1793237471810648832
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,716.762947672,679,663,637,881,788,804,653,632.237052328,654,0.4009937272,-0.00536298322957,0.0698479612256,0.99999994418,0.000221691498085,-0.000249363227203,1.7643075977e-05,1793237471827315456
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716.183744253,679,663,637,881,788,804,653,632.816255747,654,0.40099713791,-0.0053629603157,0.0698492196461,0.999999944547,0.000221431995129,-0.00024815119066,1.71767747046e-05,1793237471843982080
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663.392643859,637,880.607356141,788.392643859,804,653,633,654,0.401008115362,-0.00536388729225,0.069854203459,0.999999946736,0.000220437222026,-0.00024007069578,1.73657820582e-05,1793237471860648960
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663.967723931,637,880.032276069,788.967723931,804,653,633,654,0.401022608589,-0.00536525562145,0.069860918221,0.999999949663,0.000219100816383,-0.000228798872289,1.78592689156e-05,1793237471877315584
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,716.542775854,679.542775854,663.457224146,637.542775854,880.542775854,789,804,653,633,654.542775854,0.401062265886,-0.00536556698971,0.0698789157579,0.99999995615,0.00021930216056,-0.000198134048378,1.86725270896e-05,1793237471893982208
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,717,679.879293976,663,637.879293976,881,788.879293976,804,653,633,654.879293976,0.401105862204,-0.00536612310732,0.0698975640027,0.999999961746,0.000219452551179,-0.000167242481731,1.94483749396e-05,1793237471910649088
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,717,679.290188104,663,637.290188104,881,788.290188104,804,653,633,654.290188104,0.401158937514,-0.00536787285966,0.0699161339227,0.999999966016,0.000219050394755,-0.000139945797747,2.00052678272e-05,1793237471927315712
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,717,679,663,637,881,788.294299544,804,653,633,654.294299544,0.40121608902,-0.00536944918934,0.069930137858,0.999999968712,0.000218192702111,-0.00012069964703,1.99677667705e-05,1793237471943982336
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,717,679,663,637,881,788.874303803,804,653,633,654.874303803,0.401277197677,-0.00537085716095,0.0699397091541,0.999999970322,0.000216892777012,-0.000109268920652,1.93532306368e-05,1793237471960648960
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,716.549639268,679.450360732,663.450360732,637,881,789,804,653,633,654.549639268,0.40134477354,-0.00537128185408,0.0699412812589,0.999999970532,0.000217828916503,-0.000105627042264,1.81305670234e-05,1793237471977315584
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716.025877967,680,663.974122033,637,881,789,804,653,633,654,0.401414747398,-0.00537150065181,0.0699404905057,0.999999970366,0.00021923635617,-0.000104519471399,1.67052447838e-05,1793237471993982208
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,716.61338493,680,663.38661507,637,881,789,804,653,633,654,0.401497931315,-0.00537315519464,0.0699364514093,0.999999970021,0.000217445525359,-0.000111644257069,1.45332469757e-05,1793237472010648832
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,716.801852685,680,663,637,881,788.801852685,804,653,633,654,0.401589969579,-0.00537568194257,0.0699337540636,0.999999970192,0.000214367124917,-0.000116241527239,1.23077322774e-05,1793237472027315456
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,716.222372284,680,663,637,881,788.222372284,804,653,633,654,0.401699047961,-0.00537988724276,0.0699336389082,0.999999971424,0.000208810806197,-0.000115974611177,9.97922496026e-06,1793237472043982592
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,716,679.643499911,663,637,881,788.356500089,804,653,632.643499911,654,0.401825056344,-0.00538162826713,0.0699360716636,0.999999972504,0.000205988583712,-0.00011183819409,7.27276421251e-06,1793237472060648960
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,716,679.0650061,663,637,881,788.9349939,804,653,632.0650061,654,0.401961607103,-0.00538183477967,0.0699400910109,0.999999973462,0.000204868890961,-0.000105292226576,4.33095045411e-06,1793237472077315584
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,716.508766533,679.508766533,663,637,881,788.491233467,804,653.508766533,632,654,0.402121831641,-0.00538361930292,0.0699441097356,0.999999974842,0.000202253730119,-9.70014598696e-05,7.75481518135e-07,1793237472093982464
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,717,679.915512432,663,637,880.915512432,788.084487568,804,654,632.084487568,654,0.402288430291,-0.00538601318348,0.0699477276324,0.999999976299,0.000198543130091,-8.93034405036e-05,-2.89299691436e-06,1793237472110649088
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,717,679.324527516,663,637,880.324527516,788.675472484,804,654,632.675472484,654,0.402475274375,-0.00539086250316,0.0699489430674,0.999999978301,0.00018940041708,-8.64830993412e-05,-6.77323276711e-06,1793237472127315456
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,717,679.260801599,663,637.260801599,880.260801599,789,804,653.739198401,633,654,0.402677847059,-0.00539570006116,0.0699515659519,0.99999998024,0.000181357310126,-8.06722822484e-05,-1.10320836449e-05,1793237472143982336
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,717,679.83924229,663,637.83924229,880.83924229,789,804,653.16075771,633,654,0.402899576126,-0.00540052329394,0.0699559030167,0.999999982088,0.000174653451139,-7.12192635139e-05,-1.57520623378e-05,1793237472160649216
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,717,679.584679659,663,637.584679659,880.584679659,788.584679659,804,653,633,654,0.403139278445,-0.00540550435084,0.069959259619,0.999999984175,0.000165226946962,-6.26375007271e-05,-2.067398776e-05,1793237472177315840
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,717,679.009510955,663,637.009510955,880.009510955,788.009510955,804,653,633,654,0.403385898298,-0.00541054615093,0.069962238861,0.999999986217,0.000154752552082,-5.43910668695e-05,-2.56736382649e-05,1793237472193982464
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,717,679.57849537,663.57849537,637,880.57849537,788,804,653.57849537,633,654,0.403676962532,-0.00541627661991,0.0699711157466,0.999999988721,0.000142044016189,-3.85223960304e-05,-2.99577094632e-05,1793237472210649088
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,717,680,664,637,880.835706911,788.164293089,804,653.835706911,633,654,0.403972128737,-0.00542287569606,0.0699770740148,0.999999992729,0.000111930225091,-2.93246294388e-05,-3.39693178189e-05,1793237472227315456
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,717,680,664,637,880.256038934,788.743961066,804,653.256038934,633,654,0.404275776401,-0.00543164155676,0.0699754025628,0.999999997889,3.79064785395e-05,-3.73166363898e-05,-3.73224890671e-05,1793237472243982336
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,717,679.678158443,663.678158443,637,880.643683114,789,804,653,633,654,0.404603424549,-0.0054435214959,0.0699767491317,0.999999998456,2.77797427025e-05,-3.57745128329e-05,-3.21819900422e-05,1793237472260648960
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,717,679.101692058,663.101692058,637,881.796615884,789,804,653,633,654,0.404950060702,-0.00545786513799,0.0699804834067,0.999999997111,6.82050952519e-05,-2.66894663926e-05,-2.03217273641e-05,1793237472277315584
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,717,679.473295823,663,637,881.526704177,789,804,653.473295823,632.526704177,654,0.40532381774,-0.00546664261605,0.0699858945186,0.999999997829,6.01793118256e-05,-1.5057416665e-05,-2.22258554206e-05,1793237472293982464
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,716.950657568,680,663,637,880.950657568,789,804,653.950657568,632.049342432,654,0.405705201102,-0.0054740015886,0.0699907363466,0.99999999872,4.26736035232e-05,-4.66644275613e-06,-2.67633649565e-05,1793237472310649344
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,716.35950779,680,663,637,880.35950779,789,804,653.35950779,632.64049221,654,0.406106539634,-0.00547887580788,0.0699853833251,0.999999998902,3.5026650571e-05,-1.38935331058e-05,-2.78440060146e-05,1793237472327316736
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,716.226660052,680,663,637,880.226660052,789,804,653,633,654,0.406516063194,-0.00548345046492,0.0699763010931,0.999999998776,2.70790354712e-05,-2.92141031481e-05,-2.93460635606e-05,1793237472343983616
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,716.805095904,680,663,637,880.805095904,789,804,653,633,654,0.406938289872,-0.00548756020186,0.0699614311365,0.999999997872,1.86647939639e-05,-5.39917370044e-05,-3.15021583083e-05,1793237472360650752
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,717,679.618225466,663.381774534,637,881,789,804,653,633,654,0.407400248184,-0.0054924181847,0.0699559531068,0.999999997677,1.37903142596e-05,-5.78848718994e-05,-3.32460379013e-05,1793237472377316864
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,717,679.042439845,663.957560155,637,881,789,804,653,633,654,0.407882397399,-0.00549765641278,0.0699552478892,0.999999998029,1.07146793635e-05,-5.11648718347e-05,-3.47804369596e-05,1793237472393982464
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+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,717,679.562035029,663.437964971,637,881.437964971,788.562035029,804,653,632.562035029,654,0.411170948755,-0.00553588905313,0.0699630615051,0.999999997843,-4.02599578623e-05,-3.2566073076e-05,-4.04088487644e-05,1793237472493983232
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.985634901,746,716.985634901,679,663.985634901,637,881.985634901,788.014365099,804,653,632,654.014365099,0.41176963451,-0.0055443822968,0.0699651473928,0.999999997101,-5.44962175679e-05,-3.38679150996e-05,-4.09985928294e-05,1793237472510649344
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.396052239,746,716.396052239,679,663.396052239,637,881.396052239,788.603947761,804,653,632,654.603947761,0.412426220396,-0.00555225925244,0.0699941461478,0.999999997093,-6.10722966907e-05,2.06957791104e-05,-4.06990789011e-05,1793237472527315712
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,716.190240001,679.190240001,663,637,881,789,804,653,632,654.809759999,0.413093903351,-0.00555932130944,0.0700190686187,0.999999994742,-6.86457605913e-05,6.46228060196e-05,-4.0334279059e-05,1793237472543982336
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,716.76979849,679.76979849,663,637,881,789,804,653,632,654.23020151,0.413784295969,-0.00556471570878,0.0700356491371,0.999999992379,-7.82603321114e-05,8.67823190992e-05,-3.98358744394e-05,1793237472560649216
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.346863506,746,716.653136494,679.653136494,663.346863506,637,881,789,804.346863506,653,632,654.346863506,0.414441258918,-0.00555327475223,0.0700286936029,0.999999994626,-6.6034877415e-05,6.91309766623e-05,-4.01041354259e-05,1793237472577315840
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.922285478,746,716.077714522,679.077714522,663.922285478,637,881,789,804.922285478,653,632,654.922285478,0.415076194057,-0.00553074048916,0.0700062294777,0.999999998069,-3.94183928968e-05,2.52471011135e-05,-4.08775746537e-05,1793237472593982208
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663.503186871,637,881.496813129,788.503186871,804.503186871,653,632,654.503186871,0.415726473632,-0.00550491818523,0.0699640830026,0.999999998062,-9.87062093042e-06,-4.26722288514e-05,-4.42555658433e-05,1793237472610649088
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.926959741,746,716,679,663,637,881.926959741,788.073040259,803.926959741,653,632,654,0.416390829775,-0.00548375015405,0.0699270370658,0.999999993657,1.35675231626e-05,-0.0001011678389,-4.76232322537e-05,1793237472627315712
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.337735592,746,716,679,663,637,881.337735592,788.662264408,803.337735592,653,632,654,0.417137733817,-0.00549910275011,0.0699477566052,0.999999996588,-9.40644826682e-06,-6.65419138512e-05,-4.8043823146e-05,1793237472643982336
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.247334493,746,716.247334493,679.247334493,663.247334493,637,881,789,803.247334493,653,632,654,0.417899584748,-0.00551148189319,0.0699714367657,0.999999998123,-2.70197435696e-05,-2.72483421616e-05,-4.77572001454e-05,1793237472660648960
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.826825974,746,716.826825974,679.826825974,663.826825974,637,881,789,803.826825974,653,632,654,0.418681508657,-0.00551986785019,0.0699990928849,0.99999999805,-3.74339409018e-05,1.8313634017e-05,-4.65208268018e-05,1793237472677315584
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,716.59700722,680,664,637,881.40299278,789,804.40299278,653,632.40299278,654,0.419445206274,-0.0055253697609,0.0700134219314,0.99999999739,-4.29595732382e-05,3.5310850636e-05,-4.61210774097e-05,1793237472693982208
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,716.022257439,680,664,637,881.977742561,789,804.977742561,653,632.977742561,654,0.420201135732,-0.00552964248,0.0700220709288,0.999999997057,-4.64016806337e-05,4.01336591979e-05,-4.60779003165e-05,1793237472710648832
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746.551732212,716.551732212,680,664,637,881.448267788,789,804.448267788,653,633,654,0.420973998256,-0.00553036172126,0.0700271639119,0.999999996379,-5.0417261864e-05,4.99317882431e-05,-4.69758609719e-05,1793237472727316224
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746.869910073,716.869910073,679.869910073,664,637,881.130089927,789,804,653,633,654,0.421741728586,-0.00552870805041,0.0700275626918,0.999999996187,-5.16584722352e-05,5.13357327504e-05,-4.81937874395e-05,1793237472743983360
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746.275864823,716.275864823,679.275864823,664,637,881.724135177,789,804,653,633,654,0.422488722455,-0.00551910212438,0.0700117308824,0.999999997564,-4.29227166502e-05,2.20876592143e-05,-5.04176283013e-05,1793237472760649472
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679.309330983,664,637,882,789,804,653,633,654,0.423221779914,-0.00551255948482,0.0699685476221,0.999999996558,-3.98514703534e-05,-4.87874773355e-05,-5.39995170619e-05,1793237472777315840
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679.886854224,664,637,882,789,804,653,633,654,0.423942754363,-0.00550867273789,0.0699016504516,0.999999985275,-4.16913958016e-05,-0.000155753584839,-5.87588428822e-05,1793237472793982464
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746.462226887,716.462226887,680,663.537773113,637,882,789,804.462226887,653,633,654.462226887,0.424731251485,-0.00551608809618,0.0698938896636,0.999999984321,-5.24876546586e-05,-0.000158009051028,-6.03027842063e-05,1793237472810648832
+176,2.933333333,POSE1_TO_POSE2_PRESS,767.038076574,747,717,680,663.038076574,637,882,789,804.961923426,653,632.961923426,654.961923426,0.425537900268,-0.00552585463655,0.0699040281659,0.999999987497,-6.51917627157e-05,-0.00013057427777,-6.08766507253e-05,1793237472827315456
+177,2.950000000,POSE1_TO_POSE2_PRESS,767.62844511,747,717,680,663.62844511,637,882,789,804.37155489,653,632.37155489,654.37155489,0.426369202396,-0.0055297818228,0.0699647982405,0.999999994638,-7.39162486727e-05,-4.2546640183e-05,-5.87432730892e-05,1793237472843982080
+178,2.966666667,POSE1_TO_POSE2_PRESS,767.78561245,747,717,680,664,637,882,789,804.21438755,653,632.21438755,654,0.42719385833,-0.00553170866935,0.0700106038557,0.999999995511,-7.36018310098e-05,2.05183301935e-05,-5.60326745041e-05,1793237472860648704
+179,2.983333333,POSE1_TO_POSE2_PRESS,767.207185616,747,717,680,664,637,882,789,804.792814384,653,632.792814384,654,0.428007228875,-0.00553023885366,0.0700309991848,0.999999996103,-5.7938968349e-05,4.11956316546e-05,-5.23419301794e-05,1793237472877315584
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,747,717,680,664,637.369340001,881.630659999,789,805,653,633,654,0.428821052737,-0.0055318637364,0.0700418231656,0.999999995121,-5.89090502427e-05,5.97042347205e-05,-5.21924438188e-05,1793237472893981952
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,747,717,680,664,637.944804536,881.055195464,789,805,653,633,654,0.429635129541,-0.00553521573589,0.0700473054824,0.999999993185,-6.91617938344e-05,7.70025101632e-05,-5.40192942317e-05,1793237472910648576
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746.468002377,716.468002377,680,664,637.468002377,881.531997623,789,805,653,632.468002377,654,0.430375744677,-0.00553561372154,0.0700263530013,0.999999994901,-7.0945259003e-05,4.55566268338e-05,-5.55758415671e-05,1793237472927315456
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746.118659102,716.118659102,680,664,637,881.881340898,789,804.881340898,652.881340898,632.118659102,654.118659102,0.431098713869,-0.0055353159055,0.0699952655756,0.999999995825,-7.11282505355e-05,-3.90295792999e-06,-5.72365080493e-05,1793237472943982080
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746.698419557,716.698419557,680,664,637,881.301580443,789,804.301580443,652.301580443,632.698419557,654.698419557,0.43178339735,-0.00553353207094,0.0699356924299,0.999999990551,-6.85834490372e-05,-0.000103267338644,-5.94132094686e-05,1793237472960648704
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746.723100688,717,680,664,637,881.276899312,788.723100688,804,652.276899312,633,654.723100688,0.432518057284,-0.00553396151481,0.069912343718,0.999999986192,-6.9949869227e-05,-0.000137996787602,-6.0665999641e-05,1793237472977315328
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746.146009402,717,680,664,637,881.853990598,788.146009402,804,652.853990598,633,654.146009402,0.433306897628,-0.00553679041735,0.0699282666289,0.999999990021,-7.55565221994e-05,-0.000102654234011,-6.0917159802e-05,1793237472993981952
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746.430381939,717,680.430381939,664,637,882,788.430381939,804,652.569618061,632.569618061,654,0.434121510663,-0.00554201326801,0.0699775296406,0.99999999476,-8.13351765437e-05,-2.05317740169e-05,-5.8682626671e-05,1793237473010648576
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746.993408988,717,680.993408988,664,637,882,789,804,652,632,654,0.434943294155,-0.00554796445786,0.0700373530132,0.999999991755,-8.70835521687e-05,7.62344930826e-05,-5.56363400097e-05,1793237473027315200
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746.412427644,717,680.412427644,664,637,882,789,804,652,632,654,0.435629220161,-0.00554672576569,0.0700333767142,0.999999992517,-8.51162201695e-05,6.83567549966e-05,-5.52186709979e-05,1793237473043981824
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746.170022837,716.829977163,680.340045674,664,637,882,788.829977163,804,652.170022837,632.170022837,654,0.436318786941,-0.00554641103342,0.0700256448968,0.999999993405,-8.31292837138e-05,5.66163411025e-05,-5.545104996e-05,1793237473060648704
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746.756068216,716.243931784,681.512136431,664,637,882,788.243931784,804,652.756068216,632.756068216,654,0.437017262339,-0.00554835710395,0.0700087238404,0.999999994444,-8.1094377424e-05,3.54244881448e-05,-5.72740069794e-05,1793237473077315584
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,747,716,681.663531718,664,637,882.336468282,788.336468282,804,653,633,654,0.437696896867,-0.00555074206397,0.0699908518696,0.999999994437,-8.61176101111e-05,1.62358316956e-05,-5.86954898746e-05,1793237473093982464
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,747,716,681.087156872,664,637,882.912843128,788.912843128,804,653,633,654,0.43836309755,-0.0055534399582,0.0699723018845,0.999999993584,-9.61733941391e-05,-1.52451651824e-06,-5.9830716022e-05,1793237473110649344
+194,3.233333333,POSE1_TO_POSE2_PRESS,767.487227102,747,716,681,664,637,882.512772898,789,804.487227102,653,633,654,0.438988506884,-0.00555270063938,0.0699436472776,0.999999992399,-9.4662850616e-05,-4.95546536683e-05,-6.15175377055e-05,1793237473127315968
+195,3.250000000,POSE1_TO_POSE2_PRESS,767.93707816,746.93707816,716,681.06292184,664.06292184,637,882,789,804.93707816,653,633.06292184,654,0.439604944324,-0.00555105048525,0.069915364366,0.999999989002,-9.08823657142e-05,-9.87394450065e-05,-6.31401040074e-05,1793237473143982336
+196,3.266666667,POSE1_TO_POSE2_PRESS,767.347442052,746.347442052,716,681.652557948,664.652557948,637,882,789,804.347442052,653,633.652557948,654,0.440207111937,-0.00554690180194,0.0699052621847,0.999999988026,-8.53495413121e-05,-0.00011244761246,-6.34021850337e-05,1793237473160649216
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746.237943428,716,682,664.762056572,637,882,789,804,653,633.762056572,654,0.440831698602,-0.00554561836427,0.0699178376236,0.999999990364,-8.40489841697e-05,-9.08818549442e-05,-6.28425898549e-05,1793237473177316096
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746.817231078,716,682,664.182768922,637,882,789,804,653,633.182768922,654,0.4414884467,-0.00554844529491,0.0699629454793,0.999999994014,-8.88198702551e-05,-1.87135197579e-05,-6.1104250286e-05,1793237473193982976
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746.606113468,716,682,664,637,882,789,804.393886532,653,633,654,0.44210825834,-0.00555435734066,0.0700024538781,0.999999992924,-9.45078999227e-05,4.15394861796e-05,-5.91106053334e-05,1793237473210649344
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746.030671232,716,682,664,637,882,789,804.969328768,653,633,654,0.442711044767,-0.00556169142118,0.0700393813006,0.999999988677,-0.000100618672595,9.63003176803e-05,-5.69992812343e-05,1793237473227316224
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746,716,682,664,637,882.556230004,789,805,653,633,654,0.443201737847,-0.00556136370598,0.070012910737,0.999999992251,-9.98502215781e-05,4.59783484771e-05,-5.84247067888e-05,1793237473243982848
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746.141769165,716,681.858230835,664,637,883,788.858230835,805,653,633,654,0.443678627864,-0.00556136286135,0.0699801746381,0.999999993261,-9.88195233804e-05,-1.28970116769e-05,-5.95526533358e-05,1793237473260649216
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746.721113095,716,681.278886905,664,637,883,788.278886905,805,653,633,654,0.444132393472,-0.00556370234216,0.0699391167659,0.999999990239,-9.81748299224e-05,-7.99119007247e-05,-5.91478234628e-05,1793237473277316096
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,747,716,681.299363525,664,636.700636475,882.700636475,788,805,653,633,654,0.444581633193,-0.00556635957361,0.0699076703933,0.999999984539,-0.000103265132957,-0.000129119839034,-5.9886351668e-05,1793237473293982464
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,747,716,681.876598923,664,636.123401077,882.123401077,788,805,653,633,654,0.445026671918,-0.00556931174388,0.0698851455024,0.999999978546,-0.00011367871073,-0.000161799204276,-6.16861551113e-05,1793237473310648832
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746.542369818,716,682,663.542369818,636,882.457630182,788,804.542369818,653,633,654,0.445463209245,-0.00557277690446,0.0698761385588,0.999999976595,-0.000115210052726,-0.000172038135207,-6.27713037311e-05,1793237473327315456
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,716,682,663,636,882.960214725,788,804,653,633,654,0.445894890176,-0.00557615686466,0.0698709258747,0.999999975878,-0.000114428466034,-0.000176391230099,-6.35373316264e-05,1793237473343982080
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,716,682,663,636,882.376806403,788,804,653,633,654,0.446291799209,-0.00557646672687,0.069867334067,0.999999974551,-0.00011504360816,-0.000183694261982,-6.25980943747e-05,1793237473360648704
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746,716,681.795072095,663,636,882,788,804.204927905,653,632.795072095,654,0.446670992631,-0.00557598880812,0.0698613666128,0.999999972123,-0.000115695444507,-0.000196523027688,-6.12222756553e-05,1793237473377315584
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746,716,681.216390964,663,636,882,788,804.783609036,653,632.216390964,654,0.447017875785,-0.00557407411246,0.0698510663885,0.999999967406,-0.000116414204695,-0.000219429779931,-5.90502075707e-05,1793237473393982464
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,746.359579408,716,681.359579408,663.359579408,636,882.359579408,788,805,653,632.359579408,654.359579408,0.447339968036,-0.00556986563636,0.0698353965902,0.999999960947,-0.000111562212126,-0.000249123890687,-5.9973994524e-05,1793237473410649088
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,746.933930737,716,681.933930737,663.933930737,636,882.933930737,788,805,653,632.933930737,654.933930737,0.447647253047,-0.00556428711603,0.069816519617,0.999999952679,-0.000103382884207,-0.000282872000955,-6.2746893597e-05,1793237473427315712
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+214,3.566666667,POSE1_TO_POSE2_PRESS,767,746.909615541,716.090384459,682.090384459,662.909615541,635,882,787.909615541,804.909615541,652.090384459,632.090384459,654,0.448243524247,-0.00556216037409,0.0698029687175,0.999999948293,-9.72647933702e-05,-0.000299742916821,-6.40858423801e-05,1793237473460648704
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+216,3.600000000,POSE1_TO_POSE2_PRESS,767,746.262561499,717,682.737438501,662.262561499,635,882.262561499,787,804.262561499,653,632.737438501,654.262561499,0.448783483274,-0.00556882358023,0.0698117741871,0.999999951504,-0.000103207007057,-0.000286989620337,-6.30719817624e-05,1793237473493982208
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,766.201335884,746.798664116,716.798664116,682,663,636.201335884,882,789,804.798664116,653,633,654,0.439693181172,-0.00539776689402,0.069845850171,0.999999962017,0.000140655158173,-0.000236534498753,1.53110522824e-05,1793237475473966080
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766.777065382,746.222934618,716.222934618,682,663,636.777065382,882,789,804.222934618,653,633,654,0.438980905755,-0.00539034918404,0.0698086323786,0.999999943541,0.000149070742824,-0.000300769981163,1.52608414241e-05,1793237475490632704
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,746.360160132,716,682,663.360160132,637,882,788.639839868,804,653,633,654,0.43829004808,-0.00539037898737,0.0697717604717,0.99999992712,0.000142657488673,-0.000353885140277,1.32164035071e-05,1793237475507299584
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746.947909038,716,682,663.947909038,637,882,788.052090962,804,653,633,654,0.437612724514,-0.00539511494879,0.0697351071347,0.999999911913,0.000126873743337,-0.000399973253878,9.91179366227e-06,1793237475523966464
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746.471808707,716,682,663.471808707,636.471808707,882,788,804,653,633,654,0.436966212992,-0.00540639148341,0.0697506008468,0.999999922435,0.00011803203184,-0.000375560400106,1.23767825575e-05,1793237475540633088
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,681.892625242,663,636.107374758,882,788,804.107374758,653,632.892625242,654,0.436311665793,-0.00541632462544,0.0697752165842,0.999999936404,0.000111158621817,-0.000338520881884,1.54470730022e-05,1793237475557299968
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,681.315073862,663,636.684926138,882,788,804.684926138,653,632.315073862,654,0.43560881124,-0.0054175901104,0.0698175705374,0.999999955634,0.000109947978073,-0.000276212508361,1.87110261798e-05,1793237475573966592
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,766.165419983,746,716,681.834580017,663,637,882,788.834580017,805,653,632.834580017,654,0.434132742203,-0.00540526501004,0.0698470394076,0.999999961719,0.000127544758898,-0.000244547421956,2.21379494267e-05,1793237475607299840
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,746,716.011418981,682,663.011418981,637,881.988581019,789,805,653,633,654,0.432650044211,-0.00539850811047,0.0698309335344,0.999999953026,0.000140060557831,-0.000271773740522,2.16867075149e-05,1793237475640633344
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746,716.589670195,682,663.589670195,637,881.410329805,789,805,653,633,654,0.431885811821,-0.00540116215433,0.0698329788372,0.999999955018,0.000134394600453,-0.000267186173004,2.26663735738e-05,1793237475657299968
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746,717,681.832559039,664,637,881.167440961,788.832559039,804.832559039,653,633,654,0.431099113414,-0.00540213374817,0.0698186380302,0.999999949015,0.000132009618853,-0.000289870498803,2.27710408724e-05,1793237475673966336
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746,716.680798068,681,663.680798068,637,881.680798068,788,804,653,633,654,0.429452808685,-0.00539870322142,0.0697465397149,0.999999907357,0.000138612928475,-0.00040701409856,2.02741823224e-05,1793237475707299840
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,716.106777385,681,663.106777385,637,881.106777385,788,804,653,633,654,0.428677546882,-0.00540068641872,0.0697580925985,0.999999916155,0.000135862696895,-0.000385731025633,2.10641744633e-05,1793237475723966720
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,663.482991143,636.517008857,881,788,804,653,633,654,0.427950069876,-0.00540219708771,0.0698103561969,0.999999943161,0.00013558059177,-0.000307702373714,2.47934174068e-05,1793237475740633344
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746.07412554,716.07412554,681,663.92587446,636.07412554,881.07412554,788,804,653,633,654,0.427226704552,-0.00540288078654,0.0698655273307,0.999999964622,0.000137070519373,-0.000226138907474,2.88066594134e-05,1793237475757299712
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746.650140924,716.650140924,681,663.349859076,636.650140924,881.650140924,788,804,653,633,654,0.426457241204,-0.00539869637482,0.0698773927887,0.999999967053,0.000146739596036,-0.000208444831006,3.01948777668e-05,1793237475773966336
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746.198887655,716.198887655,681,663,636.198887655,882,788,804,653,633,654,0.424848895671,-0.00539465527294,0.069845059917,0.999999954034,0.000150560390604,-0.000261599830719,2.8777848927e-05,1793237475807299584
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,716.384272036,681,663,636.384272036,881.615727964,788.384272036,804,653,633,654,0.42403663206,-0.00539229871312,0.0698226440021,0.999999943605,0.000150341316245,-0.000299031298667,2.76977502945e-05,1793237475823966208
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,746,716.971608999,681,663,636.971608999,881.028391001,788.971608999,804,653,633,654,0.423228092605,-0.00538926587901,0.0698033862343,0.99999993316,0.000150785116757,-0.000331994992132,2.69045340321e-05,1793237475840633088
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746.551602601,717,681,663,637,881.551602601,789,804.551602601,653,633,654,0.422372898363,-0.00538564709499,0.0697521250829,0.999999897214,0.000158937932271,-0.000423850585408,2.57198743396e-05,1793237475857299712
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,747,717,681,663,637,881.869321974,788.869321974,804.869321974,653,633,654,0.421547372398,-0.00538261142759,0.0697178324918,0.99999986941,0.000164431907802,-0.000483269535023,2.43611742599e-05,1793237475873966336
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,747,717,681,663,637,881.292109485,788.292109485,804.292109485,653,633,654,0.420831322371,-0.00538167000467,0.0697470771487,0.999999898141,0.00015950245628,-0.000421628981572,2.24757097376e-05,1793237475890632960
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746.715567941,717,681,663,637,881,788.284432059,804,653,633,654,0.420129143028,-0.00538458130295,0.0697936502575,0.999999929492,0.000156465519762,-0.000340505469391,2.42986429428e-05,1793237475907299584
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746.139713863,717,681,663,637,881,788.860286137,804,653,633,654,0.419441175288,-0.00539144000364,0.0698579776655,0.999999958822,0.000155367606644,-0.000239420204183,2.99211082851e-05,1793237475923966208
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746.034879686,716.034879686,679.965120314,663.034879686,637,881,788.034879686,804,653,633,654.965120314,0.417979927447,-0.00539882126217,0.0698910565526,0.999999969444,0.000154449705737,-0.00019005110018,3.37214796173e-05,1793237475957299712
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746.612765913,716.612765913,679.387234087,663.612765913,637,881,788.612765913,804,653,633,654.387234087,0.417212368587,-0.00539385936926,0.0698537884525,0.999999954213,0.000163389243584,-0.000252783374951,3.1280091848e-05,1793237475973966336
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746.809586545,716.809586545,679.190413455,663.809586545,637,881,789,804.190413455,653,633,654,0.416462838882,-0.00538980619402,0.0698233193301,0.999999940713,0.000169215762315,-0.000298476632694,2.9188062459e-05,1793237475990633216
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746.232423695,716.232423695,679.767576305,663.232423695,637,881,789,804.767576305,653,633,654,0.415749928112,-0.00538759871734,0.0698066596271,0.999999937466,0.00016871942037,-0.00030956189982,2.78056157959e-05,1793237476007299840
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,789,804.64936521,653,633,654,0.415025991298,-0.00538504149301,0.0697916460955,0.999999928784,0.00016966251612,-0.000336008643483,2.72853729795e-05,1793237476023966720
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,789,804.062331914,653,633,654,0.414294620751,-0.00538224846842,0.0697777424161,0.999999915412,0.000171576082796,-0.00037281211684,2.73464293544e-05,1793237476040633344
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881.518064376,788.481935624,804,653.518064376,633,654,0.413637186226,-0.00537709392948,0.0697845576547,0.999999917708,0.000182814734304,-0.000361079499905,2.80106146077e-05,1793237476057299712
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881.902794501,788,804,653.902794501,633,654,0.413001743505,-0.00537196319612,0.0697997968029,0.999999925624,0.000193469783136,-0.000332408550907,2.8749707387e-05,1793237476073966592
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881.325956311,788,804,653.325956311,633,654,0.412431474717,-0.00536833414997,0.0698444567186,0.999999949496,0.000195779218972,-0.000248610169673,2.95048797658e-05,1793237476090633216
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788.249841315,804,653.249841315,633,654,0.411856420894,-0.0053660034518,0.0698777512551,0.999999961738,0.000198418045342,-0.000190288087021,3.0728788061e-05,1793237476107299840
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788.824286952,804,653.824286952,633,654,0.411275150198,-0.00536535962209,0.0698962794107,0.999999965548,0.000201484830845,-0.00016506588878,3.25616978693e-05,1793237476123966464
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.60049272,789,804,653.60049272,633,654,0.410664075113,-0.00536040435324,0.0698805561062,0.999999958244,0.000210720179055,-0.000195147383908,3.20283911331e-05,1793237476140633088
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.024930952,789,804,653.024930952,633,654,0.410039865808,-0.00535354912345,0.0698497389026,0.999999943594,0.000222673883352,-0.000249600055286,3.04523424245e-05,1793237476157299712
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,717,680,663,637,881,788.842006106,804,653,633,654,0.408886818387,-0.00534483263068,0.069800913443,0.999999917848,0.00023031748387,-0.000332501954916,2.64583864965e-05,1793237476190633216
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,717,680,663,637,881,788.267486687,804,653,633,654,0.408378678212,-0.00534168822061,0.0698000318117,0.999999918716,0.000233001740055,-0.000328056958089,2.56465865945e-05,1793237476207299840
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,717,680,663,637,881.312790596,788.312790596,804,653,633,654,0.407899803695,-0.00534106657347,0.0698085254784,0.999999924825,0.000233130092419,-0.000308820642665,2.50964988463e-05,1793237476223966720
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,717,680,663,637,881.898084092,788.898084092,804,653,633,654,0.407446425425,-0.00534264275544,0.0698251868967,0.999999934724,0.000231031743216,-0.000276698143141,2.47744145317e-05,1793237476240633344
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,716.521338054,680,663,637,881.521338054,789,804,653,633,654,0.406977892946,-0.00535719790947,0.0698313971007,0.999999938916,0.000215214725414,-0.00027422170704,2.55570450216e-05,1793237476257299712
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788.941704434,804,653,633,654,0.406509260421,-0.00537438641589,0.0698336290639,0.99999994124,0.000195715796767,-0.00028020667145,2.64510538773e-05,1793237476273966592
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788.361623101,804,653,633,654,0.406068331024,-0.00539065166295,0.069819976282,0.999999938537,0.000169150738664,-0.000305979732773,2.6257186316e-05,1793237476290633216
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.697811174,746.302188826,716,679.697811174,663.697811174,637,880.697811174,788.697811174,803.697811174,653,632,654,0.403703570548,-0.00537058381923,0.0698549208204,0.999999950897,0.000198428335911,-0.000241254263655,2.50710750675e-05,1793237476407299840
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746.273406268,716,679.726593732,664,637,881,788.726593732,804,653,632.273406268,654,0.40342374191,-0.00536812887348,0.0698466537641,0.999999947053,0.000202096300714,-0.000253923397781,2.39664790593e-05,1793237476423966464
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746.84726967,716,679.15273033,664,637,881,788.15273033,804,653,632.84726967,654,0.403164308085,-0.00537039967006,0.0698411166796,0.999999945509,0.00019830099793,-0.000262888665216,2.34044646808e-05,1793237476440633344
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,747,716,679.433833471,663.566166529,637,881,788.433833471,804,653.433833471,632.566166529,654,0.402928769972,-0.00536793635329,0.0698390239548,0.999999944226,0.000197097872791,-0.000268683650534,2.25761591379e-05,1793237476457300480
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.975465058,746.975465058,716,679.975465058,663,637,880.975465058,789,804,653.975465058,632.024534942,654,0.402702594838,-0.00536391768931,0.0698379320124,0.99999994293,0.000196955241464,-0.000273637883674,2.17151928014e-05,1793237476473967360
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.395367936,746.395367936,716,679.395367936,663,637,880.395367936,789,804,653.395367936,632.604632064,654,0.402492198565,-0.0053635571424,0.0698312161149,0.999999939063,0.000199538937055,-0.00028558900292,2.23014708445e-05,1793237476490633728
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.182629971,746,716,679.182629971,663,637,880.182629971,789,804,653,632.817370029,654,0.402294772441,-0.00536234466502,0.0698261090558,0.999999935717,0.000202916585455,-0.000294720289443,2.3054604715e-05,1793237476507300096
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.756134943,746,716,679.756134943,663,637,880.756134943,789,804,653,632.243865057,654,0.402125105795,-0.00535930883786,0.0698244453243,0.99999993373,0.000207993496316,-0.00029781640889,2.41648528025e-05,1793237476523966464
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716.338446277,679.661553723,663,637,880.661553723,788.661553723,804,653,632.338446277,654,0.401975811172,-0.00535723020686,0.0698251882546,0.999999933364,0.000211624466422,-0.000296398542973,2.51985356536e-05,1793237476540633088
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,716.927272549,679.072727451,663,637,880.072727451,788.072727451,804,653,632.927272549,654,0.4018415876,-0.00535585970202,0.0698277116147,0.999999934192,0.000214185741023,-0.000291641265143,2.61755762373e-05,1793237476557299712
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,716.492067022,679.507932978,663,637,880,788,804,653,632.492067022,654,0.401715264043,-0.00535597148359,0.069824413687,0.999999934257,0.000208986048941,-0.00029520766234,2.57426474108e-05,1793237476573966592
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,716.086982249,679.913017751,663,637,880,788.086982249,804,653,632.086982249,654,0.401593515981,-0.00535633514226,0.0698206813201,0.999999934934,0.000199358205385,-0.000299700158169,2.38325150854e-05,1793237476590633728
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,716.663440679,679.336559321,663,637,880,788.663440679,804,653,632.663440679,654,0.401491250983,-0.00535694075701,0.0698191204365,0.999999939432,0.000170966123784,-0.000302803529426,1.47277870842e-05,1793237476607300608
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.23890637,663,637,880.23890637,789,804,653,633,654,0.401400000677,-0.00535865506078,0.0698182167685,0.999999938834,0.000172429805679,-0.000304134511174,1.01531053939e-05,1793237476623967488
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,717,679.812979296,663,637,880.812979296,789,804,653,633,654,0.401324203112,-0.00536192476664,0.0698182351214,0.99999993075,0.000215778740682,-0.00030297897172,1.19337173865e-05,1793237476640634624
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,717,680,663,637,880.600996034,789,804,653,633,654,0.401261043308,-0.00536036976695,0.0698179944899,0.999999927659,0.000231605013679,-0.000301462460095,1.27467294898e-05,1793237476657300736
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,717,680,663,637,880.009196389,789,804,653,633,654,0.401203989977,-0.00535648350615,0.069817628719,0.999999927574,0.000234132544725,-0.000299771529677,1.30922046458e-05,1793237476673966848
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746,717,680,663,637,880.570161662,789,804,653.570161662,633,654,0.401159280826,-0.00535653768536,0.0698201684244,0.999999928456,0.000233070819264,-0.000297591615767,1.43162465026e-05,1793237476690633216
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766.852042008,746.147957992,717,680,663,637,881,789,803.852042008,653.852042008,633,654,0.40111827195,-0.00535677169691,0.0698228809226,0.999999929616,0.000232083018546,-0.00029439395702,1.54181932823e-05,1793237476707300096
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766.278175983,746.721824017,717,680,663,637,881,789,803.278175983,653.278175983,633,654,0.401087353704,-0.00535734432234,0.0698259587975,0.999999931525,0.000231471105485,-0.000288288863361,1.6128759573e-05,1793237476723966720
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766.295332002,746.704667998,717,679.704667998,663,637,881,788.704667998,803.295332002,653,633,654,0.401062938068,-0.00535789473736,0.0698285041235,0.9999999334,0.000230072537298,-0.000282841569243,1.63564760875e-05,1793237476740633856
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766.868503222,746.131496778,717,679.131496778,663,637,881,788.131496778,803.868503222,653,633,654,0.401044639885,-0.00535842425758,0.0698305484444,0.999999935247,0.000227933908213,-0.000278013111887,1.61299425417e-05,1793237476757301248
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746.45648821,717,679,663,637,881,788.45648821,804,653.45648821,633,654.45648821,0.401030221029,-0.00535782407518,0.0698318255053,0.999999936036,0.0002267770181,-0.000276113200864,1.61776993464e-05,1793237476773967872
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746.952186553,717,679,663,637,881.047813447,789,804,654,633,655,0.401017382751,-0.00535698842244,0.0698329484787,0.999999936521,0.000226046491833,-0.000274944887263,1.6324645123e-05,1793237476790633984
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746.372759399,717,679,663,637,881.627240601,789,804,654,633,655,0.401009276625,-0.00535727427494,0.0698348980422,0.99999993709,0.000226806702706,-0.000272216657704,1.66664575639e-05,1793237476807300352
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746,716.795270637,679,663,637,881.590541273,789,804,653.795270637,633,655,0.401002849977,-0.00535778761815,0.0698366828111,0.999999937679,0.000227311609642,-0.000269603219698,1.68935973627e-05,1793237476823966720
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746,716.221278119,679,663,637,880.442556239,789,804,653.221278119,633,655,0.400999452546,-0.00535871127831,0.0698381703457,0.999999938315,0.0002273560338,-0.000267196827348,1.69139061286e-05,1793237476840633600
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767,746,716.361928672,679.361928672,663,637,880,788.638071328,804.361928672,653,632.638071328,654.638071328,0.400996547859,-0.00535836327557,0.0698394928566,0.999999938592,0.000227812378226,-0.000265770396353,1.68336453933e-05,1793237476857300736
+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746,716.950916087,679.950916087,663,637,880,788.049083913,804.950916087,653,632.049083913,654.049083913,0.400993952298,-0.00535721748526,0.0698407118386,0.999999938647,0.000228527144006,-0.000264958751762,1.66902916053e-05,1793237476873967872
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,746,716.468764411,679.468764411,663.531235589,637,880.531235589,788,803.937528822,653,632,654,0.400992535498,-0.00535780292543,0.0698411615294,0.999999939119,0.000226951465851,-0.00026451072473,1.69917753999e-05,1793237476890634240
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.110376829,663.889623171,637,881,788.110376829,803.110376829,653,632.110376829,654,0.400991223244,-0.00535833844868,0.0698414377657,0.999999939464,0.000225863843004,-0.000264120516164,1.7286231828e-05,1793237476907300608
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.687866413,663.312133587,637,881,788.687866413,803.687866413,653,632.687866413,654,0.400989899909,-0.0053579966514,0.0698412759227,0.999999939116,0.000227722886324,-0.000263835096364,1.73798018565e-05,1793237476923967232
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767,746.263883918,716.263883918,680,663,637,881,788.736116082,804,653,633,654,0.400988660018,-0.00535819759859,0.0698410515337,0.999999939092,0.000227701765125,-0.000263948665168,1.72897912655e-05,1793237476940633600
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746.838169918,716.838169918,680,663,637,881,788.161830082,804,653,633,654,0.400987518281,-0.00535903696665,0.0698407535728,0.999999939449,0.000225469039208,-0.000264531557318,1.69838379835e-05,1793237476957300224
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746.575177396,716.575177396,679.575177396,663,637,881,788,804,653,633,654,0.400988810386,-0.00535865849685,0.0698414260698,0.999999939794,0.000225435685466,-0.00026326843841,1.67366837288e-05,1793237476973966848
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746,716.015806181,679.015806181,663,637,881,788.015806181,804,653,633,654,0.400990945236,-0.00535783337003,0.0698424365118,0.999999940114,0.000226257786531,-0.000261356031344,1.65239108759e-05,1793237476990633216
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746,716.588427938,679.588427938,663,637,881,788.588427938,804,653,633,654,0.40098912787,-0.00535810630765,0.0698419384607,0.999999939793,0.00022681621447,-0.000262085970165,1.67096043542e-05,1793237477007300864
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746,717,680,663,637,881,788.836829087,804,653,633,654,0.400987905245,-0.00535823323762,0.0698416546622,0.999999939619,0.000227184589131,-0.000262421100427,1.68435720611e-05,1793237477023968000
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746,717,680,663,637,881,788.256665247,804,653,633,654,0.400988202518,-0.00535798703639,0.0698419183988,0.999999939823,0.000227067271359,-0.000261747273994,1.68453514855e-05,1793237477040634880
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746,716.676322461,680,663,637,880.676322461,788.323677539,804,653,632.676322461,654,0.400989088484,-0.0053576409181,0.0698425640578,0.99999994018,0.000226618035797,-0.000260773902482,1.67814109617e-05,1793237477057301248
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,746,716.095837726,680,663,637,880.095837726,788.904162274,804,653,632.095837726,654,0.400990441521,-0.00535721552518,0.0698435127357,0.999999940658,0.000225905455192,-0.000259562870607,1.66653279392e-05,1793237477073966848
+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880,788.510321926,804,653,632,654,0.400990766594,-0.00535787938578,0.0698438899391,0.999999940795,0.000225830631915,-0.000259102521058,1.66522017576e-05,1793237477090633472
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,746,716.071567007,680,663,637,880,788.071567007,804,653,632,654,0.400990729488,-0.00535857537321,0.0698440518193,0.999999940778,0.000226088819951,-0.000258941420924,1.66515615793e-05,1793237477107299840
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746,716.622498623,680,663,637,880,788.622498623,804,653,632,654,0.400989628025,-0.00535804379319,0.069843528377,0.999999940186,0.000227732825519,-0.000259790423825,1.65981840412e-05,1793237477123966464
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746,717,680,663,637,880.189029089,789,804,653,632.189029089,654,0.400988912716,-0.00535794673148,0.0698433357175,0.999999939904,0.000228512964243,-0.000260187133044,1.66322430138e-05,1793237477140633088
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,746,717,680,663,637,880.789513305,789,804,653,632.789513305,654,0.400989037939,-0.00535879547536,0.0698438630647,0.999999940304,0.00022741274484,-0.000259599345511,1.68566229514e-05,1793237477157299968
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767,746,716.615556876,680,663,637,881,789,803.615556876,653,633,654.384443124,0.400989036044,-0.00535866218337,0.0698440348202,0.999999940412,0.000227131297151,-0.000259422948961,1.69385295163e-05,1793237477173966592
+435,7.250000000,POSE2_TO_POSE3_RETREAT,767,746,716.023624871,680,663,637,881,789,803.023624871,653,633,654.976375129,0.400988965542,-0.005357998874,0.0698440146581,0.999999940364,0.000227291751113,-0.00025946858543,1.69435413626e-05,1793237477190633216
+436,7.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.446748834,663,637,880.446748834,789,803.553251166,653,632.446748834,654.446748834,0.400989636248,-0.00535806295659,0.0698441023616,0.999999940765,0.000226261299235,-0.000258847447635,1.65386338087e-05,1793237477207299840
+437,7.283333333,POSE2_TO_POSE3_RETREAT,767,746,716.12982654,679.12982654,663,637,880.12982654,789,804,653,632.12982654,654,0.400990157297,-0.00535830901445,0.0698442253946,0.999999940998,0.00022587250244,-0.000258303455855,1.62910899037e-05,1793237477223966720
+438,7.300000000,POSE2_TO_POSE3_RETREAT,767,746,716.707523823,679.707523823,663,637,880.707523823,789,804,653,632.707523823,654,0.400990055764,-0.00535907852948,0.0698444548372,0.999999940586,0.000227868049695,-0.000258121220792,1.66451992711e-05,1793237477240633088
+439,7.316666667,POSE2_TO_POSE3_RETREAT,767,746,716.715572372,679.715572372,663,637,881,789,804.284427628,653.284427628,633,654,0.40099011012,-0.00535869239369,0.0698446280512,0.99999994033,0.000229447279991,-0.000257707557326,1.67538510299e-05,1793237477257299712
+440,7.333333333,POSE2_TO_POSE3_RETREAT,767,746,716.139482266,679.139482266,663,637,881,789,804.860517734,653.860517734,633,654,0.40099032433,-0.00535712121131,0.0698447436062,0.999999940235,0.000230599603545,-0.000257056578732,1.66108015696e-05,1793237477273966592
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..85195a5a1e9beae916318542a85081af2327bdea
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_04/simulation_data.csv
@@ -0,0 +1,442 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+1,0.016666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+2,0.033333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+3,0.050000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+4,0.066666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+5,0.083333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+6,0.100000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+7,0.116666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+8,0.133333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+9,0.150000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+10,0.166666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+11,0.183333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+12,0.200000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+13,0.216666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+14,0.233333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+15,0.250000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+16,0.266666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+17,0.283333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+18,0.300000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+19,0.316666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+20,0.333333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+21,0.350000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+22,0.366666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+23,0.383333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+24,0.400000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+25,0.416666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+26,0.433333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+27,0.450000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+28,0.466666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+31,0.516666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+32,0.533333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+33,0.550000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+34,0.566666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+35,0.583333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+36,0.600000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+37,0.616666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+38,0.633333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+40,0.666666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+41,0.683333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+42,0.700000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+49,0.816666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+76,1.266666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+77,1.283333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+78,1.300000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+79,1.316666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+80,1.333333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+81,1.350000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+82,1.366666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+83,1.383333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+84,1.400000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+85,1.416666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+86,1.433333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+87,1.450000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+88,1.466666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+89,1.483333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+90,1.500000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+91,1.516666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+92,1.533333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+93,1.550000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+94,1.566666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+95,1.583333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+96,1.600000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+97,1.616666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+98,1.633333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+99,1.650000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+100,1.666666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..377fa0abd9b787935708caada8c1480f179f83bf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27e9560b938b909e4b1613646009927ba60795468cb452f2b0f7528b038f8d4a
+size 28094231
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..771a47385c623d26334b37f9fd041f947b1455e1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_05/franka_data.csv
@@ -0,0 +1,444 @@
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+13,0.216666667,BASELINE,767,746,717,679.468799859,663.468799859,637.531200141,881,788.531200141,804,653,633,654,0.400990038571,-0.00535984702014,0.069845623702,0.999999942846,0.00022126690877,-0.000255146015244,1.58014620422e-05,1793237477609058304
+14,0.233333333,BASELINE,767,746,717,679,663,637.877989001,881,788.877989001,804,653,632.877989001,654,0.400988948843,-0.00536128240652,0.0698445219458,0.999999942967,0.000219144829041,-0.000256501333599,1.57360812161e-05,1793237477625724928
+15,0.250000000,BASELINE,767,746,717,679,663,637.299927556,881,788.299927556,804,653,632.299927556,654,0.400989563182,-0.00536167204719,0.0698453686433,0.999999942944,0.000219965938088,-0.000255847602826,1.64055732302e-05,1793237477642391552
+16,0.266666667,BASELINE,767,746,716.723698992,679.276301008,663,637,881,788,803.723698992,653,632.276301008,654,0.400990022994,-0.00536058092268,0.0698459350102,0.999999942421,0.000222810915155,-0.000255422602442,1.65331199953e-05,1793237477659058432
+17,0.283333333,BASELINE,767,746,716.149446961,679.850553039,663,637,881,788,803.149446961,653,632.850553039,654,0.40099031617,-0.00535789300521,0.0698461990805,0.999999941341,0.000227838343657,-0.000255244255025,1.60762564701e-05,1793237477675725056
+18,0.300000000,BASELINE,767.436436624,746,716.436436624,680,663,637,880.563563376,788.436436624,803.436436624,653,632.563563376,654,0.40099125238,-0.00535870678774,0.069846353764,0.999999941905,0.00022676718423,-0.000253973901484,1.62305033636e-05,1793237477692391424
+19,0.316666667,BASELINE,767.974086381,746,716.974086381,680,663.025913619,637,880.025913619,788.974086381,803.974086381,653.025913619,632.025913619,654,0.400992300491,-0.00536065614801,0.0698464371681,0.999999942946,0.00022378165386,-0.000252497300484,1.65899120225e-05,1793237477709058048
+20,0.333333333,BASELINE,767.395247578,746,716.395247578,680,663.604752422,637,880.604752422,788.395247578,803.395247578,653.604752422,632.604752422,654,0.40099090938,-0.00536055020448,0.0698458207754,0.999999941918,0.000225727585903,-0.000254817056968,1.67396258121e-05,1793237477725724416
+21,0.350000000,BASELINE,767,746,716.182487523,679.817512477,663.817512477,637.182487523,881,788.182487523,803.182487523,653.817512477,632.817512477,654,0.400990131251,-0.00536047098966,0.0698456027054,0.999999941469,0.000226611806167,-0.000255791350506,1.67439013552e-05,1793237477742391296
+22,0.366666667,BASELINE,767,746,716.757846425,679.242153575,663.242153575,637.757846425,881,788.757846425,803.757846425,653.242153575,632.242153575,654,0.400990672788,-0.00536044931822,0.0698462421713,0.99999994228,0.000225210301848,-0.000253869040873,1.64350676673e-05,1793237477759057920
+23,0.383333333,BASELINE,767,746,717,679,663,637.666252091,881,788.666252091,804,653.333747909,632.333747909,654.333747909,0.400991638259,-0.00535940666026,0.0698470804422,0.999999942524,0.000225452580396,-0.000252706047653,1.62184276901e-05,1793237477775724544
+24,0.400000000,BASELINE,767,746,717,679,663,637.089956232,881,788.089956232,804,653.910043768,632.910043768,654.910043768,0.400992911821,-0.00535762201056,0.0698480631928,0.999999942356,0.000226889461533,-0.000252094879832,1.60687885368e-05,1793237477792391680
+25,0.416666667,BASELINE,767,746,717,679.498702337,663,637,881,788.498702337,804,653.501297663,633,654.501297663,0.400991203925,-0.00535905922042,0.0698469161465,0.999999942344,0.000224707073536,-0.00025407796067,1.61926268776e-05,1793237477809058560
+26,0.433333333,BASELINE,767,746,717,680,663.087895851,637,881,789,804,653,633,654,0.400989393378,-0.00536081181816,0.0698457690153,0.999999942416,0.000222338095882,-0.000255862688964,1.63422924486e-05,1793237477825725696
+27,0.450000000,BASELINE,767,746,717,680,663.66729412,637,881,789,804,653,633,654,0.400990092559,-0.00536099563823,0.0698468242692,0.999999942854,0.000222669161861,-0.000253855010113,1.63535213708e-05,1793237477842392576
+28,0.466666667,BASELINE,767,746,717,680,664,637,880.755254912,789,804,653,633,654.244745088,0.400990008344,-0.00536061928562,0.0698471419001,0.999999942824,0.000223124904303,-0.000253577177957,1.62769560706e-05,1793237477859058944
+29,0.483333333,BASELINE,767,746,717,680,664,637,880.18043024,789,804,653,633,654.81956976,0.400988867587,-0.00535948744665,0.0698464647234,0.999999942165,0.000223748793737,-0.000255632332801,1.60819856131e-05,1793237477875725056
+30,0.500000000,BASELINE,767,746,717,680,663.596285414,637,880.403714586,788.596285414,804,653,633,654.596285414,0.400989800053,-0.00535926504409,0.0698470959075,0.999999942163,0.000224796560701,-0.000254703261021,1.63117768388e-05,1793237477892391680
+31,0.516666667,BASELINE,767,746,717,680,663.007876756,637,880.992123244,788.007876756,804,653,633,654.007876756,0.400991680992,-0.00535945869665,0.0698483256494,0.999999942458,0.000226038246,-0.000252408945061,1.67358909096e-05,1793237477909058304
+32,0.533333333,BASELINE,766.428665722,746,717,679.428665722,663,637,881,788.571334278,804,653,632.428665722,654,0.400991440161,-0.00535835014714,0.0698474720911,0.999999942257,0.000226560394504,-0.000252772132494,1.62045487109e-05,1793237477925724928
+33,0.550000000,BASELINE,766.149592912,746.149592912,716.850407088,679,663,637,880.850407088,788.850407088,804,653,632.149592912,654,0.400991233093,-0.00535764253595,0.0698469685452,0.999999942156,0.000226867828522,-0.000252919708464,1.58298557941e-05,1793237477942391808
+34,0.566666667,BASELINE,766.725492954,746.725492954,716.274507046,679,663,637,880.274507046,788.274507046,804,653,632.725492954,654,0.400991204282,-0.00535812786298,0.069847543012,0.999999942361,0.000226591194899,-0.000252350082906,1.59385231933e-05,1793237477959058944
+35,0.583333333,BASELINE,767,746.699338936,716,679.300661064,663,637,880,788.300661064,804,653,632.699338936,654,0.400991958135,-0.00535928580866,0.069848023929,0.999999942711,0.000225802962969,-0.000251657366909,1.6126583203e-05,1793237477975725568
+36,0.600000000,BASELINE,767,746.1248374,716,679.8751626,663,637,880,788.8751626,804,653,632.1248374,654,0.400993424832,-0.00536105637183,0.0698484196415,0.999999943191,0.000224548770037,-0.000250852540742,1.63869535856e-05,1793237477992391680
+37,0.616666667,BASELINE,767,746,716,680,663,637,880.464151775,789,804,653,632.464151775,654,0.400992546268,-0.00536036290359,0.069848180712,0.999999942833,0.000225580295526,-0.000251340367994,1.65949187382e-05,1793237478009058048
+38,0.633333333,BASELINE,767,746,716,679.944427366,663,637,881,788.944427366,803.944427366,653.055572634,633,654,0.400990936636,-0.00535906497146,0.0698476740298,0.999999942217,0.000227098177212,-0.000252414820989,1.67367497521e-05,1793237478025724416
+39,0.650000000,BASELINE,767,746,716,679.367914859,663,637,881,788.367914859,803.367914859,653.632085141,633,654,0.400988577379,-0.00535851330089,0.0698463090513,0.999999941378,0.000227226703102,-0.000255624254143,1.63950192945e-05,1793237478042391040
+40,0.666666667,BASELINE,767,746,716.207781686,679.207781686,663,637,881,788,803.207781686,653.792218314,633,654,0.400988013625,-0.00535821087619,0.0698460727368,0.999999941279,0.000226857026524,-0.000256357439513,1.60601462576e-05,1793237478059058176
+41,0.683333333,BASELINE,767,746,716.782039039,679.782039039,663,637,881,788,803.782039039,653.217960961,633,654,0.400990616697,-0.00535834805977,0.0698478271074,0.999999942492,0.000225608643615,-0.000252723134093,1.57373680408e-05,1793237478075724800
+42,0.700000000,BASELINE,767,746,717,680,663,637,880.64615864,788.35384136,804,653,633,654.35384136,0.400991090896,-0.00535849288669,0.0698482860842,0.999999942668,0.000226009204861,-0.000251660614067,1.5865378034e-05,1793237478092391424
+43,0.716666667,BASELINE,767,746,717,680,663,637,880.075858183,788.924141817,804,653,633,654.924141817,0.400990262778,-0.00535864238934,0.0698479526161,0.999999942213,0.000227418492105,-0.000252171359504,1.6269153452e-05,1793237478109057792
+44,0.733333333,BASELINE,767.518363392,746,717,679.481636608,663,637,880.518363392,789,804,653,632.481636608,654.481636608,0.400990512696,-0.00536026744317,0.0698480787918,0.999999942812,0.000225061587932,-0.000251886631112,1.66449701514e-05,1793237478125724672
+45,0.750000000,BASELINE,767.887381377,746,717,679,663,637,880.887381377,788.887381377,803.887381377,653,632,654,0.400990923514,-0.00536147572164,0.0698482046921,0.999999943421,0.000222753225804,-0.000251502673893,1.68853906505e-05,1793237478142391296
+46,0.766666667,BASELINE,767.308191525,746,717,679,663,637,880.308191525,788.308191525,803.308191525,653,632,654,0.400991315715,-0.00536001944442,0.0698480372946,0.999999943435,0.000223039821114,-0.000251213234189,1.65826448706e-05,1793237478159057920
+47,0.783333333,BASELINE,767,746,716.731341661,679,663,637,880.268658339,788,803,653,632,654,0.400990986965,-0.00535858162541,0.0698474445424,0.999999942744,0.000225354972632,-0.000251910738261,1.63534650751e-05,1793237478175724544
+48,0.800000000,BASELINE,767,746,716.157152864,679,663,637,880.842847136,788,803,653,632,654,0.400989838317,-0.00535716479775,0.0698463680576,0.999999941234,0.000229977090377,-0.000253730639551,1.62079478173e-05,1793237478192391168
+49,0.816666667,BASELINE,767,746,716,679,663.428156483,637,880.571843517,788,803,653,632.428156483,654,0.400990578245,-0.00535780960535,0.0698467441899,0.999999941683,0.00022881736848,-0.000253017123261,1.60665652268e-05,1793237478209057792
+50,0.833333333,BASELINE,767,746,716.017323926,679.017323926,663.982676074,637,880,788,803.017323926,653,633,654,0.400991970264,-0.00535921957626,0.0698476374147,0.999999942819,0.000225610752246,-0.00025141246207,1.59478495254e-05,1793237478225724672
+51,0.850000000,BASELINE,767,746,716.595724002,679.595724002,663.404275998,637,880,788,803.595724002,653,633,654,0.400991432469,-0.00536024968824,0.069847549257,0.999999942455,0.000226675798402,-0.000251865373186,1.65127920789e-05,1793237478242391040
+52,0.866666667,BASELINE,767,746,717,680,663,637,880.173237829,788,803.826762171,653,632.826762171,653.826762171,0.400991437231,-0.00536056686297,0.0698476119033,0.999999942259,0.000227524247012,-0.000251856957304,1.68346835845e-05,1793237478259057664
+53,0.883333333,BASELINE,767,746,717,680,663,637,880.748693959,788,803.251306041,653,632.251306041,653.251306041,0.400992701682,-0.00535922876172,0.0698480246817,0.999999942455,0.00022786980599,-0.000250777446459,1.65922665573e-05,1793237478275724288
+54,0.900000000,BASELINE,767,746,717,679.675917351,663,637,881,788.324082649,803.648165299,653,632.324082649,653.324082649,0.400992292762,-0.00535903838796,0.0698479421187,0.999999942712,0.000226628460671,-0.000250896834346,1.62959409595e-05,1793237478292390912
+55,0.916666667,BASELINE,767,746,717,679.100580971,663,637,881,788.899419029,804.798838058,653,632.899419029,653.899419029,0.400990586517,-0.00535973782063,0.0698474755288,0.999999943011,0.000224156825393,-0.000251945700543,1.59578213135e-05,1793237478309057536
+56,0.933333333,BASELINE,767,746.489868892,717,679,663,637,881,789,804.510131108,653,633,654,0.400990617568,-0.00536008561329,0.0698472747083,0.999999942876,0.000224296465924,-0.000252347028198,1.61139626735e-05,1793237478325724416
+57,0.950000000,BASELINE,767,746.91896393,716.91896393,679.08103607,663.08103607,637,881.08103607,788.91896393,803.91896393,653,633,654,0.400991047336,-0.00536041648872,0.0698472848339,0.999999942706,0.000224993555805,-0.000252384906864,1.63819180574e-05,1793237478342390784
+58,0.966666667,BASELINE,767,746.342972594,716.342972594,679.657027406,663.657027406,637,881.657027406,788.342972594,803.342972594,653,633,654,0.400991664345,-0.0053610990577,0.0698482394788,0.999999942876,0.000225716471525,-0.00025104081085,1.66932428065e-05,1793237478359057664
+59,0.983333333,BASELINE,767,746,716.232651554,680,663.767348446,637,881.534696891,788.232651554,803.232651554,653,632.767348446,654,0.400991938462,-0.00536077824243,0.0698486227124,0.999999942966,0.000225960108143,-0.000250464102222,1.66406442253e-05,1793237478375724288
+60,1.000000000,BASELINE,767,746,716.807735337,680,663.192264663,637,880.384529326,788.807735337,803.807735337,653,632.192264663,654,0.400991707891,-0.00535898057873,0.0698481649044,0.999999942942,0.000225498309603,-0.000251016885835,1.60523988199e-05,1793237478392390912
+61,1.016666667,BASELINE,767,746.391503451,716.608496549,680,663,637,880.783006901,789,804,653.391503451,632.391503451,654,0.400991152425,-0.00535927865859,0.0698471970096,0.999999942905,0.000224594193952,-0.000251972526909,1.60308905814e-05,1793237478409057536
+62,1.033333333,BASELINE,767,746.979633093,716.020366907,680,663,637,881.959266186,789,804,653.979633093,632.979633093,654,0.400990433787,-0.0053606292914,0.069845972932,0.999999942861,0.000223467931809,-0.000253130496505,1.62940168321e-05,1793237478425724160
+63,1.050000000,BASELINE,767,746.440449028,716,680,663.559550972,637,881.440449028,789,804,653.440449028,633,654,0.400990468467,-0.00536081888575,0.0698468745556,0.999999943186,0.000222616853423,-0.000252602476129,1.61626148264e-05,1793237478442391040
+64,1.066666667,BASELINE,767,746,716.13872386,680,663.86127614,637,881,789,804,653,633,654,0.400991032086,-0.0053607333946,0.0698479291224,0.999999943427,0.000222656723942,-0.000251618016366,1.60587833877e-05,1793237478459057408
+65,1.083333333,BASELINE,767,746,716.716471268,680,663.283528732,637,881,789,804,653,633,654,0.400993184134,-0.00535990914007,0.0698492263906,0.999999943354,0.00022548496667,-0.00024938045274,1.60869945183e-05,1793237478475724032
+66,1.100000000,BASELINE,767,746,716.706739753,680,663,637,881,789,803.706739753,653,633,654,0.400993555711,-0.00535955842897,0.0698495242753,0.999999943292,0.000226276476353,-0.000248905497098,1.61302345383e-05,1793237478492390912
+67,1.116666667,BASELINE,767,746,716.130874414,680,663,637,881,789,803.130874414,653,633,654,0.400992211507,-0.00535966405589,0.0698488590876,0.999999943251,0.000225105254362,-0.000250129107948,1.6187957395e-05,1793237478509057792
+68,1.133333333,BASELINE,767,746,716.454983793,679.545016207,663,637,881,789,803.454983793,653,633,654,0.400991506181,-0.00535943918245,0.0698486708438,0.999999943273,0.00022422262944,-0.000250843989217,1.60122797866e-05,1793237478525724160
+69,1.150000000,BASELINE,767,746,717,679.043088581,663,637,880.956911419,789,804,653,633,654,0.400991058639,-0.00535918227407,0.0698486148846,0.999999943296,0.000223571209222,-0.000251343162119,1.5806164902e-05,1793237478542391040
+70,1.166666667,BASELINE,767,746,717,679.622573595,663,637,880.377426405,789,804,653,633,654,0.40099148109,-0.00535973661155,0.0698484594932,0.999999943111,0.000224741364797,-0.000251019624839,1.60756793241e-05,1793237478559057664
+71,1.183333333,BASELINE,767,746,716.800299092,679.800299092,663,637,880.199700908,789,804,653,633,654,0.400991530127,-0.00536005708777,0.0698481962759,0.999999942908,0.000225640569238,-0.000251014784714,1.619320179e-05,1793237478575724288
+72,1.200000000,BASELINE,767,746,716.227575644,679.227575644,663,637,880.772424356,789,804,653,633,654,0.400990881661,-0.00535994073323,0.0698477316496,0.999999942673,0.000226033662612,-0.000251605240891,1.60268176025e-05,1793237478592390912
+73,1.216666667,BASELINE,767,746.356175457,716,679.356175457,663,637,881,788.643824543,804,653,632.643824543,654.356175457,0.400990989911,-0.0053597746831,0.0698478084479,0.999999942497,0.000226859860885,-0.000251562945108,1.60448048765e-05,1793237478609057536
+74,1.233333333,BASELINE,767,746.947197682,716,679.947197682,663,637,881,788.052802318,804,653,632.052802318,654.947197682,0.400991597109,-0.00535957586585,0.0698482422381,0.999999942357,0.000227971629864,-0.000251103439876,1.61843587683e-05,1793237478625724160
+75,1.250000000,BASELINE,767,746.47313846,716,679.47313846,663,637,881,788.52686154,804,653,632.52686154,654.47313846,0.400990952279,-0.0053595050531,0.0698482101225,0.999999942555,0.000227050976851,-0.000251159722743,1.60030260486e-05,1793237478642391040
+76,1.266666667,BASELINE,767,746.104836264,716.104836264,679,663,637,881,789,803.895163736,653.104836264,633,654,0.400990442177,-0.00535954697707,0.0698481542333,0.999999942806,0.000225999641614,-0.000251121579548,1.58323996943e-05,1793237478659057664
+77,1.283333333,BASELINE,767,746.680230905,716.680230905,679,663,637,881,789,803.319769095,653.680230905,633,654,0.400991088125,-0.00536003855422,0.0698481967964,0.999999943146,0.000225256709519,-0.000250432478423,1.58511304609e-05,1793237478675724288
+78,1.300000000,BASELINE,767,746.744911286,717,679,663,637.255088714,880.744911286,788.744911286,803.255088714,653.744911286,633,654,0.400991299236,-0.00535979682454,0.0698482904658,0.999999943341,0.000224817667344,-0.000250047896174,1.58160631705e-05,1793237478692390912
+79,1.316666667,BASELINE,767,746.170725061,717,679,663,637.829274939,880.170725061,788.170725061,803.829274939,653.170725061,633,654,0.400990966398,-0.00535863778107,0.0698484480655,0.999999943357,0.00022475876951,-0.000250044245044,1.57136984043e-05,1793237478709057792
+80,1.333333333,BASELINE,767,746,716.584645455,679.415354545,663,637.584645455,880,788.415354545,804,653,633,654,0.400991147867,-0.00535944857398,0.0698488160966,0.999999943593,0.0002236027435,-0.000250123204762,1.59299855851e-05,1793237478725724416
+81,1.350000000,BASELINE,767,746,716.006329752,679.993670248,663,637,880.006329752,789,804,653,633,654,0.400991547042,-0.00536107356589,0.0698492581313,0.999999943914,0.000222009774862,-0.000250238815801,1.62751208516e-05,1793237478742391040
+82,1.366666667,BASELINE,767,746,716.58490604,679.41509396,663,637,880.58490604,789,804,653,633,654,0.400991953044,-0.00536095013588,0.0698483403888,0.999999943655,0.000222885660738,-0.00025050761358,1.60787354443e-05,1793237478759057664
+83,1.383333333,BASELINE,767,746,716.837273237,679,663.162726763,637,881,789,804,653.162726763,633,654.162726763,0.400991719198,-0.00536051795225,0.0698475842212,0.999999943297,0.000223917624148,-0.000251023037902,1.59215387926e-05,1793237478775724544
+84,1.400000000,BASELINE,767,746,716.261370827,679,663.738629173,637,881,789,804,653.738629173,633,654.738629173,0.400989860729,-0.00535930181965,0.0698472383043,0.99999994269,0.000225345880491,-0.000252164665865,1.58638453356e-05,1793237478792391168
+85,1.416666667,BASELINE,767,746,716.320948696,679,663.679051304,637,880.679051304,789,804,653.679051304,633,654.679051304,0.400990102857,-0.00535915828181,0.0698477789647,0.999999942794,0.000225412566759,-0.000251679752918,1.60621408961e-05,1793237478809057792
+86,1.433333333,BASELINE,767,746,716.908600705,679,663.091399295,637,880.091399295,789,804,653.091399295,633,654.091399295,0.400992090548,-0.0053599060534,0.0698490563569,0.999999943488,0.000224347809647,-0.000249843210018,1.64731593027e-05,1793237478825724672
+87,1.450000000,BASELINE,767,746,717,679.489444095,663,637,880.489444095,789,804,653.489444095,633,654,0.40099047104,-0.00536070669692,0.0698480766391,0.999999943304,0.000223238236795,-0.000251582339924,1.62239092931e-05,1793237478842391296
+88,1.466666667,BASELINE,767,746,717,680,663,637,881,789,803.930933701,654,633,654,0.400988589547,-0.00536124855003,0.0698469107058,0.999999942985,0.000222372495384,-0.000253628234486,1.58853863531e-05,1793237478859057920
+89,1.483333333,BASELINE,767,746,717,680,663,637,881,789,803.351068781,654,633,654,0.400989683997,-0.00535980442903,0.0698474420782,0.999999942905,0.000223371121358,-0.0002530723042,1.57860027631e-05,1793237478875724800
+90,1.500000000,BASELINE,767,746,717,679.774269538,663,637,880.774269538,789,803,653.774269538,632.774269538,654,0.400990298844,-0.00535910405451,0.0698478543236,0.999999942849,0.000224400177559,-0.000252381376796,1.58369403118e-05,1793237478892391424
+91,1.516666667,BASELINE,767,746,717,679.202174376,663,637,880.202174376,789,803,653.202174376,632.202174376,654,0.400990177782,-0.00535954489749,0.0698480837784,0.999999942828,0.000225475926333,-0.000251483307547,1.61185332078e-05,1793237478909058304
+92,1.533333333,BASELINE,767,746,717,679,663,637,880,788.630121616,803.369878384,653,632.369878384,654,0.400990558002,-0.00535939461103,0.0698484721945,0.999999942972,0.000225402044029,-0.000250978289085,1.61068134648e-05,1793237478925724928
+93,1.550000000,BASELINE,767,746,717,679,663,637,880,788.058091977,803.941908023,653,632.941908023,654,0.400991212189,-0.00535892125204,0.0698489474885,0.999999943206,0.000224699848911,-0.000250688086308,1.59347883056e-05,1793237478942391552
+94,1.566666667,BASELINE,767,746,717,679.535963223,663,637.535963223,880.535963223,788.535963223,804,653.535963223,633,654,0.400991297373,-0.00535883982396,0.0698488590592,0.999999943185,0.000224837209438,-0.000250639318169,1.60423667802e-05,1793237478959057920
+95,1.583333333,BASELINE,767,746,716.872281296,680,663,637.872281296,880.872281296,788.872281296,804.127718704,654,633,654,0.400991674036,-0.00535892284489,0.0698489971029,0.99999994324,0.000225089830545,-0.000250189817735,1.61190438823e-05,1793237478975724800
+96,1.600000000,BASELINE,767,746,716.297297685,680,663,637.297297685,880.297297685,788.297297685,804.702702315,654,633,654,0.400993296679,-0.00535942661786,0.0698501513868,0.999999943655,0.000225413761938,-0.000248241402904,1.59768284905e-05,1793237478992391680
+97,1.616666667,BASELINE,767,746.277452593,716.277452593,680,663,637,880,788.277452593,804.722547407,654,633,654,0.400993261543,-0.00535971283458,0.0698499919306,0.999999943647,0.00022543405464,-0.000248259811196,1.58891609558e-05,1793237479009058560
+98,1.633333333,BASELINE,767,746.851953025,716.851953025,680,663,637,880,788.851953025,804.148046975,654,633,654,0.400991451549,-0.00535976612997,0.0698484259504,0.999999943187,0.000225129263976,-0.000250383950715,1.58598937599e-05,1793237479025724928
+99,1.650000000,BASELINE,767,746.56055952,716.56055952,679.56055952,663,637,880,789,804,653.56055952,633,654,0.40099079463,-0.00535873858,0.0698477246075,0.999999942668,0.000226271482917,-0.000251434744043,1.56948674469e-05,1793237479042391552
+100,1.666666667,BASELINE,767,746,716,679,663.030788885,637.030788885,880.030788885,789,804,653.030788885,633,654,0.400990594629,-0.00535742743933,0.0698473928179,0.999999942174,0.000227818034557,-0.000252013079364,1.54979954195e-05,1793237479059057920
+101,1.683333333,BASELINE,767,746,716,679,663.610589698,637.610589698,880.610589698,789,804,653.610589698,633,654,0.400991404224,-0.00535775027056,0.0698482983023,0.999999942521,0.000227616937807,-0.000250811177568,1.55736639852e-05,1793237479075724544
+102,1.700000000,BASELINE,767,746,716.18852238,679.18852238,663.81147762,638,881,788.81147762,804,653.81147762,633,654,0.400992130372,-0.00535872191178,0.0698490213772,0.999999942973,0.000226677131426,-0.000249849187277,1.57141431647e-05,1793237479092391168
+103,1.716666667,BASELINE,767,746,716.762634059,679.762634059,663.237365941,638,881,788.237365941,804,653.237365941,633,654,0.400992685844,-0.00536102057943,0.0698493713654,0.999999943639,0.000224226424729,-0.00024937789383,1.59871810211e-05,1793237479109057792
+104,1.733333333,BASELINE,767,746,717,680,663.34521301,637.65478699,880.65478699,788.34521301,803.65478699,653,633,654,0.400992342321,-0.00536073757715,0.0698488892834,0.999999943536,0.0002238810295,-0.000250112434392,1.57896192972e-05,1793237479125724672
+105,1.750000000,BASELINE,767,746,717,680,663.933760447,637.066239553,880.066239553,788.933760447,803.066239553,653,633,654,0.400991365115,-0.00535863480251,0.0698478206903,0.999999942891,0.000225019630118,-0.00025169694556,1.52603404418e-05,1793237479142391296
+106,1.766666667,BASELINE,767,746.514695121,717,680,663.485304879,637,880.514695121,789,803.514695121,653,633,654,0.400991289732,-0.00535868664821,0.0698477035443,0.999999942798,0.000225339868434,-0.000251768460581,1.54542292711e-05,1793237479159057920
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,747,717,679,664,637,881,789,804,654,633,654,0.400991970241,-0.00535873749536,0.0698490790417,0.999999942936,0.00022597367236,-0.000250615907843,1.59886593186e-05,1793237479201933568
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746.435427438,717,679.564572562,664,637,880.435427438,788.435427438,804,653.435427438,632.435427438,654,0.400991091437,-0.00535881447881,0.0698486395423,0.999999942695,0.000226744209319,-0.000250889101518,1.58910026933e-05,1793237479218600192
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716.862138441,680,663.862138441,637,880.137861559,788,803.862138441,653,632.137861559,654,0.400990659964,-0.00535907762092,0.0698484269829,0.999999942642,0.000226910832768,-0.000250952842715,1.58407600762e-05,1793237479235266816
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716.259460839,680,663.259460839,637,880.740539161,788,803.259460839,653,632.740539161,654,0.400991736716,-0.00535996841831,0.0698489795774,0.999999943223,0.000225041292811,-0.000250310390949,1.5950379196e-05,1793237479251933696
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746.329430299,716.329430299,680,663,637.329430299,880.670569701,788.658860598,803,653,633.329430299,654.329430299,0.400991808396,-0.00536050852674,0.0698490125947,0.999999943415,0.000224085391203,-0.000250401321893,1.5996954658e-05,1793237479268600064
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746.907899278,716.907899278,680,663,637.907899278,880.092100722,789.815798555,803,653,633.907899278,654.907899278,0.400991120274,-0.00536078352558,0.0698486528285,0.999999943312,0.000223820170828,-0.000251046666548,1.59958711417e-05,1793237479285266432
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746.516827904,717,680,663,637.516827904,880.483172096,789.516827904,803.966344192,653,633.033655808,654.516827904,0.400991206263,-0.00536043081507,0.0698486754727,0.999999943394,0.000224097315542,-0.000250474659042,1.59767221104e-05,1793237479301933312
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746.057915451,717,680,663,637.057915451,880.942084549,789,804.942084549,653.057915451,632.057915451,654,0.400991456448,-0.00536000746221,0.0698488172296,0.9999999435,0.000224467395041,-0.000249717915246,1.59839212857e-05,1793237479318600448
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746.633335918,717,680,663,637.633335918,880.366664082,789,804.366664082,653.633335918,632.633335918,654,0.400991863961,-0.00536001500988,0.0698493762566,0.999999943519,0.000224750176883,-0.00024937029872,1.62571236342e-05,1793237479335266816
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746.784875264,717,680,663.215124736,637.784875264,880,789,804,654,633,654,0.400993153101,-0.00536011315336,0.0698501373749,0.999999943685,0.000224821128232,-0.000248629679123,1.63865078345e-05,1793237479351933184
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746.191901006,717,680,663.808098994,637.191901006,880,789,804,654,633,654,0.400995990745,-0.00536037042118,0.0698512534504,0.99999994411,0.000224520016109,-0.000247198780858,1.62632868445e-05,1793237479368600064
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,717,679.61071098,664,637,880,789,804,654,633,654,0.401006870655,-0.00536068429431,0.0698564324301,0.999999946136,0.000223958595481,-0.000239392056902,1.61865220946e-05,1793237479385266944
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,717,679.035159289,664,637,880,789,804,654,633,654,0.401021598539,-0.00536102525134,0.069863555383,0.99999994883,0.000223272625294,-0.0002285346988,1.61319851962e-05,1793237479401933568
+120,2.000000000,POSE1_TO_POSE2_PRESS,767.540238787,746,717,679.540238787,663.459761213,637,880.540238787,789,804,654,633,654,0.401058355324,-0.0053621245033,0.0698805319027,0.999999954749,0.000224408478432,-0.000199596736341,1.7421033673e-05,1793237479418599936
+121,2.016666667,POSE1_TO_POSE2_PRESS,767.881610539,746,717,680.118389461,663,637,880.881610539,789,804.118389461,653.881610539,633,654,0.401099594409,-0.00536302537636,0.0698981263865,0.999999960015,0.000225282209502,-0.000169929280655,1.84717248406e-05,1793237479435266816
+122,2.033333333,POSE1_TO_POSE2_PRESS,767.29247493,746,717,680.70752507,663,637,880.29247493,789,804.70752507,653.29247493,633,654,0.401152957273,-0.00536294127093,0.0699156288903,0.999999964514,0.000224642364006,-0.000142038708965,1.82270560413e-05,1793237479451933696
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,717,680.708420142,663,637,880.291579858,789,804.708420142,653.291579858,633,654,0.401208913032,-0.00536405382956,0.0699285938225,0.999999967219,0.000223819421252,-0.000123040255519,1.80964300694e-05,1793237479468600320
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,717,680.129374523,663,637,880.870625477,789,804.129374523,653.870625477,633,654,0.401267425096,-0.00536634616772,0.0699370852058,0.99999996865,0.000222815964832,-0.000112808457191,1.80782378419e-05,1793237479485266944
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746.447708604,716.552291396,680,663,637,881,789,804,654,633,654,0.401332570229,-0.00536754042462,0.0699389266059,0.999999969356,0.0002214828746,-0.000109303317612,1.6932894074e-05,1793237479501933568
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746.975332237,716.024667763,680,663.024667763,637,880.975332237,789,804,653.975332237,633,654,0.401400228833,-0.00536841871651,0.0699386829886,0.99999996982,0.000220089474898,-0.000108088645772,1.54308363851e-05,1793237479518600192
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746.388327432,716.611672568,680,663.611672568,637,880.388327432,789,804,653.388327432,633,654,0.401481681034,-0.00536929616713,0.0699345239508,0.999999969218,0.000219483217733,-0.000114970034854,1.31896716734e-05,1793237479535266816
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,717,680,664,637,880.196061212,789,804,653.196061212,633,654,0.401572258921,-0.00537094206313,0.0699322196975,0.999999969248,0.000217521884906,-0.000118617727195,1.08597596904e-05,1793237479551933440
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+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,717,680,664,637,881,789,804,653.645726448,633,654,0.40180431866,-0.00537727806916,0.0699359611335,0.999999971585,0.000210094643443,-0.000112489768344,5.95293759849e-06,1793237479585266944
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,717,680,664,637,881,789,804,653.067003261,633,654,0.401937613088,-0.00538049171487,0.0699390780261,0.999999972385,0.000208413004492,-0.000108538881323,3.6127968014e-06,1793237479601933568
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,717,680,663.492176289,637,880.492176289,789,803.492176289,653,633,654.507823711,0.402093234743,-0.00538198667167,0.0699425037242,0.999999973608,0.000206393575699,-0.00010092084143,3.31949268081e-07,1793237479618600192
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716.916194578,680,663,637,880,789,803.083805422,653,633,654.916194578,0.40225600699,-0.00538374225536,0.0699462262428,0.999999975048,0.000203272332686,-9.25972378926e-05,-3.1525539125e-06,1793237479635266816
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716.330236745,680,663,637,880,789,803.669763255,653,633,654.330236745,0.402444107743,-0.00538840790307,0.0699514849999,0.999999977755,0.000193814162228,-8.29230824305e-05,-7.11929725762e-06,1793237479651933440
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716.254326165,679.745673835,663,637,880.254326165,789,804,653.254326165,633,654,0.402643768203,-0.00539252424613,0.0699543563986,0.999999979656,0.000186308771404,-7.64430018686e-05,-1.15926857542e-05,1793237479668600064
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716.837087646,679.162912354,663,637,880.837087646,789,804,653.837087646,633,654,0.40285835679,-0.00539593122009,0.0699541447763,0.999999980676,0.000181325189333,-7.40877314714e-05,-1.67203525875e-05,1793237479685266688
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.587236972,746,717,679.412763028,663,637,880.587236972,789,804,653.587236972,633,654,0.403091420742,-0.00540033206268,0.0699556817227,0.999999982656,0.000171828524895,-6.84639646453e-05,-2.18170293706e-05,1793237479701933312
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.014311193,746,717,679.985688807,663,637,880.014311193,789,804,653.014311193,633,654,0.403331653609,-0.00540511855197,0.069957897159,0.99999998485,0.000160580667647,-6.15719365571e-05,-2.69016810882e-05,1793237479718599936
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.562727292,746.562727292,717,679.437272708,663,637,880.562727292,789,804,653,633,654,0.403619919446,-0.00540946089637,0.069968023144,0.999999986584,0.000154865581569,-4.33781120026e-05,-3.11109283308e-05,1793237479735266816
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746.857231929,716.857231929,679,663.285536143,637.142768071,881,788.857231929,804,653.142768071,633,654,0.403912514326,-0.00541373004459,0.0699755538082,0.999999990474,0.000129839215269,-3.05342442774e-05,-3.55207231757e-05,1793237479751933440
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746.268134718,716.268134718,679,664.463730564,637.731865282,881,788.268134718,804,653.731865282,633,654,0.404214795793,-0.00541780593446,0.0699743372704,0.999999997583,4.3997768679e-05,-3.53208801654e-05,-4.06275923427e-05,1793237479768600064
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716,679,664.366433532,637.683216766,881,788.316783234,804,653.683216766,633,654,0.404539823711,-0.00542165817206,0.0699752028868,0.999999997911,4.12110397007e-05,-3.47970657312e-05,-3.56093274791e-05,1793237479785266944
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663.203580274,637.101790137,881,788.898209863,804,653.101790137,633,654,0.404883854241,-0.00542532356909,0.0699778079521,0.999999993499,0.000107808915373,-2.98368567114e-05,-2.21324405574e-05,1793237479801933568
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.526740978,746,716,679.473259022,663,637,881,789,803.526740978,653,632.526740978,654.473259022,0.405252888603,-0.00542828264651,0.0699832319767,0.999999993529,0.000109346849192,-1.82000154751e-05,-2.55876604998e-05,1793237479818599936
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.046701095,746.046701095,716.046701095,680,663.046701095,637,881,788.953298905,803.046701095,653.046701095,632.046701095,654.953298905,0.40562901395,-0.00543183936319,0.0699886758076,0.999999994795,9.66074472873e-05,-6.32618115438e-06,-3.21970545533e-05,1793237479835266816
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.617298269,746.617298269,716.617298269,680,663.617298269,637,881,788.382701731,803.617298269,653.617298269,632.617298269,654.382701731,0.406025159175,-0.00544378200171,0.0699876306301,0.999999996308,7.85945688986e-05,-7.68904301403e-06,-3.38792881613e-05,1793237479851933696
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.804536476,747,717,679.804536476,664,637,881,788.195463524,804,653.804536476,633,654,0.406427695494,-0.00545737463474,0.0699811167732,0.999999997502,5.8689674792e-05,-1.91683204637e-05,-3.44138735301e-05,1793237479868600576
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.210956739,747,717,679.210956739,664,637,881,788.789043261,804,653.210956739,633,654,0.406843249044,-0.00547432794301,0.0699634644192,0.999999997545,3.49311618039e-05,-5.12525116327e-05,-3.26109517014e-05,1793237479885267200
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.37412484,746.62587516,717,679.37412484,664,637,881,789,804,653,633,654,0.407301235579,-0.00549074914993,0.0699552380368,0.99999999757,1.52342980274e-05,-5.97648710351e-05,-3.24833866067e-05,1793237479901933824
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.954520994,746.045479006,717,679.954520994,664,637,881,789,804,653,633,654,0.407782617252,-0.00550687698566,0.0699522086038,0.999999997916,-2.2232008802e-06,-5.52810521286e-05,-3.32795187016e-05,1793237479918600448
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746.530382912,716.469617088,679.469617088,663.469617088,637,881.530382912,788.469617088,804,653.530382912,633,654,0.408300496715,-0.00550838013526,0.0699630541541,0.999999998701,-4.2248052053e-06,-3.75405381517e-05,-3.42169221897e-05,1793237479935267072
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746.89153757,716,679,663,637,881.89153757,788.10846243,804,653.89153757,633,654,0.408827955213,-0.0055103556003,0.0699741687921,0.999999999187,-6.93027631064e-06,-1.85911892604e-05,-3.51011730225e-05,1793237479951933696
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746.30191023,716,679,663,637,881.30191023,788.69808977,804,653.30191023,633,654,0.409384142484,-0.0055199423851,0.0699812439126,0.99999999919,-1.85877916663e-05,7.20781033921e-07,-3.56963423406e-05,1793237479968600320
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,716.282806478,679,663,637,880.717193522,788.717193522,804,653,632.717193522,654,0.409922301212,-0.00552763180262,0.0699776799626,0.999999998908,-2.84491425815e-05,-1.32517096589e-06,-3.70497382818e-05,1793237479985266944
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,716.862370383,679,663,637,880.137629617,788.137629617,804,653,632.137629617,654,0.410441542111,-0.00553333025623,0.0699629521139,0.999999998236,-3.64257250228e-05,-2.57826371614e-05,-3.91987645174e-05,1793237480001933568
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716.563189641,679,663,637,880.436810359,788,804,653,632,654,0.411029917144,-0.00553890463646,0.069960188549,0.999999997635,-4.41375017537e-05,-3.43591710885e-05,-4.00112639145e-05,1793237480018600192
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,716.009944821,679.009944821,663.009944821,637.009944821,881,788,804.009944821,653,632,654,0.411640547278,-0.00554449307,0.06996157134,0.999999997157,-5.17571094601e-05,-3.70949633848e-05,-4.03909091603e-05,1793237480035266560
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,716.600010267,679.600010267,663.600010267,637.600010267,881,788,804.600010267,653,632,654,0.412293469798,-0.0055531553094,0.0699874761205,0.999999997402,-5.88108017905e-05,1.23789247227e-05,-3.98007200134e-05,1793237480051933696
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746.186687481,716.813312519,679.813312519,663.813312519,637.813312519,881,788.186687481,804.813312519,653,632.186687481,654.186687481,0.412960272878,-0.00556094855425,0.0700122909744,0.999999995391,-6.71129334242e-05,5.62848251779e-05,-3.93118909323e-05,1793237480068600576
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746.766234563,716.233765437,679.233765437,663.233765437,637.233765437,881,788.766234563,804.233765437,653,632.766234563,654.766234563,0.413656285758,-0.00556691311221,0.0700348122176,0.999999992279,-7.80422435171e-05,8.84736144884e-05,-3.90363611505e-05,1793237480085267200
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.656138928,746.656138928,716,679,663.343861072,637,881,789,804,653,633,654.656138928,0.41431780951,-0.00555879627836,0.0700327131027,0.999999993572,-7.13592189538e-05,7.90646406381e-05,-3.88813417915e-05,1793237480101933824
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.079810845,746.079810845,716,679,663.920189155,637,881,789,804,653,633,654.079810845,0.414956016886,-0.00554115973029,0.070013969413,0.999999996992,-5.27693887191e-05,4.15335299319e-05,-3.88077933886e-05,1793237480118600448
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.496110227,746.496110227,716,679,664,637.496110227,881,789,804,653,633,654,0.415605526399,-0.0055101879998,0.0699724482732,0.999999998559,-1.70368579284e-05,-2.62386643016e-05,-4.36224824435e-05,1793237480135266816
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746.926633815,716,679,664,637.926633815,881,789,804,653,632.926633815,654,0.416266435696,-0.00548269363979,0.0699338300464,0.999999994845,1.45310571261e-05,-8.79599430258e-05,-4.85997621958e-05,1793237480151933184
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746.339573479,716,679,664,637.339573479,881,789,804,653,632.339573479,654,0.416994443206,-0.00549455552013,0.0699411728844,0.999999996101,-2.35448450226e-06,-7.32783708704e-05,-4.92138715982e-05,1793237480168600064
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746.244184987,716.244184987,679.244184987,664,637,881,789,804,653,632.244184987,654,0.417746537239,-0.00550560524663,0.0699588111004,0.999999997697,-1.83941930078e-05,-4.34941861275e-05,-4.87454854226e-05,1793237480185266944
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746.823413085,716.823413085,679.823413085,664,637,881,789,804,653,632.823413085,654,0.418531680188,-0.0055155406289,0.0699905754746,0.999999998327,-3.32733470393e-05,7.01210311737e-06,-4.67918208716e-05,1793237480201933568
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.598345159,746.598345159,716.598345159,680,664,637,881.401654841,789,804,653,632.598345159,654,0.419297120399,-0.005521681452,0.0700041958423,0.999999997752,-4.18861587456e-05,2.36193647428e-05,-4.67343656594e-05,1793237480218600192
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.020536019,746.020536019,716.020536019,680,664,637,881.979463981,789,804,653,632.020536019,654,0.420053919506,-0.00552615808964,0.070009858767,0.99999999741,-4.77507314834e-05,2.53594816329e-05,-4.75085336564e-05,1793237480235266816
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.554113577,746,716,679.445886423,664,637,882,789,804,653,632,654.554113577,0.420831805219,-0.00553095158083,0.0700164907205,0.999999996861,-5.09285689746e-05,3.73834520569e-05,-4.78214372099e-05,1793237480251933440
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,716,679.132249898,664.132249898,637,881.867750102,789,804,652.867750102,632.132249898,654.867750102,0.421604219368,-0.00553272734886,0.0700190622799,0.999999996549,-5.26610380579e-05,4.21030217894e-05,-4.85441028352e-05,1793237480268600320
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,716,679.722874642,664.722874642,637,881.277125358,789,804,652.277125358,632.722874642,654.277125358,0.422354975897,-0.00552400329362,0.0700074368457,0.999999997272,-4.97270576117e-05,2.0192222263e-05,-5.07459082514e-05,1793237480285266944
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716.307025329,680,664.692974671,637,881.307025329,789,804.307025329,652.307025329,632.692974671,654,0.423090309503,-0.00551595076972,0.0699671834863,0.999999996434,-4.459579373e-05,-4.73504470271e-05,-5.38611237329e-05,1793237480301933568
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716.885453086,680,664.114546914,637,881.885453086,789,804.885453086,652.885453086,632.114546914,654,0.423812009605,-0.00550849186257,0.069901623784,0.999999985578,-3.75221880361e-05,-0.000155230504343,-5.77837694472e-05,1793237480318600192
+175,2.916666667,POSE1_TO_POSE2_PRESS,767.461262773,746,717,680,664.461262773,637,882,789,805,653,632.461262773,654,0.424596929798,-0.00551393339374,0.0698881827536,0.999999983232,-4.47262216415e-05,-0.000167314270795,-5.95115968595e-05,1793237480335267072
+176,2.933333333,POSE1_TO_POSE2_PRESS,767.963610932,746,716.963610932,680.036389068,664.963610932,637,882,789,805,653,633,654.036389068,0.42540063984,-0.00552231961483,0.0698913921717,0.99999998522,-5.56385356987e-05,-0.000150995983422,-6.05293686849e-05,1793237480351933440
+177,2.950000000,POSE1_TO_POSE2_PRESS,767.389031143,746,716.389031143,680.610968857,664.389031143,637,882,789,805,653,633,654.610968857,0.426251363137,-0.00552714385551,0.0699505176661,0.99999999378,-6.92526238383e-05,-6.44714193043e-05,-5.90611735854e-05,1793237480368600064
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746.191774984,716,680.808225016,664,637,882,789,805,653,633,654.808225016,0.427087008765,-0.00553046709324,0.0699983563451,0.999999995599,-7.46152617844e-05,2.70983899703e-06,-5.68134525501e-05,1793237480385266688
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.785635695,716,680.214364305,664,637,882,789,805,653,633,654.214364305,0.427891041899,-0.0055306432485,0.0700225304919,0.999999996205,-6.26774697328e-05,2.93348992271e-05,-5.29313360808e-05,1793237480401933312
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746.631804828,716.368195172,680.368195172,664,637.368195172,882,789,805,653,633,654,0.428706468275,-0.00553179801839,0.0700362421745,0.999999995413,-6.22451533861e-05,5.06250811949e-05,-5.23074032195e-05,1793237480418599936
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746.055629058,716.944370942,680.944370942,664,637.944370942,882,789,805,653,633,654,0.429528330247,-0.00553350557351,0.0700440439749,0.999999993861,-6.83118792609e-05,6.89017751033e-05,-5.35239047511e-05,1793237480435266560
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,717,681,664,637.480935332,882,789,805,653,633,654,0.43029238705,-0.00553458553429,0.0700252953417,0.999999995141,-6.90195595824e-05,4.38260979649e-05,-5.50770195602e-05,1793237480451933440
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,716.904011104,681,664,637,882,788.904011104,804.904011104,653,632.904011104,654,0.431035665425,-0.00553462089329,0.0699969602216,0.999999996038,-6.84704204025e-05,1.71091667925e-06,-5.68567840153e-05,1793237480468600064
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,716.314812341,681,664,637,882,788.314812341,804.314812341,653,632.314812341,654,0.431703921037,-0.00552963349551,0.0699339467306,0.999999990725,-6.44061555479e-05,-0.000104151735587,-5.96162839184e-05,1793237480485266944
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,716,681,664,637,882,788,803.730273647,653,632.269726353,654,0.432430221738,-0.00552903593883,0.0699056375281,0.999999984953,-6.54833872977e-05,-0.000148543048313,-6.11689865889e-05,1793237480501933312
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,716,681,664,637,882,788,803.151081641,653,632.848918359,654,0.433223119378,-0.00553347498733,0.0699171456679,0.999999988002,-7.2459623087e-05,-0.00012240632493,-6.13370926457e-05,1793237480518599936
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746.425754513,716.425754513,681,664,637,882,788.425754513,803.425754513,653,633,654,0.434049624955,-0.00553706322143,0.0699672646505,0.99999999465,-7.65639749397e-05,-3.63056771776e-05,-5.93291356371e-05,1793237480535266816
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.998204604,747,717,680.998204604,664,637,882,789,804.001795396,653,632.998204604,654,0.434887603008,-0.00554034611485,0.0700308320365,0.999999992734,-7.96384436814e-05,7.06444655303e-05,-5.65582552092e-05,1793237480551933440
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.410390464,747,717,680.410390464,664,637,882,789,804.589609536,653,632.410390464,654,0.435598953617,-0.00554196907094,0.0700364623224,0.999999992602,-7.7364916036e-05,7.57601103645e-05,-5.54251350369e-05,1793237480568600320
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.174951818,747,717,680.174951818,664,637,882,789,805,653,632.174951818,654,0.436305379198,-0.00554361947715,0.0700336374383,0.999999993169,-7.5646248227e-05,7.00063358803e-05,-5.51232303048e-05,1793237480585266944
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.754576674,747,717,680.754576674,664,637,882,789,805,653,632.754576674,654,0.437000413059,-0.0055453333773,0.0700112552887,0.999999994797,-7.52110007963e-05,3.91110064114e-05,-5.67439716776e-05,1793237480601933824
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746.667944927,716.667944927,681,664,637,882,789,804.667944927,653,633,654,0.437682690564,-0.005548256548,0.0699894720666,0.999999994797,-8.2341512922e-05,1.41211682548e-05,-5.85317621768e-05,1793237480618600448
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746.092042831,716.092042831,681,664,637,882,789,804.092042831,653,633,654,0.438355600305,-0.00555206775509,0.0699681286726,0.999999993637,-9.50279948733e-05,-6.53192813591e-06,-6.04422263046e-05,1793237480635267328
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,716.484097618,681.484097618,664,637,882.484097618,789,804.484097618,653,633,654,0.438995528135,-0.00555325146088,0.0699395083764,0.999999991911,-9.69747125103e-05,-5.42733214016e-05,-6.18754326589e-05,1793237480651933952
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746.061780218,716.938219782,682,664,637,882.938219782,789,804.938219782,653,633,654,0.439626985439,-0.00555357996058,0.0699114426866,0.999999988029,-9.64434387307e-05,-0.000103276633569,-6.30513599285e-05,1793237480668600320
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746.652272461,716.347727539,682,664,637,882.347727539,789,804.347727539,653,633,654,0.44023964528,-0.00555086708608,0.0698999697125,0.9999999867,-9.21894228661e-05,-0.000118981036217,-6.28024579777e-05,1793237480685266944
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746.7623653,716,681.7623653,664.2376347,637,882,789,804.2376347,653,633,654,0.440875783068,-0.00554975991456,0.0699117603509,0.999999989276,-8.93725396149e-05,-9.80388523298e-05,-6.20418676263e-05,1793237480701933824
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746.184351148,716,681.184351148,664.815648852,637,882,789,804.815648852,653,633,654,0.441545549777,-0.00555095269484,0.0699568729575,0.999999993938,-8.86141538221e-05,-2.46054055065e-05,-6.05483528952e-05,1793237480718600448
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,716,681.391353707,664.608646293,637,882,789,805,653,633,654,0.442176819859,-0.00555266826018,0.0699976778957,0.999999993581,-8.96016129272e-05,3.67866230681e-05,-5.87940256947e-05,1793237480735267072
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,716,681.965977177,664.034022823,637,882,789,805,653,633,654,0.442790062145,-0.00555462864429,0.0700364655698,0.999999989921,-9.14066457845e-05,9.25396981453e-05,-5.69175606148e-05,1793237480751933696
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746.881033826,716.118966174,682,664,636,882.881033826,788.881033826,804.118966174,653,632.118966174,654.118966174,0.443798376582,-0.00555982966395,0.069970902338,0.999999993374,-9.47740343687e-05,-2.65174255978e-05,-5.97267572013e-05,1793237480785266944
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+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,716.549552335,682,663.549552335,636,882,788,805,653,633,654,0.4456233619,-0.00557314942739,0.0698689928965,0.999999975199,-0.000114759461852,-0.000180022550605,-6.34424164333e-05,1793237480851933696
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746.026129235,716,682,663,636,882,788,805,653,633,654,0.446076330105,-0.00557622944843,0.0698675078332,0.999999976058,-0.000115114447943,-0.000174895690239,-6.35896736059e-05,1793237480868600064
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746.61408441,716,682,663,636,882,788,805,653,633,654,0.446479978659,-0.00557693475271,0.0698641076196,0.999999973991,-0.000116141913702,-0.000186296650586,-6.18258199037e-05,1793237480885266688
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,747,716.199300796,682,663,636,882,788,804.800699204,653,633,654,0.446866483237,-0.00557790669377,0.0698561933084,0.999999970212,-0.000117154573767,-0.000205382905796,-6.05679420333e-05,1793237480901933568
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+248,4.133333333,POSE1_TO_POSE2_PRESS,767,747,716,682.170589523,661,633.829410477,882.829410477,787,804.829410477,653,632,654,0.451403244446,-0.00557542521335,0.0697039858758,0.99999988533,-0.000121089731529,-0.00045965507451,-5.82570219635e-05,1793237481551933440
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+250,4.166666667,POSE1_TO_POSE2_PRESS,767,746.020740603,716,682.979259397,660.020740603,633.020740603,882.020740603,786.020740603,804.020740603,653,632,654,0.451401459653,-0.00557521305295,0.0697002407792,0.999999882801,-0.000120838155998,-0.000465179187066,-5.83433509157e-05,1793237481585266688
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+256,4.266666667,POSE1_TO_POSE2_PRESS,767,747,716,682.537458162,661,633,882.537458162,786,805,652.462541838,632,654,0.451404314359,-0.00557403608337,0.069700823487,0.999999883467,-0.000120891685014,-0.000463757067059,-5.81368627449e-05,1793237481685266688
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,747,716,682,661,634,882,786,805,653,632.496738435,654.496738435,0.450245933153,-0.00554443381766,0.0696010536831,0.999999799422,-9.22668763312e-05,-0.000625061398668,-4.40656191918e-05,1793237482576568832
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,747,716,682.237225562,661,634,882.237225562,786.237225562,804.762774438,653,632.237225562,654,0.449726568645,-0.00553236690551,0.0696159565875,0.999999810757,-7.99936286726e-05,-0.000609050481429,-3.38238281928e-05,1793237482626568704
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746.952728472,716,682.952728472,662,634.047271528,882,787,804.047271528,653,632.047271528,654,0.446765043298,-0.00546693151969,0.0696460154179,0.999999832926,9.89336118214e-05,-0.000569361008431,1.36880377763e-05,1793237482793235456
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746.200904404,716,682,662.200904404,635,882,787.200904404,805,653,633,654,0.445993277495,-0.00545938676916,0.0696740813554,0.999999860366,9.49792415804e-05,-0.000519563634796,1.7327671031e-05,1793237482826569216
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746.790118936,716,682,662.790118936,635,882,787.790118936,805,653,633,654,0.445597991756,-0.00545330719898,0.0696959804791,0.999999881379,7.16484333093e-05,-0.000481654904125,1.08572274374e-05,1793237482843235840
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,747,716.508175286,682,663.508175286,636.508175286,882,788,804.491824714,653,633,654,0.43687349244,-0.00541426641052,0.0697560513344,0.999999925046,0.000110016849767,-0.000370955271071,1.40434543045e-05,1793237483093235456
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746,716.975741183,681,663.024258817,636.975741183,882,788.975741183,804.024258817,653,633,654,0.432537184474,-0.00540717824199,0.0698454820617,0.999999958388,0.000135274743838,-0.000253504578164,2.56855436901e-05,1793237483193235456
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746,716.578668483,680.578668483,663,637,881,789.157336966,804,653.421331517,633,654,0.418522856588,-0.00540118916249,0.0698852675445,0.999999968307,0.000151893833141,-0.000197937339939,3.36986360168e-05,1793237483493235456
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788.00212125,804,653.99787875,633,654,0.41776735761,-0.00540020089576,0.0698802203845,0.999999965209,0.000153821271982,-0.000211619346679,3.3737637366e-05,1793237483509901824
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788.576677328,804,653.423322672,633,654,0.41701653938,-0.00539319132858,0.0698449202622,0.999999950478,0.000163376403288,-0.000267126739528,3.15537917339e-05,1793237483526568704
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.845429769,789,804,653,633,654,0.416273653168,-0.00538806817712,0.0698163122249,0.99999993732,0.000169951141756,-0.000309179702393,2.97305069537e-05,1793237483543235584
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.258196511,789,804,653,633,654,0.41555296958,-0.00538822535736,0.069806436232,0.999999936275,0.000168183360176,-0.000313571906979,2.89164806104e-05,1793237483559902208
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,716.324688953,680,663,637,880.324688953,789,803.675311047,653,633,654,0.414831991385,-0.00538708567005,0.0697939078485,0.99999992906,0.000169359071389,-0.000335229194487,2.86095578077e-05,1793237483576568832
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,716.904162649,680,663,637,880.904162649,789,803.095837351,653,633,654,0.414110782055,-0.00538492832548,0.069779298124,0.99999991604,0.000172844553326,-0.000370434462283,2.87005612395e-05,1793237483593235456
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,716.058952275,680,663,637,880.941047725,788.058952275,804.058952275,653.058952275,633,654,0.412848316676,-0.00537602026251,0.0698135172001,0.999999935097,0.000184140735653,-0.000308231658013,2.98504059732e-05,1793237483626568704
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,716.633417242,680,663,637,880.366582758,788.633417242,804.633417242,653.633417242,633,654,0.412285400741,-0.00537393333197,0.0698601190507,0.999999955389,0.000191757556272,-0.000226763911154,3.20935055544e-05,1793237483643235584
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.195084693,746,717,680,663,637,880.804915307,789,804.195084693,653.195084693,633,654,0.411097730477,-0.00536514151961,0.0698947463225,0.999999964556,0.000201783776904,-0.000170555698669,3.28799316024e-05,1793237483676568832
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.539134958,746,716.539134958,679,662.539134958,637,881,789,803.460865042,653,633,654,0.40929695081,-0.00534984464706,0.0698155454725,0.9999999266,0.000224058796802,-0.000309530689866,2.80791202586e-05,1793237483726568960
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,716.883847979,679.116152021,663,637,880.883847979,789,803,653,633,654,0.408741665814,-0.00534671455362,0.0697943948493,0.999999914153,0.000228880460563,-0.000344375679938,2.67107632232e-05,1793237483743235840
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,716.309930733,679.690069267,663,637,880.309930733,789,803,653,633,654,0.4082498729,-0.00534513620615,0.0698003795425,0.999999920021,0.000228815531659,-0.000326988842438,2.60694233437e-05,1793237483759902720
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.271647174,789,803.271647174,653,632.728352826,654,0.407770219181,-0.00534438212706,0.0698126291898,0.999999927281,0.000229580480384,-0.000303413937795,2.59114590702e-05,1793237483776569088
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.862218969,789,803.862218969,653,632.137781031,654,0.40730481739,-0.00534459577203,0.0698322341428,0.999999935751,0.000231319738468,-0.000272573996327,2.63209970733e-05,1793237483793235456
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.975244132,663,637,880,788.024755868,804,653,632.975244132,654,0.406390421002,-0.00537554154971,0.069835812176,0.999999942115,0.00019147391933,-0.000279915752793,2.747697513e-05,1793237483826568704
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.402661657,663,637,880,788.597338343,804,653,632.402661657,654,0.40596279769,-0.00539035865946,0.0698232875302,0.999999939173,0.000170089222245,-0.000303298366382,2.70758394052e-05,1793237483843235328
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,662.824922515,637,880.175077485,788.824922515,804,653,632.175077485,654.175077485,0.405558692729,-0.00539725490745,0.0698172549674,0.999999937476,0.000161025213466,-0.000313710040492,2.65447002956e-05,1793237483859901952
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.505223696,746,716,680,663,636.505223696,880.505223696,788,804,653,632,654,0.404233601182,-0.00538004771917,0.0698647615418,0.999999956571,0.00018643601229,-0.000226606761388,2.73787209498e-05,1793237483926568704
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.918474789,746,716,680,663,637,880.918474789,788,804,653,632,654,0.403928833668,-0.00537726535931,0.0698690105677,0.999999957704,0.000187244272026,-0.000220897701686,2.71305692326e-05,1793237483943235328
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.343939744,746,716,680,663,637,880.343939744,788,804,653,632,654,0.403631383602,-0.00537328875738,0.069853368375,0.99999995065,0.000195534260403,-0.000244581464765,2.54047271311e-05,1793237483959901952
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,716.013189872,679,663,637,880.013189872,788,804,653,632,654,0.402638928626,-0.00536550913147,0.069836176685,0.999999942036,0.000195279183749,-0.00027798916538,2.27074926756e-05,1793237484026568960
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716.563484996,679,663,637,880,788,803.436515004,653,632.563484996,654,0.402440030195,-0.00536649388945,0.0698299993997,0.999999938439,0.000197961295553,-0.000288724723683,2.3908927699e-05,1793237484043235840
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716.856804311,679,663,637,880.143195689,788,803,653,632.856804311,654,0.402250084669,-0.00536638449429,0.0698246547239,0.999999935043,0.000201031936098,-0.000298123785318,2.4953602482e-05,1793237484059902464
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,716.267595244,679,663,637,880.732404756,788,803,653,632.267595244,654,0.402085700755,-0.00536242684858,0.0698222276279,0.999999932664,0.000205364627698,-0.000303069446012,2.5421770468e-05,1793237484076568832
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,716.31611991,679,663,637,880.68388009,788,803,653,632,654,0.401937237537,-0.00535999541525,0.0698218635853,0.999999931802,0.00020830704846,-0.000303827282096,2.63244880434e-05,1793237484093235712
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,716.895263975,679,663,637,880.104736025,788,803,653,632,654,0.401802020944,-0.00535883385,0.0698232160836,0.999999932219,0.000210092709866,-0.000301100684494,2.75887679632e-05,1793237484109902592
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,717,679,663,636.530669365,880,788,803.469330635,653,632.469330635,654,0.401680930439,-0.00535895735929,0.0698221437346,0.99999993246,0.000209354238462,-0.000300802635915,2.77192477115e-05,1793237484126568960
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,716.957435458,679.042564542,663,636.042564542,880.042564542,788,803.957435458,653,633,654,0.401564669675,-0.00535924264751,0.0698205791196,0.999999933177,0.000205476553092,-0.000301179893628,2.67490281546e-05,1793237484143235584
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,716.380583517,679.619416483,663,636.619416483,880.619416483,788,803.380583517,653,633,654,0.401469887177,-0.00535799742649,0.0698195551671,0.999999939577,0.000169189107113,-0.000303303826087,1.51043941488e-05,1793237484159902208
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.798468142,663,637,880.798468142,788,803,653,632.798468142,654,0.40138215734,-0.00535913697012,0.0698182046885,0.999999940462,0.00016137353023,-0.000304905304955,8.16888627167e-06,1793237484176569088
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.206146494,663,637,880.206146494,788,803,653,632.206146494,654,0.401308103302,-0.00536490080343,0.0698162210442,0.999999931491,0.000208767667528,-0.000305493695833,1.03648307834e-05,1793237484193236224
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.377186977,663,637,880,788,803,653,632,654,0.401245256398,-0.00536437709465,0.0698157479449,0.99999992768,0.000226952274542,-0.000304955971654,1.16139812514e-05,1793237484209902848
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.955722394,663,637,880,788,803,653,632,654,0.401188392043,-0.00536049699515,0.0698160811987,0.999999927426,0.000229544365758,-0.000303817109474,1.23577178541e-05,1793237484226568960
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881.056421325,788.528210662,803.528210662,653,632,654,0.401145866487,-0.00536105106404,0.069818793704,0.999999928965,0.000226890110979,-0.000300686272622,1.3344148293e-05,1793237484243235840
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,716.100599202,680,663,637,881.899400798,788.899400798,803.899400798,653,632,654,0.401106806727,-0.00536172813281,0.0698217015285,0.999999930622,0.000224304188379,-0.00029705343068,1.42637880635e-05,1793237484259902464
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,716.674877782,680,663,637,881.325122218,788.325122218,803.325122218,653,632,654,0.401078470494,-0.00536125400044,0.0698246005671,0.9999999322,0.000224087307804,-0.00029183419153,1.47742313631e-05,1793237484276569088
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,716.740763367,679.740763367,663,637,880.740763367,788,803.259236633,653,632.259236633,654,0.401055610337,-0.00536070173722,0.0698277402812,0.999999933659,0.000224881441705,-0.000286141494651,1.52455866124e-05,1793237484293235712
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,716.143250764,679.143250764,663,637,880.143250764,788,803.856749236,653,632.856749236,654,0.401039895867,-0.00536004752158,0.0698311940514,0.999999934961,0.000226994840901,-0.000279830985552,1.56659362237e-05,1793237484309902336
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.438182071,663,637,880,788.438182071,803.561817929,653,632.561817929,654,0.401027497041,-0.00535952033257,0.0698327815759,0.999999935579,0.000228465158315,-0.000276384594794,1.60448574398e-05,1793237484326568960
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+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746,716.817434102,679.182565898,663,637,880.817434102,788.817434102,803.817434102,653,633,654,0.400988401142,-0.00536111606013,0.0698390811675,0.999999939546,0.000223271159187,-0.000266057591827,1.64642233658e-05,1793237484509902336
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+425,7.083333333,POSE2_TO_POSE3_RETREAT,766.020628117,746,716.020628117,679,663,637,881,788.020628117,804,653,633,654,0.400986606098,-0.00536221140388,0.0698387354649,0.999999939995,0.000219941436669,-0.000267161786432,1.61067841853e-05,1793237484543235584
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+428,7.133333333,POSE2_TO_POSE3_RETREAT,766.719732897,746,716,679.719732897,663,637,880,788,803.280267103,653,632.280267103,654,0.400990884265,-0.00536317880318,0.0698425529206,0.999999941962,0.000219027332105,-0.000260461056767,1.62295918375e-05,1793237484593235712
+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,746,716.303803187,679.696196813,663,637,880.303803187,788.303803187,803.303803187,653,632,654,0.400991162653,-0.00536332895835,0.0698429399917,0.999999942282,0.000218109885549,-0.000260007757216,1.61463232842e-05,1793237484609902336
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,746,716.883651337,679.116348663,663,637,880.883651337,788.883651337,803.883651337,653,632,654,0.400991493724,-0.00536339657256,0.0698431372823,0.999999942316,0.000218278380171,-0.000259735756301,1.60980801938e-05,1793237484626568960
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746,716.539452088,679,663,637,880.539452088,788.539452088,803.539452088,653,632,654,0.400990924961,-0.00536249839831,0.069843045682,0.999999941802,0.000220348297055,-0.000259961291968,1.61804171861e-05,1793237484643235584
+432,7.200000000,POSE2_TO_POSE3_RETREAT,766.962621874,746,716.037378126,679,663,637,880.037378126,788.037378126,803.037378126,653,632,654,0.400990059361,-0.00536140062217,0.0698428146605,0.999999941125,0.000222862940551,-0.00026041599682,1.62875898172e-05,1793237484659902208
+433,7.216666667,POSE2_TO_POSE3_RETREAT,766.375878078,746,716.624121922,679,663,637,880.624121922,788.624121922,803.624121922,653,632,654,0.400988150834,-0.00536093237826,0.0698416003287,0.99999994015,0.000224898844939,-0.000262403306403,1.62780219779e-05,1793237484676568832
+434,7.233333333,POSE2_TO_POSE3_RETREAT,766.208185999,746,716.791814001,679.208185999,663,637,880.791814001,788.791814001,804,653,632.208185999,654,0.400988073897,-0.00536125735639,0.0698416389633,0.999999940062,0.000225354747888,-0.000262348091376,1.62611498611e-05,1793237484693235456
+435,7.250000000,POSE2_TO_POSE3_RETREAT,766.787473447,746,716.212526553,679.787473447,663,637,880.212526553,788.212526553,804,653,632.787473447,654,0.400991261854,-0.00536299629049,0.0698439110701,0.999999941555,0.000222994223427,-0.00025865197937,1.6231257521e-05,1793237484709902080
+436,7.266666667,POSE2_TO_POSE3_RETREAT,766.634549057,746,716,679.634549057,663,637,880,788,804,653,632.634549057,654,0.400992042524,-0.00536205099248,0.0698444419974,0.99999994161,0.000224000112566,-0.000257562649024,1.62649852674e-05,1793237484726568960
+437,7.283333333,POSE2_TO_POSE3_RETREAT,766.057330671,746,716,679.057330671,663,637,880,788,804,653,632.057330671,654,0.400991428245,-0.00535955026544,0.0698439639653,0.999999940834,0.000226956733705,-0.000257983867703,1.63355788748e-05,1793237484743235840
+438,7.300000000,POSE2_TO_POSE3_RETREAT,766.518833357,746,716.518833357,679.518833357,663,637,880,788.518833357,804,653,632.518833357,654,0.400990154891,-0.00536007253963,0.0698433573251,0.999999941083,0.000224279592912,-0.000259384143331,1.58628760108e-05,1793237484759902464
+439,7.316666667,POSE2_TO_POSE3_RETREAT,767,746,716.903043214,680,663,637,880,788.903043214,804,653,632.903043214,654,0.400988860797,-0.00536097353205,0.0698428134188,0.999999941344,0.000221609255558,-0.000260695217594,1.5476388288e-05,1793237484776569088
+440,7.333333333,POSE2_TO_POSE3_RETREAT,767,746,716.314393541,680,663,637,880,788.314393541,804,653,632.314393541,654,0.400987830105,-0.00536210453879,0.0698426595741,0.999999941143,0.000222124008783,-0.000261006407225,1.58309494091e-05,1793237484793235712
+441,7.350000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.729830697,663,637,880,788,803.729830697,653,632,654,0.400988215247,-0.00536266442291,0.0698430412432,0.999999941276,0.000222270656733,-0.000260363234592,1.59443254329e-05,1793237484809902336
+442,7.366666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.14995283,663,637,880,788,803.14995283,653,632,654,0.400990223429,-0.00536256960057,0.0698440367985,0.999999941791,0.000221995327188,-0.000258626028815,1.57812189101e-05,1793237484826569216
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..01560b298fd54455eda7280caa54035ce7889c13
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_03/depth_05/simulation_data.csv
@@ -0,0 +1,444 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+1,0.016666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+2,0.033333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+3,0.050000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+4,0.066666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+5,0.083333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+6,0.100000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+7,0.116666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+8,0.133333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+9,0.150000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+10,0.166666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+11,0.183333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+12,0.200000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+13,0.216666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+14,0.233333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+15,0.250000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+16,0.266666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+17,0.283333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+18,0.300000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+19,0.316666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+20,0.333333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+21,0.350000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+22,0.366666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+23,0.383333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+24,0.400000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+25,0.416666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+26,0.433333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+27,0.450000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+28,0.466666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+29,0.483333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+30,0.500000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+31,0.516666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+32,0.533333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+33,0.550000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+34,0.566666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+35,0.583333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+36,0.600000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+37,0.616666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+40,0.666666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+41,0.683333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+49,0.816666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+66,1.100000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+414,6.900000000,pose2_to_pose3_retreat,0.578273308389,1.28383128568e-06,1.0600117483,0.548844543934,0.0086749524662,1.05966129311
+415,6.916666667,pose2_to_pose3_retreat,0.578266812202,1.32845415009e-06,1.06001162888,0.548838047161,0.00867499516385,1.05966117523
+416,6.933333333,pose2_to_pose3_retreat,0.578262480073,1.33543389052e-06,1.06001151534,0.548833714696,0.00867500094126,1.05966106023
+417,6.950000000,pose2_to_pose3_retreat,0.578259967412,1.34288773892e-06,1.06001157738,0.548831202364,0.00867500940837,1.05966111958
+418,6.966666667,pose2_to_pose3_retreat,0.578258781452,1.34652474286e-06,1.06001161112,0.548830016578,0.00867501358332,1.05966115199
+419,6.983333333,pose2_to_pose3_retreat,0.578258391112,1.34772180652e-06,1.06001162222,0.548829626295,0.00867501495743,1.05966116266
+420,7.000000000,pose2_to_pose3_retreat,0.578258203743,1.34829641168e-06,1.06001162755,0.548829438954,0.00867501561703,1.05966116778
+421,7.016666667,pose2_to_pose3_retreat,0.578257872904,1.3493110017e-06,1.06001163697,0.548829108164,0.00867501678169,1.05966117682
+422,7.033333333,pose2_to_pose3_retreat,0.578257458688,1.35058128739e-06,1.06001164875,0.548828694008,0.00867501823986,1.05966118814
+423,7.050000000,pose2_to_pose3_retreat,0.57825694965,1.354734981e-06,1.06001166019,0.548828184911,0.00867502216219,1.05966119876
+424,7.066666667,pose2_to_pose3_retreat,0.57825693813,1.35494448675e-06,1.06001166031,0.548828173385,0.00867502234587,1.05966119885
+425,7.083333333,pose2_to_pose3_retreat,0.578256552766,1.36195301232e-06,1.06001166442,0.548827787777,0.00867502849031,1.05966120198
+426,7.100000000,pose2_to_pose3_retreat,0.578256175756,1.36880958249e-06,1.06001166844,0.54882741053,0.00867503450154,1.05966120504
+427,7.116666667,pose2_to_pose3_retreat,0.578255652745,1.3783214523e-06,1.06001167403,0.548826887189,0.00867504284069,1.05966120928
+428,7.133333333,pose2_to_pose3_retreat,0.578254910663,1.3918175017e-06,1.06001168194,0.548826144639,0.00867505467281,1.0596612153
+429,7.150000000,pose2_to_pose3_retreat,0.578254589228,1.39766334256e-06,1.06001168537,0.548825823002,0.00867505979791,1.05966121791
+430,7.166666667,pose2_to_pose3_retreat,0.578254497448,1.39933252129e-06,1.06001168635,0.548825731165,0.0086750612613,1.05966121865
+431,7.183333333,pose2_to_pose3_retreat,0.578254086482,1.40416466984e-06,1.06001168995,0.548825319953,0.00867506522239,1.05966122136
+432,7.200000000,pose2_to_pose3_retreat,0.578253676898,1.37285625927e-06,1.06001168279,0.548824910301,0.00867503373529,1.05966121548
+433,7.216666667,pose2_to_pose3_retreat,0.578253646151,1.37050596641e-06,1.06001168226,0.548824879549,0.00867503137158,1.05966121504
+434,7.233333333,pose2_to_pose3_retreat,0.578253497957,1.35917806571e-06,1.06001167967,0.54882473133,0.00867501997903,1.05966121291
+435,7.250000000,pose2_to_pose3_retreat,0.578253316437,1.34530271192e-06,1.0600116765,0.548824549779,0.00867500602448,1.0596612103
+436,7.266666667,pose2_to_pose3_retreat,0.578253050689,1.32498908424e-06,1.06001167185,0.548824283987,0.00867498559491,1.05966120648
+437,7.283333333,pose2_to_pose3_retreat,0.578252946342,1.31701286719e-06,1.06001167003,0.548824179623,0.00867497757317,1.05966120499
+438,7.300000000,pose2_to_pose3_retreat,0.578252549335,1.25808776011e-06,1.06001170217,0.548823783341,0.00867492110893,1.05966123719
+439,7.316666667,pose2_to_pose3_retreat,0.578252201979,1.163171923e-06,1.06001178563,0.548823437957,0.00867483281655,1.05966131896
+440,7.333333333,pose2_to_pose3_retreat,0.578252184621,1.23376560263e-06,1.06001163328,0.548823420494,0.00867490320035,1.05966117026
+441,7.350000000,pose2_to_pose3_retreat,0.578252183634,1.23778144375e-06,1.06001162462,0.548823419501,0.00867490720425,1.0596611618
+442,7.366666667,pose2_to_pose3_retreat,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977469,1.05966107186
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..80fa3bceeaf04a348cab6de892f52f3a368210de
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b8b791839262165fa2c91e74172fb41b1bf590ea17ef2fc491ac253ee2879e0
+size 38383207
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..38c6471f00d6d2769ad60ec7b401a8ca6cf221f1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_01/franka_data.csv
@@ -0,0 +1,607 @@
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+0,0.000000000,BASELINE,766,746,717,680,662,637,881,789,804,653,632,654,0.401047679848,-0.00550627015908,0.0798774749471,0.999999986703,0.000100892225353,-0.000119288533653,4.67374694391e-05,1793237486152113152
+1,0.016666667,BASELINE,766,746.577445346,716.422554654,679.422554654,662.577445346,637,880.422554654,788.422554654,804,653,632.577445346,654,0.401048130686,-0.00550586912914,0.0798780633794,0.999999986696,0.000102095739163,-0.000118374306527,4.6599168359e-05,1793237486168780032
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+21,0.350000000,BASELINE,767,747,717,679.819760869,663,637,880.180239131,788.180239131,803.180239131,653,632,654,0.401049518764,-0.00550348791175,0.0798792509358,0.999999986601,0.000103868315333,-0.000117768764875,4.62557185954e-05,1793237486502113024
+22,0.366666667,BASELINE,767,747,717,679.244268938,663,637,880.755731062,788.755731062,803.755731062,653,632,654,0.401048581806,-0.00550336971731,0.0798784995785,0.999999986344,0.000105218070444,-0.000118751472766,4.62575314536e-05,1793237486518779648
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+27,0.450000000,BASELINE,767,746,717,680,663,637,880.336020363,788.336020363,804,653.336020363,632.336020363,654,0.40104735457,-0.00550309660609,0.0798784992189,0.999999986107,0.000106297181212,-0.000119712459006,4.64259037093e-05,1793237486602113024
+28,0.466666667,BASELINE,766.760861728,746,716.760861728,679.760861728,663,637,880.239138272,788,804,653.239138272,632.239138272,654,0.401047650048,-0.00550333442078,0.0798789969733,0.999999986193,0.000106127834331,-0.000119131299963,4.64628535099e-05,1793237486618779904
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+40,0.666666667,BASELINE,767,746,717,680,663,637,880,788.794485239,803.794485239,653,633,654,0.401048026618,-0.00550310479776,0.0798783325179,0.999999986241,0.000105636217075,-0.000119290560504,4.61325814583e-05,1793237486818779392
+41,0.683333333,BASELINE,767,746,717,680,663,637,880,788.219803275,803.219803275,653,633,654,0.401047557104,-0.00550285719162,0.0798784841024,0.999999986042,0.00010713961126,-0.000119573215628,4.62555083715e-05,1793237486835446016
+42,0.700000000,BASELINE,767,746,716.634498335,679.634498335,663.365501665,637,880.365501665,788,803.365501665,653,632.634498335,654,0.40104689179,-0.00550289587971,0.0798780993698,0.999999986056,0.000106328814002,-0.000120226547953,4.6133539809e-05,1793237486852112640
+43,0.716666667,BASELINE,767,746,716.042613803,679.042613803,663.957386197,637,880.957386197,788,803.957386197,653,632.042613803,654,0.401046105202,-0.00550311189152,0.0798773824554,0.999999986198,0.000104084662636,-0.000121109468735,4.58598889237e-05,1793237486868779264
+44,0.733333333,BASELINE,766.46523429,746,716.53476571,679,663.46523429,637,880.46523429,788.53476571,803.46523429,653,632.53476571,654,0.40104669386,-0.00550158635416,0.0798772750093,0.999999985865,0.000107095454308,-0.000121234153421,4.5850924857e-05,1793237486885445888
+45,0.750000000,BASELINE,766.110753908,746,717,679,663,637,880.110753908,789,803.110753908,653,632.889246092,654.110753908,0.401047444997,-0.00550033292792,0.0798776399103,0.999999985605,0.000109818163124,-0.000120927047278,4.58982651786e-05,1793237486902112768
+46,0.766666667,BASELINE,766.685627349,746,717,679,663,637,880.685627349,789,803.685627349,653,632.314372651,654.685627349,0.401048429899,-0.00550078599734,0.0798797860579,0.999999985841,0.00010962519462,-0.000119057013635,4.60954985404e-05,1793237486918779648
+47,0.783333333,BASELINE,767,746.260002112,717,679.260002112,663,637,880.739997888,789,803.739997888,653,632,655,0.401047960102,-0.00550086540987,0.0798800523008,0.999999985853,0.00010947896042,-0.000119047847361,4.62075899676e-05,1793237486935446528
+48,0.800000000,BASELINE,767,746.833775144,717,679.833775144,663,637,880.166224856,789,803.166224856,653,632,655,0.401045734771,-0.0055004938928,0.0798780498725,0.999999985594,0.000109389125216,-0.000121284378246,4.62169320125e-05,1793237486952113152
+49,0.816666667,BASELINE,767,746.578636552,716.578636552,679.578636552,663,637,880.421363448,789,803,653.421363448,632,654.578636552,0.401046491329,-0.0055010858963,0.0798781105279,0.999999985837,0.000107900992649,-0.000120660789071,4.60869088651e-05,1793237486968779520
+50,0.833333333,BASELINE,766.985778771,746.014221229,716.014221229,679.014221229,663,637,881,789,803.014221229,653.985778771,632,654,0.401048393319,-0.00550204619306,0.0798789815977,0.999999986267,0.000105903391679,-0.000118923645058,4.59028846061e-05,1793237486985446400
+51,0.850000000,BASELINE,766.40741059,746.59258941,716.59258941,679.59258941,663,637,881,789,803.59258941,653.40741059,632,654,0.401047487659,-0.005502026914,0.0798786210787,0.999999986183,0.00010631962225,-0.000119288558452,4.58315663717e-05,1793237487002113024
+52,0.866666667,BASELINE,766.169601484,747,717,680,663,637,880.830398516,788.830398516,804,653,632.169601484,654,0.401046953813,-0.00550176589325,0.079878598519,0.999999986136,0.000106685774425,-0.000119372150287,4.57975535257e-05,1793237487018779648
+53,0.883333333,BASELINE,766.743381771,747,717,680,663,637,880.256618229,788.256618229,804,653,632.743381771,654,0.40104730604,-0.00550092877573,0.079879381353,0.999999986177,0.000106932584305,-0.000118785322189,4.58524434866e-05,1793237487035446272
+54,0.900000000,BASELINE,767,746.673796965,716.673796965,679.673796965,663,637,880,788,804.326203035,653,632.673796965,654,0.40104753592,-0.00550076069104,0.0798796658565,0.999999986124,0.000107410680304,-0.000118711364748,4.60719517254e-05,1793237487052112896
+55,0.916666667,BASELINE,767,746.083660608,716.083660608,679.083660608,663,637,880,788,804.916339392,653,632.083660608,654,0.401047666807,-0.00550113392589,0.0798795471568,0.999999985995,0.000108075911624,-0.000119052374832,4.64246538456e-05,1793237487068779520
+56,0.933333333,BASELINE,767,746.497466641,716.497466641,679,663,637,880.497466641,788,804.502533359,653,632.497466641,654,0.401047811897,-0.00550172607459,0.079879277096,0.999999985978,0.00010764072376,-0.000119605998005,4.63944510478e-05,1793237487085446400
+57,0.950000000,BASELINE,766.923390296,746.923390296,717,679.076609704,663,637,881,788,804,653,632.923390296,654,0.401048078938,-0.00550225707629,0.0798792075608,0.999999986025,0.000107052823065,-0.000119769791409,4.6308425057e-05,1793237487102113024
+58,0.966666667,BASELINE,766.347480443,746.347480443,717,679.652519557,663,637,881,788,804,653,632.347480443,654,0.401049125493,-0.00550215388008,0.0798806078923,0.999999986378,0.00010665429678,-0.000117163995501,4.62707961181e-05,1793237487118779392
+59,0.983333333,BASELINE,766.232593048,746.232593048,716.767406952,679.767406952,663,637,881,788.232593048,804,653,632.232593048,654,0.401049005094,-0.00550224377451,0.0798808065242,0.999999986458,0.000106406388342,-0.000116705346372,4.62707697969e-05,1793237487135446016
+60,1.000000000,BASELINE,766.81900024,746.81900024,716.18099976,679.18099976,663,637,881,788.81900024,804,653,632.81900024,654,0.401047109558,-0.00550262739307,0.0798791771641,0.999999986126,0.000106387595568,-0.000119512877434,4.63279435373e-05,1793237487152112640
+61,1.016666667,BASELINE,767,746.599381317,716,679,663,637,880.599381317,789,804,653.400618683,633,654,0.401046567082,-0.00550214486925,0.079878512002,0.99999998609,0.000106102578402,-0.000120121383046,4.61881650561e-05,1793237487168779264
+62,1.033333333,BASELINE,767,746.019900911,716,679,663,637,880.019900911,789,804,653.980099089,633,654,0.401046628699,-0.00550127564423,0.0798782773196,0.999999986188,0.000105698701695,-0.000119748103327,4.59604545429e-05,1793237487185445888
+63,1.050000000,BASELINE,767,746,716.55770547,679.55770547,663,637,880,789,803.44229453,653.44229453,633,654,0.4010470423,-0.00550366863796,0.0798787717668,0.999999986447,0.000103506621605,-0.000119444765142,4.61083616156e-05,1793237487202113024
+64,1.066666667,BASELINE,767,746.13471457,717,679.86528543,663,637.13471457,880,788.86528543,803.13471457,653,632.86528543,654,0.401047222411,-0.00550532219534,0.0798790926393,0.99999998659,0.000102204536517,-0.000119298615469,4.62753027431e-05,1793237487218779904
+65,1.083333333,BASELINE,767,746.709988301,717,679.290011699,663,637.709988301,880,788.290011699,803.709988301,653,632.290011699,654,0.401046598,-0.0055041781479,0.0798787610654,0.999999986351,0.00010402099426,-0.000119658387255,4.64608047803e-05,1793237487235446272
+66,1.100000000,BASELINE,766.715042614,746.715042614,717,679.284957386,663,637.715042614,880.284957386,788.284957386,803.715042614,653,632.284957386,654,0.401047072325,-0.00550294893694,0.0798789889169,0.999999986273,0.000105368633553,-0.000119197107548,4.62911271697e-05,1793237487252112896
+67,1.116666667,BASELINE,766.140383284,746.140383284,717,679.859616716,663,637.140383284,880.859616716,788.859616716,803.140383284,653,632.859616716,654,0.401048663681,-0.00550163314453,0.0798797855082,0.999999986359,0.000106239648425,-0.000117901105763,4.57603561349e-05,1793237487268779776
+68,1.133333333,BASELINE,766.44957915,746,717,680,663,637,880.55042085,789,803.44957915,653,633,654,0.401048835359,-0.00550092237907,0.0798797704684,0.999999986235,0.000107704643375,-0.00011764377796,4.57173066208e-05,1793237487285446144
+69,1.150000000,BASELINE,766.956985657,746,717,679.956985657,663,637,880,788.956985657,804,653,632.956985657,654.043014343,0.401048535751,-0.00550051471107,0.0798795058978,0.999999986063,0.000109133513582,-0.000117744323618,4.58176303989e-05,1793237487302112768
+70,1.166666667,BASELINE,766.381788865,746,717,679.381788865,663,637,880,788.381788865,804,653,632.381788865,654.618211135,0.401048083185,-0.00550143727318,0.0798794001318,0.999999986174,0.000107739864757,-0.000118118463304,4.57411962976e-05,1793237487318779136
+71,1.183333333,BASELINE,766.193071452,746.193071452,717,679.193071452,663,637,880,788.193071452,803.806928548,653.193071452,632,654.806928548,0.401047567105,-0.00550139251162,0.0798791306073,0.999999986109,0.000107746336202,-0.000118687938655,4.56800121318e-05,1793237487335445760
+72,1.200000000,BASELINE,766.767267667,746.767267667,717,679.767267667,663,637,880,788.767267667,803.232732333,653.767267667,632,654.232732333,0.40104692565,-0.00549943824474,0.0798785378221,0.999999985694,0.000110516657259,-0.00011964300841,4.56489314607e-05,1793237487352112640
+73,1.216666667,BASELINE,766.647903741,746.647903741,717,679.647903741,663,637,880,789,803,653.647903741,632,654,0.401046860746,-0.00549930612777,0.079878608651,0.999999985602,0.000111339076377,-0.000119625267956,4.57047743617e-05,1793237487368779520
+74,1.233333333,BASELINE,766.055828451,746.055828451,717,679.055828451,663,637,880,789,803,653.055828451,632,654,0.401047188805,-0.00550041593769,0.0798791317809,0.999999985734,0.000110833859472,-0.000118944487027,4.58198619569e-05,1793237487385446400
+75,1.250000000,BASELINE,766,746,717,679.523636693,663,637,880,788.476363307,803.523636693,653,632.523636693,654,0.40104649859,-0.00550088786025,0.0798785455215,0.999999985847,0.000108140633575,-0.000120501004503,4.57226217709e-05,1793237487402113024
+76,1.266666667,BASELINE,766.101197274,746,717,680,663,637,880,788.101197274,804,653,633,654,0.401046050126,-0.00550138715321,0.0798781738472,0.999999985934,0.00010609721967,-0.000121602120203,4.56918662752e-05,1793237487418779648
+77,1.283333333,BASELINE,766.675988622,746,717,680,663,637,880,788.675988622,804,653,633,654,0.40104722916,-0.00550232533095,0.079879346932,0.999999985951,0.000108160916613,-0.000119481932328,4.60757042072e-05,1793237487435446272
+78,1.300000000,BASELINE,767,746.249441036,717,679.750558964,663,637,880,789,804,653,632.750558964,654,0.401047438867,-0.00550238415979,0.0798797746247,0.999999985943,0.000109057218163,-0.000118698034384,4.61761591198e-05,1793237487452112640
+79,1.316666667,BASELINE,767,746.821163484,717,679.178836516,663,637,880,789,804,653,632.178836516,654,0.401046396187,-0.00550130685712,0.0798792392601,0.999999985909,0.00010844522788,-0.000119640642455,4.59104790582e-05,1793237487468779520
+80,1.333333333,BASELINE,766.589512156,746.589512156,716.589512156,679,663,637,880,788.589512156,804,653.410487844,632,654,0.401047456674,-0.00550041981721,0.0798792447663,0.999999986093,0.00010748760633,-0.000119051213007,4.56958006097e-05,1793237487485446400
+81,1.350000000,BASELINE,766.007533629,746,716.007533629,679.007533629,663,637,880.007533629,788.007533629,804,653.992466371,632,654,0.401049427601,-0.00549964500796,0.0798794843839,0.999999986366,0.00010639874092,-0.000117795230043,4.55119895926e-05,1793237487502113280
+82,1.366666667,BASELINE,766.582670775,746,716.582670775,679.582670775,663,637,880.582670775,788.582670775,804,653.417329225,632,654,0.401047865364,-0.00550080090049,0.079878813422,0.999999986128,0.000107275041357,-0.000118860550305,4.59047143009e-05,1793237487518779904
+83,1.383333333,BASELINE,767,746,717,679.842470847,663,637,880.842470847,788.842470847,804,653.157529153,632,654,0.401046686441,-0.00550168669137,0.0798783933049,0.999999985883,0.000108286002387,-0.000119888410416,4.62144562135e-05,1793237487535446272
+84,1.400000000,BASELINE,767,746,717,679.268349556,663,637,880.268349556,788.268349556,804,653.731650444,632,654,0.401046521207,-0.00550185818789,0.0798786365569,0.999999985618,0.000109653078929,-0.000120817205897,4.63047468948e-05,1793237487552112896
+85,1.416666667,BASELINE,767,746,717,679,663,637,880.63175603,788.315878015,803.684121985,653.684121985,632.315878015,654,0.401046982488,-0.00550194279904,0.079879174641,0.999999985628,0.000110123466572,-0.000120252541806,4.64369761002e-05,1793237487568779520
+86,1.433333333,BASELINE,767,746,717,679,663,637,881.817949928,788.908974964,803.091025036,653.091025036,632.908974964,654,0.401047993605,-0.00550195115836,0.079879971474,0.999999985879,0.000109806907499,-0.00011837719679,4.66060111317e-05,1793237487585446400
+87,1.450000000,BASELINE,766.511596513,746,716.511596513,679.488403487,663,637,881.023193027,788.511596513,803.488403487,653,632.511596513,654,0.401047166283,-0.00550105868767,0.0798793375874,0.999999985803,0.000109695450803,-0.000119259170104,4.62352242589e-05,1793237487602113024
+88,1.466666667,BASELINE,766,746.065014369,716.065014369,680,663,637,880,788.065014369,803.934985631,653,632,654,0.401046203598,-0.00550025989226,0.0798785783475,0.999999985703,0.000109500442394,-0.000120428546822,4.58270359202e-05,1793237487618779392
+89,1.483333333,BASELINE,766,746.638967077,716.638967077,680,663,637,880,788.638967077,803.361032923,653,632,654,0.401046790427,-0.00550147287436,0.0798788683407,0.999999985884,0.000108360297568,-0.000119934492757,4.5892193377e-05,1793237487635446016
+90,1.500000000,BASELINE,766.217074452,746.782925548,716.782925548,680,663.217074452,637,880,789,803.217074452,653,632.217074452,654,0.401047153034,-0.00550201903163,0.0798789474199,0.999999985975,0.000107715462172,-0.000119765923848,4.58605139346e-05,1793237487652112896
+91,1.516666667,BASELINE,766.802226543,746.197773457,716.197773457,680,663.802226543,637,880,789,803.802226543,653,632.802226543,654,0.401047135441,-0.00550143450155,0.079878668867,0.999999985917,0.000107910487708,-0.000120149256913,4.56646350748e-05,1793237487668779264
+92,1.533333333,BASELINE,767.385507895,746.385507895,716.385507895,680,663.614492105,637,880.385507895,789,803.614492105,653,633,654,0.401046118439,-0.00550091372237,0.0798782629298,0.999999985659,0.000109051609028,-0.000121182341395,4.58818887114e-05,1793237487685446144
+93,1.550000000,BASELINE,767.967834205,746.967834205,716.967834205,680,663.032165795,637,880.967834205,789,803.032165795,653,633,654,0.401044591196,-0.00550042549073,0.0798777919572,0.999999985294,0.000110675753089,-0.000122547152047,4.63100642974e-05,1793237487702112768
+94,1.566666667,BASELINE,767.45365402,746.45365402,717,680,663,637,881,789,803.54634598,653,633,654.54634598,0.401046559462,-0.00549987628559,0.0798787908602,0.999999985705,0.000109532877669,-0.000120299062139,4.60411579985e-05,1793237487718779392
+95,1.583333333,BASELINE,767,746,717,679.87693972,663,637,880.87693972,788.87693972,804,653,633,654.87693972,0.401048084086,-0.00549986477279,0.0798796195042,0.999999986045,0.000108462643548,-0.000118491718878,4.58873725689e-05,1793237487735446016
+96,1.600000000,BASELINE,767,746,717,679.305956061,663,637,880.305956061,788.305956061,804,653,633,654.305956061,0.401047250035,-0.00550182336559,0.0798795156247,0.999999985982,0.000108245661537,-0.000119057494296,4.63009575533e-05,1793237487752112640
+97,1.616666667,BASELINE,767,746.275114384,717,679.275114384,663.275114384,637,880,788,804,653,633,654,0.40104640708,-0.00550201145213,0.0798792649124,0.9999999859,0.000108221462607,-0.000119761118774,4.6323008406e-05,1793237487768779520
+98,1.633333333,BASELINE,767,746.867829289,717,679.867829289,663.867829289,637,880,788,804,653,633,654,0.401045553845,-0.00550015561159,0.0798788446921,0.999999985794,0.000108419818419,-0.000120623880421,4.58930601676e-05,1793237487785446400
+99,1.650000000,BASELINE,766.549436173,746.549436173,717,680,664,637,880,788,804,653,632.549436173,654,0.401047069838,-0.0055001858096,0.0798793282687,0.999999985845,0.000109397043583,-0.00011926152951,4.60351904422e-05,1793237487802112768
+100,1.666666667,BASELINE,766.030231397,746.030231397,717,679.969768603,663.969768603,637,880,788.030231397,803.969768603,653,632.030231397,654,0.401049056532,-0.00550071874523,0.079880004326,0.999999985918,0.000110546559466,-0.000117464654938,4.63151536567e-05,1793237487818779648
+101,1.683333333,BASELINE,766.60623932,746.60623932,717,679.39376068,663.39376068,637,880,788.60623932,803.39376068,653,632.60623932,654,0.40104726576,-0.00550055603239,0.0798794726486,0.999999985679,0.00011077110517,-0.000119351686117,4.61194703069e-05,1793237487835446272
+102,1.700000000,BASELINE,767,746.814436004,717,679.185563996,663,637,880,789,803.185563996,653,633,654,0.40104609763,-0.00550085543279,0.0798790345435,0.999999985597,0.000110030419101,-0.000120772071823,4.59706110952e-05,1793237487852113152
+103,1.716666667,BASELINE,767,746.227945281,717,679.772054719,663,637,880,789,803.772054719,653,633,654,0.401046274774,-0.005502153268,0.0798787986092,0.999999985856,0.000107204268014,-0.000121184230221,4.59229194249e-05,1793237487868779520
+104,1.733333333,BASELINE,767,746,716.645682126,679.291364253,663,637,880.354317874,788.645682126,804,653,632.645682126,654,0.401046268241,-0.00550157835079,0.0798786713959,0.999999985807,0.000107292149848,-0.000121558126091,4.58114484365e-05,1793237487885446144
+105,1.750000000,BASELINE,767,746,716.066106593,678.132213185,663,637,880.933893407,788.066106593,804,653,632.066106593,654,0.401046144935,-0.00549981283097,0.079878613302,0.999999985561,0.000109232628426,-0.000121907696594,4.56594297287e-05,1793237487902112768
+106,1.766666667,BASELINE,767,746,716.51194988,678.51194988,663,637,880.48805012,788.51194988,803.48805012,653,632.51194988,654,0.40104579149,-0.00549982284662,0.0798784186208,0.999999985577,0.000109101172548,-0.000121874888144,4.57145213529e-05,1793237487918779392
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,717,679,663,637,881,789,804,654,632,654,0.401045967357,-0.00550319405214,0.0798780574275,0.999999985917,0.000105740766953,-0.000122049305616,4.5699997413e-05,1793237487961908992
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,717,679.574037686,663,637,880.425962314,788.425962314,804,653.425962314,632.574037686,654,0.401047481134,-0.00550210232406,0.0798798743708,0.999999985921,0.000108275689582,-0.000119717169384,4.58474787922e-05,1793237487978575616
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746.153880383,716.846119617,680,663,637,880,788,803.846119617,653,633,654,0.401048048882,-0.00550083093588,0.0798807034637,0.999999985805,0.000110393458506,-0.000118745849936,4.58613607843e-05,1793237487995242240
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746.750422253,716.249577747,680,663,637,880,788,803.249577747,653,633,654,0.401045895226,-0.00549904272646,0.0798786908473,0.999999985366,0.000111311218789,-0.000121689136694,4.54909228453e-05,1793237488011908864
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746.665183199,716.334816801,680,663,637,880,788.334816801,803,653,633,654,0.401044749578,-0.00549929134494,0.0798777908059,0.99999998523,0.000111019484527,-0.00012307356408,4.54726283672e-05,1793237488028575232
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746.089526482,716.910473518,680,663,637,880,788.910473518,803,653,633,654,0.401044329008,-0.00550100509151,0.0798776910605,0.999999985315,0.000109857738416,-0.000123336674916,4.57076372154e-05,1793237488045241856
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,717,679.51495301,663,637,880,788.51495301,803.48504699,653,633,654,0.401045045971,-0.00550075541397,0.0798782709857,0.999999985378,0.000110618362028,-0.000122114477683,4.57854306603e-05,1793237488061908480
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,717,679.060921274,663,637,880.060921274,788.060921274,803.939078726,653.060921274,632.939078726,654,0.401045925656,-0.00550018169716,0.0798789274616,0.999999985426,0.000111555002719,-0.000120836881961,4.58359000782e-05,1793237488078575104
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,717,679.649797505,663,637,880.649797505,788.649797505,803.350202495,653.649797505,632.350202495,654,0.401046400042,-0.00549993337719,0.0798791626004,0.999999985417,0.000110948980883,-0.000121449711032,4.59004867121e-05,1793237488095241984
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746.235529563,717,680,663.235529563,637,880.764470437,788.764470437,803.235529563,653.764470437,632,654,0.401047046243,-0.00549989346528,0.0798795834078,0.999999985311,0.000110521622293,-0.00012267571729,4.59646980465e-05,1793237488111908608
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746.816648169,717,680,663.816648169,637,880.183351831,788.183351831,803.816648169,653.183351831,632,654,0.401047944547,-0.00550015934746,0.0798802766441,0.999999985064,0.000110356413699,-0.000124801429309,4.60283587038e-05,1793237488128575232
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.607381353,747,717,680,663.607381353,637,880,788.392618647,804,653,632,654,0.401056788279,-0.00550160130637,0.0798846347265,0.999999985425,0.000108789348082,-0.000123220288165,4.61620529545e-05,1793237488145241856
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.03378387,747,717,680,663.03378387,637,880,788.96621613,804,653,632,654,0.401069294483,-0.00550358538167,0.0798906821317,0.999999986056,0.00010657609192,-0.000119930461248,4.63280294216e-05,1793237488161908480
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.553095712,746.446904288,716.446904288,680,663,637,880,789,804,653,632,654,0.401102768314,-0.00550329670253,0.0799038857259,0.999999987715,0.000107138422788,-0.000104519122226,4.65431391291e-05,1793237488178575360
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746.139488573,716,679.860511427,663,637,880.139488573,789,804,653,632.139488573,654,0.401141328031,-0.00550312458677,0.0799174003434,0.999999989236,0.00010756448956,-8.82007578751e-05,4.66822417906e-05,1793237488195241984
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746.721698486,716,679.278301514,663,637,880.721698486,789,804,653,632.721698486,654,0.401191864874,-0.0055037738805,0.0799304806437,0.999999990641,0.000107006738579,-7.14113567329e-05,4.65703469357e-05,1793237488211908864
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746.69979611,716.30020389,679,663,637,881,788.69979611,804,653,632.69979611,654,0.401247987747,-0.00550505659775,0.0799400153304,0.999999991583,0.000106408279299,-5.84210998758e-05,4.58125841823e-05,1793237488228575744
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746.124683111,716.875316889,679,663,637,881,788.124683111,804,653,632.124683111,654,0.401309225975,-0.00550691936706,0.0799463031516,0.999999992222,0.000105772541793,-4.8909877457e-05,4.44633735163e-05,1793237488245242368
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746.450046743,717,679.450046743,663,637,880.549953257,788.450046743,803.549953257,653.450046743,632.450046743,654,0.401381568723,-0.00550777906838,0.0799498647514,0.99999999257,0.000104772062204,-4.54449468895e-05,4.26287462366e-05,1793237488261908992
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746.974664122,717,679.974664122,663,637,880.025335878,789,803.025335878,654,632.974664122,654.025335878,0.401457903815,-0.00550836667038,0.0799527261379,0.999999992858,0.000103648939784,-4.34912083824e-05,4.06216376883e-05,1793237488278575616
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746.384543137,717,679.384543137,663,637,880.615456863,789,803.615456863,654,632.384543137,654.615456863,0.401554714313,-0.00550907819501,0.0799568008666,0.999999993362,0.00010204255321,-3.79155509108e-05,3.77649055505e-05,1793237488295242240
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,717,679.201769994,663,637,881,789,804,653.798230006,632.201769994,654.798230006,0.401659073462,-0.00550960604379,0.0799613496338,0.999999993771,0.000101275692446,-3.16369054289e-05,3.46561047396e-05,1793237488311908864
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,717,679.780960289,663,637,881,789,804,653.219039711,632.780960289,654.219039711,0.401777552709,-0.00550979031815,0.0799667851116,0.999999994018,0.000102079204534,-2.4043288304e-05,3.10757978937e-05,1793237488328575488
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881,788.642516124,804,653,633,654,0.401909439981,-0.00551104461188,0.0799721072264,0.999999994501,9.9665480514e-05,-1.82238340158e-05,2.708040349e-05,1793237488345242112
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881,788.067614346,804,653,633,654,0.402049481883,-0.00551294968008,0.0799773603955,0.999999995108,9.52950676857e-05,-1.34834060178e-05,2.28325568895e-05,1793237488361908992
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881,788,804,653,633,654,0.402213260426,-0.00551451557781,0.0799821582823,0.999999995602,9.18196642859e-05,-7.27168244082e-06,1.76834889892e-05,1793237488378575616
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716.895152724,679.895152724,663.104847276,637,881,788.104847276,803.895152724,653,632.895152724,654,0.402382521913,-0.00551583985978,0.0799852963662,0.999999996034,8.81485540873e-05,-3.68467615887e-06,1.21907041543e-05,1793237488395242240
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716.315711267,679.315711267,663.684288733,637,881,788.684288733,803.315711267,653,632.315711267,654,0.402562281286,-0.00551627509105,0.0799811959893,0.999999996452,8.3051590461e-05,-1.28661921093e-05,5.68580077485e-06,1793237488411908864
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716,679.262881945,663.737118055,637,880.737118055,788.737118055,803.262881945,653,632,654.262881945,0.402751760954,-0.00551753750701,0.0799748484525,0.999999996937,7.36982787915e-05,-2.63092330365e-05,-1.35926504587e-06,1793237488428575488
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716,679.84045969,663.15954031,637,880.15954031,788.15954031,803.84045969,653,632,654.84045969,0.40295287677,-0.00551979014521,0.0799658108423,0.999999997198,5.92496960231e-05,-4.48537420907e-05,-9.05095857134e-06,1793237488445241856
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716,679.584206846,663,637,880,788,803.584206846,653,632.415793154,654.584206846,0.403183965461,-0.00552115559909,0.0799636158372,0.999999998018,3.4240359211e-05,-5.00337532007e-05,-1.70052586903e-05,1793237488461908736
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716,679.009729904,663,637,880,788,803.009729904,653,632.990270096,654.009729904,0.403426493032,-0.00552218246685,0.0799640322522,0.999999998417,5.20060415505e-06,-5.01133211896e-05,-2.50597801101e-05,1793237488478575360
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,788,803.580206607,653,633,654,0.403719416174,-0.00552364112102,0.0799696552358,0.999999998808,-6.05925217055e-06,-3.95386396643e-05,-2.79869105244e-05,1793237488495242240
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716.167243628,679.167243628,663,637,880.167243628,788.167243628,804,653,632.832756372,654,0.404019491685,-0.00552458546371,0.0799748362522,0.99999999902,-1.07468450268e-05,-3.093169213e-05,-2.97911445685e-05,1793237488511908864
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716.746481711,679.746481711,663,637,880.746481711,788.746481711,804,653,632.253518289,654,0.404335047681,-0.00552424450536,0.0799787075315,0.999999999197,1.31760774966e-09,-2.76243268564e-05,-2.90468086421e-05,1793237488528575488
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.676749816,746,717,680,663,637,880.676749816,788.676749816,803.676749816,653,632,654,0.404672128599,-0.00552422361558,0.0799800892559,0.999999999244,-2.0523054357e-06,-2.3849200912e-05,-3.063234339e-05,1793237488545242112
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.10190346,746,717,680,663,637,880.10190346,788.10190346,803.10190346,653,632,654,0.405025963099,-0.00552445184558,0.0799795332787,0.999999999128,-1.40699751435e-05,-1.97100012094e-05,-3.40312924799e-05,1793237488561908736
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.473251969,746,717,680,663,637,880.473251969,788.473251969,803.473251969,653,632.473251969,654,0.405392941044,-0.00552560355762,0.0799750319417,0.99999999896,-1.18551560505e-05,-2.6538749748e-05,-3.51356563868e-05,1793237488578575360
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,716.950341772,680,663,637,881,788.950341772,804,653,632.950341772,654,0.405766843541,-0.00552674805389,0.0799697115347,0.999999998689,-7.34212594938e-06,-3.57202489374e-05,-3.59448618872e-05,1793237488595241728
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,716.361066478,680,663,637,881,788.361066478,804,653,632.361066478,654,0.406185218777,-0.00552565190386,0.0799647282461,0.999999998177,-1.11791853607e-05,-4.47879018126e-05,-3.89192239747e-05,1793237488611908608
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,716.224701305,680,663,636.775298695,881,788,804,653,632.224701305,654,0.406612057476,-0.00552654662173,0.0799605577138,0.999999997752,-1.11821094433e-05,-5.28708884346e-05,-3.96853112719e-05,1793237488628575232
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,716.804919557,680,663,636.195080443,881,788,804,653,632.804919557,654,0.407052286833,-0.00553059124247,0.0799576731051,0.99999999754,-5.11875752902e-06,-5.93959594923e-05,-3.69575196698e-05,1793237488645242112
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.619944493,746,717,680,663,636.380055507,881,788,803.619944493,653,633,654,0.407512625686,-0.00553798778296,0.079957697993,0.999999997402,-1.27357019738e-05,-6.09344791891e-05,-3.63342632841e-05,1793237488661908992
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.047382853,746,717,680,663,636.952617147,881,788,803.047382853,653,633,654,0.40798315041,-0.00554708214139,0.0799591966025,0.999999997155,-2.72820053194e-05,-5.9947205213e-05,-3.67769984626e-05,1793237488678575616
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.540639866,746,716.459360134,680,663,637,881,788.540639866,803.540639866,653,632.459360134,654,0.40847189367,-0.00556123646983,0.0799525642749,0.99999999582,-4.48611038194e-05,-7.08995914372e-05,-3.63475899241e-05,1793237488695242240
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,716.127932141,679.872067859,663,637,881,789,804,653,632,654,0.408983367248,-0.00557202596495,0.079950391705,0.999999994867,-5.86556562139e-05,-7.42658452909e-05,-3.61989377526e-05,1793237488711908864
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,716.707717498,679.292282502,663,637,881,789,804,653,632,654,0.409569318066,-0.00556931852153,0.0799665619217,0.999999996509,-5.81168397537e-05,-4.70333323072e-05,-3.73198303988e-05,1793237488728575488
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,717,679.286212279,663,637,881,788.713787721,804,653,632,654,0.410169530728,-0.00556811993214,0.0799893471822,0.999999997522,-5.85979761006e-05,-8.03395728986e-06,-3.81731250263e-05,1793237488745242112
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,717,679.863395098,663,637,881,788.136604902,804,653,632,654,0.410784242406,-0.00556845528108,0.0800188574629,0.999999996521,-6.01160217576e-05,4.29279063839e-05,-3.87543729188e-05,1793237488761908992
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881,788,804,653,632.437409653,654,0.41136872371,-0.00556714001666,0.0800153766091,0.999999996904,-5.90162896028e-05,3.34188945124e-05,-3.9907744774e-05,1793237488778575616
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881,788,804,653,632.989220587,654,0.411944061097,-0.00556522031649,0.0800013838616,0.999999997507,-5.70716547027e-05,4.92839888334e-06,-4.12746900942e-05,1793237488795242240
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881,788,804,653,632.397662142,654,0.412531752951,-0.00555830880991,0.0799721588581,0.999999996933,-5.33361650226e-05,-3.60608405108e-05,-4.4591051965e-05,1793237488811908864
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881.188429616,788.188429616,804,653,632,654,0.413147259845,-0.00555329199202,0.0799497695992,0.999999995468,-5.13736468754e-05,-6.42706341326e-05,-4.78870365224e-05,1793237488828575488
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881.763309705,788.763309705,804,653,632,654,0.413819812593,-0.00555216099336,0.0799413997769,0.999999995089,-5.30473180696e-05,-6.62710482079e-05,-5.11412291597e-05,1793237488845242368
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746.340565578,717,680,663,637,881.659434422,789,804,653,632,654,0.414514081837,-0.00555267514383,0.079954528583,0.999999996312,-5.5597522752e-05,-4.00420479973e-05,-5.17798150899e-05,1793237488861908736
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746.919484177,717,680,663,637,881.080515823,789,804,653,632,654,0.415223549865,-0.0055543406916,0.0799827037223,0.999999996976,-5.87611903399e-05,5.94398773133e-06,-5.05878054581e-05,1793237488878575104
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746.493204246,717,680,663,637,881,788.493204246,804,653,632,654,0.415899802923,-0.00555435926552,0.0799897313059,0.999999996991,-5.85799800071e-05,6.74851669691e-06,-5.04085113027e-05,1793237488895241728
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746.093956201,717,680.093956201,663,637,881,788.093956201,804,653,632.093956201,654,0.416575845462,-0.0055537096303,0.0799898772646,0.999999996984,-5.86526976205e-05,-2.66682881933e-06,-5.08413026593e-05,1793237488911908608
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746.673330643,717,680.673330643,663,637,881,788.673330643,804,653,632.673330643,654,0.41727852217,-0.00555098234435,0.079972120061,0.999999996221,-6.28290356566e-05,-2.71728309074e-05,-5.35911538606e-05,1793237488928575232
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746.748581989,717,681,663.251418011,637,881,789,804,653,633,654,0.418028329606,-0.00555138828236,0.0799765222678,0.999999996091,-6.79773826172e-05,-1.25983847412e-05,-5.51152142041e-05,1793237488945242112
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746.17215833,717,681,663.82784167,637,881,789,804,653,633,654,0.418839062577,-0.0055558445085,0.0800095697292,0.99999999434,-7.43822365937e-05,5.24949783704e-05,-5.50547067182e-05,1793237488961908736
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746.401240393,717,681,664,637,881.401240393,789,804,653,632.598759607,654,0.419594250121,-0.00555589185638,0.08001503663,0.999999993468,-7.5484474937e-05,6.52814547748e-05,-5.57127685002e-05,1793237488978575360
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746.973350897,717,681,664,637,881.973350897,789,804,653,632.026649103,654,0.420325783333,-0.0055540616624,0.0800087582172,0.999999994075,-7.43285691345e-05,5.57927932518e-05,-5.66768364545e-05,1793237488995241984
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,747,717,681,664,637,881.433679521,789,804,653,632.566320479,654,0.420722650225,-0.00555487615959,0.0800021527697,0.999999994586,-7.71187269298e-05,4.11420835568e-05,-5.64597524781e-05,1793237489011908864
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.843604093,746.843604093,716.843604093,681,664,637,881.312791815,789.312791815,804,653,633,654.156395907,0.421000470629,-0.00555556517297,0.0799973183738,0.999999994816,-7.92966186324e-05,3.0261260596e-05,-5.62591241014e-05,1793237489028575488
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.264115084,746.264115084,716.264115084,681,664,637,882.471769833,790.471769833,804,653,633,654.735884916,0.421000470629,-0.00555556517297,0.0799973183738,0.999999994816,-7.92966186324e-05,3.0261260596e-05,-5.62591241014e-05,1793237489045241856
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.314664577,746,716,681,663.685335423,637,882.370670846,790.370670846,804,653,632.685335423,654.685335423,0.421000470629,-0.00555556517297,0.0799973183738,0.999999994816,-7.92966186324e-05,3.0261260596e-05,-5.62591241014e-05,1793237489061908736
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.892850154,746,716,681,663.107149846,637,881.214299692,789.214299692,804,653,632.107149846,654.107149846,0.421000470629,-0.00555556517297,0.0799973183738,0.999999994816,-7.92966186324e-05,3.0261260596e-05,-5.62591241014e-05,1793237489078575616
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746.47263895,716,681,663,637,881.47263895,788.52736105,804,653,632,654,0.421000470629,-0.00555556517297,0.0799973183738,0.999999994816,-7.92966186324e-05,3.0261260596e-05,-5.62591241014e-05,1793237489095242496
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,747,716.000959836,681,663,637,881.999040164,788.000959836,804,653,632,654,0.421000632165,-0.00555554716136,0.0799972661865,0.99999999482,-7.92674031847e-05,3.02064847622e-05,-5.6255496222e-05,1793237489111909376
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,747,716.011507778,681,663,637,881.988492222,788.011507778,804,653,632,654,0.421002407336,-0.00555534922605,0.0799966926846,0.999999994865,-7.89463452716e-05,2.9604535577e-05,-5.62156282938e-05,1793237489128576256
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,747,716.02205572,681,663,637,881.97794428,788.02205572,804,653,632,654,0.421004182507,-0.00555515129075,0.0799961191826,0.999999994911,-7.86252873775e-05,2.90025864278e-05,-5.61757603679e-05,1793237489145242880
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,747,716.032603662,681,663,637,881.967396338,788.032603662,804,653,632,654,0.421005957677,-0.00555495335544,0.0799955456807,0.999999994955,-7.83042294643e-05,2.84006372425e-05,-5.61358924395e-05,1793237489161909504
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,747,716.043151604,681,663,637,881.956848396,788.043151604,804,653,632,654,0.421007732848,-0.00555475542012,0.0799949721787,0.999999995,-7.79831715509e-05,2.77986880572e-05,-5.60960245112e-05,1793237489178576128
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,747,716.053699546,681,663,637,881.946300454,788.053699546,804,653,632,654,0.421009508019,-0.00555455748482,0.0799943986768,0.999999995043,-7.76621136569e-05,2.71967389079e-05,-5.60561565851e-05,1793237489195242752
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,747,716.064247488,681,663,637,881.935752512,788.064247488,804,653,632,654,0.42101128319,-0.00555435954951,0.0799938251748,0.999999995087,-7.73410557434e-05,2.65947897223e-05,-5.60162886567e-05,1793237489211909376
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,747,716.07479543,681,663,637,881.92520457,788.07479543,804,653,632,654,0.421013058361,-0.0055541616142,0.0799932516728,0.999999995129,-7.70199978299e-05,2.59928405369e-05,-5.59764207283e-05,1793237489228576256
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,747,716.085343372,681,663,637,881.914656628,788.085343372,804,653,632,654,0.421014833532,-0.00555396367889,0.0799926781709,0.999999995172,-7.66989399357e-05,2.53908913875e-05,-5.59365528022e-05,1793237489245242880
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,747,716.095891314,681,663,637,881.904108686,788.095891314,804,653,632,654,0.421016608703,-0.00555376574358,0.0799921046689,0.999999995214,-7.63778820221e-05,2.4788942202e-05,-5.58966848737e-05,1793237489261909504
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,747,716.106439256,681,663,637,881.893560744,788.106439256,804,653,632,654,0.421018383874,-0.00555356780827,0.0799915311669,0.999999995255,-7.60568241084e-05,2.41869930164e-05,-5.58568169451e-05,1793237489278576128
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,747,716.116987198,681,663,637,881.883012802,788.116987198,804,653,632,654,0.421020159045,-0.00555336987297,0.079990957665,0.999999995296,-7.5735766214e-05,2.35850438669e-05,-5.5816949019e-05,1793237489295242752
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,747,716.12753514,681,663,637,881.87246486,788.12753514,804,653,632,654,0.421021934216,-0.00555317193765,0.079990384163,0.999999995337,-7.54147083002e-05,2.29830946812e-05,-5.57770810903e-05,1793237489311909632
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,747,716.138083082,681,663,637,881.861916918,788.138083082,804,653,632,654,0.421023709386,-0.00555297400234,0.0799898106611,0.999999995377,-7.50936503866e-05,2.23811454956e-05,-5.57372131618e-05,1793237489328576256
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,747,716.148631024,681,663,637,881.851368976,788.148631024,804,653,632,654,0.421025484557,-0.00555277606704,0.0799892371591,0.999999995416,-7.4772592492e-05,2.1779196346e-05,-5.56973452356e-05,1793237489345242880
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,747,716.159178966,681,663,637,881.840821034,788.159178966,804,653,632,654,0.421027259728,-0.00555257813173,0.0799886636571,0.999999995455,-7.44515345782e-05,2.11772471603e-05,-5.56574773069e-05,1793237489361909504
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,747,716.169726908,681,663,637,881.830273092,788.169726908,804,653,632,654,0.421029034899,-0.00555238019641,0.0799880901552,0.999999995494,-7.41304766643e-05,2.05752979745e-05,-5.56176093782e-05,1793237489378576128
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,747,716.18027485,681,663,637,881.81972515,788.18027485,804,653,632,654,0.42103081007,-0.00555218226111,0.0799875166532,0.999999995532,-7.38094187696e-05,1.99733488249e-05,-5.55777414519e-05,1793237489395242752
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,747,716.190822792,681,663,637,881.809177208,788.190822792,804,653,632,654,0.421032585241,-0.0055519843258,0.0799869431513,0.99999999557,-7.34883608556e-05,1.9371399639e-05,-5.55378735231e-05,1793237489411909632
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,747,716.201370734,681,663,637,881.798629266,788.201370734,804,653,632,654,0.421034360412,-0.00555178639048,0.0799863696493,0.999999995607,-7.31673029415e-05,1.87694504531e-05,-5.54980055943e-05,1793237489428576256
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,747,716.211918676,681,663,637,881.788081324,788.211918676,804,653,632,654,0.421036135583,-0.00555158845518,0.0799857961474,0.999999995644,-7.28462450467e-05,1.81675013034e-05,-5.54581376679e-05,1793237489445242880
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,747,716.222466618,681,663,637,881.777533382,788.222466618,804,653,632,654,0.421037910754,-0.00555139051987,0.0799852226454,0.99999999568,-7.25251871326e-05,1.75655521175e-05,-5.54182697391e-05,1793237489461909504
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,747,716.23301456,681,663,637,881.76698544,788.23301456,804,653,632,654,0.421039685924,-0.00555119258456,0.0799846491434,0.999999995716,-7.22041292185e-05,1.69636029316e-05,-5.53784018102e-05,1793237489478576128
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,747,716.243562502,681,663,637,881.756437498,788.243562502,804,653,632,654,0.421041461095,-0.00555099464926,0.0799840756415,0.999999995751,-7.18830713236e-05,1.63616537818e-05,-5.53385338838e-05,1793237489495243008
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,747,716.254110444,681,663,637,881.745889556,788.254110444,804,653,632,654,0.421043236266,-0.00555079671394,0.0799835021395,0.999999995786,-7.15620134092e-05,1.57597045958e-05,-5.52986659548e-05,1793237489511909632
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,747,716.264658386,681,663,637,881.735341614,788.264658386,804,653,632,654,0.421045011437,-0.00555059877863,0.0799829286375,0.999999995821,-7.1240955495e-05,1.51577554098e-05,-5.52587980259e-05,1793237489528576256
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,747,716.275206328,681,663,637,881.724793672,788.275206328,804,653,632,654,0.421046786608,-0.00555040084333,0.0799823551356,0.999999995855,-7.09198976e-05,1.455580626e-05,-5.52189300993e-05,1793237489545242880
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,747,716.28575427,681,663,637,881.71424573,788.28575427,804,653,632,654,0.421048561779,-0.00555020290802,0.0799817816336,0.999999995888,-7.05988396856e-05,1.3953857074e-05,-5.51790621703e-05,1793237489561909504
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,747,716.296302213,681,663,637,881.703697787,788.296302213,804,653,632,654,0.42105033695,-0.0055500049727,0.0799812081317,0.999999995921,-7.02777817712e-05,1.3351907888e-05,-5.51391942413e-05,1793237489578576384
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,747,716.306850154,681,663,637,881.693149846,788.306850154,804,653,632,654,0.421052112121,-0.0055498070374,0.0799806346297,0.999999995954,-6.9956723876e-05,1.2749958738e-05,-5.50993263146e-05,1793237489595243008
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,747,716.317398096,681,663,637,881.682601904,788.317398096,804,653,632,654,0.421053887292,-0.00554960910209,0.0799800611278,0.999999995986,-6.96356659616e-05,1.21480095519e-05,-5.50594583856e-05,1793237489611909632
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,747,716.327946039,681,663,637,881.672053961,788.327946039,804,653,632,654,0.421055662463,-0.00554941116677,0.0799794876258,0.999999996018,-6.93146080471e-05,1.15460603658e-05,-5.50195904565e-05,1793237489628576256
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,747,716.33849398,681,663,637,881.66150602,788.33849398,804,653,632,654,0.421057437633,-0.00554921323147,0.0799789141238,0.999999996049,-6.89935501517e-05,1.09441112159e-05,-5.49797225298e-05,1793237489645242880
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,747,716.349041922,681,663,637,881.650958078,788.349041922,804,653,632,654,0.421059212804,-0.00554901529616,0.0799783406219,0.999999996079,-6.86724922372e-05,1.03421620298e-05,-5.49398546007e-05,1793237489661909504
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,747,716.359589865,681,663,637,881.640410135,788.359589865,804,653,632,654,0.421060987975,-0.00554881736085,0.0799777671199,0.99999999611,-6.83514343226e-05,9.74021284363e-06,-5.48999866714e-05,1793237489678576384
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,747,716.370137806,681,663,637,881.629862194,788.370137806,804,653,632,654,0.421062763146,-0.00554861942555,0.079977193618,0.999999996139,-6.80303764271e-05,9.13826369362e-06,-5.48601187446e-05,1793237489695243008
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,747,716.380685749,681,663,637,881.619314251,788.380685749,804,653,632,654,0.421064538317,-0.00554842149023,0.079976620116,0.999999996169,-6.77093185125e-05,8.53631450747e-06,-5.48202508154e-05,1793237489711909632
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,747,716.391233691,681,663,637,881.608766309,788.391233691,804,653,632,654,0.421066313488,-0.00554822355492,0.079976046614,0.999999996197,-6.73882605977e-05,7.93436532131e-06,-5.47803828862e-05,1793237489728576256
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,747,716.401781632,681,663,637,881.598218368,788.401781632,804,653,632,654,0.421068088659,-0.00554802561962,0.0799754731121,0.999999996226,-6.70672027023e-05,7.33241617126e-06,-5.47405149592e-05,1793237489745242880
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,747,716.412329575,681,663,637,881.587670425,788.412329575,804,653,632,654,0.42106986383,-0.00554782768431,0.0799748996101,0.999999996254,-6.67461447874e-05,6.73046698509e-06,-5.47006470299e-05,1793237489761909760
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,747,716.422877517,681,663,637,881.577122483,788.422877517,804,653,632,654,0.421071639001,-0.00554762974899,0.0799743261081,0.999999996281,-6.64250868727e-05,6.12851779891e-06,-5.46607791007e-05,1793237489778576384
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,747,716.433425458,681,663,637,881.566574542,788.433425458,804,653,632,654,0.421073414171,-0.00554743181369,0.0799737526062,0.999999996308,-6.6104028977e-05,5.52656864884e-06,-5.46209111737e-05,1793237489795243008
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,747,716.443973401,681,663,637,881.556026599,788.443973401,804,653,632,654,0.421075189342,-0.00554723387838,0.0799731791042,0.999999996335,-6.57829710621e-05,4.92461946264e-06,-5.45810432443e-05,1793237489811909632
+219,3.650000000,POSE1_TO_POSE2_PRESS,767,747,716.454521343,681,663,637,881.545478657,788.454521343,804,653,632,654,0.421076964513,-0.00554703594306,0.0799726056023,0.999999996361,-6.54619131471e-05,4.32267027644e-06,-5.45411753148e-05,1793237489828576256
+220,3.666666667,POSE1_TO_POSE2_PRESS,767,747,716.465069284,681,663,637,881.534930716,788.465069284,804,653,632,654,0.421078739684,-0.00554683800776,0.0799720321003,0.999999996386,-6.51408552515e-05,3.72072112635e-06,-5.45013073878e-05,1793237489845242880
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,747,716.475617227,681,663,637,881.524382773,788.475617227,804,653,632,654,0.421080514855,-0.00554664007245,0.0799714585984,0.999999996411,-6.48197973365e-05,3.11877194015e-06,-5.44614394584e-05,1793237489861909760
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,747,716.486165169,681,663,637,881.513834831,788.486165169,804,653,632,654,0.421082290026,-0.00554644213714,0.0799708850964,0.999999996436,-6.44987394215e-05,2.51682275393e-06,-5.44215715289e-05,1793237489878576384
+223,3.716666667,POSE1_TO_POSE2_PRESS,767,747,716.496713111,681,663,637,881.503286889,788.496713111,804,653,632,654,0.421084065197,-0.00554624420184,0.0799703115945,0.99999999646,-6.41776815257e-05,1.91487360384e-06,-5.43817036018e-05,1793237489895243008
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,747,716.507261053,681,663,637,881.492738947,788.507261053,804,653,632,654,0.421085840368,-0.00554604626652,0.0799697380925,0.999999996484,-6.38566236106e-05,1.31292441762e-06,-5.43418356722e-05,1793237489911909632
+225,3.750000000,POSE1_TO_POSE2_PRESS,767,747,716.517808995,681,663,637,881.482191005,788.517808995,804,653,632,654,0.421087615539,-0.00554584833121,0.0799691645905,0.999999996507,-6.35355656955e-05,7.10975231406e-07,-5.43019677427e-05,1793237489928576256
+226,3.766666667,POSE1_TO_POSE2_PRESS,767,747,716.528356937,681,663,637,881.471643063,788.528356937,804,653,632,654,0.421089390709,-0.00554565039591,0.0799685910886,0.99999999653,-6.32145077996e-05,1.09026081309e-07,-5.42620998155e-05,1793237489945243136
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,747,716.538904879,681,663,637,881.461095121,788.538904879,804,653,632,654,0.42109116588,-0.00554545246059,0.0799680175866,0.999999996552,-6.28934498844e-05,-4.92923104904e-07,-5.42222318859e-05,1793237489961909760
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,747,716.549452821,681,663,637,881.450547179,788.549452821,804,653,632,654,0.421092941051,-0.00554525452528,0.0799674440846,0.999999996574,-6.25723919692e-05,-1.09487229111e-06,-5.41823639563e-05,1793237489978576384
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,747,716.560000763,681,663,637,881.439999237,788.560000763,804,653,632,654,0.421094716222,-0.00554505658998,0.0799668705827,0.999999996595,-6.22513340732e-05,-1.69682144121e-06,-5.41424960289e-05,1793237489995243008
+230,3.833333333,POSE1_TO_POSE2_PRESS,767,747,716.570548705,681,663,637,881.429451295,788.570548705,804,653,632,654,0.421096491393,-0.00554485865467,0.0799662970807,0.999999996616,-6.1930276158e-05,-2.29877062741e-06,-5.41026280993e-05,1793237490011909632
+231,3.850000000,POSE1_TO_POSE2_PRESS,767,747,716.581096647,681,663,637,881.418903353,788.581096647,804,653,632,654,0.421098266564,-0.00554466071935,0.0799657235788,0.999999996637,-6.16092182428e-05,-2.9007198136e-06,-5.40627601695e-05,1793237490028576512
+232,3.866666667,POSE1_TO_POSE2_PRESS,767,747,716.591644589,681,663,637,881.408355411,788.591644589,804,653,632,654,0.421100041735,-0.00554446278405,0.0799651500768,0.999999996657,-6.12881603467e-05,-3.50266896368e-06,-5.40228922422e-05,1793237490045243136
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,747,716.602192531,681,663,637,881.397807469,788.602192531,804,653,632,654,0.421101816906,-0.00554426484874,0.0799645765749,0.999999996676,-6.09671024313e-05,-4.10461814986e-06,-5.39830243125e-05,1793237490061909760
+234,3.900000000,POSE1_TO_POSE2_PRESS,767,747,716.612740473,681,663,637,881.387259527,788.612740473,804,653,632,654,0.421103592077,-0.00554406691343,0.0799640030729,0.999999996695,-6.0646044516e-05,-4.70656733605e-06,-5.39431563827e-05,1793237490078576384
+235,3.916666667,POSE1_TO_POSE2_PRESS,767,747,716.623288415,681,663,637,881.376711585,788.623288415,804,653,632,654,0.421105367247,-0.00554386897813,0.0799634295709,0.999999996714,-6.03249866198e-05,-5.3085164861e-06,-5.39032884553e-05,1793237490095243008
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,747,716.633836357,681,663,637,881.366163643,788.633836357,804,653,632,654,0.421107142418,-0.00554367104281,0.079962856069,0.999999996732,-6.00039287045e-05,-5.91046567227e-06,-5.38634205254e-05,1793237490111909632
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,747,716.644384299,681,663,637,881.355615701,788.644384299,804,653,632,654,0.421108917589,-0.0055434731075,0.079962282567,0.999999996749,-5.9682870789e-05,-6.51241485841e-06,-5.38235525956e-05,1793237490128576512
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,747,716.654932241,681,663,637,881.345067759,788.654932241,804,653,632,654,0.42111069276,-0.0055432751722,0.0799617090651,0.999999996766,-5.93618128928e-05,-7.11436400843e-06,-5.3783684668e-05,1793237490145243136
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,747,716.665480183,681,663,637,881.334519817,788.665480183,804,653,632,654,0.421112467931,-0.00554307723688,0.0799611355631,0.999999996783,-5.90407549774e-05,-7.71631319457e-06,-5.37438167382e-05,1793237490161909760
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,747,716.676028125,681,663,637,881.323971875,788.676028125,804,653,632,654,0.421114243102,-0.00554287930157,0.0799605620611,0.999999996799,-5.87196970618e-05,-8.31826238068e-06,-5.37039488083e-05,1793237490178576384
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,747,716.686576067,681,663,637,881.313423933,788.686576067,804,653,632,654,0.421116018273,-0.00554268136627,0.0799599885592,0.999999996815,-5.83986391655e-05,-8.92021153067e-06,-5.36640808806e-05,1793237490195243008
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,747,716.697124009,681,663,637,881.302875991,788.697124009,804,653,632,654,0.421117793444,-0.00554248343096,0.0799594150572,0.99999999683,-5.807758125e-05,-9.52216071676e-06,-5.36242129507e-05,1793237490211909888
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,747,716.707671951,681,663,637,881.292328049,788.707671951,804,653,632,654,0.421119568615,-0.00554228549564,0.0799588415552,0.999999996845,-5.77565233345e-05,-1.01241099028e-05,-5.35843450207e-05,1793237490228576512
+244,4.066666667,POSE1_TO_POSE2_PRESS,767,747,716.718219893,681,663,637,881.281780107,788.718219893,804,653,632,654,0.421121343786,-0.00554208756034,0.0799582680533,0.99999999686,-5.74354654382e-05,-1.07260590528e-05,-5.3544477093e-05,1793237490245243136
+245,4.083333333,POSE1_TO_POSE2_PRESS,767,747,716.728767835,681,663,637,881.271232165,788.728767835,804,653,632,654,0.421123118956,-0.00554188962503,0.0799576945513,0.999999996873,-5.71144075226e-05,-1.13280082389e-05,-5.35046091629e-05,1793237490261909760
+246,4.100000000,POSE1_TO_POSE2_PRESS,767,747,716.739315777,681,663,637,881.260684223,788.739315777,804,653,632,654,0.421124894127,-0.00554169168972,0.0799571210494,0.999999996887,-5.67933496069e-05,-1.19299574249e-05,-5.34647412329e-05,1793237490278576384
+247,4.116666667,POSE1_TO_POSE2_PRESS,767,747,716.749863719,681,663,637,881.250136281,788.749863719,804,653,632,654,0.421126669298,-0.00554149375441,0.0799565475474,0.9999999969,-5.64722917105e-05,-1.25319065747e-05,-5.34248733052e-05,1793237490295243264
+248,4.133333333,POSE1_TO_POSE2_PRESS,767,747,716.760411661,681,663,637,881.239588339,788.760411661,804,653,632,654,0.421128444469,-0.0055412958191,0.0799559740455,0.999999996912,-5.61512337948e-05,-1.31338557607e-05,-5.3385005375e-05,1793237490311909888
+249,4.150000000,POSE1_TO_POSE2_PRESS,767,747,716.770959604,681,663,637,881.229040396,788.770959604,804,653,632,654,0.42113021964,-0.00554109788379,0.0799554005435,0.999999996924,-5.58301758792e-05,-1.37358049467e-05,-5.33451374449e-05,1793237490328576512
+250,4.166666667,POSE1_TO_POSE2_PRESS,767,747,716.781507545,681,663,637,881.218492455,788.781507545,804,653,632,654,0.421131994811,-0.00554089994849,0.0799548270416,0.999999996936,-5.55091179827e-05,-1.43377540965e-05,-5.33052695171e-05,1793237490345243136
+251,4.183333333,POSE1_TO_POSE2_PRESS,767,747,716.792055487,681,663,637,881.207944513,788.792055487,804,653,632,654,0.421133769982,-0.00554070201317,0.0799542535396,0.999999996947,-5.5188060067e-05,-1.49397032825e-05,-5.32654015869e-05,1793237490361909760
+252,4.200000000,POSE1_TO_POSE2_PRESS,767,747,716.80260343,681,663,637,881.19739657,788.80260343,804,653,632,654,0.421135545153,-0.00554050407786,0.0799536800376,0.999999996958,-5.48670021512e-05,-1.55416524684e-05,-5.32255336568e-05,1793237490378576384
+253,4.216666667,POSE1_TO_POSE2_PRESS,767,747,716.813151371,681,663,637,881.186848629,788.813151371,804,653,632,654,0.421137320324,-0.00554030614256,0.0799531065357,0.999999996968,-5.45459442548e-05,-1.61436016181e-05,-5.31856657288e-05,1793237490395243264
+254,4.233333333,POSE1_TO_POSE2_PRESS,767,747,716.823699313,681,663,637,881.176300687,788.823699313,804,653,632,654,0.421139095495,-0.00554010820725,0.0799525330337,0.999999996977,-5.42248863389e-05,-1.6745550804e-05,-5.31457977986e-05,1793237490411909888
+255,4.250000000,POSE1_TO_POSE2_PRESS,767,747,716.834247256,681,663,637,881.165752744,788.834247256,804,653,632,654,0.421140870665,-0.00553991027193,0.0799519595317,0.999999996987,-5.39038284232e-05,-1.73474999898e-05,-5.31059298682e-05,1793237490428576512
+256,4.266666667,POSE1_TO_POSE2_PRESS,767,747,716.844795197,681,663,637,881.155204803,788.844795197,804,653,632,654,0.421142645836,-0.00553971233663,0.0799513860298,0.999999996995,-5.35827705266e-05,-1.79494491394e-05,-5.30660619403e-05,1793237490445243136
+257,4.283333333,POSE1_TO_POSE2_PRESS,767,747,716.855343139,681,663,637,881.144656861,788.855343139,804,653,632,654,0.421144421007,-0.00553951440132,0.0799508125278,0.999999997004,-5.32617126108e-05,-1.85513983253e-05,-5.302619401e-05,1793237490461909760
+258,4.300000000,POSE1_TO_POSE2_PRESS,767,747,716.865891082,681,663,637,881.134108918,788.865891082,804,653,632,654,0.421146196178,-0.00553931646601,0.0799502390259,0.999999997011,-5.29406546949e-05,-1.9153347511e-05,-5.29863260796e-05,1793237490478576640
+259,4.316666667,POSE1_TO_POSE2_PRESS,767,747,716.876439023,681,663,637,881.123560977,788.876439023,804,653,632,654,0.421147971349,-0.0055391185307,0.0799496655239,0.999999997019,-5.26195967984e-05,-1.97552966606e-05,-5.29464581517e-05,1793237490495243264
+260,4.333333333,POSE1_TO_POSE2_PRESS,767,747,716.886986966,681,663,637,881.113013034,788.886986966,804,653,632,654,0.42114974652,-0.00553892059539,0.0799490920219,0.999999997026,-5.22985388825e-05,-2.03572458463e-05,-5.29065902212e-05,1793237490511909888
+261,4.350000000,POSE1_TO_POSE2_PRESS,767,747,716.897534908,681,663,637,881.102465092,788.897534908,804,653,632,654,0.421151521691,-0.00553872266008,0.07994851852,0.999999997032,-5.19774809666e-05,-2.09591950319e-05,-5.28667222908e-05,1793237490528576512
+262,4.366666667,POSE1_TO_POSE2_PRESS,767,747,716.908082849,681,663,637,881.091917151,788.908082849,804,653,632,654,0.421153296862,-0.00553852472478,0.079947945018,0.999999997038,-5.165642307e-05,-2.15611441814e-05,-5.28268543627e-05,1793237490545243136
+263,4.383333333,POSE1_TO_POSE2_PRESS,767,747,716.918630792,681,663,637,881.081369208,788.918630792,804,653,632,654,0.421155072033,-0.00553832678946,0.0799473715161,0.999999997044,-5.13353651541e-05,-2.21630933671e-05,-5.27869864322e-05,1793237490561909760
+264,4.400000000,POSE1_TO_POSE2_PRESS,767,747,716.929178734,681,663,637,881.070821266,788.929178734,804,653,632,654,0.421156847203,-0.00553812885415,0.0799467980141,0.999999997049,-5.10143072381e-05,-2.27650425526e-05,-5.27471185018e-05,1793237490578576640
+265,4.416666667,POSE1_TO_POSE2_PRESS,767,747,716.939726675,681,663,637,881.060273325,788.939726675,804,653,632,654,0.421158622374,-0.00553793091885,0.0799462245122,0.999999997053,-5.06932493415e-05,-2.3366991702e-05,-5.27072505736e-05,1793237490595243264
+266,4.433333333,POSE1_TO_POSE2_PRESS,767,747,716.950274618,681,663,637,881.049725382,788.950274618,804,653,632,654,0.421160397545,-0.00553773298354,0.0799456510102,0.999999997057,-5.03721914255e-05,-2.39689408875e-05,-5.26673826431e-05,1793237490611909888
+267,4.450000000,POSE1_TO_POSE2_PRESS,767,747,716.96082256,681,663,637,881.03917744,788.96082256,804,653,632,654,0.421162172716,-0.00553753504822,0.0799450775082,0.999999997061,-5.00511335096e-05,-2.4570890073e-05,-5.26275147124e-05,1793237490628576512
+268,4.466666667,POSE1_TO_POSE2_PRESS,767,747,716.971370502,681,663,637,881.028629498,788.971370502,804,653,632,654,0.421163947887,-0.00553733711292,0.0799445040063,0.999999997064,-4.97300756129e-05,-2.51728392223e-05,-5.25876467843e-05,1793237490645243136
+269,4.483333333,POSE1_TO_POSE2_PRESS,767,747,716.981918444,681,663,637,881.018081556,788.981918444,804,653,632,654,0.421165723058,-0.00553713917761,0.0799439305043,0.999999997067,-4.94090176969e-05,-2.57747884077e-05,-5.25477788536e-05,1793237490661910016
+270,4.500000000,POSE1_TO_POSE2_PRESS,767,747,716.992466386,681,663,637,881.007533614,788.992466386,804,653,632,654,0.421167498229,-0.0055369412423,0.0799433570023,0.999999997069,-4.9087959781e-05,-2.63767375931e-05,-5.2507910923e-05,1793237490678576640
+271,4.516666667,POSE1_TO_POSE2_PRESS,767,746.831446847,717,680.831446847,663,637,880.831446847,788.831446847,804,653,632.168553153,654,0.421168223576,-0.00553645383818,0.0799424128775,0.999999997103,-4.78118505057e-05,-2.75357922888e-05,-5.24322633928e-05,1793237490695243264
+272,4.533333333,POSE1_TO_POSE2_PRESS,767,746.241634069,717,680.241634069,663,637,880.241634069,788.241634069,804,653,632.758365931,654,0.421166325131,-0.0055352429737,0.0799405424665,0.999999997207,-4.41488111716e-05,-3.00872034881e-05,-5.22671930199e-05,1793237490711909632
+273,4.550000000,POSE1_TO_POSE2_PRESS,767,746.342080683,716.657919317,680,663.342080683,637,880.342080683,788.342080683,804,652.657919317,633,654,0.421165227076,-0.00553471308952,0.0799400577753,0.999999997278,-4.18271805705e-05,-3.11043425443e-05,-5.22157972647e-05,1793237490728576000
+274,4.566666667,POSE1_TO_POSE2_PRESS,767,746.921563406,716.078436594,680,663.921563406,637,880.921563406,788.921563406,804,652.078436594,633,654,0.421164684486,-0.00553465580184,0.0799405347659,0.999999997336,-4.04364801842e-05,-3.10567053485e-05,-5.2243291055e-05,1793237490745243136
+275,4.583333333,POSE1_TO_POSE2_PRESS,767,746.504217106,716.495782894,680.495782894,664,637,881,789,804,652.495782894,633,654,0.421165107162,-0.00553498497475,0.0799405916682,0.999999997341,-4.09708729862e-05,-3.05591712394e-05,-5.20128373154e-05,1793237490761909760
+276,4.600000000,POSE1_TO_POSE2_PRESS,766.947989123,746.052010877,717,680.947989123,664,637,881,789,804,653,633,654,0.421165688544,-0.00553530971436,0.0799406012018,0.999999997336,-4.17391905275e-05,-3.00536008337e-05,-5.17913548836e-05,1793237490778576128
+277,4.616666667,POSE1_TO_POSE2_PRESS,766.516889439,746.483110561,717,680.516889439,664,637,881,789,804,653,633,654,0.421166325292,-0.0055351611876,0.0799407448052,0.999999997319,-4.20159601709e-05,-3.0002791639e-05,-5.1929580718e-05,1793237490795242496
+278,4.633333333,POSE1_TO_POSE2_PRESS,766.085789729,746.914210271,717,680.085789729,664,637,881,789,804,653,633,654,0.42116696204,-0.00553501266084,0.0799408884086,0.999999997302,-4.22927298309e-05,-2.99519824413e-05,-5.20678065607e-05,1793237490811909120
+279,4.650000000,POSE1_TO_POSE2_PRESS,766,747,717,680.597472065,664,637,881,788.402527935,804,653,632.402527935,654.597472065,0.421167413127,-0.00553596922347,0.0799416651458,0.999999997202,-4.52662301626e-05,-2.89594480532e-05,-5.20358886328e-05,1793237490828575744
+280,4.666666667,POSE1_TO_POSE2_PRESS,766,747,716.727902361,680.727902361,663.727902361,637,881,788,804.272097639,653,632,654.727902361,0.421166561783,-0.00553649772195,0.079941185928,0.999999997104,-4.67693383835e-05,-2.96337340364e-05,-5.22182085853e-05,1793237490845242368
+281,4.683333333,POSE1_TO_POSE2_PRESS,766,747,716.136839166,680.136839166,663.136839166,637,881,788,804.863160834,653,632,654.136839166,0.42116423774,-0.00553620258187,0.0799390500298,0.999999997035,-4.57633995234e-05,-3.25362088765e-05,-5.27012201795e-05,1793237490861909504
+282,4.700000000,POSE1_TO_POSE2_PRESS,766.485764319,747,716.485764319,680.485764319,663,637,881,788,804.514235681,653,632,654,0.421166342692,-0.00553586810111,0.0799403417996,0.999999997233,-4.3294942138e-05,-3.04808960965e-05,-5.22523347055e-05,1793237490878575872
+283,4.716666667,POSE1_TO_POSE2_PRESS,767,747,717,680.887108514,663,637,881,788.112891486,804,653,632,654.112891486,0.421169030182,-0.00553557116599,0.0799423214511,0.99999999743,-4.12813415593e-05,-2.75592653657e-05,-5.17350431342e-05,1793237490895242496
+284,4.733333333,POSE1_TO_POSE2_PRESS,767,747,717,680.281699448,663,637,881,788.718300552,804,653,632,654.718300552,0.421168438036,-0.00553548973933,0.079942797111,0.999999997334,-4.31743837909e-05,-2.73742184868e-05,-5.21441227046e-05,1793237490911909120
+285,4.750000000,POSE1_TO_POSE2_PRESS,767,747,716.69064788,680.30935212,663,637,881.30935212,789,804,653,632,654.69064788,0.42116713223,-0.0055351484814,0.0799421625691,0.999999997273,-4.35466989847e-05,-2.86648953489e-05,-5.23025623185e-05,1793237490928575744
+286,4.766666667,POSE1_TO_POSE2_PRESS,767,747,716.112090566,680.887909434,663,637,881.887909434,789,804,653,632,654.112090566,0.421165205382,-0.00553458111243,0.0799405619045,0.99999999724,-4.25956430915e-05,-3.12397803115e-05,-5.22428893638e-05,1793237490945242368
+287,4.783333333,POSE1_TO_POSE2_PRESS,767,746.535919134,716,681,663.464080866,637,882,788.535919134,804,653,632.464080866,654,0.421165063609,-0.00553434040429,0.079939857138,0.9999999972,-4.27166690346e-05,-3.17963105213e-05,-5.25843141629e-05,1793237490961908736
+288,4.800000000,POSE1_TO_POSE2_PRESS,767,746.039650488,716,680.960349512,663.960349512,637,881.960349512,788.039650488,804.039650488,653,633,654,0.421165082647,-0.00553418440595,0.0799392996013,0.999999997159,-4.30131725138e-05,-3.20212152944e-05,-5.29695518753e-05,1793237490978575360
+289,4.816666667,POSE1_TO_POSE2_PRESS,767,746.614835395,716,680.385164605,663.385164605,637,881.385164605,788.614835395,804.614835395,653,633,654,0.421161480103,-0.0055341123387,0.0799378229325,0.999999997135,-4.22002551631e-05,-3.43177170508e-05,-5.26447637707e-05,1793237490995242240
+290,4.833333333,POSE1_TO_POSE2_PRESS,767,747,716.19591103,680,663.19591103,637,881,789,804.80408897,653,633,654,0.421153078578,-0.00553342972935,0.0799337186769,0.999999996945,-4.06653596593e-05,-4.10348039682e-05,-5.2656246675e-05,1793237491011909120
+291,4.850000000,POSE1_TO_POSE2_PRESS,767,747,716.788926895,680,663.788926895,637,881,789,804.211073105,653,633,654,0.421134949686,-0.00553150957241,0.0799242883946,0.999999996259,-3.76670396751e-05,-5.671226277e-05,-5.33493392342e-05,1793237491028575744
+292,4.866666667,POSE1_TO_POSE2_PRESS,767,746.628762124,716.628762124,680,663.628762124,637,881.371237876,789,804,653,633,654,0.421120903298,-0.00553179561871,0.0799175768924,0.999999995522,-3.72215370382e-05,-6.85682106827e-05,-5.35699647724e-05,1793237491045242112
+293,4.883333333,POSE1_TO_POSE2_PRESS,767,746.052366932,716.052366932,680,663.052366932,637,881.947633068,789,804,653,633,654,0.421109113025,-0.00553330087969,0.0799123678696,0.999999994772,-3.81867984625e-05,-7.83122771628e-05,-5.35294907618e-05,1793237491061908992
+294,4.900000000,POSE1_TO_POSE2_PRESS,767,746.521759505,716,680.521759505,663.521759505,637,882,788.478240495,804,653,633,654,0.421110918713,-0.00553192480896,0.0799128337003,0.999999994993,-3.50640802043e-05,-7.68226043331e-05,-5.36900468379e-05,1793237491078575872
+295,4.916666667,POSE1_TO_POSE2_PRESS,767,747,716.098127089,681,663.901872911,637,882,788.098127089,804,653,632.901872911,654,0.421113218411,-0.00553058616351,0.0799133727507,0.999999995197,-3.24783468779e-05,-7.51673903443e-05,-5.38673291701e-05,1793237491095242752
+296,4.933333333,POSE1_TO_POSE2_PRESS,767,747,716.686832792,681,663.313167208,637,882,788.686832792,804,653,632.313167208,654,0.421111195344,-0.00553087413443,0.0799114427028,0.999999994876,-3.46195790881e-05,-7.82969375677e-05,-5.40277986047e-05,1793237491111909120
+297,4.950000000,POSE1_TO_POSE2_PRESS,767,747,716.72914676,681,663,637,882,789,804,653,632,654,0.421111635371,-0.00553043919696,0.0799118263686,0.999999994885,-3.42712060783e-05,-7.8304548653e-05,-5.40749518603e-05,1793237491128575744
+298,4.966666667,POSE1_TO_POSE2_PRESS,767,747,716.150451438,681,663,637,882,789,804,653,632,654,0.421114874863,-0.00552918262771,0.0799148397187,0.999999995264,-3.10932369165e-05,-7.47638788783e-05,-5.39933140003e-05,1793237491145242368
+299,4.983333333,POSE1_TO_POSE2_PRESS,767,747,716.427069716,681,663,637,881.572930284,789,803.572930284,653,632.427069716,654,0.421120471701,-0.00552948372444,0.0799162415291,0.999999995486,-3.24599175552e-05,-7.10947410345e-05,-5.40323275477e-05,1793237491161908992
+300,5.000000000,POSE1_TO_POSE2_PRESS,767,747,716.995821272,681,663,636.995821272,881,788.995821272,803.004178728,653,633,654,0.421126993059,-0.00553033863609,0.0799170795798,0.999999995641,-3.54136785162e-05,-6.73428707478e-05,-5.4116277803e-05,1793237491178575360
+301,5.016666667,POSE1_TO_POSE2_PRESS,767,747,716.418660034,681,663,636.418660034,881,788.418660034,803.581339966,653,633,654,0.421146723442,-0.00553209480551,0.0799182480008,0.999999996118,-3.70573456239e-05,-5.84354848664e-05,-5.45497760378e-05,1793237491195241984
+302,5.033333333,POSE1_TO_POSE2_PRESS,767,747,716.161802026,681,663,636.161802026,881,788.161802026,804,653,632.838197974,654,0.421169810392,-0.00553328611965,0.0799201739721,0.999999996611,-3.78378309265e-05,-4.82134647192e-05,-5.49646817846e-05,1793237491211908608
+303,5.050000000,POSE1_TO_POSE2_PRESS,767,747,716.750982683,681,663,636.750982683,881,788.750982683,804,653,632.249017317,654,0.421201763268,-0.00553298544307,0.0799241009124,0.999999997213,-3.6338335509e-05,-3.45190136188e-05,-5.53304778704e-05,1793237491228575232
+304,5.066666667,POSE1_TO_POSE2_PRESS,767,747,717,680.66555206,663,637,881,788.66555206,804,653,632.33444794,654,0.421237950264,-0.00553231502948,0.0799263221977,0.999999997536,-3.50020816204e-05,-2.30520810268e-05,-5.63243040301e-05,1793237491245242112
+305,5.083333333,POSE1_TO_POSE2_PRESS,767,747,717,680.086270713,663,637,881,788.086270713,804,653,632.913729287,654,0.421277236862,-0.00553137394899,0.0799272948547,0.999999997673,-3.37853289249e-05,-1.32158072152e-05,-5.77778811329e-05,1793237491261908736
+306,5.100000000,POSE1_TO_POSE2_PRESS,766.510770902,747,716.510770902,680,663,637,881.489229098,788,804.489229098,653,632.510770902,654,0.421324481389,-0.00553288325233,0.0799277208343,0.99999999754,-3.57060066256e-05,-1.10569885786e-05,-5.9354495258e-05,1793237491278575360
+307,5.116666667,POSE1_TO_POSE2_PRESS,766.065553764,746.934446236,716,680,663.065553764,637,881.934446236,788.065553764,804.934446236,653,632.065553764,654,0.421375196747,-0.00553454866779,0.0799282700267,0.999999997375,-3.78003553753e-05,-1.00468464415e-05,-6.09911669779e-05,1793237491295241984
+308,5.133333333,POSE1_TO_POSE2_PRESS,766.653730369,746.346269631,716,680,663.653730369,637,881.346269631,788.653730369,804.346269631,653,632.653730369,654,0.421442481177,-0.00553404020579,0.0799305641809,0.999999997311,-3.6902332151e-05,-7.48381460033e-06,-6.2934998582e-05,1793237491311908608
+309,5.150000000,POSE1_TO_POSE2_PRESS,767,746.238267588,716.238267588,680,664,637,881,789,804,653,632.761732412,654,0.421514768511,-0.00553434898343,0.0799326747123,0.999999997151,-3.80145747478e-05,-4.91291865964e-06,-6.50316451823e-05,1793237491328575488
+310,5.166666667,POSE1_TO_POSE2_PRESS,767,746.817595293,716.817595293,680,664,637,881,789,804,653,632.182404707,654,0.421594217079,-0.00553582757125,0.079934522403,0.999999996847,-4.20043447252e-05,-2.33076607219e-06,-6.73470335465e-05,1793237491345242368
+311,5.183333333,POSE1_TO_POSE2_PRESS,767,747,716.606062223,680,664,637,881,789,804,653,632,654,0.421682648783,-0.00553624457251,0.079935461252,0.999999996633,-4.2827540511e-05,-1.46000457117e-06,-6.998914704e-05,1793237491361908736
+312,5.200000000,POSE1_TO_POSE2_PRESS,767,747,716.031091605,680,664,637,881,789,804,653,632,654,0.421775208656,-0.00553617372502,0.0799359824456,0.99999999646,-4.21955471714e-05,-1.37570742707e-06,-7.27814059549e-05,1793237491378575104
+313,5.216666667,POSE1_TO_POSE2_PRESS,767,747,716.546446186,680.546446186,663.453553814,637,881,789,804,653,632.546446186,654,0.421884038325,-0.00553889009498,0.079933636461,0.999999996071,-4.49528556035e-05,-6.81100776537e-06,-7.60998238939e-05,1793237491395241984
+314,5.233333333,POSE1_TO_POSE2_PRESS,766.873899056,747,716.873899056,680.873899056,663,637,881,788.873899056,804,653,632.873899056,654,0.421998977852,-0.00554137250629,0.0799310023941,0.999999995605,-4.79740464469e-05,-1.18756976159e-05,-7.96758373066e-05,1793237491411908352
+315,5.250000000,POSE1_TO_POSE2_PRESS,766.287045596,747,716.287045596,680.287045596,663,637,881,788.287045596,804,653,632.287045596,654,0.42213284341,-0.0055424178847,0.0799279146084,0.999999995047,-5.12514738724e-05,-1.44333193096e-05,-8.40831598588e-05,1793237491428575232
+316,5.266666667,POSE1_TO_POSE2_PRESS,766,747,716.29612195,680,663,637,881,788.29612195,804,653,632,654,0.422280044241,-0.00554435752442,0.0799273447695,0.99999999441,-5.58680747145e-05,-1.37936742384e-05,-8.87096240011e-05,1793237491445242112
+317,5.283333333,POSE1_TO_POSE2_PRESS,766,747,716.875760554,680,663,637,881,788.875760554,804,653,632,654,0.422440012706,-0.00554715335873,0.0799291856934,0.999999993666,-6.17668435265e-05,-1.0092863705e-05,-9.35459018465e-05,1793237491461908736
+318,5.300000000,POSE1_TO_POSE2_PRESS,766.454080749,746.545919251,717,680.454080749,663,637,881.454080749,789,804,653,632.454080749,654,0.42262088284,-0.00554978919347,0.079935597357,0.999999992991,-6.74757920106e-05,7.30997691768e-07,-9.72897317664e-05,1793237491478575360
+319,5.316666667,POSE1_TO_POSE2_PRESS,767,746.031864968,717,681,663,637,882,789,804.031864968,653,633,654,0.422808691455,-0.00555237672041,0.0799434334115,0.999999992181,-7.30516898156e-05,1.3575961117e-05,-0.000100586082108,1793237491495242240
+320,5.333333333,POSE1_TO_POSE2_PRESS,767,746.606646081,717,681,663,637,882,789,804.606646081,653,633,654,0.423017562781,-0.00555488489358,0.0799542924849,0.999999991497,-7.724299941e-05,2.77470285664e-05,-0.000101336204718,1793237491511909120
+321,5.350000000,POSE1_TO_POSE2_PRESS,767,746.8195393,717,681,663.1804607,637,881.8195393,789,804.8195393,653,633,654,0.423228521799,-0.00555705466903,0.0799604179271,0.999999990818,-8.22507058443e-05,3.49219465441e-05,-0.00010187520885,1793237491528575744
+322,5.366666667,POSE1_TO_POSE2_PRESS,767,746.247820181,717,681,663.752179819,637,881.247820181,789,804.247820181,653,633,654,0.423444007147,-0.00555849076126,0.0799562803416,0.999999990477,-8.9028449165e-05,2.69284509588e-05,-0.000101956485158,1793237491545242368
+323,5.383333333,POSE1_TO_POSE2_PRESS,766.661392438,746.338607562,716.661392438,681,663.661392438,637,881,789,804,653,633,654,0.423674599421,-0.00556095226987,0.0799532660388,0.999999990224,-9.38579851027e-05,1.95605102119e-05,-0.000101788376865,1793237491561908992
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+326,5.433333333,POSE1_TO_POSE2_PRESS,767,746.090792278,717,680.909207722,664,637,881,788,804.090792278,653,632,654,0.424431359958,-0.00556546572324,0.0799370329202,0.999999990303,-9.42098630231e-05,-1.57033045232e-05,-0.000101346164476,1793237491611908864
+327,5.450000000,POSE1_TO_POSE2_PRESS,767,746.677089375,717,680.322910625,664,637,881,788,804.677089375,653,632,654,0.424700356541,-0.00556867574123,0.0799251664147,0.999999989604,-9.57860807718e-05,-3.90911904314e-05,-0.000100442146315,1793237491628575488
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diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5e1e615768106e7b6b9aafb98399bc8f4c5cdf66
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_01/simulation_data.csv
@@ -0,0 +1,607 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_02/fem_node.csv
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index 0000000000000000000000000000000000000000..e4e2aa775cf95f23c342005524a75944ba768230
--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bdb531983b67db804194e436a16875d3aa21741e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_02/franka_data.csv
@@ -0,0 +1,441 @@
+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,767,746,717,680,663,637,881,788,805,653,632,654,0.400982162946,-0.00538685281147,0.0798423799625,0.999999933834,0.000238116647431,-0.000271870802408,4.14588290135e-05,1793237496435462400
+1,0.016666667,BASELINE,767,746,717,680,663,637,881,788.60276736,804.39723264,653,632,654,0.400981366666,-0.00538772908,0.0798425640733,0.999999933843,0.000237714681723,-0.000272159702086,4.16451839467e-05,1793237496452129536
+2,0.033333333,BASELINE,767,746,717,680,663,637,881,789,803.804555243,653,632,654,0.400980852645,-0.00538890767642,0.0798426887457,0.999999933951,0.000237060559694,-0.000272292119404,4.19152376919e-05,1793237496468796416
+3,0.050000000,BASELINE,767,746,717,680,663,637,881,789,803.231378405,653,632,654,0.40098088414,-0.00539067057589,0.0798426985426,0.999999934249,0.000235919100235,-0.000272122106521,4.23470544501e-05,1793237496485462528
+4,0.066666667,BASELINE,767,746.355248065,717,680,663.355248065,637,880.644751935,789,803.355248065,653,632,654,0.400981599163,-0.00539099538375,0.0798434190269,0.999999934584,0.000235808648859,-0.000270972014816,4.24420943882e-05,1793237496502129408
+5,0.083333333,BASELINE,767,746.950979146,717,680,663.950979146,637,880.049020854,789,803.950979146,653,632,654,0.400982776896,-0.00539034668414,0.0798446206067,0.99999993494,0.000236396132204,-0.00026915846472,4.23091552802e-05,1793237496518797312
+6,0.100000000,BASELINE,767,747,717,680,663.471316469,637,880,789,804,653,632.528683531,654,0.400983091861,-0.0053900654027,0.0798445876766,0.999999935123,0.000235365984477,-0.000269463938619,4.17745517298e-05,1793237496535463936
+7,0.116666667,BASELINE,767,746.895877183,716.895877183,680,663,637.104122817,880.104122817,789,804.104122817,653,632.895877183,654.104122817,0.400982970074,-0.00539000440397,0.0798443129481,0.999999935189,0.000234433768123,-0.000270097516185,4.13576100056e-05,1793237496552130304
+8,0.133333333,BASELINE,767,746.323356251,716.323356251,680,663,637.676643749,880.676643749,789,804.676643749,653,632.323356251,654.676643749,0.400981231559,-0.00539078614866,0.079843448438,0.9999999348,0.000234594585394,-0.000271352343524,4.16319872561e-05,1793237496568796672
+9,0.150000000,BASELINE,767,746.257206717,716,680,663,638,881,788.742793283,804.485586567,653,632.257206717,655,0.400980079528,-0.00539073521119,0.0798427195344,0.999999934305,0.000235417079278,-0.000272434768084,4.18118879568e-05,1793237496585463040
+10,0.166666667,BASELINE,767,746.84820628,716,680,663,638,881,788.15179372,803.303587439,653,632.84820628,655,0.400979688613,-0.00538960365123,0.0798421666158,0.999999933671,0.000237098271255,-0.00027329345494,4.18691806534e-05,1793237496602129664
+11,0.183333333,BASELINE,767,746.569100233,716.430899767,680,663,637.569100233,880.569100233,788.430899767,803.430899767,653,633,654.569100233,0.400979940924,-0.00538952504386,0.0798422189264,0.999999933916,0.000236225516005,-0.000273176232112,4.17135209597e-05,1793237496618796032
+12,0.200000000,BASELINE,766.989366092,746.010633908,716.989366092,679.989366092,663,637,880.010633908,789,804,653,632.989366092,654.010633908,0.4009804305,-0.00538980771783,0.0798424992067,0.999999934459,0.000234518572587,-0.000272693390555,4.14961062794e-05,1793237496635462400
+13,0.216666667,BASELINE,766.414341396,746.585658604,716.414341396,679.414341396,663,637,880.585658604,789,804,653,632.414341396,654.585658604,0.400981714075,-0.00538995085248,0.0798437771055,0.999999934778,0.000235384710873,-0.000270706678364,4.19072759502e-05,1793237496652129536
+14,0.233333333,BASELINE,766,746.835786981,716.164213019,679.164213019,663,637,880.835786981,789,804,653.164213019,632.164213019,654.835786981,0.400982224704,-0.00539007101272,0.0798443017448,0.999999934992,0.000235520355932,-0.000269771405241,4.20591487457e-05,1793237496668796416
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+17,0.283333333,BASELINE,766,746.9137787,717,680,663,637,880,788.0862213,803.0862213,653.0862213,632.0862213,654,0.40098047823,-0.0053888082942,0.0798434256639,0.999999934299,0.000236384159539,-0.000271709073049,4.12223982894e-05,1793237496718796032
+18,0.300000000,BASELINE,766.491880385,747,717,679.508119615,663,637,880,788.491880385,803.491880385,653,632.491880385,654,0.400981256304,-0.00538822925117,0.0798434531896,0.999999934349,0.000236644712994,-0.000271306532958,4.1168145397e-05,1793237496735463424
+19,0.316666667,BASELINE,767,746.930608322,717,679.069391678,663,637,880,788.930608322,804,653,633,654,0.400981864232,-0.00538798127737,0.0798433559177,0.999999934489,0.000236335050979,-0.00027106322617,4.11494066876e-05,1793237496752130560
+20,0.333333333,BASELINE,767,746.356045979,717,679.643954021,663,637,880,788.356045979,804,653,633,654,0.400980534897,-0.00538979179147,0.0798432353463,0.999999934712,0.000234246046567,-0.000272016987399,4.1376134132e-05,1793237496768796416
+21,0.350000000,BASELINE,767,746.223552348,717,680,663.223552348,637,880.223552348,788,804,653,633,654,0.400979908841,-0.00539058927763,0.0798433215655,0.999999934802,0.000233556116805,-0.000272240395153,4.16191618737e-05,1793237496785462528
+22,0.366666667,BASELINE,767,746.811356143,717,680,663.811356143,637,880.811356143,788,804,653,633,654,0.400980428693,-0.00538973615741,0.0798437447251,0.999999934681,0.000235145809777,-0.00027127378037,4.18887489518e-05,1793237496802129152
+23,0.383333333,BASELINE,767,747,717,679.606837577,663.606837577,637,881,788.393162423,803.606837577,653.393162423,633,654,0.400980428098,-0.00538964104054,0.0798434888043,0.999999934701,0.000235221259726,-0.000271128890424,4.1918702929e-05,1793237496818795776
+24,0.400000000,BASELINE,767,747,717,679.027865685,663.027865685,637,881,788.972134315,803.027865685,653.972134315,633,654,0.400980181538,-0.00538990415773,0.0798429119486,0.999999934789,0.00023458107507,-0.000271372349448,4.18354057734e-05,1793237496835462656
+25,0.416666667,BASELINE,767,747,717,679.548736055,663.548736055,637,880.451263945,789,803.548736055,653.451263945,633,654.548736055,0.400981169234,-0.00538905124417,0.079843377845,0.999999934995,0.000235086378034,-0.000270210048218,4.1600192661e-05,1793237496852129024
+26,0.433333333,BASELINE,767,746.872514151,716.872514151,679.872514151,663.872514151,637,880.127485849,788.872514151,804,653,633,654.872514151,0.400981663754,-0.00538861075164,0.0798436566621,0.999999935043,0.000235550593898,-0.000269641825344,4.15154862972e-05,1793237496868795648
+27,0.450000000,BASELINE,767,746.285591087,716.285591087,679.285591087,663.285591087,637,880.714408913,788.285591087,804,653,633,654.285591087,0.400980156044,-0.00538985991812,0.0798430712657,0.999999934502,0.000235658007042,-0.00027147071814,4.20008627559e-05,1793237496885463040
+28,0.466666667,BASELINE,767,746,716.297838219,679.297838219,663,637,881,788.297838219,804,653,633,654,0.400980795638,-0.00539098004616,0.0798437552976,0.999999934927,0.000234816539041,-0.00027061053374,4.21675928664e-05,1793237496902129664
+29,0.483333333,BASELINE,767,746,716.877956239,679.877956239,663,637,881,788.877956239,804,653,633,654,0.400983470366,-0.00539197787636,0.0798456424455,0.999999936256,0.000233075757362,-0.000267201743549,4.20323219884e-05,1793237496918795520
+30,0.500000000,BASELINE,766.54330548,746,716.54330548,680,663,637,881,788.54330548,804,653,633,654,0.400982209989,-0.00539047053235,0.0798449382177,0.999999935396,0.000235533012008,-0.000268274048017,4.19667881653e-05,1793237496935462656
+31,0.516666667,BASELINE,766.034680794,746,716.034680794,680,663,637,881,788,804,653,633,654,0.400980116592,-0.00538843833528,0.0798436584774,0.999999934072,0.000238752464665,-0.000270367297706,4.18950267551e-05,1793237496952129536
+32,0.533333333,BASELINE,766.606711145,746,716.606711145,680,663,637,881,788,804,653,633,654,0.400981360655,-0.00538861553005,0.0798441590521,0.999999934796,0.00023645172343,-0.000269780936381,4.1438894376e-05,1793237496968795904
+33,0.550000000,BASELINE,767,746.183916638,717,680,663,637,881,788.183916638,804,653,633,654,0.400981926914,-0.00538853775072,0.0798442946049,0.99999993519,0.000235057490673,-0.000269572198683,4.1222235463e-05,1793237496985462528
+34,0.566666667,BASELINE,767,746.772509032,717,680,663,637,881,788.772509032,804,653,633,654,0.400981001783,-0.00538789894638,0.0798436269923,0.999999934868,0.000235657868431,-0.000270194354503,4.15324952582e-05,1793237497002129152
+35,0.583333333,BASELINE,767,747,716.645038967,679.645038967,663,637,880.645038967,789,804,653,633,654,0.40098075375,-0.00538828588612,0.079843430923,0.999999934912,0.00023549844744,-0.000270158193223,4.16032132089e-05,1793237497018795776
+36,0.600000000,BASELINE,767,747,716.066455308,679.066455308,663,637,880.066455308,789,804,653,633,654,0.400980932283,-0.0053893190364,0.0798435319224,0.999999935187,0.000234860359341,-0.000269707297469,4.15230217342e-05,1793237497035462656
+37,0.616666667,BASELINE,767,747,716.515302097,679.515302097,663.515302097,637,880.515302097,789,804,653,633,654.515302097,0.400980472801,-0.00539035430104,0.0798435872841,0.999999935412,0.000233556169738,-0.000269989919148,4.1624385772e-05,1793237497052129024
+38,0.633333333,BASELINE,767,746.903907413,717,680,664,637,881,789,804,653,633,654.903907413,0.400979935109,-0.00539114910584,0.0798435954063,0.999999935529,0.000232433441852,-0.000270512494898,4.17167442002e-05,1793237497068795648
+39,0.650000000,BASELINE,767,746.329972855,717,680,664,637,881,789,804,653,633,654.329972855,0.400979420199,-0.00539074680608,0.0798433980686,0.999999935146,0.000232642891666,-0.000271754975368,4.16471669097e-05,1793237497085462528
+40,0.666666667,BASELINE,767,746,717,680,664,637,881,789,804.249633732,653,633,654,0.400979630685,-0.00538981160261,0.0798435121294,0.999999934599,0.000235053662342,-0.000271710047695,4.15378256961e-05,1793237497102129152
+41,0.683333333,BASELINE,767,746,717,680,664,637,881,789,804.836912043,653,633,654,0.400980822311,-0.00538815561498,0.0798440473754,0.999999933808,0.000240441851347,-0.000269923823299,4.13747013972e-05,1793237497118795776
+42,0.700000000,BASELINE,767,746.418732751,716.581267249,680,663.581267249,637,881,789,805,653,633,654,0.400980903528,-0.00538843243887,0.0798442633509,0.999999934177,0.000239537621257,-0.000269358420021,4.14037574954e-05,1793237497135462656
+43,0.716666667,BASELINE,767,746.998455167,716.001544833,680,663.001544833,637,881,789,805,653,633,654,0.400980557828,-0.00538945236846,0.079844356577,0.999999934989,0.000236214152415,-0.000269262384375,4.15067009582e-05,1793237497152129280
+44,0.733333333,BASELINE,767,746.427889577,716.572110423,680,663,637,881,789,804.427889577,653,633,654,0.400981144719,-0.0053896277556,0.0798443662133,0.999999935239,0.000235753500161,-0.000268735210918,4.15103037047e-05,1793237497168796160
+45,0.750000000,BASELINE,767,746,717,680,663,637,881,788.853796518,804,653,633,654,0.400981574949,-0.00538950566772,0.0798444053572,0.999999935308,0.000235867378885,-0.000268384302613,4.14800241554e-05,1793237497185462784
+46,0.766666667,BASELINE,767,746,717,680,663,637,881,788.278370672,804,653,633,654,0.400981537938,-0.00538851688104,0.0798445317845,0.999999934847,0.000237645502276,-0.000268554253345,4.13510526251e-05,1793237497202129152
+47,0.783333333,BASELINE,767,746.306630211,716.693369789,679.693369789,663,637,881.306630211,788.306630211,804,653,632.693369789,654,0.400981278406,-0.00538898781412,0.0798444173352,0.999999934719,0.000237492460666,-0.000269151720836,4.14250290413e-05,1793237497218795776
+48,0.800000000,BASELINE,767,746.900603939,716.099396061,679.099396061,663,637,881.900603939,788.900603939,804,653,632.099396061,654,0.400980810351,-0.00539082665213,0.07984407716,0.999999934903,0.000235529722364,-0.000270149814783,4.16891881921e-05,1793237497235462400
+49,0.816666667,BASELINE,767,747,716.478967096,679.478967096,663,637,881.521032904,789,804,653,632.478967096,654,0.400981819271,-0.00539092433886,0.0798451883639,0.999999935469,0.000234914078272,-0.000268586926427,4.16948761736e-05,1793237497252129024
+50,0.833333333,BASELINE,767,747,717,680,663,637,881,789,804,653,633,654,0.400982848475,-0.00539063687659,0.0798463238689,0.999999935989,0.000234675905826,-0.000266859750938,4.16441620785e-05,1793237497268795904
+51,0.850000000,BASELINE,767,747,717,680,663,637,881,789,804,653,633,654,0.400981218838,-0.00539001072691,0.0798448886295,0.999999935369,0.000235464013172,-0.000268501438716,4.15505992907e-05,1793237497285462272
+52,0.866666667,BASELINE,767,746.792332349,717,680,663,637,880.792332349,788.792332349,804,653,633,654.207667651,0.40098086788,-0.00538960431564,0.0798443843297,0.999999935233,0.000235838205977,-0.00026869033443,4.14805040374e-05,1793237497302128896
+53,0.883333333,BASELINE,767,746.198775083,717,680,663,637,880.198775083,788.198775083,804,653,633,654.801224917,0.400982892971,-0.00538960622402,0.0798456099091,0.999999935998,0.000235443259579,-0.000266179640746,4.14540163415e-05,1793237497318795776
+54,0.900000000,BASELINE,767,746,716.616215522,680,663,637,880.383784478,788.383784478,804,653,632.616215522,654.616215522,0.400983432583,-0.00539017548408,0.0798461180847,0.999999936334,0.000234560074701,-0.000265695852454,4.14707756999e-05,1793237497335462656
+55,0.916666667,BASELINE,767,746,716.039193385,680,663,637,880.960806615,788.960806615,804,653,632.039193385,654.039193385,0.400983224248,-0.00539103040891,0.0798462650435,0.999999936454,0.000233431058997,-0.000266232622583,4.15093101961e-05,1793237497352129280
+56,0.933333333,BASELINE,767,746.535968946,716,680,663,637,881,789,804,653,632.535968946,654.535968946,0.400980277024,-0.00539119959844,0.0798442375432,0.999999935643,0.00023338651001,-0.000269350495519,4.11817641725e-05,1793237497368795904
+57,0.950000000,BASELINE,767,747,716.110628122,680,663,637,881,789,804,653,633,654.889371878,0.400978147323,-0.00539119182907,0.0798427706335,0.999999935007,0.000233492757229,-0.000271643674983,4.09586773665e-05,1793237497385462528
+58,0.966666667,BASELINE,767,747,716.683750245,680,663,637,881,789,804,653,633,654.316249755,0.40098026979,-0.0053906531752,0.0798443098013,0.999999935424,0.00023389903691,-0.000269702776864,4.12838233426e-05,1793237497402128896
+59,0.983333333,BASELINE,767,747,717,680,663,637,881,789,804,653,633,654,0.400981635235,-0.00539004382706,0.0798452401642,0.99999993555,0.000234967503377,-0.000268266145457,4.15229268021e-05,1793237497418795520
+60,1.000000000,BASELINE,767,747,717,680,663,637,881,789,804,653,633,654,0.400982068668,-0.0053893474432,0.0798454209937,0.999999935318,0.00023685122481,-0.000267450344533,4.16560985862e-05,1793237497435462144
+61,1.016666667,BASELINE,767,746.557938495,716.557938495,680,663,637,880.557938495,789,804,653,633,654,0.400983656736,-0.00539040908248,0.0798464499914,0.999999935965,0.000235983774275,-0.000265780332438,4.17410418162e-05,1793237497452129024
+62,1.033333333,BASELINE,767,746,716.019070512,680,663,637,880,788.980929488,804,653,633,654,0.400985438862,-0.00539189257005,0.0798476402037,0.999999936801,0.000234405153966,-0.000264016846046,4.18021064199e-05,1793237497468796160
+63,1.050000000,BASELINE,767,746,716.594500947,680,663,637,880,788.405499053,804,653,633,654,0.400982595231,-0.00539002000999,0.0798459769673,0.999999935466,0.00023659035322,-0.000267136886263,4.15962289781e-05,1793237497485462528
+64,1.066666667,BASELINE,767,746.174736633,717,680,663,637,880.174736633,788.174736633,804,653,633,654,0.400980603262,-0.0053888192589,0.0798446074993,0.999999934522,0.000237991823776,-0.000269432304285,4.14870484752e-05,1793237497502128896
+65,1.083333333,BASELINE,767,746.766438819,717,680,663,637,880.766438819,788.766438819,804,653,633,654,0.400980643576,-0.00538922161309,0.0798439390364,0.999999934541,0.000237523120423,-0.000269759966169,4.16086112016e-05,1793237497518795776
+66,1.100000000,BASELINE,767,746.650004734,717,680,663,637.349995266,881,789,804,653,633,654,0.400980966955,-0.00538916976753,0.0798443866299,0.999999934917,0.000236840261932,-0.000268974586821,4.15452236646e-05,1793237497535462400
+67,1.116666667,BASELINE,767,746.071760542,717,680,663,637.928239458,881,789,804,653,633,654,0.400981474936,-0.00538882171622,0.0798455620581,0.999999935524,0.000236017742482,-0.000267463339166,4.13612210657e-05,1793237497552129024
+68,1.133333333,BASELINE,767,746,717,680,663.502426621,637.497573379,881,789,803.497573379,653,632.497573379,654,0.400981839026,-0.00538959982073,0.0798458598042,0.999999935429,0.000236896698017,-0.00026700061793,4.16157883159e-05,1793237497568795648
+69,1.150000000,BASELINE,766.923506362,746,717,680,663.923506362,637,881,789,803,653,632.076493638,654,0.400981994674,-0.00539033926392,0.0798458978061,0.999999935235,0.00023790651231,-0.000266791372314,4.18603127458e-05,1793237497585462272
+70,1.166666667,BASELINE,766.346464407,746,717,680,663.346464407,637,881,789,803,653,632.653535593,654,0.40098091976,-0.0053897816266,0.0798450498562,0.999999935049,0.000238195131519,-0.000267268663941,4.1632508659e-05,1793237497602129152
+71,1.183333333,BASELINE,766.235689296,746.235689296,717,680,663,637,881,789,803.235689296,653,633,654,0.400980367057,-0.00538979498707,0.0798446020673,0.999999935026,0.000237803600487,-0.000267724068224,4.14813545817e-05,1793237497618796032
+72,1.200000000,BASELINE,766.82552397,746.82552397,717,680,663,637,881,789,803.82552397,653,633,654,0.400980599025,-0.00539066632545,0.0798447555579,0.99999993525,0.000236390079658,-0.000268146584785,4.1445374333e-05,1793237497635462656
+73,1.216666667,BASELINE,767,746.591565382,717,679.591565382,663,637,881.408434618,788.591565382,804,653,633,654,0.400980642418,-0.0053906265213,0.0798447576931,0.999999935231,0.000236153283704,-0.000268425972956,4.14311830557e-05,1793237497652129280
+74,1.233333333,BASELINE,767,746.011563282,717,679.011563282,663,637,881.988436718,788.011563282,804,653,633,654,0.400980606598,-0.00539020398159,0.0798446962496,0.999999935112,0.000236410784144,-0.000268645238437,4.14261444791e-05,1793237497668795904
+75,1.250000000,BASELINE,767,746.56351348,717,679.56351348,663,637,881.43648652,788.56351348,804,653,633,654,0.400981304496,-0.005391057881,0.0798447521841,0.999999935831,0.000234411538689,-0.000267721106758,4.14013148402e-05,1793237497685462528
+76,1.266666667,BASELINE,767,746.858472972,717,680,663,637,880.858472972,788.858472972,804,653,633,654,0.400981732214,-0.005391195968,0.0798447466088,0.999999936165,0.000233549982627,-0.000267246535744,4.12788240853e-05,1793237497702129152
+77,1.283333333,BASELINE,767,746.270887654,717,680,663,637,880.270887654,788.270887654,804,653,633,654,0.400981261354,-0.0053889961537,0.0798445396442,0.999999935236,0.000236418831011,-0.000268262176359,4.08497984517e-05,1793237497718795776
+78,1.300000000,BASELINE,766.688110988,746,716.688110988,680,663,637,880.311889012,788,804,653,633,654,0.400980946196,-0.00538869854003,0.0798445631555,0.999999934879,0.000237556552958,-0.000268572518012,4.09704368238e-05,1793237497735462912
+79,1.316666667,BASELINE,766.109447438,746,716.109447438,680,663,637,880.890552562,788,804,653,633,654,0.400980764219,-0.00539002797543,0.0798447838045,0.999999935014,0.000237213554247,-0.000268279581533,4.15612308062e-05,1793237497752130304
+80,1.333333333,BASELINE,766,746.468935843,716,680,663,637,880.531064157,788,803.531064157,653,633,654.468935843,0.4009807898,-0.00538997876,0.079844850916,0.999999935007,0.000237485697673,-0.000268057389158,4.16252141469e-05,1793237497768796928
+81,1.350000000,BASELINE,766,747,716.046973968,680,663,637,880.046973968,788,803.046973968,653,633,654.953026032,0.400980864383,-0.00538967213876,0.0798448583481,0.999999934981,0.000237767406011,-0.000267910198836,4.15786060242e-05,1793237497785463552
+82,1.366666667,BASELINE,766,747,716.621867279,680,663,637,880.621867279,788,803.621867279,653,633,654.378132721,0.400980945554,-0.00539008672556,0.0798445975613,0.99999993513,0.000236544040094,-0.000268420470353,4.16701224389e-05,1793237497802129920
+83,1.383333333,BASELINE,766.196264898,746.803735102,717,680,663,637,881,788.196264898,803.803735102,653,632.803735102,654,0.400980993617,-0.00539004230069,0.0798446228514,0.999999935154,0.000236275533198,-0.000268566400956,4.16783158773e-05,1793237497818796288
+84,1.400000000,BASELINE,766.769710002,746.230289998,717,680,663,637,881,788.769710002,803.230289998,653,632.230289998,654,0.400980978054,-0.00538911575117,0.0798451979215,0.999999934938,0.000237842066015,-0.000268012144389,4.15263799459e-05,1793237497835462912
+85,1.416666667,BASELINE,767,746,717,680,663,637,881,788.644776985,803.355223015,653,632.355223015,654,0.400981131686,-0.00538939557553,0.079845503864,0.999999935139,0.000237499728241,-0.000267558024798,4.15726871474e-05,1793237497852129536
+86,1.433333333,BASELINE,767,746,717,680,663,637,881,788.051165282,803.948834718,653,632.948834718,654,0.400981398865,-0.00539048499245,0.0798456291961,0.999999935619,0.000235876355263,-0.000267171106748,4.17520344995e-05,1793237497868796160
+87,1.450000000,BASELINE,767,746.527054969,717,680,663,637,881,788,804,653,633,654.527054969,0.400981550242,-0.00538963106033,0.0798461023066,0.999999935609,0.000236399839503,-0.000266761368217,4.16694766352e-05,1793237497885463296
+88,1.466666667,BASELINE,767,747,717,680,663,637,881.103086271,788.103086271,804,653,633,654.896913729,0.400981341967,-0.00538894890116,0.0798462337704,0.999999935486,0.000236882491148,-0.00026681286017,4.15444642815e-05,1793237497902130432
+89,1.483333333,BASELINE,767,747,717,680,663,637,881.675759504,788.675759504,804,653,633,654.324240496,0.400979545142,-0.00538988421242,0.0798446595079,0.999999935063,0.000236256701433,-0.000268975191961,4.13385922674e-05,1793237497918797312
+90,1.500000000,BASELINE,767,747,717,680,663.257672349,637,881.742327651,789,804,653,632.742327651,654,0.400979051764,-0.00538984715685,0.0798442860904,0.999999934885,0.000236307930266,-0.000269600763358,4.12882147426e-05,1793237497935463936
+91,1.516666667,BASELINE,767,747,717,680,663.851644172,637,881.148355828,789,804,653,632.148355828,654,0.400980259574,-0.00538854102264,0.0798454799483,0.999999935028,0.000237242765725,-0.000268220641251,4.14407799057e-05,1793237497952130304
+92,1.533333333,BASELINE,767,747,716.566322994,679.566322994,663.566322994,637,880.566322994,789,804,653,632,654,0.400980546805,-0.00538874888425,0.079845325624,0.999999935162,0.000236671563597,-0.000268211188934,4.15383302061e-05,1793237497968796672
+93,1.550000000,BASELINE,767,746.988342142,716.011657858,679,663,637,880.011657858,789,803.988342142,653.011657858,632.011657858,654.011657858,0.400980539626,-0.0053894793109,0.0798447481655,0.999999935305,0.000235580746264,-0.000268626044897,4.16144699956e-05,1793237497985463040
+94,1.566666667,BASELINE,767,746.414090018,716.585909982,679,663,637,880.585909982,789,803.414090018,653.585909982,632.585909982,654.585909982,0.400981114997,-0.0053911035335,0.0798454112802,0.999999936073,0.00023361062856,-0.000267495687834,4.15412583249e-05,1793237498002129408
+95,1.583333333,BASELINE,767,746.164857075,717,679.164857075,663,637,881,789,803.164857075,653.835142925,633,655,0.400980671453,-0.00539217191184,0.0798453467997,0.999999936496,0.000231896161812,-0.000267438528671,4.13321561368e-05,1793237498018796032
+96,1.600000000,BASELINE,767,746.755942868,717,679.755942868,663,637,881,789,803.755942868,653.244057132,633,655,0.400977593565,-0.00539180318635,0.0798434011627,0.999999936033,0.000230842665837,-0.000270156062214,4.07717166252e-05,1793237498035463168
+97,1.616666667,BASELINE,767,747,717,680,663,637,881,789,804,653,633,654.659950822,0.400977074202,-0.00539083669091,0.0798427942789,0.99999993563,0.00023156324899,-0.000271056699974,4.05790439848e-05,1793237498052129792
+98,1.633333333,BASELINE,767,747,717,680,663,637,881,789,804,653,633,654.080753054,0.400978354189,-0.00538944979794,0.0798431289089,0.999999935272,0.000233531500337,-0.000270679557492,4.064501317e-05,1793237498068796160
+99,1.650000000,BASELINE,766.500948159,747,717,680,663,637,881,789,804,653,633,654,0.400980115779,-0.00538916860577,0.0798443437024,0.999999935252,0.000235449493618,-0.00026901559035,4.11140548046e-05,1793237498085463296
+100,1.666666667,BASELINE,766.077693522,747,717,680,663.077693522,637,881,789,804,653.077693522,632.922306478,654,0.40098152131,-0.00538935566305,0.0798454111503,0.999999935344,0.000236622157727,-0.000267574336125,4.15416962607e-05,1793237498102129920
+101,1.683333333,BASELINE,766.648330867,747,717,680,663.648330867,637,881,789,804,653.648330867,632.351669133,654,0.400980172709,-0.00539137707347,0.0798446390033,0.99999993583,0.000233117575887,-0.000268868871913,4.12923433683e-05,1793237498118796032
+102,1.700000000,BASELINE,767,747,717,680,663.773792305,637,880.773792305,789,804,653.773792305,632.226207695,654.226207695,0.400979805604,-0.00539222717463,0.0798446576838,0.99999993611,0.000232138258306,-0.00026868064675,4.12634877634e-05,1793237498135462656
+103,1.716666667,BASELINE,767,747,717,680,663.184288721,637,880.184288721,789,804,653.184288721,632.815711279,654.815711279,0.400981014811,-0.00539119612012,0.0798459464552,0.999999936065,0.000235214586154,-0.000266111065868,4.15887569989e-05,1793237498152129280
+104,1.733333333,BASELINE,767,746.60149375,717,680,663,637,880,789,803.60149375,653,632.60149375,654.60149375,0.40098033325,-0.00539111355029,0.0798451388154,0.999999935749,0.000234966854844,-0.000267541363301,4.13989948223e-05,1793237498168795648
+105,1.750000000,BASELINE,767,746.021749756,717,680,663,637,880,789,803.021749756,653,632.021749756,654.021749756,0.400978791781,-0.00539146234429,0.079843377743,0.999999935304,0.000233207365881,-0.000270790776063,4.09750001349e-05,1793237498185462272
+106,1.766666667,BASELINE,766.448249639,746.551750361,717,680,663,637,880,789,803,653,632.551750361,654,0.400980508758,-0.0053906224368,0.0798448343899,0.999999935127,0.000236269196148,-0.000268720821094,4.13668384065e-05,1793237498202129152
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,880,789,804,653,633,654,0.400980072179,-0.00538975163385,0.0798450870459,0.99999993505,0.000237097932442,-0.000268236953178,4.16354308693e-05,1793237498244400640
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,717,679.40083279,663,637,880,789,804,653,632.40083279,654,0.400980623119,-0.00539039271464,0.0798459492251,0.999999935132,0.00023691350732,-0.000268069063982,4.17917613933e-05,1793237498261067008
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746.19049284,717,679.19049284,663.19049284,637,880.19049284,789,804,653,632.19049284,654,0.400981031413,-0.00539098366688,0.0798463586021,0.999999935411,0.000236019230474,-0.00026781268172,4.18303071901e-05,1793237498277733888
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746.765970781,717,679.765970781,663.765970781,637,880.765970781,789,804,653,632.765970781,654,0.400981151419,-0.00539147330965,0.0798458528684,0.999999936082,0.000233690346716,-0.000267377455376,4.16308106549e-05,1793237498294400512
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746.658900769,717,680,663.658900769,637,881,789,804,653,632.658900769,654,0.400980854076,-0.00539082399331,0.0798450876334,0.99999993601,0.000233456011125,-0.000267903662243,4.12960514081e-05,1793237498311066880
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746.084011895,717,680,663.084011895,637,881,789,804,653,632.084011895,654,0.40098027068,-0.0053893940336,0.079844144536,0.999999935428,0.000234657280392,-0.000269088836106,4.086858302e-05,1793237498327733760
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,717,680.503734202,663.503734202,637,881.503734202,789,804,653,632.503734202,654,0.400979529169,-0.00538972864782,0.0798441782792,0.999999934952,0.000236624790068,-0.000269084072412,4.12239500739e-05,1793237498344400640
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+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746.670840029,717,680.329159971,663.329159971,637,881.329159971,789,804,653,633,654,0.400980112212,-0.00539020862012,0.0798453861991,0.999999935447,0.000236039690092,-0.000267747987234,4.12667786405e-05,1793237498377733888
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,747,716.752115918,680,663,637,881,789,804.247884082,653.247884082,633,654.247884082,0.400981816537,-0.00539052884543,0.0798461741925,0.99999993601,0.000234623797672,-0.000266899197664,4.11899268358e-05,1793237498394400256
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,747,716.177533198,680,663,637,881,789,804.822466802,653.822466802,633,654.822466802,0.400984368633,-0.00539133429224,0.0798468191344,0.999999936315,0.000234015151193,-0.000266251934317,4.14312546e-05,1793237498411066880
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+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,716.564171624,679.564171624,663,637,881,788.564171624,804,653,633,654,0.401052733847,-0.00539423963624,0.0798779548547,0.999999949712,0.000232047094971,-0.000211973475163,4.23871363126e-05,1793237498461066752
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,716.848977167,680,663,637,881,789,804,653,633,654,0.401095766715,-0.00539546850798,0.0798945025614,0.999999955884,0.000231612147282,-0.000181017179228,4.26798515111e-05,1793237498477733632
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,716.270594916,680,663,637,881,789,804,653,633,654,0.401154042547,-0.00539605903071,0.0799147425227,0.999999961765,0.000232212228897,-0.000143921561377,4.28233809087e-05,1793237498494400256
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746.307074508,716.307074508,680,663,637,881.307074508,788.692925492,803.692925492,653,633,654,0.401216130635,-0.00539656796027,0.0799301139384,0.999999965149,0.000232730760884,-0.000117236998682,4.23442307354e-05,1793237498511067136
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746.884117207,716.884117207,680,663,637,881.884117207,788.115882793,803.115882793,653,633,654,0.40128157031,-0.00539700515617,0.0799412051133,0.99999996699,0.000233177597664,-9.97054407693e-05,4.13176444606e-05,1793237498527734016
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746.539344672,716.539344672,680,663,637,882,788.460655328,803.460655328,653,633,654,0.401350447031,-0.0053970245044,0.0799436328139,0.99999996752,0.000232855719899,-9.59356772087e-05,3.9178016907e-05,1793237498544400384
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716,679.962020909,663,637,881.924041819,788.962020909,804,653,632.962020909,654.037979091,0.40142152996,-0.00539695495448,0.0799440303092,0.999999967828,0.000232187970869,-9.53111826242e-05,3.67125015304e-05,1793237498561067008
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,716,679.371420527,663,637,880.742841055,788.371420527,804,653,632.371420527,654.628579473,0.401512147583,-0.00539711968373,0.0799465638451,0.999999969085,0.000229298269178,-9.0134215493e-05,3.35747927057e-05,1793237498577733632
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746.214871095,716.214871095,679.214871095,663,637,880,788,804,653,632,654.785128905,0.401612669614,-0.00539821995204,0.0799500513579,0.999999970223,0.0002271288715,-8.38442801604e-05,3.05899856053e-05,1793237498594400256
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746.793861069,716.793861069,679.793861069,663,637,880,788,804,653,632,654.206138931,0.401729975568,-0.00540090557753,0.0799551554722,0.99999997117,0.000226180095664,-7.56683181448e-05,2.78642848908e-05,1793237498611066880
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.633527395,746.633527395,716.633527395,680,663,637,880.366472605,788,804,653.366472605,632.366472605,654.366472605,0.401862969738,-0.00540329007859,0.079961713512,0.999999972617,0.00022362830009,-6.4618174905e-05,2.40808417261e-05,1793237498627733760
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.064442265,746.064442265,716.064442265,680,663,637,880.935557735,788,804,653.935557735,632.935557735,654.935557735,0.402004637498,-0.00540550809655,0.0799690753872,0.999999974213,0.000220190239312,-5.19789759313e-05,1.9712601884e-05,1793237498644400640
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.527273152,746,716,680,663,637,881,788.527273152,804,653.472726848,633,654.472726848,0.402164690035,-0.00540739260626,0.0799746880914,0.999999975865,0.000214986463612,-4.27888616057e-05,1.48506476759e-05,1793237498661067520
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,789,804,653,633,654,0.402330898153,-0.00540920992032,0.0799790027006,0.999999977423,0.000209283476523,-3.55371624255e-05,9.61035379064e-06,1793237498677733888
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,789,804,653,633,654,0.402511875805,-0.00541093179213,0.079979148789,0.999999978907,0.000202518770799,-3.40956071629e-05,3.14713898839e-06,1793237498694400512
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.725159137,746,716,679.725159137,663,637,881,789,804,653,633,654,0.402700693162,-0.00541401505085,0.0799757633662,0.999999980472,0.000193387551178,-4.05667034515e-05,-3.38803015819e-06,1793237498711067136
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.147302679,746,716,679.147302679,663,637,881,789,804,653,633,654,0.402898153885,-0.00541859925608,0.079968484407,0.999999981897,0.000181647219822,-5.57616002127e-05,-1.00025295091e-05,1793237498727733504
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746.42396153,716.42396153,679,663,637,881,789,804,653,632.57603847,654,0.403131191878,-0.00542068171584,0.0799666376928,0.999999984733,0.000164198089271,-5.71686735582e-05,-1.74451895062e-05,1793237498744400384
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746.992970363,716.992970363,679,663,637,881,789,804,653,632.007029637,654,0.403376401695,-0.00542190826901,0.0799666494788,0.99999998775,0.000144795843217,-5.38586049498e-05,-2.51711827743e-05,1793237498761067264
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.591715497,746.408284503,717,679.591715497,663,637,881,789,804,653,632.591715497,654,0.403655522521,-0.00542630586995,0.0799694895703,0.99999999134,0.00012019936674,-4.77214203682e-05,-2.43872397105e-05,1793237498777733632
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,717,680,662.816357948,637,881,788.816357948,804,653,633,654,0.403942975447,-0.0054347459931,0.0799718076929,0.999999993462,0.00010314523245,-4.37874625761e-05,-2.2805882448e-05,1793237498794400256
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,717,680,662.239815566,637,881,788.239815566,804,653,633,654,0.404247347242,-0.00545175018703,0.0799729333759,0.999999993569,0.000102366876475,-4.46429473347e-05,-1.97462108479e-05,1793237498811067136
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,717,679.663521272,662.336478728,637,881,788.336478728,804,653,633,654,0.404580605444,-0.00546754092065,0.0799755471954,0.999999995643,8.29026116541e-05,-3.78788467885e-05,-2.01656750355e-05,1793237498827733760
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,717,679.087403605,662.912596395,637,881,788.912596395,804,653,633,654,0.404934436472,-0.00548246743397,0.0799792208604,0.999999998148,5.01303096696e-05,-2.56881050728e-05,-2.30629668704e-05,1793237498844400384
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,717,679.496863201,663.496863201,637,881,789,804,653,633,654.496863201,0.405304419797,-0.00547679492306,0.0799760900781,0.999999997547,5.91139490086e-05,-2.83745876192e-05,-2.46324903526e-05,1793237498861067008
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,717,680,664,637,881.081760021,788.918239979,804,653,633,654.918239979,0.405681632518,-0.00546987232395,0.079971227769,0.99999999646,7.1893902153e-05,-3.50751182496e-05,-2.60771387885e-05,1793237498877733632
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,717,680,664,637,881.661616362,788.338383638,804,653,633,654.338383638,0.406085289414,-0.00547777761568,0.079963230475,0.99999999641,6.23065161715e-05,-5.00204650245e-05,-2.82076961757e-05,1793237498894400256
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.760497257,746.239502743,717,680,663.760497257,637.239502743,881.760497257,788.239502743,804,653,633,654,0.406500483919,-0.00548242268524,0.0799572991081,0.999999995905,5.93559926582e-05,-6.18506137634e-05,-2.90000369584e-05,1793237498911066880
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.185371477,746.814628523,717,680,663.185371477,637.814628523,881.185371477,788.814628523,804,653,633,654,0.40693184643,-0.00548249909826,0.0799542627929,0.999999995049,6.57059224034e-05,-6.93153326212e-05,-2.79170908805e-05,1793237498927733760
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.397222317,747,717,680,663,637.602777683,881,789,804,653,632.602777683,654,0.407391845633,-0.00548254675836,0.0799557565182,0.999999995095,6.42515259898e-05,-6.93011542415e-05,-2.96395566464e-05,1793237498944400640
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.983367965,747,717,680,663,637.016632035,881,789,804,653,632.016632035,654,0.40786546475,-0.00548258074325,0.0799594047811,0.99999999556,5.90853054701e-05,-6.57299293215e-05,-3.26963073751e-05,1793237498961067008
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746.434930808,717,680,663,637,881,789,804,653,632.565069192,654,0.408362229301,-0.00548911690768,0.0799530585484,0.999999995288,5.01793238151e-05,-7.61490723147e-05,-3.3286752669e-05,1793237498977733632
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881,789,804,653,632.854723021,654,0.408874452498,-0.00549405978466,0.0799507407874,0.999999995314,4.29256826933e-05,-7.97825391842e-05,-3.41174635533e-05,1793237498994400256
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881,789,804,653,632.278559865,654,0.409430520573,-0.00549371382408,0.0799612370275,0.999999996593,4.08967543073e-05,-6.20781236231e-05,-3.58744191571e-05,1793237499011066880
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.702718598,746.297281402,717,680,663,636.702718598,880.702718598,789,804,653,632.297281402,654,0.410014744364,-0.0054972293319,0.0799825014799,0.999999998406,3.46498775749e-05,-2.51749118658e-05,-3.67967323046e-05,1793237499027733760
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.127178554,746.872821446,717,680,663,636.127178554,880.127178554,789,804,653,632.872821446,654,0.410625322279,-0.00550435921631,0.0800138450981,0.999999998578,2.44549547769e-05,2.96985850926e-05,-3.69378111163e-05,1793237499044400640
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.447818462,747,717,680,663,636.447818462,880.447818462,789,804,653,632.552181538,654,0.411213393448,-0.00550785858739,0.0800144846086,0.999999998687,2.02847917295e-05,2.84478300234e-05,-3.7477705043e-05,1793237499061067264
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,747,717,680,663,637,881,788.976658142,804,653,632,654.023341858,0.411795885735,-0.00551032637856,0.0800056437959,0.99999999906,1.76367322962e-05,1.03349827877e-05,-3.82394765077e-05,1793237499077734400
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,747,717,680,663,637,881,788.384554588,804,653,632,654.615445412,0.412397998829,-0.00551275084496,0.0799780151745,0.999999998606,1.04362457011e-05,-3.07396507538e-05,-4.1651187025e-05,1793237499094401280
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.798496964,747,717,680,663.201503036,637,881,788,804,653,632,654.798496964,0.413016137031,-0.00551527793855,0.079955186573,0.999999997164,2.06451924308e-06,-6.01496004673e-05,-4.52723610397e-05,1793237499111067904
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.223641502,747,717,680,663.776358498,637,881,788,804,653,632,654.223641502,0.413663967122,-0.00551799518352,0.0799412516309,0.999999996441,-8.4773241644e-06,-6.79467814999e-05,-4.92816368265e-05,1793237499127734016
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746.640464332,716.640464332,680,664,637,881,788,804,653,632,654,0.414334450149,-0.00552155221307,0.0799493448625,0.999999997394,-1.33752347545e-05,-5.06000204404e-05,-4.97324883632e-05,1793237499144400384
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746.051988194,716.051988194,680,664,637,881,788,804,653,632,654,0.415019357794,-0.00552564398967,0.07997146491,0.999999998596,-1.46792744366e-05,-1.7242425014e-05,-4.79174523663e-05,1793237499161067008
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.528278807,746.528278807,716.528278807,680,663.471721193,637,881,788.528278807,804,653,632.528278807,654,0.415736548832,-0.00552953691489,0.0799845602517,0.999999998544,-2.23941987675e-05,-5.33135009631e-07,-4.91021751794e-05,1793237499177733888
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.892238549,747,716.892238549,680,663.107761451,637,881,788.892238549,804,653,633,654,0.416450976467,-0.00553309670041,0.0799908865064,0.999999998235,-3.06974692646e-05,5.38762643505e-06,-5.05875071698e-05,1793237499194400512
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.312707271,747,716.312707271,680,663.687292729,637,881,788.312707271,804,653,633,654,0.417139610064,-0.00553528239026,0.0799714069508,0.999999997471,-3.88567104056e-05,-2.88599376015e-05,-5.21162610463e-05,1793237499211067392
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746.734978255,716.265021745,680,664,637,881,788.265021745,804,653,632.734978255,654,0.417871596369,-0.00553861524536,0.0799733009659,0.999999997284,-4.61218678465e-05,-2.1531050276e-05,-5.33086525421e-05,1793237499227734272
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746.159361346,716.840638654,680,664,637,881,788.840638654,804,653,632.159361346,654,0.418654390447,-0.00554329253374,0.0800002439711,0.999999996571,-5.23391950112e-05,3.45238146659e-05,-5.41068405601e-05,1793237499244400896
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.41381216,746,716.58618784,680,664,637,881,789,804,652.58618784,632,654,0.419410392166,-0.00554746267555,0.0800125153464,0.999999995122,-5.7846672783e-05,5.88314114775e-05,-5.4292174377e-05,1793237499261067520
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.986050187,746,716.013949813,680,664,637,881,789,804,652.013949813,632,654,0.42015613652,-0.00555143865863,0.0800191697618,0.99999999402,-6.30823880107e-05,7.0984725928e-05,-5.42428800877e-05,1793237499277733888
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746.579718152,716.579718152,680.579718152,664,637,881.579718152,789,804,652.579718152,632.579718152,654,0.420905468272,-0.0055541843832,0.0799974402257,0.99999999581,-6.52208492369e-05,3.53030368203e-05,-5.36607253333e-05,1793237499294400512
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,747,717,681,663.830936594,637,882,789,804,653,633,654.169063406,0.421666210685,-0.00555288256996,0.0799859195371,0.99999999631,-6.52180596052e-05,1.58677382983e-05,-5.3623426023e-05,1793237499311067136
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,747,717,681,663.253331166,637,882,789,804,653,633,654.746668834,0.422454310328,-0.0055418741579,0.0800007823867,0.999999995933,-6.0227947386e-05,3.85801775638e-05,-5.49349454369e-05,1793237499327733760
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,747,716.678014459,680.678014459,663.321985541,637,881.678014459,789,804,653,632.678014459,654.678014459,0.423244570242,-0.00552661157788,0.0800171531425,0.999999995682,-4.12657666105e-05,6.27533103139e-05,-5.47361012426e-05,1793237499344400384
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,747,716.104485784,680.104485784,663.895514216,637,881.104485784,789,804,653,632.104485784,654.104485784,0.424036517777,-0.0055080255363,0.0800347019115,0.999999994634,-1.13882576833e-05,8.80675721156e-05,-5.33573232263e-05,1793237499361067008
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,747,716,680.48195711,664,637,881.48195711,789,804,653,632,654,0.424754275368,-0.00550970815319,0.0800034379603,0.999999998145,-1.47594912484e-05,2.30367599594e-05,-5.44238121025e-05,1793237499377734144
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,747,716.070449963,681,664,637,882,788.929550037,804,652.929550037,632.070449963,654,0.425468694839,-0.00551625462576,0.0799640519255,0.99999999668,-2.590389392e-05,-5.30849755292e-05,-5.61295943439e-05,1793237499394401280
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,747,716.652932839,681,664,637,882,788.347067161,804,652.347067161,632.652932839,654,0.426278969992,-0.00552533569172,0.0799446648199,0.99999999548,-3.97124072391e-05,-6.35422050684e-05,-5.85227627037e-05,1793237499411067904
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,747,716.768283688,681,664,637,882,788.231716312,804.231716312,652.231716312,632.768283688,654,0.427078785524,-0.00553119159043,0.0799377541918,0.99999999511,-4.72380464167e-05,-6.31888706782e-05,-5.96347134099e-05,1793237499427734528
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,747,716.194954062,681,664,637,882,788.805045938,804.805045938,652.805045938,632.194954062,654,0.427863180829,-0.00553229271052,0.0799492373061,0.999999996133,-4.55010102184e-05,-4.68978054891e-05,-5.88577987203e-05,1793237499444401408
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,747,716,681,664,637,881.62029071,789,804.62029071,653,632,654,0.428637592381,-0.00553603226865,0.0799581309208,0.999999996267,-4.98542556561e-05,-4.00242948905e-05,-5.81285779219e-05,1793237499461067776
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,747,716,681,664,637,881.044940204,789,804.044940204,653,632,654,0.429406859863,-0.00554113125413,0.0799656903224,0.999999995985,-5.73454547195e-05,-3.80030811655e-05,-5.74239309483e-05,1793237499477734144
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.455009144,747,716,681,664,637,881.544990856,789,804.544990856,653,632.544990856,654,0.430191699783,-0.00554263398407,0.0799896066046,0.999999996384,-6.21038926845e-05,-1.23217937193e-06,-5.80886734848e-05,1793237499494401024
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.133484409,746.866515591,716.133484409,681,664,637,882,789,804.866515591,652.866515591,633,654,0.430979711645,-0.00554338457255,0.0800137753776,0.999999995585,-6.4854112911e-05,3.5340371865e-05,-5.80925425045e-05,1793237499511067648
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.713045739,746.286954261,716.713045739,681,664,637,882,789,804.286954261,652.286954261,633,654,0.431773914245,-0.00554263990814,0.0800341566225,0.999999994673,-6.16670462338e-05,6.14110243513e-05,-5.55001810172e-05,1793237499527734528
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746.290514814,716.709485186,681,664.290514814,637,882,789,804.290514814,652.290514814,632.709485186,654,0.432510297163,-0.00553776989772,0.0800231968982,0.999999996224,-5.49334091337e-05,3.82595071059e-05,-5.54193499492e-05,1793237499544401408
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746.865932018,716.134067982,681,664.865932018,637,882,789,804.865932018,652.865932018,632.134067982,654,0.433189977366,-0.00552885423846,0.0799815016762,0.99999999678,-4.47217174077e-05,-3.31632639169e-05,-5.78015292865e-05,1793237499561067776
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.548884891,747,716,681.451115109,664.548884891,637,882,789,805,653,632,654,0.43387194003,-0.00552462656764,0.0799420001671,0.99999999386,-4.48999421281e-05,-8.12022550218e-05,-6.05771054783e-05,1793237499577734144
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.038679896,746.961320104,716,681.961320104,664,637,882,788.961320104,804.961320104,653,632.038679896,654,0.434559466072,-0.00552252869254,0.0799082224416,0.999999990144,-4.85327703388e-05,-0.0001156267323,-6.31444165088e-05,1793237499594401024
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+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,716,681,664,637,882,788.1964112,804,653,633,654,0.436056992829,-0.005537535207,0.0799783792804,0.999999996108,-6.39708069006e-05,-1.27496190664e-05,-5.94037297863e-05,1793237499627734016
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,716,681,664,637,882,788.772733025,804,653,633,654,0.43677245356,-0.00554375150315,0.0800044918625,0.999999995672,-7.12701833508e-05,1.35759720362e-05,-5.82355082318e-05,1793237499644400640
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.652050024,746.347949976,716,681,664,637,882,789,804,653,633,654,0.437460029855,-0.00554834090884,0.0800180162989,0.999999994745,-7.8173094109e-05,3.15590320933e-05,-5.83360227177e-05,1793237499661067264
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.077552483,746.922447517,716,681,664,637,882,789,804,653,633,654,0.438129450765,-0.00555187105822,0.0800233446885,0.999999993674,-8.4817868666e-05,4.41103325034e-05,-5.92626016031e-05,1793237499677734144
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+196,3.266666667,POSE1_TO_POSE2_PRESS,767,747,717,682,664.676302855,637,882,789,805,653,633,654,0.439969637525,-0.00556088353927,0.0799972759343,0.99999999359,-9.47221249446e-05,1.68659297534e-05,-5.96922190268e-05,1793237499727734016
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,747,717,682,664.745349311,637,882,789,804.745349311,653,633,654,0.440532811151,-0.00556361844561,0.0799621182913,0.999999992596,-9.82968507048e-05,-3.72768390516e-05,-6.1293629373e-05,1793237499744400640
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,747,717,682,664.168327434,637,882,789,804.168327434,653,633,654,0.441054769998,-0.00556717284965,0.0799084485727,0.999999984804,-0.000105149307063,-0.000123146796654,-6.45837809132e-05,1793237499761067008
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,747,717,682,664.414822021,637,882,788.585177979,804,652.585177979,633,654,0.441562857155,-0.00556828161843,0.0798747161148,0.999999976992,-0.000105938143439,-0.000174567462275,-6.57141708472e-05,1793237499777733888
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.051529954,746,716.051529954,681.051529954,663,637,882,788.948470046,804,653,633,654,0.421274120842,-0.00539461729361,0.079857330307,0.999999952829,0.0002012960173,-0.000226731516981,4.91325164036e-05,1793237502406458880
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.524275814,746,716,681,663,637,881.475724186,789,804,653,633,654.524275814,0.42052797128,-0.00539132421455,0.0798698800782,0.999999956082,0.000207580050244,-0.00020567903621,4.9421152064e-05,1793237502423125504
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,663,637,881,788.324898133,804,653,632.324898133,654.324898133,0.418956490836,-0.00538470800751,0.0798274613989,0.999999938441,0.000214482650923,-0.000273900870117,4.5759234944e-05,1793237502456459520
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746,716.255656203,681,663,637,881.255656203,788,804,653,632.255656203,654,0.418186733723,-0.00538354516082,0.0798029764273,0.999999927255,0.00021308063037,-0.000313248764923,4.42996436761e-05,1793237502473126912
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.574228179,746,717,681,662.574228179,637,881.148456359,788,804,653,633,654,0.41675879009,-0.00539451553615,0.0798168195855,0.999999934098,0.000198673430107,-0.000300395026476,4.57681496287e-05,1793237502506460416
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,746.006994428,716.993005572,681,662,637,880,788,804,653,633,654,0.416047320328,-0.00540721495354,0.0798365418656,0.999999941643,0.000186423201864,-0.00028249075191,4.64721407449e-05,1793237502523126272
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.268386337,746.268386337,716,680.268386337,662.731613663,637,880.731613663,788,804,653,633,654,0.413976634406,-0.00541616600509,0.0798108513714,0.999999936445,0.000180370253782,-0.000304121212623,4.56846856249e-05,1793237502573125888
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746,716,680,662.48688925,637,880.48688925,788.51311075,804,653,633,654,0.412064388344,-0.00541346351213,0.0798188699784,0.999999935637,0.000191832746025,-0.000299619312828,4.64216594685e-05,1793237502623126272
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,746,716,680,663,637,881,788.641222805,804,653,633,654,0.410820323603,-0.00540381306042,0.0797990961358,0.999999922622,0.000201937403631,-0.00033457811098,4.51027458031e-05,1793237502656459776
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,746.221737851,716,680,663,637,881.221737851,788.778262149,804,653,633,654,0.410246288663,-0.0054010031393,0.0798052478233,0.999999926235,0.000204934124137,-0.000321699317023,4.5174877142e-05,1793237502673126144
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,746.809125294,716,680,663,637,881.809125294,788.190874706,804,653,633,654,0.409708213589,-0.00540365073234,0.0798231375397,0.999999936231,0.00020213777728,-0.000290763370007,4.62044394183e-05,1793237502689792512
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,747,716,680,663,637,881.608901516,788,804,653,633,654,0.409184698328,-0.00540295977098,0.0798420989858,0.999999944159,0.000204306520846,-0.000260219097599,4.71792693471e-05,1793237502706458880
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.123240212,746,716,679.123240212,662.876759788,637,881,788,803.876759788,653,632.123240212,654,0.407614796949,-0.00539481354616,0.0798170830157,0.99999992467,0.000222089763419,-0.000314838758183,4.70347653263e-05,1793237502756459264
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,716.604123164,679.604123164,663,636.604123164,880,788,803.395876836,653,632.395876836,654,0.405114636664,-0.00539205766134,0.0798271917309,0.999999933809,0.000222208139252,-0.000284535063461,4.52199241249e-05,1793237502856459264
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.936179529,746,716,679.063820471,663,637,880.063820471,788,804,653,632.936179529,654,0.403780393386,-0.00538851619264,0.0798328439235,0.999999932948,0.000215794629261,-0.000292692745175,4.3210776701e-05,1793237502923126272
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,746,716,680,663,637,880.90859116,788.90859116,804,653,632.90859116,654.90859116,0.403247560297,-0.00538950557577,0.0798401344354,0.999999935469,0.000217973503898,-0.000282011050045,4.49290282661e-05,1793237502956460032
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,746,716,680,663,637,880.333344378,788.333344378,804,653,632.333344378,654.333344378,0.40301228108,-0.00538831925813,0.0798443596083,0.999999936264,0.000217848471448,-0.000279265613463,4.49979182206e-05,1793237502973125888
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,746,716,679.752067257,663,637,880,788.247932743,804,653,632,654,0.402785567494,-0.00538727636374,0.0798458173505,0.999999936049,0.000218764795989,-0.000279361862453,4.47366693692e-05,1793237502989792512
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,746,716,679.162480292,663,637,880,788.837519708,804,653,632,654,0.40257065746,-0.00538643110834,0.0798434615404,0.999999934435,0.000221116122662,-0.000283373987587,4.40204853745e-05,1793237503006459136
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.419713885,746,716.419713885,679.419713885,663.419713885,637.419713885,880,788.580286115,803.580286115,653,632.419713885,654,0.402386737761,-0.00538743539117,0.0798444056822,0.999999935408,0.00022011606897,-0.000280745039905,4.37654497998e-05,1793237503023125760
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,717,680,663.426860856,636.853721713,880,788.573139144,804.146278287,653,633,654,0.402068796846,-0.00538896673891,0.0798501278842,0.999999938748,0.000219021849661,-0.000269334970621,4.46327340167e-05,1793237503056459520
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716.84921332,680,663,636.15078668,880,788.84921332,804.84921332,653,632.84921332,654,0.401928096503,-0.00538898870706,0.0798533995653,0.999999940273,0.000218882497431,-0.000263613753875,4.52946084863e-05,1793237503073126144
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716.261088519,680,663,636.738911481,880,788.261088519,804.261088519,653,632.261088519,654,0.40180209849,-0.00538959496193,0.0798559372269,0.999999942235,0.000214898626767,-0.000259444880243,4.51251782709e-05,1793237503089793024
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.322537724,788.322537724,803.677462276,653,632.322537724,654,0.401681033275,-0.00538962088012,0.0798540522596,0.999999941539,0.000214623371206,-0.000262540233831,4.39511894945e-05,1793237503106459648
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.902572619,788.902572619,803.097427381,653,632.902572619,654,0.401563906134,-0.00538918348808,0.0798486364979,0.999999938669,0.000217308878634,-0.000271434964274,4.19752139267e-05,1793237503123125760
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.05365987,746,716.05365987,680,663,637,880.05365987,788,804,653,632,654.05365987,0.401378606595,-0.00538861863973,0.0798403992871,0.999999931634,0.000234496600372,-0.000283180833536,3.93914821439e-05,1793237503156459264
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.629215893,746,716.629215893,680,663,637,880.629215893,788,804,653,632,654.629215893,0.401307567167,-0.00538936690374,0.079838429239,0.999999931746,0.000231088547829,-0.000285592692641,3.92839950456e-05,1793237503173126912
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+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,716.890244328,679.890244328,663,637,881,788.109755672,804,653,632.109755672,654,0.401050598776,-0.00539016022558,0.0798359930192,0.999999931576,0.000228721329415,-0.000287742373718,4.1701263667e-05,1793237503273125888
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diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5833447fcae8c813efc6768582eebcad540c2360
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_02/simulation_data.csv
@@ -0,0 +1,441 @@
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+403,6.716666667,pose2_to_pose3_retreat,0.578439571203,1.15954378291e-06,1.07001164613,0.549010808436,0.0086748336377,1.06966118419
+404,6.733333333,pose2_to_pose3_retreat,0.578398198163,1.25187313607e-06,1.07001164869,0.548969433727,0.00867492013774,1.06966118257
+405,6.750000000,pose2_to_pose3_retreat,0.578364030005,1.26555465278e-06,1.07001152542,0.548935265088,0.0086749324641,1.06966106612
+406,6.766666667,pose2_to_pose3_retreat,0.57833593941,1.36657701841e-06,1.07001169747,0.548907172267,0.00867502589297,1.06966123716
+407,6.783333333,pose2_to_pose3_retreat,0.578312997855,1.34404156681e-06,1.0700117939,0.54888423111,0.008675004422,1.06966132646
+408,6.800000000,pose2_to_pose3_retreat,0.578295141868,1.30097268044e-06,1.07001179687,0.548866375998,0.00867496424931,1.06966132766
+409,6.816666667,pose2_to_pose3_retreat,0.578280916687,1.31214050829e-06,1.07001171733,0.54885215085,0.00867497589634,1.06966125718
+410,6.833333333,pose2_to_pose3_retreat,0.578270299641,1.28148169304e-06,1.07001148309,0.54884153577,0.00867495230287,1.06966103274
+411,6.850000000,pose2_to_pose3_retreat,0.578263222569,1.18558756096e-06,1.0700116102,0.548834458592,0.00867485573258,1.06966115213
+412,6.866666667,pose2_to_pose3_retreat,0.578258828658,1.17782038583e-06,1.07001156835,0.548830065145,0.008674849492,1.06966110904
+413,6.883333333,pose2_to_pose3_retreat,0.578256463911,1.18816704294e-06,1.0700115267,0.548827700727,0.0086748609515,1.06966106728
+414,6.900000000,pose2_to_pose3_retreat,0.578255268297,1.19598623105e-06,1.07001159426,0.548826504853,0.00867486777618,1.06966113206
+415,6.916666667,pose2_to_pose3_retreat,0.578254691807,1.19975641303e-06,1.07001162683,0.548825928237,0.00867487106684,1.06966116329
+416,6.933333333,pose2_to_pose3_retreat,0.578254518724,1.20088835476e-06,1.07001163661,0.548825755117,0.00867487205481,1.06966117267
+417,6.950000000,pose2_to_pose3_retreat,0.578254364407,1.20189757484e-06,1.07001164533,0.548825600766,0.00867487293567,1.06966118103
+418,6.966666667,pose2_to_pose3_retreat,0.578254363967,1.20190045131e-06,1.07001164536,0.548825600326,0.00867487293818,1.06966118105
+419,6.983333333,pose2_to_pose3_retreat,0.578254332571,1.20210578077e-06,1.07001164713,0.548825568923,0.0086748731174,1.06966118275
+420,7.000000000,pose2_to_pose3_retreat,0.578254276919,1.20246973446e-06,1.07001165028,0.548825513259,0.00867487343506,1.06966118577
+421,7.016666667,pose2_to_pose3_retreat,0.578254065153,1.20385466046e-06,1.07001166224,0.548825301447,0.00867487464384,1.06966119724
+422,7.033333333,pose2_to_pose3_retreat,0.578253604529,1.22558582773e-06,1.07001170019,0.548824840368,0.00867489481438,1.06966123479
+423,7.050000000,pose2_to_pose3_retreat,0.578253381245,1.23876185419e-06,1.07001172026,0.548824616813,0.00867490706771,1.06966125477
+424,7.066666667,pose2_to_pose3_retreat,0.578253333787,1.24156237135e-06,1.07001172453,0.548824569298,0.00867490967212,1.06966125901
+425,7.083333333,pose2_to_pose3_retreat,0.578253323644,1.24216091504e-06,1.07001172544,0.548824559142,0.00867491022874,1.06966125992
+426,7.100000000,pose2_to_pose3_retreat,0.57825324899,1.24656623319e-06,1.07001173215,0.548824484398,0.00867491432557,1.0696612666
+427,7.116666667,pose2_to_pose3_retreat,0.578253126746,1.25377989041e-06,1.07001174314,0.548824362006,0.00867492103406,1.06966127754
+428,7.133333333,pose2_to_pose3_retreat,0.578253113607,1.25455518324e-06,1.07001174432,0.548824348852,0.00867492175506,1.06966127871
+429,7.150000000,pose2_to_pose3_retreat,0.578253047817,1.25843745666e-06,1.07001175024,0.548824282982,0.00867492536547,1.0696612846
+430,7.166666667,pose2_to_pose3_retreat,0.578253040742,1.25885497534e-06,1.07001175087,0.548824275898,0.00867492575375,1.06966128523
+431,7.183333333,pose2_to_pose3_retreat,0.578253001079,1.26119549504e-06,1.07001175444,0.548824236187,0.00867492793037,1.06966128878
+432,7.200000000,pose2_to_pose3_retreat,0.578252983465,1.26223491262e-06,1.07001175602,0.548824218552,0.00867492889699,1.06966129036
+433,7.216666667,pose2_to_pose3_retreat,0.578252827961,1.27141124084e-06,1.07001177,0.548824062859,0.00867493743072,1.06966130427
+434,7.233333333,pose2_to_pose3_retreat,0.578252484612,1.24222330047e-06,1.07001175698,0.548823719444,0.00867490792436,1.0696612889
+435,7.250000000,pose2_to_pose3_retreat,0.578252333962,1.20663086259e-06,1.07001173104,0.548823568927,0.00867487269928,1.06966126092
+436,7.266666667,pose2_to_pose3_retreat,0.578252313144,1.2017125019e-06,1.07001172745,0.548823548128,0.00867486783169,1.06966125706
+437,7.283333333,pose2_to_pose3_retreat,0.578252311532,1.20133145349e-06,1.07001172718,0.548823546516,0.00867486745457,1.06966125676
+438,7.300000000,pose2_to_pose3_retreat,0.578252217197,1.17904394086e-06,1.07001171093,0.548823452265,0.00867484539709,1.06966123924
+439,7.316666667,pose2_to_pose3_retreat,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846262,1.06966122125
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ea03db8d7c79a3f752b280031eb67c4022d98f54
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa502c3bb024ca291dd3879b1ca7b5d7f186be2fe8ecdfc058472f3132b06e75
+size 27816725
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..396875cd33e8f271551d9daf8fb1f664bdfacd5f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_03/franka_data.csv
@@ -0,0 +1,440 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,766.418333948,746,716,680,663,637,880.418333948,788,803,653,632,654.581666052,0.400984909683,-0.00539143869256,0.0798471603662,0.999999938298,0.000224288242887,-0.000267483957795,3.93950995233e-05,1793237503946875136
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+18,0.300000000,BASELINE,766,746,716.565559297,680,663,637,880.565559297,788.565559297,803.565559297,653,632.434440703,654,0.400985801021,-0.00539226071187,0.0798493678934,0.999999938833,0.000224919746406,-0.000264933917045,3.94351997354e-05,1793237504230208000
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+21,0.350000000,BASELINE,766.815831663,746,716.815831663,680.815831663,663,637,880,789,803.815831663,653,632.184168337,654,0.400981888954,-0.00539250991071,0.0798459538331,0.999999937621,0.000224782015732,-0.000269596152896,3.93616013632e-05,1793237504280208896
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+27,0.450000000,BASELINE,767,746.332328749,716,680,663,637,880.332328749,788.667671251,803.667671251,653,633,654.667671251,0.400984776779,-0.00539189080609,0.0798480963652,0.999999938256,0.000226500163555,-0.000265779807573,3.93187693509e-05,1793237504380208128
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+29,0.483333333,BASELINE,767,746,716,679.181912953,663,637,880,789,803.181912953,653,632.181912953,654.181912953,0.400984888769,-0.00539202261873,0.0798488434598,0.999999937764,0.000229917923864,-0.00026466459743,3.95279284087e-05,1793237504413541888
+30,0.500000000,BASELINE,767,746,716.401696951,679.401696951,663,637,880.401696951,789,803,653,632,654,0.400984952173,-0.00539096424307,0.0798486326928,0.99999993781,0.000229666640192,-0.000264747688013,3.92769613754e-05,1793237504430208768
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+35,0.583333333,BASELINE,766,746,716,679.698549137,663,637,880.301450863,789,804,653,632.301450863,654,0.400984439244,-0.00539201557166,0.0798481795741,0.999999937989,0.00022730388826,-0.000266090996502,3.9386727963e-05,1793237504513541376
+36,0.600000000,BASELINE,766,746,716,679.125819331,663,637,880.874180669,789,804,653,632.874180669,654,0.400984374678,-0.00539070792838,0.0798484523373,0.999999937517,0.000229958477467,-0.000265570835942,3.94526338118e-05,1793237504530208000
+37,0.616666667,BASELINE,766,746,716,679,663,637,881,789,804,653,632.537728175,654,0.400984921569,-0.00538997009333,0.0798487857269,0.99999993778,0.000229743207364,-0.00026481754079,3.91092988037e-05,1793237504546874880
+38,0.633333333,BASELINE,766.053451913,746,716,679.053451913,663,637,881,789,804,653,632.053451913,654,0.400985488625,-0.00538945305381,0.0798490326825,0.999999938152,0.000228917962736,-0.000264188135966,3.87061239253e-05,1793237504563541760
+39,0.650000000,BASELINE,766.632481392,746,716,679.632481392,663,637,881,789,804,653,632.632481392,654,0.400984561311,-0.00538952968031,0.0798482619308,0.999999937562,0.000230039408576,-0.000265422276786,3.88474284267e-05,1793237504580208128
+40,0.666666667,BASELINE,767,746.210725485,716,680,663,637,881.210725485,789,803.789274515,653,633,654,0.40098449989,-0.00538999702347,0.0798480219641,0.999999937496,0.000230101643386,-0.000265603986356,3.89445940181e-05,1793237504596875008
+41,0.683333333,BASELINE,767,746.787604865,716,680,663,637,881.787604865,789,803.212395135,653,633,654,0.400985943031,-0.00539114327087,0.0798487042829,0.999999938338,0.000228323406656,-0.000263957004835,3.89650643987e-05,1793237504613541632
+42,0.700000000,BASELINE,766.63746367,746.63746367,716,680,663,637,881.274927339,788.63746367,803,653,632.63746367,654,0.400986276579,-0.00539223160604,0.079849249491,0.999999938821,0.000226908960516,-0.000263321304808,3.91480741612e-05,1793237504630208256
+43,0.716666667,BASELINE,766.063667328,746.063667328,716,680,663,637,880.127334655,788.063667328,803,653,632.063667328,654,0.400985963535,-0.0053932861941,0.0798497148008,0.999999939094,0.000225706505343,-0.000263274906717,3.94258001456e-05,1793237504646874624
+44,0.733333333,BASELINE,766.527013198,746,716,679.472986802,663,637,880,788,803,653,632.527013198,654,0.400984101391,-0.00539282817847,0.0798479160284,0.999999938462,0.000225356265251,-0.000265994910926,3.92079109113e-05,1793237504663541248
+45,0.750000000,BASELINE,767,746,716,679.116182764,663,637,880.116182764,788.116182764,803.116182764,653,632.883817236,654,0.400982775311,-0.00539218198379,0.0798465003024,0.999999937905,0.000225444738411,-0.000268037959163,3.89851386709e-05,1793237504680207616
+46,0.766666667,BASELINE,767,746,716,679.691067091,663,637,880.691067091,788.691067091,803.691067091,653,632.308932909,654,0.400984328983,-0.00539153817185,0.0798477125066,0.999999938121,0.000226845369412,-0.000266045174455,3.89873014388e-05,1793237504696874496
+47,0.783333333,BASELINE,766.732855894,746,716,679.732855894,663,637,880.732855894,789,804,653,632.267144106,654,0.400984852486,-0.00539098242935,0.0798480952696,0.999999938017,0.000227761686288,-0.000265646232841,3.90269329388e-05,1793237504713541120
+48,0.800000000,BASELINE,766.155393363,746,716,679.155393363,663,637,880.155393363,789,804,653,632.844606637,654,0.400984179331,-0.00539052898949,0.0798475145421,0.999999937546,0.000228115417109,-0.000267098721976,3.91100886563e-05,1793237504730207744
+49,0.816666667,BASELINE,766,746,716,679.428707353,663,637,880,788.571292647,803.571292647,653,632.571292647,654,0.400984361105,-0.00539052010772,0.0798477180639,0.999999937704,0.000227941262152,-0.000266661493305,3.90681498865e-05,1793237504746874368
+50,0.833333333,BASELINE,766,746,716.015077019,680,663,637,880.015077019,788,803.015077019,653,632,654,0.400984857322,-0.00539069126429,0.0798482120065,0.999999938093,0.000227570097232,-0.000265530416314,3.89813816045e-05,1793237504763541248
+51,0.850000000,BASELINE,766,746,716.594891926,680,663,637,880.594891926,788,803.594891926,653,632,654,0.400985341769,-0.00539147541089,0.079848769006,0.999999938483,0.000227099368811,-0.000264470122111,3.8940556645e-05,1793237504780207872
+52,0.866666667,BASELINE,766.172990367,746.172990367,717,680,663,637,881,788,803.827009633,653,632,654,0.40098518204,-0.00539256504389,0.0798489956417,0.999999938776,0.000226199580808,-0.000264127251333,3.89764580679e-05,1793237504796874752
+53,0.883333333,BASELINE,766.747108657,746.747108657,717,680,663,637,881,788,803.252891343,653,632,654,0.400983528604,-0.00539436303491,0.0798484562339,0.999999938844,0.000224304894787,-0.000265447933174,3.91902716785e-05,1793237504813541632
+54,0.900000000,BASELINE,766.676591265,746.676591265,717,679.676591265,663,637,881,788.323408735,803.323408735,653,632.323408735,654,0.400983783892,-0.00539493508436,0.0798485463024,0.99999993917,0.000223192976479,-0.000265141023612,3.93190312884e-05,1793237504830208000
+55,0.916666667,BASELINE,766.098573564,746.098573564,717,679.098573564,663,637,881,788.901426436,803.901426436,653,632.901426436,654,0.400985541853,-0.00539454199062,0.0798491319369,0.999999939697,0.000222697305309,-0.000263552765281,3.9380830696e-05,1793237504846874624
+56,0.933333333,BASELINE,766.490390051,746,716.509609949,679.490390051,663,637,880.509609949,789,803.509609949,653,633,654,0.400984250769,-0.00539332795604,0.0798479409945,0.99999993855,0.000225702126162,-0.000265358074938,3.92836185152e-05,1793237504863541248
+57,0.950000000,BASELINE,767,746,716,680,663,637,880.079924249,788.920075751,803.079924249,653,632.920075751,654,0.400982845004,-0.00539208224577,0.0798468042856,0.999999937353,0.000228817428141,-0.000267212595339,3.91572283926e-05,1793237504880207872
+58,0.966666667,BASELINE,767,746,716,680,663,637,880.658967408,788.341032592,803.658967408,653,632.341032592,654,0.400984637885,-0.00539169277108,0.0798482872938,0.999999938099,0.000228128217324,-0.00026501726117,3.9052787849e-05,1793237504896874752
+59,0.983333333,BASELINE,766.764657188,746,716.235342812,679.764657188,663,637,880.764657188,788,804,653,632.235342812,654,0.400985223084,-0.00539189365807,0.0798489221713,0.999999938564,0.000227165800788,-0.000264082911823,3.90762310434e-05,1793237504913541632
+60,1.000000000,BASELINE,766.192104183,746,716.807895817,679.192104183,663,637,880.192104183,788,804,653,632.807895817,654,0.400984077861,-0.00539294044284,0.0798483418077,0.999999938632,0.000225811922213,-0.000264955360206,3.92829120261e-05,1793237504930208768
+61,1.016666667,BASELINE,766.390389879,746,717,679,663,637,880.390389879,788.390389879,804.390389879,653,632.609610121,654,0.400983304277,-0.00539274694808,0.0798477575294,0.999999938535,0.000224907587349,-0.000266113986521,3.9114733218e-05,1793237504946875392
+62,1.033333333,BASELINE,766.977903551,746,717,679,663,637,880.977903551,788.977903551,804.977903551,653,632.022096449,654,0.400982718349,-0.00539192718547,0.0798471712744,0.999999938353,0.000224230245546,-0.000267417115708,3.87572723792e-05,1793237504963541760
+63,1.050000000,BASELINE,767,746,716.441710036,679.558289964,663,637,880.441710036,789,803.883420073,653,632,654,0.400984311744,-0.00539291033369,0.079848249232,0.999999938774,0.000224691188284,-0.000265407629155,3.90384882659e-05,1793237504980208384
+64,1.066666667,BASELINE,767,746,716,680,663,637,880.137370908,788.862629092,803.137370908,653,632,654,0.400985565601,-0.0053934995368,0.0798491095202,0.999999939119,0.000224966939886,-0.000263859771228,3.91216388748e-05,1793237504996875008
+65,1.083333333,BASELINE,767,746,716,680,663,637,880.713174259,788.286825741,803.713174259,653,632,654,0.400985463975,-0.00539260655411,0.0798490675231,0.999999939156,0.000224509661064,-0.00026419841897,3.84929847215e-05,1793237505013541376
+66,1.100000000,BASELINE,767,746.286807308,716.286807308,680,663,637,880.713192692,788,804,653,632,654,0.400985655246,-0.00539288521531,0.0798493541775,0.999999939402,0.000223834358612,-0.000263841357167,3.84979181944e-05,1793237505030208000
+67,1.116666667,BASELINE,767,746.858286181,716.858286181,680,663,637,880.141713819,788,804,653,632,654,0.400986137234,-0.00539432679568,0.0798499670359,0.999999939852,0.000222942656094,-0.000262793766477,3.91317212511e-05,1793237505046874368
+68,1.133333333,BASELINE,767,746.552652365,716.552652365,680,663,637,880,788.447347635,804.447347635,653.447347635,632,654.447347635,0.400986294025,-0.0053938020234,0.0798500442507,0.999999939642,0.000224311002123,-0.000262438751767,3.90773250953e-05,1793237505063541248
+69,1.150000000,BASELINE,766.959379779,746.040620221,716.040620221,679.959379779,663,637,880.040620221,789,804.959379779,653.959379779,632.040620221,654.959379779,0.400986363471,-0.00539269278327,0.0798499849515,0.999999939241,0.000226324574399,-0.000262274556117,3.88251436322e-05,1793237505080207872
+70,1.166666667,BASELINE,766.386883553,746.613116447,716.613116447,679.386883553,663,637,880.613116447,789,804.386883553,653.386883553,632.613116447,654.386883553,0.400986693309,-0.00539242065432,0.0798504508861,0.999999939248,0.000227028516088,-0.000261618608083,3.89546023743e-05,1793237505096874752
+71,1.183333333,BASELINE,766.187834109,746.812165891,716.812165891,679.187834109,663,637,880.812165891,788.812165891,804,653,632.812165891,654,0.400986898855,-0.00539231839345,0.0798505696202,0.999999939254,0.000227160703604,-0.000261462931572,3.9083725766e-05,1793237505113541376
+72,1.200000000,BASELINE,766.767182147,746.232817853,716.232817853,679.767182147,663,637,880.232817853,788.232817853,804,653,632.232817853,654,0.400986845333,-0.00539257019879,0.0798499646634,0.999999939257,0.000226101149637,-0.000262350000963,3.9212150191e-05,1793237505130207744
+73,1.216666667,BASELINE,767,746,716,680,663,637,880.353666442,788.353666442,804,653,632,654.353666442,0.400986841979,-0.00539339113736,0.0798497346783,0.999999939446,0.00022491339727,-0.000262640434391,3.92772648707e-05,1793237505146874624
+74,1.233333333,BASELINE,767,746,716,680,663,637,880.944945226,788.944945226,804,653,632,654.944945226,0.400986872333,-0.00539459445057,0.0798497566196,0.999999939759,0.000223639514314,-0.000262530015289,3.9299844614e-05,1793237505163540992
+75,1.250000000,BASELINE,766.474460422,746,716.525539578,680,663,637,881,789,803.474460422,653,632.525539578,654.474460422,0.400986913235,-0.00539346230299,0.0798500484662,0.999999939867,0.000224169386814,-0.000261687495618,3.91694260181e-05,1793237505180207616
+76,1.266666667,BASELINE,766,746,716.89521961,679.89521961,663,637,881,788.89521961,803,653,632.89521961,654,0.40098662372,-0.00539223041018,0.0798501449748,0.999999939766,0.00022500700789,-0.000261373074208,3.90493061138e-05,1793237505196874240
+77,1.283333333,BASELINE,766,746,716.317137709,679.317137709,663,637,881,788.317137709,803,653,632.317137709,654,0.400984836793,-0.00539163108662,0.0798492339506,0.999999938819,0.000226398218912,-0.00026378364485,3.90466629258e-05,1793237505213541120
+78,1.300000000,BASELINE,766,746,716,679.259525759,663,637,880.740474241,788,803.259525759,653,632,654,0.400984178135,-0.00539154422414,0.079848607729,0.999999938514,0.000226726811795,-0.000264684997099,3.88338527423e-05,1793237505230208000
+79,1.316666667,BASELINE,766,746,716,679.834465297,663,637,880.165534703,788,803.834465297,653,632,654,0.400984890713,-0.00539208017961,0.0798483276412,0.999999938997,0.00022576395511,-0.000263752125551,3.83656167912e-05,1793237505246874880
+80,1.333333333,BASELINE,766.41716147,746,716,680,663,636.58283853,880.41716147,788.41716147,804,653,632.41716147,654,0.400984451271,-0.00539263903541,0.0798484799895,0.999999938758,0.000225986267938,-0.000264417169615,3.87059734426e-05,1793237505263541760
+81,1.350000000,BASELINE,767,746,716,680,663,636.002975746,880.997024254,788.997024254,803.997024254,653,632.997024254,654,0.400983551372,-0.00539320052705,0.079848802176,0.999999938226,0.000226694320899,-0.000265723035903,3.93685548847e-05,1793237505280208896
+82,1.366666667,BASELINE,767,746,716,680,663,636.585249649,880.414750351,788.414750351,803.414750351,653,632.414750351,654,0.400983691046,-0.00539247260013,0.0798481493033,0.99999993771,0.000228675605895,-0.000266004281973,3.9113523914e-05,1793237505296875264
+83,1.383333333,BASELINE,766.834281481,746,716.165718519,680,663,637,880,788,803,653,632,654.165718519,0.40098396348,-0.00539198733121,0.0798478612575,0.999999937552,0.000229537591997,-0.00026587751493,3.89696200426e-05,1793237505313541888
+84,1.400000000,BASELINE,766.258281347,746,716.741718653,680,663,637,880,788,803,653,632,654.741718653,0.400984564601,-0.00539210282853,0.0798484764407,0.999999938284,0.000227628447307,-0.000264740599644,3.91008417123e-05,1793237505330208512
+85,1.416666667,BASELINE,766.312718341,746.312718341,717,680,663,637,880,788.312718341,803.312718341,653,632.312718341,654.687281659,0.400985095105,-0.00539243622411,0.0798488807661,0.999999938875,0.000225802832463,-0.000264067300319,3.9135522285e-05,1793237505346875392
+86,1.433333333,BASELINE,766.879653009,746.879653009,717,680,663,637,880,788.879653009,803.879653009,653,632.879653009,654.120346991,0.400985568202,-0.00539294675446,0.0798491136801,0.99999993935,0.000224045121174,-0.000263770885726,3.90917222496e-05,1793237505363542784
+87,1.450000000,BASELINE,766.529470114,747,716.529470114,680,663,637,880,789,804.470529886,653,633,654.470529886,0.40098483589,-0.00539244310189,0.0798490434974,0.999999939083,0.000225388941327,-0.000263663498365,3.89195993995e-05,1793237505380208896
+88,1.466666667,BASELINE,766.065874266,746.934125734,716,680,663,637,880,788.934125734,804.934125734,653.065874266,632.934125734,654.934125734,0.400984049132,-0.00539173579016,0.0798489809082,0.999999938654,0.000227435982926,-0.000263559057022,3.87600957057e-05,1793237505396874752
+89,1.483333333,BASELINE,766.645734769,746.354265231,716,680,663,637,880,788.354265231,804.354265231,653.645734769,632.354265231,654.354265231,0.400985372101,-0.0053915718788,0.0798496148702,0.999999938541,0.000228448541044,-0.000263080146536,3.89688696372e-05,1793237505413541632
+90,1.500000000,BASELINE,767,746,716,679.776086909,663,637,880,788.223913091,804,653.776086909,632.223913091,654,0.40098638784,-0.00539173862104,0.0798500825784,0.999999938494,0.000229116334861,-0.000262656796229,3.90933360513e-05,1793237505430208768
+91,1.516666667,BASELINE,767,746,716,679.200550264,663,637,880,788.799449736,804,653.200550264,632.799449736,654,0.400986921118,-0.00539242460761,0.0798502892087,0.999999938554,0.000229242725451,-0.000262320695298,3.90854095214e-05,1793237505446876160
+92,1.533333333,BASELINE,766.628838001,746.371161999,716.371161999,679.371161999,663,637,880,789,804,653,633,654,0.400987261979,-0.0053925543979,0.0798502590825,0.999999938668,0.000228814942149,-0.000262242418356,3.92005410322e-05,1793237505463542528
+93,1.550000000,BASELINE,766.059171044,746.940828956,716.940828956,679.940828956,663,637,880,789,804,653,633,654,0.40098749993,-0.0053923867232,0.0798501023342,0.999999938811,0.00022809077543,-0.000262302030875,3.93814864763e-05,1793237505480208128
+94,1.566666667,BASELINE,766.535847153,746.464152847,717,680,663,637,880.535847153,788.464152847,804,653,632.464152847,654,0.400986402331,-0.00539244987056,0.0798495483337,0.999999938683,0.000227422914062,-0.000263387122415,3.92404182137e-05,1793237505496874752
+95,1.583333333,BASELINE,767,746,717,680,663,637,880.871383201,788,804,653,632,654,0.400985352186,-0.00539240392695,0.0798489696785,0.999999938549,0.000226773265282,-0.000264480516511,3.90715452658e-05,1793237505513541376
+96,1.600000000,BASELINE,767,746,717,680,663,637,880.296606567,788,804,653,632,654,0.400985003652,-0.00539188674845,0.0798484652247,0.999999938504,0.000226164155008,-0.000265190389729,3.89356948314e-05,1793237505530208256
+97,1.616666667,BASELINE,767,746,717,679.721802053,663,637,880.278197947,788,804,653,632,654,0.400985210266,-0.00539200986412,0.0798486130901,0.999999938575,0.000226406068417,-0.000264716405015,3.89257554397e-05,1793237505546874880
+98,1.633333333,BASELINE,767,746,717,679.146967845,663,637,880.853032155,788,804,653,632,654,0.400986008824,-0.00539281571122,0.0798494565089,0.999999938768,0.000227555409419,-0.000262980098972,3.90500721902e-05,1793237505563541504
+99,1.650000000,BASELINE,766.561514379,746,716.561514379,679.438485621,663,637,880.561514379,788,804,653,632,654,0.400985481859,-0.00539287728761,0.0798492135253,0.999999938919,0.000226203811047,-0.000263602627902,3.8835403326e-05,1793237505580208128
+100,1.666666667,BASELINE,766,746,716,679.972865878,663,637,880,788,804,653,632,654,0.400984597436,-0.00539268808546,0.0798486818602,0.999999939045,0.000224182016529,-0.000264890205371,3.85391540364e-05,1793237505596875008
+101,1.683333333,BASELINE,766,746,716,679.393429089,663,637,880,788,804,653,632,654,0.400985704611,-0.00539259803139,0.07984986989,0.999999939059,0.000226004210966,-0.000263222551163,3.89524185307e-05,1793237505613541888
+102,1.700000000,BASELINE,766,746,716,679,663,637,880,788,804,653,632,654,0.400986397304,-0.00539281304707,0.0798507374759,0.999999939122,0.000227072181433,-0.000262018890256,3.92390537039e-05,1793237505630208512
+103,1.716666667,BASELINE,766,746,716,679,663,637,880,788,804,653,632,654,0.400986213316,-0.00539367332254,0.0798509272836,0.999999939299,0.000226544875801,-0.000261796632096,3.92578523359e-05,1793237505646874880
+104,1.733333333,BASELINE,766,746,716.334581526,679.334581526,663,637,880,788,803.665418474,653,632.334581526,654,0.400986377878,-0.00539392880472,0.0798505771975,0.999999939481,0.000226165491033,-0.000261440231902,3.91955551558e-05,1793237505663541248
+105,1.750000000,BASELINE,766,746,716.905470896,679.905470896,663,637,880,788,803.094529104,653,632.905470896,654,0.400986788613,-0.00539375713428,0.0798498457958,0.999999939666,0.000225890579582,-0.000260989090007,3.90759817235e-05,1793237505680207872
+106,1.766666667,BASELINE,766,746,716.503776652,679.503776652,663,637,880,788.496223348,803,653,632.503776652,654,0.400986351422,-0.0053932819432,0.079849792788,0.999999939253,0.000227140532664,-0.000261483817412,3.90697787134e-05,1793237505696874752
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881,788,804,653,632,654,0.400984862728,-0.00539091993946,0.0798496214234,0.999999938144,0.000229581143313,-0.000263607503631,3.8928788145e-05,1793237505739845120
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746.574184267,716.425815733,679.425815733,663,637,880.425815733,788.574184267,804,653,632,654,0.400984707739,-0.00539100372951,0.0798492281542,0.999999938236,0.000228463495102,-0.000264204819766,3.91019625393e-05,1793237505756511488
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.847323307,746.847323307,716.152676693,679,663,637,880.152676693,788.847323307,804,653,632.152676693,654,0.400984654002,-0.00539167159818,0.0798490393513,0.9999999385,0.000227158768017,-0.000264306841083,3.92629246713e-05,1793237505773178112
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.256466382,746.256466382,716.743533618,679,663,637,880.743533618,788.256466382,804,653,632.743533618,654,0.400984890857,-0.00539401576527,0.0798494373638,0.999999939259,0.00022531712661,-0.000262987372508,3.93888378008e-05,1793237505789844480
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,716.670955604,679.329044396,663,637,881,788.329044396,804,653,633,654,0.400985252399,-0.00539426493704,0.079849459152,0.999999939428,0.000225158741305,-0.000262487943924,3.93343974588e-05,1793237505806511104
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,716.089545175,679.910454825,663,637,881,788.910454825,804,653,633,654,0.400985709572,-0.0053929073174,0.0798491923887,0.999999939146,0.000226291357166,-0.00026261745863,3.91416320368e-05,1793237505823177728
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.486126853,746,716,680,663,637,881,788.513873147,804,653,633,654,0.400985265625,-0.0053918806143,0.0798491488328,0.999999938649,0.000227646624279,-0.000263366787739,3.89601980588e-05,1793237505839844608
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716.060557106,680,663,637,881,788.060557106,804,653,632.939442894,654,0.400984897141,-0.00539106007532,0.0798493311511,0.999999938241,0.000228875006742,-0.000263868445214,3.88326100341e-05,1793237505856511488
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716.633320376,680,663,637,881,788.633320376,804,653,632.366679624,654,0.400986554527,-0.00539147376195,0.0798510802619,0.999999938941,0.000228687321796,-0.000261320822799,3.91430150526e-05,1793237505873178112
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,716.786610193,679.786610193,663,637,880.786610193,788.786610193,803.786610193,653,632,654,0.40098884479,-0.00539162211436,0.0798526743302,0.999999939452,0.000228944621303,-0.000259104092973,3.93217544163e-05,1793237505889844736
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716.193541151,679.193541151,663,637,880.193541151,788.193541151,803.193541151,653,632,654,0.400992261114,-0.00539129836406,0.0798539925348,0.999999939634,0.000229993670723,-0.000257476112467,3.92662242865e-05,1793237505906511104
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,716,679.388406826,663,637,880,788,803.388406826,653,632,654.388406826,0.401007393796,-0.00539282885926,0.0798608300247,0.999999942984,0.000227980830061,-0.000245962063582,3.94831040187e-05,1793237505923177984
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,716,679.964967538,663,637,880,788,803.964967538,653,632,654.964967538,0.401028202172,-0.00539525759685,0.0798703411932,0.999999947638,0.000224484734064,-0.000229658958169,3.98319458194e-05,1793237505939844864
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746.541828506,716.541828506,680,663,637,880,788,803.458171494,653,632,654.458171494,0.401069854427,-0.00539480871752,0.079886904176,0.999999954023,0.000225540449446,-0.000198739521017,3.98515666715e-05,1793237505956511488
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.878894677,746.878894677,717,679.878894677,663,637,880,788,803.121105323,653.121105323,632,654,0.401116001612,-0.00539477281313,0.0799036423958,0.999999959703,0.000226219604076,-0.000166837397547,3.98033777456e-05,1793237505973177856
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.290368397,746.290368397,717,679.290368397,663,637,880,788,803.709631603,653.709631603,632,654,0.40117429312,-0.00539704933752,0.0799192962288,0.999999964975,0.000224308852595,-0.000134791962032,3.9575670631e-05,1793237505989844480
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,717,679.2937568,663,637,880.2937568,788.2937568,804.2937568,653.7062432,632.2937568,654,0.401237484275,-0.00539760556723,0.0799323555672,0.999999967901,0.000224169478571,-0.000111519073731,3.88579727767e-05,1793237506006511360
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,717,679.873595857,663,637,880.873595857,788.873595857,804.873595857,653.126404143,632.873595857,654,0.401305447068,-0.00539648644565,0.0799428881926,0.999999969124,0.000225755204142,-9.67895475179e-05,3.76630854694e-05,1793237506023178240
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746.450840589,716.549159411,680,663,637,880.549159411,788.549159411,804.549159411,653,632.549159411,654.450840589,0.401382451005,-0.00539782316972,0.0799478628371,0.999999970281,0.000224185769587,-8.88688941748e-05,3.57888414418e-05,1793237506039845120
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.027215149,746.972784851,716,680,663,637,880,788,804,653,632,654.972784851,0.401462574952,-0.00539982214353,0.0799511089576,0.999999971398,0.00022170661335,-8.3171150545e-05,3.36560188696e-05,1793237506056511488
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.600640548,746.399359452,716,680,663,637,880,788,804,653,632,654.399359452,0.401554733096,-0.00540137221348,0.0799507600337,0.999999972121,0.000218622201856,-8.39921445789e-05,3.01344638314e-05,1793237506073178112
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,716,679.820330257,663,637,880.179669743,788,803.820330257,653,632.179669743,654,0.401655156886,-0.00540295622136,0.079952117177,0.999999973003,0.0002160146042,-8.13634433633e-05,2.66847848081e-05,1793237506089844992
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,716,679.228444359,663,637,880.771555641,788,803.228444359,653,632.771555641,654,0.401774544525,-0.00540461809283,0.0799573885493,0.999999974213,0.000214500960592,-7.08201088138e-05,2.34000113554e-05,1793237506106511360
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,716,679.355703587,663.355703587,637,881,788.355703587,803,653,632.644296413,654,0.401910038043,-0.0054051918412,0.079963115051,0.999999975219,0.000213307120076,-6.07343618965e-05,1.9302297867e-05,1793237506123178240
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,716,679.934987834,663.934987834,637,881,788.934987834,803,653,632.065012166,654,0.402055655066,-0.00540508164028,0.0799691276289,0.999999976056,0.000212314294487,-5.09362347298e-05,1.46936033541e-05,1793237506139844864
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,716,679.490274028,663.490274028,637,880.490274028,789,803.509725972,653,632.509725972,654,0.402224297281,-0.00540843978192,0.0799748249893,0.999999977887,0.000205948897691,-4.14290604241e-05,9.69285542718e-06,1793237506156511488
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746.083624913,716,679.083624913,663,637,880.083624913,789,804,653,632.916375087,654,0.402397179565,-0.00541168438483,0.0799791447161,0.99999997959,0.00019902928557,-3.44658925872e-05,4.39028706387e-06,1793237506173178368
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746.655978288,716,679.655978288,663,637,880.655978288,789,804,653,632.344021712,654,0.402577830852,-0.00541170298439,0.0799756460376,0.999999980515,0.00019283999151,-4.21556798058e-05,-2.38655674828e-06,1793237506189844992
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746.762105463,716.237894537,680,663,637,881,789,804,653,632.237894537,654,0.402768922757,-0.00541258381206,0.0799719181186,0.999999981495,0.000185806129196,-4.89919384946e-05,-9.31280304104e-06,1793237506206511360
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746.165781101,716.834218899,680,663,637,881,789,804,653,632.834218899,654,0.402975745274,-0.00541476373754,0.0799678448088,0.999999982624,0.000177499777141,-5.45422063693e-05,-1.64641499545e-05,1793237506223178240
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.583804499,746,716.583804499,679.583804499,663,637,880.583804499,788.583804499,804,653,632.583804499,654,0.403214095491,-0.00541765080119,0.0799674889041,0.999999985727,0.000159006083575,-5.2541476126e-05,-2.23964965296e-05,1793237506239844864
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.007352529,746,716.007352529,679.007352529,663,637,880.007352529,788.007352529,804,653,632.007352529,654,0.403464585476,-0.00542081014901,0.0799685643897,0.999999989149,0.000136589744702,-4.76332268042e-05,-2.78594657026e-05,1793237506256511744
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.566738344,746,716,679,663,637.566738344,880,788,804,653,632.566738344,654,0.403757672677,-0.00542083016465,0.0799715468687,0.999999989572,0.000136379204089,-4.18520436516e-05,-2.24775289979e-05,1793237506273178624
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,679.144376846,663,637.855623154,880.144376846,788,804,653,633,654,0.404055906364,-0.00542132989401,0.0799748288507,0.999999989803,0.000136705269192,-3.64299934764e-05,-1.94435744743e-05,1793237506289845248
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,679.733025764,663,637.266974236,880.733025764,788,804,653,633,654,0.404368283122,-0.00542343059053,0.0799789566399,0.999999989699,0.000137799752793,-3.21477616961e-05,-2.40659083715e-05,1793237506306511616
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716.318571811,680,663.318571811,637,881,788.318571811,804,653,632.681428189,654,0.40470242953,-0.00542621262576,0.0799795395105,0.999999990667,0.000130438289198,-2.98616326191e-05,-2.75819223174e-05,1793237506323177984
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716.901542691,680,663.901542691,637,881,788.901542691,804,653,632.098457309,654,0.405054643719,-0.00542956013912,0.0799771802718,0.999999992383,0.000116058801878,-2.92321709731e-05,-3.0179745156e-05,1793237506339844864
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716.523214179,680,664,637,881,788.523214179,803.523214179,653,632,654,0.40543120465,-0.00543225046845,0.0799743184752,0.999999992419,0.000115289296988,-3.03722289793e-05,-3.07776323771e-05,1793237506356511744
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,716.050347926,679.949652074,663.949652074,637,881,788.050347926,803.050347926,653,632,654,0.405815786052,-0.00543526352067,0.0799709299849,0.999999992218,0.000116148242278,-3.32139488007e-05,-3.11455067741e-05,1793237506373178368
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,716.62276277,679.37723723,663.37723723,637,881,788.62276277,803.62276277,653,632,654,0.406232232287,-0.00544300770486,0.0799631390515,0.99999999266,0.000105215198586,-4.99719471277e-05,-3.33424144263e-05,1793237506389844736
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,716.796806759,679.203193241,663,636.796806759,881,788.796806759,803.796806759,653,632.203193241,654,0.406656711074,-0.00545668528593,0.0799575900055,0.99999999355,8.93109312379e-05,-6.17363274979e-05,-3.33545450932e-05,1793237506406511360
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,716.200883801,679.799116199,663,636.200883801,881,788.200883801,803.200883801,653,632.799116199,654,0.407096715066,-0.00548183087234,0.079956374056,0.999999995502,6.37983368468e-05,-6.38490956843e-05,-2.91439621292e-05,1793237506423178240
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.617437504,746,716.382562496,680,663,636.382562496,881,788,803.382562496,653,633,654,0.407556486033,-0.00549273595877,0.0799566227315,0.999999996246,4.98147344651e-05,-6.46633927621e-05,-2.90667104668e-05,1793237506439844864
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.040335807,746,716.959664193,680,663,636.959664193,881,788,803.959664193,653,633,654,0.408026308813,-0.00549639952048,0.0799576161925,0.999999996547,4.16938112887e-05,-6.48173962813e-05,-3.10913245813e-05,1793237506456511488
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,716.466589851,680,663,637,881,788.533410149,804.533410149,653,633,654,0.408528316868,-0.00549329490486,0.0799518979019,0.999999995563,4.82026383986e-05,-7.43127875558e-05,-3.20648199685e-05,1793237506473178624
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.107130138,746,716.107130138,679.892869862,663,636.892869862,881,788.892869862,804.892869862,653,633,654,0.409048099601,-0.00549238103763,0.0799504657492,0.999999995231,5.10598098948e-05,-7.64675020651e-05,-3.29046635669e-05,1793237506489845760
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.681837244,746,716.681837244,679.318162756,663,636.318162756,881,788.318162756,804.318162756,653,633,654,0.409634904888,-0.00550324867207,0.0799699420668,0.999999997941,3.31808086805e-05,-4.35195295391e-05,-3.3505920199e-05,1793237506506512640
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.734720309,746,716.734720309,679.265279691,663,636.265279691,881,788.265279691,804,653,632.734720309,654,0.41023156413,-0.00550910350622,0.0799935183041,0.999999999158,2.22993684777e-05,-3.62161795346e-06,-3.42523313358e-05,1793237506523179264
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.140444335,746,716.140444335,679.859555665,663,636.859555665,881,788.859555665,804,653,632.140444335,654,0.410840444191,-0.00550874153472,0.080022179209,0.999999998171,2.00962063719e-05,4.48955184342e-05,-3.51787611938e-05,1793237506539845888
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,716,680,663.438982695,637,881,788.561017305,804,653,632.438982695,654,0.411418790507,-0.00551317231504,0.080014621098,0.999999998782,1.44426180756e-05,2.97536441588e-05,-3.66467729271e-05,1793237506556512512
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.013804701,746,716,680,663.986195299,637,880.986195299,788,804,652.986195299,632.986195299,654,0.411988531131,-0.00551897282862,0.0799956094573,0.999999999222,7.7746113584e-06,-5.21919060631e-06,-3.83167704699e-05,1793237506573179136
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.588229431,746,716,680,663.411770569,637,880.411770569,788,804,652.411770569,632.411770569,654,0.412592523822,-0.00552016611868,0.0799666454561,0.999999998103,3.27368630708e-06,-4.55047857502e-05,-4.1383215291e-05,1793237506589845504
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.832305056,746,716,679.832305056,663.167694944,637,880.167694944,788,804,652,632,654,0.413216462956,-0.00552145728808,0.0799452332254,0.999999996415,-1.98658901298e-06,-7.20376673416e-05,-4.44603393559e-05,1793237506606512384
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.240078478,746,716,679.240078478,663.759921522,637,880.759921522,788,804,652,632,654,0.413890897886,-0.00552299624592,0.0799429388386,0.999999996794,-9.1692130703e-06,-6.37545776982e-05,-4.75644986444e-05,1793237506623178752
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.343669379,746,716,679,663.656330621,637,881,788,804,652,632,654,0.41458799851,-0.00552742296379,0.0799584863809,0.999999998144,-1.62945938888e-05,-3.3576270903e-05,-4.81600540943e-05,1793237506639845120
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.921636808,746,716,679,663.078363192,637,881,788,804,652,632,654,0.415300551539,-0.0055338184242,0.0799861977338,0.999999998554,-2.33809485688e-05,1.15291923427e-05,-4.70453580824e-05,1793237506656511488
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,716,679.5052959,663,637,881,788,804,652,632,654,0.415970081563,-0.00553844722033,0.0799893592153,0.999999998455,-2.98922872641e-05,4.28059346211e-06,-4.66669300764e-05,1793237506673178112
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788,804.089024229,652.089024229,632,654,0.416643072942,-0.00554253155252,0.079986481488,0.99999999816,-3.68257585458e-05,-1.12379339632e-05,-4.68762934045e-05,1793237506689844992
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788,804.668218107,652.668218107,632,654,0.417372278037,-0.00554514378284,0.0799715535586,0.999999997314,-4.6580097083e-05,-2.70767182132e-05,-4.96861927657e-05,1793237506706511616
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.752247756,746,716.247752244,680,663,636.752247756,881,788,804.752247756,652.752247756,632,654.247752244,0.418130701357,-0.00554915226123,0.0799772207717,0.999999997103,-5.53253552101e-05,-8.92847243403e-06,-5.15182873369e-05,1793237506723178240
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.172257247,746,716.827742753,680,663,636.172257247,881,788,804.172257247,652.172257247,632,654.827742753,0.418928306716,-0.00555503312279,0.080010506277,0.999999995178,-6.27174275335e-05,5.47967222055e-05,-5.20391360577e-05,1793237506739844864
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.405467374,746,716.594532626,680,663,636.405467374,881,788,804.405467374,652,632.405467374,654.594532626,0.419688612062,-0.00555911868843,0.0800167814747,0.999999993941,-6.96278036758e-05,6.70139784231e-05,-5.27138967235e-05,1793237506756511488
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.982234678,746,716.017765322,680,663,636.982234678,881,788,804.982234678,652,632.982234678,654.017765322,0.420433159028,-0.00556244578561,0.0800116454838,0.999999994006,-7.63346747253e-05,5.74704016305e-05,-5.34536813983e-05,1793237506773178112
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788,804.443304757,652,632.443304757,654,0.42117772551,-0.00556720146962,0.079999639534,0.999999994871,-7.84914339843e-05,3.54310599491e-05,-5.33085584909e-05,1793237506789844736
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.134161826,637,881,788.134161826,804,652.134161826,632,654,0.421935146625,-0.00557160683532,0.0799940973848,0.999999994987,-8.13074874393e-05,2.45966508784e-05,-5.30162699248e-05,1793237506806511360
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663.72204228,637,881,788.72204228,804,652.72204228,632,654,0.422736038373,-0.00557467392689,0.0800111533725,0.999999993456,-8.68422263625e-05,5.29989460184e-05,-5.23213930634e-05,1793237506823177984
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716.307191966,680,664,637,881.307191966,789,804.307191966,652.692808034,632,654,0.423530111696,-0.00556370053026,0.0800224054187,0.999999993532,-7.52818397386e-05,6.7892992734e-05,-5.1573299799e-05,1793237506839844608
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716.889892501,680,664,637,881.889892501,789,804.889892501,652.110107499,632,654,0.424318069796,-0.00554013476374,0.0800284521339,0.999999995043,-4.83894972428e-05,7.06720134198e-05,-5.07774788426e-05,1793237506856511488
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.534836806,746.465163194,717,680,663.534836806,637,882,789,805,652.465163194,632.465163194,654.465163194,0.425052054147,-0.00551974460914,0.0799925170113,0.999999998384,-2.14391691273e-05,2.19138487106e-06,-5.26034747114e-05,1793237506873178112
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.03885398,747,716.96114602,680.03885398,663.03885398,636.96114602,881.96114602,789,804.96114602,652.96114602,632.96114602,654.96114602,0.425779388215,-0.00550256882877,0.0799499782402,0.999999995645,1.55518195238e-06,-7.53907442659e-05,-5.49953713841e-05,1793237506889844736
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.614632799,747,716.385367201,680.614632799,663.614632799,636.385367201,881.385367201,789,804.385367201,652.385367201,632.385367201,654.385367201,0.426588597137,-0.00551958831269,0.0799513498912,0.999999996714,-3.03050081535e-05,-4.93162703548e-05,-5.67661671611e-05,1793237506906511360
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746.804936608,716.195063392,681,664,636.195063392,881.195063392,789,804,652.195063392,632,654,0.427388811909,-0.00553159753374,0.079953257947,0.999999996528,-4.95562342055e-05,-3.42895668806e-05,-5.75475088145e-05,1793237506923177984
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.215091351,716.784908649,681,664,636.784908649,881.784908649,789,804,652.784908649,632,654,0.428170823885,-0.00553346666492,0.0799562516138,0.999999996611,-4.32886319173e-05,-4.16220487456e-05,-5.6326329914e-05,1793237506939844608
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.6316349,746.3683651,716.6316349,680.6316349,664,636.6316349,882,788.6316349,804,653,632.3683651,654,0.428954208807,-0.00553544006172,0.0799641246712,0.999999996767,-4.51749282281e-05,-3.68754688333e-05,-5.53718404668e-05,1793237506956511488
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.051845362,746.948154638,716.051845362,680.051845362,664,636.051845362,882,788.051845362,804,653,632.948154638,654,0.429738381691,-0.00553747330201,0.0799747982715,0.999999996855,-5.17411835393e-05,-2.51960687082e-05,-5.45704184314e-05,1793237506973178368
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.522558197,747,716.522558197,680.522558197,664,636.522558197,882,788.522558197,804,653,633,654,0.430532888441,-0.00554534190578,0.0800014464963,0.99999999646,-6.30382355369e-05,1.09498222911e-05,-5.46529913191e-05,1793237506989844992
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,747,716.901113743,681,664,637,882,788.901113743,804.098886257,652.901113743,632.901113743,654,0.431319099432,-0.00555129550772,0.0800264927939,0.999999994953,-7.11014593623e-05,4.53394613551e-05,-5.46227843748e-05,1793237507006511616
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,747,716.312638762,681,664,637,882,788.312638762,804.687361238,652.312638762,632.312638762,654,0.432059213499,-0.00554493071033,0.0800358409971,0.999999994963,-6.085378006e-05,5.91381707861e-05,-5.36044008486e-05,1793237507023178240
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.730106917,747,716,681,664.269893083,637,882,788.269893083,804.730106917,652,632,654,0.432782990328,-0.00553588578732,0.0800150799974,0.999999996862,-5.13489362798e-05,2.56353734538e-05,-5.46046062222e-05,1793237507039844608
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.15431119,747,716,681,664.84568881,637,882,788.84568881,804.15431119,652,632,654,0.433488250128,-0.00552380315254,0.0799601925769,0.999999995523,-4.26860387208e-05,-6.14799736177e-05,-5.78927235966e-05,1793237507056511488
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.42497747,747,716,681.42497747,664.57502253,637,882,788.57502253,804.42497747,652.42497747,632,654,0.434215136278,-0.00552186308405,0.0799337410719,0.999999993001,-4.39547475482e-05,-9.14407031137e-05,-6.08697367858e-05,1793237507073178112
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,747,716,681.994401284,664.005598716,637,882,788.005598716,804.994401284,653,632.005598716,654,0.434949938871,-0.00552370555066,0.0799183052928,0.999999991804,-4.89131106651e-05,-9.97200285593e-05,-6.3676246035e-05,1793237507089844992
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,747,716,681.408208446,664.591791554,637,882,788.591791554,804.408208446,653,632.591791554,654,0.435684604834,-0.00553272458679,0.0799656040171,0.99999999596,-5.94255469733e-05,-2.95673310287e-05,-6.06127612714e-05,1793237507106511616
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.824283087,747,716,681,664.824283087,637,882,789,804,652.824283087,632.824283087,654,0.436407539851,-0.00553998930019,0.0800022113818,0.999999995858,-6.67863400537e-05,2.15048511615e-05,-5.79783869951e-05,1793237507123177984
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.245558092,747,716,681,664.245558092,637,882,789,804,652.245558092,632.245558092,654,0.437103569999,-0.0055432304628,0.0800142980407,0.999999995759,-6.69188179492e-05,2.88157390915e-05,-5.6328180889e-05,1793237507139844608
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,747,716,681.333296639,664,637,882,789,804,652.333296639,632,654,0.437795705984,-0.00554893177011,0.080019374191,0.999999995141,-7.35660481997e-05,3.41989314975e-05,-5.60049448957e-05,1793237507156511232
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,747,716,681.912246957,664,637,882,789,804,652.912246957,632,654,0.438484971765,-0.00555644630763,0.0800192833002,0.999999994053,-8.50149256399e-05,3.81613305721e-05,-5.66597419264e-05,1793237507173178112
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.487086342,746.512913658,716,682,664.487086342,637,882,789,804,652.512913658,632,654,0.439123759268,-0.00555876426243,0.0800137281909,0.99999999396,-8.80386009833e-05,3.24567392705e-05,-5.7230598555e-05,1793237507189845248
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.9372145,746.0627855,716,682,664.9372145,637,882,789,804,652.0627855,632.0627855,654,0.439746402323,-0.00555984513921,0.0800047384261,0.999999994122,-8.91605478529e-05,2.13594966388e-05,-5.78823409819e-05,1793237507206512640
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.348152554,746.651847446,716,682,664.348152554,637,882,789,804,652.651847446,632.651847446,654,0.440309310661,-0.00555833843766,0.0799751414725,0.999999994249,-8.69585179896e-05,-2.04635524236e-05,-5.93377779606e-05,1793237507223178752
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746.762421955,716,682,664,636.762421955,882,788.762421955,804,652.762421955,633,654,0.440856383163,-0.00555916577669,0.0799366289305,0.99999999098,-9.018339429e-05,-7.82587532243e-05,-6.14957505194e-05,1793237507239844608
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746.181505736,716,682,664,636.181505736,882,788.181505736,804,652.181505736,633,654,0.441380570308,-0.0055633661768,0.0798852319435,0.999999980121,-0.000101251015673,-0.00015913625739,-6.46689987719e-05,1793237507256511232
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,716,682.395920945,663.604079055,636.395920945,882,788,804,652.395920945,632.604079055,654,0.441928826837,-0.00556856737932,0.0798676667158,0.999999975373,-0.000106610255269,-0.000183326982437,-6.54115371343e-05,1793237507273177856
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,716,682.971761911,663.028238089,636.971761911,882,788,804,652.971761911,632.028238089,654,0.442488021362,-0.00557422338107,0.0798654757922,0.999999975385,-0.000109375412094,-0.000181757303453,-6.50494781848e-05,1793237507289844480
+201,3.350000000,POSE1_TO_POSE2_PRESS,766.544303713,746,716,683,663,636.455696287,882,788,804,652.455696287,632,654,0.443041735583,-0.00557130137533,0.0799032153566,0.999999984461,-0.000106244559645,-0.000125845501642,-6.28795764711e-05,1793237507306511360
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746.119914548,716.119914548,683,663,636,882,788,804,652.119914548,632,654.119914548,0.443575877827,-0.00556714265801,0.0799349300437,0.999999989942,-0.000100068807709,-7.98430542454e-05,-6.10518766052e-05,1793237507323178240
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746.708176664,716.708176664,683,663,636,882,788,804,652.708176664,632,654.708176664,0.44403468215,-0.00555988137954,0.0799350713935,0.999999991199,-8.31881341754e-05,-8.3488002688e-05,-6.0924811905e-05,1793237507339844864
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746.706095781,717,682.706095781,663,636,882,788,804.293904219,652.706095781,632.293904219,654.706095781,0.444474032551,-0.00555337180707,0.0799197490457,0.99999998904,-8.05912564998e-05,-0.000107882697994,-6.15324228922e-05,1793237507356511744
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746.122863361,717,682.122863361,663,636,882,788,804.877136639,652.122863361,632.877136639,654.122863361,0.444894231895,-0.00554760223716,0.0798892037664,0.999999982128,-9.20557803003e-05,-0.000152704071208,-6.28632707643e-05,1793237507373178368
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,716.546320998,682.453679002,663,636,882.453679002,788,804.546320998,652.453679002,632.546320998,654,0.445299224693,-0.0055486060517,0.0798669788674,0.999999975382,-9.47913638969e-05,-0.000190504231544,-6.29216021653e-05,1793237507389845248
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746.028411218,716,682.971588782,663,636,882.971588782,787.971588782,804.028411218,652.971588782,632,654,0.445699313375,-0.00555148294546,0.0798479424498,0.999999968276,-9.5274479325e-05,-0.000224590002483,-6.26984695479e-05,1793237507406511872
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746.602668927,716,682.397331073,663,636,882.397331073,787.397331073,804.602668927,652.397331073,632,654,0.446083152527,-0.00555561627813,0.07984750238,0.999999968316,-9.72391124685e-05,-0.00022331415103,-6.35924473527e-05,1793237507423178496
+209,3.483333333,POSE1_TO_POSE2_PRESS,766.818052455,746.818052455,716,682.181947545,663,635.818052455,882,787,804.818052455,652,632,654,0.44645430308,-0.00555912825276,0.0798447172492,0.999999967972,-9.79372691773e-05,-0.000224388111641,-6.41494267773e-05,1793237507439845376
+210,3.500000000,POSE1_TO_POSE2_PRESS,766.227498265,746.227498265,716,682.772501735,663,635.227498265,882,787,804.227498265,652,632,654,0.446796958301,-0.00556124481901,0.0798366657238,0.999999966747,-9.57912504742e-05,-0.000230739136317,-6.3949595775e-05,1793237507456512000
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.474387841,746,716,679.525612159,662.474387841,637,880.525612159,788,804,653,633,654,0.403840790155,-0.00539597681821,0.0798332502771,0.999999934,0.000209966598601,-0.000293180217418,4.42708605026e-05,1793237510436379392
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.420186506,746.420186506,716,679.420186506,663,637,880,788,803.579813494,653,632,654,0.402614725167,-0.0053956342719,0.0798458223299,0.99999993684,0.000209038108236,-0.000283975823184,4.45127788615e-05,1793237510519712768
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+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.096072922,746.096072922,716,680,663,637,880.096072922,788,803.903927078,653,633,654,0.401698876272,-0.00539505262281,0.0798529866009,0.999999942273,0.000206289739595,-0.00026625462769,4.47956724205e-05,1793237510619712512
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,746,716.488813633,680,663,637,880,788,804,653,632.511186367,654,0.40158990793,-0.00539498038511,0.0798495695847,0.999999940542,0.000208457967312,-0.000271389129879,4.25276861739e-05,1793237510636378880
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,746,716.344755462,680,663,637,880,788.655244538,804,653,632.655244538,654,0.401398966835,-0.00539681836672,0.0798414388354,0.999999935719,0.000217442288173,-0.00028252349265,3.82293442145e-05,1793237510669712128
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,717,680,663,637,880,788.044128862,803.955871138,653,632,654,0.401150748555,-0.00539882185616,0.0798367192679,0.99999993356,0.000216939683455,-0.000290276028266,3.94630285211e-05,1793237510736378880
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+421,7.016666667,POSE2_TO_POSE3_RETREAT,766.833237572,746,716.833237572,679.833237572,663,637,880,788,803.833237572,653,632,654,0.400983825562,-0.00539789983273,0.0798441518035,0.999999938085,0.00021573722363,-0.000275179711274,3.95466332358e-05,1793237511019713024
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.59199803,663,637,880.816003939,788,804,653,632,654,0.400982767637,-0.00539691639245,0.0798439968393,0.999999937787,0.000216499344354,-0.000275686086645,3.93798805924e-05,1793237511036380160
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diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..436f91901aa43fbd7448db71b08a1b27730040f5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_03/simulation_data.csv
@@ -0,0 +1,440 @@
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diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..467841a24144d9ec72bed0ad6d082239febde392
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c2bef697fff89803859983f393f09a15a79a607210bdbbec4fe5a1307dd7dd6
+size 27945545
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..665ceb5ad69060e64cb5065608f8f6ed485b9cb7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_04/franka_data.csv
@@ -0,0 +1,442 @@
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+7,0.116666667,BASELINE,766.915346115,747,716,680,663,637,880,789,803.915346115,653,632.084653885,654,0.400983473119,-0.00539902623904,0.0798473671108,0.999999939847,0.000215300256612,-0.000269206484371,3.84548296414e-05,1793237511572229632
+8,0.133333333,BASELINE,766.336041305,747,716,680,663,637,880,789,803.336041305,653,632.663958695,654,0.400983783982,-0.00539898091274,0.0798474961235,0.999999939943,0.000215691150028,-0.000268490388072,3.87891239298e-05,1793237511588896000
+9,0.150000000,BASELINE,766.241818626,746.758181374,716,680,663,637,880,788.758181374,803.241818626,653,633,654,0.400983894331,-0.00539896107568,0.0798475423313,0.999999939996,0.000215735968746,-0.000268246618927,3.88567639707e-05,1793237511605562880
+10,0.166666667,BASELINE,766.817682572,746.182317428,716,680,663,637,880,788.182317428,803.817682572,653,633,654,0.400983727692,-0.00539897644914,0.0798474741533,0.999999939991,0.000215302724038,-0.000268655316851,3.85560510377e-05,1793237511622230016
+11,0.183333333,BASELINE,767,746,716.393131986,679.606868014,663,637,880.393131986,788.393131986,804,653,632.606868014,654,0.400984217977,-0.00539882349341,0.0798478252588,0.99999994009,0.000215775238969,-0.000267893142524,3.8662455017e-05,1793237511638896896
+12,0.200000000,BASELINE,767,746,716.96838941,679.03161059,663,637,880.96838941,788.96838941,804,653,632.03161059,654,0.400985012593,-0.00539859255618,0.0798483706049,0.999999940234,0.000216667363249,-0.000266588540677,3.8957463176e-05,1793237511655563776
+13,0.216666667,BASELINE,767,746,717,679.554578188,663,637,881,788.445421812,804,653,632.554578188,654,0.40098389707,-0.00539742275647,0.0798478356097,0.999999939868,0.000217190927496,-0.000267552060023,3.88303111053e-05,1793237511672229888
+14,0.233333333,BASELINE,767,746,717,680,663,637,881,788.139887171,803.860112829,653,632.860112829,654,0.400983168568,-0.00539672355979,0.0798476296799,0.999999939594,0.000217722147028,-0.000268152476685,3.8763577078e-05,1793237511688896256
+15,0.250000000,BASELINE,767,746,717,680,663,637,881,788.720422738,803.279577262,653,632.279577262,654,0.400984009049,-0.00539767873697,0.0798486581899,0.999999939707,0.000218344986404,-0.000267193681762,3.89644842585e-05,1793237511705562880
+16,0.266666667,BASELINE,766.70105632,746,717,680,663,637,881,789,803.29894368,653,632.29894368,654,0.400984651371,-0.00539839710113,0.0798491321047,0.999999939939,0.000217970746233,-0.000266616271457,3.90580748773e-05,1793237511722229248
+17,0.283333333,BASELINE,766.124406913,746,717,680,663,637,881,789,803.875593087,653,632.875593087,654,0.400985109611,-0.00539889547621,0.0798490908245,0.999999940282,0.000216670262323,-0.000266393150995,3.90519730476e-05,1793237511738895872
+18,0.300000000,BASELINE,766.44937889,746.44937889,717,680,663,637,880.55062111,789,804,653.44937889,633,654.44937889,0.400984450058,-0.00539880178048,0.0798484265945,0.999999940023,0.000216777026245,-0.000267284241232,3.89928676159e-05,1793237511755563008
+19,0.316666667,BASELINE,767,747,716.976821957,679.976821957,663,637,880,788.976821957,803.976821957,654,632.976821957,654.976821957,0.400983513646,-0.00539861512166,0.0798476343419,0.999999939628,0.00021720528651,-0.000268421421755,3.89285751096e-05,1793237511772229888
+20,0.333333333,BASELINE,767,747,716.383310304,679.383310304,663,637,880,788.383310304,803.383310304,654,632.383310304,654.383310304,0.400983331021,-0.00540014868886,0.0798479086425,0.999999939972,0.000216018810827,-0.000268071949539,3.90954282061e-05,1793237511788896512
+21,0.350000000,BASELINE,766.803391523,747,716,679.196608477,663,637,880,788,803,653.803391523,632,654,0.400983265092,-0.00540069135185,0.0798480051297,0.999999940167,0.000215203373015,-0.000268003059603,3.90870543399e-05,1793237511805562880
+22,0.366666667,BASELINE,766.248259929,747,716,679.751740071,663,637,880,788,803,653.248259929,632,654,0.400983411961,-0.00539942706272,0.0798477773675,0.999999940091,0.000215064537158,-0.00026844582228,3.87591473512e-05,1793237511822229248
+23,0.383333333,BASELINE,766,746.669478727,716.330521273,680,663,637,880,788,803.330521273,653,632.330521273,654,0.400983557605,-0.00539854435106,0.0798477062262,0.999999939891,0.000216020142959,-0.000268433418548,3.86895476721e-05,1793237511838896128
+24,0.400000000,BASELINE,766,746.07156487,716.92843513,680,663,637,880,788,803.92843513,653,632.92843513,654,0.400983702258,-0.00539797033645,0.0798477617917,0.999999939588,0.000217861154942,-0.000268052784035,3.8828919254e-05,1793237511855562752
+25,0.416666667,BASELINE,766,746,717,679.479626534,663,637,880,788,804.520373466,653,633,654,0.400982524547,-0.00539792403248,0.0798471838177,0.999999939265,0.00021797610175,-0.000269203304499,3.85541278392e-05,1793237511872229120
+26,0.433333333,BASELINE,766.109171939,746,717,679.109171939,663,637,880,788,804.781656122,653,633,654,0.400981753675,-0.00539814027799,0.079846757709,0.999999939135,0.000217598249151,-0.000270026642057,3.82838765897e-05,1793237511888896000
+27,0.450000000,BASELINE,766.687959016,746,717,679.687959016,663,637,880,788,803.624081968,653,633,654,0.400983506275,-0.0053991772685,0.079847355402,0.999999939857,0.000216110084167,-0.000268547044582,3.82753855494e-05,1793237511905562624
+28,0.466666667,BASELINE,767,746,716.736260015,679.736260015,663,637,880,788,803.263739985,653,632.736260015,654,0.400984953341,-0.00539934935798,0.0798483086016,0.999999940499,0.000215400316462,-0.000266713892723,3.83216687015e-05,1793237511922229248
+29,0.483333333,BASELINE,767,746,716.16399564,679.16399564,663,637,880,788,803.83600436,653,632.16399564,654,0.400986042993,-0.00539850968174,0.0798496776745,0.999999941048,0.000215601121983,-0.000264467151213,3.84320269861e-05,1793237511938896128
+30,0.500000000,BASELINE,766.5886305,746,716,679,663,637,880,788.4113695,803.5886305,653,632.4113695,654,0.400985395567,-0.00539895387236,0.0798494204474,0.999999940597,0.000216646073725,-0.000265265874567,3.87772448123e-05,1793237511955562752
+31,0.516666667,BASELINE,766.012019841,746,716,679,663,637,880,788.987980159,803.012019841,653,632.987980159,654,0.400984050382,-0.00539991377369,0.0798485099592,0.999999939741,0.000218030106748,-0.000267287917014,3.92168023052e-05,1793237511972229376
+32,0.533333333,BASELINE,766,746,716,679.583117697,663,637,880,789,803,653,632.416882303,654,0.400983867517,-0.00540043181565,0.079849012162,0.999999940515,0.000214979741241,-0.000266899773308,3.89619017621e-05,1793237511988895744
+33,0.550000000,BASELINE,766.171892961,746,716,679.828107039,663,637,880.171892961,788.828107039,803,653,632.171892961,654,0.400983571838,-0.00540010550347,0.079849031227,0.999999940711,0.000213965070839,-0.000267019995264,3.86963754753e-05,1793237512005562368
+34,0.566666667,BASELINE,766.744901252,746,716,679.255098748,663,637,880.744901252,788.255098748,803,653,632.744901252,654,0.400982955162,-0.00539783082683,0.0798478526995,0.999999939485,0.000217921030342,-0.000268446234277,3.84405541005e-05,1793237512022228992
+35,0.583333333,BASELINE,767,746,716,679,663,637,880.679967331,788,803.320032669,653,633,654,0.400983434996,-0.00539763190378,0.079847535474,0.999999939507,0.000217807802426,-0.000268484966783,3.82260611864e-05,1793237512038896128
+36,0.600000000,BASELINE,767,746,716,679,663,637,880.103132201,788,803.896867799,653,633,654,0.400984794698,-0.00539909861868,0.0798479093792,0.999999940532,0.000214429354092,-0.000267410328468,3.80447312665e-05,1793237512055562752
+37,0.616666667,BASELINE,766.516770217,746,716,679,663,637,880,788,804,653,632.516770217,654,0.4009848656,-0.00539918329049,0.0798486071866,0.999999940789,0.000214129573164,-0.00026666693323,3.81903577905e-05,1793237512072229376
+38,0.633333333,BASELINE,766.070539885,746,716,679,663,637,880,788,804,653,632,654,0.400984740127,-0.00539905404132,0.0798492763005,0.999999940833,0.000214662974985,-0.000266038664275,3.84373502547e-05,1793237512088895744
+39,0.650000000,BASELINE,766.649730744,746,716,679,663,637,880,788,804,653,632,654,0.400985221916,-0.0053995519208,0.0798492300147,0.999999940531,0.000216371099341,-0.000265720530679,3.89019846518e-05,1793237512105562368
+40,0.666666667,BASELINE,767,746,716,679,663,637,880,788,804,653,632,654,0.400985310712,-0.00539962823982,0.0798491075936,0.999999940378,0.000217158251499,-0.000265648941575,3.89426225463e-05,1793237512122229248
+41,0.683333333,BASELINE,767,746,716,679,663,637,880,788,804,653,632,654,0.400984798195,-0.005399059536,0.079848868679,0.999999940455,0.000216536238973,-0.000265954586209,3.83345102611e-05,1793237512138896128
+42,0.700000000,BASELINE,766.620609027,746.379390973,716,679.379390973,663,637,880.379390973,788.379390973,804,653,632,654.379390973,0.400984826246,-0.0053990731329,0.0798490859885,0.999999940705,0.000215773903209,-0.000265642839161,3.82702631811e-05,1793237512155562752
+43,0.716666667,BASELINE,766.043245777,746.956754223,716,679.956754223,663,637,880.956754223,788.956754223,804,653,632,654.956754223,0.400985136374,-0.00539939058365,0.079849541363,0.999999941045,0.000214938344555,-0.00026500892725,3.8489813682e-05,1793237512172229120
+44,0.733333333,BASELINE,766,746.455528732,716,679.455528732,663,637,881,789,804,653,632.544471268,654.455528732,0.40098537193,-0.00539977497729,0.0798493877135,0.999999941058,0.000214604613199,-0.000265222580165,3.85392394661e-05,1793237512188895744
+45,0.750000000,BASELINE,766.130468421,746,716,679,663,637,880.869531579,789,804,653,632.869531579,654,0.400985494976,-0.00539983358358,0.0798492263249,0.999999941057,0.000214422207987,-0.000265375692421,3.85314444235e-05,1793237512205562624
+46,0.766666667,BASELINE,766.707705274,746,716,679,663,637,880.292294726,789,804,653,632.292294726,654,0.400985253426,-0.00539875802218,0.079849207292,0.999999941098,0.000214618859625,-0.00026508649864,3.83748741488e-05,1793237512222229504
+47,0.783333333,BASELINE,767,746.284272633,716.284272633,679.284272633,663,637,880.284272633,788.715727367,804,653,632.284272633,654.284272633,0.400985364163,-0.00539913389999,0.0798494935947,0.999999941138,0.000214644176116,-0.000264899673931,3.84608639813e-05,1793237512238896128
+48,0.800000000,BASELINE,767,746.860153293,716.860153293,679.860153293,663,637,880.860153293,788.139846707,804,653,632.860153293,654.860153293,0.400985836276,-0.00540099866995,0.0798500931118,0.999999941179,0.000214493736336,-0.000264817859799,3.87956729433e-05,1793237512255562752
+49,0.816666667,BASELINE,767,746.553160839,717,680,663,637,881,788,803.553160839,653,632.553160839,654.553160839,0.400984923014,-0.00540117238749,0.0798497522732,0.999999941017,0.000214418047555,-0.00026548631946,3.88200403089e-05,1793237512272229376
+50,0.833333333,BASELINE,766.963660368,746,716.963660368,680,662.963660368,637,881,788.036339632,803.036339632,653,632,654,0.400983667791,-0.00540082782145,0.0798491555819,0.999999940811,0.000214353424845,-0.000266325667174,3.87495878632e-05,1793237512288896000
+51,0.850000000,BASELINE,766.383892819,746,716.383892819,680,662.383892819,637,881,788.616107181,803.616107181,653,632,654,0.400983943321,-0.00540084332255,0.0798492429274,0.99999994092,0.000214095768147,-0.000266122068864,3.87501131996e-05,1793237512305562624
+52,0.866666667,BASELINE,766.194669164,746,716.194669164,680,662.194669164,637,880.805330836,788.805330836,804,653,632.194669164,654,0.400984066523,-0.00540070585798,0.0798490732876,0.999999940728,0.000214709160655,-0.000266341558285,3.88216009045e-05,1793237512322229504
+53,0.883333333,BASELINE,766.770868339,746,716.770868339,680,662.770868339,637,880.229131661,788.229131661,804,653,632.770868339,654,0.400983891181,-0.0054002685976,0.079848399985,0.999999939939,0.000217029713191,-0.000267390252831,3.90321669953e-05,1793237512338896128
+54,0.900000000,BASELINE,766.653132369,746,716.653132369,680,663,637,880,788,804,653,633,654,0.40098347111,-0.00539985440773,0.0798483470007,0.999999939679,0.000217887694325,-0.000267650884279,3.91199780842e-05,1793237512355563008
+55,0.916666667,BASELINE,766.07726506,746,716.07726506,680,663,637,880,788,804,653,633,654,0.400982889471,-0.00539945544886,0.0798487035464,0.999999939771,0.000217780095566,-0.000267391241731,3.91267471383e-05,1793237512372230144
+56,0.933333333,BASELINE,766,746,716,679.494507228,663,637,880.505492772,788,804,653,633,654,0.400984534214,-0.0053994110486,0.0798503612705,0.999999940483,0.000217271070846,-0.000265192590106,3.87428659204e-05,1793237512388896768
+57,0.950000000,BASELINE,766.089254896,746,716,679,663,637,880.910745104,788.089254896,804,653,632.910745104,654,0.400986062714,-0.00539949291383,0.0798516418511,0.999999941083,0.000216862461999,-0.000263305762199,3.84060403107e-05,1793237512405563136
+58,0.966666667,BASELINE,766.672665316,746,716,679,663,637,880.327334684,788.672665316,804,653,632.327334684,654,0.400985037519,-0.00539996964945,0.0798497180515,0.999999940569,0.000217354203359,-0.000264808899785,3.86648932975e-05,1793237512422229248
+59,0.983333333,BASELINE,766.747835205,746,716.252164795,679,663.252164795,637,880.252164795,789,804,653,632,654,0.400984009988,-0.00539989889734,0.0798485069914,0.999999940081,0.000217746120614,-0.000266320272054,3.87168878979e-05,1793237512438895616
+60,1.000000000,BASELINE,766.173334897,746,716.826665103,679,663.826665103,637,880.826665103,789,804,653,632,654,0.40098297947,-0.00539912830634,0.0798482070071,0.999999939625,0.000218010435453,-0.0002678421707,3.85044609907e-05,1793237512455562496
+61,1.016666667,BASELINE,766.401200869,746,716.598799131,679.401200869,663.598799131,636.598799131,880.598799131,788.598799131,803.598799131,653,632,654,0.400983006304,-0.00539912401095,0.0798486931211,0.999999939962,0.000217034060459,-0.000267378444222,3.84734445449e-05,1793237512472229120
+62,1.033333333,BASELINE,766.975751922,746,716.024248078,679.975751922,663.024248078,636.024248078,880.024248078,788.024248078,803.024248078,653,632,654,0.400983489996,-0.00539945081529,0.0798495188911,0.99999994064,0.000215521610312,-0.000266056772154,3.85208116326e-05,1793237512488895744
+63,1.050000000,BASELINE,767,746,716,680,663,637.138683733,880,788,803.569341866,653,632,654,0.400984610563,-0.00539957820286,0.0798501086664,0.999999940743,0.000216126435487,-0.000265141308424,3.87656647419e-05,1793237512505562880
+64,1.066666667,BASELINE,767,746,716,680,663,637.840381809,880.159618191,788,804,653,632.159618191,654,0.400984981156,-0.00539923601015,0.0798501426104,0.999999940607,0.000216855934287,-0.000265049978612,3.88452437648e-05,1793237512522230016
+65,1.083333333,BASELINE,767,746,716,680,663,637.261025186,880.738974814,788,804,653,632.738974814,654,0.400983305789,-0.00539768209663,0.0798487422628,0.999999939905,0.000217667950696,-0.000267078757202,3.84673286219e-05,1793237512538897408
+66,1.100000000,BASELINE,767,746,716.316574559,679.683425441,663,637,880.683425441,788,804,653,633,654,0.400982472787,-0.00539843484441,0.0798480537259,0.999999939755,0.00021731530396,-0.000267935694182,3.84036148603e-05,1793237512555563776
+67,1.116666667,BASELINE,767,746,716.892733672,679.107266328,663,637,880.107266328,788,804,653,633,654,0.400982330506,-0.00540107900656,0.079847948859,0.999999940059,0.000216007657632,-0.000267831745319,3.85975397147e-05,1793237512572229632
+68,1.133333333,BASELINE,766.535625731,746,716.535625731,679.464374269,663,637,880.464374269,788.464374269,803.535625731,653.464374269,633,654,0.400983624342,-0.00540033050133,0.0798485656853,0.999999940519,0.000215686007604,-0.000266374543889,3.85450615588e-05,1793237512588896000
+69,1.150000000,BASELINE,766,746.036568462,716,680,663,637,880.963431538,788.963431538,803,653.963431538,632.963431538,654,0.40098504152,-0.00539890779587,0.0798492495606,0.999999940949,0.000215591856778,-0.000264850664323,3.84278445162e-05,1793237512605562368
+70,1.166666667,BASELINE,766,746.633066031,716,680,663,637,880.366933969,788.366933969,803,653.366933969,632.366933969,654,0.400983316843,-0.00539904572998,0.0798484321246,0.999999940388,0.000215527374367,-0.000267046006905,3.81824606859e-05,1793237512622228992
+71,1.183333333,BASELINE,766,746.778884194,716,680,662.778884194,637,880,788.221115806,803.221115806,653,632,654,0.400982095258,-0.00539902129755,0.0798478318721,0.999999940012,0.000215800318983,-0.000268241966746,3.81225312535e-05,1793237512638895872
+72,1.200000000,BASELINE,766,746.204337266,716,680,662.204337266,637,880,788.795662734,803.795662734,653,632,654,0.400981677812,-0.00539873733872,0.0798475787651,0.999999939935,0.000216612606373,-0.000267840515283,3.83590317731e-05,1793237512655563008
+73,1.216666667,BASELINE,766.371216957,746,716.371216957,680,662.371216957,637,880,788.628783043,803.628783043,653,632,654,0.400981788048,-0.00539990336105,0.0798476337248,0.999999940094,0.000216053743417,-0.000267684698454,3.84437890843e-05,1793237512672229888
+74,1.233333333,BASELINE,766.947327121,746,716.947327121,680,662.947327121,637,880,788.052672879,803.052672879,653,632,654,0.400982189538,-0.00540186970052,0.0798478587221,0.999999940383,0.000214738073948,-0.000267664459692,3.84447917137e-05,1793237512688896768
+75,1.250000000,BASELINE,766.465257216,746,716.465257216,680,663,637,880.534742784,788,803.534742784,653,632.534742784,654,0.400983093645,-0.00540050409903,0.07984918293,0.999999940553,0.000215446983653,-0.000266449653293,3.84751415784e-05,1793237512705562880
+76,1.266666667,BASELINE,766.121455106,746,716.121455106,679.878544894,663,637,880.878544894,788,804,653,632.878544894,654.121455106,0.400983660783,-0.0053991615965,0.0798499672415,0.999999940581,0.00021621643919,-0.000265724894029,3.8446781813e-05,1793237512722229504
+77,1.283333333,BASELINE,766.701220401,746,716.701220401,679.298779599,663,637,880.298779599,788,804,653,632.298779599,654.701220401,0.40098276551,-0.00539917147021,0.0798482968617,0.999999940121,0.000216445586146,-0.000267302929044,3.81857377742e-05,1793237512738896128
+78,1.300000000,BASELINE,767,746.279326278,717,679.279326278,663,637,880.279326278,788,804,653,632,654.720673722,0.40098214107,-0.00539963480431,0.0798475033831,0.999999939778,0.000216695165253,-0.000268383473314,3.81839204125e-05,1793237512755563008
+79,1.316666667,BASELINE,767,746.855667614,717,679.855667614,663,637,880.855667614,788,804,653,632,654.144332386,0.400981804614,-0.0054005803149,0.079847642337,0.99999993956,0.000216966470394,-0.00026893502235,3.8457745685e-05,1793237512772229632
+80,1.333333333,BASELINE,767,746.569535487,717,680,663,637,880.569535487,788,804,653,632,654,0.400982399727,-0.00540157199117,0.0798482147816,0.999999940415,0.000214763526975,-0.000267526184555,3.8426682234e-05,1793237512788896512
+81,1.350000000,BASELINE,767,746,716.995109981,680,663,636.995109981,880.004890019,788.004890019,804,653,632,654,0.400983295527,-0.00540255933458,0.0798489249024,0.9999999416,0.000211777415464,-0.000265488819163,3.82942220356e-05,1793237512805563648
+82,1.366666667,BASELINE,767,746,716.403335866,680,663,636.403335866,880.596664134,788.596664134,804,653,632,654,0.400982925639,-0.0054011755431,0.0798487767649,0.999999940826,0.000214008222859,-0.000266623450825,3.82176071211e-05,1793237512822230272
+83,1.383333333,BASELINE,767,746,716,679.81586638,663,636.18413362,880.81586638,788.81586638,804,653,632.18413362,654,0.400982780756,-0.00540021619747,0.0798486211569,0.999999940323,0.000215546040365,-0.000267271113261,3.82162220834e-05,1793237512838897152
+84,1.400000000,BASELINE,767,746,716,679.237610471,663,636.762389529,880.237610471,788.237610471,804,653,632.762389529,654,0.400983117477,-0.00540016534164,0.0798484495586,0.99999994041,0.000215600572624,-0.000266876459875,3.83758601571e-05,1793237512855564032
+85,1.416666667,BASELINE,766.662813942,746,716,679.337186058,663,637,880.337186058,788.337186058,804,653.337186058,632.662813942,654,0.400984255084,-0.00539970064606,0.079849381219,0.999999941052,0.000215140862446,-0.000264853934227,3.82355088587e-05,1793237512872230144
+86,1.433333333,BASELINE,766.090430468,746,716,679.909569532,663,637,880.909569532,788.909569532,804,653.909569532,632.090430468,654,0.400985951333,-0.00539894728482,0.0798510824355,0.999999942073,0.000214322452699,-0.000261695918742,3.78859059417e-05,1793237512888896256
+87,1.450000000,BASELINE,766.495719546,746,716.495719546,680,663,637,881,789,804,653.504280454,632.495719546,654,0.400984379063,-0.00539894728451,0.0798496867521,0.999999941101,0.000215769794663,-0.000264169105855,3.81602862985e-05,1793237512905563392
+88,1.466666667,BASELINE,767,746.083142593,717,680,663,637,881.083142593,789,803.916857407,653,633,654.083142593,0.400982860538,-0.00539912142852,0.0798481673227,0.999999940063,0.000217249655765,-0.000266823994879,3.84838330551e-05,1793237512922230272
+89,1.483333333,BASELINE,767,746.662743245,717,680,663,637,881.662743245,789,803.337256755,653,633,654.662743245,0.400985324949,-0.00539949135905,0.0798493787206,0.999999940936,0.000216385169233,-0.000264254714747,3.84018560547e-05,1793237512938896896
+90,1.500000000,BASELINE,766.758521271,747,716.758521271,680,663,637,881.758521271,789,803.241478729,653,633,654.758521271,0.40098684194,-0.00540020577572,0.079850383334,0.999999941696,0.000214842578477,-0.000262638749054,3.83648246824e-05,1793237512955563776
+91,1.516666667,BASELINE,766.180989844,747,716.180989844,680,663,637,881.180989844,789,803.819010156,653,633,654.180989844,0.400987040458,-0.00540139959483,0.0798511001768,0.999999942302,0.00021235630735,-0.000262349458976,3.83903416817e-05,1793237512972230400
+92,1.533333333,BASELINE,766.394482529,747,716,679.605517471,663,637,881,789,804,653,633,654,0.400986033887,-0.00540173860028,0.0798504023861,0.999999941869,0.000212492723643,-0.000263859550078,3.85721931076e-05,1793237512988897024
+93,1.550000000,BASELINE,766.969015157,747,716,679.030984843,663,637,881,789,804,653,633,654,0.400984477288,-0.00540168745095,0.0798490589272,0.999999940957,0.000213826189261,-0.000266190916462,3.88253988466e-05,1793237513005563648
+94,1.566666667,BASELINE,767,746.442209693,716.557790307,679,663,637,881,789,803.442209693,653,632.442209693,654,0.400984584233,-0.00539893730381,0.0798493731205,0.999999940158,0.000218150799988,-0.000265730282016,3.84982617809e-05,1793237513022230272
+95,1.583333333,BASELINE,767,746,717,679,663,637,881,788.854889882,803,653,632,654,0.400984315354,-0.00539702867795,0.0798494673492,0.999999939649,0.000220712637663,-0.000265573079336,3.81929672134e-05,1793237513038897152
+96,1.600000000,BASELINE,767,746,717,679,663,637,881,788.274372817,803,653,632,654,0.400982634263,-0.00539810670831,0.0798486180354,0.999999940036,0.000217473607774,-0.000266803888489,3.80524760555e-05,1793237513055563520
+97,1.616666667,BASELINE,767,746,717,679.303157449,663,637,880.696842551,788.303157449,803.303157449,653,632.303157449,654,0.400982338145,-0.00539953913104,0.0798482960232,0.999999940608,0.00021460933603,-0.000266981151352,3.80539436094e-05,1793237513072229888
+98,1.633333333,BASELINE,767,746,717,679.878010849,663,637,880.121989151,788.878010849,803.878010849,653,632.878010849,654,0.400983283269,-0.00540128916743,0.0798484465895,0.999999941347,0.00021208093045,-0.000266214204253,3.81826374938e-05,1793237513088896512
+99,1.650000000,BASELINE,767,746,717,680,663,637,880.453879172,789,804,653,632.546120828,654,0.400983629776,-0.00540058030191,0.0798487192672,0.999999941082,0.000213810020332,-0.000265804147114,3.83233717668e-05,1793237513105562880
+100,1.666666667,BASELINE,766.969371925,746,716.969371925,679.969371925,663,637,880.969371925,789,804,653,632.030628075,654,0.400983864882,-0.00539930746317,0.0798490598985,0.999999940596,0.000216511192145,-0.000265424399924,3.8470876873e-05,1793237513122229248
+101,1.683333333,BASELINE,766.381577286,746,716.381577286,679.381577286,663,637,880.381577286,789,804,653,632.618422714,654,0.400985006824,-0.00539982442204,0.0798500383221,0.999999941109,0.000216033058755,-0.000263847180966,3.86825517813e-05,1793237513138896640
+102,1.700000000,BASELINE,766.204076279,746,716.204076279,679,663,637,880.204076279,788.795923721,804,653,632.795923721,654,0.400985182717,-0.00539973772753,0.0798501855472,0.999999941162,0.000216199185392,-0.000263514950374,3.86561200544e-05,1793237513155563520
+103,1.716666667,BASELINE,766.785768012,746,716.785768012,679,663,637,880.785768012,788.214231988,804,653,632.214231988,654,0.400983571069,-0.00539853405431,0.079848794752,0.999999940364,0.000217557427806,-0.000265486401934,3.8189104296e-05,1793237513172230144
+104,1.733333333,BASELINE,767,746,717,679.363429484,663,637,881.363429484,788.363429484,804,653,632.363429484,654.363429484,0.400983452747,-0.0053990572602,0.079848707824,0.999999940394,0.000217186983596,-0.000265681280786,3.81423676187e-05,1793237513188896512
+105,1.750000000,BASELINE,767,746,717,679.938741336,663,637,881.938741336,788.938741336,804,653,632.938741336,654.938741336,0.400984205046,-0.00540058725064,0.0798493810611,0.999999940908,0.000215808701038,-0.000264840403369,3.83406570474e-05,1793237513205563136
+106,1.766666667,BASELINE,766.475933784,746,717,680,663,637,880.951867568,788.475933784,804,653,632.475933784,653.951867568,0.400984895824,-0.00539960715341,0.0798495455551,0.999999940767,0.000217305143987,-0.000264137348102,3.84287912174e-05,1793237513222229504
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,789,803,653,633,654,0.400986120839,-0.00539914658394,0.0798508261933,0.999999940573,0.000219941080444,-0.000262652526038,3.86595487399e-05,1793237513264527360
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,716.574774374,680,663,637,881,789,803,653,633,654,0.400986189215,-0.00539925999262,0.0798512309606,0.999999941191,0.000217675798047,-0.000262224207869,3.83964678074e-05,1793237513281193728
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.851307116,746,716.851307116,680,663,637,880.851307116,789,803.148692884,653,633,654,0.400986005348,-0.00539919385449,0.0798514819189,0.999999941542,0.000216297787683,-0.000262051621064,3.82173710389e-05,1793237513297859840
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.279822031,746,716.279822031,680,663,637,880.279822031,789,803.720177969,653,633,654,0.400985104258,-0.00539861719435,0.0798512955379,0.999999941146,0.000217442639266,-0.000262606178758,3.82770741357e-05,1793237513314525952
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746.304964756,716.304964756,679.695035244,663,637,880,788.695035244,803.695035244,653,632.695035244,654,0.400985293652,-0.00539852687492,0.0798511599647,0.999999941119,0.000217809530327,-0.000262395257287,3.83283857602e-05,1793237513331192064
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746.902513185,716.902513185,679.097486815,663,637,880,788.097486815,803.097486815,653,632.097486815,654,0.400986529258,-0.00539890315157,0.0798510731365,0.999999941448,0.000217430044756,-0.000261449933858,3.83716465894e-05,1793237513347858944
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.483648906,746.516351094,717,679.483648906,663.483648906,637,880,788,803.483648906,653,632.483648906,654,0.400984530069,-0.00539860307279,0.0798493684073,0.999999940792,0.000217330313821,-0.000264033892046,3.83469573235e-05,1793237513364527616
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746.061113412,717,679.938886588,663.938886588,637.061113412,880.061113412,788,804,653,632.938886588,654,0.400982531326,-0.00539833479671,0.0798478274914,0.999999940147,0.000217131877251,-0.000266632942647,3.8302679878e-05,1793237513381196800
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746.634624172,717,679.365375828,663.365375828,637.634624172,880.634624172,788,804,653,632.365375828,654,0.40098582369,-0.00539943868902,0.0798503045522,0.999999941278,0.000215648589187,-0.000263589819594,3.82052343448e-05,1793237513397860608
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746.785772457,716.785772457,679,663,637.785772457,880.785772457,788,803.785772457,653,632,654,0.400990293084,-0.00540003514732,0.0798531632257,0.999999942407,0.000214941818894,-0.000259870023488,3.81252087675e-05,1793237513414525696
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746.195473717,716.195473717,679,663,637.195473717,880.195473717,788,803.195473717,653,632,654,0.400996828725,-0.00539974081757,0.0798566918106,0.999999943531,0.000215598206657,-0.000254962344757,3.8075763506e-05,1793237513431192832
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.612101688,746,716,679,663,637,880,788,803,653,632,654,0.401014358164,-0.0053999066999,0.0798642563989,0.999999946783,0.00021580523949,-0.000241623842422,3.84817148369e-05,1793237513447859456
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.032158949,746,716,679,663,637,880,788,803,653,632,654,0.401037330519,-0.00540030042843,0.0798738191708,0.99999995084,0.000215789801368,-0.000224111326353,3.91131282786e-05,1793237513464525824
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.543929633,746.543929633,716.543929633,679,663,637,880,788.543929633,803.543929633,653,632,654,0.401082750361,-0.00540125222015,0.0798922089475,0.999999957476,0.000217128384723,-0.000190619811569,3.95783553477e-05,1793237513481192448
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,747,717,679,663,637,880.119491987,789,803.880508013,653,632.119491987,654,0.401132590866,-0.00540228307934,0.0799103398259,0.999999963089,0.000218210852277,-0.000156903563883,3.98342659396e-05,1793237513497859328
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,747,717,679,663,637,880.693912499,789,803.306087501,653,632.693912499,654,0.401194244447,-0.00540349023091,0.0799255121111,0.999999967535,0.000218015602388,-0.000125903173239,3.93304138185e-05,1793237513514526464
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746.725109104,716.725109104,679.274890896,663,637,881,788.725109104,803.274890896,653,633,654,0.401256933529,-0.00540428908944,0.0799367852007,0.999999970265,0.000216256088506,-0.000105988105374,3.83263780099e-05,1793237513531193600
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746.136650163,716.136650163,679.863349837,663,637,881,788.136650163,803.863349837,653,633,654,0.401320803805,-0.005404622208,0.0799436104771,0.999999971829,0.000212712218872,-9.8718067116e-05,3.67517827326e-05,1793237513547860736
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.554951216,746,716.445048784,679.554951216,663,637,881,788,804,653,633,654,0.401399751434,-0.00540693575788,0.0799469442412,0.999999972971,0.000210547381138,-9.24473550946e-05,3.43686157727e-05,1793237513564527104
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.024597367,746,716.975402633,679.024597367,663,637,880.975402633,788,804,653,632.975402633,654,0.401484007663,-0.00540972249391,0.0799492433892,0.999999973953,0.000208804689711,-8.65397568737e-05,3.17174961226e-05,1793237513581193728
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.601769457,746,716.398230543,679.601769457,663,637,880.398230543,788,804,653,632.398230543,654,0.401585077341,-0.00540968320682,0.0799520232009,0.99999997477,0.000207175586105,-8.19995043763e-05,2.8540719381e-05,1793237513597860096
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,716.174479602,679.825520398,663,637,880,788.174479602,804,653,632,654,0.401692819206,-0.00541013871525,0.0799555289214,0.999999975615,0.000205754255521,-7.61143127123e-05,2.53167012381e-05,1793237513614526720
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,716.737259708,679.262740292,663,637,880,788.737259708,804,653,632,654,0.401815409859,-0.00541169538021,0.0799606501352,0.999999976527,0.000204795319426,-6.72359892181e-05,2.19875488241e-05,1793237513631193600
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,716.677375594,679.322624406,663,637,880,789,804,653,632.322624406,654,0.401952244641,-0.00541336433691,0.0799658296956,0.999999977767,0.000202090959661,-5.75323949333e-05,1.77402750442e-05,1793237513647859968
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,716.072233845,679.927766155,663,637,880,789,804,653,632.927766155,654,0.402101552806,-0.00541513162599,0.0799710603496,0.999999979236,0.000197858158507,-4.71061224206e-05,1.26890158104e-05,1793237513664526336
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.496799891,746,716,680,663,637,880,788.496799891,804.503200109,653,632.496799891,654,0.402274397383,-0.00541653480221,0.0799756970194,0.999999980621,0.00019291605968,-3.85546362336e-05,7.42340882232e-06,1793237513681192960
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,716,680,663,637.075367484,880.075367484,788,804.924632516,653,632.075367484,654,0.402451210898,-0.00541797311598,0.0799790241035,0.999999981838,0.000187700423714,-3.29830764409e-05,1.97147247718e-06,1793237513697859584
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,716,680,663,637.652597279,880.652597279,788,804.347402721,653,632.652597279,654,0.40263320947,-0.00541997405033,0.0799741669511,0.999999982516,0.000181303540122,-4.55622985154e-05,-4.52774181482e-06,1793237513714525696
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.208685325,746,716.208685325,680,663,637.791314675,881,788.208685325,804,653,632.791314675,654,0.402828009883,-0.00542198116213,0.0799695614089,0.999999983393,0.000173327038811,-5.51617801528e-05,-1.13570836319e-05,1793237513731192064
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.732815828,746,716.732815828,680,663,637.267184172,881,788.732815828,804,653,632.267184172,654,0.403042161328,-0.00542399761152,0.0799653361964,0.999999984732,0.000162962814716,-6.02571362207e-05,-1.86854401957e-05,1793237513747858688
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716.676683874,679.676683874,663,637,880.676683874,788.676683874,803.676683874,653,632.323316126,654,0.403279029034,-0.00542520042603,0.0799647405448,0.999999988066,0.000141161310061,-5.77789648315e-05,-2.45603295467e-05,1793237513764525312
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716.017169365,679.017169365,663,637,880.017169365,788.017169365,803.017169365,653,632.982830635,654,0.403539518096,-0.00542555718694,0.079967919071,0.999999992683,0.000107466816628,-4.7425504838e-05,-2.89238390381e-05,1793237513781192192
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716,679.561153272,663,637,880,788.561153272,803.561153272,653,633,654,0.403841554401,-0.00542654485539,0.0799737848155,0.999999991543,0.000122278033964,-3.78830788151e-05,-2.29759148732e-05,1793237513797858560
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.136773515,788.863226485,803.863226485,653,633,654,0.404147562191,-0.00542748570606,0.0799777562305,0.999999990248,0.000134579738302,-3.18466579555e-05,-1.94255618313e-05,1793237513814525696
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.710692657,788.289307343,803.289307343,653,633,654,0.404462713921,-0.00542822302254,0.0799754435567,0.999999989945,0.000134716877176,-3.69465928928e-05,-2.44190584636e-05,1793237513831192576
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716.294857302,679.705142698,663,637.294857302,881,788,803,653,632.705142698,654,0.404797484818,-0.0054314203806,0.0799730959875,0.999999990925,0.000126152462178,-3.8233184203e-05,-2.78332326967e-05,1793237513847859712
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716.889436552,679.110563448,663,637.889436552,881,788,803,653,632.110563448,654,0.405152198604,-0.00543711836686,0.0799707129468,0.999999993013,0.000108742932423,-3.56435187962e-05,-2.96420289901e-05,1793237513864526848
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746.471405846,716.528594154,679,663,637.528594154,881,788,803,653,632.471405846,654,0.405532794393,-0.00543893369428,0.0799700172026,0.999999993019,0.000108000976689,-3.67763700948e-05,-3.07419757142e-05,1793237513881193472
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.949854314,746.949854314,716,679.050145686,663,637,881,788.050145686,803.050145686,653,633,654,0.405923099957,-0.00544028652867,0.0799691839698,0.999999992651,0.000110113035281,-3.95423764198e-05,-3.17692582034e-05,1793237513897860096
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.374767198,746.374767198,716,679.625232802,663,637,881,788.625232802,803.625232802,653,633,654,0.406353159912,-0.00544608233597,0.0799628766731,0.999999992929,0.000102245117465,-5.05032279256e-05,-3.37309217729e-05,1793237513914526464
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,716,680,663.20507037,637,881,789,804,653,632.79492963,654,0.406783180433,-0.00545465044803,0.0799570550958,0.999999993196,9.31295294502e-05,-6.14223012933e-05,-3.41014834135e-05,1793237513931193088
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,716,680,663.793795252,637,881,789,804,653,632.206204748,654,0.407213127154,-0.00546840510736,0.0799521422237,0.999999993557,8.16797465779e-05,-7.22632136617e-05,-3.1495342673e-05,1793237513947859968
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.362011749,746.362011749,716,679.637988251,663.637988251,637,880.637988251,789,804,653,632,654,0.407675570338,-0.00548744619306,0.0799503587687,0.999999994856,5.82590242672e-05,-7.73715839094e-05,-3.0138963463e-05,1793237513964526848
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.919172794,746.919172794,716,679.080827206,663.080827206,637,880.080827206,789,804,653,632,654,0.408155531342,-0.00550933702667,0.0799502622854,0.999999996012,2.83851404519e-05,-7.93897182553e-05,-2.94562919623e-05,1793237513981193216
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746.488197647,716,679,663,637,880.511802353,789,804,653,632.511802353,654,0.408671538703,-0.00550757140873,0.079949801431,0.999999996087,3.06941048232e-05,-7.70178555161e-05,-3.0871218828e-05,1793237513997860096
+152,2.533333333,POSE1_TO_POSE2_PRESS,767.106048765,746,716.106048765,679,663,637,881,788.893951235,804,653,632.893951235,654,0.409206832324,-0.00550383616682,0.0799536126964,0.999999996511,3.63255396248e-05,-6.79507130286e-05,-3.22565430601e-05,1793237514014527488
+153,2.550000000,POSE1_TO_POSE2_PRESS,767.680839394,746,716.680839394,679,663,637,881,788.319160606,804,653,632.319160606,654,0.409800336624,-0.00550913794098,0.0799765802726,0.999999998431,3.25046309097e-05,-3.25826322618e-05,-3.19377754616e-05,1793237514031194112
+154,2.566666667,POSE1_TO_POSE2_PRESS,767.475288041,746.26235598,716.73764402,679.26235598,663,637,881,788.26235598,804,653,632,654.26235598,0.41039708782,-0.00551497552657,0.0799993304842,0.999999999206,2.27150440921e-05,4.48301840075e-06,-3.24357551594e-05,1793237514047860736
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.295459651,746.852270174,716.147729826,679.852270174,663,637,881,788.852270174,804,653,632,654.852270174,0.410997892927,-0.00552148208728,0.0800218093136,0.999999998455,5.47340803095e-06,4.36681336585e-05,-3.39534648998e-05,1793237514064527104
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746.565961367,716.434038633,680,663,637,881,789,804,653,632.434038633,654.565961367,0.411578857672,-0.0055199954373,0.0800108552688,0.999999999108,6.05963345496e-06,2.11163218703e-05,-3.60756300813e-05,1793237514081193984
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.012941572,746,716.987058428,680,663.012941572,637,881,788.987058428,804,653,633,654,0.412153898926,-0.00551612161509,0.0799885250922,0.999999998947,1.21081122227e-05,-2.19770430681e-05,-3.84262866021e-05,1793237514097860864
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.585613481,746,716.414386519,680,663.585613481,637,881,788.414386519,804,653,633,654,0.412759433123,-0.00552450013408,0.0799572632329,0.999999997229,-3.20376718404e-06,-6.14288419349e-05,-4.19251762802e-05,1793237514114528000
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746.159169016,716.159169016,679.840830984,663.840830984,637,881,788,804,653,632.840830984,654,0.413382075984,-0.00553100832,0.0799359039243,0.999999995255,-1.46747919764e-05,-8.52107233597e-05,-4.48681602641e-05,1793237514131194624
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746.735037822,716.735037822,679.264962178,663.264962178,637,881,788,804,653,632.264962178,654,0.414049508785,-0.00553262002859,0.0799404692031,0.999999996486,-1.60905717166e-05,-6.79692207671e-05,-4.63557994814e-05,1793237514147860224
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,747,716.679691817,679.320308183,663.320308183,637,881,788,804,652.679691817,632,654,0.414750407642,-0.0055360924638,0.0799568070733,0.999999998003,-2.09848235453e-05,-3.74552705791e-05,-4.63744599332e-05,1793237514164526592
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,747,716.086409254,679.913590746,663.913590746,637,881,788,804,652.086409254,632,654,0.415479827048,-0.00554115065513,0.0799831778305,0.999999998556,-2.88435133211e-05,4.36977962374e-06,-4.514122102e-05,1793237514181193728
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.505608967,746.505608967,716.494391033,680,663.505608967,637,881,788,804.494391033,652,632.494391033,654.494391033,0.416167671401,-0.00554586736031,0.0799825985344,0.999999998056,-4.10694677316e-05,-9.90647849135e-06,-4.58581033359e-05,1793237514197860352
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.072734743,746,716.927265257,680,663.072734743,637,881,788,804.927265257,652.072734743,632.927265257,654.927265257,0.416854824059,-0.00555036117534,0.0799771422283,0.999999997015,-5.32778917824e-05,-3.02378502954e-05,-4.70855862008e-05,1793237514214527232
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.648803802,746,716.351196198,680,663.648803802,637,881,788,804.351196198,652.648803802,632.351196198,654.351196198,0.417586236287,-0.00555371541274,0.079969729614,0.999999996614,-6.02128889922e-05,-2.62881153035e-05,-4.95459153596e-05,1793237514231193856
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.77038288,746,716,680,663.77038288,637,881,788,804,653,632,654,0.418344657505,-0.00555813017938,0.0799780382771,0.999999996539,-6.57266934272e-05,-4.04379124752e-07,-5.10091770615e-05,1793237514247860224
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.182160107,746,716,680,663.182160107,637,881,788,804,653,632,654,0.419145260257,-0.00556420123325,0.0800108997205,0.999999994538,-6.90209440392e-05,5.97348907821e-05,-5.09152640653e-05,1793237514264526592
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.400395755,746.400395755,716.400395755,680,663.400395755,637,881,788.400395755,804.400395755,653,632.400395755,654,0.419905872408,-0.00556823175264,0.0800131079018,0.999999993667,-7.67445818167e-05,6.37200653289e-05,-5.2120997744e-05,1793237514281193472
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.9804094,746.9804094,716.9804094,680,663.9804094,637,881,788.9804094,804.9804094,653,632.9804094,654,0.420648544693,-0.00557134688608,0.0800015650005,0.999999993906,-8.64552464437e-05,4.2514459386e-05,-5.39097541086e-05,1793237514297860864
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.445030061,746.445030061,716.445030061,680,662.890060121,637,881,788.445030061,804.445030061,652.445030061,632.445030061,654,0.421398969515,-0.00557539361163,0.079992501582,0.999999994125,-9.00252455832e-05,2.72583513002e-05,-5.38701056683e-05,1793237514314527232
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746.129849676,716,680.129849676,662.259699351,637,881,788,804,652.129849676,632,654,0.422163993532,-0.00557638507464,0.0799915587633,0.999999994216,-9.01878729496e-05,2.46600649178e-05,-5.3151200002e-05,1793237514331193344
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746.706483561,716,680.706483561,663.412967122,637,881,788,804,652.706483561,632,654,0.422978317666,-0.00556675199955,0.0800182589161,0.999999993479,-7.93650735372e-05,6.4898965431e-05,-5.03150375548e-05,1793237514347859712
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746.709347855,716,681,664,637,881.290652145,788,804,652.709347855,632,654,0.423770538549,-0.00554545049554,0.0800261187421,0.999999994762,-5.23914990098e-05,7.26754693245e-05,-4.94931168362e-05,1793237514364526336
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746.117367858,716,681,664,637,881.882632142,788,804,652.117367858,632,654,0.424539844272,-0.00551205197962,0.0800144462309,0.999999997579,-8.67392902516e-06,4.67972241224e-05,-5.07594214728e-05,1793237514381192960
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,716.461440736,680.538559264,663.538559264,636.538559264,881.538559264,788,804,652.461440736,632,654,0.425282256633,-0.00551061070301,0.0799760129716,0.999999998336,-9.20502680357e-06,-2.16623382431e-05,-5.2662178286e-05,1793237514397859840
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.037028687,746.037028687,716.962971313,680.037028687,663.037028687,636,881.037028687,788.037028687,804,652.962971313,632,654,0.426022966979,-0.00551735199704,0.0799342859883,0.999999993888,-2.12078880064e-05,-9.3709403011e-05,-5.46982378179e-05,1793237514414526464
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.613148027,746.613148027,716.386851973,680.613148027,663.613148027,636,881.613148027,788.613148027,804,652.386851973,632,654,0.426835720443,-0.00552816675983,0.079940952257,0.999999995481,-4.09183485494e-05,-6.46820634496e-05,-5.6383624206e-05,1793237514431193600
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746.807475837,716,680.807475837,663.807475837,636,882,788.807475837,804,652,632,654,0.427639990952,-0.00553498560798,0.0799477929494,0.999999996015,-5.08976670651e-05,-4.62545481709e-05,-5.69240384749e-05,1793237514447860480
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.221442884,716,680.221442884,663.221442884,636,882,788.221442884,804,652,632,654,0.428426922919,-0.00553363702857,0.0799549901553,0.999999996416,-4.09870707071e-05,-4.94924849834e-05,-5.5124193191e-05,1793237514464526592
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.638386662,746,716.361613338,680.361613338,663,636.361613338,882,788.361613338,804,652.361613338,632,654,0.429221087194,-0.00553682191331,0.0799664875652,0.999999996758,-4.57469947538e-05,-3.7574014276e-05,-5.457579615e-05,1793237514481192960
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.057138467,746,716.942861533,680.942861533,663,636.942861533,882,788.942861533,804,652.942861533,632,654,0.430019644144,-0.00554276031039,0.0799805968105,0.999999996599,-5.94174249527e-05,-1.64499221492e-05,-5.47874974186e-05,1793237514497859072
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,716.478357448,681,663,637,881.478357448,789,804,652.478357448,632,654,0.430830072317,-0.00554526975346,0.0800112607976,0.999999996303,-6.15252971504e-05,2.82164952593e-05,-5.30380268065e-05,1793237514514526208
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.099382281,746,716.099382281,681,663.099382281,637,881.099382281,789,804,652.099382281,632.099382281,654,0.431628303932,-0.00554582778707,0.0800367960483,0.999999994785,-6.02816140069e-05,6.44013315124e-05,-5.14661914788e-05,1793237514531193088
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.673433258,746,716.673433258,681,663.673433258,637,881.673433258,789,804,652.673433258,632.673433258,654,0.432362101089,-0.00553885097552,0.0800292154143,0.999999996314,-4.90508946435e-05,4.7818019605e-05,-5.17639597924e-05,1793237514547859968
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+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746.688584474,716,681.311415526,664,637,881.311415526,788.688584474,804,652.311415526,633,654,0.438119568347,-0.00554936840232,0.0800193759709,0.999999994967,-7.6296384118e-05,3.31471459827e-05,-5.60816682955e-05,1793237514681192960
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+196,3.266666667,POSE1_TO_POSE2_PRESS,767,747,716,682,664,637,882,789,804,652.363231465,632.363231465,654,0.440626614258,-0.00555719300352,0.0799456306626,0.999999992054,-8.71530217707e-05,-6.76722954487e-05,-6.09655613048e-05,1793237514747859712
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+198,3.300000000,POSE1_TO_POSE2_PRESS,766.193673536,747,716,682,664,637,882,789,804,652.806326464,632.806326464,654,0.441694758001,-0.0055611312414,0.0798579854942,0.999999973327,-9.46049189345e-05,-0.000200424777785,-6.50129041702e-05,1793237514781192960
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+240,4.000000000,POSE1_TO_POSE2_PRESS,766,747,715.827763049,683.827763049,660.172236951,633.172236951,882.827763049,786,804.172236951,653,632,654.827763049,0.450933725736,-0.00557942594848,0.0797296699224,0.999999911853,-0.000128793881033,-0.000394645202458,-6.29413903657e-05,1793237515481192192
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,747,715.239682153,683.239682153,660.760317847,633.760317847,882.239682153,786,804.760317847,653,632,654.239682153,0.450936572805,-0.00557991394885,0.0797290876879,0.999999911289,-0.000128919194324,-0.000396045924887,-6.28447804971e-05,1793237515497859328
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,746.477148849,716,681,663,636,881.477148849,788.522851151,804,653,632.522851151,654,0.422075663669,-0.00540063573525,0.0798080042191,0.99999993401,0.000192248217645,-0.00030481107081,4.59404392476e-05,1793237517444377344
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.726883153,746.726883153,716,681,663,636.273116847,881,789,804,653,633,654,0.419872549864,-0.00539470438096,0.0798735502292,0.999999958999,0.00020418739906,-0.000194593262039,4.94360743317e-05,1793237517494376704
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.467615649,746,716,681,663,637,880.467615649,789,804,653,633,654,0.413411646587,-0.00541227111819,0.0798228943651,0.999999941681,0.000183806702434,-0.000284283109932,4.51189949415e-05,1793237517644376832
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746.637229455,716,680,663,637,880,788,804,653,632.637229455,654,0.404804150187,-0.005402137198,0.0798368488812,0.99999994083,0.000205191644104,-0.000272549178079,4.42036455688e-05,1793237517927710208
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746.513357396,716,679.486642604,663,637,880.513357396,788.513357396,804,653,632.513357396,654,0.404124893854,-0.00540150198919,0.0798348961408,0.999999937011,0.000204778335055,-0.000286476531412,4.44316553417e-05,1793237517961043712
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.320093846,746.320093846,716,679.679906154,663,637,880.320093846,788.320093846,804,653,633,654,0.403542319031,-0.00540220168165,0.0798399652832,0.999999938501,0.000201153163999,-0.00028383917696,4.43992111299e-05,1793237517994376704
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.264110514,746,716,679.735889486,663,637,880,788,804,653,633,654,0.403286866346,-0.00540211818844,0.079843946864,0.999999940369,0.000199375205802,-0.000278431153333,4.45737719285e-05,1793237518011043328
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.843076397,746,716,679.156923603,663,637,880,788,804,653,633,654,0.403044047126,-0.00540035219058,0.0798484215938,0.999999941695,0.000199026705459,-0.000273845747508,4.48000969245e-05,1793237518027710208
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.00940182,746,716,679.99059818,663,637,880,788.99059818,804,653,633,654,0.40260001172,-0.00540144480486,0.0798476743352,0.999999937919,0.00021113187525,-0.000278588463268,4.44192088671e-05,1793237518061043456
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.58085866,746,716,680,662.41914134,637,880.58085866,788.41914134,803.41914134,653,633,654,0.40241238654,-0.00540065249042,0.0798428314596,0.999999936846,0.00020745348193,-0.000285281773931,4.34120747272e-05,1793237518077710080
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.831774863,662,637,880.831774863,788,803,653,633,654,0.402235420374,-0.00540009909941,0.0798402800605,0.999999936895,0.000204079510048,-0.000287613819972,4.28975420052e-05,1793237518094376960
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.252191529,662,637,880.252191529,788,803,653,633,654,0.40208324852,-0.00540019934209,0.0798434832911,0.999999939707,0.000201887854522,-0.000279149509498,4.36182117197e-05,1793237518111043584
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,662.326215936,637,880.326215936,788,803,653,632.673784064,654,0.401942376115,-0.00540009906004,0.079847652713,0.999999941948,0.000200499673173,-0.000271851297373,4.4725440178e-05,1793237518127710208
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,662.903717686,637,880.903717686,788,803,653,632.096282314,654,0.401810207719,-0.00539984431275,0.0798525663975,0.999999943758,0.000199730411882,-0.000265451335906,4.61304369019e-05,1793237518144376832
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.643775535,746.643775535,716,679.643775535,663,637,879.356224465,788,803,653,632,654,0.401485848463,-0.00540130414799,0.0798476375634,0.999999939805,0.000208966373675,-0.000274232980205,3.89674330152e-05,1793237518194377216
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.770563535,746.770563535,716,679.770563535,663,637,879.229436465,788,803,653,632,654,0.401397135405,-0.0054015329117,0.0798440592341,0.99999993676,0.000217638626874,-0.000278887104179,3.65386309923e-05,1793237518211044096
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766.190930974,746.190930974,716,679.190930974,663,637,879.809069026,788,803,653,632,654,0.401320051421,-0.00540127733118,0.0798415385921,0.999999936012,0.000216512354987,-0.000282421820858,3.65593352932e-05,1793237518227710464
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.957336544,746,716,679.957336544,662.042663456,637,880,788,803.957336544,653.957336544,632.957336544,654,0.401194164882,-0.00540013113404,0.079837959556,0.999999933761,0.000217602679651,-0.000289265577574,3.81243454869e-05,1793237518261043712
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.533289573,637,880,788,803.466710427,653.466710427,633,654,0.401150953261,-0.00540060330413,0.0798381296094,0.999999934105,0.000215658570922,-0.00028944523774,3.87617831118e-05,1793237518277710592
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diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..420ac196ee6b08c601484b6f10bf2757927a18e7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_04/simulation_data.csv
@@ -0,0 +1,442 @@
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+407,6.783333333,pose2_to_pose3_retreat,0.578346722595,1.18224439798e-06,1.07001170923,0.548917959139,0.0086748540714,1.06966124892
+408,6.800000000,pose2_to_pose3_retreat,0.57832374168,1.15888118962e-06,1.07001164408,0.54889497773,0.00867482899201,1.06966118278
+409,6.816666667,pose2_to_pose3_retreat,0.578305755334,1.17332251658e-06,1.07001168252,0.548876990256,0.00867483943325,1.06966121694
+410,6.833333333,pose2_to_pose3_retreat,0.578291663257,1.32266727916e-06,1.0700117884,0.548862896703,0.0086749835913,1.0696613184
+411,6.850000000,pose2_to_pose3_retreat,0.578280969543,1.38286505204e-06,1.07001179789,0.54885220231,0.00867504158563,1.06966133034
+412,6.866666667,pose2_to_pose3_retreat,0.578273386984,1.39629643476e-06,1.07001176461,0.548844619581,0.00867505459445,1.06966130094
+413,6.883333333,pose2_to_pose3_retreat,0.578267919011,1.3071265612e-06,1.07001160207,0.548839152766,0.00867496960995,1.06966114476
+414,6.900000000,pose2_to_pose3_retreat,0.578264034453,1.24743978602e-06,1.07001151316,0.548835268991,0.00867491271017,1.06966105905
+415,6.916666667,pose2_to_pose3_retreat,0.578261293186,1.23323604379e-06,1.07001165296,0.548832527976,0.00867489905205,1.06966119113
+416,6.933333333,pose2_to_pose3_retreat,0.578259364096,1.2232405556e-06,1.07001175134,0.548830599063,0.00867488944053,1.06966128407
+417,6.950000000,pose2_to_pose3_retreat,0.578257990335,1.21871080086e-06,1.07001178325,0.54882922545,0.00867488531832,1.0696613136
+418,6.966666667,pose2_to_pose3_retreat,0.578257082177,1.22199139699e-06,1.07001171185,0.548828317444,0.00867488919347,1.06966124426
+419,6.983333333,pose2_to_pose3_retreat,0.57825648054,1.22416472613e-06,1.07001166455,0.548827715908,0.00867489176067,1.06966119833
+420,7.000000000,pose2_to_pose3_retreat,0.578255996925,1.22591172189e-06,1.07001162652,0.548827232373,0.00867489382428,1.0696611614
+421,7.016666667,pose2_to_pose3_retreat,0.578255595186,1.22736294677e-06,1.07001159494,0.548826830702,0.00867489553852,1.06966113073
+422,7.033333333,pose2_to_pose3_retreat,0.57825528891,1.22846932548e-06,1.07001157086,0.548826524477,0.00867489684541,1.06966110734
+423,7.050000000,pose2_to_pose3_retreat,0.578255122605,1.22907007893e-06,1.07001155778,0.5488263582,0.00867489755504,1.06966109464
+424,7.066666667,pose2_to_pose3_retreat,0.578255103652,1.22913854587e-06,1.07001155629,0.54882633925,0.00867489763591,1.0696610932
+425,7.083333333,pose2_to_pose3_retreat,0.578254911897,1.22983123354e-06,1.07001154121,0.548826147527,0.00867489845414,1.06966107856
+426,7.100000000,pose2_to_pose3_retreat,0.578254473369,1.24320756578e-06,1.0700115814,0.548825708839,0.00867491131299,1.06966111936
+427,7.116666667,pose2_to_pose3_retreat,0.578254154358,1.25866140061e-06,1.07001164687,0.548825389599,0.0086749259999,1.0696611851
+428,7.133333333,pose2_to_pose3_retreat,0.578253940865,1.26900367548e-06,1.07001169068,0.548825175952,0.00867493582892,1.06966122909
+429,7.150000000,pose2_to_pose3_retreat,0.578253584598,1.28626231016e-06,1.0700117638,0.548824819429,0.00867495223106,1.06966130251
+430,7.166666667,pose2_to_pose3_retreat,0.578253234597,1.30321743684e-06,1.07001183562,0.548824469176,0.00867496834476,1.06966137463
+431,7.183333333,pose2_to_pose3_retreat,0.578253051184,1.31210253014e-06,1.07001187326,0.548824285631,0.00867497678891,1.06966141243
+432,7.200000000,pose2_to_pose3_retreat,0.578252914676,1.28966159975e-06,1.07001187001,0.548824149594,0.00867495589522,1.06966140793
+433,7.216666667,pose2_to_pose3_retreat,0.578252802501,1.26073885207e-06,1.07001185605,0.548824038011,0.00867492892053,1.06966139247
+434,7.233333333,pose2_to_pose3_retreat,0.578252772582,1.25302479751e-06,1.07001185233,0.54882400825,0.00867492172604,1.06966138835
+435,7.250000000,pose2_to_pose3_retreat,0.578252678057,1.22865282606e-06,1.07001184056,0.548823914224,0.00867489899561,1.06966137532
+436,7.266666667,pose2_to_pose3_retreat,0.578252622806,1.21440720125e-06,1.07001183369,0.548823859264,0.00867488570948,1.0696613677
+437,7.283333333,pose2_to_pose3_retreat,0.57825247187,1.17549068386e-06,1.07001181491,0.548823709125,0.00867484941413,1.0696613469
+438,7.300000000,pose2_to_pose3_retreat,0.578252309183,1.13274185103e-06,1.07001179038,0.548823547143,0.00867480897028,1.06966132021
+439,7.316666667,pose2_to_pose3_retreat,0.578252167524,1.08548030612e-06,1.07001171546,0.548823404176,0.00867475720522,1.06966124366
+440,7.333333333,pose2_to_pose3_retreat,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.0086748084627,1.06966122125
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c4966fb96568a4079ce3b76564836f212a99ac35
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3024062076674f083623fead2cb0bea30c0300e581fa7ea5e9d99684d33d9d0
+size 28067890
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d24e849bdcecd265114f852830f7c7b78b75e859
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_05/franka_data.csv
@@ -0,0 +1,444 @@
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+37,0.616666667,BASELINE,767,746.468851262,717,679.468851262,663,637,880,789,803,653,633,654,0.400986028741,-0.00540474934842,0.0798512261696,0.999999942934,0.000208263256072,-0.000263254766284,3.81516581562e-05,1793237519596808704
+38,0.633333333,BASELINE,767,746.955688753,716.955688753,680,663,637,880,788.955688753,803.044311247,653,633,654.044311247,0.400987120831,-0.00540537235506,0.0798512316606,0.999999942869,0.000209055679986,-0.000262829297272,3.84472135534e-05,1793237519613474816
+39,0.650000000,BASELINE,767,746.363995943,716.363995943,680,663,637,880,788.363995943,803.636004057,653,633,654.636004057,0.400986586609,-0.00540453904907,0.0798509581071,0.999999942185,0.000211783997094,-0.000263261270967,3.83608166784e-05,1793237519630141440
+40,0.666666667,BASELINE,766.777138386,746,716,680,663,637,880,788.222861614,804,653,633,655,0.400986221343,-0.00540391838191,0.0798507756745,0.999999941846,0.000212962300695,-0.000263617717775,3.82149018075e-05,1793237519646808064
+41,0.683333333,BASELINE,766.198010494,746,716,680,663,637,880,788.801989506,804,653,633,655,0.400986126169,-0.00540363763893,0.0798507389075,0.999999942069,0.000211662754623,-0.000263853427379,3.79738415537e-05,1793237519663475200
+42,0.700000000,BASELINE,766.378657055,746,716.378657055,679.621342945,663,637,880.378657055,788.621342945,803.621342945,653,632.621342945,654.621342945,0.400986814363,-0.00540368856937,0.0798510900358,0.999999942429,0.000210631811503,-0.000263320597282,3.79329501752e-05,1793237519680141568
+43,0.716666667,BASELINE,766.954046308,746,716.954046308,679.045953692,663,637,880.954046308,788.045953692,803.045953692,653,632.045953692,654.045953692,0.400987909558,-0.00540391182155,0.0798516426961,0.999999942859,0.000209740421745,-0.000262388470497,3.79960570332e-05,1793237519696807936
+44,0.733333333,BASELINE,767,746,716.470965734,679.529034266,663.529034266,637,880.470965734,788.529034266,803.529034266,653,632.529034266,654,0.400987137097,-0.00540342362752,0.0798512429475,0.999999942574,0.000210552578165,-0.000262831284655,3.79333140954e-05,1793237519713474560
+45,0.750000000,BASELINE,766.892775624,746,716,679.892775624,663.892775624,636.892775624,880.107224376,789,803.892775624,653,632.892775624,654.107224376,0.400986248137,-0.00540299786714,0.0798508487116,0.999999942224,0.000211480523968,-0.000263422725832,3.79056735637e-05,1793237519730141184
+46,0.766666667,BASELINE,766.29992518,746,716,679.29992518,663.29992518,636.29992518,880.70007482,789,803.29992518,653,632.29992518,654.70007482,0.400985565745,-0.00540313455063,0.0798508538456,0.99999994186,0.000212263203404,-0.000264146803017,3.80864871038e-05,1793237519746807808
+47,0.783333333,BASELINE,766.285621773,746.285621773,716,679,663,636,881,789,803,653,632,654.714378227,0.400985496321,-0.00540317184077,0.0798508213016,0.999999942034,0.00021142573586,-0.000264143480976,3.81905900969e-05,1793237519763474432
+48,0.800000000,BASELINE,766.863690777,746.863690777,716,679,663,636,881,789,803,653,632,654.136309223,0.400986054512,-0.0054031073624,0.0798507501792,0.999999942755,0.00020892940504,-0.000263395377254,3.82161494254e-05,1793237519780141312
+49,0.816666667,BASELINE,767,746.562444492,716,679.437555508,663,636.437555508,881,788.562444492,803.437555508,653,632,654,0.400986767205,-0.00540333704296,0.0798510228119,0.999999943093,0.000208247562884,-0.000262694855924,3.79164991002e-05,1793237519796808192
+50,0.833333333,BASELINE,767,746,716.010398529,680,663,637,880.989601471,788.010398529,804,653,632.010398529,653.989601471,0.400987510807,-0.00540365909127,0.0798513989205,0.999999943305,0.000208138075914,-0.000262030637338,3.75320348824e-05,1793237519813475328
+51,0.850000000,BASELINE,767,746,716.598553963,680,663,637,880.401446037,788.598553963,804,653,632.598553963,653.401446037,0.400987322949,-0.00540407015957,0.0798516309529,0.999999943024,0.000208721843759,-0.000262567695132,3.80105862802e-05,1793237519830142464
+52,0.866666667,BASELINE,766.815971234,746,717,680,663,637,880.184028766,789,803.815971234,653,632.815971234,653.184028766,0.400987029703,-0.00540430045818,0.0798516094052,0.999999942778,0.000209277599535,-0.000263025840488,3.82698550942e-05,1793237519846809088
+53,0.883333333,BASELINE,766.236260124,746,717,680,663,637,880.763739876,789,803.236260124,653,632.236260124,653.763739876,0.400986509861,-0.00540414208178,0.0798510426317,0.999999942606,0.000209773126205,-0.000263314315284,3.80576419002e-05,1793237519863474944
+54,0.900000000,BASELINE,766,746,716.658449253,680,663,637,881,788.658449253,803.341550747,653,632.341550747,654,0.400986858878,-0.00540482552277,0.079851649273,0.999999942969,0.000209321333362,-0.000262281728831,3.81390881063e-05,1793237519880141312
+55,0.916666667,BASELINE,766,746,716.081945579,680,663,637,881,788.081945579,803.918054421,653,632.918054421,654,0.400987805585,-0.00540608805036,0.0798530631069,0.999999943696,0.000208217878942,-0.000260340383688,3.84225427658e-05,1793237519896807680
+56,0.933333333,BASELINE,766,746.492441813,716,680,663,637,880.507558187,788,803.507558187,653,633,654,0.400987404267,-0.00540460034149,0.079852206313,0.999999943086,0.000209382685779,-0.000261804352946,3.80228362072e-05,1793237519913474304
+57,0.950000000,BASELINE,766,747,716,680,663,637,880.068533678,788,803.068533678,653,633,654,0.400986793566,-0.00540308312892,0.0798510804061,0.999999942385,0.000210652042784,-0.000263514101566,3.7626910385e-05,1793237519930141184
+58,0.966666667,BASELINE,766,747,716,680,663,637,880.660315967,788,803.660315967,653,633,654,0.400986289574,-0.00540481988239,0.0798507723331,0.999999942725,0.000209850136227,-0.00026279241463,3.81240926187e-05,1793237519946808320
+59,0.983333333,BASELINE,766.246951373,747,716,680,663,637,880.753048627,788,803.753048627,653,633,654,0.400986661046,-0.00540539700783,0.0798511897789,0.999999943023,0.000209798807632,-0.000261652262962,3.84264639505e-05,1793237519963475712
+60,1.000000000,BASELINE,766.826651811,747,716,680,663,637,880.173348189,788,803.173348189,653,633,654,0.400988212141,-0.00540441161885,0.0798525848084,0.999999943264,0.00021075882829,-0.00025994826031,3.84663417902e-05,1793237519980142592
+61,1.016666667,BASELINE,767,746.596345453,716,680,663,637,880,788,803.403654547,653,632.596345453,654,0.400988655482,-0.00540419473801,0.0798525797585,0.999999943004,0.000211851895577,-0.000260090525475,3.82601654823e-05,1793237519996808704
+62,1.033333333,BASELINE,767,746.020493579,716,680,663,637,880,788,803.979506421,653,632.020493579,654,0.400988626259,-0.00540430569957,0.0798519774406,0.999999942529,0.000213001719939,-0.000261020400802,3.79490235109e-05,1793237520013474560
+63,1.050000000,BASELINE,766.434234803,746.565765197,716,680,663,637,880,788.565765197,803.434234803,653,632,654,0.400986753829,-0.00540419722187,0.0798510309941,0.999999942198,0.000212479649745,-0.000262723740718,3.78401821875e-05,1793237520030141184
+64,1.066666667,BASELINE,766.150583289,747,716,679.849416711,663,637,880,789,803.150583289,653,632.150583289,654,0.40098555394,-0.00540410906327,0.079850513195,0.999999942096,0.00021192231088,-0.000263580020763,3.77181718889e-05,1793237520046807808
+65,1.083333333,BASELINE,766.730202446,747,716,679.269797554,663,637,880,789,803.730202446,653,632.730202446,654,0.400986464022,-0.00540410186856,0.0798512528621,0.999999942635,0.000211440266274,-0.000261941570876,3.75373715138e-05,1793237520063474432
+66,1.100000000,BASELINE,767,747,716,679.308437192,663,637,880,788.691562808,804,653,633,654,0.40098659431,-0.00540411776336,0.0798512976713,0.999999942861,0.000210833579961,-0.000261552558058,3.76586374283e-05,1793237520080141056
+67,1.116666667,BASELINE,767,747,716,679.885466341,663,637,880,788.114533659,804,653,633,654,0.40098604554,-0.00540415376488,0.0798507373874,0.999999942814,0.000210118353715,-0.000262251574772,3.80429474271e-05,1793237520096807936
+68,1.133333333,BASELINE,767,746.540972602,716,680,663,637,880.459027398,788,804,653.459027398,632.540972602,654,0.40098690395,-0.00540493957414,0.0798516589038,0.999999943337,0.000208965722875,-0.000261150099335,3.82091866171e-05,1793237520113474816
+69,1.150000000,BASELINE,766.96754238,746.03245762,716.03245762,680,663,637,881,788,804,653.96754238,632.03245762,654,0.400988036761,-0.00540575728043,0.0798528512088,0.999999943905,0.000207977304314,-0.000259747774322,3.83080546343e-05,1793237520130141440
+70,1.166666667,BASELINE,766.381700713,746.618299287,716.618299287,680,663,637,881,788,804,653.381700713,632.618299287,654,0.400987906608,-0.00540395299679,0.0798524038929,0.999999942863,0.000211635409894,-0.000260818118256,3.8179013928e-05,1793237520146807808
+71,1.183333333,BASELINE,766,746.795878497,717,680,663,637,880.795878497,788,804,653,632.795878497,654,0.400987921663,-0.00540342159674,0.0798523471351,0.99999994252,0.000212645999957,-0.000261324255081,3.80990293822e-05,1793237520163474432
+72,1.200000000,BASELINE,766,746.210092548,717,680,663,637,880.210092548,788,804,653,632.210092548,654,0.400988208226,-0.00540527022205,0.079853020639,0.999999943493,0.000208706291315,-0.000260775443002,3.81107695571e-05,1793237520180141312
+73,1.216666667,BASELINE,766.367784696,746,716.632215304,680,663,637,880,788,803.632215304,653,632.367784696,654,0.400988116932,-0.0054058773179,0.0798531397934,0.999999943603,0.000208820059345,-0.000260225379755,3.83491291098e-05,1793237520196807936
+74,1.233333333,BASELINE,766.941239256,746,716.058760744,680,663,637,880,788,803.058760744,653,632.941239256,654,0.400987814334,-0.00540579013464,0.0798529489485,0.999999943232,0.000211200583159,-0.000259674616872,3.8714217091e-05,1793237520213474560
+75,1.250000000,BASELINE,766.486614114,746,716,679.486614114,663,637,880.513385886,788,803.513385886,653,633,654,0.400987790824,-0.00540507267396,0.0798530568882,0.999999943364,0.000210750287713,-0.000259553047316,3.85705460579e-05,1793237520230141184
+76,1.266666667,BASELINE,766,746.088647614,716,679.088647614,663,637,881,788.088647614,804,653,632.911352386,654.088647614,0.400987828269,-0.00540435353476,0.0798531697045,0.999999943474,0.000210331379849,-0.000259498690834,3.83740342926e-05,1793237520246808064
+77,1.283333333,BASELINE,766,746.682513833,716,679.682513833,663,637,881,788.682513833,804,653,632.317486167,654.682513833,0.400988031518,-0.00540403492242,0.0798531159075,0.99999994313,0.000211933241527,-0.000259548136998,3.8207400231e-05,1793237520263474688
+78,1.300000000,BASELINE,766.268935571,746.731064429,716,680,663,637,880.731064429,789,804,653,632,654.731064429,0.400988418875,-0.0054043290992,0.0798531423257,0.999999943335,0.000211330535066,-0.000259262004354,3.81235129942e-05,1793237520280141568
+79,1.316666667,BASELINE,766.846805569,746.153194431,716,680,663,637,880.153194431,789,804,653,632,654.153194431,0.400989017726,-0.0054053272054,0.0798532608894,0.999999944166,0.000208195374387,-0.000258590382182,3.81346795493e-05,1793237520296808704
+80,1.333333333,BASELINE,766.578068863,746,716.421931137,680,663,637,880,789,804,653,632.421931137,654,0.400989080567,-0.00540577152669,0.07985356403,0.999999944092,0.000208608340991,-0.00025851062922,3.83468798029e-05,1793237520313475072
+81,1.350000000,BASELINE,766.003933254,746,716.996066746,680,663,637,880,789,804,653,632.996066746,654,0.400988950052,-0.00540601607959,0.0798539337536,0.999999943692,0.00021030123383,-0.000258644382942,3.86315995406e-05,1793237520330141184
+82,1.366666667,BASELINE,766,746,716.413761916,679.413761916,663,637,880,788.413761916,804,653,632.413761916,654,0.40098851935,-0.00540401895773,0.0798536247401,0.999999943196,0.000212468190188,-0.000258846510992,3.82519467836e-05,1793237520346807808
+83,1.383333333,BASELINE,766.17353471,746.17353471,716,679.17353471,663,637,880,788,804,653,632,654,0.400988239185,-0.00540329788176,0.079853327241,0.999999942983,0.000213208299943,-0.000259095447104,3.80330845567e-05,1793237520363474432
+84,1.400000000,BASELINE,766.753833865,746.753833865,716,679.753833865,663,637,880,788,804,653,632,654,0.400988316733,-0.00540560409554,0.079853067706,0.999999943437,0.000210596224152,-0.000259452995575,3.82018565568e-05,1793237520380141312
+85,1.416666667,BASELINE,766.66954571,746.66954571,716,680,663,637,880,788,803.66954571,653,632.33045429,654,0.400989162977,-0.00540587027095,0.0798535982038,0.999999943773,0.000210023155987,-0.000258599458399,3.83553045387e-05,1793237520396808192
+86,1.433333333,BASELINE,766.095635554,746.095635554,716,680,663,637,880,788,803.095635554,653,632.904364446,654,0.400990575543,-0.00540463348707,0.0798547107431,0.999999944022,0.000210952287773,-0.000256853677057,3.84974628335e-05,1793237520413474816
+87,1.450000000,BASELINE,766.478021194,746,716,679.521978806,663,637,880,788,803,653,632.521978806,654,0.400990472413,-0.00540480713607,0.0798552153274,0.999999944244,0.000210388553793,-0.000256446981443,3.85061910729e-05,1793237520430141440
+88,1.466666667,BASELINE,767,746,716,679,663,637,880,788,803.053476891,653,632,654,0.400989995994,-0.00540526155468,0.0798554471891,0.999999944399,0.000209605321416,-0.000256487633981,3.84835488765e-05,1793237520446808320
+89,1.483333333,BASELINE,767,746,716,679,663,637,880,788,803.647633259,653,632,654,0.400988809692,-0.00540570323546,0.0798541507839,0.999999943921,0.000209620965148,-0.000258343987535,3.84134900566e-05,1793237520463474688
+90,1.500000000,BASELINE,767,746,716.235280144,679.235280144,663,637,880,788,803.764719856,653,632.235280144,654,0.400988519233,-0.00540519831684,0.0798533160261,0.999999943477,0.00021072352959,-0.000259183264309,3.82803232339e-05,1793237520480141312
+91,1.516666667,BASELINE,767,746,716.813440529,679.813440529,663,637,880,788,803.186559471,653,632.813440529,654,0.40098953431,-0.00540331389278,0.0798531540401,0.999999943082,0.000213410093553,-0.000258540326884,3.80551873846e-05,1793237520496807680
+92,1.533333333,BASELINE,766.611993986,746,717,680,663,637,880,788,803,653,633,654,0.400989246477,-0.0054027884106,0.0798533980967,0.999999943326,0.000212503469267,-0.000258401176855,3.76675927107e-05,1793237520513474560
+93,1.550000000,BASELINE,766.039141068,746,717,680,663,637,880,788,803,653,633,654,0.400988337934,-0.0054029103311,0.0798538355928,0.99999994387,0.000209885042564,-0.000258502032173,3.72026022812e-05,1793237520530141440
+94,1.566666667,BASELINE,766,746,717,680,663,637,880,788,803.550888857,653,632.449111143,654,0.400987410698,-0.00540366027022,0.0798526459493,0.999999943187,0.000210411350071,-0.00026063671986,3.77087953086e-05,1793237520546808320
+95,1.583333333,BASELINE,766,746,716.860440737,679.860440737,663,637,880,788,803.860440737,653,632,654,0.400986730224,-0.00540424005626,0.0798516591971,0.99999994265,0.000210889785312,-0.000262242999486,3.81433531304e-05,1793237520563475200
+96,1.600000000,BASELINE,766,746,716.280043794,679.280043794,663,637,880,788,803.280043794,653,632,654,0.400986833546,-0.00540413688049,0.0798516902729,0.999999942875,0.000210488502127,-0.000261709000344,3.81266492203e-05,1793237520580141824
+97,1.616666667,BASELINE,766,746,716,679,663,637,880,788,803.297461453,653,632,654.297461453,0.400987597046,-0.00540392665909,0.0798522881655,0.999999943118,0.000210823669935,-0.000260510830775,3.80899584771e-05,1793237520596808192
+98,1.633333333,BASELINE,766,746,716,679,663,637,880,788,803.872270503,653,632,654.872270503,0.400988976084,-0.00540361663032,0.0798534145475,0.999999943376,0.00021184549115,-0.000258693400929,3.80346323786e-05,1793237520613474816
+99,1.650000000,BASELINE,766,746,716.44874485,679,663,637,880,788,803.55125515,653,632,654.55125515,0.400988634846,-0.00540456141306,0.0798535639818,0.999999943752,0.0002099665994,-0.000258761505543,3.81166863497e-05,1793237520630141440
+100,1.666666667,BASELINE,766,746,716.973875904,679,663,637,880,788.026124096,803.026124096,653,632,654,0.400987816129,-0.00540578903084,0.079853415552,0.999999944122,0.000207430947209,-0.000259361164961,3.82186630851e-05,1793237520646807808
+101,1.683333333,BASELINE,766,746,716.387290016,679,663,637,880,788.612709984,803.612709984,653,632,654,0.40098729774,-0.0054053934218,0.0798528648068,0.999999943778,0.000208584620736,-0.000259807695381,3.790601522e-05,1793237520663474688
+102,1.700000000,BASELINE,766,746,716,679,663,637,880,789,804,653,632,654.197381226,0.400987478453,-0.00540490572609,0.0798527650592,0.999999943494,0.000210052992083,-0.000259731529674,3.78016425781e-05,1793237520680141568
+103,1.716666667,BASELINE,766,746,716,679,663,637,880,789,804,653,632,654.778331687,0.400989017723,-0.00540423907917,0.0798535417317,0.999999943327,0.00021213291285,-0.000258639613044,3.81020094169e-05,1793237520696808192
+104,1.733333333,BASELINE,766.35492545,746,716,679.35492545,663,637,880,789,804,653,632,654.64507455,0.400989092892,-0.00540412825308,0.0798538396281,0.999999943503,0.000211881172029,-0.000258157884947,3.81549501713e-05,1793237520713474816
+105,1.750000000,BASELINE,766.928831292,746,716,679.928831292,663,637,880,789,804,653,632,654.071168708,0.400988264746,-0.00540436035489,0.0798538421316,0.99999994389,0.000210190852771,-0.000258052628266,3.80552350629e-05,1793237520730141440
+106,1.766666667,BASELINE,766.499610018,746,716.500389982,680,663,637,880,788.499610018,803.499610018,653,632,654,0.400988007925,-0.00540549787932,0.0798536582966,0.999999943978,0.000208988549228,-0.000258668517035,3.81984836977e-05,1793237520746808064
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,789,804,653,632,654,0.400986777524,-0.00540438458678,0.079852401606,0.99999994333,0.000210192777684,-0.000260280004257,3.75838340562e-05,1793237520789309696
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.420600039,746.579399961,716.579399961,680,663,637,880.579399961,788.420600039,804,653,632.579399961,654,0.400987970182,-0.00540385102021,0.0798525900592,0.999999943297,0.000210506453952,-0.000260115546485,3.78564969578e-05,1793237520805976832
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746.843221942,716.843221942,680,663,637,881,788.156778058,803.843221942,653,633,654,0.40098864133,-0.00540336274764,0.0798528153566,0.999999943201,0.000211200495101,-0.000259889159449,3.80804977563e-05,1793237520822643456
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,746.27119886,716.27119886,680,663,637,881,788.72880114,803.27119886,653,633,654,0.400987931199,-0.00540299444142,0.0798531382402,0.999999942938,0.000212901977191,-0.000259498745478,3.81756113433e-05,1793237520839310080
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,716,679.689901305,663,637,880.689901305,788.689901305,803.310098695,653,632.689901305,654,0.400988000476,-0.00540379336085,0.0798532490507,0.999999943468,0.000211379920785,-0.000258711534221,3.81018099243e-05,1793237520855976960
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,716,679.100242668,663,637,880.100242668,788.100242668,803.899757332,653,632.100242668,654,0.400988772405,-0.00540564455669,0.0798531686734,0.999999944698,0.00020695178227,-0.000257566602595,3.78757283701e-05,1793237520872643328
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.48215351,746.48215351,716.48215351,679.48215351,663,637,880,788.48215351,804,653,632,654,0.400990142433,-0.00540493709057,0.0798541177429,0.999999944659,0.00020824417784,-0.000256678403062,3.78572171304e-05,1793237520889309440
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746.937693561,716.937693561,679.937693561,663,637,880,788.937693561,804,653,632,654,0.40099120805,-0.00540373823132,0.0798549963032,0.999999944315,0.000210474939762,-0.000256195451178,3.78621870048e-05,1793237520905975808
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746.363746546,716.363746546,679.363746546,663,637,880,788.363746546,804,653,632,654,0.400988767977,-0.00540280768526,0.0798535644119,0.999999943634,0.000210789759378,-0.000258608459482,3.77108586672e-05,1793237520922642176
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,716,679.210011246,663,637,880,788,804,653,632,654,0.400989115967,-0.00540246019792,0.0798540912745,0.999999943682,0.000211479089865,-0.000257843225778,3.78175790457e-05,1793237520939309056
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716,679.783441533,663,637,880,788,804,653,632,654,0.400994288629,-0.00540312167872,0.0798580077102,0.999999944973,0.000212816501708,-0.00025157812606,3.83708460816e-05,1793237520955975936
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.63007667,746.36992333,716.36992333,680,663,636.63007667,880,788,803.63007667,653,632.36992333,654,0.401003903601,-0.0054042580865,0.0798622731096,0.999999946783,0.00021207823136,-0.000244876495508,3.86390711981e-05,1793237520972642816
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.035674844,746.964325156,716.964325156,680,663,636.035674844,880,788,803.035674844,653,632.964325156,654,0.401016214276,-0.0054056826916,0.0798667502689,0.999999948882,0.000210080386572,-0.000237909966791,3.87343259802e-05,1793237520989309440
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.541872003,746.458127997,716.458127997,680,663,636.541872003,880,788,803,653,633,654,0.401051873761,-0.00540623010253,0.0798807804039,0.999999955116,0.000208220291913,-0.000211896736861,3.88963864124e-05,1793237521005976064
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,716.118242191,680,663,637,880,788,803.118242191,653,632.881757809,654,0.401093378766,-0.00540666896871,0.0798962986538,0.999999961097,0.000207174967844,-0.000182644560038,3.90559662064e-05,1793237521022642688
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,716.694223634,680,663,637,880,788,803.694223634,653,632.305776366,654,0.401151741673,-0.00540690445881,0.0799152164239,0.999999966745,0.000209249735385,-0.000145561669353,3.91894302428e-05,1793237521039309312
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,880,788.268792113,804,653,632.268792113,654,0.401213006156,-0.0054077857109,0.0799305321193,0.999999970141,0.000210607761938,-0.000117737919049,3.87290788765e-05,1793237521055976192
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,880,788.841761583,804,653,632.841761583,654,0.40127755419,-0.00540939773656,0.0799417715424,0.999999971961,0.000211154691932,-0.000100392234676,3.75967390749e-05,1793237521072642816
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.569177935,746,717,679.569177935,663,637,880.430822065,789,803.569177935,653,633,654,0.401348569208,-0.00540975543066,0.0799461283742,0.999999973025,0.000209549196944,-9.36551209045e-05,3.55971691933e-05,1793237521089309440
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,716.974799442,679.025200558,663,637,880.974799442,788.974799442,803.025200558,653,632.974799442,654,0.401422770245,-0.00540966385011,0.0799478294928,0.999999973852,0.000207154378474,-9.09908934774e-05,3.32308100172e-05,1793237521105976064
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,716.398387758,679.601612242,663,637,880.398387758,788.398387758,803.601612242,653,632.398387758,654,0.401512688696,-0.0054102133415,0.0799488810447,0.999999974491,0.000205457804562,-8.88788022713e-05,3.00791599319e-05,1793237521122642944
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,716.175013746,680,663,637,880.175013746,788,804,653,632.175013746,654.175013746,0.401610877493,-0.00541097188736,0.0799515282985,0.999999975313,0.000203955712264,-8.39944251901e-05,2.68395225722e-05,1793237521139309568
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,716.741678896,680,663,637,880.741678896,788,804,653,632.741678896,654.741678896,0.401727573922,-0.005412198262,0.079957746465,0.999999976487,0.000202888837407,-7.29061376696e-05,2.34029848744e-05,1793237521155976192
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.315412137,746,717,680,663,637,880.684587863,788.315412137,804,653,633,654.684587863,0.40185367591,-0.00541446549371,0.0799631797139,0.999999978055,0.000198995444655,-6.24654264544e-05,1.97321648059e-05,1793237521172642560
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.895066868,746,717,680,663,637,880.104933132,788.895066868,804,653,633,654.104933132,0.401987657601,-0.00541760472362,0.0799679553837,0.999999979919,0.000192734081952,-5.25672335417e-05,1.58650697878e-05,1793237521189308928
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.511909217,746,717,680,663,637,880,789,804,653,633,654,0.402149802258,-0.00541918646252,0.0799721567531,0.999999980609,0.000191027173812,-4.65840453536e-05,1.1018919642e-05,1793237521205975808
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.081255406,746,717,680,663,637,880.081255406,788.918744594,804,653,633,654,0.402319790354,-0.00542060615124,0.079975605661,0.999999981202,0.000189162111088,-4.21934186316e-05,5.75593132519e-06,1793237521222642688
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.657282914,746,717,680,663,637,880.657282914,788.342717086,804,653,633,654,0.402499632254,-0.00542313539478,0.0799752457339,0.999999982871,0.000180203994399,-4.22306798453e-05,-7.27475335067e-07,1793237521239309312
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716.761103817,680,663,637,881,788.238896183,804,653,632.761103817,654.238896183,0.402684347566,-0.0054251872961,0.079972303316,0.999999984129,0.00017153293352,-4.75813596912e-05,-7.36985221546e-06,1793237521255975936
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716.171285481,680,663,637,881,788.828714519,804,653,632.171285481,654.828714519,0.402876221578,-0.00542653801419,0.0799655673955,0.999999984723,0.000163283538523,-6.07370880931e-05,-1.42457450867e-05,1793237521272642560
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746.409955226,716,680,663,637,880.590044774,788.590044774,804,653,632,654.590044774,0.403102541879,-0.00542718433825,0.0799637078582,0.999999985481,0.000157466940287,-6.16887414585e-05,-2.0913314323e-05,1793237521289309440
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746.987685506,716,680,663,637,880.012314494,788.012314494,804,653,632,654.012314494,0.403342959393,-0.00542754238752,0.0799638439914,0.99999998631,0.000152645969536,-5.76458506719e-05,-2.74956264968e-05,1793237521305976320
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,747,716,680.565802242,663,637,880.565802242,788.565802242,804,653,632,654,0.403631943786,-0.00543067729917,0.0799695722674,0.999999990746,0.00012598915364,-4.69293591845e-05,-2.07713814982e-05,1793237521322642944
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,747,716.142996768,680.857003232,663,637,881,789,804,653,632.142996768,654,0.403925490576,-0.00543277304961,0.079974096138,0.999999993183,0.000108755932341,-3.90292853816e-05,-1.68028455962e-05,1793237521339309824
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,747,716.717383686,680.282616314,663,637,881,789,804,653,632.717383686,654,0.404229610025,-0.00543155142475,0.0799746191516,0.999999991588,0.000121386356916,-4.00642164329e-05,-2.20219817807e-05,1793237521355975936
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746.699382249,716.699382249,680,663.300617751,637,881.300617751,789,804,653,632.699382249,654,0.404551328808,-0.00543320907347,0.079975287997,0.999999991323,0.000123301823683,-3.82088666581e-05,-2.62840019733e-05,1793237521372642560
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746.107578548,716.107578548,680,663.892421452,637,881.892421452,789,804,653,632.107578548,654,0.404890094786,-0.00543765565921,0.0799760980986,0.999999992404,0.000114838513032,-3.35539179577e-05,-2.96189360458e-05,1793237521389309184
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.526721814,637,881.053443629,788.526721814,804,653,632.473278186,654,0.405255702935,-0.00544112739849,0.079971973795,0.999999992971,0.000108523450501,-3.73052304661e-05,-2.98012201572e-05,1793237521405976064
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.948594699,746.051405301,716,679.948594699,663,637,880.051405301,788,804,653,633,654,0.405630888214,-0.00544423870247,0.0799667406281,0.999999993296,0.000103241547828,-4.33046829377e-05,-2.95733552789e-05,1793237521422642944
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.373498693,746.626501307,716,679.373498693,663,637,880.626501307,788,804,653,633,654,0.40604288829,-0.00544588446571,0.0799613790509,0.999999992695,0.000103622775866,-5.31810003353e-05,-3.23025483631e-05,1793237521439309568
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.201449878,747,716.201449878,679,663,637,880.798550122,788,804,653,633,654,0.406462786179,-0.00544898141803,0.0799574190155,0.999999992388,0.000101777130679,-6.0986728195e-05,-3.38580327494e-05,1793237521455975936
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.776125264,747,716.776125264,679,663,637,880.223874736,788,804,653,633,654,0.406897316297,-0.00545476698335,0.0799560556121,0.999999992749,9.58057649978e-05,-6.49562812483e-05,-3.32389908485e-05,1793237521472642560
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746.640359503,716.640359503,679,663.359640497,637,880.359640497,788.359640497,803.640359503,653,632.640359503,654,0.407343638306,-0.00546633579433,0.0799550764677,0.99999999363,8.37677851389e-05,-6.84036303638e-05,-3.23217366063e-05,1793237521489308928
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746.05120286,716.05120286,679,663.94879714,637,880.94879714,788.94879714,803.05120286,653,632.05120286,654,0.407797485675,-0.00548159536925,0.0799543425504,0.999999994653,6.78582005976e-05,-7.15177180812e-05,-3.12141685878e-05,1793237521505975552
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746.530570776,716.530570776,679.530570776,663.469429224,637,881,789,803.530570776,653,632,654,0.408292119745,-0.00550298049045,0.0799499907337,0.999999995584,3.76999698058e-05,-8.05119143814e-05,-3.04565501542e-05,1793237521522642432
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+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746.834897116,716,680.165102884,664,637,880.834897116,788.165102884,804,653,632,654,0.410568510444,-0.00552065285624,0.0800081243101,0.999999999115,1.42663114592e-05,2.1640639166e-05,-3.31459699459e-05,1793237521589309184
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.422095725,746.577904275,716.422095725,680,664,637,881,788.422095725,804,653,632,654.422095725,0.411154182202,-0.00552595068852,0.0800149155537,0.999999998923,6.3596195617e-06,3.14335963969e-05,-3.35548448232e-05,1793237521605976064
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.985240224,746.014759776,717,680,663.985240224,637,881,789,804,653,632.014759776,654.985240224,0.411732623369,-0.00553035014303,0.0800122841283,0.99999999912,-2.03075252652e-06,2.40488757715e-05,-3.43285259171e-05,1793237521622642688
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.407037678,746.592962322,717,680,663.407037678,637,881,789,804,653,632.592962322,654.407037678,0.412326873813,-0.00553046698183,0.0799805149441,0.999999998905,-9.33595965154e-06,-2.55109815667e-05,-3.80994045506e-05,1793237521639309056
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746.83019601,717,680,663,637,881,788.83019601,804.16980399,653,633,654,0.41294142281,-0.00553227566647,0.0799540679857,0.999999997018,-1.73059223704e-05,-6.25316947207e-05,-4.18821652829e-05,1793237521655975680
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746.256590606,717,680,663,637,881,788.256590606,804.743409394,653,633,654,0.413604242626,-0.00553810763552,0.0799402775182,0.999999996164,-2.68567029616e-05,-6.97337644398e-05,-4.56931821377e-05,1793237521672642304
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.326493709,746.326493709,717,680,663,637,881,788.326493709,804.673506291,653,632.673506291,654,0.414280912583,-0.00554150318373,0.0799454325524,0.999999996889,-3.04761125344e-05,-5.59113917107e-05,-4.65573903826e-05,1793237521689308928
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.917250189,746.917250189,717,680,663,637,881,788.917250189,804.082749811,653,632.082749811,654,0.414968792761,-0.00554292670185,0.0799659220047,0.999999998242,-2.92946923647e-05,-2.50719144309e-05,-4.50364626738e-05,1793237521705975552
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,747,717,680,663,637,881,789,804.498316177,653,632,654,0.41566863984,-0.00554623314359,0.0799799672991,0.999999998307,-3.58818024612e-05,-5.83044215789e-06,-4.54460712077e-05,1793237521722642432
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746.922699838,716.922699838,679.922699838,663,637,881,788.922699838,804.845399677,653,632,654,0.416368985413,-0.00555011370638,0.0799886631748,0.999999997925,-4.45211354124e-05,4.45752773098e-06,-4.63444611925e-05,1793237521739309312
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746.346962768,716.346962768,679.346962768,663,637,881,788.346962768,803.693925536,653,632,654,0.417059975755,-0.00555571854224,0.0799696341317,0.99999999666,-5.82337921931e-05,-3.08055487904e-05,-4.83668405652e-05,1793237521755975936
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.771696561,746,716,679.228303439,663,637,880.771696561,788,803.228303439,653,632,654,0.417796664373,-0.00556076325725,0.0799687528892,0.999999996002,-6.82442848758e-05,-2.93295132571e-05,-4.97892685442e-05,1793237521772642560
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.197144384,746,716,679.802855616,663,637,880.197144384,788,803.802855616,653,632,654,0.41860265985,-0.00556495848466,0.0799953948954,0.999999995708,-7.26400168411e-05,2.78656563949e-05,-5.03018006842e-05,1793237521789308928
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.389024647,746,716,680,663,637,880.778049295,788,804,653,632.389024647,654,0.419372450337,-0.00556970402962,0.080009939189,0.999999994112,-7.77960825607e-05,5.64655088269e-05,-5.03611142552e-05,1793237521805975808
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.981261874,746,716,680,663,637,881.962523748,788,804,653,632.981261874,654,0.420123328584,-0.00557473704056,0.0800181640682,0.999999992808,-8.33493192812e-05,7.01281856385e-05,-5.0183682654e-05,1793237521822642432
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,882,788,804,653,632.463161746,654,0.420862714679,-0.00557853165026,0.0799973336441,0.999999994122,-8.89896684563e-05,3.54031728976e-05,-5.08319513587e-05,1793237521839309056
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.9017629,746.0982371,716.0982371,680.0982371,663,637,882,788.0982371,804,653,632,654,0.421610903047,-0.00557980403396,0.0799818241492,0.999999994406,-9.20343459915e-05,9.44974785577e-06,-5.12591480748e-05,1793237521855975424
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.304717871,746.695282129,716.695282129,680.695282129,663,637,882,788.695282129,804,653,632,654,0.422405692303,-0.00556847503564,0.0799981524917,0.999999994726,-8.18848097242e-05,3.60624767426e-05,-5.04268464479e-05,1793237521872642304
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,747,716.711374377,681,663,637,881.711374377,788.711374377,804,653,632,654.288625623,0.423207656475,-0.00554661404779,0.0800155843532,0.99999999531,-5.48589081272e-05,6.23187585331e-05,-4.9877053283e-05,1793237521889308928
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,747,716.121889349,681,663,637,881.121889349,788.121889349,804,653,632,654.878110651,0.42401709963,-0.00551377465864,0.0800341665068,0.999999994826,-1.0241314448e-05,8.82034829891e-05,-4.96217430641e-05,1793237521905975552
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.462392537,747,716,680.537607463,663,637,881,788,804,653,632,654.537607463,0.424765951989,-0.00550961273874,0.080003384069,0.999999998428,-3.25281073072e-06,2.32878389652e-05,-5.09036566599e-05,1793237521922642432
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,747,716,680.044504163,663,637,881.044504163,788.044504163,804,652.955495837,632,654,0.425503206177,-0.0055135113864,0.0799618085947,0.999999996859,-7.37051195535e-06,-5.88002695632e-05,-5.26331973071e-05,1793237521939309056
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,747,716,680.616959469,663,637,881.616959469,788.616959469,804,652.383040531,632,654,0.426290238891,-0.00552435151256,0.0799448482871,0.999999996094,-2.68784427377e-05,-6.38182297273e-05,-5.491929139e-05,1793237521955975936
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.809377545,746.809377545,716.190622455,681,663.190622455,637,882,789,804,652.190622455,632.190622455,654,0.427083192795,-0.00553163746142,0.0799371664114,0.99999999566,-3.95612628037e-05,-6.29192935458e-05,-5.617060322e-05,1793237521972642560
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.233272244,746.233272244,716.766727756,681,663.766727756,637,882,789,804,652.766727756,632.766727756,654,0.42788812086,-0.00553173604086,0.0799482476755,0.999999996478,-3.84421285634e-05,-5.00550206903e-05,-5.53293456257e-05,1793237521989309184
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.351344302,746.351344302,717,681,664,637,881.648655698,789,804.351344302,653,632.648655698,654,0.428685007045,-0.00553470392608,0.0799571266525,0.999999996633,-4.24524888035e-05,-4.41136998649e-05,-5.46426551465e-05,1793237522005975808
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.941752079,746.941752079,717,681,664,637,881.058247921,789,804.941752079,653,632.058247921,654,0.429476421284,-0.00553962415891,0.0799645071375,0.999999996372,-4.99530858057e-05,-4.28829300044e-05,-5.40611360611e-05,1793237522022642688
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,747,717,681,664,637,881,789,804.477911477,653,632.522088523,654,0.430296818389,-0.00554252989054,0.0799927540282,0.999999997118,-5.37752964869e-05,5.45941383826e-07,-5.35877402263e-05,1793237522039309312
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,747,716.899395001,681.100604999,664,637,881.100604999,789,804,652.899395001,633,654,0.431112039782,-0.00554395930659,0.0800207043177,0.999999996075,-5.58628242688e-05,4.37933663071e-05,-5.30239342557e-05,1793237522055975936
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,747,716.324263287,681.675736713,664,637,881.675736713,789,804,652.324263287,633,654,0.431887885642,-0.00553946537181,0.0800364828554,0.999999995241,-5.16673715376e-05,6.43992145696e-05,-5.19778673876e-05,1793237522072642560
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,747,716,681.751297813,664,637,882,789,804.248702187,652.497404373,633,654,0.43262546896,-0.00553516941096,0.0800211580038,0.999999996816,-4.70634705373e-05,3.72585096149e-05,-5.25868155533e-05,1793237522089309440
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,747,716,681.181132385,664,637,882,789,804.818867615,653.63773523,633,654,0.433313595471,-0.00553112934425,0.0799656300612,0.999999996259,-4.19316244923e-05,-5.15976248688e-05,-5.5334974709e-05,1793237522105976064
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.591135014,747,716,681.408864986,664,637,882,789,804.591135014,653.591135014,633,654.408864986,0.434043158662,-0.00553095806002,0.0799273021572,0.999999992227,-4.45011904973e-05,-0.000100751437516,-5.84345822833e-05,1793237522122642688
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.007762074,747,716.007762074,682,664,637,882,789,804,653,633,654.992237926,0.434792303555,-0.00553262213162,0.07989801907,0.999999988358,-5.06561045988e-05,-0.000130081983512,-6.16149734792e-05,1793237522139309312
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.582270957,747,716.582270957,682,664,637,882,789,804,653,633,654.417729043,0.435562540068,-0.0055367734178,0.0799444190669,0.999999994758,-5.67816496698e-05,-6.17178124356e-05,-5.87460923014e-05,1793237522155975936
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,747,716.843170205,681.843170205,664,637,882,789,804,653,633,654,0.436316555895,-0.00554073955039,0.0799830994868,0.999999996506,-6.14724562048e-05,-7.9006934479e-06,-5.6092419109e-05,1793237522172642816
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,747,716.26847814,681.26847814,664,637,882,789,804,653,633,654,0.437027352982,-0.00554421235482,0.0800012116316,0.999999996573,-6.23405019205e-05,7.15681382016e-06,-5.40121528839e-05,1793237522189309440
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746.685404208,716,681,664,637,882,788.685404208,804,653,632.685404208,654,0.437738984619,-0.0055470449271,0.0800124216334,0.999999995964,-6.79769059557e-05,2.25722661402e-05,-5.42376632514e-05,1793237522205975808
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746.094981373,716,681,664,637,882,788.094981373,804,653,632.094981373,654,0.438451347919,-0.00554931616508,0.0800175800665,0.999999994645,-7.7794046662e-05,3.83015517758e-05,-5.64848013601e-05,1793237522222642176
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.513617443,746.486382557,716,681.486382557,664,637,882,788.486382557,804,653,632.486382557,654,0.439121416769,-0.00554863389313,0.0800142120289,0.999999994641,-7.84393564728e-05,3.62989342978e-05,-5.69953380383e-05,1793237522239309056
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.065806689,747,716,682,664,637,882,789,804.065806689,653,633,654,0.439775451065,-0.00554763377122,0.0800056080975,0.999999995053,-7.73010514779e-05,2.51151497442e-05,-5.73307222439e-05,1793237522255975680
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.643650466,747,716,682,664,637,882,789,804.643650466,653,633,654,0.440367811732,-0.00554856619164,0.0799689828733,0.999999994898,-7.5966062029e-05,-3.10561966334e-05,-5.88937219979e-05,1793237522272642560
+197,3.283333333,POSE1_TO_POSE2_PRESS,766.775676832,747,716,682.224323168,664,637,882,789,804.775676832,653,633,654,0.44093420363,-0.00555008547364,0.0799248206563,0.99999999033,-7.727575878e-05,-9.82360267067e-05,-6.0979354577e-05,1793237522289309184
+198,3.300000000,POSE1_TO_POSE2_PRESS,766.190452889,747,716,682.809547111,664,637,882,789,804.190452889,653,633,654,0.441458815798,-0.00555254892372,0.0798685326041,0.999999977759,-8.28403406586e-05,-0.000183126773863,-6.3905821146e-05,1793237522305975808
+199,3.316666667,POSE1_TO_POSE2_PRESS,766.390623426,746.609376574,716,683,664,637,882,788.609376574,804.390623426,653,633,654,0.442032680712,-0.00555539159861,0.0798546287112,0.999999974125,-8.54944864723e-05,-0.000200672804746,-6.45830603802e-05,1793237522322642688
+200,3.333333333,POSE1_TO_POSE2_PRESS,766.969698815,746.030301185,716,683,664,637,882,788.030301185,804.969698815,653,633,654,0.442630307116,-0.00555841722653,0.0798611725834,0.999999976931,-8.67445251873e-05,-0.000185729128152,-6.41751850969e-05,1793237522339309568
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746.546795528,716,683,664,636.453204472,882,788,805,653,633,654,0.443218290669,-0.00556341199753,0.0799022349756,0.999999986371,-9.08906830353e-05,-0.000123153278079,-6.18931750733e-05,1793237522355976192
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,747,716,683,664,636,882.119458373,788,804.880541627,653,633,654,0.443784439692,-0.00556803836052,0.079934318485,0.99999999087,-9.4079929388e-05,-7.61373358066e-05,-6.01062261885e-05,1793237522372643072
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,747,716,683,664,636,882.676287743,788,804.323712257,653,633,654,0.444272595885,-0.00557091779295,0.0799265494398,0.999999989247,-9.31801687346e-05,-9.57200246469e-05,-6.05107153834e-05,1793237522389309696
+204,3.400000000,POSE1_TO_POSE2_PRESS,766.744008153,747,716,683,663.744008153,636,882.744008153,788,804,652.744008153,632.744008153,654,0.444736460805,-0.00557346003782,0.0799089639815,0.999999984983,-0.000102070714792,-0.000126125367507,-6.08916599525e-05,1793237522405976320
+205,3.416666667,POSE1_TO_POSE2_PRESS,766.132539655,747,716,683,663.132539655,636,882.132539655,788,804,652.132539655,632.132539655,654,0.445166594228,-0.00557553405545,0.0798777472081,0.999999975651,-0.000124556324343,-0.000171559315772,-6.12399097586e-05,1793237522422642944
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,747,716,683,663,635.546089879,882.453910121,788,804.453910121,652.453910121,632,654,0.445608504721,-0.00557339992156,0.0798597041183,0.999999970773,-0.000119543380693,-0.000200960480128,-6.14637851376e-05,1793237522439309312
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.033138682,747,716,683,663,635.033138682,883,788,804.966861318,653,632.033138682,654,0.446051364666,-0.00556994465192,0.0798456959101,0.999999967043,-0.000107154799258,-0.000225004051099,-6.16795036136e-05,1793237522455975936
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.6075087,747,716,683,663,635.6075087,883,788,804.3924913,653,632.6075087,654,0.446456501048,-0.00556393232753,0.0798380437796,0.999999965817,-9.85939009101e-05,-0.000234011265919,-6.23241531194e-05,1793237522472642560
+209,3.483333333,POSE1_TO_POSE2_PRESS,766.818079611,747,716,683,662.818079611,635.818079611,882.818079611,787.818079611,804.181920389,653,633,654,0.446855265757,-0.00555881776318,0.0798323757319,0.999999965522,-9.13839476233e-05,-0.000238003875021,-6.29285686106e-05,1793237522489309184
+210,3.500000000,POSE1_TO_POSE2_PRESS,766.243578075,747,716,683,662.243578075,635.243578075,882.243578075,787.243578075,804.756421925,653,633,654,0.447240280449,-0.00555564055069,0.0798309893027,0.999999967474,-8.70893122465e-05,-0.000231175047996,-6.34461597045e-05,1793237522505976320
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,747,716,683,662,635,882,787,805,652.658222918,632.658222918,654,0.447591534299,-0.00555709904852,0.0798226095521,0.999999965185,-9.19925904869e-05,-0.000238870024354,-6.40987565211e-05,1793237522522642944
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,747,716,683,662,635,882,787,805,652.064878828,632.064878828,654,0.447917938324,-0.00556196968753,0.0798090823264,0.999999959434,-0.000103666045999,-0.000257255329768,-6.48507251162e-05,1793237522539309568
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,747,716,683,662,635,882,787,805,652.511363761,632,654,0.448210873251,-0.00556370086562,0.0797898616987,0.999999949497,-0.000102130061863,-0.000293762650085,-6.54084214293e-05,1793237522555976448
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,746.914133239,716,683,662,634.914133239,882.085866761,787,805,653,632,654,0.448496600508,-0.00556502873166,0.0797713016692,0.999999938709,-0.000100192581757,-0.000328954636317,-6.58153364155e-05,1793237522572643072
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,746,716,683,663,636,882,788.805032543,804,652.194967457,632,654,0.439689584038,-0.00542282147644,0.0797339209423,0.999999907461,0.000104417266616,-0.000416919192253,1.87745386371e-05,1793237524614706944
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,746.924395258,716,682.075604742,663,636,882,788,804.924395258,653,632.924395258,654,0.437795802515,-0.00541079623654,0.0798188022544,0.999999948388,0.000127521736847,-0.000293704795144,2.64598003404e-05,1793237524664706816
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,746.156326952,716,682,663,636.156326952,881,788,804.843673048,653,633,654,0.431016315257,-0.00540760411794,0.0797422056497,0.999999890459,0.000153780846798,-0.000440694138549,3.49695684388e-05,1793237524814706944
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,746.114443927,716,682,663,637,881.885556073,788,804,653.885556073,633,654,0.428846416947,-0.00541270583949,0.0798827836772,0.999999964266,0.000158084176949,-0.000210862763491,4.48762852834e-05,1793237524864707840
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746.63091479,716,682,663,636.63091479,882,788.63091479,804,653,633,654,0.426388793451,-0.00543005604248,0.0798036745673,0.999999937228,0.000142217638844,-0.000321659299139,4.30527373676e-05,1793237524914707200
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,747,716,682,662.780832051,636.780832051,882,788.780832051,804,653,633,654,0.425550212851,-0.00542980234137,0.0797725650362,0.999999919877,0.000144410709335,-0.000370967320154,4.21330919666e-05,1793237524931373568
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.626841174,746.626841174,716,681.626841174,662.373158826,636,882,788.373158826,804,653,633,654,0.423942178363,-0.00541670590579,0.0797669262437,0.999999909528,0.000169628743331,-0.000387462873992,4.51871494397e-05,1793237524964706560
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.055005066,746.055005066,716,681.055005066,662.944994934,636,882,788.944994934,804,653,633,654,0.423149399615,-0.00540969015069,0.07976204374,0.999999906294,0.000177206005198,-0.000392322483616,4.57475604607e-05,1793237524981373184
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746.8778193,716,681,663,636.8778193,881,788.8778193,804,653,633,654,0.421716516927,-0.00540666792666,0.0798312685396,0.999999946833,0.000186030689373,-0.00026364594653,4.70970379001e-05,1793237525014707712
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746.298249565,716,681,663,636.298249565,881,788.298249565,804,653,633,654,0.420966817302,-0.0054023040223,0.0798730444109,0.999999961832,0.000189921928755,-0.000194509221802,4.93089504124e-05,1793237525031374336
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,663,636.856950328,881,788.856950328,804.856950328,653,633,654,0.419407341631,-0.00539199056552,0.0798510886365,0.999999950434,0.000203652090469,-0.000235356643083,4.75842819412e-05,1793237525064707072
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746.1838964,716,681,663,637,881,789,804.1838964,653.1838964,632.1838964,654,0.416433857195,-0.00538433493779,0.0798251401553,0.999999934154,0.000210709748039,-0.000291960633699,4.53039677895e-05,1793237525131373312
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746.757852957,716,681,663,637,881,789,804.757852957,653.757852957,632.757852957,654,0.415694927644,-0.00537883040557,0.0798167716567,0.999999927531,0.000218714948463,-0.00030823687607,4.57261138187e-05,1793237525148040704
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.332422751,746,716,680.332422751,662.332422751,637,880.664845501,788.332422751,804,653,632,654,0.412420280362,-0.00538679246956,0.0798278049865,0.999999937056,0.000216615055956,-0.000277417217545,4.47751878646e-05,1793237525231373824
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,746,716,680,662.246921845,636.753078155,880.246921845,788.246921845,804,653,632,654,0.41176855242,-0.00539880763793,0.0798186240096,0.999999935018,0.000201954352644,-0.000295300673395,4.44605399249e-05,1793237525248040192
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.970287515,746.970287515,716,679.029712485,663,636.970287515,880.029712485,788.029712485,804,653,632,654,0.409976992314,-0.00542550553616,0.0798161736032,0.999999938641,0.000164882487906,-0.000305928130735,4.40320514969e-05,1793237525298040576
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.440731072,746.440731072,716,679.559268928,663,637,880.559268928,788,804,653,632.559268928,654,0.40947011764,-0.00542166431782,0.0798397365149,0.999999948189,0.000176666108747,-0.000265181844032,4.57114493392e-05,1793237525314707200
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,746,716,679.524114498,663,637,880.475885502,788,804,653,633,654,0.404266112805,-0.00540863833349,0.0798327911527,0.999999938918,0.000195454561354,-0.000286381762253,4.41167893406e-05,1793237525514706688
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,746,716.113973475,679.886026525,663,637,880,788,804,653,632.886026525,654.113973475,0.40395109643,-0.00540731547761,0.0798336313862,0.999999937068,0.000198604870754,-0.000290615024363,4.43019240786e-05,1793237525531373312
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,746,716.689877019,679.310122981,663,637,880,788,804,653,632.310122981,654.689877019,0.403672096392,-0.00540727223597,0.0798396698049,0.999999940607,0.00019333404945,-0.000281983319856,4.35150845231e-05,1793237525548039936
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.265914503,746,717,679.265914503,663,637,880.265914503,788,804,653,632.265914503,654.734085497,0.40340579993,-0.00540659803492,0.0798448622952,0.999999942746,0.000191658023537,-0.00027544571163,4.36547064269e-05,1793237525564706560
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.84210824,746,717,679.84210824,663,637,880.84210824,788,804,653,632.84210824,654.15789176,0.403154326504,-0.00540518760625,0.0798490677235,0.999999943325,0.000194176542985,-0.000271351575737,4.48753591172e-05,1793237525581373440
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.586052349,746.413947651,716.586052349,680,663,637,881,788.413947651,804.413947651,653,633,654.413947651,0.402916468157,-0.00540559810312,0.0798475407959,0.999999941555,0.000195744777267,-0.0002767851065,4.43062572823e-05,1793237525598040320
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.01585653,746.98414347,716.01585653,680,663,637,881,788.98414347,804.98414347,653,633,654.98414347,0.402683748947,-0.00540669592431,0.0798438501403,0.999999938832,0.000196954318014,-0.000285814938614,4.30615968861e-05,1793237525614707200
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746.419416993,716,679.419416993,663,637,881,789,804.419416993,653,632.419416993,654.419416993,0.402493159393,-0.00540609774075,0.0798410392159,0.999999938419,0.000195582084109,-0.000288317382115,4.22190931216e-05,1793237525631373568
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.172161002,746,716,679,663,637,880.827838998,788.827838998,804,653,632,654,0.402313349054,-0.00540535094541,0.079840073669,0.999999939008,0.000194327939913,-0.00028716422319,4.19129805152e-05,1793237525648040192
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.750498096,746,716,679,663,637,880.249501904,788.249501904,804,653,632,654,0.40215612678,-0.00540436798947,0.079843402516,0.999999941762,0.000193526635653,-0.000277826978153,4.28452253775e-05,1793237525664706816
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.323044639,663,636.676955361,880,788,804,653,632.323044639,654,0.402011702226,-0.0054047355548,0.0798484638904,0.999999944152,0.000192723667876,-0.000269442726001,4.42085225459e-05,1793237525681373696
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.891197692,663,636.108802308,880,788,804,653,632.891197692,654,0.401876987859,-0.0054061278209,0.0798548398113,0.999999946265,0.000191919437827,-0.000261781551186,4.58988784761e-05,1793237525698040576
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.518138107,636.481861893,880,788,804,653,632.518138107,654,0.401753133541,-0.00540669636898,0.0798558920952,0.999999946757,0.000189624400905,-0.000261618625838,4.56557086662e-05,1793237525714707200
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.924222595,746,716.075777405,679.924222595,662.075777405,637,880,788,804,653,632,654,0.401634589481,-0.00540678531074,0.079855464673,0.999999946732,0.000187608864286,-0.000263363672547,4.4478301348e-05,1793237525731373824
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766.344153683,746,716.655846317,679.344153683,662.655846317,637,880,788,804,653,632,654,0.40153426606,-0.00540498093468,0.0798535815316,0.999999945808,0.000189803315859,-0.000265986693028,4.01314245945e-05,1793237525748040448
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766.233913222,746.233913222,716.766086778,679.233913222,663,637,880.233913222,788,804,653,632,654,0.40144073341,-0.00540483433818,0.079850406656,0.999999943642,0.00019562937225,-0.000270327643194,3.69819381909e-05,1793237525764707072
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.809059563,746.809059563,716.190940437,679.809059563,663,637,880.809059563,788,804,653,632,654,0.401357107155,-0.00540710611421,0.0798453473958,0.999999939581,0.000206753221511,-0.000277174712749,3.55792076951e-05,1793237525781373952
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+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,746,716.451549205,680,663,637,880.548450795,788,804,653.451549205,632.451549205,654.451549205,0.401174988017,-0.00540615686046,0.0798392494916,0.999999936982,0.000208367210303,-0.00028499370794,3.73870603952e-05,1793237525831373312
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766.135243176,746.135243176,716,679.864756824,663,637,881,788,803.864756824,653,632,654,0.401130056199,-0.00540701784975,0.0798380211349,0.999999936829,0.000206736980409,-0.000286628933404,3.80349558331e-05,1793237525848039936
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766.716456096,746.716456096,716,679.283543904,663,637,881,788,803.283543904,653,632,654,0.401093718616,-0.00540634694763,0.0798364353002,0.999999935895,0.000207419977039,-0.000289330942358,3.83945246157e-05,1793237525864706560
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746.706429313,716.293570687,679,662.706429313,637,881,788.293570687,803.293570687,653,632,654,0.401065402025,-0.00540603294951,0.0798367030407,0.999999936159,0.000207159985334,-0.000288555418493,3.87520529365e-05,1793237525881373440
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746.13321851,716.86678149,679,662.13321851,637,881,788.86678149,803.86678149,653,632,654,0.401044725808,-0.00540605891944,0.0798387364002,0.999999937556,0.000206001752224,-0.000284467378648,3.91076376619e-05,1793237525898040320
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+415,6.916666667,POSE2_TO_POSE3_RETREAT,766.802182873,746,717,680,663.197817127,637,880.197817127,789,803.802182873,653,633,654,0.400998181807,-0.00540484528194,0.07984068036,0.999999938364,0.000207192510865,-0.000280720412747,3.9224096532e-05,1793237525964706560
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766.224163904,746,717,680,663.775836096,637,880.775836096,789,803.224163904,653,633,654,0.400993179201,-0.0054069970191,0.0798407965089,0.999999939055,0.000203951613367,-0.000280612345664,3.93789749127e-05,1793237525981372928
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+419,6.983333333,POSE2_TO_POSE3_RETREAT,766.51428803,746,716.51428803,680,663,637,880.51428803,788,804,653,633,654,0.400984995262,-0.00540890673154,0.0798421345237,0.999999939868,0.000203333602874,-0.000278165855955,3.92945150472e-05,1793237526031373824
+420,7.000000000,POSE2_TO_POSE3_RETREAT,766.898076105,746,717,680,662.898076105,637,881,788.101923895,804,653.101923895,633,654,0.400985214553,-0.00540925940966,0.0798433088687,0.999999940448,0.000203639151679,-0.000275842574913,3.9328388609e-05,1793237526048040448
+421,7.016666667,POSE2_TO_POSE3_RETREAT,766.318526347,746,717,680,662.318526347,637,881,788.681473653,804,653.681473653,633,654,0.400987239018,-0.00540732279235,0.0798457316613,0.999999940701,0.000207254664228,-0.000272213701294,3.92821152758e-05,1793237526064707072
+422,7.033333333,POSE2_TO_POSE3_RETREAT,766.256460585,746.256460585,716.743539415,680,662.256460585,637,881,789,804,653.743539415,632.743539415,654.256460585,0.400987917085,-0.00540695757592,0.0798469248899,0.999999940891,0.000208465835989,-0.000270581757264,3.93163521459e-05,1793237526081373952
+423,7.050000000,POSE2_TO_POSE3_RETREAT,766.825879587,746.825879587,716.174120413,680,662.825879587,637,881,789,804,653.174120413,632.174120413,654.825879587,0.400986952144,-0.00540850993705,0.0798466176838,0.999999941025,0.000206742995254,-0.000271386662548,3.94488354751e-05,1793237526098040832
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746.598556428,716,680,663,637,881,789,804,653,632,655,0.400986213229,-0.00540909219378,0.0798463161068,0.999999941204,0.00020511803433,-0.000272007118301,3.91330549074e-05,1793237526114707200
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746.020285748,716,680,663,637,881,789,804,653,632,655,0.400985573873,-0.00540924714067,0.0798460170093,0.9999999414,0.000203536187425,-0.000272546328023,3.86198238948e-05,1793237526131373824
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+427,7.116666667,POSE2_TO_POSE3_RETREAT,766.836565988,746,716.163434012,680,663,637,880,789,804.836565988,653,633,654,0.400984406595,-0.00540840855086,0.0798447983413,0.999999941042,0.000203610294586,-0.000273805481568,3.86051060078e-05,1793237526164706816
+428,7.133333333,POSE2_TO_POSE3_RETREAT,766.260782689,746,716.739217311,680,663,637,880,789,804.260782689,653,633,654,0.40098414731,-0.00540723017349,0.0798452050953,0.999999941034,0.000203886272465,-0.000273658095706,3.83837263028e-05,1793237526181373440
+429,7.150000000,POSE2_TO_POSE3_RETREAT,766,746,716.686700816,680,663,637,880,788.686700816,803.686700816,653,633,654.313299184,0.400983921176,-0.00540725093004,0.079845425508,0.99999994121,0.000203747035464,-0.000273141416178,3.82140567825e-05,1793237526198039808
+430,7.166666667,POSE2_TO_POSE3_RETREAT,766,746,716.114027549,680,663,637,880,788.114027549,803.114027549,653,633,654.885972451,0.400983722485,-0.00540826442546,0.0798454916525,0.999999941538,0.000203264050414,-0.000272319005871,3.80871970933e-05,1793237526214706432
+431,7.183333333,POSE2_TO_POSE3_RETREAT,766.473796075,746,716,680,663,637,880.473796075,788,803,653,632.526203925,654.526203925,0.400983904247,-0.00540927532904,0.0798459266548,0.999999942129,0.000201127016782,-0.000271716084771,3.82150009649e-05,1793237526231373312
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746.064089463,716,680,663,637,881,788.064089463,803,653,632.064089463,654,0.400984209747,-0.00541010874512,0.0798464588872,0.999999942709,0.000199019385529,-0.000271108101763,3.83928297239e-05,1793237526248039936
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,746.643945663,716,680,663,637,881,788.643945663,803,653,632.643945663,654,0.400984749836,-0.0054095189968,0.0798470355851,0.999999942713,0.000200457760387,-0.000270020233446,3.84637134146e-05,1793237526264706560
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+436,7.266666667,POSE2_TO_POSE3_RETREAT,766.381629195,746.381629195,716.618370805,680,663,637,880,788,803.618370805,653,633,654.381629195,0.400985818926,-0.00540865118088,0.0798474957345,0.999999942313,0.000204440808938,-0.000268481650859,3.86610761039e-05,1793237526314706688
+437,7.283333333,POSE2_TO_POSE3_RETREAT,766.967915326,746.967915326,716.032084674,680,663,637,880,788,803.032084674,653,633,654.967915326,0.400984995415,-0.00540871685237,0.0798476235075,0.999999942359,0.000202832265136,-0.000269624671275,3.80000783782e-05,1793237526331373568
+438,7.300000000,POSE2_TO_POSE3_RETREAT,767,747,716.547541496,680,663,637,880.547541496,788,803.547541496,653,632.452458504,654.452458504,0.400985191777,-0.00540988923563,0.0798480331773,0.999999942419,0.000203084683627,-0.000269176928087,3.82535814004e-05,1793237526348040192
+439,7.316666667,POSE2_TO_POSE3_RETREAT,767,747,716.8733831,680,663,637,880.8733831,788,804,653,632.1266169,654,0.400985716453,-0.00541058917491,0.0798484526227,0.999999942628,0.000203193166203,-0.000268292709154,3.84258807469e-05,1793237526364707072
+440,7.333333333,POSE2_TO_POSE3_RETREAT,767,747,716.294897276,680,663,637,880.294897276,788,804,653,632.705102724,654,0.400987202097,-0.00540937440409,0.079848848713,0.999999943364,0.000202403479019,-0.000266179467909,3.81194365903e-05,1793237526381373696
+441,7.350000000,POSE2_TO_POSE3_RETREAT,767,746.717939024,716,680,663,637,880,788,804,653,632.717939024,654,0.400987460834,-0.00540954932747,0.0798489945432,0.999999943571,0.000201735551039,-0.000265908401442,3.81287271265e-05,1793237526398040320
+442,7.366666667,POSE2_TO_POSE3_RETREAT,767,746.142569297,716,680,663,637,880,788,804,653,632.142569297,654,0.400986443739,-0.00541116936211,0.0798488801334,0.999999943228,0.000201194237715,-0.000267552970487,3.84663429612e-05,1793237526414706944
diff --git a/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd5757a40b8484a5be5cd9c9ab614a9bde3cf6eb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_15A_17.5/position_04/depth_05/simulation_data.csv
@@ -0,0 +1,444 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
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